CN206029926U - A instrument quick change device for robot snatchs hand - Google Patents
A instrument quick change device for robot snatchs hand Download PDFInfo
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- CN206029926U CN206029926U CN201621027861.XU CN201621027861U CN206029926U CN 206029926 U CN206029926 U CN 206029926U CN 201621027861 U CN201621027861 U CN 201621027861U CN 206029926 U CN206029926 U CN 206029926U
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Abstract
The utility model discloses an instrument quick change device for robot snatchs hand, including mother -tool side unit and instrument side unit, mother -tool side unit robot connecting plate, wide type gas are grabbed, the scarf location is pointed, the mother -tool side connects the electrode soon, fix a position public board, the mother -tool inclines quick connector and circuit guard plate, instrument side unit, connect the electrode soon including instrument side quick connector, location mother board, instrument adapter, instrument side. The utility model discloses a mother -tool side unit is used for the centre gripping instrument side unit, both fix a position reliably, convenient operation makes the degree of difficulty and reduces, simple structure is reliable, the cost reduces more than 50% at least, the solitary tongs tool using of robot can be regarded as to mother -tool side unit simultaneously, also can regard as clamping tools incline the unit both coordinate the implementation tool quick change, increased everybody flexibility of machine, good application prospect has.
Description
Technical field
This utility model is related to robot components technical field, and in particular to a kind of instrument for robot crawl handss is fast
Changing device.
Background technology
At present, adopt master and tool shelf to constitute existing robot crawl instrument fast replacing device on hand, power source more
Using hydraulic pressure, pneumatically or electrically magnetic force, locking positioning is realized by promoting steel ball or pulling pin, existed with deficiency, it is specific as follows：Instrument
The complex structure of fast replacing device, installs inconvenience, and manufacturing cost is high, and maintenance and repair is difficult, and the single function of master and tool shelf is fitted
It is poor with property.
Utility model content
The purpose of this utility model is that the robot for overcoming prior art captures instrument fast replacing device on hand, and structure is multiple
It is miscellaneous, inconvenience is installed, manufacturing cost is high, and maintenance and repair is difficult, the single function of master and tool shelf, problem poor for applicability.This
The instrument fast replacing device for capturing handss for robot of utility model, including mother-tool side unit and instrument side unit, mother-tool
Side unit is used for clamping the instrument side unit, and both positioning are reliable, easy to operate, and manufacture difficulty is reduced, simple and reliable for structure,
Cost at least reduces by more than 50%, while mother-tool side unit can be used as the single handgrip instrument of robot, also can be used as folder
Hold both instrument side units and coordinate implementation tool quick change, everybody is flexible to increased machine, has a good application prospect.
In order to achieve the above object, the technical scheme adopted by this utility model is：
A kind of instrument fast replacing device for capturing handss for robot, it is characterised in that：Including mother-tool side unit and instrument
Side unit, the mother-tool side unit are used for clamping the instrument side unit,
The mother-tool side unit, grabs including robot connecting plate, wide type gas, wedge surface positioning finger, mother-tool side connect soon
The public plate of electrode, positioning, mother-tool side quick connector and line protection plate, the robot connecting plate are arranged on line protection plate
Top, for joining with robot transmission arm end axis, the wide type gas is grabbed positioned at the bottom of line protection plate, as clamping and positioning
Actuating unit, the wedge surface positioning finger are arranged on the bottom that wide type gas grabs sandwich arm, and the positioning public affairs plate is arranged on width
The inside that type gas is grabbed, mother-tool side quick connector are arranged on the public plate of positioning, and the fast receiving electrode in the mother-tool side is arranged on
On the public plate of positioning, the middle part of the positioning public affairs plate lower surface arranges tapered guide table,
The instrument side unit, including tool side quick connector, positioning motherboard, tool adapter, the fast receiving electrode of tool side,
The tool side quick connector is arranged on positioning motherboard, and two sides of the positioning motherboard are provided with and position finger with wedge surface
Match the wedge surface of clamping, and the through hole for being provided centrally with matching with taper guide table of the positioning motherboard, the tool side are fast
Receiving electrode is arranged on positioning motherboard, and position is corresponding with mother-tool side quick connector, and the tool adapter is fixed on fixed
The lower surface of position motherboard.
A kind of aforesaid instrument fast replacing device for capturing handss for robot, it is characterised in that：The mother-tool side unit
During clamping device side unit, the fast receiving electrode in the mother-tool side, the fast receiving electrode of tool side are relative to be connect, and realizes electrical connection；It is described
Mother-tool side quick connector, tool side quick connector are relative to be connect, and realizes that gas circuit connects.
The beneficial effects of the utility model are：The instrument fast replacing device for capturing handss for robot of the present utility model, bag
Mother-tool side unit and instrument side unit is included, mother-tool side unit is used for clamping the instrument side unit, and both positioning are reliable, behaviour
Facilitate, manufacture difficulty is reduced, and simple and reliable for structure, cost at least reduces by more than 50%, while mother-tool side unit can be used as machine
The single handgrip instrument of device people is used, and also can be coordinated implementation tool quick change as both clamping device side units, be increased machine
Everybody is flexible, has a good application prospect.
Description of the drawings
Fig. 1 is the structural representation of the instrument fast replacing device for capturing handss for robot of the present utility model.
Fig. 2 is the first side view when this utility model is used.
Fig. 3 is the second side view when this utility model is used.
Fig. 4 is the 3rd side view when this utility model is used.
Fig. 5 is the overall schematic of the instrument fast replacing device for capturing handss for robot of the present utility model.
In accompanying drawing, the implication of labelling is as follows：
1：Robot connecting plate；2：Wide type gas is grabbed；3：Wedge surface positions finger；4：The fast receiving electrode in mother-tool side；5：Tool side
Quick connector；6：Positioning motherboard；7：Tool adapter；8：The public plate of positioning；9：Through hole；10：Mother-tool side quick connector；11：Section
Stream valve；12：Line protection plate；13:The fast receiving electrode of tool side；14：Taper guide table；15：Air valve installing plate.
Specific embodiment
Below in conjunction with Figure of description, this utility model is further described.
As shown in figure 1, the instrument fast replacing device for capturing handss for robot of the present utility model, including mother-tool side unit
With instrument side unit, the mother-tool side unit be used for clamp the instrument side unit,
The mother-tool side unit, grabs 2, wedge surface positioning finger 3, mother-tool side including robot connecting plate 1, wide type gas fast
The public plate 8 of receiving electrode 4, positioning, mother-tool side quick connector 10 and line protection plate 12, the robot connecting plate 1 are arranged online
The top of road protective plate 12, for joining with robot transmission arm end axis, the wide type gas is grabbed 2 and is located at 12 bottom of line protection plate
Both sides, as clamping and positioning actuating unit, the line protection plate 12 prevents wide type gas from grabbing 2 tracheas when opening and closing or electricity
Line is grabbed 2 by wide type gas and is crushed, and plays a part of to protect trachea or electric wire, the wedge surface positioning finger 3 to be arranged on wide type gas and grab 2 liang
The bottom of side clamping limb, the positioning public affairs plate 8 are arranged on the inside that wide type gas grabs 2, and mother-tool side quick connector 10 is arranged
On the public plate 8 of positioning, the fast receiving electrode in the mother-tool side 4 is arranged on the public plate 8 of positioning, in 8 lower surface of the public plate of positioning
Portion arranges tapered guide table 14,
The instrument side unit, connects electricity soon including tool side quick connector 5, positioning motherboard 6, tool adapter 7, tool side
Pole 13, the tool side quick connector 5 are arranged on positioning motherboard 6, and two sides of the positioning motherboard 6 are provided with and wedge surface
Positioning finger 3 matches the wedge surface of clamping, the through hole 9 for being provided centrally with matching with taper guide table 14 of the positioning motherboard 6,
The fast receiving electrode of the tool side 13 is arranged on positioning motherboard 6, and position is corresponding with mother-tool side quick connector 10, the work
Tool adapter 7 is fixed on the lower surface of positioning motherboard 6.
During the mother-tool side unit clamping device side unit, the fast receiving electrode of the fast receiving electrode 4, tool side in the mother-tool side
13 connect relatively, realize electrical connection；Mother-tool side quick connector 10, tool side quick connector 5 are connect relatively, realize that gas circuit connects
Connect.
The tool side quick connector 10, the junction of tool side quick connector 5 are provided with prevents the O-shaped rubber of gas leakage close
Seal, places gas leakage, improve the air-tightness.
Mother-tool side quick connector 10 is arranged on the leading section of the public plate 8 of positioning, and the fast receiving electrode in the mother-tool side 4 sets
The rearward end in the public plate 8 of positioning is put, the tool side quick connector 5 is arranged on the leading section of positioning motherboard 6, and the tool side is fast
Receiving electrode 13 is arranged on the rearward end of positioning motherboard 6.
The wide type gas is grabbed, and is provided with two groups of throttlings on the air valve installing plate 15
Valve 11, two groups of choke valves 11 are respectively used to control the clamping limb action that the wide type gas of respective side grabs 2.
It is of the present utility model for robot capture handss instrument fast replacing device, operation principle and process it is as follows：
The robot connecting plate 1 of mother-tool side unit and robot transmission arm end axis connection, two pieces wide type gas grab 2 as folder
Tightening position power set, wide type gas are grabbed the bottom of 2 clamping faces and are installed with wedge surface positioning finger 3, and two pieces wide type gas grab solid between 2
Surely there is the public plate 8 of positioning, the tool adapter 7 of instrument side unit is fixed on the lower surface of the positioning motherboard 6 with wedge surface, and positioning is female
The wedge surface that the wedge surface of 6 both sides of plate positions finger 3 with wedge surface matches, as shown in Fig. 2 when robot changes handgrip, mother-tool
Side unit is adjusted to the surface of instrument side unit by robot transmission arm；As shown in figure 3, mother-tool side unit drop to it is slow
Rush position（The placement location of instrument side unit）, and 2 ventilations are grabbed to inner side clamping by wide type gas, it is fixed that positioning motherboard 6 leads to wedge surface
Position finger 3 comes lifting position, the taper guide table 14 of public 8 bottom of plate of positioning and the through hole for positioning motherboard 6 when being lifted to certain altitude
It is engaged, realization is automatically positioned centering and clamps, and its state is as shown in Figure 4；So that robot mother-tool side unit accurately connects
Bonding tool side unit, now, mother-tool side unit and instrument side unit, electrical communications pass through the fast receiving electrode 4, instrument in mother-tool side
The fast receiving electrode 13 in side is relative to connect realization；Gas circuit connects, and is connect by mother-tool side quick connector 10, tool side quick connector 5 relatively
Realize.
As shown in figure 5, instrument side unit can be the different Multiple Type of size, piled up and placed in instrument handgrip
On frame, different instruments are installed in the bottom of the tool adapter 7 of each instrument side unit, by controlling the position of mother-tool side unit
Put, choose corresponding instrument side unit and clamped.
In sum, the instrument fast replacing device for capturing handss for robot of the present utility model, including mother-tool side unit
With instrument side unit, for clamping the instrument side unit, both positioning are reliable, easy to operate for mother-tool side unit, manufacture hardly possible
Degree is reduced, and simple and reliable for structure, cost at least reduces by more than 50%, while mother-tool side unit can be individually grabbed as robot
Hand-held tool is used, and also can coordinate implementation tool quick change as both clamping device side units, and everybody is flexible to increased machine, has
Good application prospect.
Ultimate principle of the present utility model and principal character and advantage of the present utility model has been shown and described above.One's own profession
The technical staff of industry it should be appreciated that this utility model is not restricted to the described embodiments, described in above-described embodiment and description
Simply illustrate principle of the present utility model, on the premise of without departing from this utility model spirit and scope, this utility model is also
Various changes and modifications are had, these changes and improvements are both fallen within the range of claimed this utility model.This utility model
Claimed scope is by appending claims and its equivalent thereof.
Claims (2)
1. it is a kind of for robot capture handss instrument fast replacing device, it is characterised in that：Including mother-tool side unit and tool side
Unit, the mother-tool side unit are used for clamping the instrument side unit,
The mother-tool side unit, including robot connecting plate（1）, wide type gas grabs（2）, wedge surface positioning finger（3）, mother-tool side
Fast receiving electrode（4）, the public plate of positioning（8）, mother-tool side quick connector（10）With line protection plate（12）, the robot connecting plate
（1）It is arranged on line protection plate（12）Top, for joining with robot transmission arm end axis, the wide type gas grabs（2）It is located at
Line protection plate（12）Bottom, as clamping and positioning actuating unit, the wedge surface positions finger（3）It is arranged on wide type gas to grab
（2）The bottom of sandwich arm, the positioning public affairs plate（8）It is arranged on wide type gas to grab（2）Inside, the fast grafting in the mother-tool side
Head（10）It is arranged on the public plate of positioning（8）On, the fast receiving electrode in the mother-tool side（4）It is arranged on the public plate of positioning（8）On, the positioning
Public plate（8）The middle part of lower surface arranges tapered guide table（14）,
The instrument side unit, including tool side quick connector（5）, positioning motherboard（6）, tool adapter（7）, tool side connect soon
Electrode（13）, the tool side quick connector（5）It is arranged on positioning motherboard（6）On, the positioning motherboard（6）Two sides be all provided with
Be equipped with finger is positioned with wedge surface（3）Match the wedge surface of clamping, the positioning motherboard（6）Be provided centrally with and taper guide table
（14）The through hole of matching（9）, the fast receiving electrode of the tool side（13）It is arranged on positioning motherboard（6）On, and position and mother-tool side
Quick connector（10）It is corresponding, the tool adapter（7）It is fixed on positioning motherboard（6）Lower surface.
2. it is according to claim 1 it is a kind of for robot capture handss instrument fast replacing device, it is characterised in that：The master
During instrument side unit clamping device side unit, the fast receiving electrode in the mother-tool side（4）, the fast receiving electrode of tool side（13）It is relative to connect,
Realize electrical connection；Mother-tool side quick connector（10）, tool side quick connector（5）It is relative to connect, realize that gas circuit connects.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621027861.XU CN206029926U (en) | 2016-08-31 | 2016-08-31 | A instrument quick change device for robot snatchs hand |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621027861.XU CN206029926U (en) | 2016-08-31 | 2016-08-31 | A instrument quick change device for robot snatchs hand |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206029926U true CN206029926U (en) | 2017-03-22 |
Family
ID=58297749
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621027861.XU Active CN206029926U (en) | 2016-08-31 | 2016-08-31 | A instrument quick change device for robot snatchs hand |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206029926U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107088888A (en) * | 2017-05-23 | 2017-08-25 | 深圳市连硕教育投资管理有限公司 | A kind of fast replacing device and workbench for robot clamp |
| JP2019038098A (en) * | 2017-08-24 | 2019-03-14 | セイコーエプソン株式会社 | Jig for robot hand and robot |
| CN109551506A (en) * | 2018-11-13 | 2019-04-02 | 北京新立机械有限责任公司 | A kind of plumb joint assembling and disassembling device |
| CN109623862A (en) * | 2019-01-04 | 2019-04-16 | 广汽本田汽车有限公司 | A kind of clamping device automatically switching plug block |
-
2016
- 2016-08-31 CN CN201621027861.XU patent/CN206029926U/en active Active
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107088888A (en) * | 2017-05-23 | 2017-08-25 | 深圳市连硕教育投资管理有限公司 | A kind of fast replacing device and workbench for robot clamp |
| JP2019038098A (en) * | 2017-08-24 | 2019-03-14 | セイコーエプソン株式会社 | Jig for robot hand and robot |
| CN109551506A (en) * | 2018-11-13 | 2019-04-02 | 北京新立机械有限责任公司 | A kind of plumb joint assembling and disassembling device |
| CN109551506B (en) * | 2018-11-13 | 2021-04-09 | 北京新立机械有限责任公司 | Welding head assembling and disassembling device |
| CN109623862A (en) * | 2019-01-04 | 2019-04-16 | 广汽本田汽车有限公司 | A kind of clamping device automatically switching plug block |
| CN109623862B (en) * | 2019-01-04 | 2024-05-24 | 广汽本田汽车有限公司 | Clamping device capable of automatically switching plug blocks |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20180504 Address after: 210038 No. 11 Heng Heng Road, Nanjing Economic Development Zone, Jiangsu Patentee after: Nanjing Connie Electric Technology Co., Ltd. Address before: 210046 No. 11 Heng Heng Road, Nanjing Economic Development Zone, Jiangsu Patentee before: Nanjing Kangni Technology Industry Co., Ltd. |
|
| TR01 | Transfer of patent right |