CN106625750A - Quick change module of manipulator - Google Patents
Quick change module of manipulator Download PDFInfo
- Publication number
- CN106625750A CN106625750A CN201710017526.4A CN201710017526A CN106625750A CN 106625750 A CN106625750 A CN 106625750A CN 201710017526 A CN201710017526 A CN 201710017526A CN 106625750 A CN106625750 A CN 106625750A
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- CN
- China
- Prior art keywords
- steel ball
- seat
- change module
- mechanical hand
- quick change
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a quick change module of a manipulator. The quick change module comprises a cylinder seat, a steel ball seat, a steel ball clamp seat and a tool seat, wherein the steel ball seat is arranged in a middle groove of the cylinder seat, a positioning pin is horizontally arranged on the bottom surface of the groove, and orderly penetrates the steel ball seat and the steel ball clamp seat; a bulge part is formed at one side of the steel ball seat, and a round hole penetrates the surface of the bulge part and a steel ball is held in the round hole; the steel ball clamp seat is arranged in the middle groove of the tool seat; the steel ball clamp seat is arranged at outside of the steel ball, a steel ball pressure head is arranged in the steel ball seat, and the contact surface of the steel ball pressure head and the steel ball is inclined at 15 DEG. The quick change module disclosed by the invention is high in structure stability, convenient for structure connection, and capable of realizing quick connection; multiple sets of tooling or clamps can be connected with the manipulator; only needing to mount the tooling clamp on the multiple sets of tool seats and mount the cylinder seat on the manipulator, one manipulator can be matched with multiple sets of tooling clamps, and the utilization rate of the manipulator is effectively improved.
Description
Technical field
The present invention relates to a kind of Quick change module of mechanical hand.
Background technology
Mechanical hand can imitate some holding functions of staff and arm, to by fixed routine crawl, carrying object or operation
The automatic pilot of instrument.Mechanical hand is the earliest industrial robot for occurring, and is also the earliest modern machines people for occurring, and it can
Replace the heavy labor of people to realize the mechanization and the automatization that produce, can operate under hostile environment to protect personal safety,
Thus it is widely used in the departments such as machine-building, metallurgy, electronics, light industry and atomic energy.Mechanical hand is the automatic metaplasia in mechanization
A kind of new device grown up during product.In present-day procedure, mechanical hand is widely applied to production automatically
In line, the development and production of robot become in high-tech sector, the emerging technology of develop rapidly, and it is more
Promote the development of mechanical hand so that mechanical hand can be better achieved the combination with mechanization and automatization.Though mechanical hand
It is so flexible like that not as good as staff, but it has energy constantly repeated work and work, does not know fatigue, is fearless of danger, snatch weight
Strength it is bigger than people hand-power the characteristics of, therefore, mechanical hand is paid attention to by many departments, and is answered more and more widely
With.China's plastics machinery has become one of machinery manufacturing industry industry with fastest developing speed, and annual requirement is constantly being increased.China moulds
The high speed development of material mechanical industry mainly has following two big factors：One is to setting that the demand of high technology content equipment is brought
It is standby to update and obsolete equipment is eliminated;Two is the high speed development of plastic processing industry through the country, to the in great demand of plastics machinery.
Quick change module is the attachment means for connecting mechanical hand frock or fixture and mechanical hand, and existing module can not the company of holding
Structural stability after connecing is high, and connection is inconvenient, it is not possible to realize quick connection.Frock or fixture and mechanical hand cannot be covered more
It is attached, it is not possible to realize a mechanical hand with many set frock clamps, it is impossible to effectively improve the utilization rate of mechanical hand.
The content of the invention
In view of this, it is an object of the present invention to provide a kind of stability is high, structure is easy to connect, it is possible to achieve quick connection,
Frock or fixture can be covered more and mechanical hand is attached, it is only necessary to which frock clamp is arranged in many set tool seat, cylinder block peace
Dress is on a robotic arm, it is possible to realize that a mechanical hand, with many set frock clamps, effectively improves the machinery of the utilization rate of mechanical hand
The Quick change module of handss.
In order to solve above-mentioned technical problem, the technical scheme is that：
A kind of Quick change module of mechanical hand, including cylinder block, steel ball seat, steel ball deck and tool seat, the steel ball seat is arranged on
In the central slot of cylinder block, being horizontally disposed with the groove floor has an alignment pin, the alignment pin sequentially pass through steel ball seat and
Steel ball deck, the steel ball seat side arranges lobe, and the lobe surface contains steel ball through having in circular hole and circular hole,
The steel ball deck is arranged in tool seat central slot, and the steel ball deck is located at steel ball outside, steel ball seat inside peace
Equipped with ball indenter, the face that the ball indenter is contacted with steel ball is obliquely installed in 15 °, and described ball indenter one end sets gradually
There are pull bar envelope, piston and the 3rd screw, the cylinder block and tool seat outside are provided with the air flue being interconnected, the cylinder
The air flue junction of seat and tool seat is provided with rubber stopper, and in the rubber stopper support set is provided with.
Preferably, the circular hole is less than the diameter of steel ball near the gap of steel ball seat outer one end.
Preferably, the steel ball seat is fixed with cylinder block by the first screw.
Preferably, the steel ball deck is fixedly connected with tool seat by the second screw.
Preferably, the piston outside is provided with piston envelope, the end face of the steel ball seat is provided with O-ring, it is ensured that gas
The sealing of cylinder.
Preferably, the air flue along cylinder block radially-inwardly again axially through cylinder block.
Preferably, being fixed with quick female by the 4th screw on the cylinder block.
Preferably, being fixed with quick public plug by the 4th screw in the tool seat.
Preferably, being provided with by Cross Recess Head Screw respectively on the quick female and quick public plug general
Female.
Preferably, the 3rd screw is fixed through piston and pull bar envelope with ball indenter, piston one end correspondence is installed
There is cylinder body.Pull bar envelope is in the groove inside steel ball seat, it is ensured that the sealing of cylinder.
The technology of the present invention effect major embodiment is in the following areas：The setting of cylinder block, steel ball seat, steel ball deck and tool seat
Stability can be kept high, structure is easy to connect, it is possible to achieve quick connection；The air flue of setting cause cylinder block and tool seat it
Between gas circuit connection do not need extra pipeline, enable to compact conformation.Frock or fixture and mechanical hand can be covered to carry out more
Connection, it is only necessary to which frock clamp is arranged in many set tool seat, and cylinder block is installed on a robotic arm, it is possible to realize a machinery
Handss effectively improve the utilization rate of mechanical hand with many set frock clamps.
Description of the drawings
Fig. 1 is a kind of explosive view of the Quick change module of mechanical hand of the invention.
Fig. 2 is a kind of assembling front view of the Quick change module of mechanical hand of the invention.
Fig. 3 be Fig. 2 along A-A to profile.
Fig. 4 is profiles of the Fig. 2 along B-B direction.
Fig. 5 is a kind of assembling side elevation of the Quick change module of mechanical hand of the invention.
Specific embodiment
Below in conjunction with accompanying drawing, the specific embodiment of the present invention is described in further detail, so that technical solution of the present invention is more
Should be readily appreciated that and grasp.
A kind of Quick change module of mechanical hand, including cylinder block 1, steel ball seat 3, steel ball deck 6 and tool seat 5, wherein cylinder
Seat 1 and tool seat 5 are made using high-strength aluminum alloy, it is ensured that can mitigate weight while intensity, and using surface treatment
Technique, lifts anti-wear performance, effectively increases the service life.The steel ball seat 3 is arranged in the central slot of cylinder block 1, institute
State to be horizontally disposed with groove floor and have alignment pin 7, the alignment pin 7 sequentially passes through steel ball seat 3 and steel ball deck 6, can be in group
The position of steel ball seat 3 and steel ball deck 6 is limited during dress, can quickly be installed.The side of the steel ball seat 6 arranges lobe, convex
The portion of rising is integrally formed with steel ball seat 6.The lobe surface contains steel ball 16 through having in circular hole and circular hole, the steel ball card
Seat 6 is arranged in the central slot of tool seat 5, and the steel ball deck 6 is located at the outside of steel ball 16, is provided with inside the steel ball seat 3
Ball indenter 4, the face that the ball indenter 4 is contacted with steel ball 16 is obliquely installed in 15 °, can cause tightening force about after mounting
For 3 times of cylinder force, the effect of reinforcement is reached.15 ° be obliquely installed after have 0 ° to be vertically arranged, it is ensured that Quick change module is after cylinder is died
Tool seat does not fall out, and realizes self-locking, with safety protection function.The one end of the ball indenter 4 be disposed with pull bar envelope 15,
The screw 20 of piston 2 and the 3rd, the cylinder block 1 and the outside of tool seat 5 are provided with the air flue being interconnected, the cylinder block 1
It is provided with rubber stopper 8, the rubber stopper 8 with the air flue junction of tool seat 5 and is provided with support set 9, rubber stopper 8 can be to even
The place of connecing is sealed, and support set 9 is hollow form, can keep the connection of gas circuit.
The circular hole is less than the diameter of steel ball near the gap of steel ball seat outer one end.The steel ball seat 3 is led to cylinder block 1
Cross the first screw 21 to fix.The steel ball deck 6 is fixedly connected with tool seat 5 by the second screw 19.The outside of the piston 2 peace
Equipped with piston envelope 14, the end face of the steel ball seat 3 is provided with O-ring 13 and installs.Pull bar envelope 15, O-ring 13 and piston envelope 14 are adopted
With exotic material, the high temperature of 250 DEG C of highest can be born.The air flue is along cylinder block 1 radially-inwardly again axially through gas
Cylinder seat 1.Quick female 12 is fixed with by the 4th screw 18 on the cylinder block 1.Pass through the 4th screw in the tool seat 5
18 are fixed with quick public plug 11.Pass through Cross Recess Head Screw 17 on the quick female 12 and quick public plug 11 respectively
General female 10 is installed.3rd screw 20 is fixed through piston 2 and pull bar envelope 15 with ball indenter 4, pull bar envelope 15
In the groove inside steel ball seat 3.Quick female 12, quick public plug 11, general female 10 have existing standard
Attaching plug, and quick female 12 and quick public plug 11 are connected with each other after assembling.
The technology of the present invention effect major embodiment is in the following areas：The setting of cylinder block, steel ball seat, steel ball deck and tool seat
Stability can be kept high, structure is easy to connect, it is possible to achieve quick connection；The air flue of setting cause cylinder block and tool seat it
Between gas circuit connection do not need extra pipeline, enable to compact conformation.Frock or fixture and mechanical hand can be covered to carry out more
Connection, it is only necessary to which frock clamp is arranged in many set tool seat, and cylinder block is installed on a robotic arm, it is possible to realize a machinery
Handss effectively improve the utilization rate of mechanical hand with many set frock clamps
Certainly, the above is the representative instance of the present invention, and in addition, the present invention can also have other various specific embodiment parties
The technical scheme that formula, all employing equivalents or equivalent transformation are formed, all falls within the scope of protection of present invention.
Claims (10)
1. in a kind of Quick change module of mechanical hand herein, it is characterised in that：Including cylinder block, steel ball seat, steel ball deck and instrument
Seat, the steel ball seat is arranged in the central slot of cylinder block, and being horizontally disposed with the groove floor has alignment pin, the positioning
Pin sequentially passes through steel ball seat and steel ball deck, and the steel ball seat side arranges lobe, and the lobe surface is run through circular hole
And steel ball is contained in circular hole, the steel ball deck is arranged in tool seat central slot, and the steel ball deck is located at outside steel ball
Side, is provided with ball indenter inside the steel ball seat, the face that the ball indenter is contacted with steel ball is obliquely installed in 15 °, described
Ball indenter one end is disposed with pull bar envelope, piston and the 3rd screw, and the cylinder block and tool seat outside are provided with phase
The air flue junction of intercommunicated air flue, the cylinder block and tool seat is provided with rubber stopper, is provided with the rubber stopper and props up
Support set.
2. the Quick change module of mechanical hand according to claim 1, it is characterised in that：The circular hole is near steel ball seat outer one
Diameter of the gap at end less than steel ball.
3. the Quick change module of mechanical hand according to claim 2, it is characterised in that：The steel ball seat and cylinder block are by the
One screw is fixed.
4. the Quick change module of mechanical hand according to claim 3, it is characterised in that：The steel ball deck passes through with tool seat
Second screw is fixedly connected.
5. the Quick change module of mechanical hand according to claim 4, it is characterised in that：The piston outside is provided with piston
Envelope, the end face of the steel ball seat is provided with O-ring installation.
6. the Quick change module of mechanical hand according to claim 5, it is characterised in that：The air flue along cylinder block radially-inwardly
Again axially through cylinder block.
7. the Quick change module of mechanical hand according to claim 6, it is characterised in that：Pass through the 4th screw on the cylinder block
It is fixed with quick female.
8. the Quick change module of mechanical hand according to claim 7, it is characterised in that：Pass through the 4th screw in the tool seat
It is fixed with quick public plug.
9. the Quick change module of mechanical hand according to claim 8, it is characterised in that：The quick female and quick male plug
Respectively general female is provided with by Cross Recess Head Screw on head.
10. the Quick change module of mechanical hand according to claim 9, it is characterised in that：3rd screw through piston and
Pull bar envelope is fixed with ball indenter, and the pull bar envelope is in the groove inside steel ball seat.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710017526.4A CN106625750A (en) | 2017-01-11 | 2017-01-11 | Quick change module of manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710017526.4A CN106625750A (en) | 2017-01-11 | 2017-01-11 | Quick change module of manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106625750A true CN106625750A (en) | 2017-05-10 |
Family
ID=58843631
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710017526.4A Pending CN106625750A (en) | 2017-01-11 | 2017-01-11 | Quick change module of manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106625750A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107520854A (en) * | 2017-08-29 | 2017-12-29 | 中国船舶科学研究中心（中国船舶重工集团公司第七0二研究所） | The urgent desertion device of manned underwater vehicle manipulator |
| CN109571535A (en) * | 2019-01-09 | 2019-04-05 | 沈阳安德镭斯智能科技有限公司 | A kind of wisdom storage reconstruct device of feeding robot end effector |
| CN111113468A (en) * | 2020-03-31 | 2020-05-08 | 江苏宇邦工业自动化***有限公司 | Quick-changing device and method for tail end of industrial robot |
| CN111745666A (en) * | 2020-07-07 | 2020-10-09 | 广东电网有限责任公司电力科学研究院 | Cotter assembling robot and cotter assembling method |
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| US20120091311A1 (en) * | 2010-10-13 | 2012-04-19 | Re2, Inc. | Compliant Tool Holder |
| CN104924322A (en) * | 2014-03-20 | 2015-09-23 | 淮安市博泽科技有限公司 | Self-protecting robot tail end quick-changing disc |
| CN205310300U (en) * | 2016-01-13 | 2016-06-15 | 绵阳伦奇机器人有限公司 | Fast parallel operation of robot instrument |
| CN205325706U (en) * | 2016-01-13 | 2016-06-22 | 绵阳伦奇机器人有限公司 | Novel fast parallel operation of robot instrument |
| CN106182058A (en) * | 2016-08-26 | 2016-12-07 | 苏州博众精工科技有限公司 | A kind of mechanical hand fast replacing device |
| CN206475174U (en) * | 2017-01-21 | 2017-09-08 | 陈旭芳 | A kind of Quick change module of manipulator |
-
2017
- 2017-01-11 CN CN201710017526.4A patent/CN106625750A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20120091311A1 (en) * | 2010-10-13 | 2012-04-19 | Re2, Inc. | Compliant Tool Holder |
| CN104924322A (en) * | 2014-03-20 | 2015-09-23 | 淮安市博泽科技有限公司 | Self-protecting robot tail end quick-changing disc |
| CN205310300U (en) * | 2016-01-13 | 2016-06-15 | 绵阳伦奇机器人有限公司 | Fast parallel operation of robot instrument |
| CN205325706U (en) * | 2016-01-13 | 2016-06-22 | 绵阳伦奇机器人有限公司 | Novel fast parallel operation of robot instrument |
| CN106182058A (en) * | 2016-08-26 | 2016-12-07 | 苏州博众精工科技有限公司 | A kind of mechanical hand fast replacing device |
| CN206475174U (en) * | 2017-01-21 | 2017-09-08 | 陈旭芳 | A kind of Quick change module of manipulator |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107520854A (en) * | 2017-08-29 | 2017-12-29 | 中国船舶科学研究中心（中国船舶重工集团公司第七0二研究所） | The urgent desertion device of manned underwater vehicle manipulator |
| CN109571535A (en) * | 2019-01-09 | 2019-04-05 | 沈阳安德镭斯智能科技有限公司 | A kind of wisdom storage reconstruct device of feeding robot end effector |
| CN111113468A (en) * | 2020-03-31 | 2020-05-08 | 江苏宇邦工业自动化***有限公司 | Quick-changing device and method for tail end of industrial robot |
| CN111745666A (en) * | 2020-07-07 | 2020-10-09 | 广东电网有限责任公司电力科学研究院 | Cotter assembling robot and cotter assembling method |
| CN111745666B (en) * | 2020-07-07 | 2021-07-30 | 广东电网有限责任公司电力科学研究院 | Cotter assembling robot and cotter assembling method |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20170510 |
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| WD01 | Invention patent application deemed withdrawn after publication |