CN206366990U - A kind of industrial robot tail house of fast changeable instrument - Google Patents
A kind of industrial robot tail house of fast changeable instrument Download PDFInfo
- Publication number
- CN206366990U CN206366990U CN201621325205.8U CN201621325205U CN206366990U CN 206366990 U CN206366990 U CN 206366990U CN 201621325205 U CN201621325205 U CN 201621325205U CN 206366990 U CN206366990 U CN 206366990U
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- Prior art keywords
- master
- chuck
- tool side
- piston
- pedestal
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Abstract
A kind of industrial robot tail house of fast changeable instrument, belongs to Industrial Robot Technology field disclosed in the utility model.The utility model includes the master and replaceable tool side for being placed in robot end.The described master for being placed in robot end includes piston, chuck, master pedestal, dividing plate, alignment pin, upside gas valve, underside gas valve and the structure for being connected with robot end.Tool side includes tool side pedestal, disk and ball.The utility model passes through pneumatic ball structure so that robot end's master forms contactless interlocking with tool side, and this form is not only convenient and swift, while not being rigidly connected, the abrasion to equipment is small, and service life is greatly improved.The technical problems to be solved in the utility model is to provide a kind of can make user quickly and safely carry out the replacement of industrial robot end-of-arm tooling according to need of work with the tail house of rapid tool change.
Description
Technical field
The utility model belongs to Industrial Robot Technology field, more particularly to a kind of industrial machine of fast changeable instrument
People's tail house.
Background technology
Industrial robot is widely applied in production, and has born more and more important task.Work
The use of industry robot not only improve only the domestic manufacturing level of production, while also having driven mechanics, control is learned, and is calculated
The development of the multi-field subject such as machine science, becomes the emphasis studied both at home and abroad.In current domestic streamline still using many
Platform robot divides the work operation successively.This present situation make it that industrial robot quantity is more, and collaboration is difficult, and programming is numerous, while indirectly carrying
High later maintenance cost.
Utility model content
For industrial robot in the prior art change instrument it is cumbersome the problem of, one kind can be fast disclosed in the utility model
The industrial robot tail house of fast replacing instrument, the technical problem to be solved be to provide it is a kind of can be with the end of rapid tool change
Terminal structure, can make user quickly and safely carry out the replacement of industrial robot end-of-arm tooling according to need of work.
The purpose of this utility model is achieved through the following technical solutions.
A kind of industrial robot tail house of fast changeable instrument disclosed in the utility model includes being placed in machine
The master of people end and replaceable tool side.The described master for being placed in robot end includes piston, chuck, master base
Seat, dividing plate, alignment pin, upside gas valve, underside gas valve and the structure for being connected with robot end.Described card
Disk side downside is scalene cone, and the upside of scalene cone is the groove for setting tool side ball.Described the lower partition processing
There is the projection for setting tool side ball.Described master pedestal inner space plays cylinder action simultaneously.Described dividing plate
Middle part processes hole, and the connecting rod that described hole is used between piston and chuck passes through.Master base sleeve is on piston, and piston is in master
Moved in confined space between side base seat and dividing plate upper surface, piston is filled by upside gas valve, underside gas valve
Deflation is moved up and down.Described piston is located above chuck, and piston is fixedly connected with chuck by connecting rod.Tool side includes instrument
Side base seat, disk and ball.The structure for being connected with instrument, tool side pedestal are machined with the middle part of described tool side pedestal lower end
Inner side is machined with the ball seat for fixing ball, and tool side pedestal is machined with the positioning for being engaged with master alignment pin
Groove.The groove for fixing ball is machined with the inside of described disk.Disk is inserted on the inside of tool side pedestal.
A kind of course of work of the industrial robot tail house of fast changeable instrument is disclosed in the utility model, when
When needing the master of robot end to be fixedly connected with replaceable tool side, by alignment pin by master and replaceable instrument
Side is positioned, and the ventilation of upside gas valve, the deflation of underside gas valve push piston and moved down, and drive chuck to move down, under chuck side
The scalene cone of side pushes tool side ball and moved laterally, and until chuck side upper side recess blocks tool side ball, ball leads to
Cross ball seat, chuck side upper side recess, dividing plate downside is raised and disk inboard groove is fixed, be passed through by upside gas valve
Master and replaceable tool side are fixed and clamped by gas pressure, realize contactless interlocking.When needing robot end's
Pressure piston is moved up on when master and replaceable tool side are separated, upside gas valve is deflated, underside gas valve is ventilated, and is driven
Chuck is moved up, and tool side ball moves inward, the original position for exposed portion sphere of rolling back, now, master and replaceable instrument
Side is separated, and the replaceable tool side for connecting other outfits is changed according to need of work.
Further, described piston is fixedly connected with chuck by connecting rod, integrated between piston, chuck and connecting rod
Processing mode is fixedly connected or split type is fixedly connected.Described piston and chuck be split type to be fixedly connected to play and is easy to point
It Wei Xiu not change.Described piston and chuck are split type to be fixedly connected with the connection that is preferably screwed.
Further, master chuck lower surface is additionally operable to fix force snesor, and described force snesor is used to detect workpiece
Shake.Force sensor signals can be transmitted to host computer, and carry out data analysis.Industrial robot is controlled by corresponding algorithm
Come the error for overcoming shake to bring.
Further, for convenience of tool side connecting circuit equipment, it is separately installed with master pedestal, tool side pedestal side
Replaceable line interface.
Further, described chuck side downside is scalene cone, and described oblique cone angle is 45 degree, also can be according to reality
Need to be adjusted.
Beneficial effect：
(1) a kind of industrial robot tail house of fast changeable instrument, the utility model disclosed in the utility model
Pass through pneumatic ball structure so that robot end's master forms contactless interlocking with tool side.This form is not only square
Just quick, while not being rigidly connected, the abrasion to equipment is small, and the service life of utility model is greatly improved.
(2) in a kind of industrial robot tail house of fast changeable instrument, master chuck disclosed in the utility model
Install sensor, is capable of detecting when workpiece itself, and the shake brought by environment.Signal can be transmitted to host computer, gone forward side by side
Row data analysis.The error for controlling industrial robot to overcome shake to bring by corresponding algorithm.
(3) a kind of industrial robot tail house of fast changeable instrument disclosed in the utility model, described in master
Piston can play the purpose for being easy to repair replacing piston and chuck respectively with split type be fixedly connected of chuck.
(4) a kind of industrial robot tail house of fast changeable instrument disclosed in the utility model, use can substitute
Connecting groove, various circuits can be attached, significantly increase the expansion of tail house.While tail house instrument
End also can be open the connection scheme there is provided multiple types of tools, be easy to according to need of work replacing instrument.
Brief description of the drawings
Master and tool side under Fig. 1 released states.
Master and tool side under Fig. 2 interlocking states.
Wherein：1-master, 101-master pedestal, 102-dividing plate, 103-upside gas valve, 104-underside gas
Valve, 105-chuck, the scalene cone on 106-chuck, the groove on 107-chuck, 108-dividing plate projection, 109-piston,
2-tool side, 201-tool side pedestal, 202-original disk, 203-ball.
Embodiment
The utility model is described in more detail presently in connection with accompanying drawing, these accompanying drawings are simplified signal
Figure, only illustrates basic structure of the present utility model in a schematic way, therefore it only shows the composition relevant with the utility model.
Embodiment 1：
As shown in Figure 1, 2, a kind of industrial robot tail house of fast changeable instrument disclosed in the present embodiment, including
It is placed in the master 1 and replaceable tool side 2 of robot end.The described master for being placed in robot end includes piston
109th, chuck 105, master pedestal 101, dividing plate 102, alignment pin, upside gas valve 103, underside gas valve 104 and it is used for
With robot end's attachment structure.The side of described chuck 105 downside is 45 degree scalene cones, the upside of scalene cone for for
The groove 107 of setting tool side ball 203, the lower surface of chuck 105 is additionally operable to fix force snesor, and described force snesor is used for
Detect workpiece shake.The described bottom of dividing plate 102 is machined with the projection 108 for the ball 203 of setting tool side 2.Described master
Side base 101 inner spaces of seat play cylinder action simultaneously.The described middle part of dividing plate 102 processing hole, described hole is used for piston 109
Connecting rod between chuck 105 passes through.Master pedestal 101 is enclosed on piston 109, and piston 109 is in master pedestal 101 and dividing plate
Moved in confined space between 102 upper surfaces, piston 109 is filled by upside gas valve 103, underside gas valve 104
Deflation is moved up and down.Described piston 109 is located at the top of chuck 105, and piston 109 is fixedly connected with chuck 105 by connecting rod.Work
Having side 2 includes tool side pedestal 201, disk 202 and ball 203.Be machined with the middle part of the described lower end of tool side pedestal 201 for
The structure of instrument connection, the inner side of tool side pedestal 201 is machined with the ball seat for fixing ball 203, and tool side pedestal 201 adds
Work has the locating slot for being engaged with master alignment pin.The described inner side of disk 202 is machined with for fixing the recessed of ball 203
Groove.Disk 202 is inserted on the inside of bottom base.Replaceable line is separately installed with master pedestal 101, the side of tool side pedestal 201
Road interface.
A kind of course of work of the industrial robot tail house of fast changeable instrument is disclosed in the present embodiment, such as schemes
Shown in 1, when the master for needing robot end is fixedly connected with replaceable tool side, by alignment pin by master and Ke Geng
The tool side positioning changed, upside gas valve 103 is ventilated, the deflation of underside gas valve 104 pushes piston 109 and moved down, and drives card
Disk 105 is moved down, and the scalene cone 106 on the downside of chuck side pushes tool side ball and moved laterally, until chuck side upside is recessed
Groove 107 blocks tool side ball, and ball passes through in ball seat, the side upper side recess of chuck 105, the downside of dividing plate 102 projection and disk
Side groove is fixed, and master 1 and replaceable tool side 2 are fixed and clamped by the gas pressure being passed through by upside gas valve 103,
Realize contactless interlocking, interlocking state as shown in Figure 2.Now, because master 1 and tool side 2 are mutually locked, master 1 with
Electrical apparatus interface outside tool side 2 is also mutually butted, and is completed electric equipment access system.When needing the master of robot end
On when 1 and replaceable tool side 2 are separated, upside gas valve 104 is deflated, underside gas valve 104 is ventilated on pressure piston 109
Move, drive chuck 105 to move up, tool side ball 203 moves inward, the original position for exposed portion sphere of rolling back, now, master 1
Separated with replaceable tool side 2, the replaceable tool side 2 for connecting other outfits is changed according to need of work.
Above-described to specifically describe, purpose, technical scheme and beneficial effect to utility model have been carried out further in detail
Describe in detail bright, should be understood that and the foregoing is only specific embodiment of the utility model, for explaining the utility model, and
It is not used in and limits protection domain of the present utility model, all any modifications within spirit of the present utility model and principle, made,
Equivalent substitution, improvement etc., should be included within protection domain of the present utility model.
Claims (6)
1. a kind of industrial robot tail house of fast changeable instrument, it is characterised in that：Including being placed in robot end
Master (1) and replaceable tool side (2)；The described master for being placed in robot end includes piston (109), chuck
(105), master pedestal (101), dividing plate (102), alignment pin, upside gas valve (103), underside gas valve (104) and use
In the structure (110) being connected with robot end；Described chuck (105) side downside is scalene cone (106), scalene cone it is upper
Side is the groove (107) for setting tool side ball (203)；Described dividing plate (102) bottom is machined with for setting tool
The projection (108) of side ball (203)；Described master pedestal (101) inner space plays cylinder action simultaneously；Described dividing plate
(102) middle part processing hole, the connecting rod that described hole is used between piston (109) and chuck (105) passes through；Master pedestal
(101) it is enclosed on piston (109), confined space of the piston (109) between master pedestal (101) and dividing plate (102) upper surface
Interior movement, piston (109) is moved up and down by the inflation/deflation of upside gas valve (103), underside gas valve (104)；It is described
Piston (109) be located above chuck (105), piston (109) is fixedly connected with chuck (105) by connecting rod；Tool side (2) is wrapped
Include tool side pedestal (201), disk (202) and ball (203)；Being machined with the middle part of described tool side pedestal (201) lower end is used for
The ball seat for fixing ball (203), and instrument side base are machined with the inside of the structure being connected with instrument, tool side pedestal (201)
Seat (201) is machined with the locating slot for being engaged with master alignment pin；It is machined with the inside of described disk (202) for fixing
The groove of ball (203)；Disk (202) is inserted on the inside of tool side pedestal (201).
2. a kind of industrial robot tail house of fast changeable instrument as claimed in claim 1, it is characterised in that：It is described
Piston (109) be fixedly connected with chuck (105) by connecting rod, piston (109), chuck (105) are integrated between connecting rod
Processing mode is fixedly connected or split type is fixedly connected.
3. a kind of industrial robot tail house of fast changeable instrument as claimed in claim 2, it is characterised in that：It is described
Piston (109) and chuck (105) is split type is fixedly connected as the connection that is screwed.
4. a kind of industrial robot tail house of fast changeable instrument as described in claim 1,2 or 3, its feature exists
In：Master chuck (105) lower surface is additionally operable to fix force snesor, and described force snesor is used to detect that workpiece is shaken；Power is passed
Sensor signal can be transmitted to host computer, and carries out data analysis；Industrial robot is controlled to be trembled to overcome by corresponding algorithm
The dynamic error brought.
5. a kind of industrial robot tail house of fast changeable instrument as described in claim 1,2 or 3, its feature exists
In：For convenience of tool side (2) connecting circuit equipment, it is separately installed with sideways in master pedestal (101), tool side pedestal (201)
Replaceable line interface.
6. a kind of industrial robot tail house of fast changeable instrument as described in claim 1,2 or 3, its feature exists
In：Described chuck (105) side downside is scalene cone, and described oblique cone angle is 45 degree.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621325205.8U CN206366990U (en) | 2016-12-05 | 2016-12-05 | A kind of industrial robot tail house of fast changeable instrument |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621325205.8U CN206366990U (en) | 2016-12-05 | 2016-12-05 | A kind of industrial robot tail house of fast changeable instrument |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206366990U true CN206366990U (en) | 2017-08-01 |
Family
ID=59393454
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621325205.8U Expired - Fee Related CN206366990U (en) | 2016-12-05 | 2016-12-05 | A kind of industrial robot tail house of fast changeable instrument |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206366990U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106584430A (en) * | 2016-12-05 | 2017-04-26 | 北京理工大学 | Industrial robot tail end mechanism capable of replacing tool fast |
| CN107498576A (en) * | 2017-09-19 | 2017-12-22 | 柳州欧卡机器人有限公司 | A kind of industrial robot tail house for being conveniently replaceable instrument |
| CN109849042A (en) * | 2019-03-11 | 2019-06-07 | 南京英尼格玛工业自动化技术有限公司 | A kind of robot end's tool fast replacing device |
-
2016
- 2016-12-05 CN CN201621325205.8U patent/CN206366990U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106584430A (en) * | 2016-12-05 | 2017-04-26 | 北京理工大学 | Industrial robot tail end mechanism capable of replacing tool fast |
| CN107498576A (en) * | 2017-09-19 | 2017-12-22 | 柳州欧卡机器人有限公司 | A kind of industrial robot tail house for being conveniently replaceable instrument |
| CN109849042A (en) * | 2019-03-11 | 2019-06-07 | 南京英尼格玛工业自动化技术有限公司 | A kind of robot end's tool fast replacing device |
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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 |
Granted publication date: 20170801 Termination date: 20181205 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |