CN211993037U

CN211993037U - Quick change device for end tool of mechanical arm

Info

Publication number: CN211993037U
Application number: CN202020554268.0U
Authority: CN
Inventors: 周成军; 杨一鸣
Original assignee: Shenzhen Mo Ying Technology Co ltd
Current assignee: Shenzhen Mo Ying Technology Co.,Ltd.; Sun Yat Sen University
Priority date: 2020-04-14
Filing date: 2020-04-14
Publication date: 2020-11-24
Anticipated expiration: 2030-04-14

Abstract

A quick change device for end-of-arm tooling comprising: the locking mechanism is movably arranged in the main shaft end mechanism, and the tool end mechanism is detachably connected with the main shaft end mechanism; the main shaft end mechanism comprises a first shaft body, a second shaft body connected with the first shaft body along the axial direction, and a fixed magnetic part fixedly arranged in the first shaft body; a radial through clamping hole is formed on the second shaft body; the locking mechanism comprises a limiting rod movably arranged in the second shaft body in a penetrating way, a movable magnetic piece connected with one end of the limiting rod close to the fixed magnetic piece and a clamping and locking piece movably arranged in the clamping hole; the outer side of the limiting rod is provided with an adjusting groove with the depth changing along the axial direction; the locking part is partially accommodated in the adjusting groove; the tool end mechanism is detachably sleeved on the second shaft body; the clamping and locking piece protrudes out of the second shaft body to lock the tool end mechanism outside the second shaft body, and the tool end mechanism is released or locked by controlling the magnetic pole direction of the fixed magnetic piece or the movable magnetic piece.

Description

Quick change device for end tool of mechanical arm

Technical Field

The utility model relates to the technical field of robot, especially, relate to an end of arm instrument quick change device.

Background

With the popularization of automation degree in recent years, industrial robots are increasingly applied to the field of stone processing by virtue of their advantages, and finally achieve the purpose of robot exchange. At present, the main application form is to fix an electric main shaft or a motor on a flange at the tail end of a machine arm, clamp a corresponding tool and connect water, electricity and gas to realize processing of different procedures.

However, the processing procedures of some materials are more, including sawing, milling, grinding and polishing, and different processing tools are required to be matched to realize different procedures. This requires the related enterprises to either purchase multiple robots and install corresponding tools to complete different processes, which is too costly; or purchase a robotic arm, then supporting different instruments, change different instruments in the course of working in order to satisfy the requirement of different processes, not only can accomplish relevant process like this well, can also to a great extent reduce equipment purchasing cost, reduce the burden of enterprise.

However, the existing quick-change device for the end tool generally utilizes an air source as power to lock or unlock the tool, so that an air pipe or other matching mechanisms can be added outside the quick-change device, the occupation of the external space of the mechanical arm is increased, and the posture of the mechanical arm during task execution is correspondingly limited.

SUMMERY OF THE UTILITY MODEL

Therefore, it is necessary to provide a quick change device for a tool at the end of a robot arm, which is capable of easily affecting the operation of the robot arm by a related air source mechanism when the tool is locked or unlocked by using the air source as power.

A quick change device for end-of-arm tooling comprising: the locking mechanism is movably arranged in the main shaft end mechanism, and the tool end mechanism is detachably connected with the main shaft end mechanism; the spindle end mechanism comprises a first shaft body, a second shaft body axially connected with the first shaft body and a fixed magnetic part fixedly arranged in the first shaft body; a radial through clamping hole is formed in the second shaft body; the locking mechanism comprises a limiting rod movably arranged in the second shaft body in a penetrating way, a movable magnetic piece connected with one end of the limiting rod close to the fixed magnetic piece, and a locking piece movably arranged in the locking hole; an adjusting groove with the depth changing along the axial direction is formed in the outer side of the limiting rod; the locking piece is partially accommodated in the adjusting groove; the tool end mechanism is detachably sleeved on the second shaft body; the locking member locks the tool end mechanism outside the second shaft body by protruding out of the second shaft body.

According to the quick change device for the tool at the tail end of the robot arm, the magnetic pole direction of the fixed magnetic piece or the movable magnetic piece is controlled, when the fixed magnetic piece and the movable magnetic piece are mutually attracted, the limiting rod moves close to the fixed magnetic piece along with the movable magnetic piece, when the fixed magnetic piece and the movable magnetic piece are mutually exclusive, the limiting rod moves away from the fixed magnetic piece along with the movable magnetic piece, and due to the fact that the depth of the adjusting groove changes along the axial direction of the limiting rod, when the adjusting groove corresponds to the locking piece in a shallow position, the locking piece is pushed to be partially protruded out of the second shaft body by the limiting rod, and therefore the tool end mechanism is locked outside the second shaft body; when the adjusting groove is deeper and corresponds to the locking piece, the locking piece can be completely pushed into the second shaft body by the tool end mechanism, so that the tool end mechanism can be separated from the second shaft body.

In one embodiment, the limiting rod is provided with an unlocking groove surface on the inner side of the adjusting groove; the limiting rod is further provided with an inclined groove surface at the inner side of the adjusting groove, the inclined groove surface is obliquely arranged relative to the axial direction of the limiting rod, and the distance between the inclined groove surface and the axis of the limiting rod is reduced along the direction close to the unlocking groove surface; the limiting rod is provided with a transition groove surface between the unlocking groove surface and the inclined groove surface; the extension direction of the transition groove surface is parallel or approximately parallel to the axial direction of the limiting rod; the average outer diameters of the unlocking groove surface, the transition groove surface and the inclined groove surface are sequentially increased; the locking mechanism further comprises an elastic piece, and the elastic piece is used for enabling the inclined groove surface to move towards the direction close to the clamping and locking piece; therefore, the processing tool is prevented from being loosened from the second shaft body under the condition of accidental power failure, and the processing tool is prevented from being damaged.

In one embodiment, a convex ring part extends outwards along the radial direction from one end of the second shaft body close to the first shaft body; the width of the convex ring part is close to or consistent with the thickness of the first shaft body; thereby effectively reducing the material cost and weight of the main shaft end mechanism.

In one embodiment, the tool end mechanism includes a first tool carrier, and a second tool carrier coupled to the first tool carrier; the first tool carrier comprises a main sleeve movably sleeved on the second shaft body and a fixing ring connected with the main sleeve; a clamping groove for accommodating the clamping and locking piece is formed in the inner side of the main sleeve; thereby effectively reducing the material cost and weight of the tool end mechanism.

In one embodiment, the air path mechanism is used for providing air flow docking; the air path mechanism comprises a first air pipe joint connected with the first shaft body; a first air duct communicated with the first air pipe joint is arranged in the first shaft body; the convex ring part is provided with a second air passage used for communicating the first air passage; the gas circuit mechanism also comprises a second gas pipe joint connected with the second tool carrier; the second tool carrier is provided with a third air passage communicated with the second air pipe joint; the fixing ring is provided with a fourth air passage communicated with the third air passage; the first air pipe joints correspond to the second air pipe joints one by one; so that the processing tool can obtain pneumatic power to adsorb or clamp the workpiece.

In one embodiment, at least one of the following schemes is also included:

the gas circuit mechanism also comprises an outer sealing gasket connected with the outer side of the convex ring part; the outer sealing gasket surrounds the second vent passage outlet; one side of the fixing ring, which faces the convex ring part, is provided with a conical surface groove, and the conical surface groove is communicated with the fourth air passage; the conical surface groove is used for accommodating the outer sealing gasket;

the gas path mechanism further comprises a first inner sealing ring arranged between the convex ring part and the end face of the first shaft body, and the first inner sealing ring is arranged around the inner ports of the first air passage and the second air passage respectively; the gas path mechanism further comprises a second inner sealing ring arranged between the fixing ring and the second tool carrier, and the second inner sealing ring is arranged around the inner ports of the fourth gas passage and the third gas passage respectively; thereby ensuring the air tightness when the air flow channels are butted.

In one embodiment, the device further comprises an electric mechanism for providing signal transmission or power supply; the electrical mechanism comprises a first electrical connector connected with the spindle end mechanism and a second electrical connector connected with the tool end mechanism; transmitting a signal or power between the first electrical connector and the second electrical connector through an electrical port after the tool end mechanism is locked to the spindle end mechanism; therefore, the butt joint treatment during the replacement of the machining tool can be reduced, and the efficiency is improved by effective operation.

In one embodiment, the inner diameter of the inner cavity of the tool end mechanism is close to or coincident with the outer diameter of the second shaft body; the main shaft end mechanism further comprises a conical head positioning pin arranged near the second shaft body; the tip end of the conical head positioning pin faces the tool end mechanism; the tool end mechanism is provided with first positioning holes which correspond to the conical head positioning pins one to one; therefore, the gas circuit mechanism or the electric mechanism can be accurately butted by limiting in the axial direction and positioning in the angle.

In one embodiment, the limiting rod is arranged in a hollow mode; the inner cavity of the limiting rod is communicated with the adjusting groove through an embedding groove; the width of the placing groove can allow the locking piece to pass through; thereby the outside accessible radian in card hole is narrowed, avoids the card latch fitting to break away from outside the card hole.

In one embodiment, the main shaft end mechanism further comprises a shaft side cover plate connected with the first shaft body, and the shaft side cover plate is connected with the end face of the first shaft body on the side opposite to the second shaft body; the fixed magnetic part is fixedly connected to the inner side of the shaft side cover plate; the main shaft end mechanism comprises a shaft side positioning pin arranged on the outer side of the shaft side cover plate; a tool side positioning pin is arranged on one side, back to the first shaft body, of the tool end mechanism; the shaft side positioning pin can accurately correspond to the main shaft on the mechanical arm in angle, the tool side positioning pin can enable the machining tool to accurately correspond to the tool end mechanism, and the reduction of machining accuracy or quality caused by angle deviation in installation is avoided.

Drawings

Fig. 1 is a schematic perspective view of a robot arm end tool quick-change device according to an embodiment of the present invention;

FIG. 2 is an exploded view of the robotic end tool quick-change device shown in FIG. 1;

FIG. 3 is an exploded view of the robotic end tool quick-change device shown in FIG. 1 at another angle;

FIG. 4 is a partial schematic view of the spindle end mechanism of FIG. 1;

FIG. 5 is a partial schematic view of the spindle end mechanism of FIG. 1 at another angle;

fig. 6 is a partial schematic view of the tool end mechanism of fig. 1.

The corresponding relation between each reference number and each meaning in the drawings is as follows:

100. a quick change device for a tool at the tail end of the robot arm; 20. a main shaft end mechanism; 21. a first shaft body; 211. a first screw hole; 212. a first air duct; 22. a second shaft body; 221. a clamping hole; 222. a convex ring part; 223. a first mounting hole; 224. a second vent passage; 23. fixing the magnetic member; 24. a first fastener; 25. a conical head positioning pin; 26. a shaft-side cover plate; 27. a shaft side positioning pin; 30. a locking mechanism; 31. a limiting rod; 311. an adjustment groove; 312. unlocking the groove surface; 313. inclining the groove surface; 314. a transition groove surface; 315. a first outer flange; 316. placing the mixture into a groove; 32. a movable magnetic member; 33. a latch member; 34. an elastic member; 40. a tool end mechanism; 41. a first tool carrier; 411. a main sleeve; 413. a card slot; 414. a sloping baffle surface; 412. a fixing ring; 415. a second mounting hole; 416. a fourth air passage; 417. a conical surface groove; 42. a second tool carrier; 421. a third vent passage; 43. a second fastener; 44. a first positioning hole; 45. a tool-side locating pin; 51. a first gas pipe joint; 52. a second air pipe joint; 53. an outer seal gasket; 54. a first inner seal ring; 55. a second inner seal ring; 60. an electrical mechanism; 61. a first electrical connector; 63. an electrical port; 62. a second electrical connector.

Detailed Description

In order to make the above objects, features and advantages of the present invention more comprehensible, embodiments of the present invention are described in detail below with reference to the accompanying drawings. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. The present invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein, as those skilled in the art will be able to make similar modifications without departing from the spirit and scope of the present invention.

In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", and the like, indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for convenience of description and simplicity of description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore, should not be construed as limiting the present invention.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.

In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," and "fixed" are to be construed broadly and may, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art.

In the present application, unless expressly stated or limited otherwise, the first feature may be directly on or directly under the second feature or indirectly via intermediate members. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.

It will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and the like as used herein are for illustrative purposes only and do not denote a unique embodiment.

Referring to fig. 1 to 6, a quick change device 100 for a tool at an end of a robot arm according to an embodiment of the present invention is used for realizing quick assembly and disassembly between a spindle at an end of the robot arm and a processing tool. The quick tool changing device 100 for the tail end of the robot arm comprises a spindle end mechanism 20, a locking mechanism 30 movably arranged in the spindle end mechanism 20, and a tool end mechanism 40 detachably connected with the spindle end mechanism 20; the spindle end mechanism 20 comprises a first shaft body 21, a second shaft body 22 axially connected with the first shaft body 21, and a fixed magnetic part 23 fixedly arranged in the first shaft body 21; a clamping hole 221 which penetrates through the second shaft body 22 in the radial direction is formed; the locking mechanism 30 comprises a limiting rod 31 movably arranged in the second shaft body 22 in a penetrating way, a movable magnetic piece 32 connected with one end of the limiting rod 31 close to the fixed magnetic piece 23, and a locking piece 33 movably arranged in a locking hole 221; the outer side of the limiting rod 31 is provided with an adjusting groove 311 with the depth changing along the axial direction; the latch 33 is partially accommodated in the regulation groove 311; the tool end mechanism 40 is detachably sleeved on the second shaft body 22; the latch 33 locks the tool end mechanism 40 out of the second shaft body 22 by protruding out of the second shaft body 22.

By controlling the magnetic pole direction of the fixed magnetic part 23 or the movable magnetic part 32, when the fixed magnetic part 23 and the movable magnetic part 32 attract each other, the limiting rod 31 moves along with the movable magnetic part 32 approaching the fixed magnetic part 23, when the fixed magnetic part 23 and the movable magnetic part 32 are mutually exclusive, the limiting rod 31 moves along with the movable magnetic part 32 separating from the fixed magnetic part 23, because the depth of the adjusting groove 311 changes along the axial direction of the limiting rod 31, when the adjusting groove 311 corresponds to the locking part 33 at a shallower position, the locking part 33 is pushed by the limiting rod 31 to partially protrude out of the second shaft body 22, so that the tool end mechanism 40 is locked outside the second shaft body 22; when the adjustment groove 311 corresponds to the locking member 33 at a deep portion, the locking member 33 can be pushed completely into the second shaft body 22 by the tool end mechanism 40, so that the tool end mechanism 40 can be disengaged from the second shaft body 22.

Preferably, in order to optimize the internal structure of the quick-change device and ensure the moving range of the limiting rod 31, the fixed magnetic part 23 is an electromagnet, the movable magnetic part 32 is a permanent magnet, and the current flowing direction of the fixed magnetic part 23 is changed, so that an attractive force or a repulsive force can be generated on the permanent magnet, the limiting rod 31 has a larger axial moving range, and the locking part 33 can accurately move in a larger radial range.

Referring to fig. 5, in order to improve the moving flexibility of the locking member 33 and facilitate the limiting rod 31 to push the locking member 33, the locking member 33 is spherical.

Referring to fig. 4 and 5, in one embodiment, the limiting rod 31 is provided with an unlocking groove surface 312 at the inner side of the adjusting groove 311; the limiting rod 31 is further provided with an inclined groove surface 313 on the inner side of the adjusting groove 311, the inclined groove surface 313 is arranged in an inclined manner relative to the axial direction of the limiting rod 31, and the distance between the inclined groove surface 313 and the axis of the limiting rod 31 is reduced along the direction close to the unlocking groove surface 312; the limiting rod 31 is provided with a transition groove surface 314 between the unlocking groove surface 312 and the inclined groove surface 313; the extension direction of the transition groove surface 314 is parallel or nearly parallel to the axial direction of the limiting rod 31; the average outer diameters of the unlocking groove surface 312, the transition groove surface 314 and the inclined groove surface 313 are sequentially increased; the locking mechanism 30 further includes an elastic member 34, and the elastic member 34 is used to move the inclined groove surface 313 toward the latch 33.

When the tool end mechanism 40 needs to be locked at the outer side of the second shaft 22, the inclined groove surface 313 pushes the inner side of the locking piece 33 through the attraction or repulsion between the fixed magnetic piece 23 and the movable magnetic piece 32, so that the locking piece 33 fully protrudes out of the second shaft 22 and the tool end mechanism 40 is prevented from being released from the second shaft 22; when the tool end mechanism 40 needs to be unlocked, the unlocking groove surface 312 with a smaller outer diameter faces the inner side of the locking piece 33 through the attraction or repulsion between the fixed magnetic piece 23 and the movable magnetic piece 32, a space is provided for the locking piece 33 to move towards the second shaft body 22, the locking piece 33 is pushed by the inner side of the tool end mechanism 40 to be completely hidden in the second shaft body 22, and therefore the tool end mechanism 40 can be released from the second shaft body 22.

Under the condition that the magnetic pole control current is unexpectedly cut off, because the elastic component 34 makes the inclined groove surface 313 move towards the direction close to the locking piece 33, meanwhile, the transition groove surface 314 is arranged between the unlocking groove surface 312 and the inclined groove surface 313, under the abutting of the transition groove surface 314, the contraction of the locking piece 33 towards the second shaft body 22 is limited, the locking piece 33 protruding out of the second shaft body 22 keeps locking the tool end mechanism 40, thereby avoiding the processing tool from loosening from the second shaft body 22 under the condition of unexpected cut-off, and preventing the processing tool from being damaged.

Referring to fig. 4 and 5, in the present embodiment, in order to prevent the tool end mechanism 40 from being accidentally released during power failure, the distances between the unlocking slot surface 312, the transition slot surface 314, and the inclined slot surface 313 are sequentially increased; a first outer flange 315 extends from one end of the limiting rod 31 connected to the movable magnetic member 32, and the first outer flange 315 is accommodated in the first shaft 21; the elastic member 34 is a compression spring, and the elastic member 34 abuts between the first outer flange 315 and the second shaft body 22, so that the inclined groove surface 313 moves toward the locking member 33.

In other embodiments, the distances of the unlocking groove surface, the transition groove surface and the inclined groove surface relative to the movable magnetic piece are sequentially decreased; the elastic piece is tension spring, and first outer flange and second axle body are connected respectively to elastic piece both ends, can make the inclined groove face towards the direction removal that is close to the latch fitting equally.

Further, in the locked state, the latch 33 contacts only the inclined groove surface 313, so that the latch 33 protrudes out of the second shaft 22 sufficiently, and the tool end mechanism 40 and the spindle end mechanism 20 are attached sufficiently, in the power failure state, the inner side of the latch 33 contacts only the transition groove surface 314, and under the difference of the outer diameters between the transition groove surface 314 and the inclined groove surface 313, the latch 33 is slightly received in the second shaft 22, and after the tool end mechanism 40 is slightly withdrawn from the first shaft 21, a gap is left between the first shaft 21 and the tool end mechanism 40, so that an operator can identify the power failure problem of the fixed magnetic member 23 according to the gap.

Referring to fig. 5, in one embodiment, a protruding ring portion 222 extends radially outward from one end of the second shaft 22 close to the first shaft 21; the width of the collar portion 222 is close to or consistent with the thickness of the first shaft body 21; the spindle end mechanism 20 further includes a first fastener 24 for fixing the collar portion 222 and the first shaft 21.

Through the connection of collar portion 222 and first fastener 24, make first axis body 21 and the components of a whole that can function independently setting of second axis body 22 to second axis body 22 and collar portion 222 can adopt the material that density and hardness are great, avoid the second axis body 22 to receive the wearing and tearing of latch fitting 33, guarantee the life of main shaft end mechanism 20, and can reduce the material requirement of first axis body 21, effectively reduce the material cost and the weight of main shaft end mechanism 20.

Referring to fig. 5, specifically, a first screw hole 211 is formed on an end surface of the first shaft 21 facing the collar portion 222, a first mounting hole 223 corresponding to the first screw hole 211 is formed on the collar portion 222, and the first fastening member 24 is sequentially inserted into the first mounting hole 223 and the first screw hole 211, so that the first shaft 21 and the second shaft 22 are relatively fixed. Specifically, the first fastener 24 is a bolt.

In one embodiment, referring to fig. 2 and 6, the tool end mechanism 40 includes a first tool carrier 41 and a second tool carrier 42 connected to the first tool carrier 41; the first tool carrier 41 includes a main sleeve 411 movably sleeved on the second shaft 22, and a fixing ring 412 connected to the main sleeve 411; a clamping groove 413 for accommodating the clamping and locking piece 33 is arranged on the inner side of the main sleeve 411; the tool end mechanism 40 further includes a second fastener 43 for securing the second tool carrier 42 to the securing ring 412.

When the tool end mechanism 40 is locked on the second shaft 22, the part of the latch 33 protruding out of the second shaft 22 is accommodated in the latch groove 413, and the cross-sectional shape of the latch groove 413 is close to the protruding part of the latch 33, so that the first tool carrier 41 and the second tool carrier 42 are locked on the second shaft 22; through the connection of the fixing ring 412 and the second tool carrier 42, the first tool carrier 41 and the second tool carrier 42 are separately arranged, so that the main sleeve 411 and the fixing ring 412 can be made of materials with high density and hardness, the main sleeve 411 is prevented from being worn by the locking piece 33, the service life of the tool end mechanism 40 is ensured, the material requirement of the second tool carrier 42 can be reduced, and the material cost and the weight of the tool end mechanism 40 are effectively reduced.

Referring to fig. 6, further, in order to allow the locking member 33 to automatically store in the second shaft 22 when the unlocking slot surface 312 corresponds to the inner side of the locking member 33, the main sleeve 411 is provided with an inclined blocking surface 414 at the bottom of the locking slot 413, and the distance between the inclined blocking surface 414 and the center of the main sleeve 411 is enlarged along the direction away from the second shaft 22, when the tool end mechanism 40 is separated from the second shaft 22, the locking member 33 is completely stored in the second shaft 22 by the pushing of the inclined blocking surface 414, so that the tool end mechanism 40 can be smoothly separated from the second shaft 22.

Referring to fig. 6, specifically, the second tool carrier 42 has a second screw hole on an end surface facing the fixing ring 412, the fixing ring 412 has a second mounting hole 415 corresponding to the second screw hole, and the second fastening member 43 is sequentially inserted into the second mounting hole 415 and the second screw hole, so as to achieve relative fixation between the first tool carrier 41 and the second tool carrier 42. Specifically, the second fastener 43 is a bolt.

Referring to fig. 4, in one embodiment, the quick change tool attachment 100 further includes an air path mechanism for providing air flow docking; the air path mechanism comprises a first air pipe joint 51 connected with the first shaft body 21; the first shaft body 21 is provided with a first air duct 212 communicated with the first air pipe joint 51; the convex ring part 222 is provided with a second air duct 224 used for communicating the first air duct 212; the air path mechanism further includes a second air line connector 52 connected to the second tool carrier 42; the second tool carrier 42 is provided with a third air passage 421 communicated with the second air pipe joint 52; the fixing ring 412 is provided with a fourth air passage 416 communicated with the third air passage 421; the first air pipe joints 51 correspond to the second air pipe joints 52 one to one.

Since the machining tool may need to adsorb or clamp the workpiece by using air pressure, after the first air pipe joint 51 is connected to the air source device, the first air pipe joint 51 is connected to the second air pipe joint 52 through the first air passage 212, the second air passage 224, the fourth air passage 416, and the third air passage 421 in sequence, and the machining tool obtains air pressure power from the second air pipe joint 52 to adsorb or clamp the workpiece. Alternatively, the first air pipe joint 51 and the second air pipe joint 52 may be one or more pairs, and the number of pairs of the first air pipe joint 51 and the second air pipe joint 52 is four in the present embodiment

Referring to fig. 4 and 6, in one embodiment, the air passage mechanism further includes an outer sealing gasket 53 connected to the outer side of the convex ring portion 222; the outer sealing gasket 53 surrounds the outlet of the second vent passage 224; one side of the fixing ring 412 facing the convex ring part 222 is provided with a conical surface groove 417, and the conical surface groove 417 is communicated with a fourth air passage 416; the tapered recess 417 is for receiving the outer sealing gasket 53;

the air passage mechanism further comprises a first inner sealing ring 54 arranged between the convex ring part 222 and the end surface of the first shaft body 21, and the first inner sealing ring 54 is arranged around the inner ports of the first air passage 212 and the second air passage 224 respectively; the air passage mechanism further includes a second inner seal ring 55 disposed between the retaining ring 412 and the second tool carrier 42, the second inner seal ring 55 being disposed around the inner ports of the fourth air passage 416 and the third air passage 421, respectively.

Since the outer sealing gasket 53 is disposed between the second air passage 224 and the fourth air passage 416, when the tool end mechanism 40 is attached to the spindle end mechanism 20, the outer sealing gasket 53 is pressed between the convex ring portion 222 and the fixing ring 412, so as to ensure air tightness between the second air passage 224 and the fourth air passage 416; since the first inner seal ring 54 is abutted between the convex ring portion 222 and the first shaft body 21, airtightness when the first air passage 212 and the second air passage 224 are communicated is ensured, and the second inner seal ring 55 is abutted between the fixing ring 412 and the second tool carrier 42, airtightness when the fourth air passage 416 and the third air passage 421 are communicated is ensured. In other embodiments, the conical surface groove is disposed on one side of the fixing ring facing the first shaft body and communicated with the second air passage, and the outer sealing gasket is connected with the fixing ring and arranged around an outlet of the fourth air passage.

In one embodiment, referring to fig. 2 and 3, the quick change device 100 for end of arm tooling further includes an electrical mechanism 60 for providing signal transmission or power supply; the electrical mechanism 60 includes a first electrical connector 61 for connecting to the spindle end mechanism 20 and a second electrical connector 62 for connecting to the tool end mechanism 40; after the tool end mechanism 40 is locked to the spindle end mechanism 20, a signal or power is transmitted between the first electrical connector 61 and the second electrical connector 62 through the electrical port 63.

Because the first electrical connector 61 and the second electrical connector 62 are respectively installed on the spindle end mechanism 20 and the tool end mechanism 40, after the butt joint between the spindle end mechanism 20 and the tool end mechanism 40 is completed, the electrical butt joint can be completed at the same time, so that the butt joint treatment during the replacement of the machining tool can be reduced, and the efficiency can be effectively improved.

Referring to fig. 2 and 3, specifically, the first electrical connector 61 may be fixed to one side of the collar portion 222 or the first shaft 21, and the second electrical connector 62 may be fixed to one side of the first tool carrier 41 or the second tool carrier 42.

Referring to fig. 4 and 6, in one embodiment, the inner diameter of the inner cavity of the tool end mechanism 40 is close to or identical to the outer diameter of the second shaft 22; the spindle end mechanism 20 further includes a conical head positioning pin 25 disposed near the second shaft body 22; the tip of the bit locating pin 25 faces the tool end mechanism 40; the tool end mechanism 40 is provided with first positioning holes 44 corresponding to the conical head positioning pins 25 one to one.

Because the inner diameter of the inner cavity of the tool end mechanism 40 is close to or consistent with the outer diameter of the second shaft body 22, after the second shaft body 22 penetrates into the inner cavity of the tool end mechanism 40, the tool end mechanism 40 can be limited in the radial direction, the first positioning hole 44 can be sleeved on the conical positioning pin 25 more conveniently with the aid of the conical surface of the conical positioning pin 25, the tool end mechanism 40 is positioned angularly, and therefore the gas circuit mechanism or the electric mechanism 60 can be accurately butted.

Preferably, the number of the conical head positioning pins 25 is two, so that the shaking caused by the difference between the inner diameter of the inner cavity of the tool end mechanism 40 and the outer diameter of the second shaft body 22 after the positioning is finished can be avoided.

Referring to fig. 4, in one embodiment, the limiting rod 31 is hollow; the inner cavity of the limiting rod 31 is communicated with the adjusting groove 311 through the putting-in groove 316; the width of the placement groove 316 allows the passage of the latch 33.

The locking piece 33 in the inner cavity of the limiting rod 31 can enter the adjusting groove 311 and the locking hole 221 through the placing groove 316, when a plurality of locking holes 221 exist, the placing groove 316 sequentially passes through the locking holes 221 by rotating the limiting rod 31 along the axis of the limiting rod, and when the placing groove 316 is overlapped with the locking holes 221, the locking piece 33 is placed into the locking hole 221 and the adjusting groove 311 from the inner cavity of the limiting rod 31, and after the placing of the locking piece 33 is completed, the placing groove 316 is rotated to be staggered with the locking holes 221, so that the locking piece 33 is prevented from retreating into the inner cavity of the limiting rod 31; therefore, the outer side of the locking hole 221 can be narrowed by an arc to prevent the locking member 33 from being separated from the locking hole 221.

Referring to fig. 4 and fig. 6, in one embodiment, the main shaft-end mechanism 20 further includes a shaft-side cover plate 26 connected to the first shaft body 21, wherein the shaft-side cover plate 26 is connected to an end surface of the first shaft body 21 opposite to the second shaft body 22; the fixed magnetic part 23 is fixedly connected to the inner side of the shaft side cover plate 26; the main shaft end mechanism 20 includes a shaft-side positioning pin 27 provided outside the shaft-side cover plate 26; the tool end mechanism 40 is provided with a tool side positioning pin 45 on a side facing away from the first shaft body 21.

When the quick change device is installed, the shaft side positioning pin 27 can accurately correspond to the main shaft on the mechanical arm in terms of angle, the tool side positioning pin 45 can enable the machining tool to accurately correspond to the tool end mechanism 40, and therefore the reduction of machining accuracy or quality caused by angle deviation during installation is avoided.

Specifically, to ensure the external positioning accuracy, the number of the shaft-side positioning pins 27 or the tool-side positioning pins 45 is at least two.

Referring to fig. 4 and 6, specifically, the shaft-side positioning pin 27 is respectively inserted into the shaft-side cover plate 26 and the first shaft body 21, and the tool-side positioning pin 45 is fixedly inserted into the second tool carrier 42.

In this embodiment, the direction of the magnetic pole of the fixed magnetic member or the movable magnetic member is controlled, when the fixed magnetic member and the movable magnetic member attract each other, the limiting rod moves along with the movable magnetic member approaching the fixed magnetic member, when the fixed magnetic member and the movable magnetic member repel each other, the limiting rod moves along with the movable magnetic member away from the fixed magnetic member, and because the depth of the adjusting groove changes along the axial direction of the limiting rod, when the adjusting groove corresponds to the locking member at a shallow position, the locking member is pushed by the limiting rod to partially protrude out of the second shaft body, so that the tool end mechanism is locked outside the second shaft body; when the adjusting groove is deeper and corresponds to the locking piece, the locking piece can be completely pushed into the second shaft body by the tool end mechanism, so that the tool end mechanism can be separated from the second shaft body.

The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.

The above-mentioned embodiments only represent some embodiments of the present invention, and the description thereof is specific and detailed, but not to be construed as limiting the scope of the present invention. It should be noted that, for those skilled in the art, without departing from the spirit of the present invention, several variations and modifications can be made, which are within the scope of the present invention. Therefore, the protection scope of the present invention should be subject to the appended claims.

Claims

1. A quick change device for end tools of a robot arm, comprising: the locking mechanism is movably arranged in the main shaft end mechanism, and the tool end mechanism is detachably connected with the main shaft end mechanism; the spindle end mechanism comprises a first shaft body, a second shaft body axially connected with the first shaft body and a fixed magnetic part fixedly arranged in the first shaft body; a radial through clamping hole is formed in the second shaft body; the locking mechanism comprises a limiting rod movably arranged in the second shaft body in a penetrating way, a movable magnetic piece connected with one end of the limiting rod close to the fixed magnetic piece, and a locking piece movably arranged in the locking hole; an adjusting groove with the depth changing along the axial direction is formed in the outer side of the limiting rod; the locking piece is partially accommodated in the adjusting groove; the tool end mechanism is detachably sleeved on the second shaft body; the locking member locks the tool end mechanism outside the second shaft body by protruding out of the second shaft body.

2. The quick change device for the end tool of the robot arm according to claim 1, wherein the limiting rod is provided with an unlocking groove surface on the inner side of the adjusting groove; the limiting rod is further provided with an inclined groove surface at the inner side of the adjusting groove, the inclined groove surface is obliquely arranged relative to the axial direction of the limiting rod, and the distance between the inclined groove surface and the axis of the limiting rod is reduced along the direction close to the unlocking groove surface; the limiting rod is provided with a transition groove surface between the unlocking groove surface and the inclined groove surface; the extension direction of the transition groove surface is parallel or approximately parallel to the axial direction of the limiting rod; the average outer diameters of the unlocking groove surface, the transition groove surface and the inclined groove surface are sequentially increased; the locking mechanism further comprises an elastic piece, and the elastic piece is used for enabling the inclined groove face to move towards the direction close to the clamping and locking piece.

3. The quick change machine tool end of a robot arm as claimed in claim 1, wherein a collar portion extends radially outwardly from an end of the second shaft body adjacent to the first shaft body; the width of the convex ring part is close to or consistent with the thickness of the first shaft body.

4. The end of arm tool quick-change device of claim 3, wherein the tool end mechanism includes a first tool carrier and a second tool carrier coupled to the first tool carrier; the first tool carrier comprises a main sleeve movably sleeved on the second shaft body and a fixing ring connected with the main sleeve; the inner side of the main sleeve is provided with a clamping groove for accommodating the locking piece.

5. The quick change device for tool at the end of robot arm according to claim 4, further comprising an air path mechanism for providing air flow docking; the air path mechanism comprises a first air pipe joint connected with the first shaft body; a first air duct communicated with the first air pipe joint is arranged in the first shaft body; the convex ring part is provided with a second air passage used for communicating the first air passage; the gas circuit mechanism also comprises a second gas pipe joint connected with the second tool carrier; the second tool carrier is provided with a third air passage communicated with the second air pipe joint; and the fixing ring is provided with a fourth air passage communicated with the third air passage.

6. The quick change robot arm end-tool device according to claim 5, further comprising at least one of:

the gas path mechanism further comprises a first inner sealing ring arranged between the convex ring part and the end face of the first shaft body, and the first inner sealing ring is arranged around the inner ports of the first air passage and the second air passage respectively; the gas circuit mechanism further comprises a second inner sealing ring arranged between the fixing ring and the second tool carrier, and the second inner sealing ring is arranged around the fourth gas passage and the inner port of the third gas passage respectively.

7. The quick change device for end-of-arm-tool of claim 1, further comprising an electrical mechanism for providing signal transmission or power supply; the electrical mechanism comprises a first electrical connector connected with the spindle end mechanism and a second electrical connector connected with the tool end mechanism; the first electrical connector and the second electrical connector communicate signals or power through an electrical port after the tool end mechanism is locked to the spindle end mechanism.

8. The quick change device for the end tool of the robot arm according to any one of claims 5 to 7, wherein the inner diameter of the inner cavity of the tool end mechanism is close to or consistent with the outer diameter of the second shaft body; the main shaft end mechanism further comprises a conical head positioning pin arranged near the second shaft body; the tip end of the conical head positioning pin faces the tool end mechanism.

9. The quick change device for the end tool of the robot arm according to claim 1, wherein the limiting rod is hollow; the inner cavity of the limiting rod is communicated with the adjusting groove through an embedding groove; the width of the putting groove can allow the locking piece to pass through.

10. The quick change device for end tools of a robot arm according to claim 1, wherein the main shaft end mechanism further comprises a shaft side cover plate connected to the first shaft body, the shaft side cover plate being connected to an end surface of the first shaft body on a side facing away from the second shaft body; the fixed magnetic part is fixedly connected to the inner side of the shaft side cover plate; the main shaft end mechanism comprises a shaft side positioning pin arranged on the outer side of the shaft side cover plate; and a tool side positioning pin is arranged on one side of the tool end mechanism back to the first shaft body.