CN112959348B - Terminal quick change device of electrically driven steel ball locking type robot - Google Patents
Terminal quick change device of electrically driven steel ball locking type robot Download PDFInfo
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- CN112959348B CN112959348B CN202110242196.5A CN202110242196A CN112959348B CN 112959348 B CN112959348 B CN 112959348B CN 202110242196 A CN202110242196 A CN 202110242196A CN 112959348 B CN112959348 B CN 112959348B
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- ball
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- sleeve
- fixed plate
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- 229910000831 Steel Inorganic materials 0.000 title claims abstract description 26
- 239000010959 steel Substances 0.000 title claims abstract description 26
- 230000006978 adaptation Effects 0.000 claims description 9
- 241000282472 Canis lupus familiaris Species 0.000 description 12
- 230000009286 beneficial effect Effects 0.000 description 3
- 238000004519 manufacturing process Methods 0.000 description 3
- 230000004323 axial length Effects 0.000 description 2
- 230000000875 corresponding effect Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 206010033799 Paralysis Diseases 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 238000007688 edging Methods 0.000 description 1
- 239000003292 glue Substances 0.000 description 1
- 230000001681 protective effect Effects 0.000 description 1
- 239000004576 sand Substances 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
Classifications
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- 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
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
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Abstract
The invention discloses an end quick-change device of an electrically driven steel ball locking robot, which comprises a main disc, a tool disc and a steel ball locking mechanism, wherein an inserting block is fixedly arranged at one end of the tool disc, the steel ball locking mechanism is arranged in a hollow part of the main disc, the steel ball locking mechanism comprises a fixed plate, balls, a ball sleeve, a lantern ring and a driving device, the fixed plate is connected with the inner wall of the main disc, one side of the fixed plate is connected with the ball sleeve, one end of the ball sleeve, which is far away from the fixed plate, is provided with an inserting hole matched with the inserting block, the side surface of the ball sleeve is provided with a ball hole, the side surface of the inserting block is provided with a locking groove matched with the balls, the lantern ring is sleeved on the ball sleeve, a plurality of protruding parts are arranged on the inner side of the lantern ring, a ball is arranged between every two adjacent protruding parts, one side of the ball, which is far away from the lantern ring, is connected with the fixed plate, and the driving device is used for driving the lantern ring to rotate, and the traditional pneumatic locking and unlocking is abandoned, and the mechanical mechanism locking is adopted, the quick-change device, the electric unlocking and safe and reliable.
Description
Technical Field
The invention relates to the field of mechanical arm quick-change devices, in particular to an electrically-driven steel ball locking type robot tail end quick-change device.
Background
Industrial robots, i.e., mechanical arms, have been shown to have a remarkable role in improving the level of production automation, improving productivity and product quality, economic efficiency, improving labor conditions for workers, etc. in many production fields. The working capacity and the working efficiency of the robot are greatly dependent on the working capacity of the robot working tool. The application of the quick change device for the robot working tool can improve the working efficiency of the robot, improve the adaptability and the universality of the robot to the working environment and realize one machine with multiple purposes.
The existing mechanical arm realizes that the mechanical arm switches different execution tools through a quick-change device, and has the following technical defects: the unlocking of the self-locking system of the existing quick-change device is driven pneumatically, the pneumatic tube needs to be exposed to the outside, and the pneumatic tube can be broken due to low-temperature embrittlement in a low-temperature environment, so that the whole quick-change device loses the function; the communication interface of the existing quick-change device is arranged on the outer wall of the whole device, so that future communication wiring is exposed to the outside. Under severe environments such as low temperature, high humidity, and sand storm, the communication quality is affected and even the communication is completely paralyzed: the existing quick-change device is high in cost, and once pneumatic locking fails, the main disc of the quick-change device and the tool disc can fall off, so that an end actuating mechanism connected with the tool disc is damaged.
The invention aims to design a novel quick-change device with high adaptability to the environment. The quick-change device can adapt to a more severe environment due to the unique structure, and meanwhile, the self-locking system gives up the existing pneumatic locking and unlocking and adopts a mechanical mechanism for locking, so that the quick-change device is quick to change, is electrically unlocked, and is safe and reliable; the invention has simple structure, convenient disassembly and low cost.
Disclosure of Invention
In view of the above-mentioned drawbacks of the prior art, the present invention aims at: the end quick-change device of the electrically driven steel ball locking type robot can adapt to a harsher environment, and meanwhile, the self-locking system gives up the existing pneumatic locking and unlocking and adopts a mechanical mechanism for locking, so that the device is quick to replace, is electrically unlocked, and is safe and reliable.
In order to achieve the above object, the present invention provides the following technical solutions:
the utility model provides an electric drive steel ball locking type robot end quick change device, includes master disk, instrument dish and steel ball locking mechanical system, instrument dish one end is fixed to be provided with the spliced block, the master disk is hollow structure, steel ball locking mechanical system set up in the cavity of master disk, steel ball locking mechanical system includes fixed plate, ball cover, lantern ring and drive arrangement, the fixed plate is connected the master disk inner wall, one side of fixed plate is connected the ball cover, the ball cover is kept away from the one end of fixed plate be equipped with the spliced eye of spliced block adaptation, the side of ball cover be equipped with a plurality of with the ball hole of ball adaptation, the ball hole with the spliced eye intercommunication, the side of spliced block be equipped with the locking groove of ball adaptation, the lantern ring cover is established in the ball is sheathe, the lantern ring inboard with have the clearance between the ball cover outside, the inboard of lantern ring is equipped with a plurality of bellying, two adjacent to all be equipped with one the ball diameter is greater than the ball sleeve, the axial length of ball cover is kept away from when the ball is used for when the ball is connected to the drive arrangement in the lantern ring one side the axial length, the ball is kept away from the drive arrangement.
Further, the ball hole is in a conical structure, and the diameter of the inner side end face of the ball hole is smaller than that of the outer side end face of the ball hole.
Further, the driving device comprises a motor, a pinion and a large gear, the motor is installed on one side, far away from the ball sleeve, of the fixing plate, the motor is fixedly connected with the pinion through a rotating shaft, the large gear is meshed with the pinion, the large gear is of a hollow structure, the large gear is sleeved on the ball sleeve, and the large gear is connected with the lantern ring.
Further, the novel gear locking device further comprises a locking sleeve, the inner side of the locking sleeve is sleeved on the lantern ring, the outer side face of the locking sleeve is rotationally connected with the inner wall of the main disc, and the end face of the top of the locking sleeve is fixedly connected with the end face of the large gear.
Further, still include stopper and dog, the top terminal surface of gear wheel is fixed to be provided with two the dog, the stopper is installed on the fixed plate, the stopper bottom set up in two between the dog, two the dog is used for spacing the rotation angle of gear wheel.
Further, the end face of the main disc is provided with a plurality of guide pins, and the end face of the tool disc opening is provided with guide holes matched with the guide pins.
Further, the end face of the main disc is provided with a first communication head, and the end face of the tool disc opening is provided with a second communication head which is matched with the first communication head.
Further, the first communication head is a communication contact female end, and the second communication head is a communication contact male end.
Compared with the prior art, the invention has the following beneficial effects:
1. through the mechanical cooperation of lantern ring and ball, accomplish the locking under motor drive, can adapt to more abominable environment, give up current pneumatic drive simultaneously and adopt electric drive, when electrical environment became invalid, this device still can maintain effectual self-locking structure, safe and reliable has reached the beneficial effect that adopts mechanical structure to be applicable to abominable environment.
2. The cooperation of two dogs of stopper has avoided the lantern ring to appear excessively pivoted condition, has protected whole device, has also increased the reliability of device, has reached effective spacing beneficial effect.
Drawings
FIG. 1 is a block diagram of an end quick-change device of an electrically driven steel ball locking robot according to the present invention;
FIG. 2 is a schematic sectional view of an unlocking stage;
FIG. 3 is a schematic perspective view of the locking stage;
FIG. 4 is a schematic cross-sectional view of the locking stage;
FIG. 5 is a schematic perspective view of a main disk;
FIG. 6 is a schematic perspective view of a tool tray;
FIG. 7 is a schematic view of a fixed plate and a stopper;
FIG. 8 is a schematic diagram of the connection relationship of the steel ball locking mechanism;
FIG. 9 is a schematic elevational cross-sectional view of FIG. 8;
FIG. 10 is a schematic view of a collar;
list of reference numerals
100-main disc, 101-motor, 102-pinion, 103-bearing, 104-ball, 105-ball sleeve, 106-stopper, 107-dog, 108-gear wheel, 109-lock sleeve, 110-collar, 111-guide pin, 112-communication contact female end, 113-fixed plate, 200-tool tray, 201-plug block, 202-protection cover, 203-communication contact male end, 204-guide hole.
Detailed Description
The technical solutions of the present invention will be clearly and completely described below with reference to fig. 1 to 10, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
In the description of the present invention, it should be understood that the directions or positional relationships indicated by the terms "upper", "lower", "front", "rear", "inner", "outer", etc., are based on the directions or positional relationships shown in the drawings, are merely for convenience of describing the present invention and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the present invention.
In the description of the present invention, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, integrally connected, or detachably connected; may be a communication between the interiors of two elements; may be directly or indirectly through an intermediate medium, and the specific meaning of the terms in the present invention will be understood by those skilled in the art in specific cases.
The utility model provides an electric drive steel ball locking type robot end quick change device, includes master 100, instrument dish 200 and steel ball locking mechanical system, instrument dish 200 one end is fixed be provided with the spliced block 201, master 100 is hollow structure, steel ball locking mechanical system set up in the cavity of master 100, steel ball locking mechanical system includes fixed plate 113, ball 104, ball sleeve 105, lantern ring 110 and drive arrangement, the fixed plate 113 passes through the screw connection protruding on the master 100 inner wall, one side of fixed plate 113 passes through a plurality of screws and connects ball sleeve 105, ball sleeve 105 keep away from one end of fixed plate 113 be equipped with the spliced block 201 adaptation's spliced eye, the side of ball sleeve 105 be equipped with a plurality of with the ball hole of ball 104 adaptation, the ball hole with the spliced eye intercommunication, the side of spliced block 201 be equipped with the locking groove of ball 104 adaptation, the lantern ring 110 cover sets up on the ball sleeve 105, the lantern ring 110 inboard has a plurality of lugs 104 that are less than between the ball sleeve 105 outside diameter the bellied portion 104 be equipped with when the ball sleeve 110 is used for a plurality of bellied portion that the ball sleeve 110 is used for the drive arrangement is kept away from in the axial direction one side of the ball sleeve 110 the bellied portion is used for the drive arrangement.
One side of the main disc 100 away from the tool disc 200 is provided with a mounting part, the mounting part is used for connecting a six-axis flange end of the mechanical arm, one end of the tool disc 200 away from the plug-in block 201 is used for connecting a flange side of an executing tool, and the executing tool can be as follows: tool holders, welding guns or glue guns and the like are arranged on different execution tools according to actual production requirements, then the main disc 100 is inserted into the tool disc 200 to be matched with the tool discs through movement of the mechanical arm, and therefore the mechanical arm can rapidly switch different tools.
The arc-shaped part of one side of the ball 104 far away from the lantern ring 110 penetrates through the ball hole and is arranged in the inserting hole of the ball sleeve 105, the clearance between the inner side of the lantern ring 110 and the outer side of the ball sleeve 105 provides the freedom degree for the ball 104 along the axial direction of the ball hole, so that the ball 104 can move along the axial direction of the ball hole, but cannot completely enter the ball hole and cannot slide from the clearance between the lantern ring 110 and the ball sleeve 105, when the lantern ring 110 is driven to rotate by the driving device, the lantern ring 110 rotates along the axis of the main disc 100, the protruding part of the lantern ring 110 further presses the ball 104, one ball 104 is abutted against one end face of the ball hole, at the moment, the arc-shaped part of one side of the ball 104 far away from the lantern ring 110 penetrates through the ball hole, and the protruding part keeps abutting against the ball 104 under the action of the driving device, so that the freedom degree of the ball 104 is lost.
During the whole device locking stage, the main disc 100 is downward close to the tool disc 200, the driving device drives the lantern ring 110 to rotate, so that the balls 104 are positioned at the part with larger inner diameter, namely one ball 104 is positioned between two convex parts of the ball, at the moment, the balls can freely move in a gap between the lantern ring 110 and the ball sleeve 105, the main disc 100 is continued to be close to the tool disc 200 until the end face of the main disc 100 and the end face of the tool disc 200 reach the matching position, the locking groove of the plug block 201 is exactly at the same height as the ball hole, at the moment, the balls 104 are opposite to the locking groove, then the driving device drives the lantern ring 110 to rotate, so that the convex parts of the balls 104 press the balls 104, the balls 104 are abutted against the locking groove, the balls 104 are fixed, the balls cannot freely move, and in the vertical direction of the main disc 100, the locking groove of the tool disc 200 is blocked by the balls 104, and relative movement cannot be generated in the vertical direction, and the whole device completes locking.
In the unlocking stage, the driving device drives the collar 110 to rotate, so that the balls 104 are in the position with larger inner diameter, the balls 104 are released to enable the balls 104 to freely move, and the main disc 100 is separated from the tool disc 200, so that unlocking is completed.
Further, the ball hole has a tapered structure, and the diameter of the inner end surface is smaller than that of the outer end surface, so that the balls 104 can move conveniently.
Further, the driving device includes a motor 101, a pinion 102 and a large gear 108, the motor 101 is fixedly installed on a side of the fixed plate 113 away from the ball sleeve 105, a rotation shaft of the motor 101 is fixedly connected with the pinion 102, the large gear 108 is meshed with the pinion 102, the large gear 108 is in a hollow structure, and is rotatably sleeved on the ball sleeve 105, and the large gear 108 is connected with the collar 110.
During the locking stage and the unlocking stage, the motor 101 drives the large gear 108 to rotate by driving the small gear 102, so that the lantern ring 110 rotates, the lantern ring 110 rotates reciprocally, the convex part of the lantern ring contacts the balls 104 in a clearance manner, and under the condition that the electric environment fails, the motor 101 can maintain the circumferential constraint of the large gear 108, so that the large gear 108 is prevented from reversing, and the balls 104 are prevented from being accidentally separated from the locking groove.
Further, the locking device further comprises a locking sleeve 109, wherein the inner side of the locking sleeve 109 is sleeved on the lantern ring 110, the outer side of the locking sleeve is connected with the lantern ring 110 through screws, the outer side of the locking sleeve is rotatably connected with the inner wall of the main disc 100 through a bearing 103, and the top end face of the locking sleeve 109 is fixedly connected with the end face of the large gear 108.
Further, still include stopper 106 and dog 107, the top terminal surface of gear wheel 108 is fixed to be provided with two dog 107, stopper 106 is installed on the fixed plate 113, stopper 106 bottom sets up in two between the dog 107, two dog 107 are used for spacing gear wheel 108's turned angle, have the clearance between gear wheel 108 top and the fixed plate 113 bottom, and dog 107 sets up in this clearance, is equipped with the mounting groove on the gear wheel 108, and stopper 106 installs in the mounting groove through the screw, and when locking stage gear wheel 108 rotated, stopper 106 bottom and a dog 107 butt, collar 110 bellying butt ball 104 at this moment, and when unlocking stage gear wheel 108 rotated, stopper 106 bottom and another dog 107 butt, and ball 104 was in the clearance of collar 110 and ball cover 105 at this moment, so the condition that the excessive rotation of collar 110 can not appear has protected whole device, has also increased the reliability of device.
Further, the end face of the main disc 100 is provided with a plurality of guide pins 111, the open end face of the tool disc 200 is provided with guide holes 204 adapted to the guide pins 111, specifically, two guide pins 111 are provided, the main disc 100 and the tool disc 200 are accurately positioned through the cooperation of the positioning pins 111 and the corresponding guide holes 204 on the tool disc 200, and the positioning pins 111 are matched with cylindrical pins and edging pins to prevent over positioning.
Further, a first communication head is provided on the end surface of the main disc 100, and a second communication head adapted to the first communication head is provided on the open end surface of the tool disc 200.
Further, the first communication head is a communication contact female end 112, the second communication head is a communication contact male end 203, when the tool tray 200 reaches the locking position, the communication contact female end 112 contacts with the communication contact male end 203, communicates with a communication loop, and transmits a signal to the electronic control board, so that the motor 101 performs a corresponding action, and a protective cover 202 is further provided on the side surface of the tool tray 200, and is used for wiring the communication contact male end 203.
The preferred embodiments of the present invention have been described in detail above with reference to the accompanying drawings, but the present invention is not limited to the specific details of the embodiments in the above description, and various simple modifications can be made to the technical solutions of the present invention within the scope of the technical concept of the present invention, and all the simple modifications belong to the protection scope of the present invention. In addition, the specific features described in the above embodiments may be combined in any suitable manner, and in order to avoid unnecessary repetition, various possible combinations are not described further. Moreover, any combination of the various embodiments of the invention can be made without departing from the spirit of the invention, which should also be considered as disclosed herein.
Claims (5)
1. The utility model provides an electric drive steel ball locking type robot terminal quick change device, its characterized in that includes master disc (100), instrument dish (200) and steel ball locking mechanical system, instrument dish (200) one end is fixed to be provided with spliced block (201), master disc (100) are hollow structure, steel ball locking mechanical system set up in the cavity of master disc (100), steel ball locking mechanical system includes fixed plate (113), ball (104), ball sleeve (105), lantern ring (110) and drive arrangement, fixed plate (113) connect the inner wall of master disc (100), one side of fixed plate (113) is connected ball sleeve (105), ball sleeve (105) keep away from one end of fixed plate (113) be equipped with spliced eye of spliced block (201) adaptation, the side of ball sleeve (105) be equipped with a plurality of with ball (104) adaptation, the ball hole with spliced eye intercommunication, the side of spliced block (201) be equipped with ball (104) adaptation groove, lantern ring (110) are equipped with in the side of spliced eye, the lantern ring (110) are equipped with in the diameter between two the ball sleeve (110) are equipped with in the boss (110) is equipped with between the ball sleeve (110) the axial direction, one side of the ball (104) far away from the lantern ring (110) is arranged in the ball hole, the driving device is connected with the fixed plate (113), the output end of the driving device is connected with the lantern ring (110), the driving device is used for driving the lantern ring (110) to rotate, and the protruding part of the lantern ring (110) pushes the ball (104) to be abutted with the locking groove when the lantern ring (110) rotates;
the driving device comprises a motor (101), a pinion (102) and a large gear (108), wherein the motor (101) is installed on one side, far away from the ball sleeve (105), of the fixed plate (113), the pinion (102) is fixedly connected with a rotating shaft of the motor (101), the large gear (108) is meshed with the pinion (102), the large gear (108) is of a hollow structure, the large gear is sleeved on the ball sleeve (105), and the large gear (108) is connected with the lantern ring (110);
the locking device further comprises a locking sleeve (109), wherein the inner side of the locking sleeve (109) is sleeved on the lantern ring (110), the outer side surface of the locking sleeve is rotationally connected with the inner wall of the main disc (100), and the end surface of the top of the locking sleeve (109) is fixedly connected with the end surface of the large gear (108);
still include stopper (106) and dog (107), the top terminal surface of gear wheel (108) is fixed to be provided with two dog (107), stopper (106) are installed on fixed plate (113), stopper (106) bottom set up in two between dog (107), two dog (107) are used for spacing the rotation angle of gear wheel (108).
2. The end quick-change device for an electrically driven steel ball locking robot of claim 1, wherein the ball hole has a tapered structure with an inside end diameter smaller than an outside end diameter.
3. The end quick-change device of the electrically driven steel ball locking type robot according to claim 1, wherein a plurality of guide pins (111) are arranged on the end face of the main disc (100), and guide holes (204) matched with the guide pins (111) are formed in the opening end face of the tool disc (200).
4. The end quick-change device of the electrically driven steel ball locking type robot according to claim 1, wherein a first communication head is arranged on the end face of the main disc (100), and a second communication head matched with the first communication head is arranged on the opening end face of the tool disc (200).
5. The end quick-change device of an electrically driven steel ball locking robot of claim 4, wherein said first communication head is a female communication contact end (112) and said second communication head is a male communication contact end (203).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110242196.5A CN112959348B (en) | 2021-03-04 | 2021-03-04 | Terminal quick change device of electrically driven steel ball locking type robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110242196.5A CN112959348B (en) | 2021-03-04 | 2021-03-04 | Terminal quick change device of electrically driven steel ball locking type robot |
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| CN112959348A CN112959348A (en) | 2021-06-15 |
| CN112959348B true CN112959348B (en) | 2023-12-22 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202110242196.5A Active CN112959348B (en) | 2021-03-04 | 2021-03-04 | Terminal quick change device of electrically driven steel ball locking type robot |
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Families Citing this family (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113387178A (en) * | 2021-07-23 | 2021-09-14 | 力行亲和机器人科技(西安) 有限公司 | Mechanical arm tail end executing mechanism with self-locking mechanism |
| CN113733146B (en) * | 2021-08-11 | 2024-02-27 | 埃华路（芜湖）机器人工程有限公司 | Tool number detection method for gun changing disc of robot |
| 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 |
| CN114654486B (en) * | 2022-04-26 | 2022-12-20 | 墨影科技(南京)有限公司 | Quick-change device for tail end of electric drive mechanical arm and control method thereof |
| CN114918973B (en) * | 2022-05-30 | 2023-11-10 | 天津航天机电设备研究所 | On-orbit service device applied to space manipulator end effector |
| CN116533218B (en) * | 2023-05-24 | 2024-05-03 | 上海智元新创技术有限公司 | Quick-dismantling device and robot |
| CN116690536B (en) * | 2023-05-24 | 2024-05-03 | 上海智元新创技术有限公司 | Robot hand quick change device and robot |
| CN116533275A (en) * | 2023-05-24 | 2023-08-04 | 上海智元新创技术有限公司 | Robot hand quick change device and robot |
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| US10335957B2 (en) * | 2017-04-25 | 2019-07-02 | Ati Industrial Automation, Inc. | Magnetically activated tool changer |
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| TW404332U (en) * | 1998-03-20 | 2000-09-01 | Nay Ya Automation Co Ltd | Tool replacement device |
| CN105666512A (en) * | 2016-04-05 | 2016-06-15 | 山东大学 | Rapid robot end change device and method |
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