CN112372658B - Terminal tool replacing equipment - Google Patents
Terminal tool replacing equipment Download PDFInfo
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- CN112372658B CN112372658B CN202011196424.1A CN202011196424A CN112372658B CN 112372658 B CN112372658 B CN 112372658B CN 202011196424 A CN202011196424 A CN 202011196424A CN 112372658 B CN112372658 B CN 112372658B
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- 230000007246 mechanism Effects 0.000 claims abstract description 33
- 230000006835 compression Effects 0.000 claims description 10
- 238000007906 compression Methods 0.000 claims description 10
- 238000000034 method Methods 0.000 abstract description 6
- 238000010586 diagram Methods 0.000 description 4
- 230000008569 process Effects 0.000 description 4
- 230000009471 action Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000006978 adaptation Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000004140 cleaning Methods 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
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- 230000004048 modification Effects 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/04—Gripping heads and other end effectors with provision for the remote detachment or exchange of the head or parts thereof
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Automatic Tool Replacement In Machine Tools (AREA)
Abstract
The invention relates to end tool replacing equipment, which is used for realizing automatic replacement of an end tool by a mechanical arm. The method comprises the following steps: the tool rack comprises a replacing device and a tool rack, wherein the replacing device comprises a first guide part and a second guide part, the upper surface of the first guide part is used for being connected with a terminal tool, the lower surface of the second guide part is used for being connected with the terminal of a mechanical arm, and the lower surface of the first guide part and the upper surface of the second guide part respectively comprise a male dovetail groove and a female dovetail groove which are matched with each other; the first guide part also comprises a pulling pin and a spring locking mechanism for controlling the pulling pin, and the male dovetail groove and the female dovetail groove respectively comprise preset holes; the tool holder includes: the tool holder locking device comprises a tool holder main body and a tool holder unlocking rod extending from the tool holder main body, wherein the tool holder unlocking rod is used for clamping the first guide part.
Description
Technical Field
The invention relates to the field of mechanical arms, in particular to tail end tool replacing equipment of a mechanical arm.
Background
Robot arms are widely used in various fields. When a robotic arm performs a variety of tasks, it is necessary to frequently change different end tools (e.g., robot grippers) to perform the task. The current technology mainly depends on a pneumatic scheme or an electric scheme to realize the quick replacement of the mechanical arm and the mechanical paw. The pneumatic scheme is as follows: negative pressure is generated in the quick replacement device through the air compressor, and quick combination is realized; the device is ventilated and then is quickly released, so that the mechanical arm can be quickly replaced by the mechanical paw. The electric scheme is as follows: the external power supply is used for supplying power independently, and the actuating mechanism is used for realizing rapid combination and separation, so that the aim of replacing the mechanical gripper is fulfilled. However, the power supply capability of the power supply at the tail end of the mechanical arm is often limited to a certain range, the power supply requirement of the tail-end paw can only be met, and an air source interface is not reserved, so that extra devices such as an air source, an air supply pipeline and a power supply line need to be introduced when an electric scheme is called, the devices need to be exposed and fixed outside joints of the mechanical arm, the motion range of the mechanical arm can be affected, the appearance of the mechanical arm is affected, and the maintenance and cleaning of the mechanical arm are affected.
Disclosure of Invention
The embodiment of the invention provides end tool replacing equipment, which can enable a mechanical arm to replace an end tool automatically. The technical scheme is as follows:
according to an aspect of an embodiment of the present invention, there is provided an end tool replacing apparatus including a replacing device and a tool rack, wherein:
the replacing device comprises a first guide part and a second guide part, the upper surface of the first guide part is used for being connected with a tail end tool, the lower surface of the second guide part is used for being connected with the tail end of the mechanical arm, and the lower surface of the first guide part and the upper surface of the second guide part respectively comprise a male dovetail groove and a female dovetail groove which are matched with each other; the first guide part also comprises a pulling pin and a spring locking mechanism for controlling the pulling pin, and the male dovetail groove and the female dovetail groove respectively comprise preset holes;
the tool holder includes: the tool holder locking device comprises a tool holder main body and a tool holder unlocking rod extending out of the tool holder main body, wherein the tool holder unlocking rod is used for clamping the first guide part;
when the mechanical arm drives the second guide part to move towards the tool rack unlocking rod of the tool rack in a first direction, the upper surface of the second guide part is in sliding combination with the lower surface of the first guide part on the tool rack through the dovetail groove, the second guide part continues to move to enable the first guide part to slide out of the tool rack unlocking rod, and the spring locking mechanism in the first guide part enables the pulling pin to be inserted into the preset hole to complete connection of the mechanical arm and the end tool;
when the mechanical arm drives the second guide part to move towards the tool rack unlocking rod of the tool rack in the second direction, the tool rack unlocking rod clamps the first guide part and triggers the spring locking mechanism to move so that the pulling pin inserted into the preset hole is pulled out, and the mechanical arm drives the second guide part to move downwards to finish the replacement of the terminal tool to the tool rack.
Optionally, in an embodiment of the present invention, the latch mechanism includes: the spring seat is fixed in the fixed seat of the first guide part, one end of the shifting fork is connected with one end of the pressure spring and one end of the pulling pin, the other end of the pressure spring abuts against the spring seat, and the other end of the shifting fork is connected with the unlocking pin.
Optionally, in an embodiment of the present invention, the tool rack unlocking lever includes a slope for triggering the unlocking pin when clamping the first guide portion.
Optionally, in an embodiment of the present invention, the first guide portion and the second guide portion further include pogo pin contacts, respectively.
Optionally, in an embodiment of the present invention, the tool rack includes two tool rack unlocking levers, and the tool rack further includes: and the compression spring is connected between the starting ends of the two tool rack unlocking rods.
According to an aspect of an embodiment of the present invention, there is provided an end tool exchange device, including a first guide part and a second guide part, an upper surface of the first guide part being configured to be connected to an end tool, a lower surface of the second guide part being configured to be connected to an end of a robot arm, the lower surface of the first guide part and the upper surface of the second guide part respectively including a male dovetail groove and a female dovetail groove that are engaged with each other; the first guide part also comprises a pulling pin and a spring locking mechanism for controlling the pulling pin, and the male dovetail groove and the female dovetail groove respectively comprise preset holes;
when the mechanical arm drives the second guide part to move towards the tool rack unlocking rod of the tool rack in a first direction, the upper surface of the second guide part is combined with the dovetail groove of the lower surface of the first guide part on the tool rack in a guiding mode, the second guide part continues to move, so that the first guide part slides out of the tool rack unlocking rod, and the spring locking mechanism in the first guide part enables the pulling pin to be inserted into the preset hole, so that the connection between the mechanical arm and the end tool is completed;
when the mechanical arm drives the second guide part to move towards the tool rack unlocking rod of the tool rack in the second direction, the tool rack unlocking rod clamps the first guide part and triggers the spring locking mechanism to move so that the pulling pin inserted into the preset hole is pulled out, and the mechanical arm drives the second guide part to move downwards to finish the replacement of the terminal tool to the tool rack.
Optionally, in an embodiment of the present invention, the latch mechanism includes: the spring seat is fixed in the fixed seat of the first guide part, one end of the shifting fork is connected with one end of the pressure spring and one end of the pulling pin, the other end of the pressure spring abuts against the spring seat, and the other end of the shifting fork is connected with the unlocking pin.
Optionally, in an embodiment of the present invention, the first guide portion and the second guide portion further include pogo pin contacts, respectively.
According to an aspect of an embodiment of the present invention, there is provided a tool rest including: the tool rack comprises a tool rack body and a tool rack unlocking rod extending from the tool rack body, wherein the tool rack unlocking rod is used for clamping a first guide part of the replacing device and is also used for triggering a spring locking mechanism in the first guide part to act.
Optionally, in an embodiment of the invention, the tool rack release lever comprises a ramp for triggering the release pin of the spring lock mechanism.
Optionally, in an embodiment of the present invention, the tool rack includes two tool rack unlocking levers, and the tool rack further includes:
and the compression spring is connected between the starting ends of the two tool rack unlocking rods.
The technical scheme provided by the embodiment of the invention can have the following beneficial effects:
according to the invention, the tail end tool replacing device and the tool rack which are provided with the mechanical structures matched with each other are arranged, so that the function that the tail end tool can be quickly replaced by the mechanical arm without an additional active power source is realized.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the invention, as claimed.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the invention and together with the description, serve to explain the principles of the invention.
Fig. 1 is a schematic view of an end tool changer apparatus according to an embodiment of the present invention.
Fig. 2 is a schematic view of an end tool changer apparatus according to an embodiment of the present invention.
Fig. 3 is a schematic view illustrating a first guide portion of an end tool exchange device according to an embodiment of the present invention.
Fig. 4 is a schematic view illustrating a first guide portion of an end tool exchange device according to an embodiment of the present invention.
Fig. 5 is a schematic diagram illustrating a spring locking mechanism in an end tool changer, according to one embodiment of the present invention.
Fig. 6 is a schematic view illustrating a second guide portion of the end tool exchange device according to an embodiment of the present invention.
Fig. 7 is a schematic view of a tool holder according to an embodiment of the present invention.
Fig. 8-10 are schematic diagrams illustrating a robotic arm placing an end tool back into a tool rack, according to one embodiment of the present invention.
Fig. 11-13 are schematic diagrams illustrating a robotic arm and end-tool bonding process according to one embodiment of the present invention.
Detailed Description
Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, like numbers in different drawings represent the same or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present invention. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the invention, as detailed in the appended claims.
The technical scheme provided by the embodiment of the invention relates to end tool replacing equipment. Fig. 1 and 2 are schematic views of the end tool changer. The end tool changing apparatus includes an end tool changing device and a tool rack. Wherein the tip tool changer comprises a first guide part 1 and a second guide part 4. The upper surface of the first guide part 1 is used for connecting with the end tool 2, and the first guide part 1 is clamped by the tool rack 3 after connecting with the end tool 2. The lower surface of the second guide 4 is used to connect to the end 5 of the arm. The robot arm and the end tool can be coupled by coupling the lower surface of the first guide part 1 and the upper surface of the second guide part 4 (as shown in fig. 2), and the robot arm and the end tool can be separated by separating the lower surface of the first guide part 1 and the upper surface of the second guide part 4 (as shown in fig. 1), so that the robot arm 5 can be replaced by selecting a different end tool 2 from the tool rack 3.
In an embodiment of the present invention, the lower surface of the first guide part 1 and the upper surface of the second guide part 4 respectively include a male dovetail groove and a female dovetail groove which are matched with each other, the first guide part 1 further includes a pull pin and a spring locking mechanism for controlling the pull pin, and the male dovetail groove and the female dovetail groove respectively include a preset hole; the tool holder 3 includes: the tool holder comprises a tool holder main body and a tool holder unlocking rod extending from the tool holder main body, wherein the tool holder unlocking rod is used for clamping the first guide part 1.
When arm 5 drives second guide part 4 with first direction to tool holder unlocking lever of tool holder 3 moves, the upper surface of second guide part 4 with the lower surface of first guide part 1 on the tool holder 3 passes through dovetail sliding combination, second guide part 4 continues to move and makes first guide part 1 roll off tool holder unlocking lever, and the spring locking mechanism in first guide part 1 makes the plug insert the hole of predetermineeing in the dovetail, accomplishes being connected of arm and end instrument.
When arm 5 drives second guide part 4 with the second direction to when tool holder unlocking lever of tool holder 3 removed, tool holder unlocking lever centre gripping first guide part 1 to trigger thereby spring locking mechanism action makes and inserts the pulling pin in the hole of predetermineeing is extracted, arm 5 drives second guide part 4 moves down, accomplishes that terminal instrument puts back tool holder 3.
Fig. 3 is a schematic view of a first guiding portion according to an embodiment of the invention. Fig. 4 is a perspective view of the first guide portion. As shown in fig. 3, the first guide part 1 includes: the device comprises a fixed seat 1-1, a cylindrical ejector pin spring seat 1-3, a pressure spring 1-4, a pull pin 1-5, a shifting fork 1-6, an unlocking pin 1-8 and a dovetail groove 1-9 on the lower surface of a first guide part 1. Wherein, the spring seat of the cylindrical ejector pin 1-3, the pressure spring 1-4, the shifting fork 1-6 and the unlocking pin 1-8 form a spring locking mechanism for controlling the pulling pin 1-5. Fig. 5 is a schematic diagram of a structure formed by cylindrical knock pin spring seats 1-3, compression springs 1-4, pull pins 1-5, shift forks 1-6 and unlocking pins 1-8. The spring seat 1-3 is fixed in the fixed seat 1-1 of the first guide part, one end of the shifting fork 1-6 is connected with one end of the compression spring 1-4 and one end of the pull pin 1-5, the other end of the compression spring 1-4 abuts against the spring seat 1-3, and the other end of the shifting fork 1-5 is connected with the unlocking pin 1-8. In the structure, the unlocking pin 1-8 moves downwards to drive the shifting fork 1-6 to rotate around the fixed shaft and drive the pulling pin 1-5 to move upwards, and the pressure of the pressure spring 1-4 is overcome to enable the pulling pin 1-5 to retract. The elastic action of the pressure spring can drive the shifting forks 1-6 and the unlocking pins 1-8 to return to the initial positions and drive the pulling pins 1-5 to move downwards to enter preset holes in the dovetail grooves, so that the spring locking mechanism can control the pulling pins.
Fig. 6 is a schematic view of the second guide portion 4 in the embodiment of the present invention. The upper surface of the second guide part comprises a dovetail groove 6-1 matched with the dovetail groove 1-9 on the lower surface of the first guide part, and also comprises a preset hole 6-2, when the dovetail groove 1-9 of the second guide part is combined with the dovetail groove 6-1 of the first guide part, the preset hole 6-2 and a central axis of the preset hole in the dovetail groove 1-9 on the lower surface of the first guide part are in the same straight line, so that a pulling pin 1-5 can be inserted into the two preset holes at the same time, and the fixed connection of the male dovetail groove and the female dovetail groove is completed. On the other hand, the unlocking pins 1-8 move downwards to drive the shifting forks 1-6 to rotate around the fixed shafts and drive the pulling pins 1-5 to move upwards, so that the pulling pins 1-5 are retracted by overcoming the pressure of the pressure springs 1-4, and the two sliding dovetail grooves restore to freely slide.
In one embodiment of the present invention, as shown in fig. 3, the first guide portion 1 further includes a first pogo pin contact 1-2 and a second pogo pin contact (quick-engagement female) 1-7 (and 7 in fig. 1). Accordingly, as shown in fig. 6, a third pogo pin contact (quick-engagement male) 6-3 (and 6 in fig. 1 and 2) is also included in the second guide portion 4. Wherein the first pogo pin contact 1-2 is adapted to be connected with the end tool 2 and the female quick-engagement head 1-7 of the first guide part 1 is adapted to be connected with the male quick-engagement head 6-3 of the second guide part 4. The spring pin contact can be used for realizing the quick combination of a power supply and a signal.
In an embodiment of the present invention, the tool rack 3 includes: the tool rack comprises a tool rack body and a tool rack unlocking rod extending from the tool rack body, wherein the tool rack unlocking rod is used for clamping a first guide part 1 of the replacing device and is also used for triggering a spring locking mechanism in the first guide part 1 to act.
Fig. 7 is a schematic view of a tool holder according to an embodiment of the invention. The tool holder in fig. 7 comprises: the tool rack locking device comprises a first tool rack unlocking rod 3-1, a fixing plate positioning piece 3-2, a positioning plate 3-3, a compression spring 3-4, a spring guide rod 3-5, an unlocking rod rotary pin shaft 3-6 and a second tool rack unlocking rod 3-7. The fixing plate positioning piece 3-2 and the positioning plate 3-3 form a tool rack main body, and the first tool rack unlocking rod 3-1 and the second tool rack unlocking rod 3-7 extend out of the tool rack main body and rotate through the unlocking rod rotating pin shaft 3-6. The compression spring 3-4 is installed in the tool holder body through a spring guide bar 3-5 and connected between the starting ends of the first tool holder unlocking lever 3-1 and the second tool holder unlocking lever 3-7. During assembly, the compression spring 3-4 is preloaded to enable the first tool holder unlocking lever 3-1 and the second tool holder unlocking lever 3-7 to have a certain force on the first guide portion of the end tool changing device, so that stability of the end tool on the tool holder is maintained.
In an embodiment of the invention the first tool holder release lever 3-1 or the second tool holder release lever 3-7 has a large bevel for triggering the release pin 1-8 in the snap lock mechanism in the first guide 1.
The process of replacing the end tool using the end tool replacing device and the tool holder provided in the above embodiments is described in detail below. The first guide portion 1 is fixedly connected to the end tool 2, for example, by screws. The second guide portion 4 and the arm end 5 may be fixed by screws, for example. The engagement of the first guide 1 with the second guide 4 allows the robotic arm to attach the upper end tool. The process of replacing the end tool of the mechanical arm comprises the following steps: the robot arm moves to the tool rack to place the end tool back into the tool rack and the robot arm moves to the tool rack to engage the end tool to be replaced.
As shown in fig. 8-10, the steps of moving the robotic arm to the tool rack to place the end tool back into the tool rack will be described in detail below. As shown in fig. 8, the robot arm 5 and the end tool 2 have been connected by an end tool changer. The robot arm 5 is moved in a second direction, indicated by the arrow, towards the tool holder 3 so that the tool holder release lever 3-7 is moved directly above the release pin 1-8. As shown in fig. 9, the robot arm continues to approach the tool rack and the tool rack release lever 3-7 includes a ramp, and during the movement of the robot arm 5 toward the tool rack 3, the ramp of the tool rack release lever 3-7 will depress the release pin 1-8 to the lower plane of the tool rack release lever 3-7. The unlocking pins 1-8 move downwards, so that the pulling pins between the dovetail grooves are pulled out. As shown in fig. 10, the robot arm 5 moves down in the direction of the arrow, completing the operation of replacing the end tool 2 in the tool rack 3.
The steps of the robotic arm moving to the tool rack engaging the end tool, as shown in fig. 11-13, will be described in detail below. As shown in fig. 11, the robot arm 5 moves in a first direction shown by an arrow below the tool holder 3 and continues to move toward the end tool 2 on the tool holder, and the lower surface of the first guide part 1 and the dovetail groove of the upper surface of the second guide part 4 are guided to be engaged. As shown in fig. 12, after the two dovetail grooves are combined, the mechanical arm 5 continues to move forward, so that the end tool slides 2 out of the tool rack unlocking rod 3-7, in the process of sliding out of the tool rack unlocking rod 3-7, the unlocking pin 1-8 is released upwards, the pulling pin 1-5 is also slowly inserted into the dovetail groove, and thus the mechanical arm and the end tool are locked, the contact of the pogo pin is also completed, and the combination of the mechanical arm and the end tool is completed.
According to the tail end tool replacing equipment provided by the invention, the replacing device and the tool rack which are matched with each other are arranged, the hardware part is quickly replaced by adopting a dovetail groove guide structure and a spring pin scheme, and the power supply and the signal are quickly combined by adopting a spring pin contact, so that the tail end tool of the mechanical arm is quickly replaced. The invention realizes functions by adopting an under-actuated technology, does not introduce additional power supply requirements, and is reliable in combination.
Other embodiments of the invention will be apparent to those skilled in the art from consideration of the specification and practice of the disclosure disclosed herein. This application is intended to cover any variations, uses, or adaptations of the invention following, in general, the principles of the invention and including such departures from the present disclosure as come within known or customary practice within the art to which the invention pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the invention being indicated by the following claims.
It will be understood that the invention is not limited to the precise arrangements described above and shown in the drawings and that various modifications and changes may be made without departing from the scope thereof. The scope of the invention is limited only by the appended claims.
Claims (11)
1. An end tool changing apparatus comprising a changing device and a tool rack, wherein:
the replacing device comprises a first guide part and a second guide part, the upper surface of the first guide part is used for being connected with a tail end tool, the lower surface of the second guide part is used for being connected with the tail end of the mechanical arm, and the lower surface of the first guide part and the upper surface of the second guide part respectively comprise a male dovetail groove and a female dovetail groove which are matched with each other; the first guide part also comprises a pulling pin and a spring locking mechanism for controlling the pulling pin, and the male dovetail groove and the female dovetail groove respectively comprise preset holes;
the tool holder includes: the tool holder locking device comprises a tool holder main body and a tool holder unlocking rod extending out of the tool holder main body, wherein the tool holder unlocking rod is used for clamping the first guide part;
when the mechanical arm drives the second guide part to move towards the tool rack unlocking rod of the tool rack in a first direction, the upper surface of the second guide part is in sliding combination with the lower surface of the first guide part on the tool rack through the dovetail groove, the second guide part continues to move to enable the first guide part to slide out of the tool rack unlocking rod, and the spring locking mechanism in the first guide part enables the pulling pin to be inserted into the preset hole to complete connection of the mechanical arm and the end tool;
when the mechanical arm drives the second guide part to move towards the tool rack unlocking rod of the tool rack in the second direction, the tool rack unlocking rod clamps the first guide part and triggers the spring locking mechanism to move so that the pulling pin inserted into the preset hole is pulled out, and the mechanical arm drives the second guide part to move downwards to finish the replacement of the terminal tool to the tool rack.
2. The apparatus of claim 1, wherein the spring locking mechanism comprises: the spring seat is fixed in the fixed seat of the first guide part, one end of the shifting fork is connected with one end of the pressure spring and one end of the pulling pin, the other end of the pressure spring abuts against the spring seat, and the other end of the shifting fork is connected with the unlocking pin.
3. The apparatus of claim 2, wherein the tool holder release lever includes a ramp for triggering the release pin when the first guide is clamped.
4. The apparatus of claim 1, wherein the first and second guides each further comprise pogo pin contacts.
5. The apparatus of claim 1, wherein the tool holder includes two tool holder unlocking levers, the tool holder further comprising:
and the compression spring is connected between the starting ends of the two tool rack unlocking rods.
6. The tail end tool replacing device is characterized by comprising a first guide part and a second guide part, wherein the upper surface of the first guide part is used for being connected with a tail end tool, the lower surface of the second guide part is used for being connected with the tail end of a mechanical arm, and the lower surface of the first guide part and the upper surface of the second guide part respectively comprise a male dovetail groove and a female dovetail groove which are matched with each other; the first guide part also comprises a pulling pin and a spring locking mechanism for controlling the pulling pin, and the male dovetail groove and the female dovetail groove respectively comprise preset holes;
when the mechanical arm drives the second guide part to move towards the tool rack unlocking rod of the tool rack in a first direction, the upper surface of the second guide part is combined with the dovetail groove of the lower surface of the first guide part on the tool rack in a guiding mode, the second guide part continues to move, so that the first guide part slides out of the tool rack unlocking rod, and the spring locking mechanism in the first guide part enables the pulling pin to be inserted into the preset hole, so that the connection between the mechanical arm and the end tool is completed;
when the mechanical arm drives the second guide part to move towards the tool rack unlocking rod of the tool rack in the second direction, the tool rack unlocking rod clamps the first guide part and triggers the spring locking mechanism to move so that the pulling pin inserted into the preset hole is pulled out, and the mechanical arm drives the second guide part to move downwards to finish the replacement of the terminal tool to the tool rack.
7. The apparatus of claim 6, wherein the spring locking mechanism comprises: the spring seat is fixed in the fixed seat of the first guide part, one end of the shifting fork is connected with one end of the pressure spring and one end of the pulling pin, the other end of the pressure spring abuts against the spring seat, and the other end of the shifting fork is connected with the unlocking pin.
8. The device of claim 6, wherein the first and second guides each further comprise pogo pin contacts.
9. A tool holder, characterized in that the tool holder comprises: the tool rack comprises a tool rack body and a tool rack unlocking rod extending from the tool rack body, wherein the tool rack unlocking rod is used for clamping a first guide part of a replacing device and triggering a spring locking mechanism in the first guide part to act; the first guide part also comprises a pulling pin and a spring locking mechanism for controlling the pulling pin, and the male dovetail groove and the female dovetail groove respectively comprise preset holes; when the mechanical arm drives the second guide part to move towards the tool rack unlocking rod of the tool rack in a first direction, the upper surface of the second guide part is combined with the dovetail groove of the lower surface of the first guide part on the tool rack in a guiding mode, the second guide part continues to move, so that the first guide part slides out of the tool rack unlocking rod, and the spring locking mechanism in the first guide part enables the pulling pin to be inserted into the preset hole, so that the connection between the mechanical arm and the end tool is completed; when the mechanical arm drives the second guide part to move towards the tool rack unlocking rod of the tool rack in the second direction, the tool rack unlocking rod clamps the first guide part and triggers the spring locking mechanism to move so that the pulling pin inserted into the preset hole is pulled out, and the mechanical arm drives the second guide part to move downwards to finish the replacement of the terminal tool to the tool rack.
10. The tool rack of claim 9, wherein the tool rack unlatching lever includes a ramp for triggering the unlatching pin of the spring latch mechanism.
11. The tool holder of claim 9, wherein the tool holder comprises two tool holder unlocking levers, the tool holder further comprising:
and the compression spring is connected between the starting ends of the two tool rack unlocking rods.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202011196424.1A CN112372658B (en) | 2020-10-30 | 2020-10-30 | Terminal tool replacing equipment |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011196424.1A CN112372658B (en) | 2020-10-30 | 2020-10-30 | Terminal tool replacing equipment |
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| CN112372658B true CN112372658B (en) | 2022-04-05 |
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| CN112976040B (en) * | 2021-03-04 | 2022-04-26 | 内蒙古工业大学 | Terminal quick change device of rotary electromagnetic control claw type robot |
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| CN112372658A (en) | 2021-02-19 |
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