CN115582851A

CN115582851A - Manipulator quick change system

Info

Publication number: CN115582851A
Application number: CN202211270123.8A
Authority: CN
Inventors: 苏雄; 蓝长平; 周小稳; 严剑; 刘知益; 邹永标; 吕鸿章
Original assignee: Guangzhou Mino Equipment Co Ltd
Current assignee: Guangzhou Mino Equipment Co Ltd
Priority date: 2022-10-17
Filing date: 2022-10-17
Publication date: 2023-01-10

Abstract

The invention relates to the technical field of manipulators, and discloses a manipulator quick-change system, which comprises a manipulator, a locking piece and a grabbing unit, wherein the manipulator is arranged on the manipulator; the locking piece comprises a base and a bolt, the base is mounted on the mechanical arm, the base is provided with a jack, the axial direction of the bolt is perpendicular to the longitudinal direction of the jack, the bolt penetrates through the jack, and the bolt is provided with a locking mechanism; the grabbing unit comprises a switching shaft, a support and grabbing pieces, one end of the switching shaft is connected with the support, the switching shaft is provided with a butt joint portion, the switching shaft is detachably inserted into the jack, the butt joint portion is located in the jack, the locking mechanism is fixed or loosened through rotating the bolt, the grabbing pieces are installed on the support, the replacing speed is higher, the cost is lower, and the efficiency is higher.

Description

Manipulator quick change system

Technical Field

The invention relates to the technical field of manipulators, in particular to a manipulator quick-change system.

Background

In an automatic processing production line, a large number of workpieces of different types are processed and produced on one production line, in order to meet the production requirements of the workpieces, the robot is required to carry the workpieces, and corresponding grippers are generally required to be used for gripping the different workpieces, so that in the actual use process, the grippers are required to be frequently switched to meet the production requirements. In the prior art, the conventional gripper switching mode is to disassemble and install the whole gripper, and the mode is complex in operation and high in cost.

Disclosure of Invention

The technical problem to be solved by the invention is as follows: the traditional gripper switching mode is complex in operation and high in cost.

In order to solve the technical problem, the invention provides a manipulator quick-change system, which comprises a manipulator, a locking piece and a grabbing unit, wherein the manipulator is arranged on the manipulator; the locking piece comprises a base and a bolt, the base is mounted on the mechanical arm, the base is provided with a jack, the axial direction of the bolt is perpendicular to the longitudinal direction of the jack, the bolt penetrates through the jack, and the bolt is provided with a locking mechanism; the grabbing unit comprises a switching shaft, a support and a grabbing piece, one end of the switching shaft is connected with the support, the switching shaft is provided with a butt joint part, the switching shaft is detachably inserted into the jack, the butt joint part is located in the jack, the locking mechanism is fixed or loosened through rotating the bolt through the butt joint part, and the grabbing piece is installed on the support.

Furthermore, the bolt comprises a cylinder and two bulges, the locking mechanism is the bulges, the two bulges are positioned at two opposite sides of the cylinder, and the bulges penetrate through the jacks;

the switching shaft comprises a main body, a through hole and a pair of connecting arms, wherein the connecting arms are located at one end of the main body, the connecting arms are arranged in a pair of yielding spaces, the outlet space of the yielding spaces is smaller than two, the space between the protruding parts is larger than or equal to the width of the cylinder, the through hole is located on the side face of the switching shaft, the through hole is located on the radial extension of the switching shaft, the through hole is communicated with the yielding spaces, and the aperture of the through hole is larger than or equal to two, and the space between the protruding parts is larger than or equal to two.

Further, the locking piece also comprises a handle, and one end of the handle is connected with one end of the bolt.

Furthermore, be equipped with the first magnetism piece of inhaling that is used for adsorbing the handle on the base, first magnetism is inhaled the piece and is located the rotatory route of handle, when the handle adsorb in first magnetism is inhaled the piece, locking mechanism fixes butt joint portion.

Furthermore, be equipped with the second magnetism that is used for adsorbing the handle on the base and inhale the piece, the second magnetism is inhaled the piece and is located on the rotatory route of handle, the handle is in first magnetism is inhaled the piece with the second magnetism is inhaled and is rotated between the piece.

Furthermore, the support comprises a connecting piece and a sliding rod, the connecting piece is sleeved outside the sliding rod in a sliding mode, the connecting piece is connected with one end of the switching shaft, the connecting piece is provided with a clamping mechanism, and the connecting piece is fixed on the sliding rod through the clamping mechanism.

Further, the support is provided with at least one first joint, the base is provided with at least one second joint, the first joints are in one-to-one butt joint with the second joints, and the first joints and the second joints are ventilated.

Further, the grabbing piece is a sucker, and the sucker is communicated with the first connector through an air pipe.

Further, the mechanical arm comprises an adjusting rod and a connecting portion, the adjusting rod is connected with the connecting portion, and the base is slidably mounted on the length direction of the adjusting rod.

Furthermore, a detection mechanism is arranged on the base, an induction sheet is arranged on the support, and the detection mechanism is used for detecting the induction sheet.

Compared with the prior art, the manipulator quick-change system provided by the embodiment of the invention has the beneficial effects that: through setting up locking mechanism on the bolt, set up butt joint portion on the switching shaft, when needs are changed and are snatched the unit, only need rotatory bolt, with the new switching shaft who snatchs the unit insert in the jack, again rotatory bolt can, need not to change the arm, for traditional change mode, change speed is faster, and the cost is lower, and efficiency is higher.

Drawings

FIG. 1 is a schematic structural diagram of one embodiment of the present invention;

FIG. 2 is a schematic structural view of a locking element according to an embodiment of the present invention;

FIG. 3 is a cross-sectional view of the locking element;

FIG. 4 is a schematic diagram of a grasping unit according to an embodiment of the present invention;

fig. 5 is a combined view of the locking member and the grasping unit;

fig. 6 is a partially enlarged view of fig. 5.

In the figure, a robot arm 1; a connecting portion 11; an adjusting lever 12; a locking member 2; a base 21; a receptacle 211; a first magnetic attraction 212; a second magnetic attraction 213; a second joint 214; a plug 22; a cylinder 221; a projection 222; a handle 23; a detection mechanism 24; a grasping unit 3; a grasping member 31; a bracket 32; a slide bar 321; a connecting member 322; a sensing plate 323; a first connector 324; a switching shaft 33; a main body 331; a through hole 332; a connecting arm 333; yield space 334.

Detailed Description

The following detailed description of the present invention is provided in connection with the accompanying drawings and examples. The following examples are intended to illustrate the invention, but are not intended to limit the scope of the invention.

In the description of the present invention, it should be understood that the terms "upper", "lower", "left", "right", "front", "rear", "top", "bottom", etc., used herein to indicate the orientation or positional relationship, are based on those shown in the drawings, and are only for convenience of description and simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention.

As shown in fig. 1, a robot quick-change system according to a preferred embodiment of the present invention includes a robot arm 1, a locking member 2, and a grasping unit 3, wherein the locking member 2 is mounted to the robot arm 1, the grasping unit 3 is detachably mounted to the locking member 2, the grasping unit 3 can be used to grasp a workpiece, and different types of grasping units 3 can be replaced on the locking member 2 according to different types of workpieces.

As shown in fig. 1-2, the locking member 2 includes a base 21 and a latch 22, the base 21 is detachably mounted on the robot arm 1, and when the base 21 and the robot arm 1 need to be maintained, the base 21 and the robot arm 1 can be maintained or replaced by detaching the base 21 and the robot arm 1, respectively. The base 21 is provided with a jack 211, the jack 211 is substantially cylindrical, the plug 22 is substantially cylindrical, the axial direction of the plug 22 is perpendicular to the longitudinal direction of the jack 211, the plug 22 penetrates through the jack 211, and the plug 22 can rotate around the central axis thereof and relative to the jack 211. The latch 22 is provided with a locking mechanism which locks the gripper unit 3 when the locking member 2 is docked with the gripper unit 3, preventing the gripper unit 3 from disengaging.

As shown in fig. 3 to 5, the gripping unit 3 includes a gripping member 31, a bracket 32, and a switching shaft 33, one end of the switching shaft 33 is fixed to the bracket 32, the maximum diameter of the switching shaft 33 is slightly smaller than the aperture of the insertion hole 211, and the switching shaft 33 can be inserted into the insertion hole 211 or withdrawn from the insertion hole 211 when the gripping unit 3 is not locked by the locking mechanism. The switching shaft 33 is provided with a butt-joint portion which is located in the insertion hole 211, and when the bolt 22 is rotated, the locking mechanism rotates along with the butt-joint portion, and the locking mechanism is fixed with the butt-joint portion or separated from the butt-joint portion so as to loosen the butt-joint portion. The gripping member 31 is mounted to the bracket 32, and the gripping member 31 is used for gripping a workpiece.

As shown in fig. 3-6, in this embodiment, the latch 22 includes a cylindrical body 221 and two protrusions 222, the protrusions 222 are semi-cylindrical, the two protrusions 222 are respectively located on two opposite sides of the cylindrical body 221, the locking mechanism is the protrusions 222, and the protrusions 222 pass through the insertion holes 211. Switching shaft 33 includes main part 331, through-hole 332 and a pair of linking arm 333, linking arm 333 certainly main part 331 is towards keeping away from the direction of main part 331 extends, is equipped with the space of stepping down 334 between two linking arm 333, the export interval of the space of stepping down 334 is less than two the interval of bulge 222, the width in space of stepping down 334 is greater than or equal to the width of cylinder 221, when rotatory bolt 22, the orientation that makes bulge 222 is the same with the length direction of linking arm 333, bolt 22 can slide in the space of stepping down 334, nevertheless unable rotatory bolt 22, can take switching shaft 33 out from jack 211 this moment, otherwise also can insert switching shaft 33 in jack 211. The through-hole 332 is a circular hole, the through-hole 332 is a butt joint portion, the through-hole 332 is located the side of switching axle 33, the through-hole 332 is followed the radial extension of switching axle 33, just the through-hole 332 with the space of stepping down 334 is linked together, the aperture of through-hole 332 is greater than or equal to two the interval of bulge 222. When rotating bolt 22, when making the orientation through-hole 332 of bulge 222, can insert switching shaft 33 in jack 211, bolt 22 can pass through abdicating space 334 reentrant through-hole 332, because the center pin of cylinder 221 arrives the distance of the one end of bulge 222 back to cylinder 221 is less than the aperture of through-hole 332, can rotate bolt 22 this moment, make bulge 222 stagger abdicating space 334 to make bulge 222 chucking through-hole 332, bolt 22 can't slip into abdicating space 334 again, accomplish the reciprocal anchorage of locking piece 2 and grabbing unit 3 promptly.

In other embodiments, the locking mechanism and the abutment may be a snap-fit structure, and the locking mechanism is snapped onto the abutment by rotating the latch 22, so as to fix the locking member 2 and the grasping unit 3 to each other.

As shown in fig. 1-3, the locking member 2 further comprises a handle 23, one end of the handle 23 is fixed to one end of the plug 22, and the handle 23 rotates with the rotation of the plug 22. The staff can thereby drive whole bolt 22 rotatory through rotating handle 23, makes things convenient for the staff to operate bolt 22. In the present embodiment, the handle 23 is long, most of the handle 23 is made of a metal material and can be attracted by a magnet, and the longitudinal direction of the handle 23 is perpendicular to the longitudinal direction of the plug 22. In other embodiments, the handle 23 may have other shapes, and the handle 23 is mostly made of metal and may be attracted by a magnet. As shown in fig. 2 to 5, a first magnetic attraction member 212 for attracting the handle 23 is disposed on the base 21, the first magnetic attraction member 212 is located on a rotation path of the handle 23, when the handle 23 is attracted to the first magnetic attraction member 212, the locking mechanism fixes the abutting portion, and the handle 23 is fixed by the first magnetic attraction member 212, so as to fix a position of the latch 22, and thus to maintain a state where the locking member 2 and the grabbing unit 3 are fixed to each other. The base 21 is provided with a second magnetic attraction piece 213 for attracting the handle 23, the second magnetic attraction piece 213 is located on a rotation path of the handle 23, the handle 23 is arranged between the first magnetic attraction piece 212 and the second magnetic attraction piece 213, when the handle 23 is attracted to the second magnetic attraction piece 213, the locking mechanism unlocks the butt joint part, the switching shaft 33 can be pulled out from the jack 211, and the locking piece 2 and the grabbing unit 3 can be separated. In this embodiment, the maximum rotation angle of the handle 23 is 90 degrees, when the second magnetic attraction piece 213 fixes the handle 23, the protrusion 222 faces the through hole 332, and at this time, the switching shaft 33 can be drawn out from the insertion hole 211, so as to ensure the smooth process of drawing out the switching shaft 33 from the insertion hole 211, and in addition, when the switching shaft 33 needs to be inserted into the insertion hole 211, the handle 23 is rotated to the second magnetic attraction piece 213, so that the rotation angle of the plug 22 does not need to be determined by naked eyes, and the fixing process of the locking piece 2 and the grabbing unit 3 is more convenient. In other embodiments, an angle between a connecting line of the first magnetic attraction member 212 and the plug 22 and a connecting line of the second magnetic attraction member 213 and the plug 22 is 150 degrees, and the maximum rotation angle of the handle 23 may be 150 degrees.

As shown in fig. 2 to 5, the bracket 32 includes a sliding rod 321 and a connecting member 322, the connecting member 322 is slidably sleeved outside the sliding rod 321, the connecting member 322 slides along the length direction of the sliding rod 321, one end of the switching shaft 33 is fixed to the connecting member 322, the connecting member 322 is provided with a clamping mechanism, and the connecting member 322 is fixed to the sliding rod 321 through the clamping mechanism. The clamping mechanism is a bolt, so that a worker can loosen the clamping mechanism to unlock the fixing between the connecting piece 322 and the sliding rod 321, slide the connecting piece 322 along the length direction of the sliding rod 321, adjust the position of the connecting piece 322, tighten the clamping mechanism and fix the connecting piece 322 on the sliding rod 321 again.

As shown in fig. 3 to 5, at least one first joint 324 is disposed on a side of the support frame 32 facing the base frame 21, at least one second joint 214 is disposed on a side of the base frame 21 facing the support frame 32, the first joints 324 correspond to the second joints 214 one by one, and the first joints 324 are detachably connected to the second joints 214. In some embodiments, the first joint 324 and the second joint 214 function as a positioning function to ensure that the switching shaft 33 is inserted into the insertion hole 211 at a correct position.

As shown in fig. 1-3, the robot arm 1 includes a connecting portion 11 and an adjusting rod 12, the connecting portion 11 is used to connect a device requiring a robot, the adjusting rod 12 is connected to the connecting portion 11, a length direction of the adjusting rod 12 is perpendicular to a length direction of the sliding rod 321, the base 21 is mounted on the adjusting rod 12, the base 21 can slide along the length direction of the adjusting rod 12, and when the base 21 moves to a proper position on the adjusting rod 12, the base 21 can be tightly clamped on the adjusting rod 12 by tightening a bolt on the base 21.

As shown in fig. 3-6, in the present embodiment, the first joint 324 and the second joint 214 are hollow, and the first joint 324 and the second joint 214 are vented. The second connector 214 may be externally connected with a suction pump, and the grasping member 31 is a suction cup, and the suction cup is communicated with the first connector 324 through an air pipe. When the sucker is attached to a workpiece, the workpiece can be fixed on the sucker by forming negative pressure through vacuumizing of an external air pump. In other embodiments, the gripping member 31 of the gripping unit 3 may be a clamping jaw, and the clamping jaw is controlled to open and close by a cylinder so as to clamp or release the workpiece. In actual use, aiming at different carrying requirements of workpieces, a plurality of grabbing units 3 can be prepared, wherein one grabbing piece 31 of one grabbing unit 3 is a sucker, the other grabbing piece 31 of the other grabbing unit 3 is a clamping jaw, when the sucker is needed to be used, the grabbing unit 3 with the sucker is installed on the locking piece 2, when the clamping jaw is needed to be used, the bolt 22 is rotated, the grabbing unit 3 with the sucker is pulled out of the locking piece 2, and then the grabbing unit 3 with the clamping jaw is installed on the locking piece 2, so that the type of the grabbing unit 31 can be changed rapidly. In the present application, the gripping member 31 is not limited to a suction cup or a clamping jaw, and the gripping member 31 may be any member capable of gripping a workpiece, and the suction cup and the clamping jaw are only two preferred examples of the gripping member 31 in the present application.

As shown in fig. 1 to 5, a sensing sheet 323 is disposed on the bracket 32, and a detection mechanism 24 is disposed on the base 21, where the detection mechanism 24 is configured to detect the sensing sheet 323. In some embodiments, the detecting mechanism 24 is used to detect whether the sensing piece 323 is in place, when the grabbing unit 3 and the locking member 2 are correctly installed, the sensing piece 323 will be attached to the detecting mechanism 24, and when the detecting mechanism 24 senses the attachment, it indicates that the grabbing unit 3 and the locking member 2 are correctly docked. The detection mechanism 24 may be a laser emitter and a laser receiver, and the laser emitted by the laser emitter is reflected by the sensing sheet 323 to reach the laser receiver, which indicates that the grasping unit 3 and the locking member 2 are correctly butted. In some embodiments, since different kinds of gripping members 31 are required for different kinds of tools, the corresponding bracket 32 of each kind of gripping member 31 has a dedicated sensing plate 323, when the detection mechanism 24 detects the sensing plate 323, it can be determined which type of gripping unit 3 mounted on the locking member 2 is according to the detected sensing plate 323, so as to know what kind of gripping member 31 belongs to at the moment, and is suitable for gripping a workpiece of which type.

To sum up, the embodiment of the present invention provides a quick-change system for a manipulator, in which a locking mechanism is disposed on a latch 22, and a butt joint portion is disposed on a switching shaft 33, when a grabbing unit 3 needs to be replaced, the latch 22 is rotated only, the switching shaft 33 of the new grabbing unit 3 is inserted into a jack 211, and then the latch 22 is rotated, so that the manipulator 1 does not need to be replaced, which is faster in replacement speed, lower in cost, and higher in efficiency compared with a conventional replacement method.

The above description is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and substitutions can be made without departing from the technical principle of the present invention, and these modifications and substitutions should also be regarded as the protection scope of the present invention.

Claims

1. A manipulator quick change system, comprising:

a mechanical arm;

the mechanical arm comprises a mechanical arm and a locking piece, wherein the mechanical arm is arranged on the mechanical arm, the mechanical arm is provided with a base, the base is provided with a jack, the axial direction of the bolt is vertical to the longitudinal direction of the jack, the bolt penetrates through the jack, and the bolt is provided with a locking mechanism;

the grabbing unit comprises a switching shaft, a support and a grabbing piece, one end of the switching shaft is connected with the support, the switching shaft is provided with a butt joint portion, the switching shaft is detachably inserted into the jack, the butt joint portion is located in the jack, the locking mechanism is fixed or loosened through rotating a bolt, and the grabbing piece is installed on the support.

2. The manipulator quick-change system according to claim 1, characterized in that: the bolt comprises a cylinder and two bulges, the locking mechanism is the bulges, the two bulges are positioned at two opposite sides of the cylinder, and the bulges penetrate through the jacks;

the switching axle includes main part, through-hole and a pair of linking arm, two the linking arm is located the one end of main part, it is a pair of be equipped with the space of stepping down between the linking arm, the export interval in space of stepping down is less than two the interval of bulge, the width in space of stepping down is greater than or equal to the width of cylinder, the through-hole is located the side of switching axle, the through-hole is followed the radial extension of switching axle, just the through-hole with the space of stepping down is linked together, the aperture of through-hole is greater than or equal to two the interval of bulge.

3. The manipulator quick-change system according to claim 1, characterized in that: the locking piece still includes the handle, one end of handle with the one end of bolt is connected.

4. The manipulator quick-change system according to claim 3, characterized in that: the base is provided with a first magnetic attraction piece used for attracting the handle, the first magnetic attraction piece is located on a rotating path of the handle, and when the handle is attracted to the first magnetic attraction piece, the locking mechanism fixes the butt joint part.

5. The manipulator quick-change system according to claim 4, characterized in that: the base is provided with a second magnetic attraction piece for attracting the handle, the second magnetic attraction piece is located on a rotating path of the handle, and the handle is arranged between the first magnetic attraction piece and the second magnetic attraction piece in a rotating mode.

6. The manipulator quick-change system according to claim 1, wherein: the support comprises a connecting piece and a sliding rod, the connecting piece is sleeved outside the sliding rod in a sliding mode, the connecting piece is connected with one end of the switching shaft, the connecting piece is provided with a clamping mechanism, and the connecting piece is fixed on the sliding rod through the clamping mechanism.

7. The manipulator quick-change system according to claim 1, characterized in that: the support is provided with at least one first joint, the base is provided with at least one second joint, the first joints are in one-to-one butt joint with the second joints, and the first joints and the second joints are ventilated.

8. The manipulator quick-change system according to claim 1, characterized in that: the grabbing piece is a sucker, and the sucker is communicated with the first connector through an air pipe.

9. The manipulator quick-change system according to claim 1, characterized in that: the mechanical arm comprises an adjusting rod and a connecting portion, the adjusting rod is connected with the connecting portion, and the base is slidably mounted on the length direction of the adjusting rod.

10. The manipulator quick-change system according to claim 1, wherein: the base is provided with a detection mechanism, the support is provided with a sensing piece, and the detection mechanism is used for detecting the sensing piece.