CN214686601U - Tool changing gripper and tool changing robot thereof - Google Patents
Tool changing gripper and tool changing robot thereof Download PDFInfo
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- CN214686601U CN214686601U CN202120325772.8U CN202120325772U CN214686601U CN 214686601 U CN214686601 U CN 214686601U CN 202120325772 U CN202120325772 U CN 202120325772U CN 214686601 U CN214686601 U CN 214686601U
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Abstract
The utility model discloses a tool changing gripper and tool changing robot thereof has solved the problem that tool changing flexibility and tool changing efficiency are not high among the prior art. The utility model discloses tool changing hand claw, including the fixing base, be equipped with bolt dismouting mechanism and clamping jaw actuating mechanism on the fixing base, bolt dismouting mechanism includes drive arrangement and unsteady sleeve subassembly, and drive arrangement sets up on the rear end face of fixing base, and unsteady sleeve subassembly all sets up on the preceding terminal surface of fixing base with clamping jaw actuating mechanism. The utility model discloses tool changing hand claw floating sleeve subassembly and clamping jaw actuating mechanism cooperation can realize getting the stable clamp of cutter and can carry out quick assembly disassembly to the bolt on the cutter again simultaneously, improve tool changing efficiency. The clamping jaw finger group of the clamping jaw actuating mechanism can be freely opened and closed and is used for clamping the cutter, the clamping jaw finger group can move relative to the sliding rail, the movement of the whole position of the clamping jaw finger group is realized, and the clamping flexibility of the cutter is higher.
Description
Technical Field
The utility model relates to a shield constructs tool changing technical field, especially indicates a tool changing hand claw and tool changing robot thereof.
Background
The cutter consumption is big, the change is frequent in full-face entry driving machine work progress, often is the manual tool changing among the prior art, and the manual tool changing operation degree of difficulty is big, and is efficient, easily takes place the incident moreover. For guaranteeing the personal safety of constructors, complicated manual tool changing is avoided, tool changing efficiency is improved, material resources and financial resources are saved, and a tool changing robot is used for replacing manpower to change the tool of the shield machine, so that the current research topic is formed.
However, in the current stage, the research on the tool changing robot is less, and particularly, the tool changing robot is provided with the tail end executing mechanism, the function of the existing tail end executing mechanism is single, when the tail end executing mechanism executes actions, the tail end executing mechanism only needs to take and hang the tool far, and the bolt or the nut on the tool is still manually assembled and disassembled. And when terminal actuating mechanism is carrying out the action, its position of clamping jaw subassembly is unadjustable, and the direction of motion is fixed, and it is inconvenient to press from both sides the hobbing cutter clamp of different positions, and in addition, tool changing flexibility and tool changing efficiency are not high.
SUMMERY OF THE UTILITY MODEL
Not enough to among the above-mentioned background art, the utility model provides a tool changing hand claw and tool changing robot thereof has solved the problem that tool changing flexibility and tool changing efficiency are not high among the prior art.
The technical scheme of the utility model is realized like this: the utility model provides a tool changing gripper, includes the fixing base, is equipped with bolt dismouting mechanism and clamping jaw actuating mechanism on the fixing base, bolt dismouting mechanism includes drive arrangement and unsteady sleeve subassembly, and drive arrangement sets up on the rear end face of fixing base, and unsteady sleeve subassembly all sets up on the preceding terminal surface of fixing base with clamping jaw actuating mechanism. The driving device comprises a motor, the motor is symmetrically arranged on the fixed seat, and the output end of the motor is connected with the floating sleeve assembly.
Further, the fixing base comprises a rear mounting plate and a front mounting plate, the front mounting plate is fixedly connected with the rear mounting plate in parallel, the floating sleeve assembly extends out of the front mounting plate forwards, the clamping jaw actuating mechanism is arranged on the front mounting plate, and the driving device is arranged on the rear mounting plate.
Further, the floating sleeve assembly comprises a sleeve mounting seat and a bolt sleeve, and the bolt sleeve is connected with the sleeve mounting seat through a ball universal joint. The ball-shaped universal joint is a double-end ball column, one end of the double-end ball column is connected with the sleeve mounting seat through a pin shaft I, the other end of the double-end ball column is connected with the bolt sleeve through a pin shaft II, a stepped groove is formed in the bolt sleeve, and a conical spring is arranged between the double-end ball column and the stepped groove.
Furthermore, the clamping jaw actuating mechanism comprises a sliding rail arranged on the front mounting plate of the fixing seat, and a clamping jaw finger group capable of moving relatively is arranged on the sliding rail in a sliding manner. The sliding rail is provided with a sliding block and a sliding plate seat in a sliding mode, the clamping jaw finger group comprises a clamping jaw I and a clamping jaw II, the clamping jaw I is arranged on the sliding block, the clamping jaw II is arranged on the sliding plate seat, a first telescopic oil cylinder is arranged between the clamping jaw I and the clamping jaw II, and the sliding plate seat is connected with a front mounting plate through a sliding oil cylinder.
A tool changing robot comprises the tool changing claw.
The utility model discloses tool changing hand claw floating sleeve subassembly and clamping jaw actuating mechanism cooperation can realize getting the stable clamp of cutter and can carry out quick assembly disassembly to the bolt on the cutter again simultaneously, improve tool changing efficiency. The clamping jaw finger group of the clamping jaw actuating mechanism can be freely opened and closed and is used for clamping the cutter, the clamping jaw finger group can move relative to the sliding rail, the movement of the whole position of the clamping jaw finger group is realized, and the clamping flexibility of the cutter is higher. The utility model discloses the compactness of structure is ensured to whole front and back layering setting, can carry out quick tool changing under the tool changing environment of difference, and whole process automation degree is high, and the control of being convenient for improves tool changing efficiency.
Drawings
In order to illustrate the embodiments of the present invention more clearly, the drawings that are needed in the description of the embodiments will be briefly described below, and it is obvious that the drawings in the description below are only some embodiments of the present invention, and that other drawings can be obtained by those skilled in the art without inventive work.
Fig. 1 is the overall structure schematic diagram of the tool changing gripper of the utility model.
Figure 2 is the utility model discloses bolt dismouting mechanism installation schematic diagram.
Fig. 3 is a schematic view of the internal structure of the floating sleeve assembly of the present invention.
Fig. 4 is a schematic view of a ball joint.
Figure 5 is a schematic view of a jaw actuator installation.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without any creative effort belong to the protection scope of the present invention.
As shown in fig. 1 and 2, embodiment 1 provides a tool changing gripper, which comprises a fixing base 2, wherein the fixing base is a supporting member of the whole tool changing gripper, the fixing base 2 is provided with a bolt dismounting mechanism and a clamping jaw executing mechanism 3, and the bolt dismounting mechanism is used for dismounting a tool bolt in a tool changing process. The clamping jaw actuating mechanism is used for clamping the cutter and assisting in dismounting. The bolt dismounting mechanism comprises a driving device 1 and a floating sleeve assembly 4, wherein the driving device 1 is arranged on the rear end face of the fixed seat 2 and provides rotary power for the floating sleeve assembly. Floating sleeve subassembly 4 and clamping jaw actuating mechanism 3 all set up on the preceding terminal surface of fixing base 2, can realize pressing from both sides the clamp of cutter and can carry out quick assembly disassembly to the bolt on the cutter again simultaneously, improve tool changing efficiency. Drive arrangement 1 includes motor 101, can adopt two motor 101 symmetries to set up on fixing base 2, and motor 101's output is connected with floating sleeve subassembly 4, and the motor drives floating sleeve subassembly and rotates, twists commentaries on classics with floating sleeve subassembly complex bolt, carries out quick assembly disassembly.
Further, fixing base 2 includes back mounting panel 201 and preceding mounting panel 202, and preceding mounting panel 202 and the parallel fixed connection of back mounting panel 201 ensure the stability of whole fixing base, and floating sleeve subassembly 4 stretches out preceding mounting panel 202 forward, and clamping jaw actuating mechanism 3 sets up on preceding mounting panel 202, and drive arrangement 1 sets up on back mounting panel 201. The motors of the driving device are installed in pairs and connected with the installation plate 201 through bolts, and the floating sleeve assembly is installed at the tail end of an output shaft of the motor and used for abutting against the installation bolts on the cutter holders. The front part and the rear part are arranged in a layered mode, the structure is compact, and quick tool changing can be carried out in different tool changing environments.
In embodiment 2, shown in fig. 3, the floating sleeve assembly 4 comprises a sleeve mounting seat 401 and a bolt sleeve 402, wherein the inner wall of the bolt sleeve is a polygonal cavity matched with a nut and can be used for screwing a bolt. Bolt sleeve 402 is connected with sleeve mount 401 through ball joint 403, and the sleeve mount is connected with drive arrangement's output, and drive arrangement drives bolt sleeve through ball joint and rotates. Preferably, as shown in fig. 4, the ball-and-socket joint 403 is a stud ball stud, one end of the stud ball stud is connected to the sleeve mounting seat 401 through a pin i 404, the other end of the stud ball stud is connected to the bolt sleeve 402 through a pin ii 405, a stepped groove is formed in the bolt sleeve 402, and a conical spring 406 is arranged between the stud ball stud and the stepped groove and used for playing a role in buffering when the sleeve is in butt joint with the tool apron bolt.
Further, as shown in fig. 5, the jaw actuator 3 includes a slide rail 301 disposed on the front mounting plate 202 of the fixing base 2, and a jaw finger set capable of moving relatively is slidably disposed on the slide rail 301. The clamping jaw finger group can be opened and closed and used for clamping the tool, the clamping jaw finger group can move relative to the sliding rail, the whole position of the clamping jaw finger group is moved, and the flexibility of clamping the tool is higher. Slide rail 301 is gone up the slip and is equipped with slider 302 and slide plate seat 303, and the clamping jaw indicates that the group includes that clamping jaw I304 and clamping jaw II 305 clamping jaw I304 set up on slider 302, and clamping jaw II 305 sets up on slide plate seat 303, is equipped with first flexible hydro-cylinder 306 between clamping jaw I304 and the clamping jaw II 305, and under the effect of first flexible hydro-cylinder, clamping jaw I304 and clamping jaw II 305 relative motion realize its opening and shutting, clamp or not to the cutter. The sliding plate base 303 is connected with the front mounting plate 202 through a sliding oil cylinder 307, and under the action of the sliding oil cylinder, the sliding plate base moves relative to the sliding rail, so that the overall movement of the clamping jaw finger set is realized, and the fine adjustment of the tool changing action is realized. The other structure is the same as embodiment 2.
Example 3: a tool changing robot comprising a tool changing gripper as described in embodiment 2. The tool changing operation flow is as follows: 1. the tool changing robot moves to an appointed tool changing position, and the posture of the tool changing claw is adjusted through the mechanical arm, so that the floating sleeve assembly is matched with the bolt on the tool apron. 2. The first oil cylinder is adjusted to control the movement of the tool changing clamping jaw, and the wall of the tool holder is tightly supported; 3. and starting a motor of the driving device to drive the floating sleeve assembly to rotate, and detaching the bolt on the cutter holder. 4. And adjusting the first oil cylinder and the sliding oil cylinder to clamp the hob and taking out the hob to finish the tool changing operation. The whole process is high in automation degree, convenient to control and capable of improving tool changing efficiency.
The above description is only a preferred embodiment of the present invention, and should not be taken as limiting the invention, and any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (8)
1. A tool changing gripper is characterized in that: including fixing base (2), be equipped with bolt dismouting mechanism and clamping jaw actuating mechanism (3) on fixing base (2), bolt dismouting mechanism includes drive arrangement (1) and floating sleeve subassembly (4), and drive arrangement (1) sets up on the rear end face of fixing base (2), and floating sleeve subassembly (4) all set up on the preceding terminal surface of fixing base (2) with clamping jaw actuating mechanism (3).
2. The tool changing gripper of claim 1, wherein: fixing base (2) are including back mounting panel (201) and preceding mounting panel (202), and preceding mounting panel (202) and the parallel fixed connection of back mounting panel (201), and floating sleeve subassembly (4) stretches out preceding mounting panel (202) forward, and clamping jaw actuating mechanism (3) set up in the front on mounting panel (202), and drive arrangement (1) sets up on back mounting panel (201).
3. Tool changing gripper according to claim 1 or 2, characterized in that: the floating sleeve assembly (4) comprises a sleeve mounting seat (401) and a bolt sleeve (402), wherein the bolt sleeve (402) is connected with the sleeve mounting seat (401) through a ball universal joint (403).
4. The tool changing gripper of claim 3, wherein: the ball-joint (403) is a stud ball column, one end of the stud ball column is connected with the sleeve mounting seat (401) through a pin shaft I (404), the other end of the stud ball column is connected with the bolt sleeve (402) through a pin shaft II (405), a stepped groove is formed in the bolt sleeve (402), and a conical spring (406) is arranged between the stud ball column and the stepped groove.
5. Tool changing gripper according to claim 1 or 2 or 4, characterized in that: the clamping jaw executing mechanism (3) comprises a sliding rail (301) arranged on a front mounting plate (202) of the fixing seat (2), and a clamping jaw finger group capable of moving relatively is arranged on the sliding rail (301) in a sliding mode.
6. The tool changing gripper of claim 5, wherein: slide rail (301) are gone up and are slided and be equipped with slider (302) and slide plate seat (303), and the clamping jaw indicates that the group includes clamping jaw I (304) and clamping jaw II (305) clamping jaw I (304) sets up on slider (302), and clamping jaw II (305) set up on slide plate seat (303), is equipped with first telescopic cylinder (306) between clamping jaw I (304) and clamping jaw II (305), and slide plate seat (303) are connected with preceding mounting panel (202) through sliding cylinder (307).
7. Tool changing gripper according to claim 1 or 2 or 4 or 6, characterized in that: the driving device (1) comprises a motor (101), the motor (101) is symmetrically arranged on the fixed seat (2), and the output end of the motor (101) is connected with the floating sleeve component (4).
8. A tool changing robot, characterized in that: comprising a tool changing gripper according to any of claims 1 to 7.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120325772.8U CN214686601U (en) | 2021-02-05 | 2021-02-05 | Tool changing gripper and tool changing robot thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120325772.8U CN214686601U (en) | 2021-02-05 | 2021-02-05 | Tool changing gripper and tool changing robot thereof |
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| Publication Number | Publication Date |
|---|---|
| CN214686601U true CN214686601U (en) | 2021-11-12 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202120325772.8U Active CN214686601U (en) | 2021-02-05 | 2021-02-05 | Tool changing gripper and tool changing robot thereof |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115870997A (en) * | 2022-12-06 | 2023-03-31 | 江苏盐电阀门有限公司 | Underwater robot for controlling deep sea valve |
| CN116728443A (en) * | 2023-08-08 | 2023-09-12 | 成都飞机工业（集团）有限责任公司 | Multifunctional knife handle grabbing device and application method thereof |
-
2021
- 2021-02-05 CN CN202120325772.8U patent/CN214686601U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115870997A (en) * | 2022-12-06 | 2023-03-31 | 江苏盐电阀门有限公司 | Underwater robot for controlling deep sea valve |
| CN115870997B (en) * | 2022-12-06 | 2024-01-05 | 江苏盐电阀门有限公司 | Underwater robot for controlling deep sea valve |
| CN116728443A (en) * | 2023-08-08 | 2023-09-12 | 成都飞机工业（集团）有限责任公司 | Multifunctional knife handle grabbing device and application method thereof |
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