CN113370179A - Linear electromagnetic control claw type robot tail end quick-changing device - Google Patents
Linear electromagnetic control claw type robot tail end quick-changing device Download PDFInfo
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- CN113370179A CN113370179A CN202110559724.XA CN202110559724A CN113370179A CN 113370179 A CN113370179 A CN 113370179A CN 202110559724 A CN202110559724 A CN 202110559724A CN 113370179 A CN113370179 A CN 113370179A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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- Engineering & Computer Science (AREA)
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- Mechanical Engineering (AREA)
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Abstract
The invention discloses a linear electromagnetic control claw type robot terminal quick-change device which comprises a main disc, a tool disc and a self-locking mechanism, wherein the main disc comprises a main disc shell and a guide shaft, the main disc shell is provided with an internal cavity, two ends of the main disc shell are respectively provided with a connecting part and a mounting part, the mounting part is used for connecting a mechanical arm, one end of the tool disc is provided with a sliding cavity with an opening, the other end of the tool disc is used for connecting an execution tool, the sliding cavity is matched with the connecting part, the guide shaft is fixedly arranged in the main disc shell, the self-locking mechanism is arranged in the main disc shell, the self-locking mechanism adopts an electromechanical structure, the existing pneumatic locking and unlocking are abandoned, and the mechanical mechanism is adopted for locking, quick change of the device and electric unlocking are safe and reliable; the invention has simple structure, convenient disassembly and low cost.
Description
Technical Field
The invention relates to the field of mechanical arm quick-change devices, in particular to a linear 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: 1. the unlocking of a self-locking system of the conventional quick-change device is pneumatically driven, and the unlocking stage needs to wait for an exhaust stroke, so that the response is not fast enough compared with a mechanical structure; 2. 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; 3. the existing suspension system is too high in cost, and once the pneumatic locking fails, the main disc of the quick-change device and the tool disc can fall off, and 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 tail end quick-change device of the linear electromagnetic control claw type robot is provided, a self-locking system gives up the existing pneumatic locking and unlocking and adopts a mechanical mechanism for locking, quick change and electric unlocking, and the device is safe and reliable; the invention has simple structure, convenient disassembly and low cost.
In order to achieve the purpose, the invention provides the following technical scheme:
a linear electromagnetic control claw type robot terminal quick-change device comprises a main disc, a tool disc and a self-locking mechanism, wherein the main disc comprises a main disc shell and a guide shaft, the main disc shell is provided with an internal cavity, two ends of the main disc shell are respectively provided with a connecting part and an installation part, the installation part is used for connecting a mechanical arm, one end of the tool disc is provided with a sliding cavity with an opening, the other end of the tool disc is used for connecting an execution tool, the sliding cavity is matched with the connecting part, the guide shaft is fixedly arranged in the main disc shell, and the self-locking mechanism is arranged in the main disc shell;
the self-locking mechanism comprises a self-locking disc and a thrust device, the self-locking disc is slidably arranged on the guide shaft, the sliding direction of the self-locking disc is axially parallel to the guide shaft, one side of the self-locking disc, which is far away from the mounting part, is provided with a plurality of bolt assemblies, and the bolt assemblies are distributed around the guide shaft in an annular array;
the bolt assembly comprises a self-locking pin, a pin and a spring, one end of the pin, far away from the guide shaft, penetrates through the side face of the connecting part in a sliding manner, the other end of the pin is connected with the spring, the spring is used for popping the pin to penetrate through the side face of the connecting part, a self-locking hole is arranged in the radial direction of the pin, the axis of the self-locking hole is parallel to the guide shaft, the self-locking hole is matched with the self-locking pin, one end of the self-locking pin is arranged in the self-locking hole in a sliding manner, the other end of the self-locking pin is connected with one side, far away from the mounting part, of the self-locking disc, the thrust device is fixedly arranged in the main disc shell, the output end of the thrust device is connected with the self-locking disc, the thrust device is used for pushing the self-locking disc to slide in a reciprocating manner, and the self-locking pin is used for removing axial restraint on the pin when sliding in the direction far away from the pin;
the inner wall of the sliding cavity is provided with a locking groove, the locking groove is matched with one end, far away from the guide shaft, of the pin, and the locking groove is used for enabling the pin to be inserted into the locking groove during locking.
Furthermore, the thrust device comprises an electromagnet and a self-locking spring, the electromagnet is fixedly arranged on the inner wall of the main disc shell, the electromagnet is arranged at one end, far away from the self-locking pin, of the self-locking disc, the electromagnet is used for adsorbing the self-locking disc to slide, the self-locking spring is sleeved on the guide shaft, one end of the self-locking spring acts on one side, far away from the self-locking pin, of the self-locking disc, and the other end of the self-locking spring acts on the inner wall of the main disc shell.
Furthermore, the self-locking pin comprises a large diameter part and a small diameter part, the small diameter part is arranged in the self-locking hole, the large diameter part is matched with the self-locking hole, a notch is arranged in the radial direction of the self-locking hole, the notch is smaller than the self-locking hole, the notch is matched with the small diameter part, and the notch is arranged on one side, far away from the guide shaft, of the self-locking hole.
Further, one end of the large diameter portion, which is far away from the small diameter portion, is provided with a threaded portion, and the threaded portion is in threaded connection with the self-locking disc.
Furthermore, chamfers are arranged on one end, far away from the guide shaft, of the pin, one end, far away from the self-locking disc, of the large-diameter portion, the opening end portion of the sliding cavity and the end portion of the self-locking hole.
Furthermore, a protruding portion is arranged on one side, close to the self-locking pin, of the self-locking disc, a sliding hole matched with the pin is formed in the side face of the protruding portion, the spring is arranged in the sliding hole, and one end, close to the spring, of the pin is arranged in the sliding hole in a sliding mode.
Furthermore, the connecting portion lateral surface is equipped with a plurality of guide blocks, and is a plurality of the guide block centers on connecting portion are the annular array and distributes, the sliding cavity inner wall be equipped with a plurality of the guide way of guide block adaptation.
Furthermore, the widths of the guide blocks are different.
Further, the diameter of connecting portion is less than the installation department, the installation department terminal surface is equipped with first communication head, instrument dish opening end face be equipped with the second communication head of first communication head adaptation.
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. the thrust device pushes the self-locking pin to slide in the self-locking hole of the pin in a reciprocating mode, the self-locking pin is inserted into the self-locking hole to lock the pin, the self-locking pin can slide out of the main disc quickly when being separated from the self-locking hole, and the beneficial effect of quick reloading is achieved.
2. The self-locking pin slides in a reciprocating manner through the matching of the electromagnet and the self-locking spring to realize the locking and unlocking functions, the existing pneumatic locking is abandoned, the locking and unlocking operations are carried out by adopting a mechanical mechanism and an electric mode, and the beneficial effects of safety and reliability are achieved.
3. Through the breach structure of its side of self-locking hole, enlarged the slip stroke of round pin, can also spacing to the round pin in the axial of round pin, prevent that it breaks away from the bellying to when still making the major diameter portion insert self-locking hole, the round pin can take place small displacement, has reduced the cooperation precision demand of round pin and self-locking pin, has reached the self-locking pin of being convenient for and has sold complex beneficial effect.
Drawings
FIG. 1 is an overall structure diagram of a linear 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 view of a locked state;
FIG. 4 is a schematic view of a guide block;
FIG. 5 is a tool plan view;
FIG. 6 is a schematic view of the self-locking disc, self-locking pin and pin;
list of reference numerals
100-main disc, 101-main disc shell, 102-communication contact female end, 103-self-locking pin, 104-pin, 105-spring, 106-electric control plate, 107-self-locking spring, 108-electromagnet, 109-guide shaft, 110-self-locking disc, 111-lug, 112-end cover, 113-guide block, 200-tool disc, 201-communication contact male end, 202-tool disc shell, 203-locking groove, 204-guide groove;
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.
A linear electromagnetic control claw type robot terminal quick-change device comprises a main disc 100, a tool disc 200 and a self-locking mechanism, wherein the main disc 100 comprises a main disc shell 101 and a guide shaft 109, the main disc shell 101 is provided with an internal cavity, two ends of the main disc shell 101 are respectively provided with a connecting part and a mounting part, the mounting part is used for connecting a mechanical arm, one end of the tool disc 200 is provided with a sliding cavity with an opening, the other end of the tool disc is used for connecting an execution tool, the sliding cavity is matched with the connecting part, the guide shaft 109 is fixedly arranged in the main disc shell 101, and the self-locking mechanism is arranged in the main disc shell 101;
the self-locking mechanism comprises a self-locking disc 110 and a thrust device, the self-locking disc 110 is slidably arranged on the guide shaft 109, the sliding direction of the self-locking disc 110 is axially parallel to the guide shaft 109, a plurality of bolt assemblies are arranged on one side of the self-locking disc 110, which is far away from the mounting part, and the bolt assemblies are distributed around the guide shaft 109 in an annular array manner;
the bolt assembly comprises a self-locking pin 103, a pin 104 and a spring 105, one end of the pin 104 far away from the guide shaft 109 penetrates through the side surface of the connecting part in a sliding mode, the other end of the spring 105 is connected with the spring 105, the spring 105 is used for ejecting the pin 104 to penetrate through the side surface of the connecting part, the pin 104 is provided with a self-locking hole in the radial direction, the axis of the self-locking hole is parallel to the guide shaft 109, the self-locking hole is matched with the self-locking pin 103, one end of the self-locking pin 103 is slidably arranged in the self-locking hole, the other end of the self-locking pin 103 is connected with one side of the self-locking disc 110 far away from the mounting part, the thrust device is fixedly arranged in the main disc shell 101, the output end of the thrust device is connected with the self-locking disc 110, the thrust device is used for pushing the self-locking disc 110 to slide back and forth, and the self-locking pin 103 is used for releasing the axial constraint on the pin 104 when sliding in the direction away from the pin 104;
the inner wall of the sliding cavity is provided with a locking groove 203, the locking groove 203 is matched with one end of the pin 104 far away from the guide shaft 109, and the locking groove 203 is used for inserting the pin 104 into the locking groove when in locking.
The installation department is used for connecting the six flange ends of arm, and its open-ended one end is used for connecting the flange side of carrying out the frock is kept away from to tool disc 200, and the execution frock 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.
As shown in fig. 1, at this time, the main disc 100 is in an initial state, the self-locking disc 110 is slidably sleeved on the guide shaft 109 through a central hole thereof, at this time, the self-locking disc 110 has a gap capable of sliding up and down in the main disc housing 101, the self-locking pin 103 is vertically arranged and is inserted into the self-locking hole of the pin 104, the pin 104 is horizontally arranged, so that the self-locking pin 103 restricts the horizontal sliding of the pin 104 to enable the pin 104 to be in a locked state, and at this time, one end of the pin 104, which is far away from the guide shaft 109, penetrates through a side wall of the main disc housing 101, and the outer diameter of a connecting part of the main disc housing 101 is the same as the inner diameter of a sliding cavity of the tool disc 200.
During the locking stage, the thrust device pushes the self-locking disc 110 to drive the self-locking pin 103 to slide upwards, namely, away from the direction of the pin 104, so that the pin 104 has a degree of freedom in the axial direction, then the main disc 100 is close to the tool disc 200 downwards, the inner wall of the sliding cavity of the tool disc 200 presses the pin 104, so that the pin 104 slides towards the guide shaft 109 and retracts into the main disc 100, and indirectly compresses the spring 105, when the tool disc 200 reaches the locking position, the pin 104 is just positioned at the position of the locking groove 203, at the moment, the spring 105 returns to the position, so that the pin 104 presses the locking groove 203, the thrust device pushes the self-locking disc 110 to drive the self-locking pin 103 to slide downwards, namely, in the direction of the pin 104, so that the self-locking pin 103 is inserted into the self-locking hole of the pin 104, namely, at the moment, the pin 104 does not have a degree of freedom in the axial direction, the main disc 100 and the tool disc 200 complete the locking, and the insertion of the self-locking pin 103 into the self-locking hole 104 is realized, when the main tray is separated from the self-locking hole, the main tray 100 can be quickly slid out, and the beneficial effect of quick replacement is achieved.
In the unlocking stage, the thrust device pushes the self-locking disc 110 to slide upwards, the constraint of the self-locking pin 103 on the pin 104 is released, the main disc 100 is upwards far away from the tool disc 200, and the unlocking is completed.
Further, the thrust device comprises an electromagnet 108 and a self-locking spring 107, the electromagnet 108 is fixedly arranged on the inner wall of the main disc housing 101, the electromagnet 108 is arranged at one end of the self-locking disc 110 far away from the self-locking pin 103, the electromagnet 108 is used for adsorbing the self-locking disc 110 to slide, the self-locking spring 107 is sleeved on the guide shaft 109, one end of the self-locking spring acts on one side of the self-locking disc 110 far away from the self-locking pin 103, and the other end of the self-locking spring acts on the inner wall of the main disc housing 101.
The electromagnet 108 is of a hollow structure, the guide shaft 109 is arranged in the hollow part of the electromagnet 108 to improve the adsorption force of the electromagnet 108 on the self-locking disc 110, the self-locking disc 110 is made of metal capable of being adsorbed by the magnet, and the self-locking spring 107 is made of a spring with larger pressure and far larger than the elastic force of the spring 105, so that the self-locking pin 103 and the pin 104 are reliably matched, and the self-unlocking cannot be realized due to a series of motions of the mechanical arm.
When the locking is carried out, the electromagnet 108 is electrified and adsorbs the self-locking disc 110 to slide upwards so as to remove the constraint on the pin 104, the self-locking spring 107 is compressed, after the locking position is reached, the electromagnet 108 is powered off, the self-locking spring 107 recovers deformation and simultaneously extrudes the self-locking pin 103 to be inserted into the self-locking hole of the pin 104, and the locking is completed; during unlocking, the electromagnet 108 is electrified and adsorbs the self-locking disc 110 to slide upwards again, then the main disc 100 slides out, the self-locking pin 103 slides in a reciprocating mode through the cooperation of the electromagnet 108 and the self-locking spring 107, the locking and unlocking functions are achieved, the existing pneumatic locking is abandoned, the mechanical mechanism and the electric locking and unlocking operation are adopted, and the beneficial effects of safety and reliability are achieved.
Further, the self-locking pin 103 comprises a large diameter portion and a small diameter portion, the small diameter portion is arranged in the self-locking hole, the large diameter portion is matched with the self-locking hole, a notch is arranged in the radial direction of the self-locking hole, the notch is smaller than the self-locking hole, the notch is matched with the small diameter portion, and the notch is arranged on one side, far away from the guide shaft 109, of the self-locking hole.
When the main disc 100 is in an initial state, the large-diameter part of the self-locking pin 103 is inserted into the self-locking hole, the pin 104 does not have freedom degree in the axial direction, when the self-locking disc 110 slides upwards to the maximum stroke, the large-diameter part is separated from the self-locking hole, and the small-diameter part is still located in the self-locking hole, so that the pin 104 has freedom degree in the axial direction, when the pin 104 is extruded by the inner wall of the sliding cavity of the tool disc 200, the pin 104 slides, a notch of the self-locking hole moves to the small-diameter part, the sliding stroke of the pin 104 is enlarged, the pin 104 can be limited in the axial direction of the pin 104 to prevent the pin from being separated from the protruding part 111, and when the large-diameter part is inserted into the self-locking hole, the pin 104 can slightly displace, the matching precision requirement of the pin 104 and the self-locking pin 103 is reduced, and the beneficial effect of facilitating the matching of the self-locking pin 103 and the pin 104 is achieved, and the pin 104 can be of a square structure in fig. 6, or a cylinder structure and the like.
Further, a threaded portion is disposed at an end of the large diameter portion away from the small diameter portion, and the threaded portion is threadedly connected to the self-locking disc 110.
Furthermore, chamfers are arranged on one end, far away from the guide shaft 109, of the pin 104, one end, far away from the self-locking disc 110, of the large-diameter portion, the opening end portion of the sliding cavity and the end portion of the self-locking hole, and the chamfers play a role in facilitating matching.
Further, a protruding portion 111 is arranged on one side of the self-locking disc 110 close to the self-locking pin 103, a sliding hole matched with the pin 104 is arranged on a side surface of the protruding portion 111, the spring 105 is arranged in the sliding hole, one end of the pin 104 close to the spring 105 is slidably arranged in the sliding hole, the pin 104 slides in the sliding hole to press the spring 105, and the sliding hole restricts the sliding direction of the pin 104.
Furthermore, a plurality of guide blocks 113 are arranged on the outer side surface of the connecting part, the guide blocks 113 are distributed around the connecting part in an annular array, and a guide groove 204 matched with the guide blocks 113 is formed in the inner wall of the sliding cavity.
Further, the widths of the guide blocks 113 are different.
The width of the guide block 113, that is, the circumferential length of the guide block 113 along the connecting portion, allows the main tray 100 and the tool tray 200 to be accurately positioned by the cooperation of the three guide blocks 113 with different widths on the main tray 100 and the corresponding guide grooves 204 on the tool tray 200, and also plays a role in preventing misloading.
Further, the diameter of connecting portion is less than the installation department, the installation department terminal surface is equipped with first communication head, instrument dish 200 opening terminal surface be equipped with the second communication head of first communication head adaptation.
Further, the first communication head is a communication contact female terminal 102, and the second communication head is a communication contact male terminal 201.
When the tool disc 200 reaches the locking position, the communication contact female end 102 contacts with the communication contact male end 201, communicates with the communication loop, and transmits a signal to the electric control board 106 in the main disc housing 101 to perform the action of the thrust device, so as to push the self-locking disc 110 to slide. The electric control board 106, the communication contact female terminal 102 and the communication contact male terminal 201 are conventional technologies, and the installation and connection mode thereof can be completely realized by those skilled in the art.
In addition, the end of the connecting portion of the main plate 100 is provided with an opening, the opening is connected with the end cap 112 through a screw, so as to facilitate installation and renovation, and the outer side of the tool plate 200 is provided with a tool plate housing 202 to improve structural stability.
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 (10)
1. The tail end quick-change device for the linear electromagnetic control claw type robot is characterized by comprising a main disc (100), a tool disc (200) and a self-locking mechanism, wherein the main disc (100) comprises a main disc shell (101) and a guide shaft (109), the main disc shell (101) is provided with an internal cavity, two ends of the main disc shell (101) are respectively provided with a connecting part and an installation part, the installation part is used for connecting a mechanical arm, one end of the tool disc (200) is provided with a sliding cavity with an opening, the other end of the tool disc is used for connecting an execution tool, the sliding cavity is matched with the connecting part, the guide shaft (109) is fixedly arranged in the main disc shell (101), and the self-locking mechanism is arranged in the main disc shell (101);
the self-locking mechanism comprises a self-locking disc (110) and a thrust device, the self-locking disc (110) is slidably arranged on the guide shaft (109), the sliding direction of the self-locking disc is axially parallel to the guide shaft (109), one side of the self-locking disc (110) far away from the mounting part is provided with a plurality of bolt assemblies, and the bolt assemblies are distributed around the guide shaft (109) in an annular array manner;
the bolt assembly comprises a self-locking pin (103), a pin (104) and a spring (105), one end, far away from the guide shaft (109), of the pin (104) penetrates through the side face of the connecting part in a sliding mode, the other end of the pin is connected with the spring (105), the spring (105) is used for popping the pin (104) out to penetrate through the side face of the connecting part, a self-locking hole is arranged in the radial direction of the pin (104), the axis of the self-locking hole is parallel to the guide shaft (109), the self-locking hole is matched with the self-locking pin (103), one end of the self-locking pin (103) is arranged in the self-locking hole in a sliding mode, the other end of the self-locking pin (103) is connected with one side, far away from the mounting part, of the self-locking disc (110), a thrust device is fixedly arranged in the main disc shell (101), the output end of the thrust device is connected with the self-locking disc (110), and the thrust device is used for pushing the self-locking disc (110) to slide in a reciprocating mode, the self-locking pin (103) is used for releasing the axial restraint of the pin (104) when sliding away from the pin (104);
the inner wall of the sliding cavity is provided with a locking groove (203), the locking groove (203) is matched with one end, far away from the guide shaft (109), of the pin (104), and the locking groove (203) is used for enabling the pin (104) to be inserted into the locking groove when in locking.
2. The linear electromagnetic control jaw type robot terminal quick-change device as claimed in claim 1, wherein said thrust device comprises an electromagnet (108) and a self-locking spring (107), said electromagnet (108) is fixedly disposed on the inner wall of said main disc housing (101), said electromagnet (108) is disposed at one end of said self-locking disc (110) far away from said self-locking pin (103), said electromagnet (108) is used for adsorbing said self-locking disc (110) to slide, said self-locking spring (107) is sleeved on said guide shaft (109), one end of said self-locking spring acts on one side of said self-locking disc (110) far away from said self-locking pin (103), and the other end acts on the inner wall of said main disc housing (101).
3. The linear electromagnetic control jaw type robot terminal quick-change device as claimed in claim 1, wherein the self-locking pin (103) comprises a large diameter portion and a small diameter portion, the small diameter portion is disposed in a self-locking hole, the large diameter portion is adapted to the self-locking hole, a notch is disposed in a radial direction of the self-locking hole, the notch is smaller than the self-locking hole, the notch is adapted to the small diameter portion, and the notch is disposed on a side of the self-locking hole away from the guide shaft (109).
4. A linear solenoid control jaw type robot end quick change device according to claim 3, characterized in that the end of the large diameter portion remote from the small diameter portion is provided with a threaded portion, and the threaded portion is threadedly connected with the self-locking disc (110).
5. The linear electromagnetic control jaw type robot terminal quick-change device according to claim 3, characterized in that the end of the pin (104) far from the guide shaft (109), the end of the large diameter portion far from the self-locking disk (110), the open end of the sliding cavity and the end of the self-locking hole are chamfered.
6. The linear electromagnetic control jaw type robot terminal quick-change device as claimed in claim 1, wherein a side of said self-locking disc (110) close to said self-locking pin (103) is provided with a convex portion (111), a side surface of said convex portion (111) is provided with a sliding hole adapted to said pin (104), said spring (105) is disposed in said sliding hole, and one end of said pin (104) close to said spring (105) is slidably disposed in said sliding hole.
7. The linear electromagnetic control jaw type robot terminal quick-change device as claimed in claim 1, wherein a plurality of guide blocks (113) are arranged on an outer side surface of the connecting portion, the plurality of guide blocks (113) are distributed around the connecting portion in an annular array, and a guide groove (204) matched with the plurality of guide blocks (113) is formed on an inner wall of the sliding cavity.
8. The linear electromagnetic control jaw type robot end quick-change device according to claim 7, characterized in that the widths of a plurality of said guide blocks (113) are different.
9. The linear electromagnetic control jaw type robot tip quick-change device as claimed in claim 1, wherein the connecting portion has a smaller diameter than the mounting portion, the mounting portion has a first communication head at an end surface, and the tool tray (200) has a second communication head at an open end surface adapted to the first communication head.
10. The linear solenoid control jaw type robot end quick change device according to claim 9, wherein the first communication head is a communication contact female end (102), and the second communication head is a communication contact male end (201).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110559724.XA CN113370179B (en) | 2021-05-21 | 2021-05-21 | Linear electromagnetic control claw type robot tail end quick-change device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110559724.XA CN113370179B (en) | 2021-05-21 | 2021-05-21 | Linear electromagnetic control claw type robot tail end quick-change device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113370179A true CN113370179A (en) | 2021-09-10 |
| CN113370179B CN113370179B (en) | 2023-05-09 |
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