WO2022141964A1 - 一种易更换夹头本体的工业制造用机器人及其更换方法 - Google Patents

一种易更换夹头本体的工业制造用机器人及其更换方法 Download PDF

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Publication number
WO2022141964A1
WO2022141964A1 PCT/CN2021/088086 CN2021088086W WO2022141964A1 WO 2022141964 A1 WO2022141964 A1 WO 2022141964A1 CN 2021088086 W CN2021088086 W CN 2021088086W WO 2022141964 A1 WO2022141964 A1 WO 2022141964A1
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WIPO (PCT)
Prior art keywords
plate
limit
industrial manufacturing
movable
chuck body
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PCT/CN2021/088086
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English (en)
French (fr)
Inventor
李伟伟
陈蕾
张春
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南京灵雀智能制造有限公司
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Publication of WO2022141964A1 publication Critical patent/WO2022141964A1/zh

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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00Gripping heads and other end effectors
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/08Programme-controlled manipulators characterised by modular constructions

Definitions

  • the invention relates to the technical field of industrial robots, in particular to an industrial manufacturing robot with easy replacement of a chuck body and a replacement method thereof.
  • Industrial robots are multi-joint manipulators or multi-degree-of-freedom mechanical devices widely used in the industrial field. They have certain automation and can realize various industrial processing and manufacturing functions by relying on their own power energy and control capabilities. Industrial robots are widely used in various industrial fields such as electronics, logistics, and chemicals. Compared with traditional industrial equipment, industrial robots have many advantages. For example, robots have the characteristics of ease of use, high level of intelligence, high production efficiency and safety, easy management and significant economic benefits, so that they can be used in high-risk environments. Do your homework. In the process of using industrial robots, it is often necessary to use different chuck bodies to clamp different items.
  • the main purpose of the present invention is to provide an industrial manufacturing robot that can easily replace the chuck body and a replacement method thereof, which can effectively solve the problem that in the background art, multiple bolts are often used to fix the position of the chuck body, but this fixing method
  • disassembling it not only requires suitable tools, but also requires the staff to turn several bolts in sequence for disassembly.
  • the process is time-consuming and labor-intensive, and the industrial robot will generate some vibration during the use process, which makes some bolts in the process of vibration.
  • the phenomenon of shaking may occur, so that the chuck body cannot be firmly fixed.
  • the technical scheme adopted in the present invention is:
  • An industrial manufacturing robot that can easily replace a collet body, comprising an industrial manufacturing robot body, one side of the industrial manufacturing robot body is provided with a collet body, the top of the collet body is provided with a connecting support seat, the connecting One side of the support base is fixedly connected with the body of the industrial manufacturing robot, the bottom of the connection support base is provided with a limit groove, a limit block is arranged in the limit groove, and the bottom of the limit block is fixed with the top of the chuck body
  • One side of the limit slot is provided with a first through hole, one side of the limit block is provided with a socket, one side of the connection support base is provided with a movable support plate, and the movable support plate
  • One side of the positioning plug is fixedly connected to the positioning plug, one end of the positioning plug penetrates the first through hole, and one end of the positioning plug extends into the insertion hole, and the top of the connecting support base is fixedly connected with a fixing plate, so One side of the fixed plate and one side of the
  • the limiting assembly includes a movable plate disposed above the connecting support base, the bottom of the movable plate is connected with the top of the connecting support base through a second tension spring, and the inner wall of the top of the first chute is provided with a A second through hole, a limit plate is arranged in the second through hole, the bottom of the limit plate is in contact with the top of the slide plate, and the top of the limit plate is fixedly connected with the bottom of the movable plate.
  • a second chute is provided on one side of the fixed plate, a limit slider is arranged in the second chute, and one side of the limit slider is fixedly connected with one side of the movable plate.
  • a first grip ring is fixedly connected to the top of the movable plate.
  • the inner wall of the bottom of the first chute is provided with a third chute
  • the bottom of the slide plate is fixedly connected with a slider
  • the slider is located in the third chute.
  • a second grip ring is fixedly connected to one side of the movable support plate.
  • an anti-slip sleeve is provided on the outer cover of the second grip ring, and the anti-slip sleeve is fixedly connected to the second grip ring.
  • a replacement method for an industrial manufacturing robot that is easy to replace a chuck body characterized in that it comprises the following steps:
  • the position of the limit block is limited, and after the position limit of the slide plate is released, since the first tension spring is in a stretched state, the first tension spring drives the movable support plate to move, so that the movable support plate moves toward the connection support base, and then One end of the positioning insert is inserted into the jack to complete the limitation of the position of the limit block, thereby completing the installation of the chuck body.
  • An industrial manufacturing robot that can easily replace a chuck body and a replacement method thereof.
  • a first tension spring By driving a movable support plate to move away from a connecting support base, a first tension spring is in a tensioned state, so that one end of the positioning plug plate is separated from the jack, and the release is released.
  • the position of the limit block is limited, while the slide plate slides in the first chute, and by driving the chuck body to move down, the limit block is removed from the limit groove, and the removal of the chuck body can be completed, and the limit position can be inserted at the same time.
  • the position of the plate after the movement keeps the positioning insert in the state of being separated from the jack, which is convenient for the next installation of the limit block, which is convenient for practical use, improves the disassembly and assembly efficiency, changes the traditional connection method, and reduces the industrial manufacturing robot body.
  • FIG. 1 is a schematic diagram of the overall structure of an industrial manufacturing robot with an easy-to-replace chuck body according to the present invention
  • FIG. 2 is a front view of an industrial manufacturing robot with an easy-to-replace chuck body of the present invention
  • FIG. 3 is a schematic structural diagram of a connection support base of an industrial manufacturing robot with an easy-to-replace chuck body according to the present invention
  • Fig. 4 is the enlarged view of A place of Fig. 3;
  • FIG. 5 is a flow chart of a replacement method for an industrial manufacturing robot with an easy-to-replace chuck body according to the present invention.
  • an industrial manufacturing robot with an easy-to-replace collet body includes an industrial manufacturing robot body 1, a collet body 2 is provided on one side of the industrial manufacturing robot body 1, and a top of the collet body 2 is provided with a collet body 2.
  • connection support base 3 There is a connection support base 3, one side of the connection support base 3 is fixedly connected with the industrial manufacturing robot body 1, a limit slot 4 is set at the bottom of the connection support base 3, and a limit block 5 is arranged in the limit slot 4, and the limit block 5 is The bottom is fixedly connected with the top of the collet body 2, and the collet body 2 is prevented from shaking relative to the connecting support base 3 through the cooperation of the limit groove 4 and the limit block 5, and the inner wall of one side of the limit groove 4 is provided with a first through hole 6.
  • An insertion hole 7 is provided on one side of the limit block 5
  • a movable support plate 8 is provided on one side of the connection support base 3
  • one side of the movable support plate 8 is fixedly connected to the positioning plug board 9, and one end of the positioning plug board 9 penetrates
  • the first through hole 6, and one end of the positioning insert plate 9 extends into the insertion hole 7, through the cooperation of the positioning insert plate 9 and the insertion hole 7, the position of the limit block 5 prevents the limit block 5 from leaving the limit slot 4,
  • the top of the connection support base 3 is fixedly connected with a fixed plate 10
  • one side of the fixed plate 10 is connected with one side of the movable support plate 8 by a first tension spring 11 , and the first tension spring 11 provided makes the fixed plate 10 .
  • the side of the connection support base 3 close to the movable support plate 8 is provided with a first chute 12.
  • the first chute 12 is provided with a sliding plate 13.
  • One side of the sliding plate 13 is connected to the movable supporting plate 8.
  • One side is fixedly connected. Through the cooperation of the first chute 12 and the sliding plate 13, the stability of the movable support plate 8 is increased.
  • the top of the sliding plate 13 is provided with a limiting hole 14, and the top of the connecting support base 3 is provided with a limiting hole 14.
  • the matching limit components can simply and conveniently control the connection relationship between the limit block 5 and the connection support base 3, which facilitates the disassembly and assembly of the chuck body 2, facilitates practical use, improves the disassembly and assembly efficiency, and changes the traditional connection. In this way, the influence of the vibration generated by the operation of the industrial manufacturing robot body 1 on the connection between the chuck body 2 and the connection support base 3 is reduced;
  • the limiting component includes a movable plate 15 disposed above the connecting support base 3 , and the bottom of the movable plate 15 is connected with the top of the connecting support base 3 through a second tension spring 16 , so that the movable plate 15 is connected to the connecting support base 3 .
  • the seat 3 is elastically connected, the top inner wall of the first chute 12 is provided with a second through hole 17 , and the second through hole 17 is provided with a limit plate 18 , which is elastically pressed by the second tension spring 16 to make the limit plate 18
  • the bottom of the sliding plate 13 is in contact with the top of the sliding plate 13, and the top of the limit plate 18 is fixedly connected with the bottom of the movable plate 15, so that the movable plate 15 can drive the limit plate 18 to move.
  • the movable plate 15 By driving the movable plate 15 to move up, the second stretch The spring 16 is in a stretched state, and then the movable plate 15 drives the limit plate 18 to move upward, so that the bottom end of the limit plate 18 is separated from the limit hole 14, the restriction on the position of the slide plate 13 can be released, and one side of the fixed plate 10 is opened.
  • a limit slider 20 is arranged in the second chute 19, one side of the limit slider 20 is fixedly connected with one side of the movable plate 15, when the movable plate 15 moves up and down, the limit slider 20 slides in the second chute 19, through the provided second chute 19 and the limit slider 20, the distance that the fixed plate 10 moves up and down is limited, thereby preventing the limit plate 18 from separating from the second through hole 17, and the movable plate
  • a first grip ring 21 is fixedly connected to the top of the 15 , and the movable plate 15 is easily driven to move through the provided first grip ring 21 .
  • a third chute 22 is defined on the inner wall of the bottom of the first chute 12 , a slider 23 is fixedly connected to the bottom of the slider 13 , and the slider 23 is located in the third chute 22 .
  • the chute 22 and the slider 23 limit the distance the slider 13 moves.
  • a second grip ring 24 is fixedly connected to one side of the movable support plate 8 , and the second grip ring 24 is provided to facilitate the movement of the movable support plate 8 .
  • the sleeve 25, the anti-slip sleeve 25 is fixedly connected with the second grip ring 24, and the anti-slip sleeve 25 provided is convenient for the user to hold the second grip ring 24.
  • a replacement method for an industrial manufacturing robot that is easy to replace the chuck body is characterized in that it includes the following steps:
  • the present invention is an industrial manufacturing robot that can easily replace the chuck body and its replacement method.
  • the movable support plate 8 When in use, the movable support plate 8 is driven to move away from the connection support base 3, and the first tension spring 11 is in tension.
  • one end of the positioning insert plate 9 is separated from the jack 7, and the restriction on the position of the limit block 5 is released. 5.
  • the dismantling of the collet body 2 can be completed by disengaging from the limiting slot 4.
  • the limiting hole 14 moves to the bottom of the limiting plate 18.
  • the spring 16 is in a stretched state, and then the second stretch spring 16 drives the movable plate 15 to move down, so that the bottom end of the limit plate 18 is inserted into the limit hole 14, so that the sliding plate 13 is fixed relative to the connecting support base 3, so that the positioning
  • the inserting plate 9 is fixed relative to the connecting support base 3, and by driving the chuck body 2 to move, the limit block 5 is moved to the position just below the limit slot 4, and then the limit block 5 is moved upward, so that the limit block 5 is inserted into the limit slot 4, at the same time, the jack 7 moves to the side of the positioning insert plate 9, and by driving the movable plate 15 to move up, the second tension spring 16 is in a stretched state, and then the movable plate 15 drives the limit plate 18 to move up, so that the limit When the bottom end of the position plate 18 is released from the limit hole 14, the position restriction of the slide plate 13 can be released.
  • the first tension spring 11 drives the The movable support plate 8 moves so that the movable support plate 8 moves toward the connection support base 3 , so that one end of the positioning plug plate 9 is inserted into the insertion hole 7 to complete the limitation of the position of the limit block 5 .

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Abstract

一种易更换夹头本体的工业制造用机器人,包括:工业制造机器人本体(1),工业制造机器人本体(1)的一侧设有夹头本体(2),夹头本体(2)的顶部设有连接支撑座(3),连接支撑座(3)的一侧与工业制造机器人本体(1)固定连接,连接支撑座(3)的底部开设有限位槽(4),限位槽(4)内设有限位块(5),限位块(5)的底部与夹头本体(2)的顶部固定连接,限位槽(4)的一侧内壁开设有第一通孔(6)。该易更换夹头本体的工业制造用机器人属于工业机器人技术领域,便于夹头本体(2)的拆装,提高了拆装效率,改变了传统的连接方式,减少工业制造机器人本体工作(1)产生的振动对夹头本体(2)和连接支撑座(3)连接处的影响。还提供一种易更换夹头本体的工业制造用机器人的更换方法。

Description

一种易更换夹头本体的工业制造用机器人及其更换方法 技术领域
本发明涉及工业机器人技术领域,特别涉及一种易更换夹头本体的工业制造用机器人及其更换方法。
背景技术
工业机器人是广泛用于工业领域的多关节机械手或多自由度的机器装置,具有一定的自动性,可依靠自身的动力能源和控制能力实现各种工业加工制造功能。工业机器人被广泛应用于电子、物流、化工等各个工业领域之中。相比于传统的工业设备,工业机器人有众多的优势,比如机器人具有易用性、智能化水平高、生产效率及安全性高、易于管理且经济效益显著等特点,使得它们可以在高危环境下进行作业。工业机器人在使用的过程中往往需要使用不同的夹头本体来实现对不同物品的夹持,为了对夹头本体固定的更加稳定,往往需要使用多个螺栓对夹头本体的位置进行固定,但是这种固定方法拆卸时不仅需要适配的工具,而且还需要工作人员依次拧动若干个螺栓进行拆卸,其过程费时费力,并且在使用的过程中工业机器人工作会产生一些振动,使得一些螺栓在振动的过程中可能会产生晃动的现象,从而不能对夹头本体进行稳固的固定。
技术问题
本发明的主要目的在于提供一种易更换夹头本体的工业制造用机器人及其更换方法,可以有效解决背景技术中往往需要使用多个螺栓对夹头本体的位置进行固定,但是这种固定方法拆卸时不仅需要适配的工具,而且还需要工作人员依次拧动若干个螺栓进行拆卸,其过程费时费力,并且在使用的过程中工业机器人工作会产生一些振动,使得一些螺栓在振动的过程中可能会产生晃动的现象,从而不能对夹头本体进行稳固固定的问题。
技术解决方案
为实现上述目的,本发明采取的技术方案为:
一种易更换夹头本体的工业制造用机器人,包括工业制造机器人本体,所述工业制造机器人本体的一侧设有夹头本体,所述夹头本体的顶部设有连接支撑座,所述连接支撑座的一侧与工业制造机器人本体固定连接,所述连接支撑座的底部开设有限位槽,所述限位槽内设有限位块,所述限位块的底部与夹头本体的顶部固定连接,所述限位槽的一侧内壁开设有第一通孔,所述限位块的一侧开设有插孔,所述连接支撑座的一侧设有活动支撑板,所述活动支撑板的一侧固定连接定位插板,所述定位插板的一端贯穿第一通孔,且所述定位插板的一端延伸至插孔内,所述连接支撑座的顶部固定连接有固定板,所述固定板的一侧与活动支撑板的一侧通过第一拉伸弹簧连接,所述连接支撑座靠近活动支撑板的一侧开设有第一滑槽,所述第一滑槽内设有滑板,所述滑板的一侧与活动支撑板的一侧固定连接,所述滑板的顶部开设有限位孔,所述连接支撑座的顶部设有限位孔相配合的限位组件。
优选的,所述限位组件包括设置于连接支撑座上方的活动板,所述活动板的底部与连接支撑座的顶部通过第二拉伸弹簧连接,所述第一滑槽的顶部内壁开设有第二通孔,所述第二通孔内设有限位板,所述限位板的底部与滑板的顶部相接触,所述限位板的顶部与活动板的底部固定连接。
优选的,所述固定板的一侧开设有第二滑槽,所述第二滑槽内设有限位滑块,所述限位滑块的一侧与活动板的一侧固定连接。
优选的,所述活动板的顶部固定连接有第一握环。
优选的,所述第一滑槽的底部内壁开设有第三滑槽,所述滑板的底部固定连接有滑块,且所述滑块位于第三滑槽内。
优选的,所述活动支撑板的一侧固定连接有第二握环。
优选的,所述第二握环的外部套设有防滑套,所述防滑套与第二握环固定连接。
一种易更换夹头本体的工业制造用机器人的更换方法,其特征在于,包括以下步骤:
S1、解除限位块位置的限定,驱动活动支撑板远离连接支撑座移动,第一拉伸弹簧处于拉伸状态,进而使得定位插板的一端脱离插孔,解除对限位块位置的限定,同时滑板在第一滑槽内滑动,通过驱动夹头本体下移,使得限位块脱离限位槽,即可完成夹头本体的拆除;
S2、限位定位插板的位置,当定位插板的一端脱离插孔时,限位孔移动至限位板的下方,由于此时第二拉伸弹簧处于拉伸状态,进而第二拉伸弹簧驱动活动板下移,使得限位板的底端插入限位孔内,进而使得滑板相对连接支撑座固定,从而使得定位插板相对连接支撑座固定;
S3、安装限位块,驱动夹头本体移动,使得限位块移动至限位槽的正下方,进而上移限位块,使得限位块插入限位槽内,同时插孔移动至定位插板的一侧;
S4、解除滑板位置的限定,驱动活动板上移,第二拉伸弹簧处于拉伸状态,进而活动板驱动限位板上移,使得限位板的底端脱离限位孔,即可解除对滑板位置的限定;
S5、对限位块位置限定,解除对滑板位置限定后,由于第一拉伸弹簧处于拉伸状态,进而第一拉伸弹簧驱动活动支撑板移动,使得活动支撑板朝向连接支撑座移动,进而使得定位插板的一端插入插孔内,完成对限位块位置的限定,从而完成夹头本体的安装。
有益效果
一种易更换夹头本体的工业制造用机器人及其更换方法,通过驱动活动支撑板远离连接支撑座移动,第一拉伸弹簧处于拉伸状态,进而使得定位插板的一端脱离插孔,解除对限位块位置的限定,同时滑板在第一滑槽内滑动,通过驱动夹头本体下移,使得限位块脱离限位槽,即可完成夹头本体的拆除,同时可以限位定位插板移动后的位置,使得定位插板保持脱离插孔的状态,便于对限位块进行下一次的安装,方便实际使用,提高了拆装效率,改变了传统的连接方式,减少工业制造机器人本体工作产生的振动对夹头本体和连接支撑座连接处的影响。
附图说明
图1为本发明一种易更换夹头本体的工业制造用机器人的整体结构示意图;
图2为本发明一种易更换夹头本体的工业制造用机器人的正视图;
图3为本发明一种易更换夹头本体的工业制造用机器人的连接支撑座结构示意图;
图4为图3的A处放大图;
图5为本发明一种易更换夹头本体的工业制造用机器人的更换方法流程图。
图中:1、工业制造机器人本体;2、夹头本体;3、连接支撑座;4、限位槽;5、限位块;6、第一通孔;7、插孔;8、活动支撑板;9、定位插板;10、固定板;11、第一拉伸弹簧;12、第一滑槽;13、滑板;14、限位孔;15、活动板;16、第二拉伸弹簧;17、第二通孔;18、限位板;19、第二滑槽;20、限位滑块;21、第一握环;22、第三滑槽;23、滑块;24、第二握环;25、防滑套。
本发明的实施方式
为使本发明实现的技术手段、创作特征、达成目的与功效易于明白了解,下面结合具体实施方式,进一步阐述本发明。
如图1-4所示,一种易更换夹头本体的工业制造用机器人,包括工业制造机器人本体1,工业制造机器人本体1的一侧设有夹头本体2,夹头本体2的顶部设有连接支撑座3,连接支撑座3的一侧与工业制造机器人本体1固定连接,连接支撑座3的底部开设有限位槽4,限位槽4内设有限位块5,限位块5的底部与夹头本体2的顶部固定连接,通过限位槽4和限位块5的配合,避免夹头本体2相对连接支撑座3晃动,限位槽4的一侧内壁开设有第一通孔6,限位块5的一侧开设有插孔7,连接支撑座3的一侧设有活动支撑板8,活动支撑板8的一侧固定连接定位插板9,定位插板9的一端贯穿第一通孔6,且定位插板9的一端延伸至插孔7内,通过定位插板9和插孔7的配合,限位块5的位置,避免限位块5脱离限位槽4,连接支撑座3的顶部固定连接有固定板10,固定板10的一侧与活动支撑板8的一侧通过第一拉伸弹簧11连接,通过设置的第一拉伸弹簧11,使得固定板10和活动支撑板8弹性连接,连接支撑座3靠近活动支撑板8的一侧开设有第一滑槽12,第一滑槽12内设有滑板13,滑板13的一侧与活动支撑板8的一侧固定连接,通过第一滑槽12和滑板13的配合,增加了活动支撑板8移动时的平稳性,滑板13的顶部开设有限位孔14,连接支撑座3的顶部设有限位孔14相配合的限位组件,可以简单便捷的控制限位块5和连接支撑座3的连接关系,进而便于夹头本体2的拆装,方便实际使用,提高了拆装效率,改变了传统的连接方式,减少工业制造机器人本体1工作产生的振动对夹头本体2和连接支撑座3连接处的影响;
在本实施例中,限位组件包括设置于连接支撑座3上方的活动板15,活动板15的底部与连接支撑座3的顶部通过第二拉伸弹簧16连接,使得活动板15与连接支撑座3弹性连接,第一滑槽12的顶部内壁开设有第二通孔17,第二通孔17内设有限位板18,通过第二拉伸弹簧16的弹性按压,进而使得限位板18的底部与滑板13的顶部相接触,限位板18的顶部与活动板15的底部固定连接,进而使得活动板15可以驱动限位板18移动,通过驱动活动板15上移,第二拉伸弹簧16处于拉伸状态,进而活动板15驱动限位板18上移,使得限位板18的底端脱离限位孔14,即可解除对滑板13位置的限定,固定板10的一侧开设有第二滑槽19,第二滑槽19内设有限位滑块20,限位滑块20的一侧与活动板15的一侧固定连接,当活动板15上下移动时,限位滑块20在第二滑槽19内滑动,通过设置的第二滑槽19和限位滑块20,限位固定板10上下移动的距离,进而避免限位板18脱离第二通孔17,活动板15的顶部固定连接有第一握环21,通过设置的第一握环21,便于驱动活动板15移动。
在本实施例中,第一滑槽12的底部内壁开设有第三滑槽22,滑板13的底部固定连接有滑块23,且滑块23位于第三滑槽22内,通过设置的第三滑槽22和滑块23,限位滑板13移动的距离。
在本实施例中,活动支撑板8的一侧固定连接有第二握环24,通过设置的第二握环24,便于驱动活动支撑板8移动,第二握环24的外部套设有防滑套25,防滑套25与第二握环24固定连接,通过设置的防滑套25,便于使用者握住第二握环24。
如图5所示,一种易更换夹头本体的工业制造用机器人的更换方法,其特征在于,包括以下步骤:
S1、解除限位块5位置的限定,驱动活动支撑板8远离连接支撑座3移动,第一拉伸弹簧11处于拉伸状态,进而使得定位插板9的一端脱离插孔7,解除对限位块5位置的限定,同时滑板13在第一滑槽12内滑动,通过驱动夹头本体2下移,使得限位块5脱离限位槽4,即可完成夹头本体2的拆除;
S2、限位定位插板9的位置,当定位插板9的一端脱离插孔7时,限位孔14移动至限位板18的下方,由于此时第二拉伸弹簧16处于拉伸状态,进而第二拉伸弹簧16驱动活动板15下移,使得限位板18的底端插入限位孔14内,进而使得滑板13相对连接支撑座3固定,从而使得定位插板9相对连接支撑座3固定;
S3、安装限位块5,驱动夹头本体2移动,使得限位块5移动至限位槽4的正下方,进而上移限位块5,使得限位块5插入限位槽4内,同时插孔7移动至定位插板9的一侧;
S4、解除滑板13位置的限定,驱动活动板15上移,第二拉伸弹簧16处于拉伸状态,进而活动板15驱动限位板18上移,使得限位板18的底端脱离限位孔14,即可解除对滑板13位置的限定;
S5、对限位块5位置限定,解除对滑板13位置限定后,由于第一拉伸弹簧11处于拉伸状态,进而第一拉伸弹簧11驱动活动支撑板8移动,使得活动支撑板8朝向连接支撑座3移动,进而使得定位插板9的一端插入插孔7内,完成对限位块5位置的限定,从而完成夹头本体2的安装。
需要说明的时,本发明为一种易更换夹头本体的工业制造用机器人及其更换方法,在使用时,驱动活动支撑板8远离连接支撑座3移动,第一拉伸弹簧11处于拉伸状态,进而使得定位插板9的一端脱离插孔7,解除对限位块5位置的限定,同时滑板13在第一滑槽12内滑动,通过驱动夹头本体2下移,使得限位块5脱离限位槽4,即可完成夹头本体2的拆除,当定位插板9的一端脱离插孔7时,限位孔14移动至限位板18的下方,由于此时第二拉伸弹簧16处于拉伸状态,进而第二拉伸弹簧16驱动活动板15下移,使得限位板18的底端插入限位孔14内,进而使得滑板13相对连接支撑座3固定,从而使得定位插板9相对连接支撑座3固定,通过驱动夹头本体2移动,使得限位块5移动至限位槽4的正下方,进而上移限位块5,使得限位块5插入限位槽4内,同时插孔7移动至定位插板9的一侧,通过驱动活动板15上移,第二拉伸弹簧16处于拉伸状态,进而活动板15驱动限位板18上移,使得限位板18的底端脱离限位孔14,即可解除对滑板13位置的限定,解除对滑板13位置限定后,由于第一拉伸弹簧11处于拉伸状态,进而第一拉伸弹簧11驱动活动支撑板8移动,使得活动支撑板8朝向连接支撑座3移动,进而使得定位插板9的一端插入插孔7内,完成对限位块5位置的限定。
以上显示和描述了本发明的基本原理和主要特征和本发明的优点。本行业的技术人员应该了解,本发明不受上述实施例的限制,上述实施例和说明书中描述的只是说明本发明的原理,在不脱离本发明精神和范围的前提下,本发明还会有各种变化和改进,这些变化和改进都落入要求保护的本发明范围内。本发明要求保护范围由所附的权利要求书及其等效物界定。

Claims (8)

  1. 一种易更换夹头本体的工业制造用机器人,其特征在于:包括工业制造机器人本体(1),所述工业制造机器人本体(1)的一侧设有夹头本体(2),所述夹头本体(2)的顶部设有连接支撑座(3),所述连接支撑座(3)的一侧与工业制造机器人本体(1)固定连接,所述连接支撑座(3)的底部开设有限位槽(4),所述限位槽(4)内设有限位块(5),所述限位块(5)的底部与夹头本体(2)的顶部固定连接,所述限位槽(4)的一侧内壁开设有第一通孔(6),所述限位块(5)的一侧开设有插孔(7),所述连接支撑座(3)的一侧设有活动支撑板(8),所述活动支撑板(8)的一侧固定连接定位插板(9),所述定位插板(9)的一端贯穿第一通孔(6),且所述定位插板(9)的一端延伸至插孔(7)内,所述连接支撑座(3)的顶部固定连接有固定板(10),所述固定板(10)的一侧与活动支撑板(8)的一侧通过第一拉伸弹簧(11)连接,所述连接支撑座(3)靠近活动支撑板(8)的一侧开设有第一滑槽(12),所述第一滑槽(12)内设有滑板(13),所述滑板(13)的一侧与活动支撑板(8)的一侧固定连接,所述滑板(13)的顶部开设有限位孔(14),所述连接支撑座(3)的顶部设有限位孔(14)相配合的限位组件。
  2. 根据权利要求1所述的一种易更换夹头本体的工业制造用机器人,其特征在于:所述限位组件包括设置于连接支撑座(3)上方的活动板(15),所述活动板(15)的底部与连接支撑座(3)的顶部通过第二拉伸弹簧(16)连接,所述第一滑槽(12)的顶部内壁开设有第二通孔(17),所述第二通孔(17)内设有限位板(18),所述限位板(18)的底部与滑板(13)的顶部相接触,所述限位板(18)的顶部与活动板(15)的底部固定连接。
  3. 根据权利要求2所述的一种易更换夹头本体的工业制造用机器人,其特征在于:所述固定板(10)的一侧开设有第二滑槽(19),所述第二滑槽(19)内设有限位滑块(20),所述限位滑块(20)的一侧与活动板(15)的一侧固定连接。
  4. 根据权利要求3所述的一种易更换夹头本体的工业制造用机器人,其特征在于:所述活动板(15)的顶部固定连接有第一握环(21)。
  5. 根据权利要求1所述的一种易更换夹头本体的工业制造用机器人,其特征在于:所述第一滑槽(12)的底部内壁开设有第三滑槽(22),所述滑板(13)的底部固定连接有滑块(23),且所述滑块(23)位于第三滑槽(22)内。
  6. 根据权利要求1所述的一种易更换夹头本体的工业制造用机器人,其特征在于:所述活动支撑板(8)的一侧固定连接有第二握环(24)。
  7. 根据权利要求6所述的一种易更换夹头本体的工业制造用机器人,其特征在于:所述第二握环(24)的外部套设有防滑套(25),所述防滑套(25)与第二握环(24)固定连接。
  8. 基于易更换夹头本体的工业制造用机器人的更换方法,其特征在于,包括以下步骤:
    S1、解除限位块(5)位置的限定,驱动活动支撑板(8)远离连接支撑座(3)移动,第一拉伸弹簧(11)处于拉伸状态,进而使得定位插板(9)的一端脱离插孔(7),解除对限位块(5)位置的限定,同时滑板(13)在第一滑槽(12)内滑动,通过驱动夹头本体(2)下移,使得限位块(5)脱离限位槽(4),即可完成夹头本体(2)的拆除;
    S2、限位定位插板(9)的位置,当定位插板(9)的一端脱离插孔(7)时,限位孔(14)移动至限位板(18)的下方,由于此时第二拉伸弹簧(16)处于拉伸状态,进而第二拉伸弹簧(16)驱动活动板(15)下移,使得限位板(18)的底端插入限位孔(14)内,进而使得滑板(13)相对连接支撑座(3)固定,从而使得定位插板(9)相对连接支撑座(3)固定;
    S3、安装限位块(5),驱动夹头本体(2)移动,使得限位块(5)移动至限位槽(4)的正下方,进而上移限位块(5),使得限位块(5)插入限位槽(4)内,同时插孔(7)移动至定位插板(9)的一侧;
    S4、解除滑板(13)位置的限定,驱动活动板(15)上移,第二拉伸弹簧(16)处于拉伸状态,进而活动板(15)驱动限位板(18)上移,使得限位板(18)的底端脱离限位孔(14),即可解除对滑板(13)位置的限定;
    S5、对限位块(5)位置限定,解除对滑板(13)位置限定后,由于第一拉伸弹簧(11)处于拉伸状态,进而第一拉伸弹簧(11)驱动活动支撑板(8)移动,使得活动支撑板(8)朝向连接支撑座(3)移动,进而使得定位插板(9)的一端插入插孔(7)内,完成对限位块(5)位置的限定,从而完成夹头本体(2)的安装。
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