CN221640909U - Robot clamping jaw quick-change mechanism - Google Patents

Abstract

The utility model discloses a robot gripper quick-change mechanism, including a positioning pin, wherein the positioning pin is inserted into a first positioning hole of a gripper bracket, and the end portion is connected to the second positioning hole of the gripper, a first abutting surface is radially arranged at the end of the first positioning hole away from the gripper, and a second abutting surface is radially arranged at the end of the positioning pin close to the gripper, and an elastic member is located in the first positioning hole, and the two ends of the elastic member, which are always compressed, abut against the first abutting surface and the second abutting surface respectively. The beneficial effects of the utility model: the gripper and the gripper bracket can be quickly disassembled by simply pulling the positioning pin, thereby improving the efficiency of replacing the gripper, and the elastic member is always compressed, which can ensure that it always abuts against the second abutting surface in the absence of external force, thereby ensuring that the positioning pin does not fall off.

Description

Robot gripper quick change mechanism

Technical Field

The utility model relates to a robot, in particular to a robot clamp.

Background Art

The robot is used in hydraulic presses, punching machines and other equipment. The gripper is installed at the picking end of the robot and is mainly used to clamp and transport parts and products.

Since the shapes and sizes of parts and products vary, the shape of the gripper also needs to adapt to the parts. Therefore, the gripper usually needs to be replaced on different production lines or processes. In order to facilitate replacement, the connection between the gripper and the gripper bracket at the pickup end is currently mostly bolted, but the bolt connection cannot be quickly disassembled, affecting production efficiency.

The information disclosed in this background technology section is only intended to increase the understanding of the overall background of the utility model, and should not be regarded as acknowledging or suggesting in any form that the information constitutes the prior art known to ordinary technicians in this field.

Utility Model Content

The technical problem to be solved by the utility model is: how to solve the problem that the current clamping jaw and the clamping jaw bracket are connected by bolts, which has low efficiency during replacement and then affects the production efficiency.

The utility model solves the above technical problems through the following technical means:

The robot gripper quick-change mechanism includes a positioning pin, after the positioning pin is inserted into the first positioning hole of the gripper bracket, the end of the positioning pin is connected to the second positioning hole of the gripper, a first abutment surface is radially arranged at the end of the first positioning hole away from the gripper, and a second abutment surface is radially arranged at the end of the positioning pin close to the gripper, the elastic member is located in the first positioning hole, and the two ends of the elastic member which is always compressed abut against the first abutment surface and the second abutment surface respectively.

In the utility model, the elastic member is always compressed, so that the elastic member always applies pressure to the positioning pin outside the first positioning hole, ensuring that the positioning pin can be inserted into the second positioning hole and does not fall off. When the clamp needs to be replaced, the positioning pin is pulled out in a direction away from the clamp bracket by external force. At this time, the second abutting surface compresses the elastic member, and the positioning pin is disengaged from the second positioning hole. The clamp is removed, and after replacing a new clamp, the positioning pin is released. Under the action of the elastic member, the positioning pin is pushed to be inserted into the second positioning hole again, thereby realizing the connection between the clamp and the clamp bracket. The utility model only needs to pull the positioning pin to realize the rapid disassembly of the clamp and the clamp bracket, thereby improving the efficiency of replacing the clamp, and the elastic member is always compressed, which can ensure that it always abuts against the second abutting surface in the absence of external force, thereby ensuring that the positioning pin does not fall off.

Preferably, one end of the positioning pin away from the clamping jaw comprises a first limiting column, and the first limiting column extends along the radial direction of the positioning pin.

Preferably, the end of the first positioning hole away from the clamping jaw is a waist-shaped notch, and the width of the waist-shaped notch is greater than the outer diameter of the first limiting column and less than the length of the first limiting column.

When the clamping jaws need to be replaced, after ensuring that the first limit column is parallel to the waist-shaped groove, the locating pin is pulled out in the direction away from the clamping jaw bracket by external force and then rotated a certain angle, the external force can be released, and the first limit column is then abutted against the side of the clamping jaw bracket, and there is no need for people to pull out the locating pin all the time; after replacing the new clamping jaws, the first limit column is parallel to the waist-shaped groove again, and the first limit column is passed through the waist-shaped groove into the first locating hole. At this time, due to the action of the elastic part, the locating pin will not fall off. In order to improve the stability of the locating pin, after the first limit column enters the first locating hole, it can also be rotated a certain angle so that the first limit column also abuts against the first abutting surface, thereby improving the reliability of the locating pin connection.

Preferably, a section of the first positioning hole that accommodates the elastic member is a circular hole, and an inner diameter of the circular hole is greater than a height of the first limiting column.

The inner diameter of the circular hole is greater than the height of the first limiting column, ensuring that the first limiting column can be rotated after entering the first positioning hole.

Preferably, the end of the positioning pin close to the clamping jaw includes a second limiting column, which extends along the radial direction of the positioning pin, and the two ends of the elastic member which is always compressed abut against the first abutting surface and the side surface of the second limiting column respectively.

Preferably, the connecting end between the positioning pin and the second positioning hole is a conical block, the end of the second positioning hole close to the clamping jaw is a conical hole, the conical surface of the conical block abuts against the conical hole, and the two ends of the elastic member respectively abut against the first abutting surface and the vertical surface of the conical block.

The abutment between the tapered block and the tapered surface can improve the guiding performance when the positioning pin is connected to the clamping claw.

Preferably, a section of the first positioning hole that accommodates the elastic member is a circular hole, and the inner diameter of the circular hole is larger than the outer diameter of the large end of the conical block.

Preferably, the elastic member is a spring or a spring.

Preferably, the end of the positioning pin away from the first positioning hole is connected to a limiting cylinder.

Preferably, a dovetail groove is provided on a side surface of the clamping jaw support, and the side surface of the clamping jaw includes a dovetail bar, and the clamping jaw support is connected to the clamping jaw by inserting the dovetail bar into the dovetail groove.

The advantages of the utility model are:

(1) The utility model can realize the rapid disassembly of the clamping jaw and the clamping jaw bracket by only pulling the positioning pin, thereby improving the efficiency of replacing the clamping jaw, and the elastic member is always compressed, which can ensure that it always abuts against the second abutting surface in the absence of external force, thereby ensuring that the positioning pin does not fall off;

(2) After the first limiting column enters the first positioning hole, it can also rotate at a certain angle so that the first limiting column also abuts against the first abutting surface, thereby improving the reliability of the positioning pin connection;

(3) The abutment between the tapered block and the tapered surface can improve the guiding performance when the positioning pin is connected to the clamping claw.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG1 is a schematic structural diagram of a robot gripper quick-change mechanism in a first embodiment of the present utility model;

FIG2 is a cross-sectional view of the robot gripper quick-change mechanism in Embodiment 1 of the present utility model;

Fig. 3 is an enlarged view of point A in Fig. 2;

4 is a cross-sectional view of the first embodiment of the present invention when the positioning pin is inserted;

5 is a cross-sectional view of the first embodiment of the utility model when the positioning pin is pulled out;

6 is a schematic diagram of the structure of the first embodiment of the utility model when the positioning pin is pulled out;

7 is a schematic diagram of the structure of the positioning pin in the second embodiment of the utility model;

1. Positioning pin; 11. First limiting column; 12. Conical block; 13. Limiting cylinder; 14. Second limiting column;

2. Clamping jaw bracket; 21. First positioning hole;

3. Clamping claw; 31. Second positioning hole;

4. Elastic parts.

DETAILED DESCRIPTION

In order to make the purpose, technical solution and advantages of the embodiments of the utility model clearer, the technical solution in the embodiments of the utility model will be clearly and completely described below in combination with the embodiments of the utility model. Obviously, the described embodiments are part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments of the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

Embodiment 1:

As shown in Figures 1, 2 and 3, the robot gripper quick-change mechanism includes a positioning pin 1. After the positioning pin 1 is inserted into the first positioning hole 21 of the gripper bracket 2, the end of the positioning pin 1 is connected to the second positioning hole 31 of the gripper 3. A first abutment surface is radially arranged at the end of the first positioning hole 21 away from the gripper 3, and a second abutment surface is radially arranged at the end of the positioning pin 1 close to the gripper 3. The elastic member 4 is located in the first positioning hole 21, and the two ends of the elastic member 4, which is always compressed, respectively abut against the first abutment surface and the second abutment surface.

Specifically, the clamping jaw bracket 2 is provided with a first positioning hole 21 in the horizontal direction. The first positioning hole 21 is a through hole. The first positioning hole 21 is divided into two sections. Taking Figures 4 and 5 as examples for explanation, the whole is a circular hole. The elastic member 4 is accommodated in the circular hole. The right end of the circular hole is connected to the waist-shaped notch, so that a first abutting surface is formed between the circular hole and the waist-shaped notch, and the right end of the elastic member 4 abuts on the first abutting surface. The inner diameter of the circular hole is large, which can accommodate the elastic member 4 and provide a accommodating space for the first limiting column 11 after rotation. Therefore, the inner diameter of the circular hole is greater than the height of the first limiting column 11, that is, the first limiting column 11 can rotate freely in the circular hole without interference. The width of the waist-shaped notch is greater than the outer diameter of the first limiting column 11 and less than the length of the first limiting column 11. Only when the first limiting column 11 is parallel to the length direction of the waist-shaped notch, the first limiting column 11 can pass through the waist-shaped notch. In this embodiment, the waist-shaped slot is vertically arranged, and the first limiting column 11 can pass through the waist-shaped slot only when it is also in a vertical orientation.

The second positioning hole 31 of the clamping jaw 3 is also a through hole, and the second positioning hole 31 is also in two sections. Taking FIG. 3 as an example, the end close to the positioning pin 1 is a tapered hole, and the right end is a circular hole. The tapered hole is provided to match the tapered block 12 of the positioning pin 1. The abutment of the tapered block 12 with the tapered surface can improve the guiding performance when the positioning pin 1 is connected to the clamping jaw 3.

In this embodiment, as shown in FIG3 , the positioning pin 1 is a cylindrical rod as a whole, with a tapered block 12 at the right end, and a first limiting column 11 is arranged in the middle. The tapered block 12 and the cylindrical rod form a second abutting surface, and both ends of the elastic member 4 abut on the first abutting surface and the second abutting surface. The first limiting column 11 can be a cylindrical column or a square column. The first limiting column 11 can also form a T-shaped structure or a cross-shaped structure with the positioning pin 1.

In this embodiment, the elastic member 4 is a spring, and of course, it can also be a spring sheet. The elastic member 4 is always compressed, and the locating pin 1 and the clamping jaw bracket 2 can move axially, so the elastic member 4 that is always compressed has an axial outward elastic force, so that the elastic member 4 always applies pressure to the locating pin 1 in the direction outside the first locating hole 21, ensuring that the locating pin 1 can be inserted into the second locating hole 31 without falling off, thereby realizing the connection between the clamping jaw 3 and the clamping jaw bracket 2.

As shown in FIG4 , the clamping jaws are hidden in this figure. In this embodiment, the inner diameter of the spring is also greater than the height of the first limiting column 11, so that the first limiting column 11 can rotate in the spring without interfering with each other. Under the action of the spring, the positioning pin 1 is inserted into the clamping jaw 3, and the first limiting column 11 rotates to a state perpendicular to the waist-shaped notch, and the first limiting column 11 can further limit the positioning pin 1 from running out of the first positioning hole 21.

As shown in Fig. 3, the end of the positioning pin 1 away from the first positioning hole 21 is connected to the limiting cylinder 13. The outer portion of the limiting cylinder 13 may be provided with a friction-resistant layer to increase friction when manually pulling.

As shown in Figure 5, this figure hides the clamping jaws. When the clamping jaws 3 need to be replaced, rotate the positioning pin 1 to ensure that the first limiting column 11 is parallel to the waist-shaped groove, and then further compress the elastic member 4 through external force to pull the positioning pin 1 to the right, and then rotate it by a certain angle, usually 90°, to release the external force, and the first limiting column 11 is abutted against the side of the clamping jaw bracket 2. At this time, there is no need for people to pull out the positioning pin 1 all the time; after replacing the new clamping jaws 3, rotate the first limiting column 11 again to make the first limiting column 11 parallel to the waist-shaped groove, and pass the first limiting column 11 through the waist-shaped groove into the first positioning hole 21. At this time, due to the action of the elastic member 4, the positioning pin 1 will not fall off. In order to improve the stability of the positioning pin 1, after the first limiting column 11 enters the first positioning hole 21, it can also be rotated by a certain angle, usually 90°, so that the first limiting column 11 also abuts against the first abutting surface, thereby improving the reliability of the connection of the positioning pin 1.

In this embodiment, only the positioning pin 1 needs to be pulled to realize the rapid disassembly of the clamping jaw 3 and the clamping jaw bracket 2, thereby improving the efficiency of replacing the clamping jaw 3, and the elastic member 4 is always compressed, which can ensure that it always abuts against the second abutting surface in the absence of external force, thereby ensuring that the positioning pin 1 does not fall off. The first limiting column 11 can further improve the connection reliability between the positioning pin 1 and the clamping jaw bracket 2 when the clamping jaw is connected to the clamping jaw bracket 2, and can abut against the side of the clamping jaw bracket 2 after the positioning pin 1 is pulled out to release the manual labor.

Embodiment 2:

As shown in Figure 7, in this embodiment, based on the first embodiment, the end of the positioning pin 1 close to the clamping jaw 3 includes a second limiting column 14, and the second limiting column 14 extends along the radial direction of the positioning pin 1. The two ends of the elastic member 4 that is always compressed abut against the first abutting surface and the side of the second limiting column 14 respectively.

The second limiting post 14 rotates synchronously when the first limiting post 11 rotates, and the second limiting post 14 has the same structure as the first limiting post 11. However, it is necessary to ensure that the spring can abut against the second limiting post 14, so the height of the second limiting post 14 is slightly larger than the radius of the first limiting post 11 and the elastic member 4, and the first limiting post 11 rotates in the spring, while the second limiting post 14 rotates in the end of the spring and the first positioning hole 21.

The second limiting column 14 is provided to further reduce the accommodation length space of the elastic member 4, and can further increase the compression amount of the elastic member 4, and increase the elastic force of the elastic member 4 when the positioning pin 1 is connected to the clamping jaw 3. When the thickness of the clamping jaw bracket 2 is relatively thick, a smaller spring can still be used to ensure the elastic force.

Of course, the height of the first limiting column 11 can also be set to be larger than the outer diameter of the elastic member 4. Then, when the positioning pin 1 is inserted, the two ends of the elastic member 4 can respectively abut against the side surfaces of the first limiting column 11 and the second limiting column 14. When the positioning pin 1 is pulled out, due to the pulling out of the first limiting column 11, the two ends of the elastic member 4 respectively abut against the first abutting surface and the side surfaces of the second limiting column 14.

In the above embodiment, a dovetail groove is provided on the side of the clamping jaw support 2, and a dovetail bar is provided on the side of the clamping jaw 3, and the clamping jaw support 2 and the clamping jaw 3 are connected by inserting the dovetail bar into the dovetail groove. By connecting the clamping jaw support 2 and the clamping jaw 3 in this way, the reliability of the connection between the two can be improved.

The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims (10)

1. A robot gripper quick-change mechanism, characterized in that it comprises a positioning pin, wherein after the positioning pin is inserted into the first positioning hole of the gripper bracket, the end portion is connected to the second positioning hole of the gripper, a first abutment surface is radially arranged at the end of the first positioning hole away from the gripper, and a second abutment surface is radially arranged at the end of the positioning pin close to the gripper, the elastic member is located in the first positioning hole, and the two ends of the elastic member which is always compressed abut against the first abutment surface and the second abutment surface respectively. 2. The robot gripper quick-change mechanism according to claim 1 is characterized in that the end of the positioning pin away from the gripper comprises a first limiting column, and the first limiting column extends along the radial direction of the positioning pin. 3. The robot gripper quick-change mechanism according to claim 2 is characterized in that the end of the first positioning hole away from the gripper is a waist-shaped groove, and the width of the waist-shaped groove is greater than the outer diameter of the first limiting column and less than the length of the first limiting column. 4. The robot gripper quick-change mechanism according to claim 3 is characterized in that a section of the first positioning hole that accommodates the elastic member is a circular hole, and an inner diameter of the circular hole is greater than a height of the first limiting column. 5. The robot gripper quick-change mechanism according to claim 2 is characterized in that the end of the positioning pin close to the gripper includes a second limiting column, the second limiting column extends along the radial direction of the positioning pin, and the two ends of the elastic member that is always compressed respectively abut against the first abutting surface and the side of the second limiting column. 6. The robot gripper quick-change mechanism according to claim 1 is characterized in that the connecting end of the locating pin and the second locating hole is a conical block, the end of the second locating hole close to the gripper is a conical hole, the conical surface of the conical block abuts against the conical hole, and the two ends of the elastic member respectively abut against the first abutting surface and the vertical surface of the conical block. 7. The robot gripper quick-change mechanism according to claim 6 is characterized in that a section of the first positioning hole that accommodates the elastic member is a circular hole, and the inner diameter of the circular hole is larger than the outer diameter of the large end of the conical block. 8 . The robot gripper quick-change mechanism according to claim 1 , wherein the elastic member is a spring or a spring. 9 . The robot gripper quick-change mechanism according to claim 1 , wherein the end of the locating pin away from the first locating hole is connected to a limiting cylinder. 10. The robot gripper quick-change mechanism according to claim 1 is characterized in that a dovetail groove is provided on a side of the gripper bracket, the side of the gripper includes a dovetail bar, and the gripper bracket and the gripper are connected by inserting the dovetail bar into the dovetail groove.