CN207359097U - A kind of mechanical arm tail end instrument automatic quick changing device - Google Patents
A kind of mechanical arm tail end instrument automatic quick changing device Download PDFInfo
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- CN207359097U CN207359097U CN201721223158.0U CN201721223158U CN207359097U CN 207359097 U CN207359097 U CN 207359097U CN 201721223158 U CN201721223158 U CN 201721223158U CN 207359097 U CN207359097 U CN 207359097U
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Abstract
A kind of mechanical arm tail end instrument automatic quick changing device is the utility model is related to, belongs to mechanical arm technical field.Including male connector, female and instrument shelf；The male connector and the female are clamped by some balls；The ball limits movement by the sliding sleeve for the slip being arranged in the male connector and the female outer wall.The utility model solves and can not depart from manual intervention in the prior art, and the problem of automatic quick change, there is provided a kind of mechanical arm tail end instrument automatic quick changing device.The device replacement process can be automatically performed, and without manual intervention, reliability is higher, can apply in harsh environments, realize the automatic quick-replaceable of mechanical arm tail end instrument.
Description
Technical field
A kind of robot arm device is the utility model is related to, more specifically, the utility model is related to a kind of mechanical arm tail end
Instrument automatic quick changing device, belongs to mechanical arm technical field.
Background technology
At present, mechanical arm, which is widely used in every field, the mechanical arms such as industrial manufacture, chemical industry, military affairs, amusement, has precision
It is high, reliability is high, can long time continuous working, it is strong to working environment adaptability the advantages that.Mechanical arm is generally general module,
Its end sets standard to install interface, and according to practical application operating mode, various end-of-arm toolings is installed by installing interface
In standard interface, to realize concrete function.In some application fields, such as automobile flow line production, the machinery of each station
Arm, which need to only install specific end-of-arm tooling, can complete particular task, and then be needed in other some application fields, mechanical arm tail end
End-of-arm tooling is often replaced, so as to realize different functions by mechanical arm.
In general, the replacement of end-of-arm tooling is realized using two methods, first, manually participating in replacing, second, using ripe machine
Device people's instrument quick-change system.But in some particular job environment, for example working environment is extremely severe, have corrosive gas or
Radioactive substance etc., people labour union is by restricted access mechanism, and robot quick-change system itself is complicated and realizes opening and closing movement
Signal needs to design special structure guarantor from quick-change system input/output in order to protect the data cable then to need by data cable
Cable is protected, using complexity.
State Intellectual Property Office discloses a Publication No. CN106737795A in 2017.5.31, and entitled " one kind is dynamic
The invention of the instrument fast replacing device and method of power manipulator ", a kind of instrument fast replacing device of dynamic power machine hand of the disclosure of the invention
And method, using remote operating control technology, using the real-time attitude of video monitoring system monitoring robot movement, by installed in
Horizon sensor on manipulator public affairs disk determines the horizontal attitude of manipulator, passes through the industrial phase beside manipulator public affairs disk
Machine realizes the centering of end-of-arm tooling public affairs disk stamper, so as to fulfill the quick change of arm end instrument；The present invention changes manipulator
The defects of simple function, while compared with other instrument quick-change systems, shorten the instrument quick change time, improve instrument quick change
Efficiency.Above-mentioned technical proposal still needs manual intervention, can not carry out automatic quick change.
Utility model content
The utility model aims to solve the problem that can not depart from manual intervention in the prior art, and the problem of automatic quick change, there is provided one
Kind mechanical arm tail end instrument automatic quick changing device.The device replacement process can be automatically performed, without manual intervention, reliability compared with
Height, can apply in harsh environments, realize the automatic quick-replaceable of mechanical arm tail end instrument.
In order to realize above-mentioned purpose of utility model, its specific technical solution is as follows：
A kind of mechanical arm tail end instrument automatic quick changing device, it is characterised in that：Including male connector, female and instrument shelf；Institute
State male connector and the female is clamped by some balls；The ball is by being arranged in the male connector and the female outer wall
The sliding sleeve limitation movement of slip；The bottom of the female is provided with circular cone location hole and end-of-arm tooling installation interface；The instrument
Shelf includes pedestal, and chassis is provided with the top of the pedestal, and U-type groove is provided with the chassis and slides motherboard, the U-type groove
The bottom surface for sliding motherboard is fixed with three pieces of sliding panels, and the U-type groove is slided and is respectively arranged with one group of spring on three surface side wall of motherboard
Plunger, is placed with the sliding panel and U-shaped slides public plate, the spring-loaded plunger contact U-shaped three surface side walls for sliding public plate
To limit its movement；The U-shaped both sides limb for sliding public plate fixes one end of one piece of positioning pin support plate, the positioning pin respectively
The other end of support plate installs circular cone positioning pin corresponding with the circular cone location hole, and being provided with band on the circular cone positioning pin leads
Bar cylinder contact switch；One end of the U-shaped middle part connection cylinder supports plate for sliding public plate, the cylinder supports plate it is another
End is provided with band guide rod cylinder, described with the action snap ring being provided with the top of guide rod cylinder for sliding the sliding sleeve.
The utility model is preferable, and the male connector includes middle level axle sleeve and ball；The lower part distribution of the middle level axle sleeve is more
A cylinder guide groove, the ball are arranged in the cylinder guide groove；The female includes guiding axis and sliding sleeve；The guiding
The waist of axis sets the multiple and eccentric ball of the ball engagement；The lower end of the guiding axis is provided with annular groove；The cunning
The lower face of set is connected by resetting spring with the bottom surface in the annular groove；Latch is provided with the wall of the guiding axis lower part
Mounting hole, is provided with and the corresponding kidney slot of latch mounting hole in the sliding sleeve middle wall；The latch mounting hole
With the kidney slot by stop pin connection, and limit the slip of sliding sleeve.
Above-mentioned middle level axle sleeve is hollow cylindrical structure, and top sets mechanical arm tail end mounting flange interface；The middle level axis
Top inside set is provided with clamp spring, and the lower face of the clamp spring abuts the upper surface of baffle ring, and the lower face of the baffle ring abuts
The upper surface of collector ring female, the lower face of the collector ring female abut against the step on the middle level sleeve lining.
Above-mentioned guiding axis is hollow cylindrical structure, and collector ring male connector is provided with the top of the guiding axis；The guiding axis bottom
Portion sets circular cone location hole and end-of-arm tooling the installation interface, and end-of-arm tooling is installed on the end-of-arm tooling installation interface.
The utility model is preferable, and cylinder ear mount is provided with the middle part of the pedestal, is hingedly fixed in the cylinder ear mount
There are cylinder, the upper end connection shield connecting rod of the cylinder, the shield connecting rod connects shield again；The shield connecting rod passes through connecting rod
Seat is fixed on the chassis.
The limit base on the chassis is provided with below above-mentioned shield connecting rod.
The advantageous effects that the utility model is brought：
1st, the utility model solves can not depart from manual intervention in the prior art, and the problem of automatic quick change, there is provided one
Kind mechanical arm tail end instrument automatic quick changing device.The device replacement process can be automatically performed, without manual intervention, reliability compared with
Height, can apply in harsh environments, realize the automatic quick-replaceable of mechanical arm tail end instrument.
2nd, the utility model device instrument shelf and male connector and female are arranged apart, do not include the electricity higher to environmental requirement
Sub- device, thus it is stronger to the adaptability of adverse circumstances.
3rd, the instrument shelf circular cone positioning pin of the utility model device and being used cooperatively for spring-loaded plunger, the instrument of improving is put
The permissible range of error when putting, and after the completion of placement, instrument can automatically reset under the action of spring-loaded plunger.
4th, the utility model apparatus structure is relatively easy, reliability higher.
5th, replace end-of-arm tooling path using the utility model device to fix, therefore mechanical arm can be set by the way of teaching
The path for replacing end-of-arm tooling is put, will greatly shorten replacing construction, improve replacement work efficiency.
Brief description of the drawings
Fig. 1 is the structure diagram of the utility model automatic quick changing device；
Fig. 2 is the structure diagram of the instrument shelf of the utility model automatic quick changing device；
Fig. 3 is the side structure schematic view of the instrument shelf of the utility model automatic quick changing device；
Fig. 4 is the dimensional structure diagram of the male connector of the utility model automatic quick changing device, female and end-of-arm tooling；
Fig. 5 is the schematic cross-sectional view of the male connector of the utility model automatic quick changing device, female and end-of-arm tooling；
Fig. 6 is the male connector of the utility model automatic quick changing device, the section view enlarged structure schematic diagram at the top of female；
Fig. 7 is the side structure schematic view of the male connector of the utility model automatic quick changing device；
Fig. 8 is the schematic cross-sectional view of the male connector of the utility model automatic quick changing device；
Fig. 9 is the overlooking the structure diagram of the male connector of the utility model automatic quick changing device；
Figure 10 is the dimensional structure diagram of the male connector of the utility model automatic quick changing device；
Figure 11 is the side structure schematic view of the female of the utility model automatic quick changing device（One）；
Figure 12 is the schematic cross-sectional view of the female of the utility model automatic quick changing device（One）；
Figure 13 is the side structure schematic view of the female of the utility model automatic quick changing device（Two）；
Figure 14 is the schematic cross-sectional view of the female of the utility model automatic quick changing device（Two）；
Figure 15 is the dimensional structure diagram of the female of the utility model automatic quick changing device；
Figure 16 is the male connector of the utility model automatic quick changing device, female bonding state, when sliding sleeve is slided by action snap ring
Schematic cross-sectional view；
Figure 17 is the male connector of the utility model automatic quick changing device, female bonding state, when sliding sleeve blocks ball after resetting
Schematic cross-sectional view；
Figure 18 is the dimensional structure diagram of the sliding sleeve in the female of the utility model automatic quick changing device；
Figure 19 is the overlooking the structure diagram of the instrument shelf of the utility model automatic quick changing device；
Figure 20 is the dimensional structure diagram on the instrument shelf top of the utility model automatic quick changing device；
Figure 21 is that the circular cone positioning pin being installed in positioning pin support plate of the utility model automatic quick changing device and band are led
The structure diagram of bar cylinder contact switch.
Reference numeral：1 be male connector, 2 be female, 3 be ball, 4 be sliding sleeve, 5 be circular cone location hole, 6 be end-of-arm tooling peace
Attaching mouth, 7 be pedestal, 8 be chassis, 9 be U-type groove slide motherboard, 10 be sliding panel, 11 be spring-loaded plunger, 12 be it is U-shaped slide it is public
Plate, 13 be positioning pin support plate, 14 be circular cone positioning pin, 15 be band guide rod cylinder contact switch, 16 be cylinder supports plate, 17 be
Band guide rod cylinder, 18 be act snap ring, 19 be middle level axle sleeve, 20 be cylinder guide groove, 21 be guiding axis, 22 be eccentric ball,
23 it is annular groove, 24 be resetting spring, 25 be latch mounting hole, 26 be kidney slot, 27 be latch, 28 is mechanical arm tail end
Mounting flange interface, 29 be clamp spring, 30 be baffle ring, 31 be collector ring female, 32 be collector ring male connector, 33 be end-of-arm tooling, 34
It is cylinder for cylinder ear mount, 35,36 be shield connecting rod, 37 be shield, 38 be connecting rod base, 39 be limit base, 40 is cover board.
Embodiment
Embodiment 1
A kind of mechanical arm tail end instrument automatic quick changing device, including male connector 1, female 2 and instrument shelf；1 He of male connector
The female 2 is clamped by some balls 3；The ball 3 passes through the cunning that is arranged on 2 outer wall of the male connector 1 and the female
The dynamic limitation movement of sliding sleeve 4；The bottom of the female 2 is provided with circular cone location hole 5 and end-of-arm tooling installation interface 6；The work
Tool shelf includes pedestal 7, and the top of the pedestal 7 is provided with chassis 8, and U-type groove is provided with the chassis 8 and slides motherboard 9, institute
The bottom surface for stating U-type groove slip motherboard 9 is fixed with three pieces of sliding panels 10, and the U-type groove is slided to be set respectively on 9 three surface side wall of motherboard
There is one group of spring-loaded plunger 11, the public plate 12 of U-shaped slip is placed with the sliding panel 10, the spring-loaded plunger 11 contacts described U-shaped
Three surface side walls of public plate 12 are slided to limit its movement；The U-shaped both sides limb for sliding public plate 12 fixes one piece of positioning pin respectively
One end of support plate 13, the other end installation of the positioning pin support plate 13 are positioned with the 5 corresponding circular cone of circular cone location hole
Pin 14, band guide rod cylinder contact switch 15 is provided with the circular cone positioning pin 14；The U-shaped middle part connection for sliding public plate 12
One end of cylinder supports plate 16, the other end of the cylinder supports plate 16 are provided with band guide rod cylinder 17, the band guide rod cylinder
17 top is provided with the action snap ring 18 for sliding the sliding sleeve 4.
Embodiment 2
A kind of mechanical arm tail end instrument automatic quick changing device, including male connector 1, female 2 and instrument shelf；1 He of male connector
The female 2 is clamped by some balls 3；The ball 3 passes through the cunning that is arranged on 2 outer wall of the male connector 1 and the female
The dynamic limitation movement of sliding sleeve 4；The bottom of the female 2 is provided with circular cone location hole 5 and end-of-arm tooling installation interface 6；The work
Tool shelf includes pedestal 7, and the top of the pedestal 7 is provided with chassis 8, and U-type groove is provided with the chassis 8 and slides motherboard 9, institute
The bottom surface for stating U-type groove slip motherboard 9 is fixed with three pieces of sliding panels 10, and the U-type groove is slided to be set respectively on 9 three surface side wall of motherboard
There is one group of spring-loaded plunger 11, the public plate 12 of U-shaped slip is placed with the sliding panel 10, the spring-loaded plunger 11 contacts described U-shaped
Three surface side walls of public plate 12 are slided to limit its movement；The U-shaped both sides limb for sliding public plate 12 fixes one piece of positioning pin respectively
One end of support plate 13, the other end installation of the positioning pin support plate 13 are positioned with the 5 corresponding circular cone of circular cone location hole
Pin 14, band guide rod cylinder contact switch 15 is provided with the circular cone positioning pin 14；The U-shaped middle part connection for sliding public plate 12
One end of cylinder supports plate 16, the other end of the cylinder supports plate 16 are provided with band guide rod cylinder 17, the band guide rod cylinder
17 top is provided with the action snap ring 18 for sliding the sliding sleeve 4.
Preferably, the male connector 1 includes middle level axle sleeve 19 and ball 3；The lower part of the middle level axle sleeve 19 is distributed multiple circles
Column guide groove 20, the ball 3 are arranged in the cylinder guide groove 20；The female 2 includes guiding axis 21 and sliding sleeve 4；Institute
The waist for stating guiding axis 21 sets multiple eccentric ball 22 coordinated with the ball 3；The lower end of the guiding axis 21 is provided with
Annular groove 23；The lower face of the sliding sleeve 4 is connected by resetting spring 24 with the bottom surface in the annular groove 23；The guiding axis
Latch mounting hole 25 is provided with the wall of 21 lower parts, is provided with 4 middle wall of sliding sleeve opposite with the latch mounting hole 25
The kidney slot 26 answered；The latch mounting hole 25 and the kidney slot 26 are connected by latch 27, and limit the cunning of sliding sleeve 4
It is dynamic.
On the basis of above-mentioned preferred solution：
--- further, the middle level axle sleeve 19 is hollow cylindrical structure, and top sets mechanical arm tail end mounting flange
Interface 28；Top inside the middle level axle sleeve 19 is provided with clamp spring 29, and the lower face of the clamp spring 29 is against the upper of baffle ring 30
End face, the lower face of the baffle ring 30 abut the upper surface of collector ring female 31, and the lower face of the collector ring female 31 abuts
Step on 19 inner wall of middle level axle sleeve.
--- further, the guiding axis 21 is hollow cylindrical structure, and the top of guiding axis 21 is provided with collector ring
Male connector 32；21 bottom of guiding axis sets circular cone location hole 5 and end-of-arm tooling the installation interface 6, the end-of-arm tooling peace
End-of-arm tooling 33 is installed on attaching mouth 6.
Embodiment 3
A kind of mechanical arm tail end instrument automatic quick changing device, including male connector 1, female 2 and instrument shelf；1 He of male connector
The female 2 is clamped by some balls 3；The ball 3 passes through the cunning that is arranged on 2 outer wall of the male connector 1 and the female
The dynamic limitation movement of sliding sleeve 4；The bottom of the female 2 is provided with circular cone location hole 5 and end-of-arm tooling installation interface 6；The work
Tool shelf includes pedestal 7, and the top of the pedestal 7 is provided with chassis 8, and U-type groove is provided with the chassis 8 and slides motherboard 9, institute
The bottom surface for stating U-type groove slip motherboard 9 is fixed with three pieces of sliding panels 10, and the U-type groove is slided to be set respectively on 9 three surface side wall of motherboard
There is one group of spring-loaded plunger 11, the public plate 12 of U-shaped slip is placed with the sliding panel 10, the spring-loaded plunger 11 contacts described U-shaped
Three surface side walls of public plate 12 are slided to limit its movement；The U-shaped both sides limb for sliding public plate 12 fixes one piece of positioning pin respectively
One end of support plate 13, the other end installation of the positioning pin support plate 13 are positioned with the 5 corresponding circular cone of circular cone location hole
Pin 14, band guide rod cylinder contact switch 15 is provided with the circular cone positioning pin 14；The U-shaped middle part connection for sliding public plate 12
One end of cylinder supports plate 16, the other end of the cylinder supports plate 16 are provided with band guide rod cylinder 17, the band guide rod cylinder
17 top is provided with the action snap ring 18 for sliding the sliding sleeve 4.
Preferably, the middle part of the pedestal 7 is provided with cylinder ear mount 34, and cylinder is hingedly fixed with the cylinder ear mount 34
35, the upper end connection shield connecting rod 36 of the cylinder 35, the shield connecting rod 36 connects shield 37 again；The shield connecting rod 36 is logical
Connecting rod base 38 is crossed to be fixed on the chassis 8.
On the basis of above-mentioned preferred solution, further：The lower section of shield connecting rod 37 is provided with installed in the bottom
Limit base 39 on disk 8.
Embodiment 4
The course of work of the utility model is as follows：
（1）Operating robotic arm makes its end-of-arm tooling 33 be in horizontal attitude, and adjusts mechanical arm tail end axial-rotation angle, makes
It is consistent with setting means placed angle；
（2）Immediately ahead of mobile mechanical arm end to instrument shelf, 33 height of end-of-arm tooling is higher 5mm than final placing height；
（3）Horizontal moving mechanical arm end makes position in its horizontal plane be consistent with final position；
（4）Slow descending machine tool arm end, the under normal circumstances axial direction and circle of the circular cone location hole 5 of 21 lower face of guiding axis
The axis of cone positioning pin 14 has certain position deviation, since circular conical surface coordinates guiding role（Circular cone location hole 5 and circular cone positioning pin
21）, force the positioning pin support plate 13 being fixed on the public plate 12 of U-shaped slip to be moved, be also fixed on positioning pin support plate with regard to driving
13 circular cone positioning pin 14 moves, so as to drive the U-shaped public affairs plate 12 that slides to move, after male connector 1 is bonded completely with female 2, finally makes
Circular cone positioning pin 14 is overlapped with 5 axis of circular cone location hole, meanwhile, the band guide rod cylinder contact being fixed on inside circular cone positioning pin 14
Switch 15 is connected due to the pushing of male connector 1, shows that end-of-arm tooling places 33 in place；
（5）Start band guide rod cylinder 17, piston driving action snap ring 18 moves, moves downward the sliding sleeve 4 of female 2, grasp
Moved axially upwards as mechanical arm, at this time, male connector 1 can smoothly extract out from female 2, U-shaped to slide public plate 12 in bullet in extraction
Under the action of spring plunger 11, initial position is progressively replied, to change the outfit next time, tool heads are prepared, at this time, end-of-arm tooling of removing stage makeup and costume
33 complete；
（6）Mobile mechanical arm end is adjusted to proper height to end-of-arm tooling shelf to be installed front；
（7）Forward horizontal mobile mechanical arm end, makes position in its horizontal plane be consistent with final position；
（8）Starting band guide rod cylinder 17, piston driving action snap ring 18 moves, and moves downward the sliding sleeve 4 of female 2, this
Shi Gongtou 1 can be docked smoothly with female 2；
（9）Slow descending machine tool arm end, the under normal circumstances axial direction and circle of the circular cone location hole 5 of 21 lower face of guiding axis
The axis of cone positioning pin 14 has certain position deviation, due to cone match guiding role（Circular cone location hole 5 and circular cone positioning pin
14）, force the positioning pin support plate 13 being fixed on the public plate 12 of U-shaped slip to be moved, be also fixed on positioning pin support plate with regard to driving
13 circular cone positioning pin 14 moves, so as to drive the U-shaped public affairs plate 12 that slides to move, after male connector 1 is bonded completely with female 2, finally makes
Circular cone positioning pin 14 is overlapped with 5 axis of circular cone location hole, meanwhile, the band guide rod cylinder contact being fixed on inside circular cone positioning pin 14
Switch 15 is connected due to the pushing of male connector 1, shows that male connector 1 is in place；
（10）Operation band guide rod cylinder 17 is lost heart, and the sliding sleeve 4 of female 2 moves upwards under the action of resetting spring, male connector 1
Completion is docked with female 2；
（11）Operating robotic arm at the end of the axial moves up 5mm, and then level is moved rearwards until removing tool shelf work
Make scope, mechanical arm tail end instrument 33, which is replaced, to be completed.
Embodiment 5
The utility model is a kind of mechanical arm tail end instrument automatic quick changing device, there is male connector 1, female 2 and instrument shelf group
Into.
Male connector 1 is made of middle level set axis 19, clamp spring 29, baffle ring 30, collector ring female 31 and ball 3.
Middle level set axis 19 is hollow three-level cylindrical structure, and upper end sets mechanical arm tail end mounting flange interface 28, lower end axis
To some groups of cylinder guide grooves 20 for being used for ball 3 and being oriented to are uniformly distributed, after installation is complete, ball 3 can be oriented to male connector 1 in cylinder
Free to slide or rolling in groove 20, but 3 center of ball can only cover in 19 wall thickness range of axis in middle level and move.
After male connector 1 is combined with female 2, ball 3 abut 21 inner circle waist of guiding axis set eccentric ball 22, male connector 1 with
Ball 3 abuts 4 inner wall of sliding sleeve when female 2 departs from.
31 lower face of collector ring female is abutted against on the set 19 inner wall step of axis of middle level, and upper surface is abutted with baffle ring 30, baffle ring
30 upper ends are abutted with clamp spring 29, so that collector ring female 31 is in axial restraint.
Embodiment 6
The utility model is a kind of mechanical arm tail end instrument automatic quick changing device, there is male connector 1, female 2 and instrument shelf group
Into.
Female 2 is by 32 groups of guiding axis 21, sliding sleeve 4, resetting spring 24, latch 27, end-of-arm tooling 33 and collector ring male connector
Into.
Guiding axis 21 is hollow cylindrical structure, and upper end sets the chamfering structure playing the guiding role, to adapt to male connector 1 and female
Site error during 2 docking, lower end set annular groove 23, for limiting the movement of resetting spring 24,23 inner circle of annular groove and public affairs
First 1 inner wall, which coordinates, to play the guiding role, and 23 inner round wall of annular groove sets latch mounting hole 25, and 21 inner circle waist of guiding axis is set
Eccentric ball 22, both axial movements and rotation of limitation after the completion of being docked for male connector 1 with female 2, in addition, under guiding axis 21
End sets end-of-arm tooling to install interface 6；
After the completion of male connector 1 and female 2 are docked, ball 3 is stuck between middle level set axis 19 and the eccentric ball 22 of guiding axis 21,
Cause male connector 1 to be relatively moved with female 2, can not relatively rotate.
4 lower face of sliding sleeve sets 6 groups of axial holes, this group of hole is used to install resetting spring 24, and the middle part of sliding sleeve 4 is symmetrical arranged two
A kidney slot 26, kidney slot 26 coordinate with latch 27, limit the movement travel of sliding sleeve 4；Latch 27 can only be in kidney slot 26
Range of motion, therefore stroke can be limited；Purpose is to limit the range of movement of sliding sleeve 4, effect of the anti-anti-skid sheath 4 in resetting spring 24
Depart from guiding axis 21 under power.
Collector ring male connector 32 is installed on by bolt on the stepped hole of 21 upper end of guiding axis, its contact is flexure spring machine
Structure, can adapting to male connector 1 within the specific limits, distance is missed in the axial direction with female 2；Set on end-of-arm tooling 33 corresponding with female 2
Interface is installed, refers to clamp, or electric clippers, electric saw or stubborn bolt tool etc. herein to be used only as exemplary two.
After the completion of male connector 1 is docked with female 2, collector ring female 31 and the collector ring male connector 32 set to connection module are also automatic
Docking is completed, therefore one group of power supply is provided to the end-of-arm tooling 33 in female 2, to ensure safety, control system detection
Out-put supply signal is just understood after effectively being connected to collector ring component.
Embodiment 7
The utility model is a kind of mechanical arm tail end instrument automatic quick changing device, there is male connector 1, female 2 and instrument shelf group
Into.
Instrument shelf is mainly by pedestal 7, cylinder ear mount 34, cylinder 35, shield connecting rod 36, shield 37, connecting rod base 38, spacing
Seat 39, chassis 8, cover board 40, U-type groove slide motherboard 9, positioning pin support plate 13, spring-loaded plunger 11, action snap ring 18, band guide rod
Cylinder 17, cylinder supports plate 16, U-shaped slide public plate 12, sliding panel 10, circular cone positioning pin 14 and with guide rod cylinder contact switch 15
Composition.
Pedestal 7 is the basis of whole instrument shelf, its lower end is fixed by foundation bolt, and middle part sets cylinder ear mount 34,
For hingedly fixing cylinder 35, the connecting rod base 38 of the upper end installation is used for hinged shield connecting rod 36, while the upper end is also equipped with
Limit base 39 and chassis 8, wherein limit base 39 are used to limit 36 range of shield connecting rod to prevent shield 37 is unexpected from damaging
Bad related components；35 piston of cylinder is hinged with shield connecting rod 36, and when 35 piston of cylinder stretches out, shield 37 covers, and cylinder 35 is lived
When plug is retracted, shield 37 is opened；
U-type groove is slided motherboard 9 and is bolted on chassis 8, and U-type groove slides the U-type groove underrun bolt of motherboard 9
Three pieces of sliding panels 10 are fixed, the U-shaped public affairs plate 12 that slides is freely placed on the extremely low sliding panel 10 of friction coefficient, but U-type groove is slided
Three faces both sides of the U-type groove of motherboard 9 are all separately installed with spring-loaded plunger 11 to limit freely moving for the U-shaped public plate 12 of slip
Dynamic, adjustment spring-loaded plunger 11 makes the U-shaped center slided public plate 12 and be located at the U-type groove of U-type groove slip motherboard 9 during work, works as U
When the public plate 12 of type slip is subject to active force in horizontal plane, it can deviate initial center position, after horizontal applied force disappears, its
Center is replied under the action of spring-loaded plunger 11；
One end of two pieces of positioning pin support plates 13 is bolted on the U-shaped both sides limb for sliding public plate 12, paniculidine
Position pin 14 is then installed on the other end of positioning pin support plate 13；Cylinder supports plate 16 is fixed on U-shaped slide in public plate 12
Portion, its other end is according to fixed band guide rod cylinder 17, with fixed action snap ring 18 on 17 piston of guide rod cylinder；Set on chassis 8
Band guide rod cylinder contact switch 15, after male connector 1 is bonded completely with female 2, band guide rod cylinder contact switch 15 is connected, band guide rod
Cylinder 17 could act, and realize the separation or combination of male connector 1 and female 2.During work, when circular cone positioning pin 14 or action snap ring 18
When being subject to active force in horizontal plane, both it can be moved in the horizontal plane in the range of the movement travel of spring-loaded plunger 11.
Claims (6)
- A kind of 1. mechanical arm tail end instrument automatic quick changing device, it is characterised in that：Including male connector（1）, female（2）Put with instrument Frame；The male connector（1）With the female（2）Pass through some balls（3）Clamping；The ball（3）By being arranged on the male connector （1）With the female（2）The sliding sleeve of slip on outer wall（4）Limitation movement；The female（2）Bottom be provided with circular cone positioning Hole（5）Interface is installed with end-of-arm tooling（6）；The instrument shelf includes pedestal（7）, the pedestal（7）Top be provided with bottom Disk（8）, the chassis（8）On be provided with U-type groove slide motherboard（9）, the U-type groove slip motherboard（9）Bottom surface be fixed with three Block sliding panel（10）, the U-type groove slip motherboard（9）One group of spring-loaded plunger is respectively arranged with three surface side walls（11）, the cunning Movable plate（10）On be placed with and U-shaped slide public plate（12）, the spring-loaded plunger（11）Contact the public plate of U-shaped slip（12）Three faces Side wall is to limit its movement；The public plate of U-shaped slip（12）Both sides limb fix one piece of positioning pin support plate respectively（13）One End, the positioning pin support plate（13）The other end installation with the circular cone location hole（5）Corresponding circular cone positioning pin（14）, institute State circular cone positioning pin（14）On be provided with band guide rod cylinder contact switch（15）；The public plate of U-shaped slip（12）Middle part connection Cylinder supports plate（16）One end, the cylinder supports plate（16）The other end be provided with band guide rod cylinder（17）, the band leads Bar cylinder（17）Top be provided with for sliding the sliding sleeve（4）Action snap ring（18）.
- A kind of 2. mechanical arm tail end instrument automatic quick changing device according to claim 1, it is characterised in that：The male connector （1）Including middle level axle sleeve（19）And ball（3）；The middle level axle sleeve（19）Lower part be distributed multiple cylinder guide grooves（20）, institute State ball（3）It is arranged on the cylinder guide groove（20）In；The female（2）Including guiding axis（21）And sliding sleeve（4）；It is described to lead To axis（21）Waist set it is multiple with the ball（3）The eccentric ball of cooperation（22）；The guiding axis（21）Lower end set It is equipped with annular groove（23）；The sliding sleeve（4）Lower face pass through resetting spring（24）With the annular groove（23）Interior bottom surface connects Connect；The guiding axis（21）Latch mounting hole is provided with the wall of lower part（25）, the sliding sleeve（4）Be provided with middle wall with it is described Latch mounting hole（25）Corresponding kidney slot（26）；The latch mounting hole（25）With the kidney slot（26）By only Dynamic pin（27）Connection, and limit sliding sleeve（4）Slip.
- A kind of 3. mechanical arm tail end instrument automatic quick changing device according to claim 2, it is characterised in that：The middle level axis Set（19）For hollow cylindrical structure, top sets mechanical arm tail end mounting flange interface（28）；The middle level axle sleeve（19）It is internal Top be provided with clamp spring（29）, the clamp spring（29）Lower face abut baffle ring（30）Upper surface, the baffle ring（30）'s Lower face abuts collector ring female（31）Upper surface, the collector ring female（31）Lower face abut against the middle level axle sleeve （19）Step on inner wall.
- A kind of 4. mechanical arm tail end instrument automatic quick changing device according to claim 2, it is characterised in that：The guiding axis （21）For hollow cylindrical structure, the guiding axis（21）Top is provided with collector ring male connector（32）；The guiding axis（21）Bottom The circular cone location hole is set（5）Interface is installed with end-of-arm tooling（6）, the end-of-arm tooling installation interface（6）Upper installation end Instrument（33）.
- A kind of 5. mechanical arm tail end instrument automatic quick changing device according to claim 1, it is characterised in that：The pedestal （7）Middle part be provided with cylinder ear mount（34）, the cylinder ear mount（34）On be hingedly fixed with cylinder（35）, the cylinder（35） Upper end connection shield connecting rod（36）, the shield connecting rod（36）Shield is connected again（37）；The shield connecting rod（36）Pass through company Pole socket（38）It is fixed on the chassis（8）On.
- A kind of 6. mechanical arm tail end instrument automatic quick changing device according to claim 5, it is characterised in that：The shield connects Bar（36）Lower section is provided with installed in the chassis（8）On limit base（39）.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721223158.0U CN207359097U (en) | 2017-09-22 | 2017-09-22 | A kind of mechanical arm tail end instrument automatic quick changing device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721223158.0U CN207359097U (en) | 2017-09-22 | 2017-09-22 | A kind of mechanical arm tail end instrument automatic quick changing device |
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| CN207359097U true CN207359097U (en) | 2018-05-15 |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109434875A (en) * | 2018-12-13 | 2019-03-08 | 青岛东卡环保工程技术有限公司 | A kind of master slave manipulator clamp remotely more changing device and its application method |
| 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 |
| CN109698455A (en) * | 2019-01-24 | 2019-04-30 | 福建星云电子股份有限公司 | A kind of full-automatic docking facilities of new energy car battery packet test |
| 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 |
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2017
- 2017-09-22 CN CN201721223158.0U patent/CN207359097U/en active Active
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN109434875A (en) * | 2018-12-13 | 2019-03-08 | 青岛东卡环保工程技术有限公司 | A kind of master slave manipulator clamp remotely more changing device and its application method |
| CN109434875B (en) * | 2018-12-13 | 2023-06-23 | 青岛东卡环保工程技术有限公司 | Remote replacement device for master-slave manipulator clamp and use method thereof |
| CN109698455A (en) * | 2019-01-24 | 2019-04-30 | 福建星云电子股份有限公司 | A kind of full-automatic docking facilities of new energy car battery packet test |
| CN109698455B (en) * | 2019-01-24 | 2024-02-13 | 福建星云电子股份有限公司 | Full-automatic butt joint device for testing battery packs of new energy automobiles |
| 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 |
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