CN107081781A - A kind of quick replacement device and its replacing options of industrial robot end-of-arm tooling - Google Patents
A kind of quick replacement device and its replacing options of industrial robot end-of-arm tooling Download PDFInfo
- Publication number
- CN107081781A CN107081781A CN201710508712.8A CN201710508712A CN107081781A CN 107081781 A CN107081781 A CN 107081781A CN 201710508712 A CN201710508712 A CN 201710508712A CN 107081781 A CN107081781 A CN 107081781A
- Authority
- CN
- China
- Prior art keywords
- locking
- roller
- piston rod
- robot
- seat ring
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/04—Gripping heads and other end effectors with provision for the remote detachment or exchange of the head or parts thereof
- B25J15/0408—Connections means
- B25J15/0433—Connections means having gripping members
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of quick replacement device and its replacing options of industrial robot end-of-arm tooling, robot side and tool side are collectively forming hollow cavity volume after mutually fastening, roller shell is fixed in robot side, locking seat ring is fixed in tool side, the bottom of piston rod is arranged in the center of roller shell, and piston rod is slided in the cavity volume of robot side vertically, against there is several to lock roller between the lateral wall of piston tail and the madial wall for locking seat ring, with the vertical slip of piston rod, lock lateral wall of the roller along piston tail roll and with lock the madial wall of seat ring against or separate.The present invention, drives roller retaining mechanism robot is changed different end effectors or ancillary equipment automatically, while having defencive function of dying, makes the application of robot more flexible by air rammer.It can provide and bear big coupling mechanism force and load force, and butting error is small, changes often, operation long lifespan.
Description
Technical field
The present invention relates to industrial production automation, and in particular to a kind of quick replacement device of industrial robot end-of-arm tooling
And its replacing options.
Background technology
Current industrial robot instrument quick replacement device by make robot change automatically different end effector or
Ancillary equipment, makes the application of robot more flexible, and these end effectors and ancillary equipment include such as spot-welding gun, grabbed
Hand, vacuum tool, pneumatic and electro-motor etc..
Instrument fast replacing device includes a robot side for being used for being arranged on robot arm, and one is used for being arranged on
Tool side on end effector.Instrument fast replacing device can allow different media, such as gas, electric signal, liquid, video with
And ultrasound etc. be communicated to end effector from robot arm.The advantage is that production line is changed can complete within the several seconds；Dimension
Shield and repair outfit can substantially reduce downtime with quick-replaceable；Performed by the end in the application using more than 1
Device, so that flexible increase；Using the automatic end effector for exchanging simple function, instead of the multi-functional work of original bulky complex
Fill actuator.
But the locking form of existing industrial robot power tool quick replacement device is more single, mostly ball or
Camlock, ball retaining mechanism contacts for point, but it is small with bearing load capacity to provide coupling mechanism force；Cam lock holding mechanism error compared with
Greatly, but life of product is low.
In summary, need a kind of locking mechanism rationally at present, can provide and bear big coupling mechanism force and load force, again
The small robot end's quick replacement device of butting error.
The content of the invention
The technical problems to be solved by the invention are the quick replacement device locking mechanism designs of existing robot end
Irrational problem.
In order to solve the above-mentioned technical problem, the technical solution adopted in the present invention is to provide a kind of industrial robot end work
The quick replacement device of tool, including be connected to the robot side of industrial robot and be connected to the tool side of end effector, institute
State robot side and tool side mutually fasten after be collectively forming in hollow cavity volume, the cavity volume and be from top to bottom respectively equipped with piston
Bar, roller shell and locking seat ring, the roller shell are fixed in the robot side, and the locking seat ring is fixed on the instrument
In side, the bottom of the piston rod is arranged in the center of the roller shell, and the piston rod slides on the robot vertically
In the cavity volume of side, the bottom of the piston rod is fixed with piston tail, and the piston tail back-off is described in the roller shell
The bottom of roller shell is embedded in the locking seat ring, the madial wall of the lateral wall of the piston tail and the locking seat ring it
Between against have several lock rollers, and the side wall of the roller shell on offer accommodate it is described locking roller turnover breach,
With the vertical slip of the piston rod, lateral wall of the locking roller along the piston tail roll and with the locking seat ring
Madial wall against or separation.
In such scheme, the lateral wall of the piston tail is described provided with the groove for limiting the locking roller motion
Engaged between groove and the madial wall of the locking seat ring by the locking roller.
In such scheme, the groove is followed successively by integrally formed contact solution locking face, transition face from the bottom to top, and failure is protected
Mask and locking face, and be configured to：
When the piston rod from contact position moves down into locked position, the locking roller is driven to move to the locking table
Face, the locking roller is contacted simultaneously with the madial wall of the locking surface and the locking seat ring, the piston tail with
The locking seat ring locking；
When the piston rod moves on to unlocked position from locked position, the locking roller is driven to move to the contact solution
Locking face, the locking roller is gradually disengaged with the transitional surface, is unlocked between the piston tail and the locking seat ring.
In such scheme, the skin-friction force between the error protection face and contact solution locking face is more than the locking face
Skin-friction force between error protection face.
In such scheme, at least a portion in the error protection face is outstanding, the error protection face with it is described
The angle of the longitudinal axis of piston rod is 1~5 degree.
In such scheme, a piston blot is arranged in the piston tail and the piston rod successively from the bottom to top,
The piston tail is set to be fixedly connected with the piston rod, the piston rod is with the roller shell contact position provided with the first sealing
Circle, the pistons end and the contact position of the robot side are provided with the second sealing ring.
All offered respectively in such scheme, on the robot side and tool side multiple external gas source device interfaces and
Multiple module mounting locations, the external gas source device interface is connected to the pneumatic end effector of robot, the module peace
Holding position is communicated to end effector from robot arm and passed through for different media.
In such scheme, the first adaptation disk and are fixed with the lateral wall of the robot side and tool side respectively
Two adapt to disk, and the first adaptation disk and the second adaptation disk are connected to industrial robot and end effector.
Present invention also offers a kind of replacing options of the quick replacement device of above-mentioned industrial robot end-of-arm tooling, bag
Include following steps：
The upper chamber inflation of the piston rod in the robot side, the piston rod is through the downward fortune of air pressure driving
Dynamic, the lateral wall of the piston tail is contacted and to roller is locked described in external compression, described progressively to touch the locking bed
The madial wall of circle；
The upper chamber of the piston rod in the robot side continues to inflate, and the piston rod drives through air pressure to be continued
Move downward, now the madial wall of the locking roller and the locking seat ring produces larger contact force and coupling mechanism force, the machine
Locked with tool side device people side；
When air supply source stops supplying, the upper end of the piston rod without air pressure because driving in the chamber of robot side
Move, now lateral wall of the locking roller gradually with the piston tail is separated, while the locking roller gradually removes institute
State locking seat ring unblock.
The present invention, by air rammer drive roller retaining mechanism make robot change automatically different end effector or
Ancillary equipment, while having defencive function of dying, makes the application of robot more flexible.It can provide and bear big coupling mechanism force
With load force, and butting error is small, changes often, operation long lifespan.
Brief description of the drawings
Fig. 1 splits schematic diagram for the external structure of the present invention；
Internal structure schematic diagram when Fig. 2 is present invention unblock；
The internal structure schematic diagram that Fig. 3 dies when protecting for the present invention；
Internal structure schematic diagram when Fig. 4 is present invention locking；
Fig. 5 is the surface texture schematic diagram of piston tail groove in the present invention；
The schematic diagram that Fig. 6 opens for the overall structure of the present invention.
Embodiment
The present invention is described in detail with reference to Figure of description.
As shown in Figures 1 to 6, the quick replacement device for a kind of industrial robot end-of-arm tooling that the present invention is provided, including
It is connected to the robot side 1 of industrial robot and is connected to the tool side 2 of end effector,
Robot side 1 and tool side 2 are collectively forming in hollow cavity volume, cavity volume after mutually fastening and are from top to bottom respectively equipped with
Piston rod 5, roller shell 11 and locking seat ring 12, roller shell 11 are fixed in robot side 1, and locking seat ring 12 is fixed on tool side
In 2, the bottom of piston rod 5 is arranged in the center of roller shell 11, and piston rod 5 is slided in the cavity volume of robot side 1 vertically, living
The bottom of stopper rod 5 is fixed with piston tail 8, and a piston blot 7 is arranged in piston tail 8 and piston rod 5 successively from the bottom to top,
Piston tail 8 is set to be fixedly connected with piston rod 5, the back-off of piston tail 8 is in roller shell 11, and the bottom of roller shell 11 is embedded in lock
In tight seat ring 12.
Against there is several to lock roller 9, and roller between the lateral wall of piston tail 8 and the madial wall for locking seat ring 12
Offered on the side wall of shell 11 and accommodate the breach that locking roller 9 is passed in and out, with the vertical slip of piston rod 5, lock roller 9 along piston
The lateral wall of afterbody 8 roll and with lock the madial wall of seat ring 12 against or separate, the piston that locking roller 9 can be moved up and down
The locking seat ring 12 at the breach entering tool end that bar 5 promotes and passes through roller shell 11.
The groove that the lateral wall of piston tail 8 is moved provided with limitation locking roller 9, the madial wall of groove and locking seat ring 12
Between by it is described locking roller 9 engage, groove be followed successively by from the bottom to top it is integrally formed contact solution locking face 16, transition face 17,
Error protection face 18 and locking face 19, four faces are respectively provided with specific work(in the locking of quick replacement device and releasing process
Energy.
When piston rod 5 from contact position moves down into locked position, drive locking roller 9 to move to locking surface 19, lock
Roller 9 is contacted simultaneously with the madial wall of locking surface 19 and locking seat ring 12, and the groove surfaces of piston tail 8 are by symmetrically dividing
The locking roller 9 of cloth is engaged to rectangle seat ring 12, produces stable coupling mechanism force, and piston tail 8 is locked with locking seat ring 12；
When piston rod 5 moves on to unlocked position from locked position, locking roller 9 is driven to move to contact solution locking face 16, lock
Tight roller 9 is gradually disengaged with transition face 17, is unlocked between piston tail 8 and locking seat ring 12.
Skin-friction force between error protection face 18 and contact solution locking face 16 is more than locking face 19 and error protection face 18
Between skin-friction force.At least a portion in error protection face 18 is outstanding so that when piston rod 5 is in locking face 19 and connects
Touch between solution locking face 16 when moving, the power that to engage generation opposite of error protection face 18 and locking roller 9, prevent piston rod 5 from
Locking face 19 is moved into contact with solving locking face 16.The angle of the longitudinal axis of error protection face 18 and piston rod 5 is preferably 1~5 degree.
Piston rod 5 and the contact position of roller shell 11 are provided with the first sealing ring 6, and pistons end and the contact position of robot side 1 are set
There is the second sealing ring 10.Multiple external gas source device interfaces 14 and multiple moulds are all offered on robot side 1 and tool side 2 respectively
Block installation site 13, external gas source device interface 14 is connected to the pneumatic end effector of robot, for different model
Industrial machine human arm and end effector of robot.The number of external gas source device interface 14 is determined according to actual conditions.
Module mounting location 13 can allow different media to connect such as gas, electric signal, liquid, video, ultrasound from robot arm
Lead to end effector.
The first adaptation disk 3 and second is fixed with the lateral wall of robot side 1 and tool side 2 respectively and adapts to disk 4, first
Adapt to the adaptation disk 4 of disk 3 and second and be connected to industrial robot and end effector.
Present invention also offers a kind of replacing options of the quick replacement device of above-mentioned industrial robot end-of-arm tooling, bag
Include following steps：
The upper chamber inflation of piston rod 5 in robot side 1, piston rod 5 is moved downward through air pressure driving, piston tail
8 lateral wall contact simultaneously locks roller 9 to external compression, progressively touches the madial wall of locking seat ring 12；
The upper chamber of piston rod 5 in robot side 1 continues to inflate, and piston rod 5 continues to move downward through air pressure driving,
Roller 9 is locked by the transition face 17 between contact solution locking face 16 and error protection face 18, into locking face 19, now locking rolling
The madial wall of post 9 and locking seat ring 12 produces larger contact force and coupling mechanism force, and the side of robot 1 is locked with tool side 2, completes simultaneously
Robot side and the locking of tool side, reach that device locks purpose；
When air supply source stops supplying, the upper end of piston rod 5 is moved up because being driven without air pressure in the chamber of robot side 1,
Now locking roller 9 is first contacted with error protection face 18, while contacted with the madial wall of locking seat ring 12, and now coupling mechanism force is still
In the presence of, it is ensured that device maintains the lock status in case of a fault, is dropped so that tool side will not hinder for some reason.In protection of dying
State；
During unblock, the upper chamber inflation of piston rod 5 first makes piston slightly move down, and upper chamber stops supply afterwards, with
That is the chamber inflation of piston tail 8, now locks lateral wall of the roller 9 gradually with piston tail 8 and separates, while locking roller 9
Locking seat ring 12 is gradually removed, the purpose of device unblock is reached.
The retaining mechanism of the present invention is linear contact lay, with larger coupling mechanism force, and can bear relatively large load, its butting error
Small, docking speed is fast, and repetitive positioning accuracy is high, changes often, long lifespan.By making robot change automatically in industrial production
Different end effectors or ancillary equipment, makes the application of robot more flexible.
The present invention, by air rammer drive roller retaining mechanism make robot change automatically different end effector or
Ancillary equipment, while having defencive function of dying, makes the application of robot more flexible.It can provide and bear big coupling mechanism force
With load force, and butting error is small, changes often, operation long lifespan.
The present invention is not limited to above-mentioned preferred forms, and anyone should learn that the knot made under the enlightenment of the present invention
Structure changes, and the technical schemes that are same or similar to the present invention are each fallen within protection scope of the present invention.
Claims (9)
1. a kind of quick replacement device of industrial robot end-of-arm tooling, including it is connected to robot side and the company of industrial robot
It is connected to the tool side of end effector, it is characterised in that the robot side and tool side are collectively forming hollow after mutually fastening
Cavity volume, piston rod, roller shell and locking seat ring are from top to bottom respectively equipped with the cavity volume, the roller shell is fixed on described
In robot side, the locking seat ring is fixed in the tool side, and the bottom of the piston rod is arranged in the roller shell
Center, and the piston rod slides in the cavity volume of the robot side vertically, the bottom of the piston rod is fixed with piston tail part
Portion, the piston tail back-off is in the roller shell, and the bottom of the roller shell is embedded in the locking seat ring, the work
Fill between the lateral wall of afterbody and the madial wall of the locking seat ring against there are several to lock roller, and the side of the roller shell
The breach for accommodating the locking roller turnover is offered on wall, with the vertical slip of the piston rod, the locking roller is along institute
State piston tail lateral wall roll and with it is described locking seat ring madial wall against or separate.
2. a kind of quick replacement device of industrial robot end-of-arm tooling as claimed in claim 1, it is characterised in that the work
Fill in afterbody lateral wall provided with limit it is described locking roller motion groove, the groove with it is described locking seat ring madial wall it
Between pass through it is described locking roller engage.
3. a kind of quick replacement device of industrial robot end-of-arm tooling as claimed in claim 2, it is characterised in that described recessed
Groove is followed successively by integrally formed contact solution locking face, transition face, error protection face and locking face from the bottom to top, and is configured to：
When the piston rod from contact position moves down into locked position, the locking roller is driven to move to the locking surface,
It is described locking roller contacted simultaneously with the madial wall of the locking surface and the locking seat ring, the piston tail with it is described
Lock seat ring locking；
When the piston rod moves on to unlocked position from locked position, the locking roller is driven to move to the contact unblock
Face, the locking roller is gradually disengaged with the transitional surface, is unlocked between the piston tail and the locking seat ring.
4. a kind of quick replacement device of industrial robot end-of-arm tooling as claimed in claim 2, it is characterised in that the event
Hinder the mantle friction that the skin-friction force between protection face and contact solution locking face is more than between the locking face and error protection face
Power.
5. a kind of quick replacement device of industrial robot end-of-arm tooling as claimed in claim 2, it is characterised in that the event
At least a portion for hindering protection face is outstanding, and the error protection face and the angle of the longitudinal axis of the piston rod are 1~5
Degree.
6. a kind of quick replacement device of industrial robot end-of-arm tooling as claimed in claim 1 a, it is characterised in that work
Plug screw is arranged in the piston tail and the piston rod successively from the bottom to top, makes the piston tail and the piston rod solid
Fixed connection, the piston rod is provided with the first sealing ring, the pistons end and the robot side with the roller shell contact position
Contact position be provided with the second sealing ring.
7. a kind of quick replacement device of industrial robot end-of-arm tooling as claimed in claim 1, it is characterised in that the machine
Multiple external gas source device interfaces and multiple module mounting locations, the external gas are all offered on device people side and tool side respectively
Source device interface is connected to the pneumatic end effector of robot, and the module mounting location is communicated to end from robot arm
Actuator is passed through for different media.
8. a kind of quick replacement device of industrial robot end-of-arm tooling as claimed in claim 1, it is characterised in that the machine
The first adaptation disk and second is fixed with the lateral wall of device people side and tool side respectively and adapts to disk, described first adapts to disk and the
Two adaptation disks are connected to industrial robot and end effector.
9. the replacing options of the quick replacement device of the industrial robot end-of-arm tooling as described in claim 1 to 8 any one,
It is characterised in that it includes following steps：
The upper chamber inflation of the piston rod in the robot side, the piston rod is moved downward through air pressure driving, institute
State the lateral wall contact of piston tail and to roller is locked described in external compression, it is described progressively to touch the interior of the locking seat ring
Side wall；
The upper chamber of the piston rod in the robot side continues to inflate, and the piston rod continues downward through air pressure driving
The larger contact force of madial wall generation and coupling mechanism force of motion, now the locking roller and the locking seat ring, the robot
Locked with tool side side；
When air supply source stops supplying, the upper end of the piston rod is moved up because being driven without air pressure in the chamber of robot side, this
Shi Suoshu locks lateral wall of the roller gradually with the piston tail and separated, while the locking roller gradually removes the locking
Seat ring is unlocked.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710508712.8A CN107081781A (en) | 2017-06-28 | 2017-06-28 | A kind of quick replacement device and its replacing options of industrial robot end-of-arm tooling |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710508712.8A CN107081781A (en) | 2017-06-28 | 2017-06-28 | A kind of quick replacement device and its replacing options of industrial robot end-of-arm tooling |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107081781A true CN107081781A (en) | 2017-08-22 |
Family
ID=59607211
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710508712.8A Pending CN107081781A (en) | 2017-06-28 | 2017-06-28 | A kind of quick replacement device and its replacing options of industrial robot end-of-arm tooling |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107081781A (en) |
Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107498576A (en) * | 2017-09-19 | 2017-12-22 | 柳州欧卡机器人有限公司 | A kind of industrial robot tail house for being conveniently replaceable instrument |
| CN108297068A (en) * | 2018-04-11 | 2018-07-20 | 南京理工大学 | A kind of hot line robot specific purpose tool replacing options based on force feedback master ＆ slave control |
| CN109227581A (en) * | 2018-09-28 | 2019-01-18 | 广州索博自动化装备有限公司 | Unpowered ATC protective cover |
| CN110524293A (en) * | 2019-09-19 | 2019-12-03 | 无锡科技职业学院 | A kind of locking tool of tool automatic changing device |
| CN112238463A (en) * | 2019-07-18 | 2021-01-19 | 奥腾工业自动化(廊坊)有限公司 | Tool head changing system |
| CN112620882A (en) * | 2020-12-29 | 2021-04-09 | 广州松兴电气股份有限公司 | Automatic switch over and send a welder's device |
| CN112664505A (en) * | 2020-12-15 | 2021-04-16 | 广西工业职业技术学院 | Short-range pneumatic device for boosting locking, unlocking and pushing |
| CN113043247A (en) * | 2021-03-15 | 2021-06-29 | 浏阳市金锋机械科技有限公司 | Quick connecting device and method for operation tail end of electric mechanical arm |
| CN113370250A (en) * | 2021-07-02 | 2021-09-10 | 郑州领航机器人有限公司 | Locking stress part of tool quick-change device and processing technology thereof |
| CN113400349A (en) * | 2021-06-02 | 2021-09-17 | 北京思灵机器人科技有限责任公司 | Quick change device for manipulator of mechanical arm |
| CN113618784A (en) * | 2021-08-26 | 2021-11-09 | 上海邦润精密机械有限公司 | Tool quick-change device for industrial robot end effector |
| CN113799098A (en) * | 2020-06-11 | 2021-12-17 | 奥腾工业自动化(廊坊)有限公司 | Robotic tool changer coupling mechanism with increased torsional stiffness and reduced play |
| CN115027771A (en) * | 2022-06-22 | 2022-09-09 | 江南大学 | Quick-change coupler of robot end effector, box opening and goods taking system and method thereof |
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Cited By (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107498576A (en) * | 2017-09-19 | 2017-12-22 | 柳州欧卡机器人有限公司 | A kind of industrial robot tail house for being conveniently replaceable instrument |
| CN108297068A (en) * | 2018-04-11 | 2018-07-20 | 南京理工大学 | A kind of hot line robot specific purpose tool replacing options based on force feedback master ＆ slave control |
| CN109227581A (en) * | 2018-09-28 | 2019-01-18 | 广州索博自动化装备有限公司 | Unpowered ATC protective cover |
| CN112238463A (en) * | 2019-07-18 | 2021-01-19 | 奥腾工业自动化(廊坊)有限公司 | Tool head changing system |
| CN110524293A (en) * | 2019-09-19 | 2019-12-03 | 无锡科技职业学院 | A kind of locking tool of tool automatic changing device |
| US11850733B2 (en) | 2020-06-11 | 2023-12-26 | Ati Industrial Automation, Inc. | Robotic tool changer coupling mechanism with increased torsional rigidity and reduced freeplay |
| CN113799098A (en) * | 2020-06-11 | 2021-12-17 | 奥腾工业自动化(廊坊)有限公司 | Robotic tool changer coupling mechanism with increased torsional stiffness and reduced play |
| CN112664505A (en) * | 2020-12-15 | 2021-04-16 | 广西工业职业技术学院 | Short-range pneumatic device for boosting locking, unlocking and pushing |
| CN112620882A (en) * | 2020-12-29 | 2021-04-09 | 广州松兴电气股份有限公司 | Automatic switch over and send a welder's device |
| CN113043247A (en) * | 2021-03-15 | 2021-06-29 | 浏阳市金锋机械科技有限公司 | Quick connecting device and method for operation tail end of electric mechanical arm |
| CN113400349B (en) * | 2021-06-02 | 2022-11-25 | 北京思灵机器人科技有限责任公司 | Quick change device for manipulator of mechanical arm |
| CN113400349A (en) * | 2021-06-02 | 2021-09-17 | 北京思灵机器人科技有限责任公司 | Quick change device for manipulator of mechanical arm |
| CN113370250A (en) * | 2021-07-02 | 2021-09-10 | 郑州领航机器人有限公司 | Locking stress part of tool quick-change device and processing technology thereof |
| CN113618784B (en) * | 2021-08-26 | 2022-07-26 | 上海邦润精密机械有限公司 | Tool quick-change device for industrial robot end effector |
| CN113618784A (en) * | 2021-08-26 | 2021-11-09 | 上海邦润精密机械有限公司 | Tool quick-change device for industrial robot end effector |
| CN115027771A (en) * | 2022-06-22 | 2022-09-09 | 江南大学 | Quick-change coupler of robot end effector, box opening and goods taking system and method thereof |
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Application publication date: 20170822 |