CN112976040B - Terminal quick change device of rotary electromagnetic control claw type robot - Google Patents
Terminal quick change device of rotary electromagnetic control claw type robot Download PDFInfo
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- CN112976040B CN112976040B CN202110242207.XA CN202110242207A CN112976040B CN 112976040 B CN112976040 B CN 112976040B CN 202110242207 A CN202110242207 A CN 202110242207A CN 112976040 B CN112976040 B CN 112976040B
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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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Abstract
The invention discloses a rotary electromagnetic control claw type robot terminal quick-changing device which comprises a main disc, a tool disc, a self-locking disc, a torsional spring, a guide shaft and a self-locking pin, wherein the main disc is provided with a cavity, the guide shaft and the self-locking disc are both 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 with the guide shaft, a normally closed electromagnetic clutch is connected between the self-locking disc and the guide shaft, the torsional spring is sleeved on the guide shaft, one end of the torsional spring is fixedly connected with the inner wall of the cavity, the other end of the torsional spring is fixedly connected with the self-locking disc, the self-locking disc is provided with a plurality of arc-shaped grooves, the self-locking pin is arranged in each arc-shaped groove, one end, far away from the guide shaft, of the self-locking pin penetrates through the side wall of the connecting part, the self-locking pin is used for pushing the self-locking disc to rotate along the arc-locking disc when the self-locking disc is abutted against the inner wall of the sliding cavity, and the locking groove is arranged on the inner wall of the sliding cavity, thus the existing pneumatic locking groove, the existing pneumatic locking device is abandoned, And the unlocking is realized by adopting a mechanical mechanism for locking, the quick reloading is realized, the electric unlocking is realized, and the safety and the reliability are realized.
Description
Technical Field
The invention relates to the field of mechanical arm quick-change devices, in particular to a rotary electromagnetic control gripper type robot tail end quick-change device.
Background
The industrial robot, namely the mechanical arm, has the functions of attracting attention in the aspects of improving the production automation level, improving the labor productivity, the product quality and the economic benefit, improving the labor condition of workers and the like, proved by the use practice in many production fields. The working capacity and working efficiency of the robot depend to a large extent on the size of the working capacity of the robot working 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 the universality of the robot to the working environment and realize multiple purposes of one machine.
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 self-locking system of the existing quick-change device is unlocked by adopting pneumatic drive, a pneumatic pipe needs to be exposed to the outside, and the pneumatic pipe can be broken due to low-temperature embrittlement in a low-temperature environment, so that the whole quick-change device loses the function; the communication interface of the existing quick-change device is arranged on the outer wall of the whole device, so that future communication wiring is exposed to the outside. Under the adverse environments of low temperature, high humidity, windy and sandy and the like, the communication quality is affected and even completely paralyzed: the existing quick-change device has high cost, and once the pneumatic locking fails, the main disc and the tool disc of the quick-change device can fall off, so that an end actuating 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 mechanism 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 rotary electromagnetic control claw type robot tail end quick-changing device can adapt to a more severe environment, meanwhile, a self-locking system gives up existing pneumatic locking and unlocking and adopts a mechanical mechanism for locking, quick changing and electric unlocking are realized, and safety and reliability are realized.
In order to achieve the purpose, the invention provides the following technical scheme:
a rotary electromagnetic control claw type robot terminal quick-change device comprises a master disc, a tool disc, a self-locking disc, a torsional spring, a guide shaft and a self-locking pin, wherein the master disc is provided with a cavity, the guide shaft and the self-locking disc are arranged in the cavity, the two ends of the guide shaft are connected with the inner wall of the cavity, one end of the master disc is provided with a connecting part, one end of the tool disc is provided with a sliding cavity with an opening, the sliding cavity is matched with the connecting part, the guide shaft penetrates through the self-locking disc, the self-locking disc is rotatably connected with the guide shaft, a normally closed electromagnetic clutch is connected between the self-locking disc and the guide shaft, the torsional spring is sleeved on the guide shaft, one end part of the torsional spring is fixedly connected with the inner wall of the cavity, the other end part of the torsional spring is fixedly connected with the self-locking disc, the self-locking disc is provided with a plurality of arc-shaped grooves, and one self-locking pin is arranged in each arc-shaped groove, one end, far away from the guide shaft, of the self-locking pin penetrates through the side wall of the connecting portion, the self-locking pin is used for pushing the self-locking disc to rotate along the arc-shaped groove when the self-locking pin is abutted to the inner wall of the sliding cavity, a locking groove is formed in the inner wall of the sliding cavity, and the locking groove is matched with one end, penetrating through the connecting portion, of the self-locking pin.
Furthermore, the top of the self-locking pin is provided with a shaft part, the side surface of the self-locking pin is provided with an inserting part, the shaft part is arranged in the arc-shaped groove, the side wall of the connecting part is provided with a through hole matched with the inserting part, the connecting part is arranged in the through hole and extends out of the connecting part, and the bottom of the self-locking pin is arranged on the inner wall of the cavity.
Furthermore, the insertion part is provided with a chamfer.
Furthermore, a plurality of arc-shaped grooves are distributed in an annular array around the axis of the self-locking disc, and the distance between one end of each arc-shaped groove and the corresponding guide shaft is smaller than the distance between the other end of each arc-shaped groove and the corresponding guide shaft.
Furthermore, the self-locking pin and the normally closed electromagnetic clutch are arranged on two sides of the self-locking disc, and the normally closed electromagnetic clutch is arranged on one side, far away from the connecting part, of the self-locking disc.
Further, the normally closed electromagnetic clutch is sleeved on the guide shaft and sequentially comprises a clutch shell, an adsorption device, an elastic ring, a pressure plate and a driven plate from top to bottom; the driven plate sets up normally closed formula electromagnetic clutch is close to one side of self-locking disc, the driven plate is connected the self-locking disc, guiding axle fixed connection the clutch housing, clutch housing fixed connection adsorption equipment, adsorption equipment connects elastic ring one side, elastic ring opposite side fixed connection the pressure disk, the pressure disk with the driven plate butt, adsorption equipment is used for adsorbing the pressure disk extrusion the elastic ring, and make the pressure disk with produce the clearance between the driven plate.
Furthermore, adsorption equipment is the electro-magnet, the clutch housing is close to one side of self-locking dish is equipped with the ring channel, the electro-magnet is installed in the ring channel.
Furthermore, the end face of the main disc is provided with a plurality of guide pins, and the end face of the opening 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 mechanical type cooperation of self-locking dish and self-locking pin, can adapt to more abominable environment, give up current pneumatic drive and adopt electric drive simultaneously, when electric environment became invalid, effectual auto-lock structure still can be maintained to this device, safe and reliable has reached and has adopted the beneficial effect that mechanical type structure is applicable to the adverse circumstances.
2. When the electro-magnet circular telegram, attract the pressure disk upward movement of metal material, and produce the clearance between the driven plate, driven plate and auto-lock dish and then can rotate, when the electro-magnet outage, the elastic ring resumes deformation, makes the pressure disk extrusion driven plate, and the frictional force that produces between the two in turn produces circumference restraint to the auto-lock dish, has reached the beneficial effect of the restraint of the control of being convenient for to the auto-lock dish.
Drawings
Fig. 1 is an overall structure diagram of a rotary electromagnetic control claw type robot end quick-change device of the invention;
FIG. 2 is a perspective view of the main tray and the tool tray;
FIG. 3 is a schematic bottom perspective view of the main tray;
FIG. 4 is a tool plan view;
FIG. 5 is a schematic view of the self-locking disc and self-locking pin;
list of reference numerals
100-main disc, 101-main disc end cover, 102-main disc shell, 103-communication contact female end, 104-self-locking disc, 105-torsion spring, 106-electric control plate, 107-guide shaft, 108-clutch shell, 109-adsorption device, 110-pressure disc, 111-driven disc, 112-self-locking pin, 113-guide pin, 200-tool disc, 201-tool disc shell, 202-communication contact male end, 203-locking groove and 204-guide hole;
Detailed Description
The technical solutions of the present invention will be described clearly and completely with reference to fig. 1-5, and it is obvious that the described embodiments are some, but 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 rotatory electromagnetic control jack catch formula robot, includes master 100, tool disc 200, from lock dish 104, torsional spring 105, guiding axle 107 and self-locking pin 112, master 100 is equipped with the cavity, guiding axle 107 with from lock dish 104 all sets 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 disc 200 one end is equipped with the sliding chamber that has the open-ended, the sliding chamber with connecting portion adaptation, guiding axle 107 passes from lock dish 104, from lock dish 104 rotation connection guiding axle 107, from lock dish 104 with be connected with normally closed electromagnetic clutch between guiding axle 107, torsional spring 105 cover is established on guiding axle 107, torsional spring 105 one end tip fixed connection the cavity inner wall, its other end tip fixed connection self-locking dish 104, the self-locking disc 104 is provided with a plurality of arc-shaped grooves, the self-locking pin 112 is arranged in each arc-shaped groove, one end, far away from the guide shaft 107, of the self-locking pin 112 penetrates through the side wall of the connecting portion, the self-locking pin 112 is 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, the inner wall of the sliding cavity is provided with a locking groove 203, and the locking groove 203 is matched with one end, penetrating through the connecting portion, of the self-locking pin 112.
The main disc 100 includes main disc end cover 101, main disc casing 102, connecting portion set up in main disc casing 102 bottom, its diameter is less than the diameter of main disc casing 102, main disc end cover 101 passes through the screw connection at main disc casing 102 top, convenient dismantlement, one side that main disc casing 102 was kept away from to main disc end cover 101 is equipped with the installation department, the installation department is used for connecting the six flange ends of arm, tool disc 200 lateral surface is equipped with tool disc casing 201 in order to improve structural stability, tool disc 200 keeps away from its open-ended one end and is used for connecting the flange side of carrying out the frock, it can be: according to actual production requirements, tool trays 200 are installed on different execution tools, then the main tray 100 is inserted into the tool trays 200 to be matched with the tool trays 200 through movement of a mechanical arm, so that the mechanical arm can rapidly switch different tools, the self-locking tray 104 is circumferentially constrained in an initial state of a normally closed electromagnetic clutch, the self-locking tray 104 cannot rotate on a guide shaft 107, and after the electromagnetic clutch is powered on, the constraint on the self-locking tray 104 is released, and the self-locking tray 104 can freely rotate at the moment.
During the locking stage, the connecting portion of the main plate 100 is inserted into the sliding cavity of the tool plate 200, the normally closed electromagnetic clutch is energized without restricting the rotation of the self-locking plate 104, the inner wall of the sliding cavity of the tool plate 200 presses the self-locking pin 112 to penetrate out of one end of the sliding cavity, the self-locking pin 112 further generates a pressing force on the inner wall of the arc-shaped groove to push the self-locking plate 104 to rotate along the inner wall of the arc-shaped groove, and indirectly twists the torsion spring 105, the self-locking pin 112 finally retracts into the main plate 100 along the arc-shaped groove, the radial length between the outer end of the self-locking pin 112 and the guide shaft 107 is reduced, when the tool plate 200 reaches the locking position, as shown in fig. 1, the self-locking pin 112 is just located at the position of the locking groove 203, the torsion spring 105 is returned, the inner wall of the arc-shaped groove pushes the self-locking pin 112 to move in the reverse direction, the radial length between the outer end of the self-locking pin 112 and the guide shaft 107 is increased, and the self-locking pin 112 presses the locking groove 203, and finally the normally closed electromagnetic clutch is de-energized, the self-locking disk 104 is re-constrained to complete the locking, because the self-locking disk 104 cannot rotate at this time, so the self-locking pin 112 cannot retract by itself due to a series of movements of the mechanical arm.
During the unlocking stage, the normally closed electromagnetic clutch is powered on, the main disc 100 is far away from the tool disc 200, the self-locking pin 112 retracts and the self-locking disc 104 rotates in the same principle as during the locking stage, and after the main disc 100 is separated from the tool disc 200, the self-locking disc 104 and the self-locking pin 112 are reset again.
Through the mechanical cooperation of the self-locking disc 104 and the self-locking pin 112 of the device, the device can adapt to a more severe environment, 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, the device is safe and reliable, and the beneficial effect that the mechanical structure is adopted and is suitable for severe environments is achieved. The invention has simple structure, convenient disassembly and low cost.
Further, a shaft portion is arranged at the top of the self-locking pin 112, an insertion portion is arranged on the side face of the self-locking pin, the shaft portion is arranged in the arc-shaped groove, a through hole matched with the insertion portion is formed in the side wall of the connecting 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.
Furthermore, the insertion part 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 disc 104, and the distance between one end of each arc-shaped groove and the guide shaft 107 is smaller than the distance between the other end of each arc-shaped groove and the guide shaft 107.
The axial region is the cylinder structure, and the difference adaptation of its diameter and the interior external diameter of arc wall, and the axial region is at the gliding in-process of arc wall, and its and the radial distance between the guiding axle 107 changes, and then makes the grafting portion retract or stretch out.
Further, the self-locking pin 112 and the normally closed electromagnetic clutch are disposed on two sides of the self-locking disc 104, and the normally closed electromagnetic clutch is disposed on one side of the self-locking disc 104 away from the connecting portion.
Further, a hollow part of the normally closed electromagnetic clutch is sleeved on the guide shaft 107, and the normally closed electromagnetic clutch sequentially comprises a clutch housing 108, an adsorption device 109, an elastic ring, a pressure plate 110 and a driven plate 111 from top to bottom; driven plate 111 sets up normally closed formula electromagnetic clutch is close to one side of self-locking plate 104, driven plate 111 passes through the screw connection self-locking plate 104, guiding axle 107 fixed connection clutch housing 108, clutch housing 108 fixed connection adsorption equipment 109, adsorption equipment 109 connects elasticity circle one side, elasticity circle opposite side fixed connection pressure disk 110, pressure disk 110 with driven plate 111 butt, adsorption equipment 109 is used for adsorbing pressure disk 110 extrudees the elasticity circle, and makes pressure disk 110 with produce the clearance between the driven plate 111.
Further, the adsorption device 109 is an electromagnet, and an annular groove is formed in one side of the clutch housing 108 close to the self-locking disk 104, and the electromagnet is fixedly installed in the annular groove.
When the electromagnet is electrified, the pressing disc 110 made of metal materials is attracted to move upwards to form a gap with the driven disc 111, the driven disc 111 and the self-locking disc 104 can further rotate, when the connecting part is inserted into the sliding cavity, the self-locking pin 112 can retract, when the electromagnet is powered off, the elastic ring recovers to deform, the pressing disc 110 extrudes the driven disc 111, friction force generated between the two further generates circumferential constraint on the self-locking disc 104, and the beneficial effect of facilitating control over constraint on the self-locking disc 104 is achieved.
Furthermore, the end surface of the main disc 100 is provided with a plurality of guide pins 113, the end surface of the opening of the tool disc 200 is provided with guide holes 204 adapted to the guide pins 113, and the main disc 100 and the tool disc 200 are accurately positioned by matching two guide pins 113 with tapers and distributed at an included angle of 135 degrees on the main disc 100 with the corresponding guide holes 204 on the tool disc 200;
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 103, and the second communication head is a communication contact male end 202. After the tool tray 200 reaches the locking position, the communication contact female end 103 contacts with the communication contact male end 202, a communication loop is communicated, a signal is transmitted to the electric control board 106 in the main tray end cover 101, and the adsorption device 109 executes corresponding actions, wherein the electric control board 106, the communication contact female end 103 and the communication contact male end 202 are conventional technologies, and the installation and connection mode of the electric control board 106, the communication contact female end 103 and the communication contact male end 202 can be completely realized by persons in the technical field.
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 (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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| Application Number | Priority Date | Filing Date | Title |
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| CN202110242207.XA CN112976040B (en) | 2021-03-04 | 2021-03-04 | Terminal quick change device of rotary electromagnetic control claw type robot |
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| CN202110242207.XA CN112976040B (en) | 2021-03-04 | 2021-03-04 | Terminal quick change device of rotary electromagnetic control claw type robot |
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| CN112976040A CN112976040A (en) | 2021-06-18 |
| CN112976040B true CN112976040B (en) | 2022-04-26 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113370179B (en) * | 2021-05-21 | 2023-05-09 | 内蒙古工业大学 | Linear electromagnetic control claw type robot tail end quick-change device |
| CN113733146B (en) * | 2021-08-11 | 2024-02-27 | 埃华路（芜湖）机器人工程有限公司 | Tool number detection method for gun changing disc of robot |
| CN114321171B (en) * | 2021-12-24 | 2024-07-19 | 兰州飞行控制有限责任公司 | Self-locking release sliding rail mechanism |
| CN115194743A (en) * | 2022-07-25 | 2022-10-18 | 北京航空航天大学 | A surplus thing suction device for snakelike arm robot is terminal |
| CN116690536B (en) * | 2023-05-24 | 2024-05-03 | 上海智元新创技术有限公司 | Robot hand quick change device and robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106182058B (en) * | 2016-08-26 | 2018-12-04 | 博众精工科技股份有限公司 | A kind of manipulator fast replacing device |
| CN106625712B (en) * | 2016-12-30 | 2019-03-08 | 哈尔滨工业大学 | The adaptive operational instrument of hard disk handle item with force sensing function |
| DE112019004638T5 (en) * | 2018-09-18 | 2021-06-02 | GIMATIC S.r.l. | Electric tool changer |
| CN210046681U (en) * | 2019-03-06 | 2020-02-11 | 国机智能科技有限公司 | Quick change device |
| CN111098327B (en) * | 2020-01-10 | 2022-11-25 | 中国矿业大学 | Electric permanent magnet type mechanical arm tool hand quick changer |
| CN112372658B (en) * | 2020-10-30 | 2022-04-05 | 北京如影智能科技有限公司 | Terminal tool replacing equipment |
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