CN218170459U

CN218170459U - Jig structure convenient to disassemble and assemble

Info

Publication number: CN218170459U
Application number: CN202221577613.8U
Authority: CN
Inventors: 姜宇; 杜云寒; 刘培智
Original assignee: Rizhao Yuejiang Intelligent Technology Co ltd
Current assignee: Rizhao Yuejiang Intelligent Technology Co ltd
Priority date: 2022-06-22
Filing date: 2022-06-22
Publication date: 2022-12-30
Anticipated expiration: 2032-06-22

Abstract

The utility model discloses a simple dismounting's tool structure, include: the pneumatic manipulator comprises a main jig and an auxiliary jig, wherein one end of the main jig is used for being installed at the tail end of the manipulator, the other end of the main jig is detachably connected with the auxiliary jig, a pneumatic expansion device is arranged at the detachable connection position of the main jig and the auxiliary jig, a mounting hole is formed at the detachable connection position of the auxiliary jig and the main jig, and the pneumatic expansion device is used for being connected with an air pump of the manipulator; the pneumatic expansion device is in expansion clamping connection in the mounting hole after receiving the air pressure of the air pump in the mounting hole. The utility model discloses among the technical scheme, when changing different part specifications and need changing the tool, through locating the pneumatic expansion device on the main treatment utensil and locating the connection and the separation of the mounting hole on the vice tool, realize quick, the automatic change of tool, the change process need not artifical the participation, therefore work efficiency is high.

Description

Jig structure convenient to disassemble and assemble

Technical Field

The utility model relates to an industrial robot technical field, in particular to easy dismounting's tool structure.

Background

With the gradual rise of the demands for small-batch, multi-batch and customized production in the market, the development of the cooperative robot is more rapid. The cooperation robot is safe, easy-to-use, can adjust in a flexible way, can satisfy from a plurality of fields such as industry to commercial, medical treatment, including trades demands such as car, five metals, 3C, semiconductor, weaving, food, can be competent in picking up, pile up neatly, carry, go up unloading, detect, numerous works such as assembly, rubber coating, welding, polishing.

The joint is one of important parts of the robot, in the production process of the joint, various parts need to be installed on the industrial robot, the parts need to be taken and placed or operated correspondingly by using jigs, and when parts with different specifications need to be used or different work tasks need to be carried out by switching processes, different jigs need to be replaced for operation. The existing jig is usually fixed on the mechanical arm through screws, and the jig is manually detached from the mechanical arm and then fixed on the mechanical arm through screws, so that the working efficiency is low.

SUMMERY OF THE UTILITY MODEL

The utility model discloses a main aim at provides a easy dismounting's tool structure, aims at solving and dismantles the screw of reusing from the arm with the tool through the manual work and fix another tool on the arm, the technical problem that work efficiency is low.

In order to achieve the above object, the utility model provides a tool structure of easy dismounting, include:

a main jig and an auxiliary jig;

one end of the main jig is used for being installed at the tail end of the manipulator, and the other end of the main jig is detachably connected with the auxiliary jig;

the detachable connection part of the main jig and the auxiliary jig is provided with a pneumatic expansion device, the detachable connection part of the auxiliary jig and the main jig is provided with a mounting hole, and the pneumatic expansion device is used for being connected with an air pump of the manipulator;

the pneumatic expansion device is connected in the mounting hole in an expansion and clamping mode after receiving air pressure of the air pump in the mounting hole.

The pneumatic expansion device is provided with a connecting hole, the pneumatic expansion device comprises a plurality of abutting pieces matched with the connecting hole and a pushing piece used for pushing the abutting pieces to move along the radial direction of the connecting hole, and a groove matched with the abutting pieces is formed in the hole wall of the connecting hole.

The diameter of the inlet of the mounting hole is smaller than that of the inside of the mounting hole, the pushing piece pushes the abutting piece, so that part of the abutting piece protrudes out of the groove, and the part protruding out of the groove is clamped in the inside of the mounting hole.

The air pump is communicated with the air cavity through the air inlet hole and the air outlet hole, and one end of the pushing piece is accommodated in the air cavity.

The pushing piece comprises a cylinder, a blocking part is convexly arranged on the peripheral wall of one end, accommodated in the air cavity, of the cylinder, the other end of the cylinder is constructed into a conical table, and the plurality of abutting pieces Zhou Sheyu are conical surfaces of the conical table.

The auxiliary jig comprises an auxiliary disc and a taking and placing assembly detachably connected to the auxiliary disc, the mounting hole is formed in the auxiliary disc, and the taking and placing assembly is used for taking and placing parts.

The main jig is provided with a plurality of first air passing holes, the auxiliary disc is provided with second air passing holes corresponding to the first air passing holes, the first air passing holes are communicated with the air pump, and the second air passing holes are communicated with the pick-and-place assembly.

Wherein, the utility model discloses easy dismounting's tool structure is still including the sealing member that is cavity setting, sealing member one end install in the first gas pocket of crossing, the other end salient in first gas pocket of crossing.

Wherein, the utility model discloses easy dismounting's tool structure still includes the mounting panel and locates detection device on the mounting panel, it is used for placing to construct a plurality of on the mounting panel get the mounting panel of putting the subassembly, detection device is located mounting panel one side, detection device is used for acquireing get the information of putting the subassembly on the mounting panel.

The mounting plate is provided with a limiting part, and the pick-and-place assembly is provided with a limiting groove matched with the limiting part.

The main jig further comprises at least two positioning pieces, the at least two positioning pieces are arranged on the main jig, and positioning holes matched with the positioning pieces are formed in the auxiliary disc.

The utility model discloses in the scheme, when the part of different specifications is used to needs, need change different vice tool on main treatment utensil, the position that vice tool was placed is removed to the main tool of manipulator drive, pneumatic expansion device moves, the disconnection is connected with the mounting hole, make main tool and vice tool separation, then the position of the vice tool of another specification is placed to the main tool of manipulator drive, and drive main tool and vice tool contact, pneumatic expansion device gets into in the mounting hole, the air pump of manipulator fills into gas to pneumatic expansion device and makes its inflation, the joint is in the mounting hole, accomplish being connected of main tool and vice tool, thereby realize the quick replacement of main tool and vice tool, the process need not artifical the participation, high work efficiency.

Drawings

Fig. 1 is a schematic structural view of a jig structure that is convenient to disassemble and assemble in an embodiment of the present invention;

fig. 2 is a schematic structural view of a main fixture according to an embodiment of the present invention;

fig. 3 is a sectional view of a main jig according to an embodiment of the present invention;

fig. 4 is a cross-sectional view of the main jig and the sub-jig in a clamping state according to an embodiment of the present invention;

FIG. 5 is a schematic view of the structure of the pushing member according to an embodiment of the present invention;

fig. 6 is a schematic structural view of a sub-jig according to an embodiment of the present invention;

fig. 7 is a schematic structural diagram of an auxiliary disc according to an embodiment of the present invention;

fig. 8 is a schematic structural diagram of the mounting plate and the detecting device in an embodiment of the present invention.

The objects, features and advantages of the present invention will be further described with reference to the accompanying drawings.

Detailed Description

Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are exemplary and intended to be used for explaining the present invention, and should not be construed as limiting the present invention, and all other embodiments obtained by those skilled in the art without creative efforts based on the embodiments of the present invention belong to the protection scope of the present invention.

It should be noted that all the directional indicators (such as upper, lower, left, right, front, and rear … …) in the embodiments of the present invention are only used to explain the relative position relationship between the components, the motion situation, etc. in a specific posture (as shown in the drawings), and if the specific posture is changed, the directional indicator is changed accordingly.

It will also be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present.

In addition, the descriptions related to "first", "second", etc. in the present invention are for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicit ly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In addition, the technical solutions in the embodiments may be combined with each other, but it must be based on the realization of those skilled in the art, and when the technical solutions are contradictory or cannot be realized, the combination of the technical solutions should not be considered to exist, and is not within the protection scope of the present invention.

Please refer to fig. 1, fig. 2 and fig. 4, the present invention provides a jig structure with easy assembly and disassembly, comprising:

a main jig 1 and an auxiliary jig 2;

one end of the main jig 1 is used for being installed at the tail end of the manipulator, and the other end of the main jig is detachably connected with the auxiliary jig 2;

a pneumatic expansion device 3 is arranged at the detachable connection part of the main jig 1 and the auxiliary jig 2, a mounting hole 20 is arranged at the detachable connection part of the auxiliary jig 2 and the main jig 1, and the pneumatic expansion device 3 is used for being connected with an air pump of the manipulator;

the pneumatic expansion device 3 is connected in the mounting hole 20 in an expansion and clamping manner after receiving the air pressure of the air pump in the mounting hole 20.

In this embodiment, when parts with different specifications need to be used, different auxiliary jigs 2 need to be replaced on the main treatment tool 1, the main jig 1 is driven by the manipulator to move to the position where the auxiliary jig 2 is placed, the pneumatic expansion device 3 acts to disconnect the connection with the mounting hole 20, so that the main jig 1 is separated from the auxiliary jig 2, then the main jig 1 is driven by the manipulator to move to the position where the auxiliary jig 2 with another specification is placed, and the main jig 1 is driven to contact with the auxiliary jig 2, the pneumatic expansion device 3 enters the mounting hole 20, the pneumatic expansion device 3 is inflated by the air pump of the manipulator to expand the pneumatic expansion device 3, the main jig 1 is connected with the auxiliary jig 2, so that the main jig 1 and the auxiliary jig 2 can be replaced quickly, the process does not need manual participation, and the working efficiency is high.

The pneumatic expansion device 3 can also be disposed on the auxiliary fixture 2, and the corresponding mounting hole 20 is disposed on the main fixture 1.

Referring to fig. 2, fig. 3 and fig. 4, in some embodiments, the pneumatic expansion device 3 of the present invention has a connecting hole 30, the pneumatic expansion device 3 includes a plurality of abutting members 31 adapted to the connecting hole 30 and a pushing member 32 for pushing the abutting members 31 to move along the radial direction of the connecting hole 30, and the hole wall of the connecting hole 30 is provided with a groove 301 adapted to the abutting members 31.

In this embodiment, when the main fixture 1 and the sub-fixture 2 need to be connected, the main fixture 1 is driven to the sub-fixture 2 by the manipulator, the air pump fills air into the pneumatic expansion device 3, the pushing member 32 moves under the influence of the air pressure to push the abutting member 31 to move in the groove 301 on the inner wall of the connecting hole 30, and the abutting member is clamped in the mounting hole 20 on the sub-fixture 2, so as to connect the main fixture 1 and the sub-fixture 2. When the main jig 1 and the auxiliary jig 2 need to be separated, the air pump stops filling air into the pneumatic expansion device 3, the pushing piece 32 retracts and does not apply force to the abutting piece 31 any more, and when the manipulator drives the main jig 1 to leave, the abutting piece 31 is not stressed and does not abut against the auxiliary jig 2, so that the main jig 1 and the auxiliary jig 2 are not connected, and the separation of the main jig 1 and the auxiliary jig 2 is realized.

Referring to fig. 2, fig. 3, fig. 4 and fig. 7, in some embodiments, an aperture of an entrance of the mounting hole 20 is smaller than an aperture of the inside of the mounting hole 20, the pushing member 32 pushes the abutting member 31, so that a portion of the abutting member 31 protrudes out of the groove 301, and a portion protruding out of the groove 301 is clamped in the inside of the mounting hole 20.

In this embodiment, when the main fixture 1 and the sub-fixture 2 need to be connected, the main fixture 1 is driven by the manipulator to the sub-fixture 2, and drives the pneumatic expansion device 3 to enter the mounting hole 20, the aperture of the inlet of the mounting hole 20 is smaller than the aperture inside the mounting hole 20, the aperture of the inlet is enough for the pneumatic expansion device 3 to enter the mounting hole 20, the pneumatic expansion device 3 is inflated by the air pressure of the air pump, so that the pushing member 32 moves, the pushing member 32 drives the abutting member 31 to move along the radial direction of the connecting hole 30, and slide outwards along the groove 301, so that the abutting member 31 partially protrudes out of the groove 301, and the portion of the abutting member 31 protruding out of the groove 301 abuts against the hole wall inside the mounting hole 20, and since the protruding portion is inside the mounting hole 20, the size of the aperture of the inlet of the mounting hole 20 limits the abutting member 31 on the pneumatic expansion device 3 to be unable to be separated from the mounting hole 20, thereby realizing the connection of the main fixture 1 and the sub-fixture 2. When the main jig 1 and the auxiliary jig 2 need to be separated, the air pump stops filling air into the pneumatic expansion device 3, the pushing piece 32 retracts and does not apply force to the abutting piece 31 any more, when the manipulator drives the main jig 1 to leave, because the abutting piece 31 is not stressed and does not abut against the auxiliary jig 2, when the main jig 1 leaves, the abutting piece 31 contacts the inlet of the mounting hole 20 and retracts into the groove 301 until the pneumatic expansion device 3 leaves the mounting hole 20, and the main jig 1 and the auxiliary jig 2 are separated, so that the separation of the main jig 1 and the auxiliary jig 2 is realized.

Wherein, the holding part 31 can be a ball or a round-head guide rod, and those skilled in the art can design according to actual conditions.

Referring to fig. 3 and 4, in some embodiments, an air chamber 100 is disposed in the main tool 1, an air inlet 101 and an air outlet 102 are respectively disposed on a sidewall of the main tool 1, the air pump is communicated with the air chamber 100 through the air inlet 101 and the air outlet 102, and one end of the pushing member 32 is accommodated in the air chamber 100.

In this embodiment, the air pump outputs positive pressure air into the air cavity 100 through the air inlet 101, so that one end of the pushing member 32 accommodated in the air cavity 100 is influenced by the positive pressure air and moves toward the abutting member 31 to push the abutting member 31 to abut against the hole wall inside the mounting hole 20, thereby completing the connection between the main jig 1 and the auxiliary jig 2. When the main jig 1 and the auxiliary jig 2 need to be separated, the air outlet 102 of the main jig 1 is connected with an air pump, the air pump outputs negative pressure air into the air cavity 100, so that one end, accommodated in the air cavity 100, of the pushing member 32 is influenced by the negative pressure, moves into the air cavity 100, is far away from the abutting member 31, the abutting member 31 is not abutted to the hole wall in the mounting hole 20, and the manipulator drives the main jig 1 to be separated from the auxiliary jig 2.

Referring to fig. 3 and 5, in some embodiments, the pushing element 32 of the present invention includes a cylinder 321, a blocking portion 322 protruding from a peripheral wall of one end of the cylinder 321 received in the air cavity 100, and a tapered platform 323 configured at the other end, wherein a plurality of the supporting elements 31 are circumferentially disposed on a tapered surface of the tapered platform 323.

In this embodiment, when the main jig 1 and the sub-jig 2 need to be connected, the air source is connected to the air inlet hole 101, the pushing member 32 moves outward, and the blocking portion 322 serves as a limit for the outward movement of the pushing member 32, so that the pushing member 32 is not separated from the main jig 1. The arrangement of the tapered platform 323 is to make the abutting pieces 31 uniformly stressed, when the pushing piece 32 is driven to contact the abutting pieces 31, the tapered surface of the tapered platform 323 contacts each abutting piece 31, and each abutting piece 31 is stressed to abut against the inner wall of the mounting hole 20.

Referring to fig. 1, fig. 6 and fig. 7, in some embodiments, the sub-jig 2 of the present invention includes a sub-tray 21 and a pick-and-place assembly 22 detachably connected to the sub-tray 21, the mounting hole 20 is opened on the sub-tray 21, and the pick-and-place assembly 22 is used for picking and placing parts.

In this embodiment, the pick-and-place component 22 is used for adsorbing the parts, different pick-and-place components 22 can be detached from the auxiliary plate 21 to adapt to different part specifications, when the parts with unusual specifications need to be picked and placed, the integral auxiliary jig 2 needs to be replaced with the whole auxiliary jig 2, and the pick-and-place component 22 corresponding to the parts with unusual specifications is connected with the auxiliary plate 21 in a detachable manner by adopting a form that the auxiliary plate 21 is detachably connected with the pick-and-place component 22, so that the cost is saved.

Referring to fig. 2 and fig. 6, in some embodiments, the main fixture 1 provided by the present invention is provided with a plurality of first air passing holes 103, the auxiliary plate 21 is provided with second air passing holes 211 corresponding to the first air passing holes 103, the first air passing holes 103 are communicated with the air pump, and the second air passing holes 211 are communicated with the pick-and-place assembly 22.

In this embodiment, when the main jig 1 is connected with the auxiliary jig 2, the vacuum air source or the positive pressure air source connected to the main jig 1 can be directly supplied to the pick-and-place assembly 22 through the air pipe through the first air passing hole 103 and the second air passing hole 211 corresponding to each other on the main jig 1 and the auxiliary disc 21, so that the air pipe does not need to be disassembled and assembled during the disassembling and replacing process of the main jig 1 and the auxiliary jig 2, the operation is simple, and the replacing efficiency is high.

The pick-and-place assembly 22 may be a vacuum chuck or a pneumatic clamping jaw, and may be designed by those skilled in the art according to actual situations.

Referring to fig. 2, in some embodiments, the jig structure of the present invention further includes a sealing member 4 disposed in a hollow manner, one end of the sealing member 4 is installed in the first air passing hole 103, and the other end protrudes out of the first air passing hole 103.

In this embodiment, because the connection face of main tool 1 and auxiliary disc 21 can not guarantee absolutely to level because of machining error, when both connection faces butt joint, there may be a space between first air hole 103 and the second air hole 211 for the air supply leaks in the in-process of transmission, thereby influences the work effect of getting and putting subassembly 22. The inner walls of the first air passing hole 103 and the second air passing hole 211 are connected through the sealing element 4, and an air source is transmitted between the first air passing hole and the second air passing hole through the hollow hole of the sealing element 4, so that air leakage between the first air passing hole and the second air passing hole due to a gap is avoided.

The sealing member 4 is a rubber sealing ring, and can be designed by those skilled in the art according to actual conditions.

Referring to fig. 8, in some embodiments, the jig structure of the present invention further includes a mounting plate 5 and a detecting device 6 disposed on the mounting plate 5, wherein the mounting plate 5 is configured with a plurality of mounting plates 5 for placing the pick-and-place assembly 22, the detecting device 6 is disposed on one side of the mounting plate 5, and the detecting device 6 is used for acquiring information of the pick-and-place assembly 22 on the mounting plate 5.

In this embodiment, the pick-and-place assembly 22 connected to the auxiliary disc 21 is disposed on the base 52 of the mounting plate 5, and the base 52 is designed corresponding to different shapes of the pick-and-place assembly 22. The detecting device 6 located at one side of the base 52 is used to detect whether there is a pick-and-place assembly 22 on the base 52, so as to determine which kind of component pick-and-place assembly 22 is connected to the main jig 1, and can determine whether the main jig 1 and the sub-jig 2 are successfully separated when they are separated, and determine that the pick-and-place assembly 22 is not successfully separated when it is not detected on the base 52.

The detecting device 6 may be a photoelectric sensor or a CCD camera, and those skilled in the art can design the detecting device according to actual situations.

Referring to fig. 1 and fig. 6, in some embodiments, the mounting plate 5 of the present invention is provided with a limiting member 51, and the pick-and-place assembly 22 is provided with a limiting groove 221 adapted to the limiting member 51.

In this embodiment, when the main fixture 1 is separated from the auxiliary fixture 2, the manipulator needs to drive the pick-and-place component 22 on the auxiliary fixture 2 to be placed on the mounting plate 5, and the limiting groove 221 is aligned with the limiting member 51 to be placed, so that the placing position of the pick-and-place component 22 is fixed, and the placing position of the auxiliary disc 21 is fixed, which facilitates the next taking.

The position-limiting member 51 may be a ball-end cylinder, the position-limiting groove 221 may be a semi-open groove formed in the peripheral wall of the pick-and-place assembly 22, and the specific forms of the position-limiting member 51 and the position-limiting groove 221 may be designed by those skilled in the art according to actual situations.

Referring to fig. 2 and fig. 6, in some embodiments, the main jig 1 further includes at least two positioning elements 11, the at least two positioning elements 11 are disposed on the main jig 1, and the auxiliary tray 21 is disposed with positioning holes 212 adapted to the positioning elements 11.

In this embodiment, the positioning element 11 is a positioning pin, the connecting end facing the auxiliary disc 21 is configured as a conical head, the inlet end of the positioning hole 212 is chamfered to form a guiding portion, and the guiding portion is used for guiding the positioning pin when the positioning pin is inserted into the positioning hole 212, so as to facilitate the matching between the positioning pin and the positioning hole. When the manipulator drives the main fixture 1 to connect with the sub-fixture 2, the two positioning pins are inserted into the positioning holes 212, so that the relative positions of the two positioning pins are fixed, and the relative positions of the first air passing hole 103 and the second air passing hole 211 are ensured not to be deviated.

The matching form of the positioning element 11 and the positioning hole 212 can be selected and replaced by those skilled in the art according to actual situations.

The embodiment of the utility model provides a simple dismounting's tool structure, the above only is the utility model discloses a part or preferred embodiment, no matter be characters or the drawing can not consequently restrict the utility model discloses the scope of protection, all with the utility model discloses a holistic design down, utilize the equivalent structure transform that the content of description and drawing did, or direct/indirect application all includes in other relevant technical field the utility model discloses the within range of protection.

Claims

1. The utility model provides a simple to assemble and disassemble's tool structure which characterized in that includes:

a main jig and an auxiliary jig;

2. The jig structure convenient to assemble and disassemble according to claim 1, wherein the pneumatic expansion device is provided with a connecting hole, the pneumatic expansion device comprises a plurality of abutting pieces matched with the connecting hole and a pushing piece used for pushing the abutting pieces to move along the radial direction of the connecting hole, and a groove matched with the abutting pieces is formed in the hole wall of the connecting hole.

3. The jig structure according to claim 2, wherein the aperture of the entrance of the mounting hole is smaller than the aperture of the inside of the mounting hole, and the pushing member pushes the supporting member to make a portion of the supporting member protrude from the groove, and a portion protruding from the groove is engaged with the inside of the mounting hole.

4. The jig structure of claim 2, wherein an air chamber is disposed in the main jig, an air inlet and an air outlet are respectively disposed on the side wall of the main jig, the air pump is communicated with the air chamber through the air inlet and the air outlet, and one end of the pushing member is accommodated in the air chamber.

5. The jig structure according to claim 4, wherein the pushing member comprises a cylinder, a blocking portion is protruded from a peripheral wall of one end of the cylinder, the cylinder is accommodated in the air cavity, the other end of the cylinder is configured as a tapered platform, and the plurality of supporting members Zhou Sheyu are tapered surfaces of the tapered platform.

6. The jig structure convenient for assembly and disassembly as claimed in any one of claims 1 to 5, wherein the auxiliary jig comprises an auxiliary plate and a pick-and-place assembly detachably connected to the auxiliary plate, the mounting hole is opened on the auxiliary plate, and the pick-and-place assembly is used for picking and placing parts.

7. The jig structure of claim 6, wherein the main jig is provided with a plurality of first air passing holes, the auxiliary plate is provided with second air passing holes corresponding to the first air passing holes, the first air passing holes are communicated with the air pump, and the second air passing holes are communicated with the pick-and-place assembly.

8. The jig structure of claim 7, further comprising a hollow sealing member, wherein one end of the sealing member is installed in the first air passing hole, and the other end of the sealing member protrudes out of the first air passing hole.

9. The jig structure convenient for assembly and disassembly according to claim 8, further comprising a mounting plate and a detecting device arranged on the mounting plate, wherein a plurality of mounting plates for placing the taking and placing assemblies are constructed on the mounting plate, the detecting device is arranged on one side of the mounting plate, and the detecting device is used for acquiring information of the taking and placing assemblies on the mounting plate.

10. The jig structure convenient for assembly and disassembly according to claim 9, wherein the mounting plate is provided with a limiting member, and the pick-and-place assembly is provided with a limiting groove adapted to the limiting member.

11. The jig structure convenient for assembly and disassembly as claimed in claim 6, wherein the main jig further comprises at least two positioning members, the at least two positioning members are disposed on the main jig, and the auxiliary tray is provided with positioning holes adapted to the positioning members.