CN205097210U - Robot instrument quick change device - Google Patents
Robot instrument quick change device Download PDFInfo
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- CN205097210U CN205097210U CN201520912094.XU CN201520912094U CN205097210U CN 205097210 U CN205097210 U CN 205097210U CN 201520912094 U CN201520912094 U CN 201520912094U CN 205097210 U CN205097210 U CN 205097210U
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- 229910000831 Steel Inorganic materials 0.000 claims abstract description 44
- 239000010959 steel Substances 0.000 claims abstract description 44
- 239000000523 sample Substances 0.000 claims abstract description 12
- 230000003014 reinforcing effect Effects 0.000 claims description 4
- 238000010276 construction Methods 0.000 claims description 3
- 239000012636 effector Substances 0.000 abstract description 6
- 239000000203 mixture Substances 0.000 description 18
- 238000004519 manufacturing process Methods 0.000 description 6
- 238000005516 engineering process Methods 0.000 description 3
- 239000007788 liquid Substances 0.000 description 2
- 238000003466 welding Methods 0.000 description 2
- 241000168254 Siro Species 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000006378 damage Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000004806 packaging method and process Methods 0.000 description 1
- 238000004080 punching Methods 0.000 description 1
- 230000000630 rising effect Effects 0.000 description 1
- 230000011664 signaling Effects 0.000 description 1
- 238000009987 spinning Methods 0.000 description 1
- 230000017105 transposition Effects 0.000 description 1
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Abstract
The utility model provides a robot instrument quick change device, it relates to a quick change device. The utility model provides a current robot instrument quick change device can't bear great torsional force, lack simultaneously the timely feedback master with from the dish problem of zonulae occludens's device. The utility model discloses a 2nd hall sensor's probe was just right with the second magnetic ring when piston stretched out totally, a hall sensor's probe was just right with first magnetic ring when the piston was regained totally, a hall sensor and the 2nd hall sensor's signal output part and external control device are connected, be equipped with a plurality of torsion grooves along the circumference equipartition on the inner wall of locking ring, every torsion groove and a steel ball round pin are just to just mutually supporting, the torsion groove is the cylindricality groove, the cylindricality groove suits with the sphere of steel ball round pin, the upper end in torsion groove is equipped with the zip inclined plane, be the sphere matched with arc envelope face with the steel ball round pin to the side of the upper portion of cylindricality promotion piece. The utility model is used for the terminal arm of robot is in order to realize the automatic different end effector that changes.
Description
Technical field
The utility model relates to a kind of fast replacing device, particularly a kind of robot tool fast replacing device.
Background technology
Robot tool fast replacing device comprises master and from dish, master is arranged on robot front end arm, be arranged on end effector (as spot-welding gun, handgrip and vacuum apparatus etc.) from dish, by connecting different utility modules in the surrounding of fast replacing device, fast replacing device can allow different media such as liquid, gas, vacuum, hydraulic pressure, the signal of telecommunication etc. be communicated to end effector from robot arm.A master of fast replacing device can according to production actual needs and multiple from coil with the use of, thus realize individual machine people and automatically change different end effectors, the application of robot is made to have more flexibility, be widely used in the operations such as automatic spot, material snatch, punching press, detection, assembling and packaging, there is production line replacing and reduce the advantages such as downtime rapidly, effectively.
The master of fast replacing device and the connection between coiling normally pass through air cylinder driven, by the steel ball lock on master extremely from dish on cotter way on, existing cotter way structure mostly is circumferential groove, all steel ball pins are all located in same circumferential groove, make fast replacing device when bearing twisting resistance, master can only be relied on and from the alignment pin between coiling, the twisting resistance that can bear is limited, limits the scope of application of fast replacing device; In addition, fast replacing device requires that master must can be communicated with various medium after compact siro spinning technology with from coil, but existing fast replacing device lacks and timely feeds back master and from coiling close-connected device.
Utility model content
The utility model in order to the twisting resistance solving existing robot tool fast replacing device and bear limited, lack simultaneously in time feedback master with from the problem of coiling close-connected device, and then a kind of robot tool fast replacing device is proposed.
The utility model in order to solve the problems of the technologies described above the technical scheme taked is: a kind of robot tool fast replacing device of the present utility model comprises master and from dish, master comprises master upper shell, master lower house, pressurize spring, piston, locking reverse feedback system, cylindricality pushing block and multiple steel ball pin, master upper shell and master lower house are the tubular construction of lower ending opening, master upper shell and master lower house setting up and down and be tightly connected and be integrated, the inwall of piston and master upper shell is slidably matched and master upper shell is divided into upper chamber and lower chambers, the sidewall of master upper shell is respectively equipped with the first inlet channel and the second inlet channel, first inlet channel is communicated with external air source respectively with the air inlet of the second inlet channel, the gas outlet of the first inlet channel is communicated with described upper chamber, the gas outlet of the second inlet channel is communicated with described lower chambers, the upper end of pressurize spring leans on the inwall of master upper shell, the lower end of pressurize spring leans the upper surface at piston, cylindricality pushing block is arranged in master lower house, the piston rod of piston is through affixed with cylindricality pushing block after master lower house, the lower end of master lower house is cylindrical, the lower end sidewall of master lower house offers multiple bellmouth along its circumferencial direction is uniform, a steel ball pin is provided with in each bellmouth, the osculum aperture of bellmouth is less than the diameter of steel ball pin, cylindricality pushing block is positioned at the great Kou side of bellmouth, the upper side of cylindricality pushing block is provided with the arc envelope face of matching with the sphere of steel ball pin, the side, middle part of cylindricality pushing block is taper surface,
Locking reverse feedback system comprises the first magnet ring, second magnet ring, first Hall element and the second Hall element, first magnet ring and the second magnet ring be arranged in parallel, first magnet ring is nested on the upper end sidewall of piston, second magnet ring is nested on the lower end sidewall of piston, first Hall element and the second Hall element are up and down just to being arranged in the sidewall of master upper shell, when piston stretches out completely the probe of the second Hall element and the second magnet ring just right, when piston is regained completely the probe of the first Hall element and the first magnet ring just right, first Hall element is connected with external control devices with the signal output part of the second Hall element,
Comprise from dish housing and retaining ring from dish, retaining ring is packed in from dish housing, the internal diameter of retaining ring is greater than the external diameter of master lower house lower end, the inwall of retaining ring is circumferentially laid with multiple torsion groove, torsion groove is cylindrical groove and vertically arranges, and the notch of each torsion groove is just right with a steel ball pin respectively, and the lower end of torsion groove is communicated with from the bottom of coiling, the upper end of torsion groove is provided with zip inclined-plane, the diameter of torsion groove and the equal diameters of steel ball pin.
Master also comprises two alignment pins, and two alignment pins are fixed in the lower surface of master upper shell, is provided with the pin-and-hole just right one by one up and down with two alignment pins from the upper surface of dish housing.
The beneficial effects of the utility model are:
1, retaining ring of the present utility model is provided with the torsion groove equal with steel ball pin quantity, each steel ball pin rises respectively and is locked in respective torsion groove, torsion groove is set to the cylindrical groove with steel ball pin equal diameters, and the upper end of torsion groove is provided with zip inclined-plane, simultaneously, the upper side of cylindricality pushing block is provided with the arc envelope face of matching with the sphere of steel ball pin, when fast replacing device bears twisting resistance, the cylindroid of torsion groove, the arc envelope face of zip inclined-plane and cylindricality pushing block can be firmly locked by steel ball pin, restriction steel ball pin is along the rotation of retaining ring circumference, and then ensure that master and from the relative position between coiling, compared with stressed separately through alignment pin, further increase the anti-torsion performance of fast replacing device,
2, locking reverse feedback system is provided with in master of the present utility model, when piston stretches out completely, master is connected with from coiling to lock, now, probe and second magnet ring of the second Hall element are just right, signal is exported to external control devices by the second Hall element, namely external control devices sends the execution instruction being communicated with medium, when piston is retracted completely, master with unlock from coiling, now, probe and first magnet ring of the first Hall element are just right, signal is exported to external control devices by the first Hall element, namely external control devices sends the execution instruction disconnecting medium, not only feed back master and whether lock from coiling in time, can also ensure in locking or be communicated with while unlocking or disconnect medium,
3, locking reverse feedback system of the present utility model adopts Hall element and magnet ring to carry out information feed back, the measuring junction of sensor is without the need to directly contacting with tested position, avoid and offer passage on the sidewall of master upper shell, thus ensure that the air-tightness of master upper shell;
4, the upper side of cylindricality pushing block of the present utility model is set to the arc envelope face of matching with the sphere of steel ball pin, increase the contact area between cylindricality pushing block and steel ball pin, more stable the rising of steel ball pin is made to be locked in torsion groove, also disperse steel ball pin to the reaction force of cylindricality pushing block simultaneously, alleviate the destruction of steel ball pin to cylindricality pushing block;
5, the utility model is provided with pressurize spring, can prevent the unexpected master that causes and from the disengaging between coiling of stopping the supple of gas or steam.
Accompanying drawing explanation
Fig. 1 is top view of the present utility model;
Fig. 2 is overall structure schematic diagram of the present utility model;
Fig. 3 is the sectional view along A-A line in Fig. 2;
Fig. 4 is the enlarged drawing in K region in Fig. 3;
Fig. 5 is the sectional view along B-B line in Fig. 2;
Fig. 6 is the sectional view along C-C line in Fig. 2;
Fig. 7 is the sectional view along D-D line in Fig. 2;
Fig. 8 is upward view of the present utility model.
Detailed description of the invention
Detailed description of the invention one: composition graphs 1 to Fig. 8 illustrates present embodiment, the robot tool fast replacing device of present embodiment comprises master 1 and from dish 2, master 1 comprises master upper shell 1-1, master lower house 12, pressurize spring 7, piston 8, locking reverse feedback system, cylindricality pushing block 10 and multiple steel ball pin 11, master upper shell 1-1 and master lower house 12 are the tubular construction of lower ending opening, master upper shell 1-1 and master lower house 12 setting up and down and be tightly connected and be integrated, piston 8 is slidably matched with the inwall of master upper shell 1-1 and master upper shell 1-1 is divided into upper chamber 1-1-1 and lower chambers 1-1-2, the sidewall of master upper shell 1-1 is respectively equipped with the first inlet channel 5 and the second inlet channel 6, first inlet channel 5 is communicated with external air source respectively with the air inlet of the second inlet channel 6, the gas outlet of the first inlet channel 5 is communicated with described upper chamber 1-1-1, the gas outlet of the second inlet channel 6 is communicated with described lower chambers 1-1-2, the upper end of pressurize spring 7 leans on the inwall of master upper shell 1-1, the lower end of pressurize spring 7 leans the upper surface at piston 8, cylindricality pushing block 10 is arranged in master lower house 12, the piston rod of piston 8 through after master lower house 12 and cylindricality pushing block 10 affixed, the lower end of master lower house 12 is cylindrical, the lower end sidewall of master lower house 12 offers multiple bellmouth 12-1 along its circumferencial direction is uniform, a steel ball pin 11 is provided with in each bellmouth 12-1, the osculum aperture of bellmouth 12-1 is less than the diameter of steel ball pin 11, cylindricality pushing block 10 is positioned at the great Kou side of bellmouth 12-1, the upper side of cylindricality pushing block 10 is provided with the arc envelope face 10-1 matched with the sphere of steel ball pin 11, the side, middle part of cylindricality pushing block 10 is taper surface 10-2,
Described locking reverse feedback system comprises the first magnet ring 15, second magnet ring 16, first Hall element 9 and the second Hall element 14, first magnet ring 15 and the second magnet ring 16 be arranged in parallel, first magnet ring 15 is nested on the upper end sidewall of piston 8, second magnet ring 16 is nested on the lower end sidewall of piston 8, first Hall element 9 and the second Hall element about 14 are just to being arranged in the sidewall of master upper shell 1-1, when piston 8 stretches out completely the probe of the second Hall element 14 and the second magnet ring 16 just right, when piston 8 is regained completely the probe of the first Hall element 9 and the first magnet ring 15 just right, first Hall element 9 is connected with external control devices with the signal output part of the second Hall element 14,
Comprise from dish housing 2-1 and retaining ring 13 from dish 2, retaining ring 13 is packed in from dish housing 2-1, the internal diameter of retaining ring 13 is greater than the external diameter of master lower house 12 lower end, the inwall of retaining ring 13 is circumferentially laid with multiple torsion groove 13-1, torsion groove 13-1 is cylindrical groove and vertically arranges, the notch of each torsion groove 13-1 is just right with a steel ball pin 11 respectively, the lower end of torsion groove 13-1 is communicated with the bottom from dish 2, the upper end of torsion groove 13-1 is provided with zip inclined-plane 13-1-1, the diameter of torsion groove 13-1 and the equal diameters of steel ball pin 11.
Detailed description of the invention two: composition graphs 7 illustrates present embodiment, the master 1 of present embodiment also comprises air feed reponse system, described air feed reponse system comprises capacitance sensor 18, back-moving spring 20, test rod 21 and baffle ring 22, test rod 21 is vertically arranged in the sidewall of master upper shell 1-1, back-moving spring 20 is provided with between the upper end of test rod 21 and master upper shell 1-1, capacitance sensor 18 is arranged in the sidewall of master upper shell 1-1, the signal output part of capacitance sensor 18 is connected with external control devices, baffle ring 22 horizontal nest is in the lower end of master upper shell 1-1, master 1 is stretched out through after baffle ring 22 in the lower end of test rod 21, test rod 21 is provided with contact 21-1, test rod 21 retract master 1 time contact 21-1 contact with the test side 18-1 of capacitance sensor 18.Master 1 is not with when being connected from dish 2, master 1 is stretched out in the lower end of test rod 21, when master 1 is with when contacting from dish 2, test rod 21 is pushed up back master 1, and namely the contact 21-1 on test rod 21 triggers capacitance sensor 18, and capacitance sensor 18 is control appliance output signal externally, external control devices controls external air source and carries gas to the first inlet channel 5, promote piston 8 to move downward, steel ball pin 11 risen and is locked in torsion groove 13-1, by master 1 with lock from dish 2.Other composition and annexation identical with detailed description of the invention one.
Detailed description of the invention three: composition graphs 3 illustrates present embodiment, present embodiment also comprise reinforcing flange 23 from dish 2, retaining ring 13 is packed in from dish housing 2-1 by reinforcing flange 23.Design like this can make retaining ring 13 and more firm from the connection of coiling between housing 2-1, improves the integral rigidity from dish 2, improves the anti-torsion performance of fast replacing device further.Other composition and annexation identical with detailed description of the invention one or two.
Detailed description of the invention four: composition graphs 8 illustrates present embodiment, the quantity of the steel ball pin 11 of present embodiment is at least four.Design like this can ensure master 1 and lock firmly between dish 2.Other composition and annexation identical with detailed description of the invention three.
Detailed description of the invention five: composition graphs 8 illustrates present embodiment, the quantity of the steel ball pin 11 of present embodiment is four.Design like this can ensure master 1 and lock firmly between dish 2.Other composition and annexation identical with detailed description of the invention four.
Detailed description of the invention six: composition graphs 3, Fig. 5, Fig. 6 and Fig. 7 illustrate present embodiment, the pressurize spring 7 of present embodiment is rectangle Compress Spring.When design like this can ensure when master 1 and be in locking state from dish 2, if external air source is surprisingly stopped the supple of gas or steam, piston 8 can not move upward and cause master 1 and depart from from dish 2 under the effect of pressurize spring 7, ensures carrying out smoothly of production.Other composition and annexation identical with detailed description of the invention four.
Detailed description of the invention seven: composition graphs 6 illustrates present embodiment, the master 1 of present embodiment also comprises two alignment pins 17, two alignment pins 17 are fixed in the lower surface of master upper shell 1-1, are provided with the pin-and-hole just right one by one with two alignment pins about 17 from the upper surface of dish housing 2-1.Design like this can ensure master 1 and can accurately locate from dish 2 and then lock.Other composition and annexation and detailed description of the invention one, two, four or six identical.
Detailed description of the invention eight: composition graphs 1 and Fig. 2 illustrate present embodiment, the master upper shell 1-1 of present embodiment is circumferentially provided with multiple master standard base 1-2, and it is just right from coiling standard base 2-2 to be one by one provided with master standard base 1-2 from dish housing 2-1.In actual production operating process, according to need of production different utility module (as controlled and signaling module, servomotor module, various medium connectivity module and welding module etc.) can be arranged on master standard base 1-2 and from coiling standard base 2-2, simultaneously, standard base is due to master standard base 1-2 with from dish standard base 2-2, transposition between different modules can be allowed, improve the flexibility of fast replacing device.Other composition and annexation identical with detailed description of the invention seven.
Detailed description of the invention nine: composition graphs 1 and Fig. 2 illustrate present embodiment, the quantity of the master standard base 1-2 of present embodiment is four.Meet design and use requirement.Other composition and annexation identical with detailed description of the invention eight.
The course of work
Composition graphs 1 to Fig. 8 illustrates, robot tool fast replacing device of the present utility model, master 1 is arranged on robot front end arm, be arranged on end effector from dish 2, external air source is utilized to carry gas to the second inlet channel 6, driven plunger 8 moves upward, in steel ball pin 11 is in region that bellmouth 12-1 and taper surface 10-2 surrounds, now, retaining ring 13 is inserted in the lower end of master lower house 12, meanwhile, contact 21-1 on test rod 21 contacts with the test side 18-1 of capacitance sensor 18, trigger capacitance sensor 18 externally control appliance output signal, external control devices controls external air source and carries gas to the first inlet channel 5, promotion piston 8 and cylindricality pushing block 10 move downward, steel ball pin 11 is ejected bellmouth 12-1 by cylindricality pushing block 10, simultaneously, steel ball pin 11 envelope is lived by the arc envelope face 10-1 of cylindricality pushing block 10 upper end, the part that steel ball pin 11 is ejected then to enter in torsion groove 13-1 and leans on zip inclined-plane 13-1-1, so, steel ball pin 11 just rises and is locked in torsion groove 13-1, by master 1 with lock from dish 2, meanwhile, probe and second magnet ring 16 of the second Hall element 14 are just right, second Hall element 14 is control appliance conveying signal externally, namely external control devices sends the execution instruction being communicated with medium, make different media as liquid, gas, vacuum, hydraulic pressure, the signals of telecommunication etc. are communicated on end effector by the utility module on fast replacing device, next just various production operation can be carried out, when operate terminate to need to change different from dish 2 time, again carry gas to the second inlet channel 6, driven plunger 8 moves upward, master 1 with unlock from dish 2, meanwhile, probe and first magnet ring 15 of the first Hall element 9 are just right, and the first Hall element 9 is control appliance conveying signal externally, and namely external control devices sends the execution instruction interrupting medium.
Claims (9)
1. a robot tool fast replacing device, it is characterized in that: it comprise master (1) and from dish (2), master (1) comprises master upper shell (1-1), master lower house (12), pressurize spring (7), piston (8), locking reverse feedback system, cylindricality pushing block (10) and multiple steel ball pin (11), master upper shell (1-1) and master lower house (12) are the tubular construction of lower ending opening, master upper shell (1-1) and master lower house (12) setting up and down and be tightly connected and be integrated, piston (8) is slidably matched with the inwall of master upper shell (1-1) and master upper shell (1-1) is divided into upper chamber (1-1-1) and lower chambers (1-1-2), the sidewall of master upper shell (1-1) is respectively equipped with the first inlet channel (5) and the second inlet channel (6), first inlet channel (5) is communicated with external air source respectively with the air inlet of the second inlet channel (6), the gas outlet of the first inlet channel (5) is communicated with described upper chamber (1-1-1), the gas outlet of the second inlet channel (6) is communicated with described lower chambers (1-1-2), the upper end of pressurize spring (7) leans on the inwall of master upper shell (1-1), the lower end of pressurize spring (7) leans the upper surface in piston (8), cylindricality pushing block (10) is arranged in master lower house (12), the piston rod of piston (8) is affixed with cylindricality pushing block (10) afterwards through master lower house (12), the lower end of master lower house (12) is cylindrical, the lower end sidewall of master lower house (12) offers multiple bellmouth (12-1) along its circumferencial direction is uniform, a steel ball pin (11) is provided with in each bellmouth (12-1), the osculum aperture of bellmouth (12-1) is less than the diameter of steel ball pin (11), cylindricality pushing block (10) is positioned at the great Kou side of bellmouth (12-1), the upper side of cylindricality pushing block (10) is provided with the arc envelope face (10-1) of matching with the sphere of steel ball pin (11), the side, middle part of cylindricality pushing block (10) is taper surface (10-2),
Described locking reverse feedback system comprises the first magnet ring (15), second magnet ring (16), first Hall element (9) and the second Hall element (14), first magnet ring (15) and the second magnet ring (16) be arranged in parallel, first magnet ring (15) is nested on the upper end sidewall of piston (8), second magnet ring (16) is nested on the lower end sidewall of piston (8), first Hall element (9) and the second Hall element (14) are up and down just to being arranged in the sidewall of master upper shell (1-1), when piston (8) stretches out completely the probe of the second Hall element (14) and the second magnet ring (16) just right, when piston (8) is regained completely the probe of the first Hall element (9) and the first magnet ring (15) just right, first Hall element (9) is connected with external control devices with the signal output part of the second Hall element (14),
Comprise from dish housing (2-1) and retaining ring (13) from dish (2), retaining ring (13) is packed in from dish housing (2-1), the internal diameter of retaining ring (13) is greater than the external diameter of master lower house (12) lower end, the inwall of retaining ring (13) is circumferentially laid with multiple torsion groove (13-1), torsion groove (13-1) is for cylindrical groove and vertically arrange, the notch of each torsion groove (13-1) is just right with a steel ball pin (11) respectively, the lower end of torsion groove (13-1) is communicated with from the bottom of coiling (2), the upper end of torsion groove (13-1) is provided with zip inclined-plane (13-1-1), the diameter of torsion groove (13-1) and the equal diameters of steel ball pin (11).
2. a kind of robot tool fast replacing device according to claim 1, it is characterized in that: described master (1) also comprises air feed reponse system, described air feed reponse system comprises capacitance sensor (18), back-moving spring (20), test rod (21) and baffle ring (22), test rod (21) is vertically arranged in the sidewall of master upper shell (1-1), back-moving spring (20) is provided with between the upper end of test rod (21) and master upper shell (1-1), capacitance sensor (18) is arranged in the sidewall of master upper shell (1-1), the signal output part of capacitance sensor (18) is connected with external control devices, baffle ring (22) horizontal nest is in the lower end of master upper shell (1-1), master (1) is stretched out through after baffle ring (22) in the lower end of test rod (21), test rod (21) is provided with contact (21-1), during test rod (21) retraction master (1), contact (21-1) contacts with the test side (18-1) of capacitance sensor (18).
3. a kind of robot tool fast replacing device according to claim 1 and 2, it is characterized in that: describedly also comprise reinforcing flange (23) from dish (2), retaining ring (13) is packed in from dish housing (2-1) by reinforcing flange (23).
4. a kind of robot tool fast replacing device according to claim 3, is characterized in that: the quantity of described steel ball pin (11) is at least four.
5. a kind of robot tool fast replacing device according to claim 4, is characterized in that: the quantity of described steel ball pin (11) is four.
6. a kind of robot tool fast replacing device according to claim 4, is characterized in that: described pressurize spring (7) is rectangle Compress Spring.
7. a kind of robot tool fast replacing device according to claim 1,2,4 or 6, it is characterized in that: described master (1) also comprises two alignment pins (17), two alignment pins (17) are fixed in the lower surface of master upper shell (1-1), are provided with the pin-and-hole just right one by one up and down with two alignment pins (17) from the upper surface of dish housing (2-1).
8. a kind of robot tool fast replacing device according to claim 7, it is characterized in that: master upper shell (1-1) is circumferentially provided with multiple master standard base (1-2), it is just right from coiling standard base (2-2) to be one by one provided with master standard base (1-2) from dish housing (2-1).
9. a kind of robot tool fast replacing device according to claim 8, is characterized in that: the quantity of master standard base (1-2) is four.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520912094.XU CN205097210U (en) | 2015-11-16 | 2015-11-16 | Robot instrument quick change device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520912094.XU CN205097210U (en) | 2015-11-16 | 2015-11-16 | Robot instrument quick change device |
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| CN205097210U true CN205097210U (en) | 2016-03-23 |
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| CN201520912094.XU Active CN205097210U (en) | 2015-11-16 | 2015-11-16 | Robot instrument quick change device |
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Cited By (15)
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| CN105666512A (en) * | 2016-04-05 | 2016-06-15 | 山东大学 | Rapid robot end change device and method |
| CN105889681A (en) * | 2016-06-24 | 2016-08-24 | 芜湖恒信汽车内饰制造有限公司 | Quick connector |
| CN105889682A (en) * | 2016-06-24 | 2016-08-24 | 芜湖恒信汽车内饰制造有限公司 | Quick joint for manipulator |
| CN106112995A (en) * | 2016-08-24 | 2016-11-16 | 襄阳新火炬科技有限公司 | A kind of truss robot tooth bar is fixing uses ball lock mechanism |
| CN106166758A (en) * | 2016-09-23 | 2016-11-30 | 中国工程物理研究院总体工程研究所 | A kind of centrifuge robot tool quick-change system |
| CN106393120A (en) * | 2016-12-05 | 2017-02-15 | 沈阳高精数控智能技术股份有限公司 | Reconfigurable device of robot tail end executor |
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| CN108818584A (en) * | 2018-07-05 | 2018-11-16 | 池州市德锐信息技术有限公司 | A kind of robot end's tool quick change pressure locking device |
| CN109454662A (en) * | 2018-10-31 | 2019-03-12 | 广州市昊志机电股份有限公司 | A kind of manipulator fast replacing device |
| CN109470442A (en) * | 2018-12-28 | 2019-03-15 | 中国地震局工程力学研究所 | Vibrate locking device and shake table |
| CN110253628A (en) * | 2019-06-10 | 2019-09-20 | 重庆智能机器人研究院 | A kind of robot end's tool fast replacing device |
| 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 |
| 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 |
| CN116533218A (en) * | 2023-05-24 | 2023-08-04 | 上海智元新创技术有限公司 | Quick-dismantling device and robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105666512A (en) * | 2016-04-05 | 2016-06-15 | 山东大学 | Rapid robot end change device and method |
| CN105889681A (en) * | 2016-06-24 | 2016-08-24 | 芜湖恒信汽车内饰制造有限公司 | Quick connector |
| CN105889682A (en) * | 2016-06-24 | 2016-08-24 | 芜湖恒信汽车内饰制造有限公司 | Quick joint for manipulator |
| CN106112995A (en) * | 2016-08-24 | 2016-11-16 | 襄阳新火炬科技有限公司 | A kind of truss robot tooth bar is fixing uses ball lock mechanism |
| CN106166758A (en) * | 2016-09-23 | 2016-11-30 | 中国工程物理研究院总体工程研究所 | A kind of centrifuge robot tool quick-change system |
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| CN108818584A (en) * | 2018-07-05 | 2018-11-16 | 池州市德锐信息技术有限公司 | A kind of robot end's tool quick change pressure locking device |
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| CN110253628A (en) * | 2019-06-10 | 2019-09-20 | 重庆智能机器人研究院 | A kind of robot end's tool fast replacing device |
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| 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 |
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Effective date of registration: 20170109 Address after: 150000 room 1, unit F1, building 32-1, Xingda Road, Nangang District, Heilongjiang, Harbin Patentee after: Hou Zhiguo Address before: 150000 Songshan high tech Industrial Development Zone, Harbin hi tech innovation center, Nangang zero floor, road, room No. 410, room 5 Patentee before: HARBIN HONGXIN NC ELECTROMECHANICAL ENGINEERING CO., LTD. |