CN206296936U - A kind of robot end's instrument fast replacing device - Google Patents
A kind of robot end's instrument fast replacing device Download PDFInfo
- Publication number
- CN206296936U CN206296936U CN201621467051.6U CN201621467051U CN206296936U CN 206296936 U CN206296936 U CN 206296936U CN 201621467051 U CN201621467051 U CN 201621467051U CN 206296936 U CN206296936 U CN 206296936U
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- female
- main body
- push rod
- male
- locking
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Abstract
The utility model discloses a kind of robot end's instrument fast replacing device, including male and female, male includes male main body, locking device and transmission device, the boss of male main body is provided with through hole, some draw-in grooves are provided with through hole, locking device includes being installed in the locking push rod in through hole and the steel ball ball on locking push rod, transmission device includes motor, the first gear and second gear that are sequentially connected with motor and the leading screw being connected with second gear, leading screw coordinates with feed screw nut, female includes female main body and connecting portion, female main body is provided with locking slot, locking push rod, inner casing with some through holes for being easy to electric wire to be connected with oil pipe are equipped with female main body.The utility model is skillfully constructed, simple structure, compact, is driven by motor, coordinates the motion of steel ball ball to realize the connection and cut-out of robot arm and end-of-arm tooling, while there is pose fault tolerance, to robot end's instrument with very strong adaptability.
Description
Technical field
The utility model belongs to the technical field of robot, and in particular to a kind of robot end's instrument fast replacing device.
Background technology
The task that robot is performed often has diversity, and the quality of task object, shape and size are mostly different, therefore
The mission requirements of complexity can not be met using only single end-of-arm tooling.Existing solution is for robot is equipped with end-of-arm tooling
Fast replacing device and tool storage room, allow the robot to being actually needed so as to change end-of-arm tooling according to job task, improve machine
The work capacity and operating efficiency of people.
And existing most of fast replacing devices, its switching device complex structure, complex operation do not have practicality；Instrument is completed
Robot can only transmit torque without normal direction tool heads transmission electricity, hydraulic power after changing the outfit；And hold without pose fault tolerance or pose
Difference poor ability is, it is necessary to mechanical arm could complete the switching of end-of-arm tooling with precision very high so that fast replacing device can not be fitted
For most of end-of-arm toolings, the flexibility of the robot equipped with end-of-arm tooling fast replacing device is greatly reduced.
Utility model content
The purpose of this utility model is in view of the shortcomings of the prior art, there is provided a kind of robot end's instrument changes the outfit soon
Put, electricity, hydraulic power cannot be transmitted to solve existing robot fast replacing device, pose fault tolerance is poor, it is impossible to suitable for most of
The problem of end-of-arm tooling.
To reach above-mentioned purpose, the utility model is adopted the technical scheme that：
A kind of robot end's instrument fast replacing device, including male and female；Male include male main body, locking device and
Transmission device；Have one at where the boss of male main body through male main body and the through hole of boss, set in the through hole on boss
It is equipped with some draw-in grooves；
Locking device includes the locking push rod being installed in the through hole and the steel ball being movably arranged on the locking push rod
Ball；Transmission device includes the motor on the inner casing of male, the first gear being sequentially connected with motor and second gear and
The leading screw being connected with second gear, leading screw coordinates with feed screw nut；
Female include female main body and in female main body and the connection of outside workpiece connecting portion；Set in female main body
There is the locking slot that steel ball ball is locked for locking push rod；
Lock push rod, inner casing and some through holes for being easy to electric wire to be connected with oil pipe are equipped with female main body.
Preferably, the curved error compensation bar in tip is arranged with male；Cooperation is arranged with female and accommodates mistake
Difference compensation bar, the tapered error compensation groove in top.
Preferably, connecting portion includes the adaptation disk being arranged in female main body and the cone bar for being arranged at female body side.
Preferably, the blind hole of a receiving leading screw free end is provided with locking push rod, is provided with blind hole and is sheathed on leading screw
On needle bearing and the jump ring for screens needle bearing.
Preferably, inner casing and female are provided with for limiting feed screw nut rotation, it is done the guiding feed rod for moving along a straight line.
Preferably, there is the stage clip being sheathed on the locking push rod between locking push rod and male main body.
Preferably, locking push rod is bolted on feed screw nut.
Robot end's instrument fast replacing device that the utility model is provided, has the advantages that：
Error compensation groove is set to that opening is larger tapered, and error compensation bar is set to arc-shaped, in male body and mother
When head body is docked, error compensation bar moves to error compensation groove top, is aligned, and then male body is moved down, complete
Into docking；Under the drive of transmission device, locking push rod travels forward and promotes steel ball ball, and steel ball ball enters locking slot and completes lock
Tightly, and then electric wire and oil pipe is driven to complete docking；When mechanical arm disconnects with end-of-arm tooling, transmission device reverse drive releases lock
Tightly.
The utility model is skillfully constructed, simple structure, compact, is driven by motor, coordinates steel ball ball, realizes robot end
The connection and cut-out of ending tool fast replacing device, while have pose fault tolerance, have very strong suitable to robot end's instrument
Ying Xing.
Brief description of the drawings
Fig. 1 is the structural representation of robot end's instrument fast replacing device.
Fig. 2 is the structural representation of robot end's instrument fast replacing device male.
Fig. 3 is the structural representation of robot end's instrument fast replacing device female.
Wherein, 1, male main body；2nd, error compensation bar；3rd, push rod is locked；4th, steel ball ball；5th, inner casing；6th, gear hub；7th, electricity
Machine；8th, first gear；9th, second gear；10th, leading screw；11st, it is oriented to feed rod；12nd, feed screw nut；13rd, jump ring；14th, needle bearing；
15th, stage clip；16th, error compensation groove；17th, female main body；18th, locking slot；19th, instrument adapts to disk；20th, bar is bored.
Specific embodiment
The implementation method to the technical solution of the utility model is described in detail below in conjunction with the accompanying drawings：
According to one embodiment of the application, as Figure 1-3, robot end's instrument fast replacing device of this programme, bag
Include male and female.
Male includes male main body 1, locking device and transmission device.
Locking device includes the locking push rod 3 on the boss of male main body 1 and the steel ball ball 4 on locking push rod 3.
The lower wall of male main body 1 on transmission device is inner casing 5 and gear hub 6, and a motor 7 is wherein provided with inner casing 5, is connected on motor 7
First gear 8 is connected to, first gear 8 drives the second gear 9 for engaging to rotate, and second gear 9 is connected with leading screw 10, and band
Dynamic leading screw 10 is rotated, and leading screw 10 is rotated and drives the feed screw nut 12 being fixed on locking push rod 3 to move, on locking push rod 3
It is oriented under the restriction effect of feed rod 11, feed screw nut 12 moves along a straight line forward and promotes locking push rod 3 to move along a straight line.
Needle bearing 14 and jump ring 13 are installed, jump ring 13 is used for screens needle bearing 14 in the locking blind hole of push rod 3；Locking
Push rod 3 is provided with the groove of steel ball ball 4 for accommodating steel ball ball 4, and is oriented to feed rod 11, and being oriented to feed rod 11 is used for spacing feed screw nut
12, it is kept linear motion；The outside of locking push rod 3 is fixed with stage clip 15, the support feed screw nut 12 of stage clip 15.
Female includes female main body 17, and the bottom of female main body 17 is that instrument adapts to disk 19, is connected with instrument or ring flange, female
The side of head main body 17 is provided with cone bar 20, is connected with tool storage room, and female main body 17 is provided with locking slot 18, is pushed away for locking
The locking steel ball of bar 3 ball 4.
Lock push rod 3, inner casing 5 and some through holes for being easy to electric wire to be connected with oil pipe are equipped with female main body 17, lock
Push rod 3 travels forward, and drives electric wire and oil pipe to be achieved a butt joint with end-of-arm tooling.
Two error compensation bars 2 are symmetrically arranged with male main body 1, the tip of error compensation bar 2 is in arc-shaped, is easy to certain
Pose range of tolerable variance in, realize the docking of male main body 1 and female main body 17.Before male body and the docking of female body,
Mechanical arm is moved into place in looks difference allowed band, i.e., error compensation bar 2 moves to the top of error compensation groove 16, then machinery
Arm is moved downward vertically, completes error compensation, makes the fast replacing device in the fast replacing device male and end-of-arm tooling on mechanical arm female
Head completes alignment.
Detailed process：The mechanical arm of robot is connected with male, the instrument in female adapts to disk 19 and connects with end-of-arm tooling
Connect on tool storage room.
When changing the outfit, mechanical arm moves to female top alignment first, after mechanical arm enters in position and attitude error allowed band,
Mechanical arm moves along a straight line downwards, the projection of the front end of error compensation bar 2 is fallen in cone tank, alignment, error compensation bar 2 along
Error compensation groove 16 is slided, until falling completely within error compensation groove 16, completes the docking operation of fast replacing device.
During locking, motor 7 is opened, and drives first gear 8 to rotate, and first gear 8 drives second gear 9 to rotate, the second tooth
Wheel 9 drives leading screw 10 to rotate, and drives feed screw nut 12 to move along a straight line in the spacing lower leading screw 10 for being oriented to feed rod 11, feed screw nut
12 promote locking push rod 3, locking push rod 3 to promote steel ball ball 4 to enter in locking slot 18, finally lock push rod 3 completely into female
In main body 17, the locking of fast replacing device is completed.Thus the process that changes the outfit of fast replacing device is completed, meanwhile, locking push rod 3 is transported forward
It is dynamic, drive the plug of electric and electrohydraulic interface to be achieved a butt joint with its socket.
During disconnection, motor 7 is inverted, and drives the locking counter motion of push rod 3, the steel ball ball that steel ball ball 4 is fallen on locking push rod 3
In 4 grooves, locking device is released, and mechanical arm is moved upwards, completes the disconnection of mechanical arm and end-of-arm tooling.
The utility model is skillfully constructed, simple structure, compact, is driven by motor 7, coordinates the motion of steel ball ball 4, realizes
The connection and cut-out of robot end's instrument fast replacing device, while there is certain pose fault tolerance, to robot end's work
Tool has very strong adaptability.
Although being described in detail to the specific embodiment of utility model with reference to accompanying drawing, should not be construed as to this
The restriction of the protection domain of patent.In the scope described by claims, those skilled in the art are without creative work
The various modification and variation that can be made still belong to the protection domain of this patent.
Claims (7)
1. a kind of robot end's instrument fast replacing device, it is characterised in that：Including male and female；The male includes male master
Body, locking device and transmission device；Have one at where the boss of the male main body through male main body and the through hole of boss,
Some draw-in grooves are provided with through hole on the boss；
The locking device includes the locking push rod being installed in the through hole and the steel ball being movably arranged on the locking push rod
Ball；The transmission device includes the motor on the inner casing of male, the first gear being sequentially connected with the motor and second
Gear and the leading screw being connected with the second gear, the leading screw coordinate with feed screw nut；
The female include female main body and in female main body and end-of-arm tooling connection connecting portion；The female main body
It is provided with the locking slot that steel ball ball is locked for locking push rod；
It is described to lock push rod, inner casing and some through holes for being easy to electric wire to be connected with oil pipe are equipped with female main body.
2. robot end's instrument fast replacing device according to claim 1, it is characterised in that：It is arranged with the male
The curved error compensation bar in tip；Cooperation is arranged with the female and accommodates error compensation bar, the tapered error in top
Compensating tank.
3. robot end's instrument fast replacing device according to claim 1, it is characterised in that：The connecting portion includes setting
In the adaptation disk in the female main body and the cone bar for being arranged at female body side.
4. robot end's instrument fast replacing device according to claim 1, it is characterised in that：Set on the locking push rod
There is the blind hole of a receiving leading screw free end, the needle bearing that is sheathed on leading screw is installed and for screens needle roller in the blind hole
The jump ring of bearing.
5. robot end's instrument fast replacing device according to claim 1, it is characterised in that：The inner casing and the female
It is provided with for limiting feed screw nut rotation, it is done the guiding feed rod for moving along a straight line.
6. according to any described robot end's instrument fast replacing devices of claim 1-5, it is characterised in that：The locking push rod
There is the stage clip being sheathed on the locking push rod between male main body.
7. according to any described robot end's instrument fast replacing devices of claim 1-5, it is characterised in that：The locking push rod
It is bolted on feed screw nut.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621467051.6U CN206296936U (en) | 2016-12-29 | 2016-12-29 | A kind of robot end's instrument fast replacing device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621467051.6U CN206296936U (en) | 2016-12-29 | 2016-12-29 | A kind of robot end's instrument fast replacing device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206296936U true CN206296936U (en) | 2017-07-04 |
Family
ID=59205076
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621467051.6U Expired - Fee Related CN206296936U (en) | 2016-12-29 | 2016-12-29 | A kind of robot end's instrument fast replacing device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206296936U (en) |
Cited By (18)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107363863A (en) * | 2017-08-11 | 2017-11-21 | 重庆微浪生物科技有限公司 | Male and female head attachment means for the connection of Bioexperiment utensil |
| CN108525145A (en) * | 2018-05-14 | 2018-09-14 | 柯尼卡美能达再启医疗设备（上海）有限公司 | The more bed board positioning systems of one proton heavy ion |
| CN108818518A (en) * | 2018-09-03 | 2018-11-16 | 杭州程天科技发展有限公司 | A kind of retaining device being automatically locked |
| CN109009261A (en) * | 2018-08-13 | 2018-12-18 | 微创（上海）医疗机器人有限公司 | Snakelike surgical instrument |
| CN109009437A (en) * | 2018-09-08 | 2018-12-18 | 北京德康健医药科技有限公司 | A kind of surgical navigational robot end connection method |
| CN109483599A (en) * | 2018-12-06 | 2019-03-19 | 淮安市博泽科技有限公司 | Electrodynamic type robot end's fast replacing device |
| CN110142799A (en) * | 2019-06-20 | 2019-08-20 | 苏州大学 | A kind of robot quick change joint arrangement |
| CN110253628A (en) * | 2019-06-10 | 2019-09-20 | 重庆智能机器人研究院 | A kind of robot end's tool fast replacing device |
| CN110840017A (en) * | 2019-10-31 | 2020-02-28 | 东莞市意利自动化科技有限公司 | Automatic glue brushing and spraying quick-change workstation |
| CN112497258A (en) * | 2020-11-17 | 2021-03-16 | 武汉联影智融医疗科技有限公司 | Mechanical arm and joint quick-change interface thereof |
| CN112890955A (en) * | 2021-01-18 | 2021-06-04 | 山东大学 | Operation arm system of transluminal surgical robot, robot and method |
| CN113400349A (en) * | 2021-06-02 | 2021-09-17 | 北京思灵机器人科技有限责任公司 | Quick change device for manipulator of mechanical arm |
| CN113427508A (en) * | 2021-05-31 | 2021-09-24 | 安徽机电职业技术学院 | Industrial robot terminal quick change device |
| CN113927615A (en) * | 2021-11-12 | 2022-01-14 | 内蒙古工业大学 | Gesture passively-adapted bottle cap pulling tool at tail end of mechanical arm |
| CN114083560A (en) * | 2021-11-18 | 2022-02-25 | 国网湖南省电力有限公司 | Quick joint changing device for tail end of robot arm and application method thereof |
| CN114367998A (en) * | 2022-03-22 | 2022-04-19 | 北京九服机器人科技有限公司 | Robot standard interactive tool development system |
| CN115072011A (en) * | 2022-06-28 | 2022-09-20 | 哈尔滨工业大学（深圳） | Multi-arm spacecraft topology-variable mechatronic docking device and docking method |
| CN115592683A (en) * | 2022-10-27 | 2023-01-13 | 国网天津市电力公司（Cn） | Protection tripping device for quick-mounting head of live working robot |
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2016
- 2016-12-29 CN CN201621467051.6U patent/CN206296936U/en not_active Expired - Fee Related
Cited By (27)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107363863A (en) * | 2017-08-11 | 2017-11-21 | 重庆微浪生物科技有限公司 | Male and female head attachment means for the connection of Bioexperiment utensil |
| CN108525145A (en) * | 2018-05-14 | 2018-09-14 | 柯尼卡美能达再启医疗设备（上海）有限公司 | The more bed board positioning systems of one proton heavy ion |
| CN109009261A (en) * | 2018-08-13 | 2018-12-18 | 微创（上海）医疗机器人有限公司 | Snakelike surgical instrument |
| CN108818518A (en) * | 2018-09-03 | 2018-11-16 | 杭州程天科技发展有限公司 | A kind of retaining device being automatically locked |
| CN108818518B (en) * | 2018-09-03 | 2024-01-02 | 杭州程天科技发展有限公司 | Baffle device capable of automatically locking |
| CN109009437A (en) * | 2018-09-08 | 2018-12-18 | 北京德康健医药科技有限公司 | A kind of surgical navigational robot end connection method |
| CN109009437B (en) * | 2018-09-08 | 2024-05-03 | 安徽埃克索医疗机器人有限公司 | Surgical navigation robot tail end connection method |
| CN109483599A (en) * | 2018-12-06 | 2019-03-19 | 淮安市博泽科技有限公司 | Electrodynamic type robot end's fast replacing device |
| CN109483599B (en) * | 2018-12-06 | 2024-04-12 | 淮安市博泽科技有限公司 | Terminal quick change device of electric robot |
| CN110253628A (en) * | 2019-06-10 | 2019-09-20 | 重庆智能机器人研究院 | A kind of robot end's tool fast replacing device |
| CN110253628B (en) * | 2019-06-10 | 2024-04-05 | 重庆智能机器人研究院 | Robot end tool quick change device |
| CN110142799A (en) * | 2019-06-20 | 2019-08-20 | 苏州大学 | A kind of robot quick change joint arrangement |
| CN110142799B (en) * | 2019-06-20 | 2024-04-05 | 苏州大学 | Robot quick-change joint device |
| CN110840017A (en) * | 2019-10-31 | 2020-02-28 | 东莞市意利自动化科技有限公司 | Automatic glue brushing and spraying quick-change workstation |
| CN112497258A (en) * | 2020-11-17 | 2021-03-16 | 武汉联影智融医疗科技有限公司 | Mechanical arm and joint quick-change interface thereof |
| CN112890955A (en) * | 2021-01-18 | 2021-06-04 | 山东大学 | Operation arm system of transluminal surgical robot, robot and method |
| CN113427508A (en) * | 2021-05-31 | 2021-09-24 | 安徽机电职业技术学院 | Industrial robot terminal quick change device |
| CN113427508B (en) * | 2021-05-31 | 2022-04-01 | 安徽机电职业技术学院 | Industrial robot terminal quick change device |
| CN113400349B (en) * | 2021-06-02 | 2022-11-25 | 北京思灵机器人科技有限责任公司 | Quick change device for manipulator of mechanical arm |
| CN113400349A (en) * | 2021-06-02 | 2021-09-17 | 北京思灵机器人科技有限责任公司 | Quick change device for manipulator of mechanical arm |
| CN113927615B (en) * | 2021-11-12 | 2023-01-10 | 内蒙古工业大学 | Gesture passively-adapted bottle cap pulling tool at tail end of mechanical arm |
| CN113927615A (en) * | 2021-11-12 | 2022-01-14 | 内蒙古工业大学 | Gesture passively-adapted bottle cap pulling tool at tail end of mechanical arm |
| CN114083560A (en) * | 2021-11-18 | 2022-02-25 | 国网湖南省电力有限公司 | Quick joint changing device for tail end of robot arm and application method thereof |
| CN114367998B (en) * | 2022-03-22 | 2022-06-07 | 北京九服机器人科技有限公司 | Robot standard interactive tool development system |
| CN114367998A (en) * | 2022-03-22 | 2022-04-19 | 北京九服机器人科技有限公司 | Robot standard interactive tool development system |
| CN115072011A (en) * | 2022-06-28 | 2022-09-20 | 哈尔滨工业大学（深圳） | Multi-arm spacecraft topology-variable mechatronic docking device and docking method |
| CN115592683A (en) * | 2022-10-27 | 2023-01-13 | 国网天津市电力公司（Cn） | Protection tripping device for quick-mounting head of live working robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| 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: 20170704 Termination date: 20181229 |