CN216180621U

CN216180621U - Robot tail end quick-changing device

Info

Publication number: CN216180621U
Application number: CN202122659559.3U
Authority: CN
Inventors: 白国超; 赵军科
Original assignee: Zhixing Robot Technology Suzhou Co ltd
Current assignee: Zhixing Robot Technology Suzhou Co ltd
Priority date: 2021-11-02
Filing date: 2021-11-02
Publication date: 2022-04-05
Anticipated expiration: 2031-11-02

Abstract

The utility model discloses a robot tail end quick-change device which comprises a first connector and a second connector, wherein the first connector comprises a first main body, a first connecting plate, a locking disc and a connecting shaft, the first connecting plate and the locking disc are respectively arranged on two sides of the first main body, the first main body is provided with a first inner cavity, the connecting shaft is arranged in the first inner cavity, two ends of the connecting shaft are respectively and fixedly connected with the first connecting plate and the locking disc, the first connecting plate is used for being connected with a robot and can drive the connecting shaft to rotate relative to the first main body under the driving of the robot, at least one limiting groove is formed in the connecting shaft, at least one elastic limiting part is arranged on the inner wall of the first inner cavity, when the connecting shaft rotates relative to the first main body, the locking disc can be clamped with the second connector, and the elastic limiting part can extend into the limiting groove. The scheme can realize the locking of the quick-change device on the premise of not increasing the external power equipment.

Description

Robot tail end quick-changing device

Technical Field

The utility model relates to the technical field of robots, in particular to a quick-change device for a tail end of a robot.

Background

A robot end effector refers to any tool that is attached to the edge (joint) of a robot with a certain function. The dedicated and more versatile robot end-effector is simple in structure, high in work efficiency and capable of performing a single operation, and for a "versatile" end-effector, disadvantages of a more complex structure, high cost and the like may be brought. Therefore, in designing the robot end effector, the robot end effector should be as simple and compact as possible and light in weight to reduce the load on the arm. When the robot is provided with a plurality of special end effectors, the switching of different end effectors is realized by adopting a quick-change device, which is a relatively economical and efficient solution.

The quick change device on the market mainly has: three types of pneumatic quick change, electric quick change and manual quick change. The three quick-change locking modes are respectively as follows: pneumatic locking, electronic structure locking, manual operation locking structure locking all need external source power input in order to control the locking structure of quick change device of robot in the robot use. So, can cause quick change device when the change instrument, need be equipped with extra power supply, perhaps need manual operation, be unfavorable for reduction in production cost.

SUMMERY OF THE UTILITY MODEL

In order to overcome the defects in the prior art, embodiments of the present invention provide a quick-change device for a robot end, which is used to solve the above problems.

The embodiment of the application discloses: a quick change device for the tail end of a robot comprises a first connector and a second connector, wherein the first connector comprises a first main body, a first connecting plate, a locking disc and a connecting shaft, the first connecting plate and the locking disc are respectively arranged at two sides of the first main body, the first main body is provided with a first inner cavity, the connecting shaft is arranged in the first inner cavity, and two ends of the connecting shaft are respectively fixedly connected with the first connecting plate and the locking disc, the first connecting plate is used for being connected with a robot and can drive the connecting shaft to rotate relative to the first main body under the driving of the robot, the connecting shaft is provided with at least one limiting groove, the inner wall of the first inner cavity is provided with at least one elastic limiting piece, when the connecting shaft rotates relative to the first main body, the locking disc can be clamped with the second connector, and the elastic limiting part can stretch into the limiting groove.

Specifically, be equipped with a plurality of joint spares on the second connector, joint spare include one end with pole portion that the second connector is connected with connect the head of the pole portion other end, the external dimension of head is greater than the external dimension of pole portion, it pays the groove to be equipped with a plurality of locks on the lock payment dish, the lock is paid first opening and the second opening that the groove was equipped with the intercommunication, first open-ended inner dimension is less than the second open-ended inner dimension with the external dimension of head, the second opening is used for supplying the head penetrates, first opening is used for right the head carries on spacingly.

Specifically, the head and the rod of the clamping piece are cylindrical.

Specifically, first opening is the arc, and is a plurality of the groove is paid to the lock and is a plurality of the joint spare distributes along circumference respectively.

Specifically, when the connecting shaft rotates 30 ° to 35 ° in a first direction relative to the first main body, the elastic limiting member rotates to correspond to the limiting groove and can rebound to extend into the limiting groove, and when the connecting shaft rotates in a second direction relative to the first main body, the elastic limiting member is compressed by the connecting shaft to be disengaged from the limiting groove, where the first direction is opposite to the second direction.

In particular, the first opening is arranged at a side of the second opening facing the first direction and/or the second direction.

Specifically, be equipped with a plurality of locating pins on the first main part, be equipped with a plurality of on the second connector be used for with a plurality of locating hole that the locating pin corresponds.

Specifically, an electrical connector male seat is arranged on the first main body, and an electrical connector female seat corresponding to the electrical connector male seat is arranged on the second connector; or, be equipped with on the first main part and connect female seat, be equipped with on the second connector with connect the public seat of corresponding electric joint of female seat of electricity.

Specifically, a male air connector seat is arranged on the first main body, and a female air connector seat corresponding to the male air connector seat is arranged on the second connector; or, the first main body is provided with a female air connector seat, and the second connector is provided with a male air connector seat corresponding to the female air connector seat.

The utility model has at least the following beneficial effects:

1. when the robot terminal quick-change device of the embodiment is used for quickly changing workpieces, the locking and unlocking of the locking structure (elastic limiting part) of the robot terminal quick-change device on the connecting shaft are controlled by the robot, the external power control is not needed, the investment of other external equipment is reduced, and the robot terminal tool can be automatically changed without manual operation.

2. The robot terminal quick-change device of the embodiment has the advantages of simple structure, low processing difficulty and greatly reduced equipment cost.

In order to make the aforementioned and other objects, features and advantages of the utility model comprehensible, preferred embodiments accompanied with figures are described in detail below.

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 description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.

Fig. 1 is a schematic structural diagram of a quick-change device at the tail end of a robot in an embodiment of the utility model;

FIG. 2 is a schematic view of a structure of an elastic limiting member engaged with a limiting groove according to an embodiment of the present invention;

FIG. 3 is a schematic diagram of a first connector according to an embodiment of the present invention;

FIG. 4 is a schematic view of a second connector according to an embodiment of the present invention;

FIG. 5 is a schematic structural view of the engagement between the locking groove and the locking member in the embodiment of the present invention;

fig. 6 is a schematic diagram of the connection of the first connector and the second connector in the embodiment of the present invention.

Reference numerals of the above figures: 1. a first connector; 11. a first body; 12. a first connecting plate; 13. a locking disc; 131. a first opening; 132. a second opening; 14. a connecting shaft; 15. an elastic limiting part; 16. positioning pins; 2. a second connector; 21. positioning holes; 22. a second connecting plate; 221. auxiliary positioning holes; 3. a clamping piece; 31. a rod portion; 32. a head portion; 41. an electric connector male seat; 42. an electric joint female seat; 51. a male air connector seat; 52. a gas joint female seat; 6. installing a frame; 61. and (5) auxiliary positioning pins.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

The robot end quick-change device of the embodiment is used for connecting a robot and tools and realizing quick switching of different tools.

As shown in fig. 1 to 5, the quick-change device for robot end of the present embodiment includes a first connector 1 and a second connector 2 for connecting with each other, a side of the first connector 1 facing away from the second connector 2 is used for connecting with a robot, and a side of the second connector 2 facing away from the first connector 1 is used for connecting with a tool.

Referring with emphasis to fig. 1 and 2, the first connector 1 includes: a first body 11, a first connecting plate 12, a lock-up disc 13 and a connecting shaft 14. First connecting plate 12 and lock pay dish 13 set up respectively in the both sides of first main part 11, lock pay dish 13 be used for being connected with second connector 2, first connecting plate 12 is used for being connected with the robot, and the robot can drive first connecting plate 12 and rotate. The first body 11 may be substantially cylindrical, and has a first inner cavity with two ends penetrating therethrough, the connecting shaft 14 is disposed in the first inner cavity, and two ends of the connecting shaft 14 are fixedly connected to the first connecting plate 12 and the locking plate 13, respectively, and when the robot drives the first connecting plate 12 to rotate, the connecting shaft 14 can rotate with the first connecting plate 12 relative to the first body 11. The connecting shaft 14 is provided with at least one limiting groove (not shown in the figure), the inner wall of the first inner cavity is provided with at least one elastic limiting piece 15, when the connecting shaft 14 rotates to a preset position relative to the first main body 11, the locking disc 13 can be clamped with the second connector 2, and the elastic limiting piece 15 can extend into the limiting groove to limit the connecting shaft 14, so that the connecting shaft 14 is prevented from being loosened in the circumferential direction.

Specifically, when the limiting groove on which the connecting shaft 14 rotates corresponds to the elastic limiting member 15, the elastic limiting member 15 may rebound (or stretch) slightly and extend into the limiting groove. Preferably, the elastic limiting member 15 extends into the limiting groove by a suitable length, and the length enables a suitable engaging force to be provided between the elastic limiting member 15 and the limiting groove of the connecting shaft 14, and the engaging force can ensure that the connecting shaft 14 does not move circumferentially in the normal working process, and meanwhile, the engaging force is smaller than the force for the robot to drive the first connecting plate 12 (or the connecting shaft 14) to rotate. Therefore, when the locking state of the elastic limiting piece 15 on the connecting shaft 14 needs to be released, the robot only needs to drive the first connecting plate 12 to rotate, and at this time, the elastic limiting piece 15 is forced to withdraw from the limiting groove of the connecting shaft 14 and is compressed under the action of the outer wall of the connecting shaft 14.

Specifically, as shown in fig. 3 to 5, the second connector 2 of the present embodiment is provided with a plurality of clamping members 3, and each clamping member 3 includes a rod portion 31 having one end connected to the second connector 2, and a head portion 32 connected to the other end of the rod portion 31. The outer dimension of the head portion 32 is greater than the outer dimension of the stem portion 31. preferably, the head portion 32 and the stem portion 31 are cylindrical and are coaxially disposed, and the outer diameter of the head portion 32 is greater than the outer diameter of the stem portion 31. A plurality of locking grooves are formed in the locking disc 13 of the first connector 1, and correspond to the plurality of clamping pieces 3 one by one. Any one of the locking grooves includes a first opening 131 and a second opening 132 communicated with each other, and the inner size of the first opening 131 is smaller than the inner size of the second opening 132 and the outer size of the head portion 32 of the clip member 3; the second opening 132 is used for the head 32 of the clip 3 to penetrate into the locking slot, and the outline thereof is substantially the same as that of the head 32 of the clip 3; the first opening 131 is used for limiting the head portion 32 of the clamping member 3 so as to prevent the clamping member 3 from being separated from the locking slot, and the inner size of the first opening 131 is slightly larger than the outer size of the rod portion 31 of the clamping member 3. After the head 32 and the part of the rod 31 of the clip 3 penetrate into the locking slot from the second opening 132, the clip 3 is rotated under the driving of the robot, so that the rod 31 of the clip 3 is rotated into the first opening 131, and the inner size of the first opening 131 is smaller than the outer size of the head 32 of the clip 3, thereby preventing the clip 3 from separating from the locking slot.

Preferably, as shown in fig. 3 to 5, the first opening 131 may be substantially arc-shaped, in other words, the shape of the first opening 131 is substantially similar to the movement track of the rod portion 31 of the clip member 3 relative to the lock slot, so that the rod portion 31 of the clip member 3 can smoothly rotate into the first opening 131. The grooves are paid to a plurality of locks and a plurality of joint spare 3 distribute along circumference respectively, so, can disperse the effort that first connector 1 and second connector 2 are connected, be favorable to improving the stability that first connector 1 and second connector 2 are connected. When the connecting shaft 14 rotates 30 degrees to 35 degrees along the first direction relative to the first main body 11, the elastic limiting piece 15 on the inner wall of the first inner cavity rotates to correspond to the limiting groove of the connecting shaft 14 and can rebound to extend into the limiting groove; when the connecting shaft 14 rotates in the second direction relative to the first body 11, the elastic limiting member 15 is compressed by the connecting shaft 14 to disengage from the limiting groove, so that the connecting shaft 14 can continue to rotate, and further the locking plate 13 is driven to rotate until the second opening 132 of the locking groove corresponds to the head 32 of the clamping member 3, so as to achieve the detachment of the first connector 1 and the second connector 2. The first direction and the second direction are opposite, for example, the first direction is clockwise and the second direction is counterclockwise, whereas the first direction is counterclockwise and the second direction is clockwise.

Further, as shown in fig. 5, the first opening 131 of the locking slot may be disposed on one side of the second opening 132 facing the first direction, or may be disposed on one side of the second opening 132 facing the second direction, and even the first opening 131 is disposed on one side of the second opening 132 facing the first direction and one side facing the second direction, so that after the head portion 32 of the clip member 3 passes through the locking slot from the second opening 132, no matter the robot drives the locking disc 13 to rotate in the first direction or the second direction, the head portion 32 of the clip member 3 can be limited by the first opening 131. If the first opening 131 is disposed on one side of the second opening 132 facing the second direction, in order to achieve the effect that the elastic limiting member 15 extends into the limiting groove, the connecting shaft 14 needs to rotate in the second direction relative to the first main body 11, for example, to 30 ° to 35 °, and in order to release the locking state of the elastic limiting member 15 on the connecting shaft 14, the connecting shaft 14 needs to rotate in the first direction relative to the first main body 11.

As shown in fig. 3, the first body 11 of the present embodiment may be provided with a plurality of positioning pins 16, and the second connector 2 may be correspondingly provided with a plurality of positioning holes 21, so that when the first connector 1 and the second connector 2 are assembled, the positioning pins 16 and the positioning holes 21 can be used to perform preliminary positioning. As shown in fig. 6, the second connector 2 of the present embodiment may further include a second connecting plate 22, and a plurality of auxiliary positioning holes 221 are formed in the second connecting plate 22, and the auxiliary positioning holes 221 are matched with the auxiliary positioning pins 61 on the mounting frame 6 to facilitate positioning of the second connector 2 during assembly.

As shown in fig. 1, 3 and 4, the first body 11 of the present embodiment may further include an electrical connector male socket 41, and the second connector 2 may further include an electrical connector female socket 42 corresponding to the electrical connector male socket 41. Alternatively, the male electrical connector socket 41 may be disposed on the second connector 2, and the female electrical connector socket 42 may be disposed on the first body 11, which are correspondingly positioned to ensure that the male electrical connector socket 41 and the female electrical connector socket 42 can be plugged. The first body 11 may further be provided with a male air connector seat 51, and the second connector 2 is provided with a female air connector seat 52 corresponding to the male air connector seat 51; alternatively, the air connector female housing 52 may be provided on the first body 11, and the air connector male housing 51 may be provided on the second connector 2. The female electrical connector base 42 and the male electrical connector base 41 are used for connecting external electrical equipment, and the female air connector base 52 and the male air connector base 51 are used for connecting external air pressure equipment.

The working process of the robot end quick-change device of the embodiment is as follows: firstly, placing the second connector 2 provided with a tool on the mounting rack 6, wherein the auxiliary positioning pin 61 on the mounting rack 6 penetrates into the auxiliary positioning hole 221 of the second connector 2; then, under the drive of the robot, the positioning pin 16 of the first connector 1 penetrates into the positioning hole 21 of the second connector 2 until the clamping piece 3 on the first connector 1 extends into the locking groove of the second connector 2; then, the robot drives the connecting shaft 14 of the first connector 1 to rotate by 30-35 degrees, so that the elastic limiting piece 15 extends into the limiting groove, the connecting shaft 14 is prevented from being loosened in the circumferential direction, and at the moment, the robot lifts the end tool to exceed the height of the auxiliary positioning pin 61 on the mounting rack 6, and free work can be performed.

In summary, the robot end quick-change device of the embodiment has the following advantages:

1. when the robot terminal quick-change device of the embodiment is used for quickly changing workpieces, the locking and unlocking of the locking structure (the elastic limiting part 15) on the connecting shaft 14 are controlled by the robot, external power control is not needed, the investment of other external devices is reduced, and the robot can automatically change a terminal tool without manual operation.

The principle and the implementation mode of the utility model are explained by applying specific embodiments in the utility model, and the description of the embodiments is only used for helping to understand the method and the core idea of the utility model; meanwhile, for a person skilled in the art, according to the idea of the present invention, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present invention.

Claims

1. A quick change device for the tail end of a robot is characterized by comprising a first connector and a second connector, wherein the first connector comprises a first main body, a first connecting plate, a lock payment disc and a connecting shaft, the first connecting plate and the lock payment disc are arranged on two sides of the first main body respectively, the first main body is provided with a first inner cavity, the connecting shaft is arranged in the first inner cavity, two ends of the connecting shaft are fixedly connected with the first connecting plate and the lock payment disc respectively, the first connecting plate is used for being connected with the robot and can drive the connecting shaft to rotate relative to the first main body under the drive of the robot, at least one limiting groove is arranged on the connecting shaft, at least one elastic limiting part is arranged on the inner wall of the first inner cavity, when the connecting shaft rotates relative to the first main body, the lock payment disc can be connected with the second connector in a clamping manner, the elastic limiting piece can extend into the limiting groove.

2. The terminal quick change device of robot of claim 1, characterized in that, be equipped with a plurality of joint pieces on the second connector, joint piece includes one end with the pole portion that the second connector is connected and connects the head at the pole portion other end, the external dimension of head is greater than the external dimension of pole portion, it pays the groove to be equipped with a plurality of locks on the lock dish, the lock is paid the groove and is equipped with first opening and the second opening of intercommunication, first open-ended internal dimension is less than the internal dimension of second opening with the external dimension of head, the second opening is used for supplying the head penetrates, first opening is used for spacing the head.

3. The quick-change device for the tail end of the robot as claimed in claim 2, wherein the head and the rod of the clamping member are cylindrical.

4. The quick-change device for the tail end of the robot as claimed in claim 2, wherein the first opening is arc-shaped, and the plurality of locking grooves and the plurality of clamping members are circumferentially distributed.

5. The quick robot tip changing device according to claim 2, wherein when the connecting shaft rotates 30 ° to 35 ° in a first direction with respect to the first body, the elastic limiting member rotates to correspond to the limiting groove and rebounds to extend into the limiting groove, and when the connecting shaft rotates in a second direction with respect to the first body, the elastic limiting member is compressed by the connecting shaft to be disengaged from the limiting groove, the first direction and the second direction being opposite.

6. The quick change robot end attachment according to claim 5, wherein the first opening is provided on a side of the second opening facing the first direction and/or the second direction.

7. The quick-change device for the tail end of the robot as claimed in claim 1, wherein the first main body is provided with a plurality of positioning pins, and the second connector is provided with a plurality of positioning holes corresponding to the plurality of positioning pins.

8. The quick-change device for robot terminals as claimed in claim 1, wherein the first body is provided with a male electrical connector socket, and the second connector is provided with a female electrical connector socket corresponding to the male electrical connector socket; or, be equipped with on the first main part and connect female seat, be equipped with on the second connector with connect the public seat of corresponding electric joint of female seat of electricity.

9. The quick-change device for the tail end of the robot as claimed in claim 1, wherein the first body is provided with a male air connector seat, and the second connector is provided with a female air connector seat corresponding to the male air connector seat; or, the first main body is provided with a female air connector seat, and the second connector is provided with a male air connector seat corresponding to the female air connector seat.