CN112720552A - Manual quick-change device based on terminal tool of cooperative robot - Google Patents
Manual quick-change device based on terminal tool of cooperative robot Download PDFInfo
- Publication number
- CN112720552A CN112720552A CN202110021311.6A CN202110021311A CN112720552A CN 112720552 A CN112720552 A CN 112720552A CN 202110021311 A CN202110021311 A CN 202110021311A CN 112720552 A CN112720552 A CN 112720552A
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- Prior art keywords
- finger
- rises
- tight
- robot
- tensioning
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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
- B25J15/0408—Connections means
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention relates to a manual quick-change device based on a cooperative robot end tool, which is provided with a base body used for connecting the robot end tool, wherein a finger seat is rotatably arranged on the base body, three tensioning fingers which are uniformly distributed in the circumferential direction are arranged on the finger seat, the tensioning fingers synchronously move in the radial direction and rotate along with the rotation of the finger seat to realize tensioning or separation from the inner hole wall of a robot flange, a guide flange is arranged on the base body, the guide flange is provided with a guide groove corresponding to the tensioning fingers, and the tensioning fingers are in sliding fit with the guide groove. The invention drives the tensioning fingers to rotate and simultaneously move radially through the rotation of the finger seat, and the tensioning fingers rotate and slide along the guide grooves, so that the tensioning or the separation from the inner hole wall of the robot flange is realized, the installation or the disassembly of a robot end tool is completed, the installation is reliable and convenient, and the use cost can be reduced.
Description
Technical Field
The invention relates to the technical field of robot equipment, in particular to a manual quick-change device based on a cooperative robot end tool.
Background
In the practical application of the robot, the tail end of the robot is provided with an executing tool to finish the actions of picking and placing materials, and the tail end executing tool is mainly arranged in two forms: firstly, a switching flange is directly connected with a sixth shaft flange at the tail end of the robot; and secondly, the electric quick-change device is adopted to connect the tail end to execute, and flange connection is the most universal connection mode in the two connection modes. The reliability of the connection mode is beneficial to realizing the automation degree of material transmission, workpiece clamping, cutter replacement, machine assembly and the like, thereby improving the labor productivity and reducing the production cost.
In the installation and fixation of the existing robot tail end tool, the number of screws required for directly connecting the adapter flange with the sixth shaft flange at the tail end of the robot is large, the overall structure size is increased, and the installation consumes time and labor; the electric quick-change device is adopted to connect the tail end to execute, and the cost is too high.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: in order to overcome the defects in the prior art, the invention provides the manual quick-change device based on the cooperative robot end tool, which has a simple structure and can effectively improve the working performance of the robot.
The technical scheme adopted by the invention for solving the technical problems is as follows: the utility model provides a manual quick change device based on terminal instrument of cooperation robot has the base member that is used for connecting the terminal instrument of robot, the base member on rotate and be equipped with the finger seat, be equipped with the tight finger that rises of three circumference equipartition on the finger seat, the tight finger that rises is taken turns to and is realized rising tightly or break away from with robot flange inner hole wall in synchronous radial movement and automatic adjustment direction when rotatory along with the finger seat, installs guiding flange on the base member, guiding flange is equipped with the guide way that corresponds with the tight finger that rises, the tight finger that rises and guide way sliding fit.
Specifically speaking, the base member in install worm wheel, with worm wheel meshing driven worm, the finger seat links firmly with the worm wheel upper surface, the regulation hole of being convenient for rotate the worm is seted up to the base member lateral wall.
Furthermore, a guide rail is installed on the finger seat, a sliding block capable of sliding back and forth along the guide rail is arranged on the guide rail, the tensioning finger is installed on the sliding block through a pin shaft, and the tensioning finger can rotate on the sliding block around the pin shaft and adjust the tensioning direction while rotating.
The invention has the beneficial effects that: according to the invention, the base body is fixedly connected with the robot tail end execution tool, the worm is rotated by manually rotating the adjusting wrench through the adjusting hole to drive the worm wheel to rotate, and the three tensioning fingers synchronously move radially on the guide rail, so that the tensioning fingers can extend out to be tensioned with the inner hole wall of the robot flange or retract to be separated from the inner hole wall of the robot flange, and thus, the installation or the disassembly of the robot tail end tool is completed, the installation is reliable and convenient, and the use cost can be reduced.
Drawings
The invention is further described with reference to the following figures and embodiments.
Fig. 1 is a schematic sectional structure of the present invention.
Fig. 2 is a schematic top view of the present invention.
Fig. 3 is a yesterday schematic of the invention in cooperation with a robot flange.
In the figure: 1. the robot comprises a base body, 2 finger seats, 3 tensioning fingers, 4 robot flanges, 5 guide flanges, 6 guide grooves, 7 worm wheels, 8 worms, 9 adjusting holes, 10 guide rails and 11 sliding blocks.
Detailed Description
The present invention will now be described in further detail with reference to the accompanying drawings. These drawings are simplified schematic views illustrating only the basic structure of the present invention in a schematic manner, and thus show only the constitution related to the present invention.
As shown in fig. 1-3, the manual quick-change device based on the cooperative robot terminal tool comprises a base body 1 with a hollow inner cavity, the bottom surface of the base body 1 is connected with the robot terminal tool, a finger seat 2 is arranged on the upper end surface of the base body 1, a worm wheel 7 and a worm 8 in meshed transmission with the worm wheel 7 are installed in the inner cavity of the base body 1, an adjusting hole 9 convenient for rotating the worm 8 is formed in the side wall of the base body 1, the worm 8 is rotated through the adjusting hole 9 to drive the worm wheel 7 to rotate, and the finger seat 2 is fixedly connected with the upper surface of the worm wheel 7 and synchronously rotates along with the worm wheel.
The finger seat 2 is provided with three tensioning fingers 3 uniformly distributed in the circumferential direction, the finger seat 2 is provided with a guide rail 10, the guide rail 10 is provided with a sliding block 11 capable of sliding along the guide rail 10 in the front and back directions, the tensioning fingers 3 are arranged on the sliding block 11 through pin shafts, and the tensioning fingers 3 can rotate on the sliding block 11 around the pin shafts and can automatically adjust the tensioning direction while rotating.
A guide flange 5 fixedly connected with the base body 1 is arranged above the tensioning fingers 3, a guide groove 6 corresponding to the tensioning fingers 3 is formed in the guide flange 5, and the tensioning fingers 3 are in sliding fit with the guide groove 6.
When the tool is used, the tail end tool of the robot is fixedly connected with the base body 1, the worm 8 is rotated through the adjusting hole 9 by using an adjusting wrench to drive the worm wheel 7 to rotate, the rotation of the worm wheel 7 synchronously drives the finger seat 2 to rotate, under the rotating action of the finger seat 2, the three tensioning fingers 3 synchronously move radially on the guide rail 10 and automatically adjust the tensioning direction through rotating on the sliding block 11 around the pin shaft and sliding fit with the guide groove 6, so that the tensioning fingers 3 extend out of the inner hole wall of the robot flange 4 to be tensioned or retract to be separated from the inner hole wall of the robot flange 4, and the mounting or dismounting of the tail end tool of the robot is completed.
According to the invention, the base body 1 is fixedly connected with the robot tail end execution tool, the worm 8 is rotated by the adjusting wrench through the adjusting hole 9 to drive the worm wheel 7 to rotate, and the three tensioning fingers 3 synchronously move radially on the guide rail 10, so that the tensioning fingers 3 can extend out to be tensioned with the inner hole wall of the robot flange 4 or retract to be separated from the inner hole wall of the robot flange 4, and thus the installation or the disassembly of the robot tail end tool is completed, the installation is reliable and convenient, and the use cost can be reduced.
In light of the foregoing description of the preferred embodiment of the present invention, many modifications and variations will be apparent to those skilled in the art without departing from the spirit and scope of the invention. The technical scope of the present invention is not limited to the content of the specification, and must be determined according to the scope of the claims.
Claims (3)
1. A manual quick-change device based on a cooperative robotic end tool, having a base body (1) for connecting the robotic end tool, characterized in that: base member (1) on rotate and be equipped with finger seat (2), be equipped with the tight finger (3) that rises of three circumference equipartition on finger seat (2), the tight finger (3) that rises is tight along with finger seat (2) when rotatory do radial movement and automatic adjustment direction in step and realize rising tightly or break away from with robot flange (4) interior pore wall, install guiding flange (5) on base member (1), guiding flange (5) are equipped with guide way (6) that correspond with the tight finger (3) that rises, the tight finger (3) and guide way (6) sliding fit that rises.
2. The manual quick change device based on a cooperative robotic end tool as claimed in claim 1, wherein: base member (1) in install worm wheel (7), with worm wheel (7) meshing driven worm (8), finger seat (2) links firmly with worm wheel (7) upper surface, regulation hole (9) convenient to rotate worm (8) are seted up to base member (1) lateral wall.
3. The manual quick change device based on a cooperative robotic end tool of claim 2, wherein: the finger seat (2) on install guide rail (10), be equipped with on guide rail (10) and can follow gliding slider (11) of guide rail (10) front and back, tight finger (3) that rises is installed on slider (11) through the round pin axle, tight finger (3) that rises can rotate and adjust the tight direction that rises when the pivoted on slider (11) around the round pin axle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110021311.6A CN112720552A (en) | 2021-01-08 | 2021-01-08 | Manual quick-change device based on terminal tool of cooperative robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110021311.6A CN112720552A (en) | 2021-01-08 | 2021-01-08 | Manual quick-change device based on terminal tool of cooperative robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112720552A true CN112720552A (en) | 2021-04-30 |
Family
ID=75589710
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110021311.6A Pending CN112720552A (en) | 2021-01-08 | 2021-01-08 | Manual quick-change device based on terminal tool of cooperative robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112720552A (en) |
-
2021
- 2021-01-08 CN CN202110021311.6A patent/CN112720552A/en active Pending
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| CB02 | Change of applicant information |
Address after: 200240 building 6, 646 Jianchuan Road, Minhang District, Shanghai Applicant after: Jieka Robot Co.,Ltd. Address before: 200240 building 6, 646 Jianchuan Road, Minhang District, Shanghai Applicant before: SHANGHAI JAKA ROBOTICS Ltd. |
|
| CB02 | Change of applicant information |