CN214924589U

CN214924589U - Robot quick-change structure

Info

Publication number: CN214924589U
Application number: CN202121188370.4U
Authority: CN
Inventors: 胡林; 唐滔; 邓凯文
Original assignee: Sany Construction Robot Xian Research Institute Co Ltd
Current assignee: Sany Construction Robot Xian Research Institute Co Ltd
Priority date: 2021-05-28
Filing date: 2021-05-28
Publication date: 2021-11-30
Anticipated expiration: 2031-05-28

Abstract

The utility model relates to a robotechnology field, concretely relates to quick change structure of robot, include: the main disc is suitable for being fixedly connected with the robot; the auxiliary disc is suitable for being fixedly connected with the hand grip; the connecting holes are formed in one of the main disc and the auxiliary disc, and a plurality of connecting holes are formed in the connecting holes; the driving mechanism is arranged on the other of the main disc and the auxiliary disc, a plurality of driving mechanisms are arranged in one-to-one correspondence with the connecting holes, each driving mechanism is connected with a first connecting piece, the length extending direction of each first connecting piece extends along the horizontal direction, each first connecting piece is suitable for being horizontally inserted into or separated from the corresponding connecting hole under the driving of the driving mechanism, and when the first connecting pieces are inserted into the corresponding connecting holes, the auxiliary disc is fixedly connected with the main disc. The robot quick-change structure is simple and reliable in structure, low in machining precision requirement, low in cost, convenient to maintain and capable of bearing large loads.

Description

Robot quick-change structure

Technical Field

The utility model relates to the technical field of robot, concretely relates to quick change structure of robot.

Background

With the rapid development of industrial automation, industrial robots are widely used in manufacturing. The quick change structure can realize the quick change of the terminal tool, greatly improve the utilization efficiency of the robot, realize multiple purposes and enable the application of the robot to be more extensive.

The existing robot quick-change structure mostly adopts a steel ball locking mechanism, the robot end uses an air cylinder to push out a steel ball downwards, the connection of the robot end and a tool end is ensured, the steel ball locking mechanism has a self-locking function, and the quick-change structure cannot be separated even if the air circuit of the air cylinder is disconnected.

The existing robot quick-change structure is complex in structure, high in precision requirement, high in price and limited in load.

SUMMERY OF THE UTILITY MODEL

Therefore, the to-be-solved technical problem of the utility model lies in overcoming the defect that the robot quick change structure among the prior art is complicated to a simple structure's robot quick change structure is provided.

In order to solve the technical problem, the utility model provides a pair of robot quick change structure, include:

the main disc is suitable for being fixedly connected with the robot;

the auxiliary disc is suitable for being fixedly connected with the hand grip;

the connecting holes are formed in one of the main disc and the auxiliary disc, and a plurality of connecting holes are formed in the connecting holes;

the driving mechanism is arranged on the other of the main disc and the auxiliary disc, a plurality of driving mechanisms are arranged in one-to-one correspondence with the connecting holes, each driving mechanism is connected with a first connecting piece, the length extending direction of each first connecting piece extends along the horizontal direction, each first connecting piece is suitable for being horizontally inserted into or separated from the corresponding connecting hole under the driving of the driving mechanism, and when the first connecting pieces are inserted into the corresponding connecting holes, the auxiliary disc is fixedly connected with the main disc.

Optionally, the driving mechanism is arranged on the main disc, and the connecting hole is arranged on the auxiliary disc.

Optionally, the driving mechanism comprises an air cylinder, and the end of a push rod of the air cylinder is connected with the first connecting piece.

Optionally, the first connecting piece is a taper pin, and correspondingly, the connecting hole is a taper hole.

Optionally, the number of the cylinders is at least four, the push rods of two cylinders are suitable for extending towards a first direction, and the push rods of the other two cylinders are suitable for extending towards a second direction, wherein the second direction is opposite to the first direction.

Optionally, the main disc and the auxiliary disc are further adapted to be connected by a second connecting member, the second connecting member extending in a vertical direction.

Optionally, the second connecting member is a positioning pin fixedly arranged on the main disc, the auxiliary disc is provided with at least two positioning holes matched with the positioning pin, and at least two corresponding positioning holes are formed in the positioning pin.

Optionally, a bushing is arranged on the auxiliary plate, and a hole of the bushing is the positioning hole.

Optionally, one end of the positioning pin, which is far away from the main disc, is provided with a chamfer.

Optionally, the main disc and/or the auxiliary disc are of a square structure.

The utility model discloses technical scheme has following advantage:

1. the utility model provides a quick change structure of robot, when needing to connect main disc and auxiliary disc, align first connecting piece with the connecting hole, make a plurality of actuating mechanism work, actuating mechanism drive first connecting piece insert the connecting hole horizontally, actuating mechanism continues to work, make first connecting piece keep inserting the position in the connecting hole, when a plurality of first connecting pieces all insert corresponding connecting hole, the auxiliary disc with main disc fixed connection, the connected mode of main disc and auxiliary disc is simple and convenient; when the auxiliary disc needs to be replaced, the driving mechanism works to drive the first connecting pieces to leave the connecting holes, and when the plurality of first connecting pieces leave the connecting holes, the main disc and the auxiliary disc can be separated. The robot quick-change structure is simple and reliable in structure, low in machining precision requirement, low in cost, convenient to maintain and capable of bearing large loads.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the embodiments or the technical solutions in the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.

Fig. 1 is a front sectional view of a robot quick-change structure provided in an embodiment of the present invention when a main plate and an auxiliary plate are not completely combined;

fig. 2 is a top view of the robot quick-change structure provided in the embodiment of the present invention when the main plate and the auxiliary plate are not completely combined;

fig. 3 is a front view of the robot quick-change structure provided in the embodiment of the present invention when the main plate and the auxiliary plate are not completely combined;

fig. 4 is a front sectional view of the robot quick-change structure provided in an embodiment of the present invention when the main disc and the auxiliary disc are completely combined;

fig. 5 is a top cross-sectional view of the robot quick-change structure provided in an embodiment of the present invention when the main disc and the auxiliary disc are completely combined;

fig. 6 is a front view of the robot quick-change structure provided in the embodiment of the present invention when the main disc and the auxiliary disc are completely combined;

fig. 7 is a top cross-sectional view of the main plate of the robot quick-change structure provided in the embodiment of the present invention when the first connecting member is extended;

fig. 8 is a top cross-sectional view of the main plate of the robot quick-change structure provided in an embodiment of the present invention when the first connecting member is retracted.

Description of reference numerals:

1. a master disk; 2. positioning pins; 3. an auxiliary disc; 4. a bushing; 5. a cylinder; 6. a first connecting member.

Detailed Description

The technical solution of the present invention will be described clearly and completely with reference to the accompanying drawings, and obviously, the described embodiments are some, but not all embodiments of the present invention. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.

In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplification of description, but do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art.

Furthermore, the technical features mentioned in the different embodiments of the invention described below can be combined with each other as long as they do not conflict with each other.

Examples

For this reason, the present embodiment provides a robot quick-change structure with a relatively simple structure, and in one embodiment, as shown in fig. 1 to 8, the robot quick-change structure includes a main disc 1, an auxiliary disc 3, a connecting hole, and a driving mechanism.

The main disc 1 is suitable for being fixedly connected with a robot, and particularly when the main disc 1 is connected with the robot, the main disc 1 can be connected with the robot through screws; the auxiliary disc 3 is suitable for being fixedly connected with the hand grip, and particularly when the auxiliary disc 3 is connected with the hand grip, the auxiliary disc is fixed on the hand grip through a screw; the connecting holes are arranged on one of the main disc 1 and the auxiliary disc 3, and a plurality of connecting holes are arranged; the driving mechanisms are arranged on the other one of the main disc 1 and the auxiliary disc 3, a plurality of driving mechanisms are arranged corresponding to the connecting holes one by one, each driving mechanism is connected with a first connecting piece 6, the length extending direction of each first connecting piece 6 extends along the horizontal direction, each first connecting piece 6 is suitable for being horizontally inserted into or separated from the corresponding connecting hole under the driving of the driving mechanism, and when the first connecting pieces 6 are inserted into the corresponding connecting holes, the auxiliary disc 3 is fixedly connected with the main disc 1.

In this embodiment, when the main disc 1 and the auxiliary disc 3 need to be connected, the first connecting pieces 6 are aligned with the connecting holes, so that the plurality of driving mechanisms operate, as shown in fig. 5, the driving mechanisms drive the first connecting pieces 6 to be horizontally inserted into the connecting holes, the driving mechanisms operate continuously, so that the first connecting pieces 6 are kept at positions inserted into the connecting holes, when the plurality of first connecting pieces 6 are all inserted into the corresponding connecting holes, the auxiliary disc 3 is fixedly connected with the main disc 1, and the connection mode of the main disc 1 and the auxiliary disc 3 is simple and convenient; when the auxiliary disc 3 needs to be replaced, the driving mechanism works to drive the first connecting pieces 6 to leave the connecting holes, and when the plurality of first connecting pieces 6 leave the connecting holes, the main disc 1 and the auxiliary disc 3 can be separated. The robot quick-change structure of the embodiment is simple and reliable in structure, low in machining precision requirement, low in cost, convenient to maintain and capable of bearing large loads.

In addition to the above embodiments, in a preferred embodiment, the drive mechanism is provided on the main disk 1, and the connection hole is provided on the sub disk 3. In this embodiment, since the auxiliary plate 3 needs to be replaced frequently, the driving mechanism is arranged on the main plate 1, and only the connecting hole needs to be arranged on the auxiliary plate 3, so that the cost of the auxiliary plate 3, namely the cost of the quick-change structure of the robot, can be greatly reduced. Of course, in other alternative embodiments, the drive mechanism may be provided on the sub-disc 3 and the connection holes may be provided on the main disc 1.

On the basis of the above embodiments, in a preferred embodiment, the driving mechanism comprises a cylinder 5, and the end of the push rod of the cylinder 5 is connected with the first connecting piece 6. In the present embodiment, the driving mechanism has a simple structure, a small volume, a low cost, a light weight, and is conveniently fixed on the main tray 1. When the main disc 1 and the auxiliary disc 3 need to be connected, the first connecting piece 6 is aligned with the connecting hole in the auxiliary disc 3, the air cylinder 5 works, the push rod horizontally extends out to drive the first connecting piece 6 to be horizontally inserted into the connecting hole, the air cylinder 5 continuously outputs thrust, the first connecting piece 6 is ensured to be inserted into the connecting hole all the time, the auxiliary disc 3 is fixedly connected with the main disc 1, and the robot can control the gripper to work; when the auxiliary plate 3 needs to be replaced, the air cylinder 5 works, the push rod horizontally retracts to drive the first connecting pieces 6 to horizontally leave the connecting holes, and when the plurality of first connecting pieces 6 all leave the connecting holes, the main plate 1 and the auxiliary plate 3 can be separated. In an alternative embodiment, the driving mechanism comprises an oil cylinder, the end part of a push rod of the oil cylinder is connected with the first connecting piece 6, when the push rod of the oil cylinder horizontally extends out, the first connecting piece 6 is driven to be horizontally inserted into the connecting hole, and the auxiliary disc 3 is fixedly connected with the main disc 1; when the push rod of the oil cylinder retracts horizontally, the first connecting pieces 6 are driven to leave the connecting holes horizontally, and when the plurality of first connecting pieces 6 leave the connecting holes, the main disc 1 and the auxiliary disc 3 can be separated.

In addition to the above embodiments, in a preferred embodiment, the first connecting member 6 is a taper pin, and correspondingly, the connecting hole is a taper hole. In the embodiment, when the main disc 1 and the auxiliary disc 3 need to be connected, the taper pin is aligned with the tapered hole in the auxiliary disc 3, the air cylinder 5 works, the push rod horizontally extends out, and when the push rod drives the taper pin to horizontally extend out and insert into the tapered hole, the taper pin can be self-locked in the tapered hole, so that the connection reliability of the main disc 1 and the auxiliary disc 3 is further ensured; when the auxiliary disc 3 needs to be replaced, the air cylinder 5 works, the push rod horizontally retracts to drive the taper pins to overcome self-locking force and horizontally leave the tapered holes, and when the plurality of taper pins leave the tapered holes, the main disc 1 and the auxiliary disc 3 can be separated. In an alternative embodiment, the first connecting member 6 is a common pin, in this embodiment, when the main disc 1 and the auxiliary disc 3 need to be connected, the pin is aligned with the connecting hole on the auxiliary disc 3, the air cylinder 5 works, the push rod horizontally extends out, and the push rod drives the pin to horizontally extend out and insert into the connecting hole, so as to realize the reliable connection of the main disc 1 and the auxiliary disc 3; when the auxiliary disc 3 needs to be replaced, the air cylinder 5 works, the push rod horizontally retracts to drive the pins to horizontally leave the connecting holes, and when the pins leave the connecting holes, the main disc 1 and the auxiliary disc 3 can be separated. In another alternative embodiment, the first connecting member 6 is a metal rod, in this embodiment, when the main disc 1 and the auxiliary disc 3 need to be connected, the metal rod is aligned with a connecting hole on the auxiliary disc 3, the air cylinder 5 works, the push rod horizontally extends out, and the push rod drives the metal rod to horizontally extend out and insert into the connecting hole, so that the main disc 1 and the auxiliary disc 3 are reliably connected; when the auxiliary disc 3 needs to be replaced, the air cylinder 5 works, the push rod horizontally retracts to drive the metal rods to horizontally leave the connecting holes, and when the metal rods leave the connecting holes, the main disc 1 and the auxiliary disc 3 can be separated.

On the basis of the above embodiment, in a preferred embodiment, at least four air cylinders 5 are provided, wherein the push rods of two air cylinders 5 are adapted to extend in a first direction, and wherein the push rods of the other two air cylinders 5 are adapted to extend in a second direction, which is opposite to the first direction. In this embodiment, by orienting the extending direction of the cylinder 5 in different directions, it is ensured that the sub-disc 3 is reliably coupled with the main disc 1 and the sub-disc 3 is prevented from rotating relative to the main disc 1 when the first link 6 is inserted into the coupling hole by the driving of the driving mechanism. Specifically, in one embodiment, as shown in fig. 7 and 8, four air cylinders 5 are provided, wherein the push rods of two air cylinders 5 are adapted to extend in a first direction, wherein the push rods of the other two air cylinders 5 are adapted to extend in a second direction, which is opposite to the first direction, as shown in fig. 7, wherein the push rods of two air cylinders 5 are adapted to extend horizontally to the left, and wherein the push rods of the other two air cylinders 5 are adapted to extend horizontally to the right. In an alternative embodiment, the number of cylinders 5 may be greater than four, for example six or eight. In another alternative embodiment, the number of the air cylinders 5 is four, the extension directions of the push rods of the four air cylinders 5 are different, and the push rods of the four air cylinders 5 can respectively extend to the periphery of the main plate 1.

On the basis of the above embodiments, in a preferred embodiment, the main disc 1 and the auxiliary disc 3 are further adapted to be connected by a second connecting member, which extends in a vertical direction. In the present embodiment, when the main tray 1 is connected to the sub tray 3, the main tray 1 is connected to the sub tray 3 by the first link 6 and the second link at the same time, the first link 6 can restrict the relative movement of the main tray 1 and the sub tray 3 in the vertical direction, and the second link can restrict the relative movement of the main tray 1 and the sub tray 3 in the horizontal direction, and therefore, the connection reliability of the main tray 1 and the sub tray 3 can be further ensured.

On the basis of the above embodiment, in a preferred embodiment, the second connecting member is a positioning pin 2 fixedly arranged on the main disc 1, the auxiliary disc 3 is provided with at least two positioning holes matched with the positioning pin 2, and correspondingly, at least two positioning holes are arranged on the positioning pin 2. In this embodiment, when the main disc 1 and the auxiliary disc 3 are to be combined, at least two positioning pins 2 fixed on the main disc 1 are firstly matched with positioning holes on the auxiliary disc 3 to limit the relative movement of the main disc 1 and the auxiliary disc 3 in the horizontal direction, then the driving mechanism drives the first connecting piece 6 to be horizontally inserted into the connecting hole, the driving mechanism continuously works to keep the first connecting piece 6 at the position inserted into the connecting hole, when a plurality of first connecting pieces 6 are all inserted into the corresponding connecting holes, the auxiliary disc 3 is fixedly connected with the main disc 1, and the connection mode of the main disc 1 and the auxiliary disc 3 is simple and convenient; when the auxiliary disc 3 needs to be replaced, the driving mechanism works to drive the first connecting pieces 6 to leave the connecting holes, the first connecting pieces 6 leave the connecting holes, then the main disc 1 drives the positioning pins 2 to move upwards to leave the positioning holes, and the main disc 1 is separated from the auxiliary disc 3. Fig. 1 and 4 show that the positioning pins 2 are provided in total two, and in other alternative embodiments, the number of the positioning pins 2 may be three or more. In an alternative embodiment, the second connecting member is a bolt, the main plate 1 and the sub plate 3 are both provided with a threaded hole, and the main plate 1 and the sub plate 3 are connected by screwing the bolt into the threaded holes on the main plate 1 and the sub plate 3.

In addition to the above embodiments, in a preferred embodiment, as shown in fig. 1, the sub disc 3 is provided with a bush 4, and the hole of the bush 4 is a positioning hole. In this embodiment, the provision of the bush 4 ensures that the positioning pin 2 is stably attached in the positioning hole without rattling. Of course, in other alternative embodiments, the bushing 4 may not be provided, and the positioning hole may be directly machined on the auxiliary disc 3.

In one embodiment, the length of the positioning pin 2 is greater than the depth of the positioning hole, and the positioning pin 2 extends out of the positioning hole after the main plate 1 is combined with the auxiliary plate 3.

In addition to the above embodiments, in a preferred embodiment, the end of the positioning pin 2 away from the main disc 1 is provided with a chamfer. In this embodiment, the chamfer is provided to enable the positioning pin 2 to be smoothly inserted into the positioning hole when the positioning pin 2 is inserted into the positioning hole, and the positioning pin 2 can be guided to be smoothly inserted into the positioning hole when the positioning pin 2 is deviated to a certain extent.

In addition to the above embodiments, in a preferred embodiment, the main tray 1 and/or the sub tray 3 have a square structure. Specifically, in an embodiment, the main disc 1 and the auxiliary disc 3 are both of a square structure, in the embodiment, a square cavity is arranged on the auxiliary disc 3, the main disc 1 can be embedded in the square cavity, and the connecting holes can be formed in two opposite side walls of the square cavity. In an alternative embodiment, the main plate 1 has a square structure, the auxiliary plate 3 has a circular structure, a square cavity is formed on the auxiliary plate 3, the main plate 1 can be embedded in the direction cavity, and the connecting holes can be formed in two opposite side walls of the square cavity. In another alternative embodiment, the main disc 1 is of circular configuration, the auxiliary disc 3 is of square configuration, the auxiliary disc 3 is provided with a circular cavity, and the main disc 1 can be embedded in the circular cavity.

According to the robot quick-change structure provided by the embodiment, when the main disc 1 and the auxiliary disc 3 are ready to be combined, the two positioning pins 2 arranged on the main disc 1 are firstly matched with the bushings 4 on the auxiliary disc 3, so that the relative movement of the main disc 1 and the auxiliary disc 3 in the horizontal direction is limited; at the moment, the main disc 1 is positioned in the auxiliary disc 3, then the air cylinder 5 works, the push rod horizontally extends out, the push rod drives the taper pin to horizontally extend out and insert into the taper hole, the taper pin can be self-locked in the taper hole, the connection reliability of the main disc 1 and the auxiliary disc 3 is ensured, and the taper pin and the taper hole are matched to limit the relative movement of the main disc 1 and the auxiliary disc 3 in the vertical direction; the air cylinder 5 continuously outputs thrust to ensure that the taper pin is reliably connected with the taper hole on the auxiliary disc 3; when the auxiliary disc 3 needs to be replaced, the air cylinder 5 works, the push rod horizontally retracts to drive the taper pins to overcome self-locking force, the taper holes are horizontally separated, the taper pins are separated from the taper holes, then the main disc 1 drives the positioning pin 2 to move upwards to separate from the positioning hole, and the main disc 1 is separated from the auxiliary disc 3.

It should be understood that the above examples are only for clarity of illustration and are not intended to limit the embodiments. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. And obvious variations or modifications can be made without departing from the scope of the invention.

Claims

1. A robot quick change structure, characterized by comprising:

the main disc (1) is suitable for being fixedly connected with a robot;

the auxiliary disc (3) is suitable for being fixedly connected with the gripper;

a plurality of connecting holes arranged on one of the main disc (1) and the auxiliary disc (3);

the driving mechanism is arranged on the other of the main disc (1) and the auxiliary disc (3), the driving mechanism and the connecting holes are arranged in a plurality in a one-to-one correspondence mode, each driving mechanism is connected with a first connecting piece (6), the length extending direction of the first connecting pieces (6) extends along the horizontal direction, the first connecting pieces (6) are suitable for being horizontally inserted into or separated from the connecting holes under the driving of the driving mechanism, and the auxiliary disc (3) is fixedly connected with the main disc (1) when the first connecting pieces (6) are inserted into the corresponding connecting holes.

2. The quick-change robot structure according to claim 1, characterized in that the driving mechanism is provided on the main plate (1) and the connection hole is provided on the auxiliary plate (3).

3. The robot quick-change structure according to claim 2, characterized in that the driving mechanism comprises a cylinder (5), and the end of a push rod of the cylinder (5) is connected with the first connector (6).

4. The quick-change robot structure according to claim 2, characterized in that the first connecting element (6) is a tapered pin, and correspondingly, the connecting hole is a tapered hole.

5. The quick-change robot structure according to claim 3, characterized in that said cylinders (5) are provided in at least four, wherein the push rods of two cylinders (5) are adapted to protrude in a first direction, and wherein the push rods of the other two cylinders (5) are adapted to protrude in a second direction, which is opposite to the first direction.

6. The robot quick-change structure according to any one of claims 1-5, characterized in that the main disc (1) and the auxiliary disc (3) are further adapted to be connected by a second coupling, which extends in a vertical direction.

7. The robot quick-change structure according to claim 6, wherein the second connecting member is a positioning pin (2) fixedly arranged on the main plate (1), the auxiliary plate (3) is provided with positioning holes adapted to the positioning pin (2), and the number of the positioning pins (2) is at least two, and correspondingly, the number of the positioning holes is at least two.

8. The robot quick-change structure according to claim 7, characterized in that a bushing (4) is arranged on the auxiliary plate (3), and a hole of the bushing (4) is the positioning hole.

9. The robot quick-change structure according to claim 7, characterized in that the end of the positioning pin (2) remote from the main disc (1) is chamfered.

10. The robot quick-change structure according to any of claims 1-5, characterized in that the main disc (1) and/or the auxiliary disc (3) is of a square structure.