CN210256200U - Quick change joint device of robot - Google Patents
Quick change joint device of robot Download PDFInfo
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- CN210256200U CN210256200U CN201920936607.9U CN201920936607U CN210256200U CN 210256200 U CN210256200 U CN 210256200U CN 201920936607 U CN201920936607 U CN 201920936607U CN 210256200 U CN210256200 U CN 210256200U
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- 230000008859 change Effects 0.000 title claims abstract description 28
- 229910000831 Steel Inorganic materials 0.000 claims abstract description 35
- 239000010959 steel Substances 0.000 claims abstract description 35
- 230000033001 locomotion Effects 0.000 claims abstract description 18
- 230000003028 elevating effect Effects 0.000 claims abstract description 5
- 238000009434 installation Methods 0.000 claims abstract description 5
- 210000001503 joint Anatomy 0.000 abstract description 19
- 239000012636 effector Substances 0.000 abstract description 18
- 238000000034 method Methods 0.000 abstract description 13
- 230000008569 process Effects 0.000 description 9
- 230000000694 effects Effects 0.000 description 4
- 230000005540 biological transmission Effects 0.000 description 3
- 238000004519 manufacturing process Methods 0.000 description 2
- 230000007246 mechanism Effects 0.000 description 2
- 238000003032 molecular docking Methods 0.000 description 2
- 241000282414 Homo sapiens Species 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 230000003139 buffering effect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000000452 restraining effect Effects 0.000 description 1
- 230000000630 rising effect Effects 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
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Abstract
The utility model discloses a quick change joint device of robot, including drive arrangement, locking shell, locking end main part and steel ball, drive arrangement's output and locking shell are connected to drive locking shell elevating movement, and set up in the locking shell locking end main part slidable, the steel ball sets up in the locking inslot of locking end main part, and is provided with the bell jar that is used for joint installation steel ball in the locking shell. The utility model provides a quick change joint device of robot carries out vertical up-and-down motion through drive arrangement drive locking shell and locking end main part to guide, the alignment through steel ball and bell groove and locking groove reaches end effector's quick replacement's purpose, at this in-process, introduce the succinct lead screw step motor of structure, realize locking shell up-and-down motion and then realize the quick change function through screw drive, optimize quick change butt joint structure, improve end effector's change efficiency.
Description
Technical Field
The utility model relates to a cooperation robotechnology field, in particular to quick change joint device of robot.
Background
The cooperative robot is a robot capable of interacting with human beings in a common space in a close range, has extremely high safety and flexibility compared with the traditional industrial robot, and has certain market competitiveness in the robot market.
The execution of the operation tasks of the cooperative robot cannot be separated from various end effectors, the end effectors are often replaced manually, when multiple processes are performed, the end effectors are often replaced manually to perform the next process, or multiple robots are added to realize different functions, so that the manufacturing cost is increased, the operation efficiency is reduced, and strict requirements on the working space are provided. The end effector quick-change device has various structures, can meet the end effector quick-change tasks such as welding and the like under special environments, is more pneumatic and hydraulic quick-change mechanisms on the market at present, is still in a starting stage in the aspects of cooperative robots and quick-change technologies at home, so that no electric quick-change device suitable for the cooperative robots exists, and the existing known electric quick-change device of the cooperative robots adopts a relatively complex gear mechanism and utilizes multiple gears to realize transmission. In the working mode of quick change of the cooperative robot, the structure is complex, and more manufacturing and maintenance costs are needed.
Therefore, it is an urgent technical problem to be solved by those skilled in the art to provide a quick-change device for an end effector, which has a simple structure and a high degree of automation.
SUMMERY OF THE UTILITY MODEL
The utility model aims at providing a quick change joint device of robot through the succinct lead screw step motor of structure, realizes locking shell up-and-down motion and then realizes the quick change function through screw drive.
In order to solve the technical problem, the utility model provides a quick change joint device of robot, including drive arrangement, locking shell, locking end main part and steel ball, drive arrangement's output with the locking shell is connected, with the drive locking shell elevating movement, just locking end main part slidable ground set up in the locking shell, the steel ball set up in the locking inslot of locking end main part, just be provided with in the locking shell and be used for the joint installation the bell groove of steel ball.
Preferably, the output end of the driving device is provided with a lead screw, and the driving device further comprises a movable nut connected with the lead screw through a screw pair, and the movable nut is fixedly connected with the locking shell.
Preferably, the locking end further comprises a load fixing support arranged in the mechanical arm, and the load fixing support is connected with the locking end main body.
Preferably, the load fixing support and the locking end main body are connected through a cylindrical pin.
Preferably, the end of the lead screw is mounted in the load fixing support through a bearing.
Preferably, the drive means is a stepper motor.
Preferably, the end part of the locking end main body is provided with a limit end cover.
Preferably, an electrical connector is arranged on the limit end cover.
Preferably, the locking shell is internally provided with a positioning pin, and the locking end main body is provided with a tapered hole matched with the positioning pin.
Preferably, a circular guide hole is formed in the locking end body.
The utility model provides a quick change joint device of robot mainly includes drive arrangement, locking shell, locking end main part and steel ball, and drive arrangement's output and locking shell are connected to drive locking shell elevating movement, and set up in the locking shell locking end main part slidable ground, the steel ball sets up in the locking inslot of locking end main part, and is provided with the bell groove that is used for joint installation steel ball in the locking shell. The utility model provides a quick change joint device of robot carries out vertical up-and-down motion through drive arrangement drive locking shell and locking end main part to guide, the alignment through steel ball and bell groove and locking groove, reach end effector's quick replacement's purpose, at this in-process, introduce the succinct lead screw step motor of structure, realize locking shell up-and-down motion and then realize the quick change function through screw drive, optimize quick change butt joint structure, improve end effector's change, guarantee to change the operating efficiency.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required to be used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
Fig. 1 is a cross-sectional view of an overall structure of an embodiment of the present invention;
fig. 2 is another angular cross-sectional view of the structure shown in fig. 1.
Wherein, in fig. 1-2:
the device comprises a driving device-1, a driving device supporting seat-2, a motor connecting wire hole-3, a lead screw-4, a movable nut-5, a bearing-6, a load fixing support-7, a locking shell-8, a locking end main body-9, a limiting end cover-10, a tool end-11, a steel ball-12, a mechanical arm-13, a cylindrical pin-14, a positioning pin-15, a conical groove-16, a locking groove-17 and an electric connector-18.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.
Referring to fig. 1 and 2, fig. 1 is a cross-sectional view of an overall structure of an embodiment of the present invention; fig. 2 is another angular cross-sectional view of the structure shown in fig. 1.
The utility model provides an among the specific implementation mode, robot quick change joint device mainly includes drive arrangement 1, locking shell 8, locking end main part 9 and steel ball 12, and drive arrangement 1's output and locking shell 8 are connected to drive locking shell 8 elevating movement, and set up in locking shell 8 locking end main part 9 slidable, and steel ball 12 sets up in locking end main part 9's locking groove 17, and is provided with the bell groove 16 that is used for joint installation steel ball 12 in the locking shell 8.
The driving device 1 is a screw rod stepping motor, and the output end of the driving device 1 is connected with the locking shell 8 so as to drive the locking shell 8 to move up and down; the locking end main body 9 is slidably arranged in the locking shell 8, the steel ball 12 is arranged in a locking groove 17 of the locking end main body 9, and the locking groove 17 is used for positioning and guiding the locking shell 8 in the descending process; a tapered groove 16 used for clamping and installing the steel ball 12 is formed in the locking shell 8, and the tapered groove 16 is matched with the steel ball 12 and used for positioning and guiding the butt joint of the locking end main body 9.
Specifically, in the actual quick-change docking process, the driving device 1 is connected with an external power supply through the motor connecting wire hole 3, the mechanical arm 13 is aligned with the tool end 11 of the end tool to be replaced, the driving device 1 is started, generally, a certain error exists in the relative position, and the error is controlled within a certain range, so that the effective proceeding of the subsequent quick-change docking work is ensured; the driving device 1 in the quick-change joint device of the robot is controlled to rotate by the quick gear, the output end of the driving device 1 is connected with the locking shell 8, the locking shell 8 is driven to move linearly downwards by starting the driving device 1 at the moment until the locking shell 8 is contacted with the lower limiting device limiting end cover 10, at the moment, the steel ball 12 is aligned with the notch of the conical groove 16 on the locking shell 8, and the steel ball 12 is in a free state; then the driving device 1 is switched to a slow speed control mode to adapt to the pose adjustment in the butt joint process, the mechanical arm 13 continues to move downwards and is guided by a circular hole in the locking end main body 9 until the positioning pin 15 enters a tapered groove 16 on the locking end main body 9, and at the moment, the mechanical arm 13 and the tool end 11 are aligned in the transverse direction, the vertical direction and the left-right direction; after the alignment of the azimuth is completed, the mechanical arm 13 continues to move downwards, at this time, the tool end 11 reaches the inside of the locking end main body 9, and simultaneously, the tapered groove 16 on the tool end 11 is aligned with the steel ball 12 and the locking groove 17, because the socket of the electric connector 18 is installed on the limiting end cover 10, the electric interface is connected after the butt joint is completed, the whole quick-change device and the tool end 11 complete the directional positioning, namely, the butt joint operation is completed; then, the locking shell 8 can move upwards by driving the rotating shaft 1 to rotate reversely, the conical groove 16 is far away from the steel ball 12, the steel ball 12 is pushed into the conical groove 16 of the tool end 11 through the inner wall of the conical groove 16 until the locking shell 8 is contacted with the upper limiting device cylindrical pin 14, the conical groove 16 and the steel ball 12 are completely staggered, the axial freedom degree of the tool end 11 is limited, and finally, the quick-change joint is locked.
In order to optimize the advantage that the robot quick-change joint device in the above embodiment can more accurately complete the replacement of the end effector, the output end of the driving device 1 is provided with the lead screw 4, and the robot quick-change joint device further comprises a movable nut 5 connected with the lead screw 4 in a screw pair manner, wherein the movable nut 5 is fixedly connected with the locking shell 8. The device can frequently replace the end effector, therefore, the movement of the locking shell 8 is regular movement, and the stability and the accuracy of quick change are concerned, the output end of the driving device 1 is provided with the lead screw 4, the movable nut 5 connected with the screw pair of the lead screw 4 is connected with the locking shell 8 through the movable nut 5, so that the driving of the driving device 1 on the locking shell 8 is changed into screw driving, the driving power is transmitted to the locking shell 8 through the lead screw 4 and the movable nut 5, the driving of the driving device 1 on the locking shell 8 is directly driven into screw driving, the movement of the locking shell 8 is more stable, the stability and the accuracy of the butt joint of the locking end main body 9 and the tool end 11 at the lower end of the locking shell 8 are ensured, and the more smooth accuracy is improved; in addition, the arrangement of the screw rod 4 and the movable nut 5 improves the driving controllability and ensures the safety of quick-change butt joint.
Further, the robot quick-change joint device further comprises a load fixing support 7 arranged in the mechanical arm 13, and the load fixing support 7 is connected with the locking end main body 9. Because in the middle of the quick change butt joint process, the spacing condition of touching can appear touching inevitably and take place, consequently, set up load fixing support 7 on the locking end main part 9 that plays main quick change butt joint, when load fixing support 7 can bear spacing condition and take place, the impact effect of impact force to the device cushions the impact force, avoids the impact force to form wearing and tearing, damage to causing mechanical arm 13 that direct impact leads to mechanical arm 13, protection mechanical arm 13, improvement mechanical arm 13 life.
Further, the load fixing seat 7 is connected with the locking end body 9 through a cylindrical pin 14. Cylindric lock 14 is connected the fixed most commonly fixed mode in machinery field with the pinhole cooperation, realizes buffering the impact of impact force jointly with above-mentioned function, guarantees that when the impact force takes place, locking end main part 9 is relatively stable, avoids locking end main part 9 to the impact of arm 13, further improves arm 13 life.
Further, the end of the lead screw 4 is mounted in a load fixing support 7 through a bearing 6. Because the effect of lead screw 4 in this novel centre is very important, the process of descending and rising at locking shell 8 is realized through the power of lead screw 4 transmission drive arrangement 1, the verticality of lead screw 4 is very important, bearing 6 is installed in load fixing support 7, and be vertical with drive arrangement 1's rotor, same straight line sets up, the straightness that hangs down of lead screw 4 has been guaranteed, firstly, the power that has guaranteed drive arrangement 1 power transmission is high, secondly, the stability of locking shell 8 along lead screw 4 motion has been guaranteed, the precision of locking shell 8 and locking end main part 9 downstream and tool end 11 butt joint has been improved.
Further, the driving device 1 is a stepping motor. The stepping motor is the simplest forward and reverse rotation driving motor, and can realize the up-and-down movement of the locking end main body 9, so that the scheme can be realized, and of course, the driving device can also adopt other driving forms so as to meet the movement requirement of the locking end main body 9, and the scheme is not specifically limited.
Further, the end part of the locking end main body 9 is provided with a limit end cover 10. The driving device 1 is started to drive the locking shell 8 to move linearly downwards until the locking shell 8 is contacted with the lower limiting device limiting end cover 10, at the moment, the steel ball 12 can be aligned with the notch of the conical groove 16 on the locking shell 8, the steel ball 12 is in a free state, the quick-change butt joint is the first step, the whole quick-change butt joint process can be more distinct by arranging the limiting end cover 10, the stage of quick-change butt joint is embodied, and the accuracy of quick-change butt joint can be improved.
Further, an electrical connector 18 is disposed on the restraining end cap 10. The electric connector 18 is matched with the electric connection interface, can be connected with an external power source, and provides power for the end effector which needs to be driven by the power source, so that the replacement of the end effector is finished, the connection of an electric circuit is finished simultaneously, the mechanical connection and the electric connection are finished simultaneously, and the efficiency of quickly replacing the end effector is improved.
Further, a positioning pin 15 is provided inside the locking housing 8, and a tapered groove 16 matched with the positioning pin 15 is provided on the locking end body 9. After the alignment of the orientation is completed, the mechanical arm 13 continues to move downwards, and at this time, the tool end 11 reaches the inside of the locking end body 9, and at the same time, the tapered groove 16 on the tool end 11 is aligned with the steel ball 12 and the locking groove 17, and the whole quick-change device and the tool end 11 have already completed the directional positioning, namely, the butt joint operation.
Further, a circular guide hole is provided in the locking end body 9. Because at quick replacement end effector's in-process, locking end main part 9 plays the butt joint and accomplishes the effect of connecting, and locking end main part 9 is accomplished through circular guiding hole to the guide effect of other parts, can carry out whole journey direction to steel ball 12, can not form the skew of position, makes whole butt joint process more accurate.
In summary, the quick-change joint device for a robot provided by this embodiment mainly includes a driving device, a locking shell, a locking end main body and a steel ball, wherein an output end of the driving device is connected to the locking shell to drive the locking shell to move up and down, the locking end main body is slidably disposed in the locking shell, the steel ball is disposed in a locking groove of the locking end main body, and a tapered groove for clamping and mounting the steel ball is disposed in the locking shell. The utility model provides a quick change joint device of robot carries out vertical up-and-down motion through drive arrangement drive locking shell and locking end main part to guide, the alignment through steel ball and bell groove and locking groove, reach end effector's quick replacement's purpose, at this in-process, introduce the succinct lead screw step motor of structure, realize locking shell up-and-down motion and then realize the quick change function through screw drive, optimize quick change butt joint structure, improve end effector's change, guarantee to change the operating efficiency.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (10)
1. The utility model provides a quick change joint device of robot, its characterized in that includes drive arrangement (1), locking shell (8), locking end main part (9) and steel ball (12), the output of drive arrangement (1) with locking shell (8) are connected, in order to drive locking shell (8) elevating movement, just locking end main part (9) slidable ground set up in locking shell (8), steel ball (12) set up in locking groove (17) of locking end main part (9), just be provided with in locking shell (8) and be used for the joint installation taper groove (16) of steel ball (12).
2. The quick-change joint device for robots according to claim 1, characterized in that the output end of the driving device (1) is provided with a lead screw (4), and further comprising a movable nut (5) connected with the lead screw (4) in a screw pair, wherein the movable nut (5) is fixedly connected with the locking shell (8).
3. The quick-change joint arrangement according to claim 2, characterized in that it further comprises a load securing abutment (7) arranged in a robot arm (13), said load securing abutment (7) being connected to said locking end body (9).
4. The quick-change joint arrangement according to claim 3, characterized in that the load anchor (7) is connected to the locking end body (9) by means of a cylindrical pin (14).
5. The quick-change robot joint assembly according to claim 4, characterized in that the end of the lead screw (4) is mounted in the load securing support (7) by means of a bearing (6).
6. The quick-change joint arrangement according to claim 5, characterized in that the drive means (1) is a stepper motor.
7. The quick-change joint arrangement for robots as claimed in claim 1, characterized in that the end of the locking end body (9) is provided with a limiting end cap (10).
8. The quick-change joint arrangement according to claim 7, characterized in that an electrical connector (18) is provided on the limiting end cap (10).
9. The quick-change joint arrangement according to any one of claims 1 to 8, characterized in that a positioning pin (15) is provided inside the locking housing (8), and a tapered hole matching with the positioning pin (15) is provided on the locking end body (9).
10. The quick-change joint arrangement according to claim 9, characterized in that a circular guide hole is provided in the locking end body (9).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920936607.9U CN210256200U (en) | 2019-06-20 | 2019-06-20 | Quick change joint device of robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920936607.9U CN210256200U (en) | 2019-06-20 | 2019-06-20 | Quick change joint device of robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN210256200U true CN210256200U (en) | 2020-04-07 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201920936607.9U Expired - Fee Related CN210256200U (en) | 2019-06-20 | 2019-06-20 | Quick change joint device of robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN210256200U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110142799A (en) * | 2019-06-20 | 2019-08-20 | 苏州大学 | A kind of robot quick change joint arrangement |
-
2019
- 2019-06-20 CN CN201920936607.9U patent/CN210256200U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20210428 Address after: Room 203, building 4, Yichuang Science Park, 50 Weixin Road, Suzhou Industrial Park, 215000, Jiangsu Province Patentee after: Suzhou Huaming Intelligent Technology Co.,Ltd. Address before: No. 8, Xiangcheng District Ji Xue Road, Suzhou, Jiangsu Patentee before: SOOCHOW University |
|
| 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: 20200407 |