CN211541263U - Robot end effector connects fast and trades device - Google Patents
Robot end effector connects fast and trades device Download PDFInfo
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- CN211541263U CN211541263U CN201922329513.8U CN201922329513U CN211541263U CN 211541263 U CN211541263 U CN 211541263U CN 201922329513 U CN201922329513 U CN 201922329513U CN 211541263 U CN211541263 U CN 211541263U
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Abstract
The robot end effector quick switching device comprises a first assembly body and a second assembly body, wherein the first assembly body comprises a tool disc, a male connector and a male connector seat; the second assembly body comprises a connecting seat, a guide rod, a female joint seat, a spring, a limiting block and a locking assembly; when the first assembly body is connected with the connecting part B of the second assembly body through the connecting part A, the male connector is inserted into the female connector, the female connector seat is pressed on the limiting block, and the connecting seat and the tool disc can be locked with each other or unlocked by the locking assembly. The utility model discloses a remote-controlled robot can realize the automatic dismouting of robot end effector, and whole dismouting process is swift, simple and convenient, good reliability, and butt joint between public, the female joint is two segmentation processes, and the grafting dynamics crescent avoids abrupt, the hard disect insertion to connect and cause the damage.
Description
Technical Field
The utility model relates to an end effector of robot's automatic switching technical field, especially an end effector of robot connects fast and trades device.
Background
Robots (particularly multi-axis robots) have been widely used in various industries due to their flexibility, reliability and high efficiency of motion, and gradually replace manual operations. However, in practical application, one robot is often required to process several different products or different processes, and the robot needs to be correspondingly matched with several different end effectors, such as a bucket, a hydraulic hammer, a hydraulic shear, a hydraulic clamp, and a cutting machine. At present, when the end effector is replaced, manual disassembly and assembly are often needed, the steps are complicated, and time and labor are wasted. In some dangerous environments (such as nuclear radiation, high temperature, low temperature and the like), manual disassembly and assembly are extremely difficult, and even disassembly and assembly cannot be completed.
SUMMERY OF THE UTILITY MODEL
The utility model aims at overcoming the not enough of prior art, and provide a robot end effector connects fast and trades device, it has solved the end effector of present manual disassembly and assembly robot and has wasted time and energy and the big problem of the degree of difficulty.
The technical scheme of the utility model is that: the robot end effector quick switching device comprises a first assembly body and a second assembly body;
the first assembly body comprises a tool disc, a male connector seat and a male connector; the tool tray is provided with a joining part A and a tool connecting surface; the male connector base is fixedly arranged on the tool disc; the male connector is arranged on the male connector seat;
the second assembly body comprises a connecting seat, a female joint seat, a guide rod, a spring, a limiting block and a locking assembly; the two ends of the connecting seat are respectively a robot butt joint end and a tool disc butt joint end, and the tool disc butt joint end is provided with a joint part B matched with the joint part A; the female joint is arranged on the female joint seat; the female joint seat is movably sleeved on the guide rod; two ends of the guide rod are fixedly arranged on the connecting seat; the spring is sleeved on the guide rod, one end of the spring is propped against the female connector seat, the other end of the spring is propped against the wall surface of one end of the connecting seat, and the female connector seat is tightly pressed on the wall surface of the other end of the connecting seat through elasticity; the limiting block is fixedly connected on the connecting seat so as to limit the sliding stroke of the female joint seat on the guide rod; the locking component is arranged on the connecting seat and is associated with the tool disc;
when the first assembly body is connected with the connecting part B of the second assembly body through the connecting part A, the male connector is inserted into the female connector, the female connector seat is pressed on the limiting block, and the connecting seat and the tool disc can be locked with each other or unlocked by the locking assembly.
The utility model discloses further technical scheme is: the tool connecting surface of the tool disk is provided with a tool mounting hole.
The utility model discloses still further technical scheme is: the joining parts A are two sliding grooves which are oppositely arranged on the tool tray; the joining part B is a sliding block which is arranged at the outer side of the tool disc butt joint end of the connecting seat and is matched with the sliding groove.
The utility model discloses a further technical scheme is: a pin hole A is arranged at the butt joint end of the tool disc of the connecting seat; an element accommodating cavity is arranged in the butt joint end of the tool disc of the connecting seat; a pin hole B corresponding to the pin hole A is arranged on the tool disc;
the locking assembly comprises a motor, a rotary table, a connecting rod and a locking pin; the motor is fixedly arranged in the element accommodating cavity of the connecting seat, and the rotary disc is fixedly arranged on a machine shaft of the motor and is driven by the motor to rotate; the locking pin is movably inserted in the pin hole A of the connecting seat; one end of the connecting rod is hinged with the rotary table, the other end of the connecting rod is hinged with the locking pin, and the connecting rod pulls the locking pin to do reciprocating linear motion along the pin hole A along with the forward and reverse rotation of the rotary table;
when the first assembly body is connected with the connecting part B of the second assembly body through the connecting part A, the locking pin extends out of the pin hole A and enters the pin hole B of the tool disc, namely, the connecting seat and the tool disc are mutually locked, and the locking pin retracts into the pin hole A and does not enter the pin hole B of the tool disc, namely, the mutual locking of the connecting seat and the tool disc is released.
The utility model discloses a further technical scheme is: the male connector comprises a hydraulic male connector and/or an electric male connector and/or an air path male connector, and the female connector is a hydraulic female connector and/or an electric female connector and/or an air path female connector matched with the male connector.
Compared with the prior art, the utility model have following advantage:
1. the automatic disassembly and assembly of the robot end effector can be realized through the remote control robot, the whole disassembly and assembly process is quick, simple and convenient, the reliability is good, and interference between the male joint and the female joint cannot be generated.
2. The butt joint between the male joint and the female joint is a two-section process, the inserting force is gradually increased, and the damage caused by the abrupt and harsh direct insertion of the joints is avoided. In the first stage, when the tool disc is inserted into the connecting seat, the male connector is contacted with the female connector, then the male connector pushes the female connector and the female connector seat to overcome the elasticity of the spring and move upwards along the guide rod, and in the process, the insertion force is gradually increased along with the compression deformation of the spring; in the second section, the female connector seat supports against the limiting block under the pushing action of the male connector, the male connector is finally inserted into the female connector along with the continuation of the inserting process, the inserting force is gradually increased along with the continuation of the inserting process, and when the inserting force reaches the critical value of the required inserting force, the male connector is inserted into the female connector.
3. The first assembly body and the second assembly body are in butt joint with the sliding groove through the sliding block, and the butt joint precision is guaranteed; two fixed points between the first assembly body and the second assembly body are symmetrically arranged on two sides of the butt joint end of the connecting seat tool disc, and the locking mechanism is firm and reliable after locking and can bear larger load.
The invention is further described below with reference to the figures and examples.
Drawings
Fig. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic view of a first assembly at one viewing angle;
FIG. 3 is a schematic view of the first assembly at another viewing angle;
FIG. 4 is a schematic view of a second assembly at one viewing angle;
FIG. 5 is a schematic view of a second assembly at another viewing angle;
FIG. 6 is a schematic view showing the butt joint state of the male and female joints;
fig. 7 is a schematic view of the usage state of the present invention.
Illustration of the drawings: a tool tray 11; the joining portion a 111; a tool connection face 112; a tool mounting hole 113; pin holes a 114; a male connector base 12; a male connector 13; a connecting base 21; a robot docking end 211; a tool tray interface end 212; an engagement portion B2121; an element housing cavity 2122; pin holes a 2123; a female joint 22; a female joint base 23; a guide rod 24; a spring 25; a stop block 26; a motor 271, a dial 272, a link 273 and a locking pin 274.
Detailed Description
Example 1:
as shown in fig. 1 to 7, the robot end effector quick switching device includes a first assembly body and a second assembly body.
The first assembly body includes a tool plate 11, a male connector holder 12, and a male connector 13. The tool tray 11 is provided with an engagement portion a111 and a tool attachment surface 112, and the tool attachment surface 112 is provided with a tool attachment hole 113. The tool plate 11 is also provided with a pin hole a 114.
The male socket 12 is fixedly mounted on the tool plate 11.
The male connector 13 is mounted on the male connector holder 12.
The second assembly body includes a connecting seat 21, a female joint 22, a female joint seat 23, a guide rod 24, a spring 25, a stopper 26, and a locking assembly.
The two ends of the connecting base 21 are a robot docking end 211 and a tool tray docking end 212, and the tool tray docking end 212 is provided with a docking portion B2121 matching with the docking portion a 111. A component receiving cavity 2122 is provided in the tool disk coupling end 212 of the coupling socket 21. The tool tray butt-joint end 212 of the joint base 21 is provided with a pin hole a2123 corresponding to the pin hole B114.
The female connector 22 is mounted on the female connector holder 23.
The female connector block 23 is looped over the guide bar 24.
Two ends of the guide rod 24 are fixedly arranged on the connecting seat 21.
The spring 25 is fitted over the guide rod 24, and has one end abutting against the female connector holder 23 and the other end abutting against the upper end chamber wall of the element accommodating chamber 2122 of the connecting holder 21, and presses the female connector holder 23 against the lower end chamber wall of the element accommodating chamber 2122 of the connecting holder 21 by its elastic force.
The stopper 26 is fixed on the connecting base 21 to limit the sliding stroke of the female connector base 23 on the guide rod 24.
The locking assembly includes a motor 271, a dial 272, a link 273 and a locking pin 274. The motor 271 is fixedly installed in the element accommodating chamber 2122 of the connecting base 21, and the rotary plate 272 is fixedly installed on the shaft of the motor 271 and is driven by the motor 271 to rotate. The locking pin 274 is movably inserted into the pin hole A2123 of the connecting seat 21. The connecting rod 273 has one end hinged to the rotary plate 272 and the other end hinged to the locking pin 274, and pulls the locking pin 274 to reciprocate along the pin hole a2123 with the forward and reverse rotation of the rotary plate 272, so as to lock or unlock the connecting seat 21 and the tool tray 11 with each other. When the locking assembly interlocks the coupling block 21 with the tool plate 11, the locking pin 274 protrudes through the pin hole a2123 and enters the pin hole B114 of the tool plate 11, and when the locking assembly disengages the interlocking of the coupling block 21 with the tool plate 11, the locking pin 274 retracts into the pin hole a2123 and does not enter the pin hole B114 of the tool plate 11.
In a state that the first assembly body is connected with the connecting part B2121 of the second assembly body through the connecting part A113, the pin holes A2123 on the connecting seat 21 are opposite to the pin holes B114 on the tool tray 11, the male connector 13 is inserted into the female connector 22 and presses the female connector seat 23 on the limiting block 26, and the locking component can lock or unlock the tool tray 11.
Preferably, the engaging portions a113 are two oppositely arranged sliding grooves on the tool tray 11. The engagement portions B2121 are two symmetrically arranged sliders on the tool tray engagement end 212 of the coupling base 21.
Preferably, the number of the connecting rods 273 is two, and the hinge points of the two connecting rods 273 and the rotating disc 272 are symmetrically distributed around the rotation center of the rotating disc 272. Correspondingly, the number of the locking pins 274 and the number of the pin holes a2123 are two, the two pin holes a2123 are symmetrically distributed on the tool tray butt end 212 of the connecting seat 21 with the rotation center of the rotating disc 272, and the two locking pins 274 are respectively movably inserted into the two pin holes a 2123.
Preferably, the male connector 13 comprises a hydraulic male connector and/or an electric male connector and/or an air passage male connector, and the female connector 22 is a hydraulic female connector and/or an electric female connector and/or an air passage female connector matched with the male connector.
The utility model can realize the quick switching of the robot end effector, including the butt joint process and the disassembly process;
before the quick switching is performed, preparation work needs to be performed, which specifically includes the following steps:
a. connecting the second assembly body to a robot arm through a robot butt joint end 211 of the connecting seat 21, and communicating the male joint 13 to a corresponding hydraulic system, air path system or circuit system;
b. attaching the desired end effector to the tool tray 11 of the first assembly and then placing the first assembly on the floor or countertop;
in the preparation work, the steps a and b are not in sequence.
The butt joint process is as follows:
s01, connecting the connecting seat with the tool disc and butting the male connector and the female connector: adjusting the pose of the robot to ensure that the sliding block on the connecting seat 21 is over against the sliding groove on the tool disk 11, and then operating the robot to ensure that the connecting seat 21 is inserted into the sliding groove of the tool disk 11 through the sliding block; in the process of inserting the connecting seat 21 and the tool tray 11, firstly, the male connector 13 is contacted with the female connector 22, then the male connector 13 pushes the female connector 22 and the female connector seat 23 to move upwards along the guide rod 24 against the elastic force of the spring 25 until the female connector seat 23 pushes against the limiting block 26, and finally, the male connector 13 is inserted into the female connector 22 along with the continuation of the inserting process, so that the whole inserting process is completed; at this time, the pin hole A2123 on the connecting seat 21 is opposite to the pin hole B114 on the tool tray 11;
s02, the connecting seat and the tool disc are locked with each other: when the motor 271 is started, the rotating disc 272 rotates to drive the connecting rod 273 to move, so that the locking pin 274 extends out of the pin hole a2123 and is inserted into the pin hole B114 of the tool tray 11, and the mutual locking of the connecting seat 21 and the tool tray 11 is completed.
The disassembly process is as follows:
s01, unlocking the tool disc and the connecting seat and separating the male connector and the female connector:
a, operating the robot to enable the tool disc 11 to be grounded, and then disconnecting an oil circuit, an air circuit and an electric circuit between the male connector and the female connector;
b, controlling the motor 271 to start, and driving the connecting rod 273 to move through the rotation of the rotating disc 272, so that the locking pin 274 exits the pin hole B114 and retracts into the pin hole A2123;
s02, separating the connecting seat from the tool disc: the robot is operated to draw the connecting seat 21 out of the tool tray 11 along the sliding slot of the tool tray 11, and the male joint and the female joint are separated along with the mutual drawing of the connecting seat and the tool tray, namely, the connecting seat 21 and the tool tray 11 are separated.
Claims (6)
1. The robot end effector connects and trades the device fast, its characteristic is: comprises a first assembly body and a second assembly body;
the first assembly body comprises a tool disc, a male connector seat and a male connector; the tool tray is provided with a joining part A and a tool connecting surface; the male connector base is fixedly arranged on the tool disc; the male connector is arranged on the male connector seat;
the second assembly body comprises a connecting seat, a female joint seat, a guide rod, a spring, a limiting block and a locking assembly; the two ends of the connecting seat are respectively a robot butt joint end and a tool disc butt joint end, and the tool disc butt joint end is provided with a joint part B matched with the joint part A; the female joint is arranged on the female joint seat; the female joint seat is movably sleeved on the guide rod; two ends of the guide rod are fixedly arranged on the connecting seat; the spring is sleeved on the guide rod, one end of the spring is propped against the female connector seat, the other end of the spring is propped against the wall surface of one end of the connecting seat, and the female connector seat is tightly pressed on the wall surface of the other end of the connecting seat through elasticity; the limiting block is fixedly connected on the connecting seat so as to limit the sliding stroke of the female joint seat on the guide rod; the locking component is arranged on the connecting seat and is associated with the tool disc;
when the first assembly body is connected with the connecting part B of the second assembly body through the connecting part A, the male connector is inserted into the female connector, the female connector seat is pressed on the limiting block, and the connecting seat and the tool disc can be locked with each other or unlocked by the locking assembly.
2. The robotic end effector quick-connect-to-change device of claim 1, wherein: the tool connecting surface of the tool disk is provided with a tool mounting hole.
3. The robotic end effector quick-connect-to-change device of claim 2, wherein: the joining parts A are two sliding grooves which are oppositely arranged on the tool tray; the joining part B is a sliding block which is arranged at the outer side of the tool disc butt joint end of the connecting seat and is matched with the sliding groove.
4. The robotic end effector quick-connect-to-change device of claim 3, wherein: a pin hole A is arranged at the butt joint end of the tool disc of the connecting seat; an element accommodating cavity is arranged in the butt joint end of the tool disc of the connecting seat; a pin hole B corresponding to the pin hole A is arranged on the tool disc;
the locking assembly comprises a motor, a rotary table, a connecting rod and a locking pin; the motor is fixedly arranged in the element accommodating cavity of the connecting seat, and the rotary disc is fixedly arranged on a machine shaft of the motor and is driven by the motor to rotate; the locking pin is movably inserted in the pin hole A of the connecting seat; one end of the connecting rod is hinged with the rotary table, the other end of the connecting rod is hinged with the locking pin, and the connecting rod pulls the locking pin to do reciprocating linear motion along the pin hole A along with the forward and reverse rotation of the rotary table;
when the first assembly body is connected with the joint part B of the second assembly body through the joint part A, the locking pin extends out of the pin hole A and enters the pin hole B of the tool disc, namely, the tool disc is locked, and the locking pin retracts into the pin hole A and does not enter the pin hole B of the tool disc, namely, the tool disc is unlocked.
5. The robotic end effector quick-connect-to-change device of claim 4, wherein: the number of the connecting rods is two, and the hinge points of the two connecting rods and the rotary table are symmetrically distributed by using the rotation center of the rotary table; correspondingly, the number of the locking pins and the number of the pin holes A are two, the two pin holes A are symmetrically distributed on the butt joint end of the tool plate of the connecting seat by using the rotation center of the rotating plate, and the two locking pins are respectively movably inserted into the two pin holes A.
6. The robot end effector quick change device according to any one of claims 1 to 5, wherein: the male connector comprises a hydraulic male connector and/or an electric male connector and/or an air path male connector, and the female connector is a hydraulic female connector and/or an electric female connector and/or an air path female connector matched with the male connector.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922329513.8U CN211541263U (en) | 2019-12-23 | 2019-12-23 | Robot end effector connects fast and trades device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922329513.8U CN211541263U (en) | 2019-12-23 | 2019-12-23 | Robot end effector connects fast and trades device |
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| Publication Number | Publication Date |
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| CN211541263U true CN211541263U (en) | 2020-09-22 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201922329513.8U Active CN211541263U (en) | 2019-12-23 | 2019-12-23 | Robot end effector connects fast and trades device |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110919680A (en) * | 2019-12-23 | 2020-03-27 | 南华大学 | Robot end effector rapid switching device and switching method |
| CN113700962A (en) * | 2021-09-24 | 2021-11-26 | 江苏徐工工程机械研究院有限公司 | Quick-operation joint interfacing apparatus and engineering machine tool |
| CN114400386A (en) * | 2021-12-22 | 2022-04-26 | 上海捷新动力电池系统有限公司 | High-efficient power battery soft packet VDA module circulation carrier |
-
2019
- 2019-12-23 CN CN201922329513.8U patent/CN211541263U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110919680A (en) * | 2019-12-23 | 2020-03-27 | 南华大学 | Robot end effector rapid switching device and switching method |
| CN110919680B (en) * | 2019-12-23 | 2023-08-29 | 南华大学 | Quick connection and exchange device and connection and exchange method for robot end effector |
| CN113700962A (en) * | 2021-09-24 | 2021-11-26 | 江苏徐工工程机械研究院有限公司 | Quick-operation joint interfacing apparatus and engineering machine tool |
| CN114400386A (en) * | 2021-12-22 | 2022-04-26 | 上海捷新动力电池系统有限公司 | High-efficient power battery soft packet VDA module circulation carrier |
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