CN212825374U

CN212825374U - Automatic quick-change device for tail end of mechanical arm

Info

Publication number: CN212825374U
Application number: CN202021156495.4U
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
Priority date: 2020-06-19
Filing date: 2020-06-19
Publication date: 2021-03-30
Anticipated expiration: 2030-06-19

Abstract

The utility model relates to an automatic quick change device of terminal of arm, include: a main shaft end support, a locking mechanism, and a tool end support; the main shaft end supporting body comprises a first shaft sleeve and a second shaft sleeve connected with the first shaft sleeve; the second shaft sleeve is provided with a radial through clamping hole; the locking mechanism comprises a limiting rod movably arranged in the second shaft sleeve in a penetrating way, a transmission piece in threaded fit with the limiting rod, a driving motor used for driving the transmission piece to rotate and a locking piece movably arranged in the locking hole; the transmission piece drives the limiting rod to move along the axial direction of the second shaft sleeve through threads; 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 supporting body is detachably sleeved on the second shaft sleeve; the locking piece is protruded out of the second shaft sleeve through the outside, and the tool end supporting body is locked outside the second shaft sleeve; therefore, the air source drive is replaced, the matching of the air flow pipeline is reduced, and the flexibility of the mechanical arm during action is improved.

Description

Automatic quick-change device for tail end of mechanical arm

Technical Field

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

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 an automatic quick change device for the tail end of a mechanical arm, aiming at the problem that when a tool is locked or unlocked by using an air source as power, a related air source mechanism is easy to influence the action of the mechanical arm.

An automatic quick change device of terminal of arm, includes:

the main shaft end supporting body comprises a first shaft sleeve and a second shaft sleeve connected with the first shaft sleeve; the second shaft sleeve is provided with a radial through clamping hole;

the locking mechanism comprises a limiting rod movably arranged in the second shaft sleeve in a penetrating mode, a transmission piece in threaded fit with the limiting rod, a driving motor used for driving the transmission piece to rotate and a clamping and locking piece movably arranged in the clamping hole; the transmission piece drives the limiting rod to move along the axial direction of the second shaft sleeve through threads; 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; and

the tool end supporting body is detachably sleeved on the second shaft sleeve; the locking piece is protruded out of the second shaft sleeve to lock the tool end supporting body outside the second shaft sleeve.

The second shaft sleeve is arranged in a penetrating mode on the limiting rod, the driving motor is fixed in the first shaft sleeve, the transmission piece is connected to the output shaft of the driving motor, the output shaft of the driving motor drives the transmission piece to rotate, and the transmission piece drives the limiting rod to move axially along the second shaft sleeve through threaded fit. Because the degree of depth of adjustment tank changes along the axial of gag lever post, so the gag lever post is when the axial position of difference, and the degree that the latch fitting evades the second shaft sleeve is different, and when the length that the latch fitting evades outside the second shaft sleeve was less or accomodate the second shaft sleeve completely, the instrument end supporter can freely be followed the second shaft and sheathe in dismantlement to make the machining tool and the arm quick separation of installing on the instrument end supporter. Because the removal of gag lever post is driven by driving motor to replace the air supply drive, reduce the supporting of air current pipeline, be favorable to improving the flexibility when arm moves.

In one embodiment, the transmission part is in a screw shape and is rotatably arranged in the limiting rod in a penetrating way; or the like, or, alternatively,

the limiting rod extends towards one side of the transmission part to form an inner rod part; the transmission part is provided with an inner screw hole, and the inner rod part is arranged in the inner screw hole in a penetrating way; thereby enabling the transmission piece and the limiting rod to be in transmission through threads.

In one embodiment, when the transmission member is in a screw shape, the transmission member comprises a main thread part, a transition connection part and an auxiliary thread part which are connected in sequence; the locking mechanism further comprises a locking shaft assembly, wherein the locking shaft assembly comprises a driving block fixedly connected with an output shaft of the driving motor, a clamping pin arranged in the transitional connecting part in a penetrating mode, and a locking nut piece sleeved on the auxiliary thread part; the transition connecting part is arranged in the driving block in a penetrating way, and at least one end of the clamping pin is accommodated in the driving block; the main thread part is in thread fit with the limiting rod; the main thread part and the locking nut piece are respectively abutted against two sides of the driving block; thereby ensuring the transmission reliability between the driving motor and the transmission part.

In one embodiment, the locking mechanism further comprises an electrical assembly comprising a control circuit for outputting a drive signal to the drive motor or for collecting feedback information of the drive motor; therefore, the external connection of the quick-change device can be further simplified, and the action flexibility of the mechanical arm is further improved.

In one embodiment, the control circuit is disposed on a circuit board; the spindle end supporting body further comprises a containing shell used for containing the circuit board; a strut extends from one side of the first shaft sleeve, which is far away from the second shaft sleeve, and the strut penetrates through the accommodating shell; the main shaft end supporting body further comprises a shaft side cover plate connected with the supporting column, and the accommodating shell is arranged between the first shaft sleeve and the shaft side cover plate; therefore, the upright column supports the accommodating shell in the axial direction, and the accommodating shell is prevented from being damaged due to the pressure of the shaft side cover plate or the main shaft at the tail end of the mechanical arm.

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

the electrical assembly further comprises a signal lamp arranged outside the accommodating shell; the control circuit adjusts the light state of the signal lamp according to the environmental condition or the running mode;

the electrical assembly further comprises a fixing post; the circuit board is connected with the inner side of the accommodating shell through the fixing column; therefore, various working states of the automatic quick-change device at the tail end of the mechanical arm can be displayed through the light or the heat dissipation effect of the circuit board is improved.

In one embodiment, the inner side of the first shaft sleeve extends with an annular inner edge; an annular outer edge extends from the outer side of the second shaft sleeve; the annular inner edge is connected with the annular outer edge through a first fixing piece; thereby effectively reducing the material cost and the weight of the main shaft end supporting body.

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 allows 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 tool end support comprises a first tool carrier, and a second tool carrier coupled to the first tool carrier; a clamping groove for accommodating the clamping and locking piece is formed in the inner side of the first tool carrier; the second tool carrier comprises a main sleeve arranged around the first tool carrier and a fixing ring connected with the main sleeve; the fixing ring is connected with the first tool carrier through a second fixing piece; thereby effectively reducing the material cost and the weight of the tool end supporting body.

In one embodiment, the automatic quick-change device for the tail end of the mechanical arm further comprises an air path mechanism for providing air flow docking; the air path mechanism comprises a first air pipe joint connected with the first shaft sleeve; a first air channel communicated with the first air pipe joint is arranged in the first shaft sleeve; 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 second vent channel communicated with the second air pipe joint; 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.

Drawings

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

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

FIG. 3 is an exploded view of the robotic arm end quick change device of FIG. 1 in another state;

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

FIG. 5 is an exploded view of the drive motor and lock shaft assembly of FIG. 4;

fig. 6 is a partial schematic view of the tool end support of fig. 3.

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

100. the tail end of the mechanical arm is automatically and quickly replaced by a device; 20. a main shaft end support body; 21. a first bushing; 211. a pillar; 212. an annular inner edge; 213. a guide pin; 214. a first air duct; 22. a second shaft sleeve; 221. a clamping hole; 222. an annular outer rim; 23. a housing case; 24. a shaft-side cover plate; 25. a first fixing member; 27. a conical head positioning pin; 28. a shaft side positioning pin; 30. a locking mechanism; 32. a limiting rod; 321. an adjustment groove; 322. unlocking the groove surface; 323. inclining the groove surface; 324. placing the mixture into a groove; 325. an orientation lip; 32. a transmission member; 321. a main thread portion; 322. a transition connection; 323. a secondary threaded portion; 33. a drive motor; 34. a latch member; 35. A lock shaft assembly; 351. a drive block; 352. a bayonet lock; 353. a locking nut member; 36. an electrical component; 362. A circuit board; 363. a signal lamp; 364. fixing a column; 40. a tool end support; 41. a first tool carrier; 411. a card slot; 412. a sloping baffle surface; 42. a second tool carrier; 421. a main sleeve; 422. a fixing ring; 423. a second fixing member; 424. a second vent passage; 425. a conical surface groove; 43. a first positioning hole; 44. a tool-side locating pin; 50. a gas circuit mechanism; 51. a first gas pipe joint; 52. a second air pipe joint; 53. an outer seal gasket; 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 otherwise expressly stated or limited, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through an intermediate. 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, an automatic quick-change device 100 for a robot arm end according to an embodiment of the present invention is used for realizing quick assembly and disassembly between a main shaft at the end of the robot arm and a processing tool. The automatic quick change device 100 for the tail end of the mechanical arm comprises: a spindle end support 20, a locking mechanism 30, and a tool end support 40.

The spindle end support 20 includes a first bushing 21 and a second bushing 22 connected to the first bushing 21. The second sleeve 22 is provided with a radially penetrating locking hole 221. The locking mechanism 30 includes a limiting rod 32 movably disposed in the second sleeve 22, a transmission member 32 in threaded engagement with the limiting rod 32, a driving motor 33 for driving the transmission member 32 to rotate, and a locking member 34 movably disposed in the locking hole 221. The transmission member 32 is driven by a screw thread to move the limiting rod 32 along the axial direction of the second shaft sleeve 22. An adjusting groove 321 with the depth changing along the axial direction is arranged on the outer side of the limiting rod 32. The latch 34 is partially received in the adjustment groove 321. The tool end support 40 is removably received on the second bushing 22. The latch 34 locks the tool end support 40 out of the second bushing 22 by protruding out of the second bushing 22.

After the limiting rod 32 penetrates through the second shaft sleeve 22 and the driving motor 33 is fixed in the first shaft sleeve 21, the transmission member 32 is connected to an output shaft of the driving motor 33, the output shaft of the driving motor 33 drives the transmission member 32 to rotate, and the transmission member 32 drives the limiting rod 32 to move along the axial direction of the second shaft sleeve 22 through threaded fit. Because the depth of the adjusting groove 321 changes along the axial direction of the limiting rod 32, when the limiting rod 32 is at different axial positions, the degree of protrusion of the locking piece 34 out of the second shaft sleeve 22 is different, and when the length of protrusion of the locking piece 34 out of the second shaft sleeve 22 is smaller or the locking piece is completely accommodated in the second shaft sleeve 22, the tool end supporting body 40 can be freely detached from the second shaft sleeve 22, so that the processing tool installed on the tool end supporting body 40 can be quickly separated from the mechanical arm. Because the movement of the limiting rod 32 is driven by the driving motor 33, the air source driving is replaced, the matching of an air flow pipeline is reduced, and the flexibility of the mechanical arm in action is improved.

Referring to fig. 4, the limiting rod 32 is provided with an unlocking groove surface 322 at the inner side of the adjusting groove 321. The stopper rod 32 is further provided with an inclined groove surface 323 inside the adjustment groove 321. The average outer diameter of the unlocking groove surface 322 is smaller than the average outer diameter of the inclined groove surface 323, the inclined groove surface 323 is arranged obliquely with respect to the axial direction of the stopper rod 32, and the distance of the inclined groove surface 323 with respect to the axial center of the stopper rod 32 decreases in the direction approaching the unlocking groove surface 322.

Referring to fig. 4, when the tool end supporting body 40 needs to be locked outside the second bushing 22, the driving member 32 drives the limiting rod 32 to move, and the inclined groove surface 323 pushes the inner side of the locking member 34, so that the locking member 34 protrudes out of the second bushing 22 sufficiently to prevent the tool end supporting body 40 from being released from the second bushing 22. When the tool end supporting body 40 needs to be unlocked, the transmission member 32 drives the limiting rod 32 to move reversely, so that the unlocking groove surface 322 with the smaller outer diameter faces the inner side of the locking piece 34, a space is provided for the locking piece 34 to move towards the second shaft sleeve 22, the locking piece 34 is pushed by the inner side of the tool end supporting body 40 and is completely hidden in the second shaft sleeve 22, and the tool end supporting body 40 can be released from the second shaft sleeve 22.

The tooth form angle of the matched thread between the transmission member 32 and the limiting rod 32 is smaller than or equal to the equivalent friction angle, so that under the condition that the driving motor 33 is powered off accidentally, the limiting rod 32 cannot drive the transmission member 32 to rotate actively, the position of the inclined groove 323 relative to the clamping hole 221 is kept unchanged under the condition of power off, the clamping and locking piece 34 is limited to contract towards the second shaft sleeve 22, the clamping and locking piece 34 protruding out of the second shaft sleeve 22 keeps locking the tool end supporting body 40, and therefore the situation that a machining tool is loosened from the second shaft sleeve 22 under the condition of power off accidentally is avoided, and the machining tool is prevented from being damaged.

Referring to fig. 4, in the present embodiment, the distances between the unlocking groove surface 322 and the inclined groove surface 323 increase sequentially with respect to the driving motor 33. In another embodiment, the distances between the unlocking groove surface and the inclined groove surface may be sequentially decreased. Specifically, in order to improve the moving flexibility of the latch 34 and facilitate the pushing of the stopper rod 32 to the latch 34, the latch 34 is spherical.

Referring to fig. 4, in one embodiment, the transmission member 32 is in a screw shape and rotatably penetrates through the limiting rod 32, and when the transmission member 32 is driven by the output shaft of the driving motor 33, and the transmission member 32 rotates along its axis, the limiting rod 32 can move axially along the second sleeve 22 under the matching of the threads on the surface of the transmission member 32 and the threads on the inner side of the limiting rod 32, so as to adjust the depth of the locking member 34 accommodated in the adjusting groove 321, and lock or unlock the tool end supporting body 40.

In another embodiment, the limiting rod extends to one side of the transmission member to form an inner rod part. The driving medium is provided with an inner screw hole, the inner rod part is arranged in the inner screw hole in a penetrating mode, when the driving medium rotates along the self shaft, the limiting rod can move axially along the second shaft sleeve under the matching of the screw thread on the inner side of the driving medium and the screw thread on the surface of the inner rod part, and the depth of the clamping and locking part 34 accommodated in the adjusting groove 321 is adjusted.

Referring to fig. 4 and 5, when the transmission member 32 is in a screw shape, the transmission member 32 includes a main thread portion 321, a transition connection portion 322, and an auxiliary thread portion 323 connected in sequence. The locking mechanism 30 further comprises a locking shaft assembly 35, wherein the locking shaft assembly 35 comprises a driving block 351 fixedly connected with the output shaft of the driving motor 33, a locking pin 352 penetrating through the transition connecting part 322, and a locking nut member 353 sleeved on the auxiliary thread part 323. The transition connection 322 is disposed through the driving block 351, and at least one end of the latch 352 is received in the driving block 351. The main thread portion 321 is screw-engaged with the stopper rod 32. The main screw portion 321 and the lock nut member 353 abut on both sides of the driving block 351, respectively.

The lock nut member 353 is screw-engaged with the sub-screw portion 323 to fix the transmission member 32 relative to the driving block 351 in the axial direction. When the driving block 351 rotates along with the output shaft of the driving motor 33, the driving block 351 pushes the transmission member 32 through the locking pin 352, so that the transmission member 32 rotates along the self axis, and the transmission reliability between the driving motor 33 and the transmission member 32 is ensured.

Referring to fig. 4, in order to improve the structural compactness of the quick-change device, the driving motor 33 is a pan-tilt brushless motor, and the auxiliary thread part 323 and the locking nut part 353 are accommodated in the inner cavity of the driving motor 33, so as to reduce the axial occupied space of the locking mechanism 30.

The lock mechanism 30 further includes an electrical component 36, and the electrical component 36 includes a control circuit for outputting a drive signal to the drive motor 33 or for collecting feedback information of the drive motor 33. By integrating the control circuit in the quick-change device, the external connection of the quick-change device can be further simplified, and the action flexibility of the mechanical arm can be further improved.

Referring to fig. 2, the control circuit is disposed on the circuit board 362. The spindle-end support body 20 further includes a housing case 23 for housing the circuit board 362; a plurality of support posts 211 extend from a side of the first sleeve 21 away from the second sleeve 22, and each support post 211 penetrates through the housing 23. The main shaft end support 20 further includes a shaft-side cover plate 24 to which the support 211 is connected, and the housing case 23 is provided between the main body of the first boss 21 and the shaft-side cover plate 24.

Since the support 211 extending from the first boss 21 penetrates the housing case 23, the housing case 23 can be kept fixed with respect to the direction of the first boss 21. The shaft-side cover plate 24 serves to close the housing case 23 and protect the circuit board 362. Meanwhile, the support column 211 supports the accommodating shell 23 in the axial direction, and the accommodating shell 23 is prevented from being damaged due to the pressure of the shaft side cover plate 24 or the spindle at the tail end of the mechanical arm.

Referring to fig. 2, in one embodiment, the electrical assembly 36 further includes a signal lamp 363 disposed outside the housing case 23; the control circuit adjusts the light state of the signal lamp 363 according to the environmental conditions or the operation mode. Specifically, the signal lamp 363 may be a plurality of signal lamps, and through the change of the color, brightness, or flashing frequency of the signal lamp 363, whether the control circuit has power input, whether the quick-change device is running in a failure, whether the driving motor 33 is powered off, or whether the locking mechanism 30 is in the locking state or the unlocking state when the tool end support 40 is currently in the locking state can be displayed to the user.

Referring to fig. 4, in one embodiment, the electrical component 36 further includes a fixing post 364; the circuit board 362 is connected to the inside of the housing case 23 through fixing posts 364. Specifically, the fixing posts 364 generate a gap between the circuit board 362 and the accommodating case 23, which is beneficial to heat dissipation of the circuit board 362. Optionally, the fixed posts 364 are copper.

Referring to fig. 4, an annular inner edge 212 extends from the inner side of the first sleeve 21; an annular outer rim 222 extends outwardly of the second bushing 22. The annular inner edge 212 and the annular outer edge 222 are connected by a first fastener 25. Because the first shaft sleeve 21 and the second shaft sleeve 22 are fixedly connected through the annular inner edge 212, the annular outer edge 222 and the first fixing piece 25, the first shaft sleeve 21 and the second shaft sleeve 22 can be arranged in a split manner, the second shaft sleeve 22 required to be in contact with the locking piece 34 can be made of a material with high density and hardness, the second shaft sleeve 22 is prevented from being abraded by the locking piece 34, the service life of the spindle end support body 20 is ensured, the material requirement of the first shaft sleeve 21 can be reduced, and the material cost and the weight of the spindle end support body 20 are effectively reduced.

Specifically, the first fixing member 25 is a screw, one of the annular inner edge 212 and the annular outer edge 222 is provided with a through hole, and the other one is provided with a screw hole, and the first fixing member 25 is respectively inserted into the through hole and the screw hole to fix the first sleeve 21 and the second sleeve 22.

Referring to fig. 3 and 4, the limiting rod 32 is hollow; the inner cavity of the limiting rod 32 is communicated with the adjusting groove 321 through the putting-in groove 324. The width of the set groove 324 allows passage of the latch 34. The locking piece 34 in the inner cavity of the limiting rod 32 can enter the adjusting groove 321 and the locking hole 221 through the placing groove 324, when a plurality of locking holes 221 exist, the placing groove 324 sequentially passes through the locking holes 221 through the limiting rod 32 in a circumferential rotation mode, and when the placing groove 324 is overlapped with the locking holes 221, the locking piece 34 is placed into the locking hole 221 and the adjusting groove 321 from the inner cavity of the limiting rod 32, after the placing of the locking piece 34 is completed, the placing groove 324 is rotated to be staggered with the locking holes 221, and the locking piece 34 is prevented from retreating into the inner cavity of the limiting rod 32. Meanwhile, the outer side of the locking hole 221 can be narrowed by an arc, so that the locking piece 34 is prevented from being separated out of the locking hole 221.

Referring to fig. 4, further, in order to fix the limiting rod 32 in the circumferential direction and prevent the limiting rod 32 from rotating along with the transmission member 32, a plurality of guide pins 213 are fixedly connected to the annular inner edge 212, the locking pin 352 is parallel to the axial direction of the second bushing 22, a directional edge 325 extends from one end of the limiting rod 32 close to the driving motor 33, and after the locking member 34 is placed into each locking hole 221 through the placement groove 324, the guide pins 213 penetrate into the directional edge 325, so that the limiting rod 32 can freely move along the extending direction of the guide pins 213 and the limiting rod 32 can be prevented from rotating in the circumferential direction.

Referring to fig. 2 and 6, the tool end support 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 is provided on the inside with a catch slot 411 for receiving the catch 34. The second tool carrier 42 comprises a main sleeve 421 arranged around the first tool carrier 41, and a securing ring 422 connected to the main sleeve 421. The retaining ring 422 is connected to the first tool carrier 41 by a second retaining member 423.

When the tool end support 40 is locked to the second bushing 22, the portion of the latch 34 protruding out of the second bushing 22 is received in the slot 411, and the cross-sectional shape of the slot 411 is sized to be close to the protruding portion of the latch 34, such that the first tool carrier 41 and the second tool carrier 42 are locked to the second bushing 22. The fixing ring 422 is connected to the first tool carrier 41 through the second fixing member 423, so that the first tool carrier 41 and the second tool carrier 42 are separately arranged, the first tool carrier 41 can be made of a material with high density and hardness, the first tool carrier 41 is prevented from being worn by the locking member 34, the service life of the tool end support 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 support 40 are effectively reduced.

Referring to fig. 6, further, in order to allow the locking member 34 to be automatically accommodated in the second shaft sleeve 22 when the unlocking slot 322 corresponds to the inner side of the locking member 34, the main sleeve 421 is provided with an inclined blocking surface 412 at the bottom of the locking slot 411, and the distance between the inclined blocking surface 412 and the center of the main sleeve 421 is increased along the direction away from the first shaft sleeve 21, when the tool end supporting body 40 moves away from the second shaft sleeve 22, the locking member 34 is completely accommodated in the second shaft sleeve 22 under the pushing of the inclined blocking surface 412, so that the tool end supporting body 40 can be smoothly separated from the second shaft sleeve 22.

Referring to fig. 4 and 6, the automatic quick-change device 100 for robot arm end further includes an air path mechanism 50 for providing air flow docking; the air passage mechanism 50 includes a first air pipe joint 51 connected to the first boss 21. The first sleeve 21 is provided therein with a first air passage 214 communicating with the first air pipe joint 51. The air path mechanism 50 also includes a second air line connector 52 coupled to the second tool carrier 42. The second tool carrier 42 is provided with a second vent passage 424 which communicates with the second air line connector 52. The first air pipe joints 51 correspond to the second air pipe joints 52 one to one.

Since the workpiece may need to be adsorbed or clamped by air pressure on the machining tool, 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 214 and the second air passage 424 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 number of pairs of the first air pipe joint 51 and the second air pipe joint 52 may be one or more, and in the present embodiment, the number of pairs of the first air pipe joint 51 and the second air pipe joint 52 is four.

Referring to fig. 4 and 6, in one embodiment, the air passage mechanism 50 further includes an outer sealing washer 53 connected to the outer side of the first sleeve 21. The outer sealing gasket 53 surrounds the outlet of the first vent passage 214. One side of the second tool carrier 42 facing the convex ring part is provided with a conical surface groove 425, and the conical surface groove 425 is communicated with the second air vent channel 424; the tapered recess 425 is adapted to receive the outer sealing gasket 53.

Since the outer sealing gasket 53 is disposed between the first air passage 214 and the second air passage 424, when the spindle end support body 20 is attached to the tool end support body 40, the outer sealing gasket 53 is compressed between the first boss 21 and the second tool carrier 42, thereby ensuring air tightness between the first air passage 214 and the second air passage 424. In other embodiments, it is also possible that the tapered groove is disposed on the side of the first sleeve 21 facing the second tool carrier 42 and communicates with the first air passage 214, and the outer sealing washer 53 is connected to the second tool carrier 42 and disposed around the outlet of the second air passage 424.

Referring to fig. 2 and 3, in one embodiment, the robot arm end quick change device 100 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 support 20 and a second electrical connector 62 for connecting to the tool end support 40. After the tool end support 40 is locked to the spindle end support 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 support 20 and the tool end support 40, after the butt joint between the spindle end support 20 and the tool end support 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. Specifically, the first electrical connector 61 may be secured to one side of the first sleeve 21 and the second electrical connector 62 may be secured to one side of the second tool carrier 42.

Referring to FIG. 2, in one embodiment, the inner diameter of the inner lumen of the tool end support 40 is close to or coincident with the outer diameter of the second hub 22. The spindle end support 20 also includes a cone positioning pin 27 disposed adjacent the second bushing 22. The tip of the bit alignment pin 27 faces the tool end support 40. The tool end support 40 is provided with first positioning holes 43 corresponding to the cone positioning pins 27 one to one.

Because the inner diameter of the inner cavity of the tool end support body 40 is close to or consistent with the outer diameter of the second shaft sleeve 22, after the second shaft sleeve 22 penetrates into the inner cavity of the tool end support body 40, the tool end support body 40 can be limited in the radial direction, the first positioning hole 43 can be more conveniently sleeved on the conical head positioning pin 27 with the aid of the conical surface of the conical head positioning pin 27, the angle positioning effect on the tool end support body 40 is started, and therefore the gas circuit mechanism 50 or the electric mechanism 60 can be accurately butted. Preferably, the number of the bit positioning pins 27 is two, so that the situation that the tool end support 40 still shakes after the positioning is completed due to the difference between the inner diameter of the inner cavity and the outer diameter of the second bushing 22 can be avoided.

Referring to fig. 2 and 3, in one embodiment, the spindle end support 20 further includes a shaft-side positioning pin 28 disposed outside the shaft-side cover plate 24. The tool end support 40 is provided with a tool side positioning pin 44 on the side facing away from the first bushing 21.

When the quick change device is installed, the shaft side positioning pin 28 can accurately correspond to the main shaft on the mechanical arm in terms of angle, and the tool side positioning pin 44 can accurately correspond the processing tool to the tool end supporting body 40, so that the reduction of processing precision 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 28 or the tool-side positioning pins 44 is at least two.

Specifically, the shaft-side positioning pin 28 is inserted through the shaft-side cover plate 24 and the first sleeve 21, and the tool-side positioning pin 44 is fixedly inserted through the second tool carrier 42.

In this embodiment, after the limiting rod 32 penetrates the second shaft sleeve 22, and the driving motor 33 is fixed in the first shaft sleeve 21, the transmission member 32 is connected to the output shaft of the driving motor 33, the output shaft of the driving motor 33 drives the transmission member 32 to rotate, and the transmission member 32 drives the limiting rod 32 to move along the axial direction of the second shaft sleeve 22 through threaded fit. Because the depth of the adjusting groove 321 changes along the axial direction of the limiting rod 32, when the limiting rod 32 is at different axial positions, the degree of protrusion of the locking piece 34 out of the second shaft sleeve 22 is different, and when the length of protrusion of the locking piece 34 out of the second shaft sleeve 22 is smaller or the locking piece is completely accommodated in the second shaft sleeve 22, the tool end supporting body 40 can be freely detached from the second shaft sleeve 22, so that the processing tool installed on the tool end supporting body 40 can be quickly separated from the mechanical arm. Because the movement of the limiting rod 32 is driven by the driving motor 33, the air source driving is replaced, the matching of an air flow pipeline is reduced, and the flexibility of the mechanical arm in action is improved.

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. The utility model provides an automatic quick change device in terminal of arm, its characterized in that includes:

2. The automatic quick-change device for the tail end of the mechanical arm according to claim 1, wherein the transmission part is in a screw shape and is rotatably arranged in the limiting rod in a penetrating way; or the like, or, alternatively,

the limiting rod extends towards one side of the transmission part to form an inner rod part; the transmission part is provided with an inner screw hole, and the inner rod part is arranged in the inner screw hole in a penetrating mode.

3. The automatic quick-change device for the tail end of the mechanical arm according to claim 2, wherein when the transmission member is in a screw shape, the transmission member comprises a main thread part, a transition connecting part and an auxiliary thread part which are connected in sequence; the locking mechanism further comprises a locking shaft assembly, wherein the locking shaft assembly comprises a driving block fixedly connected with an output shaft of the driving motor, a clamping pin arranged in the transitional connecting part in a penetrating mode, and a locking nut piece sleeved on the auxiliary thread part; the transition connecting part is arranged in the driving block in a penetrating way, and at least one end of the clamping pin is accommodated in the driving block; the main thread part is in thread fit with the limiting rod; the main thread part and the locking nut member are respectively abutted against both sides of the driving block.

4. The automated quick-change device for the tail end of a mechanical arm according to claim 1, wherein the locking mechanism further comprises an electrical assembly, and the electrical assembly comprises a control circuit, and the control circuit is used for outputting a driving signal to the driving motor or collecting feedback information of the driving motor.

5. The automatic quick-change device for the tail end of the mechanical arm as claimed in claim 4, wherein the control circuit is arranged on a circuit board; the spindle end supporting body further comprises a containing shell used for containing the circuit board; a strut extends from one side of the first shaft sleeve, which is far away from the second shaft sleeve, and the strut penetrates through the accommodating shell; the main shaft end supporting body further comprises a shaft side cover plate connected with the supporting column, and the accommodating shell is arranged between the first shaft sleeve and the shaft side cover plate.

6. The automatic quick-change device for the tail end of the mechanical arm as claimed in claim 5, further comprising at least one of the following schemes:

the electrical assembly further comprises a fixing post; the circuit board is connected with the inner side of the accommodating shell through the fixing column.

7. The automatic quick-change device for the tail end of the mechanical arm as claimed in claim 1, wherein an annular inner edge extends from the inner side of the first shaft sleeve; an annular outer edge extends from the outer side of the second shaft sleeve; the annular inner edge is connected with the annular outer edge through a first fixing piece.

8. The automatic quick-change device for the tail end of the mechanical arm as claimed in claim 7, wherein the limiting rod is arranged in a hollow manner; the inner cavity of the limiting rod is communicated with the adjusting groove through an embedding groove; the width of the placing groove allows the locking piece to pass through.

9. The automated quick-change device for the end of a robotic arm of claim 1, wherein the tool-end support comprises a first tool carrier and a second tool carrier coupled to the first tool carrier; a clamping groove for accommodating the clamping and locking piece is formed in the inner side of the first tool carrier; the second tool carrier comprises a main sleeve arranged around the first tool carrier and a fixing ring connected with the main sleeve; the retaining ring is connected to the first tool carrier by a second fastener.

10. The automatic quick-change device for the tail end of the mechanical arm according to claim 9, 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 sleeve; a first air channel communicated with the first air pipe joint is arranged in the first shaft sleeve; 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 second vent channel communicated with the second air pipe joint; the first air pipe joints correspond to the second air pipe joints one by one.