CN112776000A - Electrically-driven permanent magnet adsorption type robot terminal quick-change device - Google Patents
Electrically-driven permanent magnet adsorption type robot terminal quick-change device Download PDFInfo
- Publication number
- CN112776000A CN112776000A CN202110240906.0A CN202110240906A CN112776000A CN 112776000 A CN112776000 A CN 112776000A CN 202110240906 A CN202110240906 A CN 202110240906A CN 112776000 A CN112776000 A CN 112776000A
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- disc
- tool
- electrically
- side magnet
- master
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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
- B25J15/0441—Connections means having vacuum or magnetic means
-
- 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 discloses an electrically-driven permanent magnet adsorption type robot terminal quick-change device which comprises a main disc, a tool disc and a magnetic adsorption mechanism, wherein a tool disc side magnet is fixedly arranged at one end of the tool disc, the main disc is of a hollow structure, the magnetic adsorption mechanism is arranged in the hollow part of the main disc, the magnetic adsorption mechanism comprises a locking sleeve, a main disc side magnet and a driving device, the outer side surface of the locking sleeve is rotatably connected with the inner wall of the main disc, the end surface of one end of the locking sleeve is fixedly connected with the main disc side magnet, the other end of the locking sleeve is connected with the output end of the driving device, the driving device is connected with the main disc, a plurality of main disc side magnets and a plurality of tool disc side magnets are arranged in an annular array manner, the driving device is used for driving the locking sleeve to rotate so that the plurality of main disc side magnets and the plurality of tool disc side magnets are, the existing pneumatic locking and unlocking are abandoned, and the mechanical structure is adopted for locking, so that the device is fast to replace, is electrically unlocked, and is safe and reliable.
Description
Technical Field
The invention relates to the field of mechanical arm quick-change devices, in particular to a quick-change device for a tail end of an electrically-driven permanent magnet adsorption type robot.
Background
The existing mechanical arm realizes that the mechanical arm switches different execution tools through a quick-change device, and the mechanical arm has the following technical defects: the existing quick-change device is pneumatically driven to unlock a self-locking system, a pneumatic pipe needs to be exposed outside, the pneumatic pipe can be broken due to low-temperature embrittlement in a low-temperature environment, the whole quick-change device loses the function, or the effective locking of the quick-change device cannot be maintained under the condition that the electrical environment fails, so that a main disc of the quick-change device and a tool disc fall off, and a tail end executing mechanism connected with the tool disc is damaged.
The invention aims to design a novel quick-change device with high adaptability to the environment. The quick-change device can adapt to a more severe environment due to the unique structure, and meanwhile, the self-locking system gives up the existing pneumatic locking and unlocking and adopts a mechanical structure for locking, quick change and electric unlocking, and is safe and reliable; the invention has simple structure, convenient disassembly and low cost.
Disclosure of Invention
In view of the above-mentioned drawbacks of the prior art, the object of the present invention is to: the utility model provides a terminal quick change device of electric drive permanent magnetism adsorption type robot, can adapt to more abominable environment, and the auto-lock system gives up current pneumatic locking, unblock and adopts mechanical structure locking simultaneously, and quick reloading, electronic unblock, safe and reliable.
In order to achieve the purpose, the invention provides the following technical scheme:
the utility model provides a terminal quick change device of electric drive permanent magnetism adsorption type robot, includes master, tool disc and magnetism adsorption mechanism, the fixed tool disc side magnet that is provided with of tool disc one end, the master is hollow structure, magnetism adsorption mechanism set up in the well kenozooecium of master, magnetism adsorption mechanism includes lock sleeve, master side magnet and drive arrangement, the lock sleeve lateral surface rotates and connects the master inner wall, lock sleeve one end terminal surface fixed connection master side magnet, its other end is connected drive arrangement's output, drive arrangement connects the master, master side magnet with tool disc side magnet all is provided with a plurality of with circular array, drive arrangement is used for the drive the lock sleeve rotates, so that a plurality of master side magnet and a plurality of tool disc side magnet sets up in a crisscross way.
Further, the main disk side magnet and the tool disk side magnet are both permanent magnets.
Further, drive arrangement includes motor, pinion and gear wheel, motor axis of rotation fixed connection the pinion, the gear wheel with pinion engagement, the gear wheel is connected the lock sleeve, the master batch internal fixation is provided with the fixed disk, the motor is installed on the fixed disk.
Furthermore, the gear wheel fixing device further comprises limit blocks and stop blocks, wherein the two stop blocks are fixedly arranged on the top end face of the gear wheel, the limit blocks are installed on the fixing disc, the bottoms of the limit blocks are arranged between the two stop blocks, and the two stop blocks are used for limiting the rotating angle of the gear wheel.
Furthermore, the end face of the main disc is provided with a plurality of guide pins, and the end face of the tool disc is provided with guide holes matched with the guide pins.
Furthermore, the end face of the main disc is provided with a first communication head, and the end face of the opening of the tool disc is provided with a second communication head matched with the first communication head.
Further, the first communication head is a communication contact female end, and the second communication head is a communication contact male end.
Compared with the prior art, the invention has the following beneficial effects:
1. through the downward instrument dish that is close of master plate, master plate side magnet and the actuation of instrument dish side magnet, accomplish the locking, the adsorption affinity that produces between the magnet tightly adsorbs master plate and instrument dish, connects master plate and instrument dish through magnetic force's mode, and does not need pneumatic means, in low temperature, high temperature or other adverse circumstances, still can keep the adsorption affinity between master plate and the instrument dish, has reached the beneficial effect who is applicable to adverse circumstances.
2. The motor drives the pinion and the gear wheel to rotate in a matched mode, so that the main disc side magnet and the tool disc side magnet are staggered or aligned, an electrically-driven mechanical structure is adopted, the quick-change device is guaranteed to still keep effective locking force under the condition that the electrical environment fails, and the beneficial effect that the electrically-driven mechanical structure is adopted to guarantee stability of the locking force is achieved.
Drawings
Fig. 1 is an overall structure diagram of a quick-change device at the tail end of an electrically-driven permanent magnet adsorption type robot according to the invention;
FIG. 2 is a perspective view of the locking stage;
FIG. 3 is a perspective view of the main tray;
FIG. 4 is a perspective view of the tool tray;
FIG. 5 is a schematic view of a driving device;
FIG. 6 is a schematic view of a stopper and a stop;
list of reference numerals
100-main disc, 101-motor, 102-small gear, 103-big gear, 104-fixed disc, 105-bearing, 106-limiting block, 107-stop block, 108-locking sleeve, 109-main disc side magnet, 110-communication female end, 111-guide pin, 200-tool disc, 201-tool disc side magnet, 202-communication contact male end and 203-guide hole.
Detailed Description
The technical solutions of the present invention will be described clearly and completely with reference to fig. 1 to 6, and it is obvious that the described embodiments are some, not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the description of the present invention, it is to be understood that the terms "upper", "lower", "front", "rear", "inner", "outer", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are only for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as being fixedly connected, integrally connected, or detachably connected; may be communication within two elements; they may be directly connected or indirectly connected through an intermediate, and those skilled in the art will understand the specific meaning of the above terms in the present invention in specific situations.
The utility model provides a terminal quick change device of electric drive permanent magnetism adsorption type robot, includes main disc 100, tool disc 200 and magnetism adsorption mechanism, tool disc 200 one end is fixed to be provided with tool disc side magnet 201, main disc 100 is hollow structure, magnetism adsorption mechanism set up in the well kenozooecium of main disc 100 is internal, magnetism adsorption mechanism includes lock sleeve 108, main disc side magnet 109 and drive arrangement, lock sleeve 108 lateral surface rotates through bearing 105 to be connected the main disc 100 inner wall, lock sleeve 108 one end terminal surface fixed connection main disc side magnet 109, its other end is connected drive arrangement's output, drive arrangement connects main disc 100, main disc side magnet 109 with tool disc side magnet 201 all is provided with a plurality of, specifically, main disc side magnet 109 and tool disc side magnet 201 all are provided with three around two axle centers and are annular array ground, gaps are formed between two adjacent main disc side magnets 109 and two adjacent tool disc side magnets 201, the driving device is used for driving the locking sleeve 108 to rotate, so that the main disc side magnets 109 and the tool disc side magnets 201 are arranged in a staggered mode, one main disc side magnet 109 is arranged in the gap between two adjacent tool disc side magnets 201, and one tool disc side magnet 201 is arranged in the gap between two adjacent main disc side magnets 109.
One side that the instrument dish 200 was kept away from to main dish 100 is equipped with the installation department, and the installation department is used for connecting the six flange ends of arm, and the one end that the piece 201 was kept away from to instrument dish 200 is used for connecting the flange side of carrying out the frock, and the frock of carrying out can be: according to actual production requirements, tools such as a gripper, a welding gun or a glue gun are all installed on different execution tools, then the main disc 100 is inserted into the tool disc 200 to be matched with the tool disc through movement of the mechanical arm, and therefore the mechanical arm can be used for rapidly switching different tools.
During the whole device locking stage, the main disc 100 is close to the tool disc 200 downwards, the main disc side magnet 109 and the tool disc side magnet 201 are attracted to complete locking, the main disc 100 and the tool disc 200 are tightly attracted by the attraction force generated between the magnets, the main disc 100 and the tool disc 200 are connected in a magnetic force mode, pneumatic equipment is not needed, the attraction force between the main disc 100 and the tool disc 200 can be still kept in low-temperature, high-temperature or other severe environments, and the beneficial effect of being suitable for severe environments is achieved.
In the unlocking stage, the driving device drives the locking sleeve 108 to rotate, so that a lateral force is generated to separate the main disc side magnet 109 and the tool disc side magnet 201, and the unlocking is completed. Because the permanent magnet can generate great adsorption force in the positive direction attraction, and the lateral separation requires relatively small lateral force, the reliability of the device in the locking process and the convenience in the separation process are ensured.
Furthermore, the main plate side magnet 109 and the tool plate side magnet 201 are both permanent magnets, so that the service life of the whole device is longer.
Further, drive arrangement includes motor 101, pinion 102 and gear wheel 103, motor 101 axis of rotation fixed connection pinion 102, gear wheel 103 with pinion 102 meshes, gear wheel 103 connects the lock sleeve 108, the main part 100 internal fixation is provided with fixed disk 104, motor 101 installs on fixed disk 104, the stiff end of motor 101 is installed on fixed disk 104, and fixed disk 104 and fixed connection pinion 102 are passed to its axis of rotation.
In locking stage and unblock stage, motor 101 drives gear wheel 103 through drive pinion 102 and rotates, and then make the locking sleeve 108 reciprocating rotation, master side magnet 109 staggers or aligns with tool disc side magnet 201, rotate through the cooperation of motor 101 drive pinion 102 and gear wheel 103, and then make master side magnet 109 stagger or align with tool disc side magnet 201, adopt the mechanical type structure of electricity driving, under the effect of its self-locking structure of motor 101 among the prior art, guaranteed that the quick change device still can keep effectual locking force under the electrical environment inefficacy, reached and adopted the beneficial effect of electricity driving mechanical structure in order to guarantee that locking force is stable.
Further, the locking device further comprises a limiting block 106 and a stopping block 107, two stopping blocks 107 are fixedly arranged on the top end surface of the large gear 103, the limiting block 106 is installed on the fixed disk 104, the bottom of the limiting block 106 is arranged between the two stopping blocks 107, the stopping blocks 107 are fixedly connected with the large gear 103, the two stopping blocks 107 are used for limiting the rotation angle of the large gear 103, a gap is formed between the top of the large gear 103 and the bottom of the fixed disk 104, the stopping blocks 107 are arranged in the gap, an installation groove is formed in the fixed disk 104, the limiting block 106 is installed in the installation groove through screws, during the locking stage, the bottom of the limiting block 106 is abutted against one stopping block 107, at the moment, the main disk side magnet 109 is aligned with the tool disk side magnet 201, during the unlocking stage, the bottom of the limiting block 106 is abutted against the other stopping block 107, the main disk side magnet, the whole device is protected, and the reliability of the device is also improved.
Furthermore, the end face of the main disc 100 is provided with a plurality of guide pins 111, the end face of the tool disc 200 is provided with guide holes 203 matched with the guide pins 111, the positioning pins 111 are matched with the corresponding guide holes 203 on the tool disc 200, so that the main disc 100 and the tool disc 200 are accurately positioned, and the positioning pins 111 are matched with cylindrical pins and chamfered edge pins to prevent over-positioning.
Further, a first communication head is arranged on the end face of the main disc 100, and a second communication head adapted to the first communication head is arranged on the opening end face of the tool disc 200.
Further, the first communication head is a communication contact female end 110, the second communication head is a communication contact male end 202, and after the tool tray 200 reaches the locking position, the communication contact female end 110 contacts with the communication contact male end 202 to communicate a communication loop and transmit a signal to the electric control board, so that the motor 101 executes a corresponding action.
The preferred embodiments of the present invention have been described in detail with reference to the accompanying drawings, however, the present invention is not limited to the specific details of the embodiments in the above-described embodiments, and various simple modifications can be made to the technical solution of the present invention within the technical idea of the present invention, and these simple modifications are within the protective scope of the present invention. It should be noted that the various technical features described in the above embodiments can be combined in any suitable manner without contradiction, and the invention is not described in any way for the possible combinations in order to avoid unnecessary repetition. In addition, any combination of the various embodiments of the present invention is also possible, and the same should be considered as the disclosure of the present invention as long as it does not depart from the spirit of the present invention.
Claims (7)
1. The utility model provides a terminal quick change device of electric drive permanent magnetism adsorption type robot, its characterized in that includes master (100), tool disc (200) and magnetism adsorption mechanism, fixed tool disc side magnet (201) that is provided with of tool disc (200) one end, master (100) are hollow structure, magnetism adsorption mechanism sets up in the well kenozooecium of master (100) is internal, magnetism adsorption mechanism includes lock sleeve (108), master side magnet (109) and drive arrangement, lock sleeve (108) lateral surface rotates and connects master (100) inner wall, lock sleeve (108) one end terminal surface fixed connection master side magnet (109), its other end is connected drive arrangement's output, drive arrangement connects master (100), master side magnet (109) with tool disc side magnet (201) all are provided with a plurality of in annular array, the driving device is used for driving the locking sleeve (108) to rotate, so that the plurality of main disc side magnets (109) and the plurality of tool disc side magnets (201) are arranged in a staggered mode.
2. The device for electrically driving the permanent magnet adsorption type robot to quickly replace the tail end thereof as claimed in claim 1, wherein the main disc side magnet (109) and the tool disc side magnet (201) are both permanent magnets.
3. The device for quickly changing the tail end of the electrically-driven permanent magnet adsorption type robot according to claim 1, wherein the driving device comprises a motor (101), a pinion (102) and a gearwheel (103), the rotating shaft of the motor (101) is fixedly connected with the pinion (102), the gearwheel (103) is meshed with the pinion (102), the gearwheel (103) is connected with the locking sleeve (108), a fixed disc (104) is fixedly arranged in the main disc (100), and the motor (101) is installed on the fixed disc (104).
4. The device for quickly changing the tail end of the electrically driven permanent magnet adsorption type robot according to claim 3, further comprising a limiting block (106) and two stopping blocks (107), wherein two stopping blocks (107) are fixedly arranged on the top end surface of the large gear (103), the limiting block (106) is installed on the fixed plate (104), the bottom of the limiting block (106) is arranged between the two stopping blocks (107), and the two stopping blocks (107) are used for limiting the rotation angle of the large gear (103).
5. The device for quickly changing the tail end of the electrically-driven permanent magnet adsorption type robot according to claim 1, wherein a plurality of guide pins (111) are arranged on the end surface of the main disc (100), and guide holes (203) matched with the guide pins (111) are arranged on the end surface of the tool disc (200).
6. The quick-change device for the tail end of the electrically-driven permanent-magnet adsorption robot as claimed in claim 1, wherein a first communication head is arranged on the end face of the main disc (100), and a second communication head matched with the first communication head is arranged on the open end face of the tool disc (200).
7. The quick-change device for the tail end of the electrically-driven permanent-magnet adsorption robot as claimed in claim 6, wherein the first communication head is a communication contact female end (110), and the second communication head is a communication contact male end (202).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110240906.0A CN112776000B (en) | 2021-03-04 | 2021-03-04 | Electrically-driven permanent magnet adsorption type robot terminal quick-change device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110240906.0A CN112776000B (en) | 2021-03-04 | 2021-03-04 | Electrically-driven permanent magnet adsorption type robot terminal quick-change device |
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| CN112776000A true CN112776000A (en) | 2021-05-11 |
| CN112776000B CN112776000B (en) | 2022-05-24 |
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| CN202110240906.0A Active CN112776000B (en) | 2021-03-04 | 2021-03-04 | Electrically-driven permanent magnet adsorption type robot terminal quick-change device |
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Cited By (3)
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| CN115592683A (en) * | 2022-10-27 | 2023-01-13 | 国网天津市电力公司（Cn） | Protection tripping device for quick-mounting head of live working robot |
| WO2023115207A1 (en) * | 2021-12-20 | 2023-06-29 | Macdonald, Dettwiler And Associates Inc. | System, method, and device for dust tolerant robotic interface |
| CN117163421A (en) * | 2023-11-03 | 2023-12-05 | 山东新华医疗器械股份有限公司 | Multi-arm cooperation intelligent packaging robot for disinfection supply center |
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| CN112776000B (en) | 2022-05-24 |
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