CN210551339U - Quick change device for robot end tool - Google Patents
Quick change device for robot end tool Download PDFInfo
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- CN210551339U CN210551339U CN201920861956.9U CN201920861956U CN210551339U CN 210551339 U CN210551339 U CN 210551339U CN 201920861956 U CN201920861956 U CN 201920861956U CN 210551339 U CN210551339 U CN 210551339U
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Abstract
The utility model relates to an end instrument quick change device of robot, include: an upper housing; the lower shell is internally provided with a cavity, the upper part of the lower shell is provided with a needle-type cylinder, the lower end of the needle-type cylinder extends into the cavity, the lower part of the lower shell is provided with a conical shaft, the upper end of the conical shaft extends into the cavity and is provided with a piston rod between the needle-type cylinder and the conical shaft, and the upper end of the piston rod extends into the needle-type cylinder and is connected with the needle-type cylinder in a sliding manner; the lower end of the locking head is provided with a sliding chute with a downward opening, the lower end of the conical head shaft extends into the sliding chute, the outer wall of the lower end of the conical head shaft is in sliding connection with the inner wall of the sliding chute, the side wall of the sliding chute is provided with a plurality of working holes, and steel balls used for being matched with the conical head shaft to be locked are movably arranged in the working holes; the quick-change disc is sleeved on the outer side of the lower end of the locking head, and a limiting ring used for being matched with the steel balls for locking is arranged between the quick-change disc and the locking head. The utility model discloses simple structure can effectually reduce the influence that the space interfered the realization quick change to the robot.
Description
Technical Field
The utility model relates to the technical field of robot, especially, relate to a terminal instrument quick change device of robot.
Background
With the rapid development of industrial automation, industrial robots are widely used in manufacturing. The quick change device can realize the quick change of the end tool, greatly improve the utilization efficiency of the robot, realize 'one machine has multiple functions' and ensure that the application of the robot is more flexible.
Most of quick-change devices on the market at present have the quick-change function of various passages (mechanical connection, oil, gas, electricity and the like), but cannot meet the quick change of tools in narrow working spaces, such as sewing, gluing, deburring and the like. Therefore, it is necessary to design a quick-change device for a micro-robot to meet the spatial interference problem in production, and simultaneously ensure the load requirement and positioning requirement of quick change.
SUMMERY OF THE UTILITY MODEL
The utility model discloses a solve above-mentioned technical problem and provide a be applied to narrow and small operation space, reduce terminal instrument quick change device of robot that the space interferes to solve above-mentioned at least one technical problem.
The utility model provides an above-mentioned technical problem's technical scheme as follows:
a robotic end-of-tool quick-change device, comprising:
an upper housing assembled on the robot body;
the upper part of the lower shell is fixedly clamped with the lower part of the upper shell, a cavity is formed in the lower shell, a needle-shaped cylinder is arranged at the upper part of the lower shell, the lower end of the needle-shaped cylinder extends into the cavity, a conical shaft is arranged at the lower part of the lower shell, a piston rod is arranged between the upper end of the conical shaft, which extends into the cavity, and the needle-shaped cylinder, the upper end of the piston rod, which extends into the needle-shaped cylinder, is slidably connected with the needle-shaped cylinder, the lower end of the piston rod, which is fixedly connected with the upper end of the conical shaft, is sleeved with a limiting disc, a spring is sleeved on the outer side of the upper end of the conical shaft, the upper end of the spring is fixedly connected with the limiting disc, which faces the side wall of one side of the conical shaft, and the lower end of the spring is fixedly connected with;
the upper part of the locking head is fixedly connected with the lower part of the lower shell, a sliding groove with a downward opening is formed in the lower end of the locking head, the lower end of the conical head shaft extends into the sliding groove, the outer wall of the lower end of the conical head shaft is connected with the inner wall of the sliding groove in a sliding mode, a plurality of working holes are formed in the side wall of the sliding groove, and steel balls used for being matched with the conical head shaft to be locked are movably arranged in the working holes;
the quick-change disc is assembled on the tool end body, the quick-change disc is sleeved on the outer side of the lower end of the locking head, and a limiting ring used for being matched with the steel ball for locking is arranged between the quick-change disc and the locking head.
The utility model has the advantages that: the utility model is provided with the needle-shaped cylinder, and can be effectively and quickly changed by being connected with the air source of the robot; meanwhile, the utility model has simple structure, and can effectively reduce the influence of space interference on the realization of quick change of the robot; the utility model is provided with a spring, which can flexibly keep the stability between the locking head and the quick-change plate; the utility model discloses a spring and needle type cylinder cooperation are used, and when needs unblock, needle type cylinder promotes the conical head axle and removes, can realize locking head and quick change dish separation, and when the locking, the spring action of spring can make locking head and quick change dish locking, and needle type cylinder only needs the nonoculture to satisfy the requirement like this, and the structure that can effectual messenger's needle type cylinder is simpler, more does benefit to this device and uses in narrow and small space.
On the basis of the technical scheme, the utility model discloses can also do following improvement.
Further, be equipped with first external screw thread on the outer wall of needle type cylinder, the upper portion of casing is equipped with first fixation nut down, be equipped with second fixation nut in the cavity, first fixation nut with second fixation nut all be equipped with the first internal thread of external screw thread matched with, first fixation nut cover is located the upper end outside of needle type cylinder, first fixation nut passes through first internal thread and first the external screw thread with needle type cylinder thread fixed connection, second fixation nut cover is located the lower extreme outside of needle type cylinder, second fixation nut passes through first internal thread with first external screw thread with needle type cylinder thread fixed connection.
The beneficial effect of adopting the further scheme is that: the effect of first fixation nut and second fixation nut can be effectual carries out effective regulation to the position of needle type cylinder.
Further, needle type cylinder upside is equipped with the trachea interface, be equipped with the movable hole on the last casing, the one end of trachea interface with needle type cylinder fixed connection, the other end of trachea interface passes the movable hole extends to go up the casing upside.
The beneficial effect of adopting the further scheme is that: the air pipe interface is connected with the air source of the robot more easily through the movable hole, and meanwhile, the upper shell can effectively protect the needle-shaped air cylinder and the air pipe interface.
Furthermore, the lower part of the upper shell is relatively provided with two fixed wing parts, and the upper end of the lower shell is clamped between the two fixed wing parts.
The beneficial effect of adopting the further scheme is that: the fixed wing part is clamped with the lower shell, so that the assembly is easier.
Furthermore, a plurality of positioning pins are arranged between the upper end wall surface of the quick-change disc and the lower side wall surface of the locking head, positioning holes matched with the positioning pins are formed in the upper end wall surface of the quick-change disc, one ends of the positioning pins face towards the locking head and are fixedly connected with one side wall surface of the quick-change disc, and the other ends of the positioning pins stretch into the positioning holes and are in interference fit with the positioning holes.
The beneficial effect of adopting the further scheme is that: the positioning pin and the positioning hole are matched to position the circumferential angle of the quick-change disc and the locking head, so that relative rotation between the quick-change disc and the locking head is avoided.
Furthermore, a second internal thread is arranged on the inner side of one end of the conical head shaft and the limiting disc, a second external thread is arranged on one end of the piston rod, and the piston rod is fixedly connected with the conical head shaft and the limiting disc through the second external thread and the second internal thread.
The beneficial effect of adopting the further scheme is that: the piston rod can be effectively connected with the conical head shaft through the thread fixed connection, meanwhile, the connection length between the piston rod and the conical head shaft can be conveniently adjusted, and the position of the conical head shaft can be effectively adjusted.
Further, one end of the cone shaft, which is arranged in the chute, is provided with a truncated cone-shaped locking part, the steel ball is arranged between the side wall of the truncated cone-shaped locking part and the working hole, and the side wall of the lower end of the truncated cone-shaped locking part is in sliding connection with the inner wall of the chute.
The beneficial effect of adopting the further scheme is that: under the action of the spring, the side wall of the cone shaft transmits the acting force of the spring, so that the steel ball passes through the working hole to clamp and sleeve the quick-change disc on the locking head.
Furthermore, the working hole is an inner taper hole, one end with the large inner diameter of the inner taper hole is communicated with the sliding groove, and the inner diameter of the other end of the inner taper hole is smaller than that of the steel ball.
The beneficial effect of adopting the further scheme is that: therefore, the steel balls can be prevented from falling off from the working holes, and the steel balls are limited to move in the working holes.
Further, a contact switch is arranged in the cavity, a detection hole matched with the contact switch is formed in the locking head, the contact switch is fixed on the bottom wall of the cavity in a threaded mode, and the detection end of the contact switch extends into the detection hole.
The beneficial effect of adopting the further scheme is that: the contact switch can measure the state of the quick-change disc in contact with or separated from the locking head, and can effectively feed information back to the robot, so that the robot is beneficial to use in a narrow space.
Further, a lamp strip is arranged on the outer wall of the upper shell in the circumferential direction and is electrically connected with the proximity switch.
The beneficial effect of adopting the further scheme is that: the lamp area is connected with the proximity switch electricity, can carry out light display with the contact state between quick change dish and the locking head, and state signal can pass back to robot control system, the monitoring facilities operating condition of being convenient for.
Drawings
FIG. 1 is a main sectional view of the structure of the present invention;
FIG. 2 is a top view of the present invention;
FIG. 3 is a perspective view of one angle of view of the present invention;
fig. 4 is a perspective view of the lower housing of the present invention;
fig. 5 is a perspective view of the locking head according to the present invention.
In the drawings, the components represented by the respective reference numerals are listed below:
1. go up casing, 2, lower casing, 3, locking head, 4, quick change dish, 5, needle type cylinder, 6, piston rod, 7, air pipe joint, 8, spacing dish, 9, spring, 10, conical head axle, 11, steel ball, 12, spout, 13, proximity switch, 14, lamp area, 15, activity hole, 16, locating pin, 17, locating hole, 18, first fixation nut, 19, second fixation nut, 20, work hole, 21, inspection hole, 22, fixed alar part.
Detailed Description
The principles and features of the present invention are described below in conjunction with the following drawings, the examples given are only intended to illustrate the present invention and are not intended to limit the scope of the present invention.
As shown in fig. 1-5, the utility model discloses a terminal instrument quick change device of robot includes:
go up casing 1, go up casing 1 and assemble on the robot, be equipped with a plurality of connecting holes that are used for being connected with the robot on the upper surface of last casing, the terminal trachea that passes through the positioning action of connecting hole of robot is connected with air pipe connector 7 with terminal trachea, through robot control system to needle type cylinder 5 air feed like this, and then drive piston rod 6 transmission conical head axle 10 and remove, make steel ball 11 get into under the effect of spacing ring between working hole 20 and conical head axle 10, quick change dish 4 separates with locking head 3.
Locking head 3, the upper portion of locking head 3 and the lower part fixed connection of casing 2 down, the lower extreme of locking head 3 is equipped with the spout 12 that open side down, and in the lower extreme of conical head axle 10 stretched into spout 12, and the lower extreme outer wall of conical head axle 10 and the inner wall sliding connection of spout 12 were equipped with a plurality of work holes 20 on the lateral wall of spout 12, and the activity is equipped with the steel ball 11 that is used for cooperating conical head axle 10 to lock in the work hole 20.
Quick change dish 4, quick change dish 4 assembles on the instrument end body, and the lower extreme outside of locking head 3 is located to quick change dish 4 cover, is equipped with the locking groove in the quick change dish 4, and the lower extreme of locking head 3 stretches into the locking inslot, is equipped with the spacing ring that is used for cooperating steel ball 11 locking on the quick change dish 4 and between the locking head 3, and the spacing ring is located the upside opening part of locking groove, and its lower wall is locked with the cooperation of steel ball 11.
Be equipped with first external screw thread on the outer wall of needle type cylinder 5, the upper portion of casing 2 is equipped with first fixation nut 18 down, be equipped with second fixation nut 19 in the cavity, first fixation nut 18 and second fixation nut 19 all be equipped with external screw thread matched with first internal thread, the upper end outside of needle type cylinder 5 is located to first fixation nut 18 cover, first fixation nut 18 is through first internal thread and first external screw thread and needle type cylinder 5 thread fixed connection, the lower extreme outside of needle type cylinder 5 is located to second fixation nut 19 cover, second fixation nut 19 is through first internal thread and first external screw thread and needle type cylinder 5 thread fixed connection.
An air pipe joint 7 is arranged on the upper side of the needle-shaped air cylinder 5, a movable hole 15 is formed in the upper shell 1, one end of the air pipe joint 7 is fixedly connected with the needle-shaped air cylinder 5, and the other end of the air pipe joint 7 penetrates through the movable hole 15 and extends to the upper side of the upper shell 1; the needle type cylinder 5 is a single-acting cylinder, after air is supplied to the needle type cylinder 5 through the air pipe joint 7, the needle type cylinder 5 overcomes the elasticity of the spring 9 to enable the conical head shaft 10 to move downwards, and one side of the steel ball 11 slides into the sliding groove 12 to realize unlocking; when the air supply of the needle cylinder 5 disappears, the conical head shaft 10 is pulled upwards under the action of the elastic force of the spring 9, the circular truncated cone-shaped locking part at the tail end of the conical head shaft 10 pushes the steel ball 11 outwards from the working hole 20, so that one side of the steel ball 11 protrudes out of the outer wall of the chute 12 to form a locking structure; the movable hole 15 is a water drop-shaped hole.
Go up 1 lower part of casing and be equipped with two fixed alar parts 22 relatively, the upper end card of casing 2 locates between two fixed alar parts 22 down, the cross-section of fixed alar part 22 is bow-shaped minor arc, casing 2 has and encloses into circular shape structure with bow-shaped minor arc down, when casing 2 card is located between two fixed alar parts 22 down, can enclose into a complete circular shape, the upper end of fixed alar part 22 and the lower wall fixed connection of last casing 1, be equipped with the screw hole on the lower extreme terminal surface of fixed alar part 22, the casing passes through screw and fixed alar part 22 fixed connection down.
A plurality of positioning pins 16 are arranged between the upper end wall surface of the quick-change disc 4 and the lower side wall surface of the locking head part 3, positioning holes 17 matched with the positioning pins 16 are formed in the upper end wall surface of the quick-change disc 4, the locking head part 3 at one end of each positioning pin 16 is fixedly connected with one side wall surface of the quick-change disc 4, and the other end of each positioning pin 16 extends into the positioning hole 17 to be in interference fit with the positioning hole 17.
The inboard and spacing dish 8 of one end of conical head axle 10 all are equipped with the second internal thread, and one of piston rod 6 is served and is equipped with the second external screw thread, and piston rod 6 passes through second external screw thread and second internal thread and conical head axle 10 and 8 threaded fixed connection of spacing dish.
The cone shaft 10 is provided with a truncated cone-shaped locking part at one end arranged in the chute 12, the steel ball 11 is arranged between the side wall of the truncated cone-shaped locking part and the working hole 20, and the side wall of the lower end of the truncated cone-shaped locking part is in sliding connection with the inner wall of the chute 12.
The working hole 20 is an inner taper hole, one end with a large inner diameter of the inner taper hole is communicated with the chute 12, the inner diameter of the other end of the inner taper hole is smaller than the inner diameter of the steel ball 11, the thickness of the side wall of the chute 12 is smaller than the inner diameter of the steel ball 11, the shaft body of the cone head shaft 10 arranged in the chute 12 and the inner wall of the chute 12 are arranged at intervals, the upper end of the cone head shaft 10 at one end of the cone head shaft 10 is fixedly connected with the lower end of the cone head shaft 10, the lower end of the cone head shaft is connected with the inner wall of the chute 12 in a sliding manner, and under the action of up-down sliding of the cone head shaft, the steel.
Be equipped with proximity switch 13 in the cavity, be equipped with the inspection hole 21 of cooperation proximity switch 13 on the locking head 3, proximity switch 13 threaded fixation is on the diapire of cavity, and in proximity switch 13's sense terminal stretched into inspection hole 21, the proximity switch electricity linked robot control system, and the quick change state information that targets in place that will obtain was sent for robot control system.
A lamp strip 14 is annularly arranged on the outer wall of the upper shell 1, the lamp strip 14 is electrically connected with the proximity switch 13, the lamp strip 14 can display red and green, and when the proximity switch 13 detects that the lower surface of the locking head 3 is in contact with the upper surface of the quick-change disc 4, the lamp strip 14 displays green; when proximity switch 13 detected the lower surface of locking head 3 and the upper surface separation of quick change dish 4, lamp area 14 shows red, uses the light effect suggestion quick change dish 4 and the contact state between the locking head 3, and status signal can pass back to robot control system, the monitoring facilities operating condition of being convenient for. The lamp strip 14 can also be a ring-shaped lamp strip, a clamping groove is formed in the outer wall of the upper shell 1, the ring-shaped lamp strip is fixed in the clamping groove, and the outer ring wall surface of the ring-shaped lamp strip and the outer wall of the upper shell 1 are located on the same wall surface.
The above description is only for the preferred embodiment of the present invention, and is not intended to limit the present invention, and any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention should be included within the protection scope of the present invention.
Claims (10)
1. A quick change device for a robot end tool, comprising:
the robot comprises an upper shell (1), wherein the upper shell (1) is assembled on a robot body;
lower casing (2), the upper portion of lower casing (2) with the lower part joint of last casing (1) is fixed, be equipped with the cavity in lower casing (2), casing (2) upper portion is equipped with needle type cylinder (5) down, the lower extreme of needle type cylinder (5) extends to in the cavity, the lower part of casing (2) is equipped with conical shaft (10) down, the upper end of conical shaft (10) stretch into in the cavity with be equipped with piston rod (6) between needle type cylinder (5), the upper end of piston rod (6) stretch into in needle type cylinder (5) with needle type cylinder (5) sliding connection, the lower extreme of piston rod (6) with the upper end fixed connection of conical shaft (10), piston rod (6) outside cover is fixed with spacing dish (8), the upper end outside cover of conical shaft (10) is equipped with spring (9), the upper end of the spring (9) is fixedly connected with the side wall of one side, facing the conical head shaft (10), of the limiting disc (8), and the lower end of the spring (9) is fixedly connected with the bottom wall of the cavity;
the locking head (3), the upper part of the locking head (3) is fixedly connected with the lower part of the lower shell (2), the lower end of the locking head (3) is provided with a sliding chute (12) with a downward opening, the lower end of the conical shaft (10) extends into the sliding chute (12), the outer wall of the lower end of the conical shaft (10) is connected with the inner wall of the sliding chute (12) in a sliding manner, the side wall of the sliding chute (12) is provided with a plurality of working holes (20), and steel balls (11) used for being matched with the conical shaft (10) for locking are movably arranged in the working holes (20);
the quick-change tool comprises a quick-change disc (4), wherein the quick-change disc (4) is assembled on the tool end body, the quick-change disc (4) is sleeved on the outer side of the lower end of the locking head (3), and a limiting ring used for being matched with the steel ball (11) for locking is arranged between the quick-change disc (4) and the locking head (3).
2. The quick change device for robot end tools according to claim 1, a first external thread is arranged on the outer wall of the needle cylinder (5), a first fixing nut (18) is arranged on the upper part of the lower shell (2), a second fixing nut (19) is arranged in the cavity, first internal threads matched with the external threads are arranged on the first fixing nut (18) and the second fixing nut (19), the first fixing nut (18) is sleeved outside the upper end of the needle cylinder (5), the first fixing nut (18) is fixedly connected with the needle cylinder (5) through the first internal thread and the first external thread, the second fixing nut (19) is sleeved outside the lower end of the needle cylinder (5), the second fixing nut (19) is in threaded fixed connection with the needle cylinder (5) through the first internal thread and the first external thread.
3. The quick change device for robot end tools according to claim 2, characterized in that the upper side of the needle cylinder (5) is provided with an air pipe joint (7), the upper shell (1) is provided with a movable hole (15), one end of the air pipe joint (7) is fixedly connected with the needle cylinder (5), and the other end of the air pipe joint (7) passes through the movable hole (15) and extends to the upper side of the upper shell (1).
4. The quick change device for robot end tools according to claim 3, characterized in that two fixing wings (22) are oppositely arranged at the lower part of the upper shell (1), and the upper end of the lower shell (2) is clamped between the two fixing wings (22).
5. The quick change device for the end tool of the robot according to claim 1, wherein a plurality of positioning pins (16) are arranged between the upper wall surface of the quick change disk (4) and the lower wall surface of the locking head (3), a positioning hole (17) matched with the positioning pins (16) is arranged on the upper wall surface of the quick change disk (4), one end of the positioning pin (16) is fixedly connected with one side wall surface of the locking head (3) facing the quick change disk (4), and the other end of the positioning pin (16) extends into the positioning hole (17) and is in interference fit with the positioning hole (17).
6. The quick change device for the robot end tool according to claim 1, wherein a second internal thread is provided on the inner side of one end of the cone shaft (10) and the limiting disc (8), a second external thread is provided on one end of the piston rod (6), and the piston rod (6) is in threaded fixed connection with the cone shaft (10) and the limiting disc (8) through the second external thread and the second internal thread.
7. The quick change device for the end tool of the robot according to claim 6, wherein the cone shaft (10) is provided with a truncated cone-shaped locking part at one end arranged in the chute (12), the steel ball (11) is arranged between the side wall of the truncated cone-shaped locking part and the working hole (20), and the side wall of the lower end of the truncated cone-shaped locking part is slidably connected with the inner wall of the chute (12).
8. The quick change device for the end tool of the robot as claimed in claim 7, wherein the working hole (20) is an inner tapered hole, one end of the inner tapered hole with a larger inner diameter is communicated with the chute (12), and the inner diameter of the other end of the inner tapered hole is smaller than the inner diameter of the steel ball (11).
9. The quick change device for the robot end tool according to any one of claims 1 to 8, characterized in that a proximity switch (13) is arranged in the cavity, a detection hole (21) matched with the proximity switch (13) is formed in the locking head (3), the proximity switch (13) is fixed on the bottom wall of the cavity in a threaded manner, and the detection end of the proximity switch (13) extends into the detection hole (21).
10. The quick-change device for robot end tools according to claim 9, characterized in that a light strip (14) is annularly arranged on the outer wall of the upper shell (1), and the light strip (14) is electrically connected with the proximity switch (13).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920861956.9U CN210551339U (en) | 2019-06-10 | 2019-06-10 | Quick change device for robot end tool |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920861956.9U CN210551339U (en) | 2019-06-10 | 2019-06-10 | Quick change device for robot end tool |
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| Publication Number | Publication Date |
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| CN210551339U true CN210551339U (en) | 2020-05-19 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201920861956.9U Active CN210551339U (en) | 2019-06-10 | 2019-06-10 | Quick change device for robot end tool |
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| CN (1) | CN210551339U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
-
2019
- 2019-06-10 CN CN201920861956.9U patent/CN210551339U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
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