CN114030003A - Quick change device for end tool of mechanical arm - Google Patents
Quick change device for end tool of mechanical arm Download PDFInfo
- Publication number
- CN114030003A CN114030003A CN202111553974.9A CN202111553974A CN114030003A CN 114030003 A CN114030003 A CN 114030003A CN 202111553974 A CN202111553974 A CN 202111553974A CN 114030003 A CN114030003 A CN 114030003A
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- sliding sleeve
- connecting rod
- tool
- piece
- change device
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Quick-Acting Or Multi-Walled Pipe Joints (AREA)
Abstract
The utility model relates to a technical field is changed to full-automatic instrument, especially relates to terminal instrument quick change device of arm, including the connecting rod, connecting rod one end is provided with the tool interface, and the peripheral cover of tool interface is equipped with the thread slipping, is provided with locking piece and storage tank on the thread slipping, is provided with the locking hole of holding locking piece on the tool interface, and the peripheral cover of thread slipping is equipped with collude ring and slide cartridge, is provided with the plug piece on the colluding ring, storage tank and plug piece cooperation, plug piece can insert and/or extract in the storage tank, the relative locking hole emergence displacement of locking piece because of inserting and/or extracting of plug piece, the slide cartridge can be followed connecting rod axial displacement, colludes ring and slide cartridge concerted movement, and the peripheral cover of slide cartridge is equipped with the fixed lid that sets up on the connecting rod, and the peripheral cover of fixed lid is equipped with the sliding sleeve that can follow connecting rod axial displacement. The application effectively solves the technical problems that the prior art is large in size, complex in structure, complex in installation, and needs an additional power source and the like.
Description
Technical Field
The application relates to the technical field of full-automatic tool replacement, in particular to a quick-change device for a tool at the tail end of a mechanical arm.
Background
At present, the application of operation robots is more and more extensive, and especially in operation sites with certain operation risks, the trend of replacing manual operation with robots is already a trend. Due to the complexity of the scene, the diversity of the work actions, and the specificity of the tool interface, one device needs to carry multiple work tools at the same time to meet most work requirements. Therefore, the automatic tool replacement can be simply realized, and the automatic tool replacement is very important for the practicability, convenience and scene adaptability of the working robot.
Disclosure of Invention
The embodiment of the application provides a terminal instrument quick change device of arm to at least, solve among the relevant art automatic change device of instrument bulky, the complicated scheduling problem of structure.
In order to achieve the above object, the embodiment of the present application provides a terminal instrument quick change device of arm, including the connecting rod, connecting rod one end is provided with the tool interface, and the peripheral cover of tool interface is equipped with the thread slipping, is provided with locking piece and storage tank on the thread slipping, is provided with the locking hole of holding locking piece on the tool interface, and the peripheral cover of thread slipping is equipped with colludes ring and slide cartridge, colludes and is provided with the plug piece on the ring, storage tank and plug piece cooperation, plug piece can insert and/or extract in the storage tank, the relative locking hole emergence displacement of locking piece because of inserting and/or extracting of plug piece, the slide cartridge can follow connecting rod axial displacement, colludes ring and slide cartridge concerted movement, and the peripheral cover of slide cartridge is equipped with the fixed lid of fixed setting on the connecting rod, and the peripheral cover of fixed lid is equipped with the sliding sleeve that can follow connecting rod axial displacement.
In some embodiments, the slide fastener is fixedly arranged at the periphery of the tool interface, and the accommodating groove and/or the plug piece are of wedge-shaped structures with thick upper parts and thin lower parts.
In some embodiments, the slide fastener is a split structure fixed on the periphery of the tool interface.
In some embodiments, the hook ring is sleeved outside the sliding barrel and is axially fixed relative to the sliding barrel.
In some of these embodiments, an end effector is disposed within the tool interface.
In some of these embodiments, the end effector is axially provided with a positioning groove.
In some embodiments, an elastic mechanism is arranged between the sliding barrel and the bottom of the fixed cover.
In some embodiments, the fixed cover is provided with a fixed cover guide strip of a split type design extending along the axial direction of the connecting rod, the sliding sleeve is provided with a guide channel matched with the fixed cover guide strip, the fixed cover guide strip is sleeved inside the guide channel of the sliding sleeve, and the sliding sleeve can move along the guide strip.
In some embodiments, the sliding sleeve, the fixed cover guide strip and the sliding sleeve are sleeved with each other, the sliding sleeve is located on the outermost side, the side wall of the sliding sleeve is provided with a double-layer structure to form a guide channel for matching with the fixed cover guide strip, the inner wall of the fixed cover guide strip is provided with a first limiting guide groove, the inner side wall of the sliding sleeve, which is arranged on the inner side of the fixed cover guide strip, of the sliding sleeve extends downwards to be provided with a second limiting guide groove, the sliding sleeve is sleeved on the innermost portion, the outer wall of the sliding sleeve is provided with a guide block protruding outwards, and the guide block can be matched with the first limiting guide groove and/or the second limiting guide groove to enable the sliding sleeve to move axially and/or circumferentially.
In some embodiments, the locking member is a spherical or hemispherical structure.
According to the content, compared with the prior art, the technical scheme of the application has the beneficial effects that: the utility model provides a terminal instrument quick change device of arm improves current structure, retrencies the structure, reduces the volume, mainly realizes the quick connection and throw off between arm and the instrument, does not additionally increase the power supply, utilizes mechanical mechanism to accomplish locking and separation between instrument and the arm body.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the application and together with the description serve to explain the application and not to limit the application. In the drawings:
FIG. 1 is a disassembled schematic view of the overall structure of the embodiment of the present application;
FIG. 2 is an overall top view of an embodiment of the present application;
FIG. 3 is a cross-sectional view of the overall structure of an embodiment of the present application;
FIG. 4 is a cross-sectional view of a hook ring according to an embodiment of the present application;
FIG. 5 is a schematic structural view of a fixing cover according to an embodiment of the present application;
FIG. 6 is a schematic view of a slider-connecting rod combination according to an embodiment of the present application;
FIG. 7 is a schematic view of a fixed cover-sliding sleeve combination according to an embodiment of the present application;
FIG. 8 is a schematic view of a sliding sleeve structure according to an embodiment of the present application;
FIG. 9 is a schematic view of a sliding sleeve structure according to an embodiment of the present application;
FIG. 10 is a schematic structural diagram of a connecting rod in an embodiment of the present application.
Description of reference numerals: 1 connecting rod; 1.1 tool interface; 1.2 locking holes; 1.3 connecting rod adapter; 1.4 end effector; 1.4.1 locating grooves; 2, sliding and buckling; 2.1 locking piece; 2.2 accommodating grooves; 3, hooking a ring; 3.1 plug-in parts; 4, a sliding cylinder; 4.1 a guide block; 5, fixing the cover; 5.1 fixing the cover guide strip; 5.2 a first limit guide groove; 5.3 an accommodating area; 6, sliding sleeves; 6.1 guiding the channel; 6.2 second limit guide groove; 7 elastic mechanism.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application will be described and illustrated below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments provided in the present application without any inventive step are within the scope of protection of the present application. Moreover, it should be appreciated that in the development of any such actual implementation, as in any engineering or design project, numerous implementation-specific decisions must be made to achieve the developers' specific goals, such as compliance with system-related and business-related constraints, which may vary from one implementation to another.
Reference in the specification to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the specification. The appearances of the phrase in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. Those of ordinary skill in the art will explicitly and implicitly appreciate that the embodiments described herein may be combined with other embodiments without conflict.
Unless defined otherwise, technical or scientific terms referred to herein shall have the ordinary meaning as understood by those of ordinary skill in the art to which this application belongs. Reference to "a," "an," "the," and similar words throughout this application are not to be construed as limiting in number, and may refer to the singular or the plural. The present application is directed to the use of the terms "including," "comprising," "having," and any variations thereof, which are intended to cover non-exclusive inclusions; for example, a process, method, system, article, or apparatus that comprises a list of steps or modules (elements) is not limited to the listed steps or elements, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus. Reference to "connected," "coupled," and the like in this application is not intended to be limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. Reference herein to "a plurality" means greater than or equal to two. "and/or" describes an association relationship of associated objects, meaning that three relationships may exist, for example, "A and/or B" may mean: a exists alone, A and B exist simultaneously, and B exists alone. Reference herein to the terms "first," "second," "third," and the like, are merely to distinguish similar objects and do not denote a particular ordering for the objects.
The application provides terminal instrument quick change device of arm, including the connecting rod, connecting rod one end is provided with the instrument interface, and the peripheral cover of instrument interface is equipped with the thread slipping, is provided with lock piece and storage tank on the thread slipping, is provided with the locking hole of holding lock piece on the instrument interface, and the peripheral cover of thread slipping is equipped with colludes ring and slide cartridge, colludes and is provided with the plug piece on the ring, storage tank and plug piece cooperation, plug piece can insert and/or extract in the storage tank, the relative locking hole of plug piece insertion and/or extraction takes place the displacement, the slide cartridge can be followed connecting rod axial displacement, colludes ring and slide cartridge concerted movement, and the peripheral cover of slide cartridge is equipped with the fixed lid that sets up on the connecting rod, and the peripheral cover of fixed lid is equipped with the sliding sleeve that can follow connecting rod axial displacement.
The implementation example is shown in fig. 1-10, the quick change device for the tool at the tail end of the mechanical arm comprises a connecting rod 1, one end of the connecting rod 1 is provided with a tool interface 1.1, the other end of the connecting rod is connected with a connecting rod adapter 1.3, a slide fastener 2 is fixedly sleeved on the periphery of the tool interface 1.1, a lock piece 2.1 and a wedge-shaped accommodating groove 2.2 with a thick bottom at the opening are arranged on the slide fastener 2, a lock hole 1.2 for accommodating the lock piece 2.1 is arranged on the tool interface 1.1, a hook ring 3 and a slide cylinder 4 are sleeved on the periphery of the slide fastener 2, a wedge-shaped plug piece 3.1 with a thick root part and a thin tip part matched with the wedge-shaped accommodating groove is arranged on the hook ring, the plug piece can be inserted into and/or pulled out of the accommodating groove 2.2, the lock piece 2.1 is displaced relative to the lock hole 1.2 due to the insertion and/or pulling out of the plug piece, the hook ring 3 is sleeved on the upper part of the outer side of the slide cylinder 4 and is relatively fixed to the slide cylinder 4 in the axial direction, and the slide cylinder 4 can move along the axial direction of the connecting rod 1, collude ring 3 and 4 concerted motions of slide cartridge, the peripheral cover of slide cartridge 4 is equipped with fixed setting and connects 1.3 one ascending fixed lid 5 of one side on connecting rod 1, be provided with elastic mechanism 7 between slide cartridge 4 and the fixed lid 5 bottom, fixed lid 5 is provided with the split type fixed lid gib block 5.1 that extends along the 1 axial of connecting rod, fixed lid 5 periphery is equipped with the sliding sleeve 6 that can follow connecting rod axial displacement along the fixed lid gib block 5.1 cover, sliding sleeve 6 is provided with the guide way 6.1 that matches with fixed lid gib block, fixed lid gib block 5.1 cup joints inside the guide way 6.1 of sliding sleeve 6, sliding sleeve 6 can follow the motion of fixed lid gib block 5.1.
The sliding sleeve 4, the fixed cover guide strip 5.1 and the sliding sleeve 6 are mutually sleeved, the sliding sleeve 6 is located on the outermost side, the side wall of the sliding sleeve 6 is provided with a double-layer structure forming guide channel 6.1 used for being matched with the fixed cover guide strip 5.1, the inner wall of the fixed cover guide strip 5.1 is provided with a first limiting guide groove 5.2, the inner side wall of the sliding sleeve 6 arranged on the inner side of the fixed cover guide strip 5.1 is provided with a second limiting guide groove 6.2 in a downward extending mode, the sliding sleeve 4 is sleeved on the innermost portion and sequentially provided with a second limiting guide groove 6.2 and a first limiting guide groove 5.2 outwards, the outer wall of the sliding sleeve 4 is provided with a guide block 4.1 protruding outwards, and the sliding sleeve 4 can be matched with the first limiting guide groove 5.2 and/or the second limiting guide groove 6.2 to enable the sliding sleeve 4 to move axially and/or circumferentially.
Exemplarily, the slide fastener 2 can be made of an elastic material with a split structure or an integrated structure, and in short, when the plug-in piece 3.1 is inserted into and/or pulled out of the accommodating groove, the locking piece 2.1 on the slide fastener 2 can be displaced in the locking hole 1.2, so as to lock or release the end tool.
Exemplarily, the cooperation of the accommodating groove 2.2 and the plug piece 3.1 can be the cooperation of the overall thinner accommodating groove and the wedge-shaped plug piece, also can be the cooperation of the wedge-shaped accommodating groove and the overall thicker plug piece, and also can be the cooperation of the wedge-shaped plug piece and the wedge-shaped accommodating groove, in a word, when the plug piece 3.1 is inserted into and/or pulled out from the accommodating groove 2.2, the displacement of the locking piece 2.1 on the slide fastener 2 can be caused in the locking hole 1.2, and the locking or the loosening of the end tool can be realized.
Preferably, the accommodating groove 2.2 and the plug piece 3.1 are wedge-shaped structures, which are not limited to structures, and only need to make the locking piece 2.1 on the slide fastener 2 displace in the locking hole 1.2 under the cooperation of the accommodating groove 2.2 and the plug piece 3.1, so as to lock or release the end tool.
Preferably, an end executing piece 1.4 is arranged in the tool interface, and a positioning groove 1.4.1 is arranged on the end executing piece along the axial direction.
Preferably, the locking member 2.1 is of a spherical or semi-spherical configuration and the resilient means 7 may be a spring.
The working method and the principle are as follows: when the sliding sleeve is used, the guide block 4.1 is positioned in the containing area 5.3 between the two fixed cover guide strips 5.1, the sliding cylinder 4 is subjected to the elastic force of the spring, the second limit guide groove 6.2 on the inner side wall of the sliding sleeve 6 is abutted against the guide block 4.1, when the sliding sleeve 6 is subjected to the force opposite to the direction of the elastic force of the spring, the second limit guide groove 6.2 pushes the guide block 4.1 to axially move to the first limit guide groove 5.2 along the containing area 5.3, because the sliding sleeve 4 is simultaneously subjected to the pressure of the sliding sleeve 6 and the elastic force of the spring, the guide block 4.1 circumferentially rotates along the guide inclined plane of the first limit guide groove 5.2 and is clamped by the limit surface of the first limit guide groove, the hook ring 3 which is axially fixed relative to the sliding cylinder 4 moves along with the sliding cylinder 4, the plug-in piece 3.1 on the hook ring 3 is inserted into the containing groove 2.2, so that the locking piece 2.1 of the sliding buckle 2 exits from the locking hole 1.2, and the direction is determined by the positioning groove 1.4.1 on the tail end executive piece 1.4, inserting an end tool into the tool interface; applying a downward force opposite to the elastic force of the spring to the sliding sleeve 6 again to enable the second limit guide groove 6.2 to push the guide block 4.1 to leave the first limit guide groove 5.2, and since the lower end of the fixed cover guide strip 5.1 is not limited by the first limit guide groove 5.2, the guide block 4.1 is enabled to rotate circumferentially along the guide inclined plane of the second limit guide groove 6.2, the force applied to the sliding sleeve 6 is cancelled, the sliding sleeve 4 pushes the sliding sleeve 6 to move upwards due to the elastic force until the guide block 4.1 is clamped by another first limit guide groove on the same fixed cover guide strip 5.1, at this time, the guide block 4.1 receives the elastic force of the spring and the pressure of the guide inclined plane of the first limit guide groove 5.2, so that the guide block 4.1 rotates circumferentially along the guide inclined plane until the guide strip slides out of the fixed cover guide strip 5.1, and enters the containing area 5.3 between the two fixed block guide strips, and since the elastic force of the spring returns to the initial position, the reset is completed, the hook ring 3 relatively fixed to the sliding barrel 4 in the axial direction moves along with the sliding barrel 4 in a coordinated mode to complete reset, the plug piece 3.1 leaves the accommodating groove 2.2, the locking piece 2.1 of the sliding buckle 2 enters the locking hole 1.2 again, and locking of a tail end tool is achieved.
It should be understood by those skilled in the art that various features of the above-described embodiments can be combined in any combination, and for the sake of brevity, all possible combinations of features in the above-described embodiments are not described in detail, but rather, all combinations of features which are not inconsistent with each other should be construed as being within the scope of the present disclosure.
The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the claims. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (10)
1. The utility model provides an end instrument quick change device of arm which characterized in that: including the connecting rod, connecting rod one end is provided with the instrument interface, and the peripheral cover of instrument interface is equipped with the thread slipping, is provided with lock piece and storage tank on the thread slipping, is provided with the locking hole of holding lock piece on the instrument interface, and the peripheral cover of thread slipping is equipped with and colludes ring and slide cartridge, colludes and is provided with the plug piece on the ring, storage tank and plug piece cooperation, plug piece can insert and/or extract in the storage tank, the relative locking hole emergence displacement of lock piece because of inserting and/or extracting of plug piece, the slide cartridge can be followed connecting rod axial displacement, colludes ring and slide cartridge concerted movement, and the peripheral cover of slide cartridge is equipped with the fixed lid of fixed setting on the connecting rod, and the peripheral cover of fixed lid is equipped with the sliding sleeve that can follow connecting rod axial displacement.
2. The quick change device for the end-of-arm-tool of claim 1, wherein: the slide fastener is fixedly arranged on the periphery of the tool interface, and the accommodating groove and/or the plug-pull piece are of wedge-shaped structures with the upper parts thick and the lower parts thin.
3. The quick change device for the end-of-arm-tool of claim 1, wherein: the slide fastener is a split structure fixed on the periphery of the tool interface.
4. The quick change device for the end-of-arm-tool of claim 1, wherein: the hook ring is sleeved on the outer side of the sliding barrel and is axially fixed relative to the sliding barrel.
5. The quick change device for the end-of-arm-tool of claim 1, wherein: and a tail end executing piece is arranged in the tool interface.
6. The quick change device for the end-of-arm-tool of claim 5, wherein: the tail end executing piece is provided with a positioning groove along the axial direction.
7. The quick-change device for the end tool of the mechanical arm according to any one of claims 1 to 5, characterized in that: an elastic mechanism is arranged between the sliding cylinder and the bottom of the fixed cover.
8. The quick change device for the end-of-arm-tool of claim 1, wherein: the fixed cover is provided with a fixed cover guide strip which extends along the axial direction of the connecting rod and is of a split type design, the sliding sleeve is provided with a guide channel matched with the fixed cover guide strip, the fixed cover guide strip is sleeved inside the guide channel of the sliding sleeve, and the sliding sleeve can move along the guide strip.
9. The quick change device for the end-of-arm-tool of claim 8, wherein: the sliding sleeve, the fixed cover guide strip and the sliding sleeve are mutually sleeved, the sliding sleeve is located on the outermost side, the side wall of the sliding sleeve is provided with a double-layer structure to form a guide channel for being matched with the fixed cover guide strip, a first limiting guide groove is formed in the inner wall of the fixed cover guide strip, a second limiting guide groove is formed in the downward extending mode of the inner side wall of the sliding sleeve, which is arranged on the inner side of the fixed cover guide strip, the sliding sleeve is sleeved on the innermost portion, the outer wall of the sliding sleeve is provided with a guide block protruding outwards, and the sliding sleeve can be matched with the first limiting guide groove and/or the second limiting guide groove to enable the sliding sleeve to move axially and/or circumferentially.
10. The quick change device for the end-of-arm-tool of claim 1, wherein: the locking piece is of a spherical or hemispherical structure.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111553974.9A CN114030003A (en) | 2021-12-17 | 2021-12-17 | Quick change device for end tool of mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111553974.9A CN114030003A (en) | 2021-12-17 | 2021-12-17 | Quick change device for end tool of mechanical arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN114030003A true CN114030003A (en) | 2022-02-11 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111553974.9A Pending CN114030003A (en) | 2021-12-17 | 2021-12-17 | Quick change device for end tool of mechanical arm |
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| Country | Link |
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| CN (1) | CN114030003A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116494279A (en) * | 2023-06-25 | 2023-07-28 | 广东壹鼎高节能科技有限公司 | Bridge production mechanical arm capable of automatically replacing tool |
| CN116690536A (en) * | 2023-05-24 | 2023-09-05 | 上海智元新创技术有限公司 | Robot hand quick change device and robot |
| CN117021156A (en) * | 2023-10-09 | 2023-11-10 | 之江实验室 | Device for robot limb assembly |
-
2021
- 2021-12-17 CN CN202111553974.9A patent/CN114030003A/en active Pending
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116690536A (en) * | 2023-05-24 | 2023-09-05 | 上海智元新创技术有限公司 | Robot hand quick change 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 |
| CN116494279A (en) * | 2023-06-25 | 2023-07-28 | 广东壹鼎高节能科技有限公司 | Bridge production mechanical arm capable of automatically replacing tool |
| CN116494279B (en) * | 2023-06-25 | 2023-08-18 | 广东壹鼎高节能科技有限公司 | Bridge production mechanical arm capable of automatically replacing tool |
| CN117021156A (en) * | 2023-10-09 | 2023-11-10 | 之江实验室 | Device for robot limb assembly |
| CN117021156B (en) * | 2023-10-09 | 2024-01-16 | 之江实验室 | Device for robot limb assembly |
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