CN209699134U - Industrial robot magic chuck - Google Patents

Abstract

The utility model relates to a kind of industrial robot magic chuck, the utility model efficiently solves the problems, such as that more inconvenient when existing robot replacement fixture and efficiency is lower；The technical solution of solution includes: with the slide-bar of fixture integrally connected and slide-bar is slidably fitted in the mounting base connecting with mechanical arm, the positioning mechanism positioned to slide-bar is equipped in mounting base, and slide-bar is equipped with the card and device matched with positioning mechanism, so that slide-bar is inserted into the positioning realized in mounting base to slide-bar, when needing to exit slide-bar replacement fixture, only slide-bar need to be firmly pushed inwards along slide opening, exit slide-bar outward again conveniently, slide-bar can be exited out of mounting base, and carry out the replacement of fixture, whole process is easy to operate, it is convenient, relative to traditional bolt, the fixed form of nut, the time required to greatly reducing replacement fixture, and the distance between the fixture and mounting base can be also finely adjusted according to applying working condition, so that applicability greatly improves.

Description

Industrial robot magic chuck

Technical field

The utility model relates to industrial machinery fields, and in particular to a kind of industrial robot magic chuck.

Background technique

With the development of science and technology, industrial efficiency is increasingly taken seriously, production efficiency plays very big work to benefit With industrial robot is widely used, and be can be good at replacing manual labor, is improved working efficiency, reduce cost；However Existing industrial robot needs manually to go to replace different types of operational instrument to it, to adapt to different types of Articles transfer And processing, if being equipped with the robot of multiple and different tools, it is clear that cost is very high, quickly replaces difference to robot The tool of type is obviously highly desirable；

Therefore in robot system, a robot generally requires corresponding more set work piece holders, machine under normal conditions Traditional mounting means between people and fixture be connected by flange and screw, but the disassembly of the connection type of this structure and Installation is all extremely inconvenient, relatively complicated, and waste wastes a large amount of unnecessary work during replacing fixture for robot After time influences the progress of entire production work, and industrial robot and fixture connect, relative position has been fixed Extremely, do not have a fine adjustment function, design is not humanized enough, it is therefore necessary to which designing one kind quick-replaceable and can have fine adjustment function Robot clamp.

Utility model content

For above situation, for the defect for overcoming the prior art, the utility model provides a kind of industrial robot quick change folder Tool, by the way that the skewback for the upper and lower ends being set in mounting base in mounting base slide opening will be inserted into the slide-bar of fixture integrally connected Card and in the trapezoidal plectane being set on slide-bar, between lifter plate, fixture is fixedly positioning by realization, by screwing adjusting spiral shell Bar can realize the effect being finely adjusted to fixture to control position of two skewbacks in mounting base in turn, and by fixture and install Seat separation when lifter plate need to be only contracted in slide-bar by apparatus for controlling of lifting, then along slide opening enforce slide-bar after to Outer extraction, whole process is easy to operate, quick and positioning is firm, substantially increases the replacement efficiency of robot clamp.

Specific technical solution is as follows:

It is fixed with mounting base on industrial robot magic chuck, including mechanical arm and mechanical arm, is slidably connected in mounting base There is the slide-bar with fixture integrally connected, which is characterized in that the slide opening being slidably matched with slide-bar, mounting base are equipped in the mounting base It is interior be located at slide opening upper and lower ends and slide laterally to be connected with to be connected in positioning tube and positioning tube through the first spring slide vertically therewith The skewback of cooperation, positioning tube by being threadedly engaged laterally setting and being rotatablely installed in the adjusting screw rod in mounting base, set by slide-bar Trapezoidal plectane is fixed in one end in slide opening is concentric, its center of circle is crossed in slide-bar and is equipped with and trapezoidal plectane interval setting and vertical sliding Dynamic connection and the lifter plate in slide-bar, lifter plate are pierced by slide-bar and distance and skewback width between lifter plate and trapezoidal plectane outward Equal, lifter plate is sliding combined with annulus on the slide-bar of trapezoidal plectane side and annulus both lateral sides are set as inclined-plane, ladder Shape plectane is equipped with the groove matched with annulus towards annulus side, and the lifter plate is connected with apparatus for controlling of lifting.

Preferably, its center of circle is crossed in the slide-bar and offers vertically extending rectangular opening, and the lifter plate includes two vertical The positioning plate being slidably connected in rectangular opening and the opposite side of two positioning plates, which interlock, is fixed with rack gear, engages jointly between two rack gears There is rotational installation in being equipped with the first worm gear rotated coaxially with gear in the gear in mounting base and mounting base, the first worm gear is by turning Dynamic the first worm drive being installed on slide-bar, the above apparatus for controlling of lifting for constituting lifter plate.

Preferably, annulus top half in the slide-bar of trapezoidal plectane side is equipped with rectangular cavities and rectangular cavities It is inside fixed with the slide cartridge longitudinally extended and slide cartridge longitudinal direction both ends is connected with the locating rod being slidably matched therewith through second spring respectively, Longitudinal sliding motion is connected with the brace and the opposite side fixed installation installation of two braces that two are obliquely installed respectively on rectangular cavities bottom wall There is driving screw rod, two driving screw flights are oppositely oriented, and two driving opposite one end of screw rod are combined with rotational installation in square jointly Thread barrel on shape cavity bottom wall and it is connected with driving device, slide opening longitudinal direction two sides slidably connect and locating rod, brace respectively The limiting slot matched, limiting slot connect with the positioning tube being located above and drive through adjusting screw rod, and brace is in driving device Driving is lower to trigger locating rod when contacting with limiting slot from stretching out and be inserted into limiting slot in slide cartridge.

Preferably, the driving device includes the first bevel gear that is fixed on thread barrel of set and first bevel gear is engaged with and turns The dynamic second bevel gear being installed on rectangular cavities bottom wall, second bevel gear, which rotates coaxially, is connected with the second worm gear and the second worm gear Rotational installation is combined in the second worm screw in mounting base.

Preferably, slide opening longitudinal direction two sides offer slideway and limiting slot the sliding company for being connected to and being laterally extended with slide opening It is connected in slideway, two limiting slot upper surfaces are connected to the arc panel longitudinal direction two sides with the concentric setting of slide-bar, arc panel warp Connecting rod is connect with positioning tube, and the opposite side of two limiting slots is equipped with the limit chamber being used in combination with locating rod, brace.

Preferably, brace and corresponding limit chamber contact site is respectively fixed with conductive sheet and is fixed on two braces therewith On conductive sheet be electrically connected, limit chamber position is matched with locating rod equipped with electromagnet and electromagnet be set to two limit chambers Interior conductive sheet be series at jointly is set to installation in loop of voltage regulation in, on two braces corresponding site be fixed with and locating rod by Easily it is made by the material that magnet attracts.

Above-mentioned technical proposal beneficial effect is:

(1) by the way that be set in mounting base in mounting base slide opening up and down two will be inserted into the slide-bar of fixture integrally connected The skewback card at end and in the trapezoidal plectane being set on slide-bar, between lifter plate, fixture is fixedly positioning by realization, passes through rotation Stubborn adjusting screw rod can realize the effect being finely adjusted to fixture in turn to control position of two skewbacks in mounting base, to meet not Use demand under same operating condition；And lifter plate need to only be shunk by apparatus for controlling of lifting when separating fixture with mounting base To slide-bar, then along slide opening enforce slide-bar after extract outside, whole process is easy to operate, quickly and positioning jail It leans on, substantially increases the replacement efficiency of robot clamp；

(2) I also adds another positioning mechanism by door in slide-bar in this programme, by the brace that is set in slide-bar, fixed Position bar cooperates with the limiting slot being set in mounting base, carries out reliable location to the slide-bar being inserted in mounting base again, When another positioning mechanism catastrophic failure, which can also realize clamping, positioning to slide-bar, cooperate another positioning mechanism It realizes to the dual reliable location of slide-bar, clamping, so that the reliability of the device greatly improves.

Detailed description of the invention

Fig. 1 is the utility model overall structure main view；

Fig. 2 is the utility model overall structure side view；

Fig. 3 is internal structure (slide-bar can be extracted out of mounting base) schematic diagram after the utility model mounting base section view；

Fig. 4 is internal structure (slide-bar, which is in, is decided to be state) schematic diagram after the utility model mounting base section view；

Fig. 5 is another visual angle schematic diagram of internal structure after the utility model mounting base section view；

Fig. 6 is that the utility model leaves out its internal mechanism matching relationship schematic diagram after mounting base, slide-bar；

Fig. 7 is in rectangular cavities upper section for the utility model slide-bar and leaves out schematic diagram in rear rectangular cavities；

Fig. 8 be the utility model shank portion section view after and slide cartridge section view after schematic diagram of internal structure；

Fig. 9 is the utility model mounting base, slide-bar leaves out rear internal structure matching relationship schematic diagram；

Figure 10 is that the utility model slide-bar separates rear structural schematic diagram with mounting base；

Figure 11 is schematic diagram after structure amplification at the utility model A；

Figure 12 be the utility model mounting base section view after along its laterally a side front view；

Figure 13 is schematic diagram when the trapezoidal plectane of the utility model and annulus cross skewback.

Specific embodiment

Aforementioned and other technology contents, feature and effect in relation to the utility model, in following cooperation with reference to figures 1 through figure In the detailed description of 13 pairs of embodiments, can clearly it present.The structure content being previously mentioned in following embodiment is with explanation Book attached drawing is reference.

Each exemplary embodiment of the utility model is described below with reference to accompanying drawings.

Mounting base 2, sliding in mounting base 2 are fixed on industrial robot magic chuck, including mechanical arm 1 and mechanical arm 1 It is connected with the slide-bar 3 with 4 integrally connected of fixture, which is characterized in that be equipped with the cunning being slidably matched with slide-bar 3 in the mounting base 2 Hole 5, interior slide laterally positioned at 5 upper and lower ends of slide opening of mounting base 2 are connected in positioning tube 6 and positioning tube 6 through the connection of the first spring 7 There is the skewback 8 for sliding vertically cooperation therewith, positioning tube 6 is by being threadedly engaged laterally setting and being rotatablely installed in mounting base 2 Adjusting screw rod 9, slide-bar 3 is placed in that one end in slide opening 5 is concentric to be fixed with trapezoidal plectane 10, crossed in slide-bar 3 its center of circle be equipped with The trapezoidal interval of plectane 10 is arranged and slides vertically the lifter plate in connection and slide-bar 3, and lifter plate is pierced by slide-bar 3 and lifter plate outward Distance is equal with 8 width of skewback between trapezoidal plectane 10, and lifter plate is slidably matched on the slide-bar 3 of trapezoidal 10 side of plectane There is annulus 11 and 11 both lateral sides of annulus are set as inclined-plane, trapezoidal plectane 10 is equipped with towards 11 side of annulus and matches with annulus 11 Groove 37, the lifter plate is connected with apparatus for controlling of lifting.

The embodiment when in use, is attached between mechanical arm 1 and fixture 4 through mounting base 2, specifically, installation Slide opening 5 is equipped in seat 2 and fixture 4 is connected with the slide-bar 3 being slidably matched with slide opening 5, we distinguish in slide opening upper and lower ends It is equipped with equipped with limit hole 39 and at the corresponding position in the thicker one end of slide-bar diameter the limited block 40 matched with limit hole 39, slide-bar 3 to be disposed proximate to 2 one end diameter of mounting base thinner, thicker close to 4 one end diameter of fixture；We are equipped with sliding chamber in mounting base 2 38 and positioning tube 6 slide laterally and be connected in the cunning chamber 38, sliding chamber 38 be in connected state with slide opening 5, and positioning tube 6 is interior through first Spring 7 is connected to the skewback 8 being slidably matched therewith and slide-bar 3 is when being inserted in slide opening 5, and skewback 8 is in shape as shown in Fig. 4 State is set to the trapezoidal circle of 3 front end of slide-bar when staff with the slide-bar 3 of 4 integrally connected of fixture by being inserted into slide opening 5 Plate 10 touches skewback 8 first and is squeezed skewback 8 in positioning tube 6 and crossing skewback 8 by the mutual extrusion between inclined-plane, When trapezoidal plectane 10 crosses skewback 8, skewback 8 is sprung back in sliding block and just again under the effect of 7 elastic force of the first spring Card and (we are set as and skewback due to the distance between trapezoidal plectane 10 and lifter plate between trapezoidal plectane 10 and lifter plate 8 width are equal), just realized at this time to slide-bar 3(fixture 4) reliable location, when needing to the phase between fixture 4 and mounting base 2 When being finely adjusted to position, we by screw adjusting screw rod 9(adjusting screw rod 9 be placed in the outer one end of mounting base 2 be fixed with it is first-hand Handle 32, convenient for being rotated to adjusting screw rod 9) drive the positioning tube 6 being threadedly engaged therewith to carry out lateral cunning along sliding chamber 38 in turn It is dynamic, and then the fixture 4 connecting with slide-bar 3 is driven to be finely adjusted；

When needing to exit slide-bar 3 from slide opening 5, we are by the apparatus for controlling of lifting that connect with lifter plate at this time, Control lifter plate is contracted in slide-bar 3, and slide-bar 3 is then in free state, at this time due to losing limit of the lifter plate to it at this time Fixture 4 firmly is pushed along slide opening 5, then drives the annulus 11 being slidably connected on slide-bar 3 to cross 11 both lateral sides of skewback 8(annulus It is disposed as inclined-plane) when pushing slide-bar 3 mobile towards the direction close to mechanical arm 1, the annulus 11 that is slidably connected on slide-bar 3 It contacts with 8 chamfered portion of skewback, and is again squeezed skewback 8 to positioning tube 6 first by the interaction between inclined-plane, this Shi Yuanhuan 11 crosses skewback 8 with slide-bar 3, we extract slide-bar 3 outward in opposite direction at this time, when annulus 11 is towards skewback 8 one It flanks when contacting skewback 8, annulus 11 matches towards trapezoidal 10 side of plectane with the groove 37 being set on trapezoidal plectane 10 at this time It closes and 11 left part of annulus is located in the groove 37 of trapezoidal plectane 10, state as shown in Fig. 3 is in, due to 11 two sides of annulus It is disposed as inclined-plane, annulus 11 is displaced outwardly with slide-bar 3 and is squeezed skewback 8 into positioning tube 6 again by inclined-plane at this time, We set annulus 11 and the contact surface of groove 37 is made of the biggish material of coefficient of friction, when annulus 11 passes through inclined-plane again When skewback 8 is squeezed to positioning tube 6, then annulus 11 and the trapezoidal plectane 10 matched with annulus 11 smoothly cross skewback 8 (referring to shown in attached drawing 13, preferably, 8 bottom tip portion of skewback is set an arc-shaped by we, when trapezoidal plectane 10 It cooperates together and when the two matches position by the arc-shaped position on skewback 8, can easily cross with annulus 11 Skewback 8 can avoid 8 bottom tip portion of skewback and be inserted into two during trapezoidal plectane 10 crosses skewback with annulus 11 Person's mutual cooperation position is detached from trapezoidal plectane 10 with annulus 11), and slide-bar 3 is smoothly exited from slide opening 5, it realizes The effect of quick more slide clip tool 4, the mode fixed relative to traditional bolt and nut are easy to operate, quick.

Embodiment 2 crosses its center of circle in the slide-bar 3 and offers vertically extending rectangular opening on the basis of embodiment 1 12, the lifter plate include two slide vertically the positioning plate 13 being connected in rectangular opening 12 and the opposite top-cross of two positioning plate 13 // Mistake is fixed with rack gear 14, is engaged with rotational installation between two rack gears 14 jointly and sets in the gear 15 in mounting base 2 and mounting base 2 There is the first worm gear 16 rotated coaxially with gear 15, the first worm gear 16 is driven by being rotatablely installed in the first worm screw 17 on slide-bar 3, The above apparatus for controlling of lifting for constituting lifter plate.

The embodiment is how under the action of apparatus for controlling of lifting to shrink or stretch about lifter plate when in use Slide-bar 3 will be described in detail following out；Lifter plate includes sliding vertically the positioning plate 13 being connected in rectangular opening 12, and two The opposite side of positioning plate 13 staggeredly is fixed with rack gear 14, as shown in Fig. 6, be engaged with jointly between two rack gears 14 rotational installation in Gear 15 in slide-bar 3, gear 15 rotates coaxially the first worm gear 16 and the first worm gear 16 is through being rotatablely installed in slide-bar 3 The driving of one worm screw 17, the first worm screw 17 are placed in the outer one end of slide-bar 3 and are fixed with third handle 34, I am by screwing 34 band of third handle The rack gear 14 that the rotation of moving gear 15 and then band are engaged with gear 15 is mobile, therefore drives two positioning plates 13 along opposite or opposite side It is slided in rectangular opening 12, when gear 15 drives two positioning plates 13 to make when sliding in rectangular opening 12 along opposite direction Two positioning plates 13 are contracted in slide-bar 3, when gear 15 drives two positioning plates 13 to make when sliding in rectangular opening 12 along opposite direction Obtain the protruding slide-bar 3 of two positioning plate 13.

Embodiment 3, on the basis of embodiment 1, the annulus 11 upper half in the slide-bar 3 of trapezoidal 10 side of plectane It is arranged with and is fixed with the slide cartridge 19 longitudinally extended in rectangular cavities 18 and rectangular cavities 18 and the longitudinal both ends of slide cartridge 19 are respectively through the Two springs 36 are connected with the locating rod 20 being slidably matched therewith, and longitudinal sliding motion is connected with two inclinations respectively on 18 bottom wall of rectangular cavities The brace 21 of setting and the opposite side of two brace 21 are equipped with driving screw rod 22, the thread rotary orientation of two driving screw rods 22 On the contrary, two driving opposite one end of screw rod 22 are combined with rotational installation in the thread barrel 23 on 18 bottom wall of rectangular cavities jointly and connect There is driving device, the longitudinal two sides of slide opening 5 slidably connect the limiting slot 24 matched with locating rod 20, brace 21 respectively, limit Slot 24 connect with the positioning tube 6 being located above and drives through adjusting screw rod 9, brace 21 driving device driving under with limiting slot Triggering locating rod 20 in slide cartridge 19 from stretching out and be inserted into limiting slot 24 when 24 contact.

The embodiment when in use, preferably, we in slide-bar 3 be equipped with another positioning mechanism can to slide-bar 3 into Row repositions and the above positioning mechanism is cooperated to realize the positioning to slide-bar 3 jointly, clamp；Specifically, we are on slide-bar 3 Two braces 21, the fixed peace in the opposite side of two brace 21 are connected with equipped with longitudinal sliding motion in rectangular cavities 18 and 18 bottom wall of rectangular cavities Equipped with driving screw rod 22 and two driving 22 thread rotary orientation of screw rod settings are on the contrary, when sliding vertically the skewback 8 being connected in positioning tube 6 Just card and when between trapezoidal plectane 10, lifter plate, we by the driving of rotation thread barrel 23 with drive the company of screw rod 22 The brace 21 connect is moved along opposite or opposite direction respectively, and then it is cooperating therewith to drive two braces 21 to be inserted into respectively Limiting slot 24 in, when brace 21 is inserted into limiting slot 24 with matching, triggering is slidably connected in slide cartridge 19 fixed Position bar 20 from skidding off and be equally inserted into limiting slot 24 with matching in slide cartridge 19, due to limiting slot 24 with positioned at upper The positioning tube 6 of side is connected and is driven through adjusting screw rod 9, therefore when positioning tube 6 is in by positioning states, limiting slot 24 is also the same In by positioning states, when locating rod 20, brace 21 are inserted respectively and when in limiting slot 24 with matching, locating rod 20, Brace 21 and limiting slot 24 cooperate, and realize the reposition to slide-bar 3.

Embodiment 4, on the basis of embodiment 3, the driving device includes the first cone tooth that set is fixed on thread barrel 23 Wheel 25 and first bevel gear 25 are engaged with rotational installation in the second bevel gear 26 on 18 bottom wall of rectangular cavities, second bevel gear 26 Rotate coaxially be connected with the second worm gear 27 and the second worm gear 27 be combined with rotational installation in the second worm screw 28 in mounting base 2.

The embodiment is how to drive doing in detail following for the rotation of thread barrel 23 about driving device when in use Thin description；Intrinsic first bevel gear 25 is covered on thread barrel 23 and first bevel gear 25 is engaged with rotational installation in rectangular cavities 18 Second bevel gear 26 on bottom wall, second bevel gear 26 rotate coaxially be connected with the second worm gear 27 and the second worm gear 27 be engaged with turn Dynamic the second worm screw 28 being installed in slide-bar 3, we are placed in the outer one end of slide-bar 3 equipped with second handle 33 in the second worm screw 28, lead to It crosses rotation second handle 33 to drive the second worm gear 27 to rotate and then thread barrel 23 is driven to rotate, so that realizing will lead to thread barrel 23 Cross be threadedly engaged two driving screw rods 22 respectively along it is opposite perhaps opposite to each other be reversed move so that drives brace 21 insertion or Exit limiting slot 24 with matching.

Embodiment 5, on the basis of embodiment 4, the longitudinal two sides of the slide opening 5, which are offered, to be connected to slide opening 5 and laterally prolongs The slideway 29 and limiting slot 24 stretched are slidably connected in slideway 29, and two limiting slots, 24 upper surface is connected to coaxial with slide-bar 3 The longitudinal two sides of the arc panel 30 of heart setting, arc panel 30 are connect through connecting rod 35 with positioning tube 6, and the opposite side of two limiting slot 24 is equipped with The limit chamber 31 being used in combination with locating rod 20, brace 21.

The embodiment when in use, about limiting slot 24 be how with locating rod 20, brace 21 carry out cooperation and Realization will be described in detail what slide-bar 3 positioned following；We offer in the longitudinal two sides of slide opening 5 connects with slide opening 5 Logical slideway 29, referring to shown in attached drawing 11, limiting slot 24, which slides laterally, to be connected in slideway 29 with matching, two limiting slots 24 opposite sides are equipped with limit chamber 31, and brace 21(we 31 transverse direction one side wall of brace 21 and limit chamber matched into position set Plane is set to, convenient for cooperation between the two) drive screw rod 22 driving under be inserted into limit chamber 31 when just contact at Limit chamber 31 is inserted into limiting slot 24 close to 4 one end side wall of fixture when brace 21 contacts triggering locating rod 20 with limiting slot 24 When, locating rod 20 just contacts at limit chamber 31 far from 4 one end side wall of fixture far from 4 one side wall of fixture, the shape referring to shown in attached drawing 8 State, two limiting slots, 24 upper surface is connected with arc panel 30 jointly and arc panel 30 connects through connecting rod 35 with the positioning tube 6 being located above It connects, we are equipped with the arc chute for being slidably matched with arc panel 30 and being connected to respectively with sliding chamber 38, slideway 29 in mounting base 2 39, when adjusting screw rod 9 drives positioning tube 6 mobile by connecting rod 35,30 synchronous drive of arc panel, two limiting slot 24 in slideway 29 Inside slided.

Embodiment 6, on the basis of embodiment 5, brace 21 and therewith corresponding 31 contact site of limit chamber are solid respectively Surely there is conductive sheet and the conductive sheet being fixed on two braces 21 is electrically connected, limit chamber 31 matches position with locating rod 20 and is equipped with Electromagnet and electromagnet and the conductive sheet being set in two limit chambers 31 are series at the loop of voltage regulation being set in mounting base jointly In, corresponding site is fixed with locating rod 20 by being easily made by the material that magnet attracts on two braces 21.

The embodiment is how to trigger locating rod 20 from slide cartridge 19 to skid off and be inserted into about brace 21 when in use Will be described in detail following in limiting slot 24；We are in 31 contact site of brace 21 and corresponding limit chamber It is respectively fixed with conductive sheet, the conductive sheet on two braces 21 is electrically connected by conducting wire, company's conductive sheet and electricity in limit chamber 31 Magnet is series at jointly in the loop of voltage regulation being arranged in mounting base 2, and when two braces 21 are not contacted with limit chamber 31, pressure stabilizing is returned Road is in an off state, the conductive sheet being set on two braces 21 when brace 21 is inserted into limit chamber 31 with matching It is contacted respectively with the conductive sheet being set in limit chamber 31, and (loop of voltage regulation is electrically connected with external loop of voltage regulation through conducting wire Power supply is connected with the battery being set in mounting base) it is connected to the conducting wire between the conductive sheet being set on brace 21, Electromagnet, which is powered, at this time is sucked out from slide cartridge 19 by the locating rod 20 being located in slide cartridge 19 by electromagnetic force and is slid into accordingly In limit chamber 31, two braces 21 and two locating rods 20 contact at the both lateral sides wall of limit chamber 31 respectively at this time, and then realize Positioning to slide-bar 3, when needing to exit slide-bar 3 out of mounting base 2, we are controlled by apparatus for controlling of lifting go up and down first Plate is contracted in slide-bar 3, and then we move back from limit chamber 31 with matching by driving device two braces 21 of control Out, the loop of voltage regulation being set at this time in mounting base 2 disconnects, and electromagnet loses two locating rod 20 of electromagnetic force in second spring 36 Be drawn back under effect in slide cartridge 19, slide-bar 3 is completely in free state at this time, we along slide opening 5 push slide-bar 3 inwards after again Be displaced outwardly slide-bar 3 at this time can smoothly extract slide-bar out of mounting base 2, to carry out the quick-replaceable of fixture.

By will be inserted into the slide-bar 3 of 4 integrally connected of fixture be set in 2 slide opening 5 of mounting base in mounting base 2 up and down The skewback 8 at both ends blocks and in the trapezoidal plectane 10 being set on slide-bar 3, between lifter plate, realize fixture 4 is carried out it is securely fixed Position can be realized and then screwing adjusting screw rod 9 to control position of two skewbacks 8 in mounting base 2 and is finely adjusted to fixture 4 Effect, to meet the use demand under different operating conditions；And it need to only pass through elevating control when separating fixture 4 with mounting base 2 Lifter plate is contracted in slide-bar 3 by device, then along slide opening 5 enforce slide-bar 3 after extract outside, whole process behaviour It is firm to make simple, quick and positioning, substantially increases the replacement efficiency of robot clamp 4；

I also adds another positioning mechanism by door in slide-bar 3 in this programme, by the brace 21 that is set in slide-bar 3, Locating rod 20 cooperates with the limiting slot 24 being set in mounting base 2, carries out again to the slide-bar 3 being inserted in mounting base 2 Reliable location, when another positioning mechanism catastrophic failure, which can also realize that the clamping to slide-bar 3, positioning, cooperation are another One positioning mechanism is realized to the dual reliable location of slide-bar 3, clamping, so that the reliability of the device greatly improves.

It is described above simply to illustrate that the utility model, it is understood that the utility model is not limited to the above implementation Example, the various variants for meeting the utility model thought both are within the protection scope of the present invention.

Claims (6)

1. being fixed with mounting base (2) on industrial robot magic chuck, including mechanical arm (1) and mechanical arm (1), mounting base (2) It inside slidably connects and the slide-bar (3) of fixture (4) integrally connected, which is characterized in that be equipped in the mounting base (2) and slide-bar (3) slide opening (5) being slidably matched, be located in mounting base (2) slide opening (5) upper and lower ends slide laterally be connected with positioning tube (6) and The skewback (8) for sliding vertically cooperation therewith is connected in positioning tube (6) through the first spring (7), positioning tube (6) is by being threadedly engaged Have and be laterally arranged and be rotatablely installed in the adjusting screw rod (9) in mounting base (2), it is concentric that slide-bar (3) is placed in slide opening (5) interior one end It is fixed with trapezoidal plectane (10), its center of circle is crossed in slide-bar (3) is equipped with to be spaced setting with trapezoidal plectane (10) and slide vertically and connect With the lifter plate in slide-bar (3), lifter plate is pierced by slide-bar (3) and distance and skewback between lifter plate and trapezoidal plectane (10) outward (8) width is equal, and lifter plate is sliding combined with annulus (11) and annulus (11) on the slide-bar (3) of trapezoidal plectane (10) side Both lateral sides are set as inclined-plane, and trapezoidal plectane (10) is equipped with the groove matched with annulus (11) towards annulus (11) side (37), the lifter plate is connected with apparatus for controlling of lifting.

2. industrial robot magic chuck according to claim 1, which is characterized in that cross its center of circle in the slide-bar (3) It offers vertically extending rectangular opening (12), the lifter plate slides vertically the positioning plate being connected in rectangular opening (12) including two (13) and the opposite side of two positioning plates (13) is staggeredly fixed with rack gear (14), and two rack gears are engaged with rotational installation between (14) jointly It is equipped in the gear (15) in mounting base (2) and in mounting base (2) the first worm gear (16) rotated coaxially with gear (15), first Worm gear (16) is driven by being rotatablely installed in the first worm screw (17) on slide-bar (3), the above apparatus for controlling of lifting for constituting lifter plate.

3. industrial robot magic chuck according to claim 1, which is characterized in that the annulus (11) deviates from trapezoidal circle Slide-bar (3) the interior top half of plate (10) side, which is equipped with to be fixed in rectangular cavities (18) and rectangular cavities (18), longitudinally to be extended The longitudinal both ends of slide cartridge (19) and slide cartridge (19) are connected with the locating rod being slidably matched therewith (20), square through second spring (36) respectively Longitudinal sliding motion is connected with brace (21) that two are obliquely installed respectively on shape cavity (18) bottom wall and the opposite side of two braces (21) is solid Dingan County's dress is equipped with driving screw rod (22), and the thread rotary orientation of two drivings screw rod (22) is on the contrary, two driving screw rod (22) opposite one end It is combined with rotational installation jointly in the thread barrel (23) on rectangular cavities (18) bottom wall and is connected with driving device, slide opening (5) is vertical Slidably connect the limiting slot (24) matched with locating rod (20), brace (21) respectively to two sides, limiting slot (24) be located at The positioning tube (6) of top is connected and is driven through adjusting screw rod (9), brace (21) under driving device driving with limiting slot (24) Locating rod (20) are triggered when contact to stretch out and be inserted into limiting slot (24) from slide cartridge (19).

4. industrial robot magic chuck according to claim 3, which is characterized in that the driving device includes that set is fixed in First bevel gear (25) and first bevel gear (25) on thread barrel (23) are engaged with rotational installation in rectangular cavities (18) bottom wall On second bevel gear (26), second bevel gear (26), which rotates coaxially, to be connected with the second worm gear (27) and the second worm gear (27) and cooperates There is rotational installation in the second worm screw (28) on mounting base (2).

5. industrial robot magic chuck according to claim 4, which is characterized in that open the longitudinal two sides of the slide opening (5) It is slidably connected in slideway (29) equipped with the slideway (29) and limiting slot (24) for being connected to and being laterally extended with slide opening (5), two limits Slot (24) upper surface be connected to the longitudinal two sides of the arc panel (30) of slide-bar (3) concentric setting, arc panel (30) is through even Bar (35) is connect with positioning tube (6), and the opposite side of two limiting slots (24) is equipped with to be used in combination with locating rod (20), brace (21) Limit chamber (31).

6. industrial robot magic chuck according to claim 5, which is characterized in that brace (21) and corresponding therewith Limit chamber (31) contact site is respectively fixed with conductive sheet and the conductive sheet being fixed on two braces (21) is electrically connected, limit chamber (31) position is matched with locating rod (20) equipped with electromagnet and electromagnet is total to the conductive sheet being set in two limit chambers (31) With being series in the loop of voltage regulation being set in installation, corresponding site is fixed with locating rod (20) by easily quilt on two braces (21) The material that magnet attracts is made.