CN205415662U - Terminal quick replacement device of robot - Google Patents
Terminal quick replacement device of robot Download PDFInfo
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- CN205415662U CN205415662U CN201620275035.0U CN201620275035U CN205415662U CN 205415662 U CN205415662 U CN 205415662U CN 201620275035 U CN201620275035 U CN 201620275035U CN 205415662 U CN205415662 U CN 205415662U
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- sleeve
- disc
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- body portion
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Abstract
The utility model discloses a terminal quick replacement device of robot belongs to the industrial robot technology field, including the master and the tool shelf of upper and lower setting, the rear end cap is installed including the inside disc main part that is hollow cavity, the back tip of disc main part to the master, and a sleeve is installed to the preceding tip of disc main part, is equipped with resilient means and piston in the space that rear end cap, disc main part and sleeve formed, resilient means one end and rear end cap cooperation, and the other end and piston coordinate, and the piston rod of piston is stretched from telescopic centre bore endotaxy, links to each other with lock cam, lock cam with install the steel ball cooperation in the sleeve, piston and sleeve between form the hermetic cavity room, set up intercommunication sealed chamber's gas circuit passageway on the lateral wall of disc main part. The utility model discloses a locking of dish spring, atmospheric pressure relax the mode, simple structure, compactness, and convenient operation, the locking force is big, helps improving the device's reliability and stability.
Description
Technical field
This utility model relates to Industrial Robot Technology field, particularly relates to a kind of robot end's quick replacement device.
Background technology
Robot end's quick replacement device, the operation expanding robot is flexible, make robot once enter working environment and just can complete several work, it is favorably improved working performance, reduce operating cost, promote automatic assembly line to develop to complete unmanned direction, there is high repeatable and reliability, it is possible to realize a tractor serves several purposes.
In existing technology, major part uses vapour-pressure type retaining mechanism, and power source is compressed air, is both needed to air pressure control in locking and uninstall process, and this is accomplished by lasting power input, and power source is had dependency.The main part of this utility model master by using disc spring to lock, air pressure realize the quick-replaceable of robot end by the way of loosening, improve this device reliability in use and stability.
Utility model content
In order to overcome above-mentioned the deficiencies in the prior art, this utility model provides a kind of robot end's quick replacement device, and this device uses the mode that disc spring locking, air pressure loosen, simple in construction, compact, easy to operate, clamping force is big, is favorably improved reliability and the stability of this device.
For reaching above-mentioned purpose, this utility model following technical scheme of offer:
A kind of robot end's quick replacement device, master and tool shelf including upper and lower setting, described master includes the disc-shaped main body portion that an inside is hollow cavity, the rearward end in disc-shaped main body portion installs a rear end cap, a sleeve is installed in the leading section in disc-shaped main body portion, it is provided with elastic device and piston in the space that rear end cap, disc-shaped main body portion and sleeve are formed, elastic device one end coordinates with rear end cap, the other end and a piston coordinate, the piston rod of described piston extends out in the centre bore of sleeve, is connected with a lock cam；Described lock cam coordinates with the steel ball being arranged in sleeve；Forming the chamber of sealing between described piston and sleeve, the sidewall in described disc-shaped main body portion offers the gas channels in communication seals cavity.
Further, being provided with retaining ring between described tool shelf and sleeve, steel ball is locked by described retaining ring.
Further, described rear end cap, it is connected by screw between disc-shaped main body portion and sleeve.
Further, described rear end cap is a T-shape structure, and the vertical portion of T-shape structure is positioned between the cavity in disc-shaped main body portion, and disc-shaped main body portion one ring cavity of formation, installs elastic device in described ring cavity.
Further, described elastic device is one group of involutory disc spring.
Further, described master is connected to the arm of robot, and tool shelf is corresponding to the bottom of master, and its end can be provided with different end effectors.
Further, described top land is provided with the piston hole that the vertical portion with T-shape structure coordinates；When gas channels is passed through gas, compress disc spring, when piston moves up, in the end meeting access aperture of T-type structure vertical portion.
Further, described sleeve is one is provided with the tubular structure that cylinder protrudes out, and is provided with equally distributed multiple hole in cylinder overhang, accommodates locking steel ball in each hole；The center of tubular structure is protruded out by cylinder and forms a hollow cavity, and lock cam is slidably mounted in this cavity, promote steel ball motion, it is achieved the locking of master and tool shelf with separate.
Further, the side of described lock cam is formed with the domatic of inverted cone.
Further, lateral wall and the sleeve of described piston are equipped with annular groove with the piston rod place of cooperation, are provided with sealing ring, it is ensured that sealing effectiveness in groove.
Further, the disc-shaped main body portion of described master is provided with the alignment pin being connected with tool shelf.
Said apparatus is utilized to carry out quick-replaceable method:
When the arm of step 1 robot is according to command request locking tool dish, obstructed gas in annular seal space body, the pretightning force that now elastic device compression produces acts on piston, so that steel ball is constantly in extrusion state under lock cam effect, thus locks tool shelf；
Step 2 is when master unclamps with tool shelf, it is passed through compressed air in gas channels in communication seals cavity, act on the bottom of piston, piston elasticity of compression device is promoted to move up, piston driving lock cam moves upward simultaneously, reserving hole along sleeve, enough spaces to steel ball to retract, the craft port of master and tool shelf can depart from.
The beneficial effects of the utility model are:
This utility model is elastic device locking, robot end's quick replacement device of loosening of air pressure, simple in construction, compact, and easy to operate, clamping force is big, is favorably improved reliability and the stability of this device.
Accompanying drawing explanation
In order to be illustrated more clearly that this utility model embodiment or technical scheme of the prior art, the accompanying drawing used required in embodiment or description of the prior art will be briefly described below, apparently, accompanying drawing in describing below is embodiments more of the present utility model, for those of ordinary skill in the art, on the premise of not paying creative work, it is also possible to obtain other accompanying drawing according to these accompanying drawings.
Fig. 1 is structural representation of the present utility model.
In figure: 1 rear end cap, 2 screws, 3 main parts, 4 sealing rings, 5 gas channels, 6 sleeves, 7 screws, 8 lock cams, 9 steel balls, 10 piston rods, 11 sealing rings, 12 pistons, 14 disc springs, 15 retaining rings, 16 tool shelves, 17 piston holes.
Detailed description of the invention
Detailed description further to this utility model below in conjunction with the accompanying drawings.
With reference to shown in Fig. 1, this utility model includes master and tool shelf 16 two parts, is connected by the locking device of be placed in master and tool shelf between master and tool shelf；Master is connected to the arm of robot.
Master includes main part 3, rear end cap 1, lock cam 8, sleeve 6, steel ball 9 and is placed in the driving means in main part annular seal space body, and driving means includes piston 12, piston rod 10, disc spring 14；The rearward end of main part 3 installs a rear end cap 1, a sleeve 6 is installed in the leading section in disc-shaped main body portion, it is provided with elastic device and piston 12 in the space that rear end cap, disc-shaped main body portion and sleeve are formed, elastic device one end coordinates with rear end cap 1, the other end and a piston 12 coordinate, the piston rod 10 of described piston 12 extends out in the centre bore of sleeve 6, is connected with a lock cam 8 by screw 7；Described lock cam 8 coordinates with the steel ball 9 being arranged in sleeve；Forming the chamber of sealing between described piston 12 and sleeve, the sidewall in described disc-shaped main body portion offers the gas channels in communication seals cavity.
Rear end cap is a T-shape structure, and the vertical portion of T-shape structure is positioned between the cavity in disc-shaped main body portion, and disc-shaped main body portion one ring cavity of formation, installs disc spring 14 in described ring cavity；The piston hole 17 that the vertical portion with T-shape structure coordinates it is provided with on piston；When gas channels is passed through gas, compress disc spring, when piston moves up, in the end meeting access aperture of T-type structure vertical portion.
Being provided with disc spring 14 between top and the rear end cap 1 of piston 12, the pretightning force that disc spring 14 produces acts on piston 12, and piston 12 promotes lock cam 8 to move.The sidewall of described main part 3 offers the gas channels 5 of communication seals cavity, to realize the unblock to this device.
Rear end cap, it is connected by screw 2 between disc-shaped main body portion and sleeve.
Locking device includes sleeve 6, lock cam 8, steel ball 9 and is positioned at the retaining ring 15 of tool shelf, and the cylinder overhang of described sleeve 6 is provided with equally distributed six holes, accommodates steel ball 9 in each hole, and the middle part of sleeve is provided with a hollow cavity.The bottom of piston 12 is fixed with a lock cam 8, and the side of described lock cam 8 is formed with the domatic of inverted cone, and lock cam 8 is slidably in the hollow cavity of sleeve 6, thus promotes steel ball 9 to move, it is achieved master and the locking of tool shelf or unclamp.
Robot end's quick replacement device also includes the tool shelf coordinated with master, and tool shelf is corresponding to the bottom of master, and tool shelf is provided with the retaining ring 15 coordinated with master locking device, and the end of tool shelf is provided with end effector.
The main part of master is provided with the alignment pin (not shown) being connected with tool shelf, play the guiding role, play the role of positioning after butt-joint locking in docking operation.
Lateral wall and the sleeve of piston are equipped with annular groove with the piston rod place of cooperation, are provided with sealing ring 4,11, it is ensured that sealing effectiveness in groove.
Specific works step is as follows:
1, when the arm of robot is according to command request locking tool dish, obstructed gas in annular seal space body, the pretightning force that now disc spring 14 compression produces acts on piston 12, so that steel ball 9 is constantly in extrusion state under lock cam 8 acts on, thus locks tool shelf.
2, when master unclamps with tool shelf, it is passed through compressed air in gas channels 5 in communication seals cavity, act on the bottom of piston 12, promote piston 12 to compress disc spring 14 to move up, piston 12 drives lock cam 8 to move upward simultaneously, reserving hole along sleeve, enough spaces to steel ball 9 to retract, two craft port can depart from.
Although detailed description of the invention of the present utility model is described by the above-mentioned accompanying drawing that combines; but the not restriction to this utility model protection domain; one of ordinary skill in the art should be understood that; on the basis of the technical solution of the utility model, those skilled in the art need not to pay various amendments or deformation that creative work can make still within protection domain of the present utility model.
Claims (9)
1. robot end's quick replacement device, it is characterized in that, master and tool shelf including upper and lower setting, described master includes the disc-shaped main body portion that an inside is hollow cavity, the rearward end in disc-shaped main body portion installs a rear end cap, a sleeve is installed in the leading section in disc-shaped main body portion, it is provided with elastic device and piston in the space that rear end cap, disc-shaped main body portion and sleeve are formed, elastic device one end coordinates with rear end cap, the other end and a piston coordinate, the piston rod of described piston extends out in the centre bore of sleeve, is connected with a lock cam；Described lock cam coordinates with the steel ball being arranged in sleeve；Form the chamber of sealing between described piston and sleeve, the sidewall in described disc-shaped main body portion offers the gas channels in communication seals chamber.
2. robot end's quick replacement device as claimed in claim 1, it is characterised in that being provided with retaining ring between described tool shelf and sleeve, steel ball is locked by described retaining ring.
3. robot end's quick replacement device as claimed in claim 1, it is characterised in that described rear end cap, be connected by screw between disc-shaped main body portion and sleeve.
4. robot end's quick replacement device as claimed in claim 1, it is characterized in that, described rear end cap is a T-shape structure, the vertical portion of T-shape structure is positioned at the cavity in disc-shaped main body portion, and form a ring cavity between disc-shaped main body portion, elastic device is installed in described ring cavity.
5. robot end's quick replacement device as claimed in claim 4, it is characterised in that described top land is provided with the piston hole that the vertical portion with T-shape structure coordinates；When gas channels is passed through gas, compress disc spring, when piston moves up, in the end meeting access aperture of T-type structure vertical portion.
6. robot end's quick replacement device as claimed in claim 1, it is characterised in that described sleeve is is provided with the tubular structure that cylinder protrudes out, and is provided with equally distributed multiple hole in cylinder overhang, accommodates locking steel ball in each hole；The center of tubular structure is protruded out by cylinder and forms a hollow cavity, and lock cam is slidably mounted in this cavity, promote steel ball motion, it is achieved the locking of master and tool shelf with separate.
7. robot end's quick replacement device as claimed in claim 6, it is characterised in that the side of described lock cam is formed with the domatic of inverted cone.
8. robot end's quick replacement device as claimed in claim 1, it is characterised in that lateral wall and the sleeve of described piston are equipped with annular groove with the piston rod place of cooperation, are provided with sealing ring, it is ensured that sealing effectiveness in groove.
9. robot end's quick replacement device as claimed in claim 1, it is characterised in that the disc-shaped main body portion of described master is provided with the alignment pin being connected with tool shelf.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620275035.0U CN205415662U (en) | 2016-04-05 | 2016-04-05 | Terminal quick replacement device of robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620275035.0U CN205415662U (en) | 2016-04-05 | 2016-04-05 | Terminal quick replacement device of robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205415662U true CN205415662U (en) | 2016-08-03 |
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ID=56522379
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620275035.0U Expired - Fee Related CN205415662U (en) | 2016-04-05 | 2016-04-05 | Terminal quick replacement device of robot |
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| Country | Link |
|---|---|
| CN (1) | CN205415662U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105666512A (en) * | 2016-04-05 | 2016-06-15 | 山东大学 | Rapid robot end change device and method |
| CN111015313A (en) * | 2019-12-28 | 2020-04-17 | 无锡市瑞可特科技有限公司 | Oil pressure quick positioning device |
| CN111093915A (en) * | 2017-09-13 | 2020-05-01 | 菲尔罗伯蒂克斯顺从式机器人技术有限公司 | Method and system for automatically replacing a shaft |
| CN111496831A (en) * | 2020-05-19 | 2020-08-07 | 安徽三联学院 | Robot tail end flexible quick-change disc |
-
2016
- 2016-04-05 CN CN201620275035.0U patent/CN205415662U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105666512A (en) * | 2016-04-05 | 2016-06-15 | 山东大学 | Rapid robot end change device and method |
| CN111093915A (en) * | 2017-09-13 | 2020-05-01 | 菲尔罗伯蒂克斯顺从式机器人技术有限公司 | Method and system for automatically replacing a shaft |
| CN111015313A (en) * | 2019-12-28 | 2020-04-17 | 无锡市瑞可特科技有限公司 | Oil pressure quick positioning device |
| CN111496831A (en) * | 2020-05-19 | 2020-08-07 | 安徽三联学院 | Robot tail end flexible quick-change disc |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20160803 Termination date: 20180405 |