CN112976040B - Terminal quick change device of rotary electromagnetic control claw type robot - Google Patents

Abstract

The invention discloses a quick-changing device for the end of a rotary electromagnetic control claw-type robot, which comprises a main plate, a tool plate, a self-locking plate, a torsion spring, a guide shaft and a self-locking pin. The main plate is provided with a cavity, the guide shaft and the self-locking pin are provided The locking discs are all arranged in the cavity, one end of the main disc is provided with a connecting part, one end of the tool disc is provided with a sliding cavity with an opening, the self-locking disc is rotatably connected to a guide shaft, and a normally closed electromagnetic In the clutch, the torsion spring is sleeved on the guide shaft, one end of the torsion spring is fixedly connected to the inner wall of the cavity, and the other end of the torsion spring is fixedly connected to the self-locking disc. Locking pin, one end of the self-locking pin away from the guide shaft passes through the side wall of the connecting part, the self-locking pin is used to push the self-locking disk to rotate along the arc groove when it is in contact with the inner wall of the sliding cavity, and the inner wall of the sliding cavity is provided with a locking pin The slot, abandoning the existing pneumatic locking and unlocking, adopts a mechanical mechanism to lock, fast changing, electric unlocking, safe and reliable.

Description

A rotary electromagnetic control jaw type robot end quick change device

technical field

The invention relates to the field of quick-change devices for mechanical arms, in particular to a quick-change device for the end of a rotating electromagnetic control claw-type robot.

Background technique

The use of industrial robots, that is, robotic arms in many production fields, has proved that it has a remarkable role in improving the level of production automation, improving labor productivity, product quality and economic benefits, and improving workers' working conditions. The operation ability and operation efficiency of the robot largely depend on the operation ability of the robot operation tool. The application of the quick change device for the robot working tool can improve the working efficiency of the robot, improve the adaptability and versatility of the robot to the working environment, and realize the multi-purpose of one machine.

The existing manipulator realizes that the manipulator can switch between different execution tooling through the quick-change device, which has the following technical disadvantages: the unlocking of the self-locking system of the existing quick-change device adopts pneumatic drive, and the pneumatic tube needs to be exposed to the outside world, and in a low temperature environment The pneumatic tube will be broken due to low temperature embrittlement, which will make the entire quick-change device lose its function; the communication interface of the existing quick-change device is arranged on the outer wall of the entire device, so that the future communication wiring will be exposed to the outside world. In harsh environments such as low temperature, high humidity, windy sand, etc., the communication quality will be affected or even the communication will be completely paralyzed: the cost of the existing quick-change device is too high, and once the pneumatic locking fails, the quick-change device will The disc and the tool disc fell off, damaging the end effector connected to the tool disc.

The invention aims to design a novel quick-change device with high adaptability to the environment. Because of its unique structure, the quick-change device can adapt to harsher environments, and at the same time, the self-locking system abandons the existing pneumatic locking and unlocking and adopts a mechanical mechanism for locking, quick replacement, and electric unlocking, which is safe and reliable; and the present invention The structure is simple, the disassembly is convenient, and the cost is low.

SUMMARY OF THE INVENTION

In view of the above-mentioned shortcomings of the prior art, the purpose of the present invention is to provide a rotary electromagnetic control claw-type robot end quick change device, which can adapt to a harsher environment, and at the same time, the self-locking system abandons the existing pneumatic locking, Unlocked and locked by mechanical mechanism, fast changing, electric unlocking, safe and reliable.

In order to realize the above-mentioned purpose of the invention, the present invention provides the following technical solutions:

A rotary electromagnetic control claw type robot end quick change device, comprising a main plate, a tool plate, a self-locking plate, a torsion spring, a guide shaft and a self-locking pin, the main plate is provided with a cavity, the guide shaft and all The self-locking discs are all arranged in the cavity, both ends of the guide shaft are connected to the inner wall of the cavity, one end of the main disc is provided with a connecting part, and one end of the tool disc is provided with a sliding cavity with an opening, so The sliding cavity is adapted to the connecting portion, the guide shaft passes through the self-locking disc, the self-locking disc is rotatably connected to the guide shaft, and there is a constant connection between the self-locking disc and the guide shaft. Closed electromagnetic clutch, the torsion spring is sleeved on the guide shaft, one end of the torsion spring is fixedly connected to the inner wall of the cavity, and the other end of the torsion spring is fixedly connected to the self-locking disc. A plurality of arc-shaped grooves are arranged on the disc, and a self-locking pin is arranged in each of the plurality of arc-shaped grooves. The self-locking pin is used to push the self-locking disk to rotate along the arc-shaped groove when it is in contact with the inner wall of the sliding cavity. The inner wall of the sliding cavity is provided with a locking groove, and the locking groove is connected to the A locking pin is fitted through one end of the connecting portion.

Further, the top of the self-locking pin is provided with a shaft portion, its side is provided with a plug-in portion, the shaft portion is set in the arc-shaped groove, and the side wall of the connection portion is provided with a fitting portion for the plug-in portion. The connecting portion is arranged in the through hole and extends out of the connecting portion, and the bottom of the self-locking pin is arranged on the inner wall of the cavity.

Further, the plug-in portion is provided with a chamfer.

Further, a plurality of the arc-shaped grooves are distributed in an annular array around the axis of the self-locking disk, and the distance between one end of the arc-shaped groove and the guide shaft is smaller than the distance between the other end and the guide shaft. distance.

Further, the self-locking pin and the normally-closed electromagnetic clutch are arranged on both sides of the self-locking disc, and the normally-closed electromagnetic clutch is arranged at a side of the self-locking disc away from the connecting portion.

Further, the normally closed electromagnetic clutch is sleeved on the guide shaft, and the normally closed electromagnetic clutch sequentially includes a clutch housing, an adsorption device, an elastic ring, a pressure plate and a driven plate from top to bottom; The driven plate is arranged on the side of the normally closed electromagnetic clutch close to the self-locking plate, the driven plate is connected to the self-locking plate, the guide shaft is fixedly connected to the clutch housing, and the clutch The shell is fixedly connected to the adsorption device, the adsorption device is connected to one side of the elastic ring, the other side of the elastic ring is fixedly connected to the pressure plate, the pressure plate is in contact with the driven plate, the The adsorption device is used for adsorbing the pressure plate to squeeze the elastic ring, and to generate a gap between the pressure plate and the driven plate.

Further, the adsorption device is an electromagnet, an annular groove is provided on one side of the clutch housing close to the self-locking disc, and the electromagnet is installed in the annular groove.

Further, a plurality of guide pins are provided on the end surface of the main disk, and guide holes matched with the guide pins are provided on the open end surface of the tool disk.

Further, the end face of the main disc is provided with a first communication head, and the open end face of the tool disc is provided with a second communication head adapted to 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 present invention has the following beneficial effects:

1. Through the mechanical cooperation of the self-locking disc and the self-locking pin, it can adapt to a harsher environment. At the same time, the existing pneumatic drive is abandoned and the electric drive is adopted. When the electrical environment fails, the device can still maintain an effective self-locking structure. , safe and reliable, and achieves the beneficial effect of using a mechanical structure suitable for harsh environments.

2. When the electromagnet is energized, it attracts the metal pressure plate to move upward, creating a gap between the driven plate and the driven plate, and the driven plate and the self-locking plate can then rotate. When the driven disk is squeezed, the frictional force generated between the two generates circumferential restraint on the self-locking disk, thereby achieving the beneficial effect of facilitating the control of the restraint on the self-locking disk.

Description of drawings

Fig. 1 is the overall structure diagram of a rotary electromagnetic control jaw type robot end quick change device according to the present invention;

Figure 2 is a three-dimensional schematic diagram of a main plate and a tool plate;

3 is a schematic bottom view of the main disk;

Fig. 4 is a schematic diagram of a tool tray;

5 is a schematic diagram of a self-locking disc and a self-locking pin;

List of reference signs

100-Main plate, 101-Main plate end cover, 102-Main plate shell, 103-Communication contact female end, 104-Self-locking plate, 105-Torsion spring, 106-Electronic control board, 107-Guide shaft, 108 -Clutch housing, 109-Adsorption device, 110-Pressure plate, 111-Driver plate, 112-Self-locking pin, 113-Guide pin, 200-Tool plate, 201-Tool plate housing, 202-Communication contact male end, 203-locking groove, 204-guide hole;

Detailed ways

The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings 1-5. Obviously, the described embodiments are part of the embodiments of the present invention, but not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

In the description of the present invention, it should be understood that the orientations or positional relationships indicated by the terms "upper", "lower", "front", "rear", "inner", "outer", etc. are based on those shown in the accompanying drawings The orientation or positional relationship is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the indicated device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the present invention.

In the description of the present invention, it should be noted that, unless otherwise expressly specified and limited, the terms "installed", "connected" and "connected" should be understood in a broad sense, for example, it may be a fixed connection, an integral connection, or a It can be a detachable connection; it can be the internal communication between two components; it can be directly connected, or indirectly connected through an intermediate medium. meaning.

A rotary electromagnetic control claw type robot end quick change device, comprising a main plate 100, a tool plate 200, a self-locking plate 104, a torsion spring 105, a guide shaft 107 and a self-locking pin 112, the main plate 100 is provided with a cavity , the guide shaft 107 and the self-locking disc 104 are both arranged in the cavity, both ends of the guide shaft 107 are connected to the inner wall of the cavity, and one end of the main disc 100 is provided with a connecting part, the tool One end of the disk 200 is provided with a sliding cavity with an opening, the sliding cavity is adapted to the connecting portion, the guide shaft 107 passes through the self-locking disk 104 , and the self-locking disk 104 is rotatably connected to the guide shaft 107 , a normally closed electromagnetic clutch is connected between the self-locking plate 104 and the guide shaft 107, the torsion spring 105 is sleeved on the guide shaft 107, and one end of the torsion spring 105 is fixedly connected to the The inner wall of the cavity, the other end of which is fixedly connected to the self-locking plate 104, the self-locking plate 104 is provided with a plurality of arc-shaped grooves, and a self-locking pin 112 is arranged in each of the plurality of arc-shaped grooves, The end of the self-locking pin 112 away from the guide shaft 107 passes through the side wall of the connecting portion, and the self-locking pin 112 is used to push along the arc-shaped groove when it is in contact with the inner wall of the sliding cavity When the self-locking disk 104 rotates, the inner wall of the sliding cavity is provided with a locking groove 203, and the locking groove 203 is adapted to fit one end of the self-locking pin 112 through the connecting portion.

The main disk 100 includes a main disk end cover 101 and a main disk housing 102. The connecting portion is arranged at the bottom of the main disk housing 102, and its diameter is smaller than the diameter of the main disk housing 102. The main disk end cover 101 is connected to the main disk case by screws. The side of the main disk end cover 101 away from the main disk housing 102 is provided with a mounting part, the mounting part is used to connect the six-axis flange end of the mechanical arm, and the outer side of the tool disk 200 is provided with a tool disk shell body 201 to improve the structural stability, the end of the tool disc 200 away from its opening is used to connect the flange side of the execution tooling. The tool plate 200 is installed on both sides, and then the main plate 100 is inserted into the tool plate 200 to cooperate with it through the movement of the mechanical arm, so that the robot arm can quickly switch between different tooling. Circumferential restraint prevents the self-locking disc 104 from rotating on the guide shaft 107. After power-on, it releases the restraint on the self-locking disc 104, and the self-locking disc 104 can rotate freely at this time.

During the locking stage, the connecting part of the main plate 100 is inserted into the sliding cavity of the tool plate 200, the normally closed electromagnetic clutch is energized, and the rotation of the self-locking plate 104 is not restricted, and the inner wall of the sliding cavity of the tool plate 200 squeezes the self-locking pin 112 through the sliding At one end of the cavity, the self-locking pin 112 generates a pressing force on the inner wall of the arc-shaped slot, and then pushes the self-locking disc 104 to rotate along the inner wall of the arc-shaped slot, and indirectly twists the torsion spring 105, and the self-locking pin 112 finally follows the arc. The groove is retracted into the main disc 100, and the radial length between the outer end of the self-locking pin 112 and the guide shaft 107 becomes smaller. When the tool disc 200 reaches the locking position, as shown in FIG. 1, the self-locking pin 112 is just At the position of the locking groove 203, the torsion spring 105 returns to its original position, the inner wall of the arc groove pushes the self-locking pin 112 to move in the opposite direction, and the radial length between the outer end of the self-locking pin 112 and the guide shaft 107 increases, and makes the self-locking pin 112 move in the opposite direction. The self-locking pin 112 squeezes the locking groove 203, and finally the normally closed electromagnetic clutch is powered off, the self-locking disc 104 is restrained again, and the locking is completed. Because the self-locking disc 104 cannot rotate at this time, the self-locking pin 112 will not A series of movements of the robotic arm retracts itself.

During the unlocking stage, the normally closed electromagnetic clutch is energized, and the main plate 100 is away from the tool plate 200. The principle is the same as that in the locking stage. The self-locking pin 112 retracts and the self-locking plate 104 rotates. After the main plate 100 is separated from the tool plate 200, The self-locking disc 104 and the self-locking pin 112 are reset.

Through the mechanical cooperation between the self-locking disc 104 and the self-locking pin 112 of the device, it can adapt to a more severe environment, and at the same time abandon the existing pneumatic drive and use electric drive, when the electrical environment fails, the device can still maintain an effective automatic The lock structure is safe and reliable, and achieves the beneficial effect of adopting a mechanical structure suitable for harsh environments. In addition, the present invention has the advantages of simple structure, convenient disassembly and low cost.

Further, the top of the self-locking pin 112 is provided with a shaft portion, its side is provided with a plug-in portion, the shaft portion is set in the arc-shaped groove, and the side wall of the connection portion is provided with the plug-in portion. An adapted through hole, the connecting portion is disposed in the through hole and extends out of the connecting portion, and the bottom of the self-locking pin 112 is disposed on the inner wall of the cavity.

Further, the plug-in portion is provided with a chamfer.

Further, a plurality of the arc-shaped grooves are distributed in an annular array around the axis of the self-locking disk 104 , and the distance between one end of the arc-shaped groove and the guide shaft 107 is smaller than the distance between the other end of the arc-shaped groove and the guide shaft 107 . the distance between.

The shaft portion has a cylindrical structure, and its diameter is adapted to the difference between the inner and outer diameters of the arc-shaped groove. During the sliding process of the shaft portion in the arc-shaped groove, the radial distance between it and the guide shaft 107 changes, so that the insertion retracted or extended.

Further, the self-locking pin 112 and the normally-closed electromagnetic clutch are arranged on both sides of the self-locking plate 104 , and the normally-closed electromagnetic clutch is arranged on a side of the self-locking plate 104 away from the connecting portion. side.

Further, the hollow part of the normally closed electromagnetic clutch is sleeved on the guide shaft 107, and the normally closed electromagnetic clutch includes a clutch housing 108, an adsorption device 109, an elastic ring, and a pressure plate in sequence from top to bottom. 110 and a driven disc 111; the driven disc 111 is arranged on the side of the normally closed electromagnetic clutch close to the self-locking disc 104, and the driven disc 111 is connected to the self-locking disc 104 by screws, so The guide shaft 107 is fixedly connected to the clutch housing 108, the clutch housing 108 is fixedly connected to the adsorption device 109, the adsorption device 109 is connected to one side of the elastic ring, and the other side of the elastic ring is fixedly connected to the The pressure plate 110 is in contact with the driven plate 111, and the suction device 109 is used to absorb the pressure plate 110 to squeeze the elastic ring, and make the pressure plate 110 and the driven plate 110 A gap is generated between the driven disks 111 .

Further, the adsorption device 109 is an electromagnet, an annular groove is provided on the side of the clutch housing 108 close to the self-locking disc 104 , and the electromagnet is fixedly installed in the annular groove.

When the electromagnet is energized, the pressure plate 110 of metal material is attracted to move upward, and a gap is created between the driven plate 111 and the driven plate 111 and the self-locking plate 104 can then rotate. When the connecting part is inserted into the sliding cavity, the self-locking pin is made to rotate. 112 can be retracted. When the electromagnet is powered off, the elastic ring recovers and deforms, so that the pressure plate 110 squeezes the driven plate 111, and the frictional force generated between the two generates circumferential constraints on the self-locking plate 104, which is convenient for control. Beneficial effect of restraint on self-locking disk 104 .

Further, the end surface of the main plate 100 is provided with a plurality of guide pins 113 , and the open end surface of the tool plate 200 is provided with guide holes 204 adapted to the guide pins 113 , passing through the two included angles 135 on the main plate 100 The tapered guide pins 113 distributed in degrees are matched with the corresponding guide holes 204 on the tool disk 200, so that the main disk 100 and the tool disk 200 can be accurately positioned;

Further, the end face of the main disk 100 is provided with a first communication head, and the open end face of the tool disk 200 is provided with a second communication head adapted to the first communication head.

Further, the first communication head is the communication contact female end 103 , and the second communication head is the communication contact male end 202 . When the tool disc 200 reaches the locking position, the communication contact female end 103 contacts with the communication contact male end 202, the communication circuit is connected, and the signal is transmitted to the electric control board 106 in the main disc end cover 101 to make the adsorption device 109 execute Corresponding actions, the electric control board 106 , the communication contact female end 103 and the communication contact male end 202 are the existing conventional technologies, and the installation and connection methods thereof can be realized by those skilled in the art. Repeat.

The preferred embodiments of the present invention have been described in detail above with reference to the accompanying drawings. However, the present invention is not limited to the specific details of the embodiments in the above-mentioned actual description. Within the scope of the technical concept of the present invention, various technical solutions of the present invention can be implemented. Simple modifications, these simple modifications all belong to the protection scope of the present invention. In addition, it should be noted that the specific technical features described in the above-mentioned specific embodiments can be combined in any suitable manner unless they are inconsistent. In order to avoid unnecessary repetition, the present invention provides The combination method will not be specified otherwise. In addition, the various embodiments of the present invention can also be combined arbitrarily, as long as they do not violate the spirit of the present invention, they should also be regarded as the contents disclosed in the present invention.

Claims (9)

1. The utility model provides a terminal quick change device of rotatory electromagnetic control jack catch formula robot, its characterized in that includes master (100), tool holder (200), self-locking dish (104), torsional spring (105), guiding axle (107) and self-locking pin (112), master (100) is equipped with the cavity, guiding axle (107) with self-locking dish (104) all set up in the cavity, guiding axle (107) both ends are connected the cavity inner wall, master (100) one end is equipped with connecting portion, tool holder (200) one end is equipped with has the open-ended sliding chamber, the sliding chamber with connecting portion adaptation, guiding axle (107) pass self-locking dish (104), self-locking dish (104) rotate to be connected guiding axle (107), self-locking dish (104) with be connected with normally closed electromagnetic clutch between guiding axle (107), torsional spring (105) cover is in on guiding axle (107), the end part of one end of the torsion spring (105) is fixedly connected with the inner wall of the cavity, the end part of the other end of the torsion spring is fixedly connected with the self-locking disc (104), a plurality of arc-shaped grooves are formed in the self-locking disc (104), one ends, far away from the guide shafts (107), of the self-locking pins (112) penetrate through the side wall of the connecting part, the self-locking pins (112) are used for pushing the self-locking disc (104) to rotate along the arc-shaped grooves when being abutted against the inner wall of the sliding cavity, locking grooves (203) are formed in the inner wall of the sliding cavity, the locking grooves (203) are matched with one ends, penetrating through the connecting part, of the self-locking pins (112), 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 opening end face of the tool disc (200).

2. The rotary electromagnetic control jaw type robot terminal quick-change device as claimed in claim 1, wherein the top of the self-locking pin (112) is provided with a shaft portion, the side surface of the self-locking pin is provided with an insertion portion, the shaft portion is arranged in the arc-shaped groove, the side wall of the connecting portion is provided with a through hole matched with the insertion portion, the connecting portion is arranged in the through hole and extends out of the connecting portion, and the bottom of the self-locking pin (112) is arranged on the inner wall of the cavity.

3. The device for quickly changing the tail end of a rotary electromagnetic control jaw type robot as claimed in claim 2, wherein the insertion part is provided with a chamfer.

4. A rotary electromagnetic control jaw type robot end quick-change device according to claim 1, characterized in that a plurality of said arc-shaped slots are distributed in an annular array around the axis of said self-locking disc (104), and the distance between one end of said arc-shaped slot and said guiding shaft (107) is smaller than the distance between the other end of said arc-shaped slot and said guiding shaft (107).

5. The rotary solenoid control jaw type robot end quick-change device according to claim 1, characterized in that the self-locking pin (112) and the normally closed electromagnetic clutch are disposed on both sides of the self-locking disc (104), and the normally closed electromagnetic clutch is disposed on a side of the self-locking disc (104) away from the connecting portion.

6. The rotary electromagnetic control jaw type robot end quick-change device according to any one of claims 1 to 5, characterized in that the normally closed electromagnetic clutch is sleeved on the guide shaft (107), and the normally closed electromagnetic clutch comprises a clutch housing (108), an adsorption device (109), an elastic ring, a pressure plate (110) and a driven plate (111) in sequence from top to bottom;

driven plate (111) set up and are in normally closed formula electromagnetic clutch is close to one side of self-locking dish (104), driven plate (111) are connected self-locking dish (104), guiding axle (107) fixed connection clutch housing (108), clutch housing (108) fixed connection adsorption equipment (109), adsorption equipment (109) are connected elastic ring one side, elastic ring opposite side fixed connection pressure disk (110), pressure disk (110) with driven plate (111) butt, adsorption equipment (109) are used for adsorbing pressure disk (110) extrusion elastic ring, and make pressure disk (110) with produce the clearance between driven plate (111).

7. A rotary solenoid control jaw robot end quick-change device according to claim 6, characterized in that the suction means (109) is an electromagnet, and that the clutch housing (108) is provided with an annular groove on the side close to the self-locking disc (104), in which the electromagnet is mounted.

8. A rotary electromagnetic control jaw type robot end quick-change device according to claim 1, characterized in that the end surface of said main plate (100) is provided with a plurality of guide pins (113), and the open end surface of said tool plate (200) is provided with guide holes (204) adapted to said guide pins (113).

9. The rotary solenoid control jaw type robot end quick-change device according to claim 1, wherein the first communication head is a communication contact female end (103), and the second communication head is a communication contact male end (202).

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