CN207256266U - End effector quick-changing mechanism - Google Patents
End effector quick-changing mechanism Download PDFInfo
- Publication number
- CN207256266U CN207256266U CN201720833340.1U CN201720833340U CN207256266U CN 207256266 U CN207256266 U CN 207256266U CN 201720833340 U CN201720833340 U CN 201720833340U CN 207256266 U CN207256266 U CN 207256266U
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- CN
- China
- Prior art keywords
- master
- mounting base
- tool shelf
- fitting surface
- movable block
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
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- 239000012636 effector Substances 0.000 title claims abstract description 45
- 238000009434 installation Methods 0.000 claims abstract description 10
- 208000036829 Device dislocation Diseases 0.000 claims 1
- 238000004519 manufacturing process Methods 0.000 abstract description 32
- 238000000034 method Methods 0.000 abstract description 7
- 229910000831 Steel Inorganic materials 0.000 description 6
- 239000010959 steel Substances 0.000 description 6
- 230000000694 effects Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 238000011112 process operation Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000000903 blocking effect Effects 0.000 description 1
- 238000007596 consolidation process Methods 0.000 description 1
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- Manipulator (AREA)
Abstract
End effector quick-changing mechanism provided by the utility model includes the tool shelf with the master of equipment end installation and with end effector installation, master includes master mounting base, movable block, driving device, tool shelf includes the tool shelf mounting base detachably installed with master mounting base, the movable block is connected with driving device, and it can be moved under the driving of driving device relative to master mounting base, in master mounting base master fitting surface is equipped with the opposite end of movable block moving direction, the tool shelf mounting base is equipped with tool shelf fitting surface, the master fitting surface is engaged installation with tool shelf fitting surface, the tool shelf mounting base can be placed between movable block and master fitting surface, tool shelf fitting surface is set to be engaged positioning with master fitting surface by movable block driving.The utility model can replace different end effectors automatically, single device is exchanged in process of production using different instruments, have the advantages that simple in structure, cost is low, handover operation is simple fast, production efficiency is high.
Description
Technical field
It the utility model is related to mechanical equipment technical field, more particularly to a kind of end effector applied to production equipment
Quick-changing mechanism.
Background technology
With the development of market and technology, during work piece production processing and manufacturing, it is traditional be suitable for producing in enormous quantities,
The mode of production of few kind cannot meet the production requirement of enterprise.The Flexible Production of single production line production multiple product
Mode is more and more important, but existing equipment end effector (such as fixture) is more single, can not meet the needs of flexible production, and
And the switching surfaces of end effector are high, prior art general replacement end effector when, needs to dismantle trip bolt, newly
Old replacement will cause to stop work for a long time, while rely on substantial amounts of labour and replacement process is very cumbersome, have impact on production effect
Rate.Therefore, can be used in existing production can be with the end effector of quick change.
The one of which fixture quick-changing mechanism of the prior art, as depicted in figs. 1 and 2, is provided with 101 groove of mechanical arm
Gripping block 102, gripping block 102 are fastened with axis pin 103 by screw 104, and axis pin 103 passes through locator 105 with mechanical arm 101
Fastening, 105 front end of locator are provided with handle 106, and 105 rear end of locator is connected with 101 side of mechanical arm by baffle ring 107
Connect.Manual switching is needed during this kind of fixture quick-changing mechanism operation switching fixture, switching efficiency is relatively low, complicated, and production cost is high,
And automated production can not be adapted to, stability is poor.
Another manipulator fixture quick-changing mechanism of the prior art, as shown in figure 3, it includes fixed column 201 and fixing sleeve
202, the notch that the lower end of fixed column 201 is provided with, and multiple steel ball holes are provided with fixed column 201, steel ball hole is connected with notch,
And steel ball 204 is provided with steel ball hole, the portion of blocking is provided with the inside of steel ball hole, fixing sleeve 202 includes what is matched with notch
Sheath body portion 221 and limiting section 222, the outer surface of sheath body portion 221 are provided with the card slot of multiple arcs structure, fixing sleeve and fixation
When column is connected, the inner side of steel ball 204 is stuck in card slot；The lower end of fixed column 201 is fixedly connected with retainer ring 203, and fixed column
Be provided with baffle ring 212 on 201, in fixed column 201 between retainer ring 203 and baffle ring 212 it is moving up and down be provided with it is fixed
Position set 205, and spring 206 is provided with fixed column between positioning sleeve 205 and baffle ring 212, the top of the inner side of positioning sleeve 205
Top splenium is provided with, and the lower part of the inner side of positioning sleeve 205 is provided with multiple holding tanks 251, holding tank 251 is pyramidal structure.So
And the structure of the fixture quick-changing mechanism of this structure is excessively complicated, manufacture cost is too high.
Utility model content
The purpose of this utility model is to provide one kind is simple in structure, cost is low, handover operation simply efficiently hold by end
Row device quick-changing mechanism.
To achieve the above object, the utility model provides a kind of end effector quick-changing mechanism, it includes pacifying with equipment end
The master of dress, and the tool shelf with end effector installation, the master include master mounting base, movable block, driving device,
The tool shelf includes the tool shelf mounting base detachably installed with master mounting base, which is connected with driving device, and
It can be moved under the driving of driving device relative to master mounting base, in the opposite end of movable block moving direction in master mounting base
Equipped with master fitting surface, which is equipped with tool shelf fitting surface, the master fitting surface and tool shelf fitting surface phase
Coordinate installation, which can be placed between movable block and master fitting surface, and being promoted by movable block assembles tool shelf
Face is engaged positioning with master fitting surface.
In better embodiment, the moving direction of the movable block is opposite master mounting base transverse shifting, and driving device is given
Lateral thrust is given, with reference to the cooperation between master fitting surface and tool shelf fitting surface so that tool shelf mounting base can stably match somebody with somebody
Conjunction is positioned in master mounting base.
During work piece production processing and manufacturing, equipment (such as robot) is changed planes soon by the utility model end effector
Structure, can be with the different end effector of quick-replaceable (such as fixture), so as to increase production flexibility.In concrete operations, end is held
The master of row device quick-changing mechanism is moved to the tool shelf position being connected with end effector so that tool shelf mounting base is placed in activity
Between block and master fitting surface, driving device drives movable block to be moved relative to master mounting base to master fitting surface direction, activity
Block promotes tool shelf mounting base to be moved to master fitting surface direction at the same time, finally so that the tool shelf fitting surface of tool shelf mounting base
Positioning is engaged with master fitting surface, since the motive force of driving device causes between tool shelf mounting base and master mounting base surely
Consolidation is closed, and realizes that installation combines between end effector and equipment.When another end effector need to be switched, driving dress
Reverse withdrawal is put, movable block reverse movement, releases between tool shelf mounting base and master mounting base and coordinate, master is moved to another
The tool shelf position of end effector, repeats above-mentioned crawl process, completes instrument switching.Process operation very simple is quick.
Beneficial effect：The situation of the prior art is different from, the utility model can replace different end effectors automatically
(such as fixture), makes single device exchange in process of production using different instruments, so as to increase production flexibility；It is relatively artificial
Longer switching time, cumbersome handoff procedure, the structure of the utility model end effector quick-changing mechanism is simple, manufacture cost
It is low with production cost, handover operation is simply quick, replace automatically other instruments and can be completed within the several seconds switching, greatly improve
Production efficiency.
Brief description of the drawings
Fig. 1 is the side sectional view of one of prior art；
Fig. 2 is the sectional view of one of prior art；
Fig. 3 is two sectional view of prior art；
Fig. 4 is the master structure diagram of the utility model end effector quick-changing mechanism embodiment；
Fig. 5 is the tool disc structure schematic diagram of the utility model end effector quick-changing mechanism embodiment；
Fig. 6 is the assembling schematic diagram of the utility model end effector quick-changing mechanism embodiment.
Embodiment
To make those skilled in the art more fully understand the technical solution of the utility model, below in conjunction with the accompanying drawings and specifically
Embodiment is described in further detail the utility model.
One of Fig. 4~6, the utility model end effector quick-changing mechanism embodiment are refer to, it includes pacifying with equipment end
Filling fixed master, and the tool shelf with end effector installation, the general equipment is production equipment such as robot,
The general end effector is the instrument used in production such as fixture, in different process of manufacture or different
The production and processing of category, can be quick using the utility model end effector quick-changing mechanism, it is necessary to switch different instruments
Switching, improves production efficiency, reduces cost.
As shown in figure 4, in the present embodiment, the master includes master mounting base 301, master assembling block 302, driving dress
Put, movable block 306, guide rail 303, guide sleeve 304, master mounting base 301 is installed in equipment (such as robot flange), this reality
Apply driving device described in example and use cylinder 305, the master assembling block 302 is fixed on 301 downside left end of master mounting base, institute
To state cylinder 305 and be fixed on 301 downside right end of master mounting base, the guide rail 303 is arranged on 301 times middle side parts of master mounting base,
Guide sleeve 304 is arranged on movable block 306, is engaged with guide rail 303 so that movable block 306 is in master assembling block 302 and cylinder
Between 305, and movable block 306 can be rigidly connected so as to drive along guide rail or so linear slide, the drive shaft 308 of cylinder 305
Movable block slidably reciprocates.The side of the nearly master assembling block of movable block 306 is equipped with pin 307.302 face of master assembling block
Master fitting surface is equipped with to the side of movable block 306, the V-type face 309 of indent is used in the present embodiment.
As shown in figure 5, in the present embodiment, the tool shelf includes tool shelf mounting base 401, the tool shelf mounting base
Left side is equipped with tool shelf assembling block 402, and the tool shelf assembling block side opposite with master fitting surface is equipped with tool shelf fitting surface,
Used and the matched evagination V-type face 406 in above-mentioned indent V-type face 309 in the present embodiment.The tool shelf mounting base 401 can be placed in
Between movable block and master fitting surface, tool shelf fitting surface is set to be engaged positioning with master fitting surface by the driving of movable block 306.It is living
The distance between motion block and master fitting surface are large enough to hold the tool shelf mounting base, and tool shelf mounting base can be made to move left and right
Realize that assembling coordinates with releasing between master assembling block.
The right side of tool shelf mounting base 401 is equipped with pushing block 403, which is equipped with matches with the pin 307 of movable block
The pin hole 404 of conjunction, movable block 306 it is driven to pushing block when, pin 307 be inserted into pin hole 404 make movable block 306 and instrument
401 relative position of disk mounting base is fixed.Mounting hole 405 is additionally provided with the tool shelf mounting base 401 to be used for and end effector
Installation is fixed.
As alternate embodiment, the tool shelf fitting surface can also be the concavo-convex arc to match with master fitting surface
Curved surface or waveform curved surface, or it is designed to the groove and convex block of concavo-convex matching, or hole and pillar.
Realize that relative movement can also use other embodiment party between the master mounting base 301 and the movable block 306
Formula, such as ball slip, etc., are not limited by the example.
The tool shelf fitting surface can also be set directly at opposite with master fitting surface one in tool shelf mounting base 401
Side, without especially setting tool shelf assembling block.The master fitting surface can also be set directly in master mounting base with
The opposite side of tool shelf fitting surface, the master assembling block can also be integrally formed with master mounting base.
The movable block 306 directly can also implement thrust to tool shelf mounting base, can also directly be installed in tool shelf
Set on seat makes both coordinate force with the matched fitting surface of movable block, without especially setting pushing block, convertible a variety of energy
Movable block is enough set to promote assembling structure of tool shelf mounting base etc., such as directly in the tool shelf mounting base and the activity
Matched pin hole and pin are respectively equipped with block, is directly exerted a force with realizing.Matching somebody with somebody between the pushing block and the movable block
Conjunction can also use other modes, such as be designed to the groove and convex block of concavo-convex matching, or hole and pillar etc., from embodiment
Limitation.
During work piece production processing and manufacturing, equipment (such as robot) is changed planes soon by the utility model end effector
Structure, can be with the different end effector of quick-replaceable (such as fixture), so as to increase production flexibility.As shown in fig. 6, concrete operations
On, the master of end effector quick-changing mechanism is moved to the tool shelf position being connected with end effector so that tool shelf is installed
Seat 401 is placed between movable block 306 and master assembling block 302, cylinder 305 drive movable block 306 with respect to master mounting base 301 to
Move left, the pin 307 of movable block 306 is inserted into the pin hole 404 on the pushing block of tool holder, while promotes tool shelf to install
Seat 401 is moved to 309 direction of indent V-type face of master assembling block 302, finally so that the tool shelf dress of tool shelf mounting base 401
Positioning is engaged with the indent V-type face 309 of the master with the evagination V-type face 406 on block 402, due to the promotion of driving device
Power to consolidate combination between tool shelf mounting base and master mounting base, realizes and installed between end effector and equipment with reference to one
Rise.When that need to switch another end effector, cylinder 305 is reversely withdrawn, and movable block 306 moves backward, tool shelf mounting base
Release and coordinate between 401 and master mounting base 301, master is moved to the tool shelf position of another end effector, repeats above-mentioned
Crawl process, completes instrument switching.Process operation very simple is quick.
The driving device can also use other embodiment to cause movable block to realize the movement relative to master mounting base,
Limited from above-described embodiment.
It these are only the embodiment of the utility model, it does not limit the scope of the patent of the present invention, every profit
The equivalent structure or equivalent flow shift made with the utility model specification and accompanying drawing content, is directly or indirectly used in it
His relevant technical field, is similarly included in the scope of patent protection of the utility model.
Claims (10)
- A kind of 1. end effector quick-changing mechanism, it is characterised in that including：The master installed with equipment end, and held with end The tool shelf of row device installation, the master include master mounting base, movable block, driving device, and the tool shelf includes and master The tool shelf mounting base that mounting base is detachably installed, the movable block are connected with driving device, and can under the driving of driving device Moved relative to master mounting base, master fitting surface, the work are equipped with the opposite end of movable block moving direction in master mounting base Tool disk mounting base is equipped with tool shelf fitting surface, which is engaged installation with tool shelf fitting surface, tool shelf peace Dress seat can be placed between movable block and master fitting surface, and being promoted by movable block makes tool shelf fitting surface be engaged with master fitting surface Positioning.
- 2. end effector quick-changing mechanism according to claim 1, it is characterised in that the tool shelf fitting surface and master Fitting surface is the concavo-convex V-type face to match or arc-shaped curved surface or waveform curved surface, or the concavo-convex groove and convex block to match, or hole with Pillar.
- 3. end effector quick-changing mechanism according to claim 1 or 2, it is characterised in that the master mounting base is equipped with Guide rail, the movable block are equipped with and are engaged guide sleeve so that movable block can be along guide rail or so linear slide.
- 4. end effector quick-changing mechanism according to claim 1, it is characterised in that the master mounting base is equipped with master Disk assembling block, is oppositely arranged with movable block, and the master fitting surface is arranged on the master assembling block facing movament block moving direction Side.
- 5. end effector quick-changing mechanism according to claim 4, it is characterised in that the tool shelf fitting surface is arranged on The side opposite with master fitting surface in tool shelf mounting base.
- 6. according to the end effector quick-changing mechanism described in claim 1 or 2 or 4, it is characterised in that the tool shelf mounting base Tool shelf assembling block is equipped with, which is arranged on the tool shelf assembling block side opposite with master fitting surface.
- 7. end effector quick-changing mechanism according to claim 1 or 2, it is characterised in that in the tool shelf mounting base Nearly movable block side is equipped with pushing block, and the pushing block is equipped with matched location structure with the movable block.
- 8. end effector quick-changing mechanism according to claim 7, it is characterised in that the nearly master assembling block of movable block Side is equipped with pin, and the pushing block is equipped with and the matched pin hole of the pin.
- 9. end effector quick-changing mechanism according to claim 1 or 2, it is characterised in that the tool shelf mounting base with Matched pin hole and pin are respectively equipped with the movable block.
- 10. end effector quick-changing mechanism according to claim 1 or 2, it is characterised in that the driving device is gas Cylinder, cylinder driving axis connection movable block.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720833340.1U CN207256266U (en) | 2017-07-10 | 2017-07-10 | End effector quick-changing mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720833340.1U CN207256266U (en) | 2017-07-10 | 2017-07-10 | End effector quick-changing mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207256266U true CN207256266U (en) | 2018-04-20 |
Family
ID=61926411
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720833340.1U Expired - Fee Related CN207256266U (en) | 2017-07-10 | 2017-07-10 | End effector quick-changing mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207256266U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110319073A (en) * | 2019-07-26 | 2019-10-11 | 苏州青林自动化设备有限公司 | A kind of guide-rail connection device |
-
2017
- 2017-07-10 CN CN201720833340.1U patent/CN207256266U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110319073A (en) * | 2019-07-26 | 2019-10-11 | 苏州青林自动化设备有限公司 | A kind of guide-rail connection device |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180420 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |