CN206263986U - A kind of manipulator quick-replaceable attachment structure - Google Patents
A kind of manipulator quick-replaceable attachment structure Download PDFInfo
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- CN206263986U CN206263986U CN201621362430.9U CN201621362430U CN206263986U CN 206263986 U CN206263986 U CN 206263986U CN 201621362430 U CN201621362430 U CN 201621362430U CN 206263986 U CN206263986 U CN 206263986U
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- airway
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- changing device
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Abstract
The utility model is related to automatically processing device technical field, refer in particular to a kind of manipulator quick-replaceable attachment structure, fixed connection apparatus including being installed on mechanical arm, at least two more changing devices and the latching device for preventing fixed connection apparatus and more changing device from releasing, the fixed connection apparatus include the first connection body, first airway and flexible electrical termination, the more changing device includes the second connection body, second airway and fixed electrical termination, fixed connection apparatus and when more changing device is fastened and connected, first airway is docked and connected with the second airway, flexible electrical termination corresponds electrical contact with fixed electrical termination.Fixed connection apparatus and when more changing device is fastened and connected, due to the design of the first airway, the second airway, flexible electrical termination and fixed electrical termination, realize the electric linkage function of manipulator quick-replaceable attachment structure, it is easy to carry out electrical control to executing agency, simple structure, simple and fast is changed, it is practical.
Description
Technical field
The utility model is related to automatically processing device technical field, refers in particular to a kind of manipulator quick-replaceable connection knot
Structure.
Background technology
With the popularization of machine substitute human labor project, traditional pipeline system production line also faces asking for many robotic transformations
Topic, and as the raising of product function degree of integration, the manufacturing procedure of product are also more complicated and various, virtually increased
The complexity of automatically processing device, wherein most distinct issues are increasing for manipulator, considerably increases the throwing of equipment
Enter and maintenance cost.
Existing manipulator generally comprises frame, and manipulator is provided with frame.Frame is driven by rotation motor and can carried out
Rotate.Electronic component can be captured by each manipulator.Although existing this feeding device disclosure satisfy that primary demand, but
The gripping head of its grabbing device is changed after being inconvenient, it is necessary to each gripping head is disassembled, then the gripping head that will be needed by
It is individual to install.Because the installation of each gripping head in the prior art is wasted time and energy so that the installation of the gripping head of whole machine
It is time-consuming more long.The gripping head form of whole machine is single, it is impossible to realize quick-replaceable according to actual needs.
The content of the invention
The technical problems to be solved in the utility model is to provide and a kind of is meeting the premise of production line processing equipment hand quantity
The lower manipulator quick-replaceable attachment structure for effectively reducing production line robot or mechanical arm.
In order to solve the above-mentioned technical problem, the utility model is adopted the following technical scheme that：A kind of manipulator quick-replaceable connects
Binding structure, including it is installed on the more changing device of the fixed connection apparatus of mechanical arm, at least two and for preventing fixed connection apparatus
The latching device released with more changing device, the fixed connection apparatus are including the first connection body, in the first connection body
First airway in portion and flexible electrical termination positioned at the first airway periphery, the more changing device include the second connection originally
Body, the second airway in the middle part of the second connection body and fixed electrical termination positioned at the second airway periphery, it is fixed to connect
Connection device and when more changing device is fastened and connected, the first airway is docked and connected with the second airway, electrical termination of stretching with it is fixed
Electrical termination corresponds electrical contact.
Preferably, the fixed connection apparatus are equiped with the first gas joint for being connected with the first airway and are connect with flexible electricity
First electric connection of terminal electrical connection, more changing device is equiped with the second gas joint for connect with the second airway and is connect with fixation electricity
Second electric connection of terminal electrical connection.
Preferably, the first connection body offers up-small and down-big frustum butt hole, and the second connection body sets
Frustum connecting pole corresponding with frustum butt hole is equipped with, first airway and the sub lower end of flexible electrical termination are located at frustum pair
Connect the bottom in hole；The upper end of second airway and fixed electrical termination is located at the top of frustum connecting pole.
Preferably, the latching device includes connecting the annular groove of column outer wall positioned at frustum and is installed in frustum butt hole inwall
Steel ball, fixed connection apparatus and when more changing device is fastened and connected, a part for steel ball is located in annular groove.
Preferably, the first connection body is equiped with the 3rd gas joint, lock tube and closure, the lock tube and closure it
Between chamber and the 3rd gas fittings, the inwall of frustum butt hole offers the frustum through hole for housing steel ball, lock tube
Inwall lower end is provided with the lock ring for ejection steel ball.
Preferably, it is connected with compression spring between the lock tube and the first connection body.
The beneficial effects of the utility model are：The utility model provides a kind of manipulator quick-replaceable attachment structure,
In actual production application, fixed connection apparatus are fixedly connected with the end of robotic manipulator, the execution machine of robot
Structure (such as mechanical paw) is fixedly connected with more changing device, when processing workpiece proceeds to next operation from a upper operation,
Without additionally increasing a robot in production line, the fixed connection apparatus on the robot need only to be held with upper one
The more changing device of row mechanism is separated, then is combined connection with the more changing device with next executing agency (such as glue dispenser head),
The complete work flow of the production line can be equally realized, the input cost of production line is greatly reduced, robot is simplified
Input cost, cost performance is high.Fixed connection apparatus and when more changing device is fastened and connected, due to the first airway, the second airway,
The design of flexible electrical termination and fixed electrical termination, realizes the electric linkage function of manipulator quick-replaceable attachment structure,
It is easy to the electrical control that carries out to executing agency, simple structure changes simple and fast, practical.
Brief description of the drawings
Dimensional structure diagram when Fig. 1 is not connected the utility model manipulator quick-replaceable attachment structure.
Fig. 2 is cross-sectional view when the utility model manipulator quick-replaceable attachment structure is connected.
Cross-sectional view when Fig. 3 is not connected the utility model manipulator quick-replaceable attachment structure.
Specific embodiment
For the ease of the understanding of those skilled in the art, the utility model is made further with reference to embodiment
Bright, the content that implementation method is referred to is not to restriction of the present utility model.
As shown in Figure 1 to Figure 3, a kind of manipulator quick-replaceable attachment structure, including it is installed on being fixedly connected for mechanical arm
The more changing device 2 of device 1, at least two and the latching device for preventing fixed connection apparatus 1 and more changing device 2 is released, it is described
Fixed connection apparatus 1 include the first connection body 11, the first airway 12 positioned at the first connection body 11 middle part and positioned at the
Flexible electrical termination 13 on the periphery of one airway 12, the more changing device 2 includes the second connection body 21, connects this positioned at second
Second airway 22 and fixed electrical termination 23 positioned at the periphery of the second airway 22 at the middle part of body 21, the He of fixed connection apparatus 1
When more changing device 2 is fastened and connected, the first airway 12 is docked and connected with the second airway 22, and electrical termination of stretching 13 is electric with fixed
Connecting terminal 23 corresponds electrical contact.
In actual production application, fixed connection apparatus 1 are fixedly connected with the end of robotic manipulator, robot
Executing agency's (such as mechanical paw) be fixedly connected with more changing device 2, when processing workpiece proceed to from a upper operation it is next
During individual operation, without additionally increasing a robot in production line, the fixed connection apparatus 1 on the robot are needed only to and band
The more changing device 2 of You Shangyige executing agencies is separated, then with more changing the outfit with next executing agency (such as glue dispenser head)
Put 2 and combine connection, can equally realize the complete work flow of the production line, greatly reduce the input cost of production line, letter
The input cost of Hua Liao robots, cost performance is high.
Fixed connection apparatus 1 and when more changing device 2 is fastened and connected, due to the first airway 12, the second airway 22, flexible
The design of electrical termination 13 and fixed electrical termination 23, realizes the electric linkage function of manipulator quick-replaceable attachment structure,
It is easy to the electrical control that carries out to executing agency, simple structure changes simple and fast, practical.
In the present embodiment, the fixed connection apparatus 1 be equiped with the first gas joint 1a for being connected with the first airway 12 and
The the first electric connection 1b electrically connected with flexible electrical termination 13, more changing device 2 is equiped with second connected with the second airway 22
Gas joint 2a and the second electric connection 2b electrically connected with fixed electrical termination 23.Specifically, the first connection body 11 is opened up
There is up-small and down-big frustum butt hole 14, the second connection body 21 is provided with and is connected with the corresponding frustum of frustum butt hole 14
The lower end of post 24, first airway 12 and flexible electrical termination 13 is located at the bottom of frustum butt hole 14；Described second leads to
The upper end of air flue 22 and fixed electrical termination 23 is located at the top of frustum connecting pole 24.
In the present embodiment, the latching device includes being located at the annular groove 25 of the outer wall of frustum connecting pole 24 and is installed in frustum pair
Connect the steel ball 15 of the inwall of hole 14, fixed connection apparatus 1 and when more changing device 2 is fastened and connected, a part for steel ball 15 is located at annular groove
In 25.Specifically, the first connection body 11 is equiped with the 3rd gas joint 16, lock tube 17 and closure 18, the He of lock tube 17
Chamber between closure 18 is connected with the 3rd gas joint 16, and the inwall of frustum butt hole 14 is offered for housing steel ball 15
Frustum through hole, the inwall lower end of lock tube 17 is provided with the lock ring 19 for ejection steel ball 15；The lock tube 17 is connected this with first
Compression spring 10 is connected between body 11.
When the 3rd gas joint 16 is inflated, air pressure promotes lock tube 17 to move down, and no lock ring 19 is kept out, steel ball 15 to
It is outer to be moved out annular groove 25, fixed connection apparatus 1 and more changing device 2 can be separated easily；When more changing device 2 more alternatively
Afterwards, after in the new insertion frustum of frustum connecting pole 24 butt hole 14, the decompression of the 3rd gas joint 16, lock tube 17 is in compression spring 10
In the presence of move up, the part of the ejection steel ball 15 of lock ring 19 to steel ball 15 is located in annular groove 25, so as to prevent the company of fixation
Connection device 1 and more changing device 2 is separated, dismounts and changes all more convenient, and simple structure, practicality is stronger.
, it is necessary to illustrate in description of the present utility model, for the noun of locality, if any term " " center ", " transverse direction
(X) ", " longitudinal direction (Y) ", " vertical (Z) " " length ", " width ", " thickness ", " on ", D score, "front", "rear", "left", "right",
The indicating position such as " vertical ", " level ", " top ", " bottom ", " interior ", " outward ", " clockwise ", " counterclockwise " and position relationship be based on
Orientation shown in the drawings or position relationship, are for only for ease of narration the utility model and simplify description, rather than instruction or dark
Showing the device or element of meaning must have specific orientation, be constructed and operated with particular orientation, it is impossible to be interpreted as limiting this reality
With new specific protection domain.
Additionally, be only used for describing purpose if any term " first ", " second ", and it is not intended that indicating or implying relatively heavy
The property wanted or the implicit quantity for indicating technical characteristic.Thus, defining " first ", " second " feature can express or implicit include
One or more this feature, in the utility model description, " several " are meant that two or more, unless otherwise bright
It is really specific to limit.
In the utility model, except as otherwise clear stipulaties and restriction, if any term " assembling ", " connected ", " connection " term
Should go to understand as broad sense, for example, it may be being fixedly connected, or being detachably connected, or be integrally connected；It can also be machine
Tool is connected；Can be joined directly together, or be connected by intermediary, can be that two element internals are connected.For
For those of ordinary skill in the art, above-mentioned term specifically containing in the utility model can be as the case may be understood
Justice.
Embodiment described above only expresses some implementation methods of the present utility model, and its description is more specific and detailed,
But therefore can not be interpreted as the limitation to the utility model the scope of the claims.It should be pointed out that common for this area
For technical staff, without departing from the concept of the premise utility, various modifications and improvements can be made, these all belong to
In protection domain of the present utility model.Therefore, the protection domain of the utility model patent should be determined by the appended claims.
Claims (6)
1. a kind of manipulator quick-replaceable attachment structure, including the fixed connection apparatus for being installed on mechanical arm（1）With at least two
More changing device（2）, and for preventing fixed connection apparatus（1）With more changing device（2）The latching device for releasing, its feature exists
In：The fixed connection apparatus（1）Including the first connection body（11）, positioned at first connection body（11）First ventilation at middle part
Road（12）And positioned at the first airway（12）Flexible electrical termination on periphery（13）, the more changing device（2）Including the second connection
Body（21）, positioned at second connection body（21）Second airway at middle part（22）And positioned at the second airway（22）Periphery is consolidated
Determine electrical termination（23）, fixed connection apparatus（1）More changing device（2）When being fastened and connected, the first airway（12）It is logical with second
Air flue（22）It is docked and connected, electrical termination of stretching（13）With fixed electrical termination（23）Correspond electrical contact.
2. manipulator quick-replaceable attachment structure according to claim 1, it is characterised in that：The fixed connection apparatus
（1）It is equiped with and the first airway（12）First gas joint of connection（1a）And it is sub with flexible electrical termination（13）The first of electrical connection
Electric connection（1b）, more changing device（2）It is equiped with and the second airway（22）Second gas joint of connection（2a）And connect with fixed electricity
Terminal（23）Second electric connection of electrical connection（2b）.
3. manipulator quick-replaceable attachment structure according to claim 1, it is characterised in that：The first connection body
（11）Offer up-small and down-big frustum butt hole（14）, the second connection body（21）It is provided with and frustum butt hole（14）
Corresponding frustum connecting pole（24）, first airway（12）With flexible electrical termination（13）Lower end be located at frustum butt hole
（14）Bottom；Second airway（22）With fixed electrical termination（23）Upper end be located at frustum connecting pole（24）Top
Portion.
4. manipulator quick-replaceable attachment structure according to claim 3, it is characterised in that：The latching device includes position
In frustum connecting pole（24）The annular groove of outer wall（25）And it is installed in frustum butt hole（14）The steel ball of inwall（15）, it is fixedly connected dress
Put（1）More changing device（2）When being fastened and connected, steel ball（15）A part be located at annular groove（25）It is interior.
5. manipulator quick-replaceable attachment structure according to claim 4, it is characterised in that：The first connection body
（11）It is equiped with the 3rd gas joint（16）, lock tube（17）And closure（18）, the lock tube（17）And closure（18）Between chamber
Room and the 3rd gas joint（16）Connection, frustum butt hole（14）Inwall offer for housing steel ball（15）Frustum through hole,
Lock tube（17）Inwall lower end be provided with for ejection steel ball（15）Lock ring（19）.
6. manipulator quick-replaceable attachment structure according to claim 5, it is characterised in that：The lock tube（17）With first
Connection body（11）Between be connected with compression spring（10）.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621362430.9U CN206263986U (en) | 2016-12-13 | 2016-12-13 | A kind of manipulator quick-replaceable attachment structure |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621362430.9U CN206263986U (en) | 2016-12-13 | 2016-12-13 | A kind of manipulator quick-replaceable attachment structure |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206263986U true CN206263986U (en) | 2017-06-20 |
Family
ID=59044004
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621362430.9U Active CN206263986U (en) | 2016-12-13 | 2016-12-13 | A kind of manipulator quick-replaceable attachment structure |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206263986U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109551512A (en) * | 2019-01-24 | 2019-04-02 | 电子科技大学中山学院 | It is a kind of can convenient dismounting joint arrangement |
| CN110614651A (en) * | 2019-10-22 | 2019-12-27 | 北京海益同展信息科技有限公司 | Quick connecting device, functional arm and robot |
| CN110977937A (en) * | 2019-11-11 | 2020-04-10 | 内蒙古工业大学 | Reconfigurable docking mechanism |
-
2016
- 2016-12-13 CN CN201621362430.9U patent/CN206263986U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109551512A (en) * | 2019-01-24 | 2019-04-02 | 电子科技大学中山学院 | It is a kind of can convenient dismounting joint arrangement |
| CN110614651A (en) * | 2019-10-22 | 2019-12-27 | 北京海益同展信息科技有限公司 | Quick connecting device, functional arm and robot |
| CN110977937A (en) * | 2019-11-11 | 2020-04-10 | 内蒙古工业大学 | Reconfigurable docking mechanism |
| CN110977937B (en) * | 2019-11-11 | 2020-11-27 | 内蒙古工业大学 | Reconfigurable docking mechanism |
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