CN215625171U

CN215625171U - Robot end clamping jaw replacing part

Info

Publication number: CN215625171U
Application number: CN202121224542.9U
Authority: CN
Inventors: 冉文学; 宋志兰; 银伟丽; 冉钧木; 宋天文; 白海霞; 谢艮花; 文评; 胡意敏; 周莲
Original assignee: Yunnan University of Finance and Economics
Current assignee: Yunnan University of Finance and Economics
Priority date: 2021-06-02
Filing date: 2021-06-02
Publication date: 2022-01-25
Anticipated expiration: 2031-06-02

Abstract

The utility model discloses a robot tail end clamping jaw replacing part, which comprises: the outer sleeve is hollow and tubular, the front end of the outer sleeve is provided with a tapered taper hole, a pull rod is arranged in the outer sleeve, and the front end of the pull rod is provided with an elastic opening-closing pull claw mechanism for clamping and loosening a paw handle of a clamping jaw; the tail end of the outer sleeve is provided with a hydraulic mechanism for pushing the pull rod to switch between two positions of loosening and tensioning; the rear end of outer tube taper hole has two shoulder holes, opens and shuts when the elastic opening and shutting gripper mechanism removes to first hole site, and the elastic opening and shutting gripper mechanism is the form of opening and shutting, and when the elastic opening and shutting gripper mechanism removed to the second hole site, the elastic opening and shutting gripper mechanism was the form of drawing in, and made the steel ball that the elastic opening and shutting gripper mechanism was interior is embedded into in the annular of hand claw handle afterbody blind rivet. The clamping jaw replacing part can rapidly replace the clamping jaw, has a simple structure, and provides more types of clamping jaws for robots in logistics centers.

Description

Robot end clamping jaw replacing part

Technical Field

The utility model relates to a robot tail end clamping jaw replacing part, in particular to a clamping jaw replacing part of a robot for a logistics center, and belongs to the technical field of automatic sorting equipment of logistics distribution centers.

Background

At present, with the establishment of modern circulation systems in China, the logistics industry develops very rapidly, the application of modern technologies is more and more popularized, and an automatic sorting system which integrates light collection, mechanical, electrical and information technologies, has high flexibility and high efficiency becomes the foundation of the construction of a modern logistics distribution center. The construction of the logistics distribution center realizes the high efficiency of the logistics business and also realizes the effective reduction of the logistics cost.

In a logistics sorting center, robots are often used for sorting, for example: CN212449609U discloses a sorting robot for logistics, which comprises a base, an adjusting mechanism and a clamping mechanism, wherein a support rod is fixedly connected to the base, a support seat is fixedly connected to the top end of the support rod, an annular chute is formed in the support seat, an annular slide bar is rotatably connected in the annular chute, the annular slide bar is fixedly welded to the bottom end of a turntable, a driving machine is fixedly connected to a position, close to the top end, in the support rod, and an output shaft of the driving machine penetrates through the support seat and is fixedly connected to the turntable; the output shaft of the driving machine rotates to drive the turntable and the supporting plate to rotate, and the horizontal sorting range is conveniently expanded through the rotation of the supporting plate; then, the motor is matched with the screw rod, so that the bearing sliding rod can be driven to move back and forth, and the clamping jaw can conveniently sort remote goods; then the output shaft through the pneumatic cylinder is flexible, conveniently sorts the goods of co-altitude not. However, in logistics, due to complex packages with different shapes, sizes and specifications, a common robot only has one type of clamping jaw, and the robot brings troubles in sorting, so that a clamping jaw replacement part suitable for sorting of the packages with different shapes, sizes and specifications becomes a target pursued by technicians in the field.

Disclosure of Invention

The utility model aims to solve the problem that a clamping jaw of a robot adopted in the prior art cannot meet the sorting requirement of sorting articles with different specifications, sizes and shapes, and provides a robot clamping jaw replacing part, so that a gripper of a robot end effector can be automatically replaced.

Therefore, based on the application of the robot in the automatic sorting of the logistics distribution center, the robot tail end clamping jaw replacing component is arranged on the connecting piece at the tail end of the robot, and the clamping jaw supplying device (the robot gripper library) is combined to realize automatic clamping jaw replacement, so that new infrastructure and a new construction idea are provided for the construction of the logistics distribution center.

In order to achieve the purpose, the utility model adopts the technical scheme that: a robot end jaw exchange component, comprising: the outer sleeve is arranged on the robot tail end connecting piece, the outer sleeve is in a hollow tubular shape, the front end of the outer sleeve is provided with a conical taper hole matched with the taper of the paw handle, a pull rod is arranged in the outer sleeve, and the front end of the pull rod is provided with an elastic opening and closing paw pulling mechanism used for clamping and loosening the paw handle of the clamping jaw; the tail end of the outer sleeve is provided with a hydraulic mechanism for pushing the pull rod to switch between a loosening position and a tensioning position; the rear end of outer tube taper hole has two shoulder holes, and the diameter that is close to the first hole of taper hole is greater than the second hole, works as elasticity opens and shuts and draws claw mechanism to be in under hydraulic pressure mechanism's the effect, when removing the position in first hole, elasticity opens and shuts and draws the claw of the front end of claw mechanism and be the form of opening and shutting, works as elasticity opens and shuts and draws claw mechanism to be in under hydraulic pressure mechanism's the effect, when removing the position in second hole, elasticity opens and shuts and draws the claw of the front end of claw mechanism and be and draws in the form in, and makes elasticity opens and shuts and draws the steel ball in the claw mechanism and imbeds in the annular of hand claw handle afterbody blind rivet.

Preferably, the hydraulic mechanism includes: the hydraulic cylinder is connected to the tail end of the outer sleeve and provided with a first cavity with the front end and a hydraulic cavity with the rear end, the tail end of the hydraulic cavity is provided with a hydraulic cylinder cover, a piston is arranged in the hydraulic cavity, a front end front piston rod of the piston extends out of the partition and is connected with the tail end of the pull rod, and the hydraulic cylinder is provided with an oil inlet and outlet hole.

Preferably, the device further comprises a spring mechanism for keeping the elastic opening/closing pull claw mechanism staying at the position of the second hole, wherein the spring mechanism comprises: the disc spring is sleeved on the pull rod, a fourth hole which is larger than the third hole in diameter and is used for accommodating the disc spring is arranged behind the third hole used for accommodating the pull rod in the outer sleeve, a blocking pad which is matched with the fourth hole is respectively arranged at the front end of the disc spring, a fifth hole which is larger than the fourth hole is arranged behind the fourth hole, a pressing pad is positioned at the rear end of the disc spring and is matched with the fifth hole, and a locking nut used for stopping the pressing pad is arranged on the pull rod; the inner end of the fifth hole forms a front-end seam allowance, the butt joint of the hydraulic cylinder and the tail end of the outer sleeve is provided with a rear-end seam allowance for stopping the excircle of the pressure pad, when the pressure pad moves to the rear-end seam allowance under the elastic action of the disc spring, the elastic opening and closing pull claw mechanism stays at the position of the second hole, and when the pressure pad moves to the front-end seam allowance, the elastic opening and closing pull claw mechanism stays at the position of the first hole.

Preferably, the rear end of the piston is provided with a second piston rod, the second piston rod is provided with an extension part extending out of the hydraulic cylinder cover, and the extension part is provided with a detection ring; the tensioning position detection sensor and the loosening position detection sensor are arranged on the outer end face of the hydraulic cylinder cover through sensor supports, and when the loosening position detection sensor detects a detection ring, the elastic opening-closing pulling claw mechanism is positioned at the position of the first hole and is in an opening shape; when the tensioning position detection sensor detects the detection ring, the elastic opening and closing pull claw mechanism is positioned at the position of the second hole and is in a furled shape.

Preferably, a positioning flange positioned with the paw handle is arranged at the front end of the outer sleeve.

Preferably, a cavity for accommodating an oil circuit and an air circuit of the robot paw and the strong and weak electric wires is arranged in the pipe wall of the outer sleeve.

According to the technical scheme, the outer sleeve is arranged on the tail end clamping jaw connecting piece of the robot, the tail end clamping jaw connecting piece is in butt joint with the gripper handle through the taper hole in the front end of the outer sleeve, the pull rod is arranged in the outer sleeve, the front end of the pull rod is provided with the elastic opening and closing gripper mechanism, the pull rod is pushed by the hydraulic mechanism to move back and forth in the outer sleeve, the elastic opening and closing gripper mechanism can be switched between the front loosening position and the rear clamping position, the gripper handle is clamped and loosened, and the purpose of replacing the gripper of the robot is achieved. Therefore, the robot tail end clamping jaw replacing component has the advantages of simple structure and quickness in replacement.

Furthermore, according to the robot tail end clamping jaw replacing component, the detection ring is arranged on the piston rod, and the positions of the pull rod and the elastic opening and closing pulling jaw mechanism can be detected through the tensioning position detection sensor and the loosening position detection sensor, so that accurate replacement is performed.

Furthermore, after the clamping jaw is replaced by the elastic opening and closing pull jaw mechanism, in use, in order to avoid adopting a hydraulic mechanism for a long time to keep the elastic opening and closing pull jaw mechanism at a clamping position, an elastic mechanism is arranged between the pull rod and the outer sleeve, so that the elastic opening and closing pull jaw mechanism can be kept at the clamping position under the action of the elastic mechanism after being clamped.

Drawings

FIG. 1 is a cross-sectional view of a robot end jaw exchange section of the present invention;

FIG. 2 is a schematic diagram of a robot gripping jaw arrangement using the robot end jaw exchange assembly of the present invention;

FIG. 3 is a cross-sectional view of the outer sleeve of the robot end jaw exchange component of the present invention;

FIG. 4 is a cross-sectional view of a pull rod with a resilient opening and closing pull pawl mechanism of the robot end jaw exchange assembly of the present invention;

fig. 5 is a cross-sectional view of the hydraulic mechanism of the robot end jaw exchange section of the present invention.

Description of reference numerals: the outer sleeve 1, a taper hole 11, a first hole 12, a second hole 13, a third hole 14, a fourth hole 15, a fifth hole 16, a front end spigot 161, a positioning flange 17 and a cavity 18; a pull rod 2, an elastic opening and closing pull claw mechanism 21 and a lock nut 22; the hydraulic mechanism 3, the hydraulic cylinder 31, the rear end spigot 311, the partition plate 32, the first cavity 33, the hydraulic cavity 34, the hydraulic cylinder cover 35, the piston 36, the front piston rod 361, the second piston rod 362, the detection ring 363 and the oil inlet and outlet hole 37; the elastic mechanism 4, the disc spring 41, the stop pad 42 and the pressure pad 43; a tightening position detecting sensor 51, a loosening position detecting sensor 52, a sensor holder 53; a robot gripper 100, a gripper handle 101, a robot end connector 102.

Detailed Description

The following detailed description of the preferred embodiments of the present invention will be made with reference to the accompanying drawings, but the scope of the present invention should not be limited by the preferred embodiments.

Referring to fig. 1, 2, 3, 4, 5, there is shown a robotic end jaw exchange assembly of the present invention comprising: an outer sleeve 1 provided on the robot end connector 102; the outer sleeve 1 is in a hollow tubular shape, the front end of the outer sleeve is provided with a conical taper hole 11 matched with the taper of the paw handle 101, the general taper can be selected to be 1:10, and the paw handle of the paw of the robot is inserted into the taper hole 11; a pull rod 2 is arranged in the outer sleeve 1, the front end of the pull rod 2 is provided with an elastic opening and closing claw mechanism 21 which can adopt a Denam claw and is used for clamping and loosening a claw handle 101 of a robot claw 100; the tail end of the outer sleeve 1 is provided with a hydraulic mechanism 3 for pushing the pull rod 2 to switch between a loosening position and a tightening position; the rear end in 1 taper hole of outer tube has two shoulder holes, and the diameter that is close to first hole 12 of taper hole 11 is greater than second hole 13, works as elasticity opens and shuts and draws claw mechanism 21 to be in under hydraulic pressure mechanism 3's the effect, when removing the position to first hole 12, the claw that elasticity opened and shut the front end that draws claw mechanism 21 is the form of opening and shutting, works as elasticity opens and shuts and draws claw mechanism 21 to be in under hydraulic pressure mechanism 3's the effect, when removing the position to second hole 13, the claw that elasticity opened and shut the front end that draws claw mechanism 21 is the form of drawing in, and makes the steel ball that elasticity opened and shut in the claw mechanism 21 imbeds in the annular of hand claw handle afterbody blind rivet.

In order to ensure that the paw handle 101 is arranged at the front end of the outer sleeve 1 to be accurately positioned, a positioning flange 17 positioned with the paw handle 101 is arranged at the front end of the outer sleeve 1; the positioning flange 17 is mounted on the front end face of the outer sleeve through screws and has an inner spigot for accurate positioning with the gripper handle 101.

Further, a cavity 18 for accommodating oil and gas circuits and strong and weak electric wires of the robot paw 100 is arranged in the pipe wall of the outer sleeve 1.

Referring to fig. 5, the hydraulic mechanism 3 includes: the hydraulic cylinder 31 is connected to the tail end of the outer sleeve 1, the hydraulic cylinder 31 is provided with a first cavity 33 with a front end and a hydraulic cavity 34 with a rear end, a hydraulic cylinder cover 35 is arranged at the tail end of the hydraulic cavity 34, a piston 36 is arranged in the hydraulic cavity 34, a front piston rod 361 at the front end of the piston 36 extends out of the partition 32 to be connected with the tail end of the pull rod 2, an oil inlet and outlet hole 37 is formed in the hydraulic cylinder 31, pressure oil enters the hydraulic cavity 34 from the left side or the right side of the piston 36 to push the piston to move rightwards or leftwards and drive the pull rod 2 to move forwards and backwards, and the elastic opening and closing claw pulling mechanism 21 is used for clamping or loosening a mechanical hand claw handle.

Referring to fig. 1, it further includes a spring mechanism 4 for keeping the elastic opening/closing pull-claw mechanism 21 at the position of the second hole 13; the elastic mechanism 4 includes: a disc spring 41 sleeved on the pull rod 2, wherein a taper hole 11, a first hole 12, a second hole 13, a third hole 14, a fourth hole 15 and a fifth hole 16 are sequentially arranged in the outer sleeve 1 from the front end to the rear end, and the first hole 12 and the second hole 13 are respectively in loosening and tensioning positions for accommodating the elastic opening and closing pull claw mechanism 21; the third hole 14 is used to accommodate the tie rod 2, i.e. to match the diameter of the tie rod 2; a fourth hole 15 with a diameter larger than that of the third hole 14 is arranged behind the third hole 14, the fourth hole 15 is used for accommodating the disc spring 41, a blocking pad 42 matched with the fourth hole 15 is respectively arranged at the front end of the disc spring 41, a fifth hole 16 larger than the fourth hole is arranged behind the fourth hole 15, a pressure pad 43 is arranged at the rear end of the disc spring 41 and matched with the fifth hole 16, and a locking nut 22 used for blocking the pressure pad 43 is arranged on the pull rod 2; the hydraulic cylinder 31 and the butt joint of the tail end of the outer sleeve 1 are provided with a rear end seam allowance for stopping the excircle of the pressure pad, the inner end of the fifth hole 16 is provided with a front end seam allowance for limiting the forward movement of the pressure pad 43 under the action of the hydraulic mechanism, when the pressure pad 43 moves to the front end seam allowance, the elastic opening and closing pull claw mechanism 21 is just positioned at the loosening position of the first hole, and when the pressure pad 43 rebounds to the rear end seam allowance under the action of elastic force, the elastic opening and closing pull claw mechanism 21 is just positioned at the clamping position of the second hole.

The rear end of the piston 36 has a second piston rod 362, the second piston rod 362 has an extending portion extending from the hydraulic cylinder cover 35, and the extending portion is provided with a detection ring 363, the tightening position detection sensor 51 and the release position detection sensor 52 are provided on the outer end face of the hydraulic cylinder cover 35 through a sensor bracket 53, when the release position detection sensor 52 detects the detection ring 363, the elastic opening and closing pull claw mechanism 21 is located at the position of the first hole 12, i.e. the release position, and is in an open state; when the tightening position detecting sensor 51 detects the detecting ring 363, the elastic opening/closing pull-claw mechanism 21 is located at the position of the second hole 13 and is in a closed shape.

The utility model relates to a robot tail end clamping jaw replacing part which is arranged on a robot tail end connecting piece 102, wherein a hollow outer cylindrical outer sleeve 1 is adopted, the front end of the outer sleeve 1 is connected with a paw handle 101 through a taper hole 11, an elastic opening and closing paw drawing mechanism 21 is arranged at the front end of a pull rod 2, and the elastic opening and closing paw drawing mechanism 21 can adopt a Desham paw; the hydraulic mechanism 3 drives the pull rod to move axially along the outer sleeve 1, so that the pull rod 2 drives the elastic opening and closing claw pulling mechanism 21 to switch between an opening position and a closing position, and the robot claw can be automatically replaced.

In order to automatically detect the position of the elastic opening and closing pull claw mechanism 21 at the clamping position or the opening position, a tensioning position detection sensor 51 and a loosening position detection sensor 52 are arranged at the rear end of the hydraulic mechanism and used for automatically detecting the position of the elastic opening and closing pull claw mechanism 21 and automatically replacing the elastic opening and closing pull claw mechanism.

When the robot tail end clamping jaw replacing component works, namely when a robot claw is replaced, when the robot claw is tensioned, oil is fed into the hydraulic cavity 34 of the hydraulic cylinder 31, the left end of the piston 36 is oil-free, the right end of the piston 36 is oil-free, the tension of the pull rod 2 is retracted by the elasticity of the disc spring 41 of the elastic mechanism 4, the elastic opening and closing clamping jaw mechanism 21 is positioned in the second hole 13 matched with the outer diameter, namely the tensioning position, at the moment, the clamping jaw of the elastic opening and closing clamping jaw mechanism 21 of the automatic claw replacement is in a folded state, at the moment, the tensioning position detection sensor 51 detects the detection ring 363, and the steel ball of the elastic opening and closing clamping jaw mechanism 21 enters the annular groove of the claw handle tail rivet to tension the claw handle. When the claw handle needs to be loosened, oil enters the right end of a hydraulic piston 36 in the hydraulic cylinder 31, oil pressure does not exist at the left end of the piston 36, the piston 36 moves leftwards to generate pressure, the laminated spring 41 is compressed to push the pull rod 2 and the elastic opening and closing claw pulling mechanism 21 to move leftwards, the elastic opening and closing claw pulling mechanism 21 pulls claws to open and enter the first hole 12, the clamping jaws open, the steel ball is separated from the annular groove of the pull nail at the tail of the claw handle, the claw handle is loosened accordingly, the claw handle is conveniently and rapidly pulled out, and at the moment, the detection ring 363 is detected by the loosening position detection sensor 52, namely the elastic opening and closing claw pulling mechanism is detected to be in a loosening position. At this time, the rotating disc of the gripper library can be rotated, so that the gripper to be replaced is rotated to the position, when a new gripper is inserted into the tapered hole at the front end of the outer sleeve 1 and enters the opening of the elastic opening-closing gripper mechanism 21, the mechanism automatically and repeatedly moves to the right, the tensioning position is restored, and the new gripper to be replaced is fixed on the robot end connecting piece 102 again.

The foregoing description is illustrative and not restrictive of the present invention, which is intended to provide a robot end jaw exchange component, and those skilled in the art will understand that many modifications, variations or equivalents may be made without departing from the spirit and scope of the present invention, such as the use of hydraulic mechanisms for push-pull rods as other automatic push-pull mechanisms, etc., but they will fall within the scope of the present invention.

Claims

1. A robot end jaw exchange component, comprising: the outer sleeve is arranged on the robot tail end connecting piece, the outer sleeve is in a hollow tubular shape, the front end of the outer sleeve is provided with a conical taper hole matched with the taper of the paw handle, a pull rod is arranged in the outer sleeve, and the front end of the pull rod is provided with an elastic opening and closing paw pulling mechanism used for clamping and loosening the paw handle of the clamping jaw; the tail end of the outer sleeve is provided with a hydraulic mechanism for pushing the pull rod to switch between a loosening position and a tensioning position; the rear end of outer tube taper hole has two shoulder holes, and the diameter that is close to the first hole of taper hole is greater than the second hole, works as elasticity opens and shuts and draws claw mechanism to be in under hydraulic pressure mechanism's the effect, when removing the position in first hole, elasticity opens and shuts and draws the claw of the front end of claw mechanism and be the form of opening and shutting, works as elasticity opens and shuts and draws claw mechanism to be in under hydraulic pressure mechanism's the effect, when removing the position in second hole, elasticity opens and shuts and draws the claw of the front end of claw mechanism and be and draws in the form in, and makes elasticity opens and shuts and draws the steel ball in the claw mechanism and imbeds in the annular of hand claw handle afterbody blind rivet.

2. The robotic end jaw exchange component of claim 1, wherein the hydraulic mechanism comprises: the hydraulic cylinder is connected to the tail end of the outer sleeve and provided with a first cavity with the front end and a hydraulic cavity with the rear end, the tail end of the hydraulic cavity is provided with a hydraulic cylinder cover, a piston is arranged in the hydraulic cavity, a front end front piston rod of the piston extends out of the partition and is connected with the tail end of the pull rod, and the hydraulic cylinder is provided with an oil inlet and outlet hole.

3. The robotic end jaw exchange assembly according to claim 2, further comprising a spring mechanism for maintaining said resilient open-close pull jaw mechanism in a position within said second aperture, said spring mechanism comprising: the disc spring is sleeved on the pull rod, a fourth hole which is larger than the third hole in diameter and is used for accommodating the disc spring is arranged behind the third hole used for accommodating the pull rod in the outer sleeve, a blocking pad which is matched with the fourth hole is respectively arranged at the front end of the disc spring, a fifth hole which is larger than the fourth hole is arranged behind the fourth hole, a pressing pad is positioned at the rear end of the disc spring and is matched with the fifth hole, and a locking nut used for stopping the pressing pad is arranged on the pull rod; the inner end of the fifth hole forms a front-end seam allowance, the butt joint of the hydraulic cylinder and the tail end of the outer sleeve is provided with a rear-end seam allowance for stopping the excircle of the pressure pad, when the pressure pad moves to the rear-end seam allowance under the elastic action of the disc spring, the elastic opening and closing pull claw mechanism stays at the position of the second hole, and when the pressure pad moves to the front-end seam allowance, the elastic opening and closing pull claw mechanism stays at the position of the first hole.

4. A robot end jaw exchanging part according to claim 2 or 3, characterized in that the rear end of said piston has a second piston rod with an extension from said hydraulic cylinder head, and a detection ring is provided on said extension; the tensioning position detection sensor and the loosening position detection sensor are arranged on the outer end face of the hydraulic cylinder cover through sensor supports, and when the loosening position detection sensor detects a detection ring, the elastic opening-closing pulling claw mechanism is positioned at the position of the first hole and is in an opening shape; when the tensioning position detection sensor detects the detection ring, the elastic opening and closing pull claw mechanism is positioned at the position of the second hole and is in a furled shape.

5. A robot end jaw exchange member according to claim 4, characterized in that a positioning flange is provided at the front end of said outer sleeve to be positioned with the gripper handle.

6. The robot end jaw exchange component of claim 4, wherein a cavity for accommodating oil circuit and gas circuit of robot jaws and strong and weak wires is arranged in the pipe wall of the outer sleeve.