CN106737842A - Robot arm, magic chuck device and method of work - Google Patents
Robot arm, magic chuck device and method of work Download PDFInfo
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- CN106737842A CN106737842A CN201710009957.6A CN201710009957A CN106737842A CN 106737842 A CN106737842 A CN 106737842A CN 201710009957 A CN201710009957 A CN 201710009957A CN 106737842 A CN106737842 A CN 106737842A
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- latch segment
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention provides a kind of magic chuck device.The magic chuck device includes quick change machine end, magic chuck end and latch segment, the quick change machine end is axially engaged with magic chuck end, the quick change machine end includes the machine connecting portion and quick change connecting portion that are stacked, the latch segment is combined between quick change connecting portion and magic chuck end, and a mutual cooperation is respectively provided with and for the inclined-plane of locking on the latch segment and the contact surface of quick change connecting portion.Compared with correlation technique, the magic chuck device that the present invention is provided can realize the automatic replacing end clamp within the several seconds, increased the flexibility of robot, while when end clamp needs repairing, can reduce downtime with quick change replacing clamp.The present invention also provides a kind of robot arm.
Description
Technical field
The present invention relates to robotic arm design field, more particularly to a kind of robot arm, magic chuck device and work
Method.
Background technology
In recent years, it is more and more as China's manufacturing industry transition and upgrade pressure increases and the continuous of labor cost is risen
Enterprise consider with machine substitute human labor.On the other hand, present consumer personalization's demand is more and more denseer, and difference configuration and outward appearance are individual
The elements such as property decide that manufacturing enterprise certainly will use Flexible Manufacturing Technology.Flexible manufacturing is changed the outfit soon with robot and instrument
Put and different products are manufactured on same assembly line.
Robot tool Quick fixture replacing device by the end effector or ancillary equipment different to the automatic replacing of robot,
Make the application of robot more flexible.For ensure robot arm end-of-arm tooling quick-replaceable and security higher, it is necessary to
Have requirement higher to the structure of fast replacing device, therefore, it is necessary to provide a kind of new robot arm, magic chuck device and
Method of work meets requirements above.
The content of the invention
It is an object of the invention to provide a kind of energy quick-replaceable, good stability, safe robot arm, quick change
Grip device and method of work.
The present invention provides a kind of magic chuck device, including quick change machine end, magic chuck end and latch segment, the quick change
Machine end is axially engaged with magic chuck end, and the quick change machine end includes the machine connecting portion being stacked and quick change connection
Portion, the latch segment is combined between quick change connecting portion and magic chuck end, the contact surface of the latch segment and quick change connecting portion
On be respectively provided with a mutual cooperation and for lock inclined-plane.
Preferably, the quick change connecting portion center depression is formed with the first insertion groove of boss and insertion, the quick change
Clip end corresponding position depression is formed with the second insertion groove of card division and insertion, the depression direction of the quick change connecting portion with it is fast
The depression direction for changing clip end is relative, and first insertion groove and second inserts groove location correspondence, the card division and lug boss position
Correspondence, the latch segment screws connection between the first insertion groove, the second insertion groove and card division, boss, and the inclined-plane is located at lock
On tight block and boss contact surface.
Preferably, also including being connected with latch segment and the electric rotating machine that it rotates is driven, the electric rotating machine is located at described
In machine connecting portion；The center of the machine connecting portion is provided with a rectangular channel, electric rotating machine band in the rectangular channel
Dynamic latch segment upper and lower displacement.
Preferably, the boss includes the diagonally positioned first boss and second boss of same circumference, and described first is convex
Platform and second boss are disposed with the first spigot surface, the first cooperation inclined-plane and the first plane counterclockwise；Second spigot surface, second
Coordinate inclined-plane and the second plane, the latch segment includes the first transverse part, the second transverse part and connection interconnecting part between the two, described
Center insertion quick change connecting portion and magic chuck end of the interconnecting part in the quick change connecting portion, first transverse part connect in quick change
The recess of socket part is contacted with boss, and recess of second transverse part at magic chuck end is contacted with card division.
Preferably, first transverse part includes diagonally positioned left transverse part and right transverse part, the left transverse part and right transverse part
It is clockwise with boss contact surface to be disposed with the 3rd spigot surface, the 3rd cooperation inclined-plane and the 3rd plane；4th spigot surface,
Four coordinate inclined-plane and fourth plane.
Preferably, the slope of first spigot surface coordinates inclined-plane, first spigot surface and second more than described first
The oblique angle gradient of spigot surface is identical, and is all 1/2~1/5, the 3rd spigot surface, the 4th spigot surface and the first spigot surface, the
Two spigot surface respective outer side edges；Described first coordinates inclined-plane and second to coordinate the oblique angle gradient on inclined-plane identical, and the described 3rd coordinates oblique
Face, the 4th cooperation inclined-plane and the first cooperation inclined-plane, the second cooperation ramp structure coordinate for locking.
Preferably, a length of 90 ° of the circumference of the boss, a length of 40~80 °, preferably 55 ° of the circumference of the latch segment；Institute
The limited block being provided with the second planar end of second boss for blocking latch segment is stated, the limited block is located at latch segment circumference
Rotation extreme position.
Preferably, the quick change connecting portion also include at least two alignment pins, the magic chuck end also include with it is described
The location hole of detent fit, the end of the alignment pin is conical structure.
The present invention also provides a kind of method of magic chuck device, comprises the following steps：
Rectangular channel in the machine connecting portion is equipped with the electric rotating machine, and the electric rotating machine output shaft connects with latch segment
Connect, the depressed part of the first transverse part of the latch segment in quick change connecting portion；
The electric rotating machine turns clockwise in rectangular channel, while driving latch segment in the recess one of quick change connecting portion
With rotation, when the second transverse part of latch segment abuts to limited block, motor stalls, latch segment stops at the first insertion groove position
Put place；
The quick change machine end is moved to the top at magic chuck end, quick change machine end is covered on magic chuck end
On, inserted by the alignment pin and realize axially engaging in the location hole；
The electric rotating machine drives latch segment rotate counterclockwise, and the first transverse part of latch segment is threaded into boss, the second transverse part
It is threaded into card division；When first transverse part is threaded into boss, the face for contacting successively is：3rd spigot surface and the first spigot surface, opposite side
4th spigot surface and the second spigot surface；3rd coordinates inclined-plane and the first cooperation inclined-plane, opposite side the 4th to coordinate inclined-plane and second to match somebody with somebody
Close inclined-plane；What is finally contacted is the 3rd plane and the first plane, fourth plane and the second plane；Until latch segment lock onto boss
And card division between, electric rotating machine stops driving；
The machine connection end completes assembling with magic chuck end；
Otherwise then magic chuck end is exited in the machine connection end for rotation.
The present invention also provides a kind of robot arm, including arm end, clip end and magic chuck device, the arm end
It is connected with the quick change machine end of magic chuck device, the clip end is connected with the magic chuck end of magic chuck device.
Compared with correlation technique, the invention has the advantages that：
Once, robot automatically replaceable end clamp within the several seconds, the flexibility of robot is increased, while when end folder
When tool needs repairing, downtime can be reduced with quick change replacing clamp；
2nd, in magic chuck device load lotus transfer route, end clamp load is transmitted by mechanical structure, is improved
The reliability of magic chuck device；
3rd, latch segment is lock onto between quick change connecting portion and magic chuck end, and is locked by inclined-plane, Planar Quadratic, tool
There is power-off protection function, it is to avoid when robot occurs power-off suddenly, end clamp makes a clean sweep of the phenomenon for falling and being damaged from arm.
Brief description of the drawings
The structural representation of the magic chuck device that Fig. 1 is provided for the present invention；
Fig. 2 is the top view of the quick change connecting portion in Fig. 1；
Fig. 3 is the top view at the magic chuck end in Fig. 1；
Fig. 4 is along the A-A sectional views of Fig. 2；
Fig. 5 is locking block structure schematic diagram in Fig. 1；
Fig. 6 is along the B-B sectional views of Fig. 5；
The workflow diagram of the magic chuck device that Fig. 7 is provided for the present invention；
The robot arm structural representation that Fig. 8 is provided for the present invention.
100 is magic chuck device in each figure, and 1 is quick change machine end, and 11 is machine connecting portion, and 111 is rectangular channel, and 12 are
Quick change connecting portion, 121 is boss, and 122 is the first insertion groove, and 123 is alignment pin, and 124 is limited block, and 1211 is first boss,
1212 is second boss, and 12111 is the first spigot surface, and 12112 is the first cooperation inclined-plane, and 12113 is the first plane, and 12121 are
Second spigot surface, 12122 is second to coordinate inclined-plane, and 12123 is the second plane, and 2 is magic chuck end, and 21 is card division, and 22 is the
Two insertion grooves, 23 is location hole, and 3 is latch segment, and 31 is the first transverse part, and 32 is the second transverse part, and 33 is interconnecting part, and 311 is left horizontal stroke
Portion, 312 is right transverse part, and 3111 is the 3rd spigot surface, and 3112 is the 3rd cooperation inclined-plane, and 3113 is the 3rd plane, and 3121 is the 4th
Spigot surface, 3122 is the 4th cooperation inclined-plane, and 3123 is fourth plane, and 4 is electric rotating machine, and 200 is arm end, and 300 is clip end.
Specific embodiment
Describe the present invention in detail below with reference to accompanying drawing and in conjunction with the embodiments.It should be noted that in the feelings not conflicted
Under condition, the embodiment in the present invention and the feature in embodiment can be mutually combined.For sake of convenience, hereinafter as occurred
" on ", D score, "left", "right", " clockwise ", " counterclockwise " printed words, only represent with accompanying drawing upper and lower, left and right, up time in itself
Pin, counter clockwise direction are consistent, do not play restriction effect to structure.
Refer to the structural representation of the magic chuck device that Fig. 1 is provided for the present invention.The magic chuck device 100 is wrapped
Include quick change machine end 1, magic chuck end 2, latch segment 3 and electric rotating machine 4.
The quick change machine end 1 is axially engaged with magic chuck end 2, i.e. center superposition.The quick change machine end 1 includes layer
The folded machine connecting portion 11 and quick change connecting portion 12 for setting.The center of machine connecting portion 11 is provided with the square of a up/down perforation
Shape groove 111.
Please refer to Fig. 1 and Fig. 2, wherein, Fig. 2 is the top view of the quick change connecting portion in Fig. 1.The quick change connecting portion
12 include boss 121, the first insertion groove 122 and alignment pin 123.Central concave shape of the boss 121 in quick change connecting portion 12
Into.Quick change connecting portion 12 described in first insertion groove 122 insertion so that boss 121 is in diagonally to be formed with first boss 1211
With second boss 1212.
Please refer to Fig. 1 and Fig. 3, wherein, Fig. 3 is the top view at the magic chuck end in Fig. 1.The magic chuck end
2 include card division 21, the second insertion groove 22 and location hole 23.Central concave of the card division 21 at the magic chuck end 2 is formed,
Its depression direction is relative with the depression direction of boss 121, i.e. the depression direction of card division 21 is downward, the depression direction of boss 121 to
On.Magic chuck end 2 described in second insertion groove 22 insertion.
Referring to Fig. 1, the quantity of the alignment pin 123 is at least two, is uniformly arranged in the quick change connecting portion
On 12, and set towards magic chuck end.The insertion magic chuck end 2 of the location hole 23 coordinates with alignment pin 123, the positioning
The end of pin 123 (closing on the one end at magic chuck end 2) is conical structure, and remaining is cylindrical structure, that is, first pass through conical structure
It is oriented to, is positioned by the cylindrical structure of alignment pin 123.
The alignment pin 123 mainly plays the role of positioning, and two-point locating can realize that the position of fast accurate determines.The quick change
Machine end 1 is covered behind magic chuck end 2 by alignment pin 123, the position pair of 122 and second insertion groove of the first insertion groove 22
Should, the boss 121 is corresponding with the position of card division 21.
Please refer to Fig. 2 and Fig. 4, wherein Fig. 4 is along the A-A sectional views of Fig. 2.The diagonally positioned first boss
1211 and second boss 1212 be on same circumference, counterclockwise circular rotation first boss 1211 be disposed with the first guiding
Face 12111, first coordinates the plane 12113 of inclined-plane 12112 and first.Counterclockwise circular rotation second boss 1212 sets gradually again
There is the second spigot surface 12121, second to coordinate the plane 12123 of inclined-plane 12122 and second.
Please refer to Fig. 1, Fig. 5 and Fig. 6, wherein Fig. 5 is locking block structure schematic diagram in Fig. 1, and Fig. 6 is along the B-B of Fig. 5
Sectional view.The latch segment 3 include the first transverse part 31, the second transverse part 32 and connect the transverse part 32 of the first transverse part 31 and second it
Between interconnecting part 33.
The recess that first transverse part 31 is located at the quick change connecting portion 12 is contacted with boss 121.First transverse part
31 include diagonally positioned left transverse part 311 and right transverse part 312, and the left transverse part 311 and right transverse part 312 are separated by interconnecting part 33
For diagonally positioned.Left transverse part 311 is contacted with first boss 1211, and right transverse part 312 is contacted with second boss 1212.The connection
Portion 33 is at the center of quick change connecting portion 12 successively insertion quick change connecting portion 12 and magic chuck end 2.Same second transverse part 32 is all
It is in diagonal two pieces by the cut-off of interconnecting part 33.Only locked in diagonal direction, it is to avoid when other directions are also locked
There is stuck phenomenon, be unfavorable for that quick change machine end 1 departs from magic chuck end 2, and equally meet the requirement that both are locked.
Please refer to Fig. 2, Fig. 3 and Fig. 6, the projection of shape of the latch segment 3 is inserted with the first insertion groove 122 and second
The projection of shape of groove 22 is similar, and size is less than the first insertion groove 122 and the size of the second insertion groove 22.The size of boss 121 is determined
The size of the first insertion groove 122 is determined, specially：A length of 90 ° of the circumference of the boss, it is convenient to there are enough locking faces to enter thereon
Row locking；The size of second insertion groove 122 is equal to or more than the size of the first insertion groove 122, the circumference of the latch segment 3
Between a length of 40 °~80 °, preferably 55 °, it is easy to the second transverse part 32 to enter the second insertion groove 122 from the first insertion groove 122.
Please refer to Fig. 1, Fig. 5 and Fig. 6, the left transverse part 311 with the contact surface of first boss 1211 on clockwise according to
Secondary the 3rd spigot surface the 3111, the 3rd that is provided with coordinates the plane 3113 of inclined-plane 3112 and the 3rd.The right transverse part 312 with it is second convex
The 4th spigot surface the 3121, the 4th is disposed with the contact surface of platform 1212 clockwise and coordinates inclined-plane 3122 and fourth plane 3123.
Referring to Fig. 1, Fig. 4, Fig. 5 and Fig. 6, first spigot surface 12111, the second spigot surface the 12121, the 3rd are led
It is the inclined-plane that can be oriented to the spigot surface 3112 of face 3111 and the 4th, wherein, the slope of first spigot surface 12111 is more than described
First coordinates inclined-plane 12112, and it is all 1/2~1/ that first spigot surface 12111 is identical with the oblique angle gradient of the second spigot surface 12121
5, its bevel altitude difference is between 0.5~1mm, can to make latch segment 3 smoothly screw in magic chuck end 2.Described 3rd is oriented to
Face 3111, the 4th spigot surface 3112 and the first spigot surface 12111, the respective outer side edges of the second spigot surface 12121.Each spigot surface is on the one hand
The effect of guiding is served, the effect of buffering is served when magic chuck end 2 is on the other hand just cut to latch segment 3.
Described first coordinates inclined-plane 12112 to coordinate the oblique angle gradient on inclined-plane 12122 identical with second, and the described 3rd coordinates oblique
Face 3112 coordinates with the first cooperation inclined-plane 12112, and the 4th cooperation inclined-plane 3122 coordinates with the second cooperation inclined-plane 12122.Described
One coordinates inclined-plane 12112, second to coordinate inclined-plane 12122 and the 3rd to coordinate inclined-plane the 3112, the 4th to coordinate inclined-plane 3122 to be quick change
The locking inclined-plane that connecting portion 12 coordinates with latch segment 3.According to frictional force self-locking formula tan (θ)<μ, θ represent the maximum of mating surface
Bevel angle, μ represents the coefficient of friction between mating surface.It is each to coordinate oblique if the coefficient of friction between locking face is 0.1
Face maximum tilt angle is 5.9 °, to reach optimal locking state.
The plane 12123 of first plane 12113 and second is respectively used to enhancing first and coordinates inclined-plane 12112 and second to match somebody with somebody
The intensity of the end of inclined-plane 12122 is closed, the 3rd plane 3113 and fourth plane 3123 are respectively used to enhancing the 3rd and coordinate inclined-plane
3112 and the 4th coordinate the end of inclined-plane 3122 intensity.
Please refer to Fig. 1 and Fig. 4, the end of the second plane 12123 of the second boss 1212 (coordinates away from second
The one end of inclined-plane 12122) be provided with one for block latch segment 3 the anglec of rotation of the second transverse part 32 limited block 124.It is described spacing
Block 124 extends in the end of the second plane 12123 to the magic chuck end 2, at the position that can block the second transverse part 32.
The limited block 124 is located at the lateral surface along second spigot surface 12121 (i.e. away from the second side for coordinating inclined-plane 12122
Face) rise, at the position that 90 °~100 ° of rotate counterclockwise, preferably：The limited block 124 rotates in a circumferential direction the limit positioned at latch segment 3
At position, rotated in a circumferential direction extreme position to limit latch segment.The position determines the optimal insertion position of the latch segment 3,
Both sides gap is impartial when inserting, and fast and easy enters, and saves a large amount of times for changing fixture.
The electric rotating machine 4 is Purchased Item, and encoder (not shown) is configured with it.The electric rotating machine 4 is located at described
In rectangular channel 111, its output end is connected with latch segment 3.The electric rotating machine 4 can drive latch segment 3 to realize along rectangular channel 111
Upper and lower displacement.On the one hand, upper-lower position realizes that latch segment 3 is inserted at the position of the first insertion groove 122 and the second insertion groove 22
Or depart from magic chuck end 2, on the other hand, the rotation driving latch segment 3 of electric rotating machine 4 is rotated together with, and makes latch segment 3 by inserting
At the evolution of groove to boss 121 and card division 21.The electric rotating machine 4 is power-actuated source.
Refer to the workflow diagram of the magic chuck device that Fig. 7 is provided for the present invention.The magic chuck that the present invention is provided
Device 100 its method of work is：
S1：The electric rotating machine 4 turns clockwise under the limitation of rectangular channel 111, while driving latch segment 3 to be connected in quick change
The recess in portion 12 is rotated together with, when the second transverse part 32 of latch segment 3 abuts to limited block 23, motor stalls, coding
Device output speed is zero, and latch segment 3 is stopped at the position of the first insertion groove 122.
S2：Quick change machine end 1 is covered on magic chuck by the movement quick change machine end 1 to the top at magic chuck end 2
On end 2, realization in the location hole 23 is inserted by the alignment pin 123 and is axially engaged.
S3：The electric rotating machine 4 drives the rotate counterclockwise of latch segment 3, and the first transverse part 31 of latch segment 3 is threaded into boss
121, the second transverse part 32 is threaded into card division 21.When first transverse part 31 is threaded into boss 121, the face for contacting successively is：
First：3rd spigot surface 3111 and the first spigot surface 12111 screw contact, the spigot surface 3121 of opposite side the 4th and
Two spigot surfaces 12121 screw contact.
Then：3rd spigot surface 3111 coordinates inclined-plane 12112 by first again, reaches the first plane 12113；3rd
Inclined-plane 3112 and first is coordinated to coordinate inclined-plane 12112 to lock；
4th spigot surface 3121 of opposite side coordinates inclined-plane 12122 by second again, reaches the second plane 12123；
4th cooperation inclined-plane 3122 and second coordinates inclined-plane 12122 to lock.
Finally：, in the top of the first spigot surface 12111, the first plane 12113 is in the 3rd spigot surface 3111 for 3rd plane 3113
Lower section；Below the 4th guide surface 3121, the fourth plane 3123 is in the second spigot surface for second plane 12123
12121 lower sections.
Until latch segment 3 is lock onto between boss 121 and card division 21, encoder output pulse is zero, and electric rotating machine 4 stops
Only.
During S3 screws locking, such as there is the settling mode of several lower two kinds of situations：
If latch segment 3 is screwed locking and is not up to design angle (being judged by pulse increment), judge that locking process occurs
Abnormal, task termination then points out operator to be detected to it.
During tasks carrying, encoder can continue to monitor the angle of latch segment 3, if it occurs loosening, can send pulse
Signal, electric rotating machine 4 may proceed to rotation and go directly to locking state, and electric rotating machine 4 stops.
S4：The machine connection end 1 completes assembling with magic chuck end 2.
Rotated by above step opposite direction, magic chuck end 2 is exited in the machine connection end 1.
The robot arm structural representation that Fig. 8 is provided for the present invention, the robot arm includes magic chuck device
100th, arm end 200 and clip end 300, the arm end 200 is connected with the quick change machine end 1 of magic chuck device 100, described
Clip end 300 is connected with the magic chuck end 2 of magic chuck device 100.Arm end 200 drives quick change machine end 1 to be moved to not
Same clip end 300, by the cooperation at quick change machine end 1 and magic chuck end 2, realizes the different fixtures in robot arm end 200
Replacing, to meet actual demand.
Compared with correlation technique, the invention has the advantages that：
Once, robot automatically replaceable end clamp within the several seconds, the flexibility of robot is increased, while when end folder
When tool needs repairing, downtime can be reduced with quick change replacing clamp；
2nd, in magic chuck device load lotus transfer route, end clamp load is transmitted by mechanical structure, is improved
The reliability of magic chuck device；
3rd, latch segment is lock onto between quick change connecting portion and magic chuck end, and is locked by inclined-plane, Planar Quadratic, tool
There is power-off protection function, it is to avoid when robot occurs power-off suddenly, end clamp makes a clean sweep of the phenomenon for falling and being damaged from arm.
Embodiments of the invention are the foregoing is only, the scope of the claims of the invention is not thereby limited, it is every to utilize this hair
Equivalent structure or equivalent flow conversion that bright specification and accompanying drawing content are made, or directly or indirectly it is used in other related skills
Art field, is included within the scope of the present invention.
Claims (10)
1. a kind of magic chuck device, it is characterised in that including quick change machine end, magic chuck end and latch segment, the quick change
Machine end is axially engaged with magic chuck end, and the quick change machine end includes the machine connecting portion being stacked and quick change connection
Portion, the latch segment is combined between quick change connecting portion and magic chuck end, the contact surface of the latch segment and quick change connecting portion
On be respectively provided with a mutual cooperation and for lock inclined-plane.
2. magic chuck device according to claim 1, it is characterised in that the quick change connecting portion center is recessed to be formed
There is the first insertion groove of boss and insertion, magic chuck end corresponding position depression is formed with card division and the second of insertion and inserts
Enter groove, the depression direction of the quick change connecting portion is relative with the depression direction at magic chuck end, first insertion groove and second
Insertion groove location correspondence, the card division is corresponding with lug boss position, and the latch segment is in the first insertion groove, the second insertion groove and card
Connection is screwed between portion, boss, the inclined-plane is on latch segment with boss contact surface.
3. magic chuck device according to claim 1, it is characterised in that also including being connected with latch segment and drive it to revolve
The electric rotating machine for turning, the electric rotating machine is in the machine connecting portion；The center of the machine connecting portion is provided with a square
Shape groove, the electric rotating machine drives latch segment upper and lower displacement in the rectangular channel.
4. magic chuck device according to claim 2, it is characterised in that the boss includes same circumference in diagonally setting
The first boss and second boss put, the first boss and second boss are disposed with the first spigot surface, first counterclockwise
Coordinate inclined-plane and the first plane；Second spigot surface, second coordinate inclined-plane and the second plane, the latch segment include the first transverse part,
Second transverse part and connection interconnecting part between the two, the interconnecting part are connected in the center insertion quick change of the quick change connecting portion
Portion and magic chuck end, first transverse part are contacted in the recess of quick change connecting portion with boss, and second transverse part is in quick change
The recess of clip end is contacted with card division.
5. magic chuck device according to claim 4, it is characterised in that first transverse part includes diagonally positioned
The 3rd spigot surface, the are disposed with left transverse part and right transverse part, the left transverse part and right transverse part and boss contact surface clockwise
Three coordinate inclined-plane and the 3rd plane；4th spigot surface, the 4th coordinate inclined-plane and fourth plane.
6. magic chuck device according to claim 5, it is characterised in that the slope of first spigot surface is more than described
The oblique angle gradient of the first cooperation inclined-plane, first spigot surface and the second spigot surface is identical, and is all the 1/2~1/5, the described 3rd
Spigot surface, the 4th spigot surface and the first spigot surface, the second spigot surface respective outer side edges；Described first coordinates inclined-plane and second to coordinate oblique
The oblique angle gradient in face is identical, and the described 3rd coordinates inclined-plane, the 4th to coordinate inclined-plane and first to coordinate inclined-plane, second to coordinate ramp structure
Coordinate for locking.
7. magic chuck device according to claim 5, it is characterised in that a length of 90 ° of the circumference of the boss, the lock
A length of 40~80 °, preferably 55 ° of the circumference of tight block；It is provided with for blocking locking at second planar end of the second boss
The limited block of block, the limited block rotates in a circumferential direction extreme position positioned at latch segment.
8. the magic chuck device according to 1~7 any one claim, it is characterised in that the quick change connecting portion is also wrapped
At least two alignment pins are included, the magic chuck end also includes the location hole with the detent fit, the end of the alignment pin
It is conical structure to hold.
9. a kind of method of magic chuck device as described in any one of claim 1~7, it is characterised in that including following step
Suddenly：
Rectangular channel in the machine connecting portion is equipped with the electric rotating machine, and the electric rotating machine output shaft is connected with latch segment,
Depressed part of first transverse part of the latch segment in quick change connecting portion；
The electric rotating machine turns clockwise in rectangular channel, while driving latch segment together to be revolved in the recess of quick change connecting portion
Turn, when the second transverse part of latch segment abuts to limited block, motor stalls, latch segment stops at the first insertion groove location
Place；
The quick change machine end is moved to the top at magic chuck end, quick change machine end is covered on magic chuck end, led to
Cross and realize axially engaging in the alignment pin insertion location hole；
The electric rotating machine drives latch segment rotate counterclockwise, and the first transverse part of latch segment is threaded into boss, and the second transverse part is revolved
Enter card division；When first transverse part is threaded into boss, the face for contacting successively is：3rd spigot surface and the first spigot surface, opposite side the 4th
Spigot surface and the second spigot surface；3rd coordinates inclined-plane and the first cooperation inclined-plane, opposite side the 4th to coordinate inclined-plane and second to coordinate oblique
Face；What is finally contacted is the 3rd plane and the first plane, fourth plane and the second plane；Until latch segment lock onto boss and card
Between portion, electric rotating machine stops driving；
The machine connection end completes assembling with magic chuck end；
Otherwise then magic chuck end is exited in the machine connection end for rotation.
10. a kind of robot arm, including arm end and clip end, it is characterised in that also any including such as claim 1~7
Magic chuck device described in, the arm end is connected with the quick change machine end of magic chuck device, the clip end with it is fast
Change the magic chuck end connection of grip device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710009957.6A CN106737842A (en) | 2017-01-06 | 2017-01-06 | Robot arm, magic chuck device and method of work |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710009957.6A CN106737842A (en) | 2017-01-06 | 2017-01-06 | Robot arm, magic chuck device and method of work |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108489671A (en) * | 2018-03-26 | 2018-09-04 | 广东鸿图南通压铸有限公司 | A kind of method that air leak tester is switched fast product |
| CN110340937A (en) * | 2019-07-16 | 2019-10-18 | 湖南大学 | A kind of industrial robot end flexible compensation device |
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| CN110340937A (en) * | 2019-07-16 | 2019-10-18 | 湖南大学 | A kind of industrial robot end flexible compensation device |
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