CN215618068U - Quick change robot hand claw device - Google Patents
Quick change robot hand claw device Download PDFInfo
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- CN215618068U CN215618068U CN202121470385.XU CN202121470385U CN215618068U CN 215618068 U CN215618068 U CN 215618068U CN 202121470385 U CN202121470385 U CN 202121470385U CN 215618068 U CN215618068 U CN 215618068U
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Abstract
The utility model discloses a quick-change robot paw device which comprises a quick-change workbench, a quick-change clamp, a quick-change main joint, a quick-change mechanism and quick-change auxiliary joints, wherein the quick-change main joint is connected with a flange at the end part of a robot arm through screws, and a plurality of quick-change auxiliary joints are respectively connected with robot paws of different models; the quick-change clamps are distributed and installed on the edge of the quick-change workbench and used for clamping the quick-change auxiliary connector, and when the quick-change main connector on the robot arm moves to the top of the quick-change auxiliary connector, the quick-change main connector buckle and the quick-change auxiliary connector are connected together through the quick-lock mechanism. Due to the adoption of the structural form, the claws for clamping parts with different shapes are placed in the clamp of the quick-change workbench, so that the robot is greatly convenient to quickly change. Because set up the locating piece at the mounting groove, carry out spacing clamp dress to quick change auxiliary joint, make the robot realize not shutting down and change the hand claw to the commonality of robot is stronger, and work efficiency is higher.
Description
Technical Field
The utility model relates to the field of robots, in particular to a robot gripper device capable of quickly changing robots.
Background
The existing robot needs to be stopped when needing to clamp other parts with different shapes after completing clamping of a part, and then the gripper corresponding to the part is replaced and clamped manually.
SUMMERY OF THE UTILITY MODEL
The present invention is directed to a quick-change robot gripper device, which solves one or more of the problems of the prior art and provides at least one of the advantages of the present invention.
In order to solve the technical problems, the technical scheme adopted by the utility model is as follows:
a quick-change robot gripper device comprises a quick-change workbench, a quick-change clamp, a quick-change main joint, a quick-change mechanism and quick-change auxiliary joints, wherein the quick-change main joint is connected with a flange at the end part of a robot arm through screws, the quick-change auxiliary joints are multiple, and the quick-change auxiliary joints are respectively connected with robot grippers of different models; the quick-change fixture is provided with a plurality of quick-change fixtures, one quick-change auxiliary connector corresponds to one quick-change fixture, the quick-change fixtures are distributed and installed on the edge of the quick-change workbench and used for clamping the quick-change auxiliary connector, and when the quick-change main connector on a robot arm moves to the top of the quick-change auxiliary connector, the quick-change main connector buckle and the quick-change auxiliary connector are connected together through the quick-lock mechanism.
Further, quick change anchor clamps include left centre gripping arm, right centre gripping arm and reset spring, be equipped with the mounting groove on the quick change workstation, be equipped with two fixed orificess on the bottom surface of mounting groove, be equipped with the hinge post in two fixed orificess, on hinge hole on the left centre gripping arm and the hinge hole on the right centre gripping arm inserted two hinge posts respectively, left centre gripping arm, right centre gripping arm can rotate the hinge post of pegging graft with it relatively, the one end of left centre gripping arm and the one end of right centre gripping arm are the clamping part, the other end of left centre gripping arm and the other end of right centre gripping arm are the atress portion that resets, the clamping part is located outside the mounting groove, the atress portion that resets is located the mounting groove, reset spring establishes in the mounting groove and is located between the atress portion that resets of left and right centre gripping arm.
Furthermore, the quick-change auxiliary connector comprises a quick connecting seat, a clamping body and a paw fixing seat, the quick connecting seat is connected with the paw fixing seat through the clamping body, and the quick-change fixture is clamped on the clamping body.
Furthermore, a clamping groove is arranged on the side wall surface of the clamping body of the quick-change auxiliary joint, and the clamping parts of the left and right clamping arms are clamped in the clamping groove. The design can prevent the quick-change auxiliary joint from slipping in the left and right clamping arms so as to improve the clamping firmness.
Further, the mounting groove in and be located the position between left and right centre gripping arm and be equipped with the locating piece, the one end of locating piece stretches out outside the mounting groove, be equipped with the constant head tank on quick change auxiliary joint's the clamping body lateral wall face, when quick change auxiliary joint's clamping body centre gripping was in quick change anchor clamps, the one end of locating piece was located the constant head tank. The design can limit the clamping angle of the quick-change auxiliary connector on the quick-change clamp so as to position the quick-change auxiliary connector, and the quick-change auxiliary connector is favorably connected with the quick-change main connector.
Furthermore, chamfers are arranged at the end parts of the clamping parts of the left clamping arm and the right clamping arm, and flaring is formed between the left clamping arm and the right clamping arm.
Furthermore, the clamping body of the quick-change auxiliary joint is of a cylindrical structure, and the clamping parts of the left clamping arm and the right clamping arm are of arc-shaped structures matched with the clamping body.
Further, the quick-change workbench is fixed on the support through screws, and the support is fixed on the base.
Furthermore, the quick locking mechanism adopts an electromagnetic locking mechanism or a pneumatic locking mechanism.
The utility model has the beneficial effects that:
due to the adoption of the structural form, the claws for clamping parts with different shapes are placed in the clamp of the quick-change workbench, so that the robot is greatly convenient to change the claws quickly, the claws are changed without stopping, the universality of the robot is stronger, and the working efficiency is higher.
The positioning block is additionally arranged in the mounting groove, so that the quick-change auxiliary joint has directivity when being clamped, and the mounting angle of the paw is limited, so that the robot can realize quick replacement in one step;
due to the fact that the clamping grooves are formed in the side wall surfaces of the clamping bodies of the quick-change auxiliary connector, the quick-change auxiliary connector can be prevented from slipping in the left clamping arm and the right clamping arm due to the design, and clamping firmness is improved.
Because the end parts of the clamping parts of the left clamping arm and the right clamping arm are provided with the chamfers, the flaring is formed between the left clamping arm and the right clamping arm, and the design is favorable for the installation of the quick-change auxiliary joint on the quick-change clamp.
Drawings
The utility model is further described with the aid of the accompanying drawings, in which the embodiments do not constitute any limitation, and for a person skilled in the art, without inventive effort, further drawings may be obtained from the following figures:
FIG. 1 is a schematic structural view of the present invention;
fig. 2 is a schematic structural view of the quick-change sub-connector and the paw shown in fig. 1;
fig. 3 is an enlarged view of the quick-change sub-joint shown in fig. 2;
FIG. 4 is a schematic structural view of the clamping body shown in FIG. 3;
fig. 5 is a schematic structural view of the quick-change workbench shown in fig. 4;
fig. 6 is a schematic structural view of the quick-change clamp shown in fig. 1.
In the figure: 1. quickly replacing the workbench; 2. Quickly replacing the clamp; 3. A main joint is quickly replaced; 4. A quick-change auxiliary joint; 5. A paw; 6. a quick connecting seat; 7. a clamping body; 8. a paw fixing seat; 9. a clamping groove; 10. positioning a groove; 11. a left clamp arm; 12. a right clamping arm; 13. a return spring; 14. mounting grooves; 15. a fixing hole; 16. a hinged column; 17. a hinge hole; 18. a clamping portion; 19. a reset stress part; 20. positioning blocks; 21. chamfering; 23. a support; 24. a base.
Detailed Description
In order to make those skilled in the art better understand the technical solution of the present invention, the following detailed description of the present invention is provided with reference to the accompanying drawings and specific embodiments, and it is to be noted that the embodiments and features of the embodiments of the present application can be combined with each other without conflict.
In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper surface", "lower surface", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "forward", "reverse", "axial", "radial", "circumferential", and the like, indicate orientations or positional relationships based on those shown in the drawings, and are used merely for convenience of description and for 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 thus, should not be considered as limiting the present invention.
As shown in fig. 1 and 2, the quick-change robot gripper device comprises a quick-change workbench 1, a quick-change clamp 2, a quick-change main joint 3, a quick-change mechanism and quick-change auxiliary joints 4, wherein the quick-change main joint 3 is connected with a flange at the end part of a robot arm through screws, a plurality of quick-change auxiliary joints 3 are arranged, and the quick-change auxiliary joints 3 are respectively connected with robot grippers 5 of different models; the quick-change fixture 2 is provided with a plurality of quick-change fixtures, one quick-change auxiliary connector 4 corresponds to one quick-change fixture 2, the quick-change fixtures 2 are distributed and installed on the edge of the quick-change workbench 1 and used for clamping the quick-change auxiliary connector 4, and when the quick-change main connector on a robot arm moves to the top of the quick-change auxiliary connector, the quick-change main connector buckle and the quick-change auxiliary connector are connected together through the quick-change lock mechanism. The quick-change workbench 1 is fixed on a bracket 23 through screws, and the bracket 23 is fixed on a base 24.
As shown in fig. 3 and 4, the quick-change auxiliary connector 3 includes a quick connection seat 6, a clamping body 7 and a paw fixing seat 8, the quick connection seat 6 is connected with the paw fixing seat 8 through the clamping body 7, the quick-change clamp 2 is clamped on the clamping body 7, and the quick connection seat 6 is connected with the quick-change main connector through a quick lock mechanism; the paw fixing seat 8 is connected with a cylinder in the robot paw 5. And a clamping groove 9 is formed in the side wall surface of the clamping body 7 of the quick-change auxiliary connector, and a positioning groove 10 is formed in the side wall surface of the clamping body 7 of the quick-change auxiliary connector.
As shown in fig. 5 and 6, the quick-change clamp 2 includes a left clamping arm 11, a right clamping arm 12 and a return spring 13, a mounting groove 14 is formed in the quick-change workbench 1, two fixing holes 15 are formed in the bottom surface of the mounting groove 14, hinge posts 16 are arranged in the two fixing holes 15, a hinge hole 17 in the left clamping arm 11 and a hinge hole 17 in the right clamping arm 12 are respectively inserted into the two hinge posts 16, the left clamping arm 11 and the right clamping arm 12 can rotate relative to the hinge posts 16 inserted into the left clamping arm and the right clamping arm, one end of the left clamping arm 11 and one end of the right clamping arm 12 are clamping portions 18, the other end of the left clamping arm and the other end of the right clamping arm are reset stress portions 19, the clamping portions 18 are located outside the mounting groove 14, the reset stress portions 19 are located in the mounting groove 14, and the return spring 13 is arranged in the mounting groove 14 and located between the reset stress portions 19 of the left and right clamping arms.
The clamping parts of the left and right clamping arms are clamped in the clamping grooves 9 on the side wall surfaces of the clamping bodies 7 of the quick-change auxiliary connector, so that the quick-change auxiliary connector can be prevented from slipping in the left and right clamping arms, and the clamping firmness is improved.
The quick-change auxiliary connector is characterized in that a positioning block 20 is arranged in the mounting groove 14 and between the left clamping arm and the right clamping arm, one end of the positioning block 20 extends out of the mounting groove 14, and when the clamping body 7 of the quick-change auxiliary connector is clamped in the quick-change clamp, one end of the positioning block 20 is located in a positioning groove 10 formed in the clamping body 7.
The clamping body of the quick-change auxiliary connector 3 is of a cylindrical structure, and the clamping parts 18 of the left clamping arm and the right clamping arm are of arc-shaped structures matched with the clamping body.
The quick-lock mechanism adopts an electromagnetic locking mechanism or a pneumatic locking mechanism which is commonly used in the prior art, the pneumatic locking mechanism is adopted in the embodiment, specifically, 3 radial holes are distributed on a cylindrical plug connector on a quick-change main connector 3 along the circumferential direction, steel balls are arranged in the radial holes, an annular clamping groove is arranged on the hole wall of a jack of a quick-change auxiliary connector 4, after the cylindrical plug connector on the quick-change main connector 3 is inserted into the jack of the quick-change auxiliary connector 4, an air valve is opened, and the steel balls are pushed by high pressure air to enable part of the steel balls to extend out of the radial holes of the cylindrical plug connector and extend into the annular clamping groove on the hole wall of the jack of the quick-change auxiliary connector 4, so that the quick-change main connector 3 and the quick-change auxiliary connector 4 are connected together.
The working principle is as follows: this patent is mainly that the hand claw of getting different shape parts is got and is placed in the anchor clamps of quick change workstation, when pressing from both sides the dress, prescribes a limit to the installation angle of hand claw to guarantee the automatic quick change dress of robot, when the robot need press from both sides the part of getting different shapes, can get the corresponding hand claw of part on the workstation promptly.
This patent provides a but quick change device of robot quick replacement end effector in order to solve above problem. The quick-change gripper device can be applied to material grabbing, detecting, assembling, packaging and other operations, and realizes the replacement of the clamp without stopping the machine. For example, different workpieces are processed on a flexible manufacturing unit, a robot needs to clamp two types of round rod blanks with phi 68mm and square blanks with phi 110mm, at the moment, a quick-change device and a matched working table are used, the replacement of the paw can be completed within a few seconds, and the robot does not need to stop to replace.
Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction. Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.
Claims (9)
1. The utility model provides a quick change robot hand claw device which characterized in that: the quick-change manipulator comprises a quick-change workbench, a quick-change clamp, a quick-change main joint, a quick-change mechanism and quick-change auxiliary joints, wherein the quick-change main joint is connected with a flange at the end part of a robot arm through screws, the quick-change auxiliary joints are multiple, and the quick-change auxiliary joints are respectively connected with robot claws of different models; the quick-change fixture is provided with a plurality of quick-change fixtures, one quick-change auxiliary connector corresponds to one quick-change fixture, the quick-change fixtures are distributed and installed on the edge of the quick-change workbench and used for clamping the quick-change auxiliary connector, and when the quick-change main connector on a robot arm moves to the top of the quick-change auxiliary connector, the quick-change main connector buckle and the quick-change auxiliary connector are connected together through the quick-lock mechanism.
2. The quick-change robotic gripper device according to claim 1, wherein: the quick change anchor clamps include left centre gripping arm, right centre gripping arm and reset spring, be equipped with the mounting groove on the quick change workstation, be equipped with two fixed orificess on the bottom surface of mounting groove, be equipped with the hinge post in two fixed orificess, insert respectively on two hinge posts with the hinge hole on the left centre gripping arm and the hinge hole on the right centre gripping arm, left centre gripping arm, right centre gripping arm can rotate the hinge post of pegging graft with it relatively, the one end of left centre gripping arm and the one end of right centre gripping arm are the clamping part, the other end of left centre gripping arm and the other end of right centre gripping arm are the atress portion that resets, the clamping part is located outside the mounting groove, the atress portion that resets is located the mounting groove, reset spring establishes in the mounting groove and is located between the atress portion that resets of left and right centre gripping arm.
3. The quick-change robotic gripper device according to claim 2, wherein: the quick-change auxiliary connector comprises a quick connecting seat, a clamping body and a paw fixing seat, the quick connecting seat is connected with the paw fixing seat through the clamping body, and the quick-change clamp is clamped on the clamping body.
4. The quick-change robotic gripper apparatus according to claim 3, wherein: the clamping body side wall surface of the quick-change auxiliary connector is provided with a clamping groove, and the clamping parts of the left and right clamping arms are clamped in the clamping groove.
5. The quick-change robotic gripper apparatus according to claim 4, wherein: the mounting groove in and be located the position between left and right centre gripping arm and be equipped with the locating piece, the one end of locating piece stretches out outside the mounting groove, be equipped with the constant head tank on quick change secondary joint's the clamping body lateral wall face, when quick change secondary joint's clamping body centre gripping was in quick change anchor clamps, the one end of locating piece was located the constant head tank.
6. The quick-change robotic gripper device according to claim 5, wherein: the end parts of the clamping parts of the left clamping arm and the right clamping arm are provided with chamfers, and flaring is formed between the left clamping arm and the right clamping arm.
7. The quick-change robotic gripper device according to claim 6, wherein: the clamping body of the quick-change auxiliary connector is of a cylindrical structure, and the clamping parts of the left clamping arm and the right clamping arm are of arc-shaped structures matched with the clamping body.
8. The quick-change robotic gripper device according to claim 7, wherein: the quick-change workbench is fixed on the support through screws, and the support is fixed on the base.
9. The quick-change robotic gripper device according to claim 8, wherein: the quick locking mechanism adopts an electromagnetic locking mechanism or a pneumatic locking mechanism.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121470385.XU CN215618068U (en) | 2021-06-30 | 2021-06-30 | Quick change robot hand claw device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121470385.XU CN215618068U (en) | 2021-06-30 | 2021-06-30 | Quick change robot hand claw device |
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| Publication Number | Publication Date |
|---|---|
| CN215618068U true CN215618068U (en) | 2022-01-25 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202121470385.XU Active CN215618068U (en) | 2021-06-30 | 2021-06-30 | Quick change robot hand claw device |
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| CN (1) | CN215618068U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115246116A (en) * | 2022-03-17 | 2022-10-28 | 上海岭先机器人科技股份有限公司 | Replaceable tool for robot and tool magazine |
-
2021
- 2021-06-30 CN CN202121470385.XU patent/CN215618068U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115246116A (en) * | 2022-03-17 | 2022-10-28 | 上海岭先机器人科技股份有限公司 | Replaceable tool for robot and tool magazine |
| CN115246116B (en) * | 2022-03-17 | 2024-10-15 | 上海岭先机器人科技股份有限公司 | Replaceable tool for robot and tool library |
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