CN210010997U - Robot synthesizes real standard manipulator electromagnetism quick change device for platform - Google Patents
Robot synthesizes real standard manipulator electromagnetism quick change device for platform Download PDFInfo
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- CN210010997U CN210010997U CN201920838510.4U CN201920838510U CN210010997U CN 210010997 U CN210010997 U CN 210010997U CN 201920838510 U CN201920838510 U CN 201920838510U CN 210010997 U CN210010997 U CN 210010997U
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Abstract
The utility model relates to a real standard platform of robot synthesis is with manipulator electromagnetism quick change device, manipulator electromagnetism quick change device sets up between manipulator and execution unit, a serial communication port, manipulator electromagnetism quick change device includes manipulator flange, magnetism fixed component and execution unit coupling assembling, through manipulator flange is with manipulator and magnetism fixed component fixed connection, execution unit coupling assembling can dismantle with magnetism fixed component lower extreme and be connected. The utility model aims to solve the problem that current execution unit and manipulator mounting structure are complicated, cause the damage easily, provide a real standard platform of robot synthesizes and uses manipulator electromagnetism quick change device.
Description
Technical Field
The utility model relates to an industrial robot synthesizes real standard platform technical field, especially relates to a real standard platform of robot is with manipulator electromagnetism quick change device of synthesizing.
Background
The manipulator is a novel device developed in the mechanical and automatic production process. In modern production processes, manipulators are widely used in automated production lines. The comprehensive practical training platform for the industrial robot can be used for learning the manipulator, and in order to learn and simulate various functions of the manipulator, the comprehensive practical training platform for the industrial robot in the working principle is usually provided with various modules, so that various execution units are required to be installed for the manipulator.
Most industrial robots synthesize real execution unit who instructs platform through pressing from both sides the dress subassembly setting on the manipulator, and the installation procedure is complicated to in teaching and experiment, because the great easy collision that takes place of the whole size after the installation, cause the damage of execution unit or manipulator.
The Chinese patent CN105537758A discloses a wrist quick-change mechanism of an industrial robot, which drives a worm and a worm wheel through a motor to drive a shrinkage sleeve to clamp or loosen a core column; the device is not highly reliable. A wrist quick-change mechanism based on multiple sensors developed by Harbin engineering university utilizes a machine vision guide coarse positioning, an optical guide accurate positioning and posture adjustment and an active and passive hybrid flexible control strategy to enable an end effector to meet geometric constraint conditions and mechanical constraint conditions required by normal docking in a replacement process; the quick-change mechanism is strong in sensing capability and environment adaptability, quick and reliable in replacement, but complex in system composition, needs to be fused with multiple subject technologies such as machine vision and sensing technologies, and is not suitable for an industrial robot comprehensive practical training platform.
Disclosure of Invention
The utility model aims to solve the problem that current execution unit and manipulator mounting structure are complicated, cause the damage easily, provide a real standard platform of robot synthesizes and uses manipulator electromagnetism quick change device.
In order to achieve the above object, the utility model adopts the following technical scheme:
a manipulator electromagnetic quick-change device for a robot comprehensive practical training platform is arranged between a manipulator and an execution unit and is characterized by comprising a manipulator connecting flange, a magnetic fixing component and an execution unit connecting component, wherein the manipulator is fixedly connected with the magnetic fixing component through the manipulator connecting flange, and the execution unit connecting component is detachably connected with the lower end of the magnetic fixing component;
the manipulator connecting flange is in a circular flat plate shape, and a through hole is formed in the center of the manipulator connecting flange and is in a circular segmental shape;
the magnetic fixing component comprises a fixing shell, a guide anti-rotation sliding column, a magnet, an elastic electrode and a first gas joint, the middle part of the fixing shell is in a circular tube shape, the upper end and the lower end of the fixing shell are respectively provided with a first fixing flange and a second fixing flange, the middle part of the fixing shell is provided with a stepped hole, the first fixing flange is fixedly connected with a manipulator connecting flange, the second fixing flange is fixedly provided with the elastic electrode and the first gas joint, the upper end of the elastic electrode is connected with the manipulator, the lower end of the elastic electrode extends out of the lower surface of the second fixing flange, one end of the first gas joint is communicated with the second fixing flange, the other end of the first gas joint is connected with the manipulator, the upper end of the guide anti-rotation sliding column is fixedly provided with a guide top plate, the guide top plate is positioned in the through hole, the shape of the guide top plate corresponds to the shape of, the magnet is fixedly arranged at the lower end of the guide anti-rotation sliding column and is sleeved in the fixed shell;
the fixed setting of execution unit coupling assembling is in the execution unit upper end, and execution unit coupling assembling includes third mounting flange, magnetic sheet, mounting plate, female seat electrode and second gas joint, third mounting flange, magnetic sheet and mounting plate from the top down are fixed setting in proper order, the laminating of magnetic sheet upper surface and magnet lower surface, mounting plate and execution unit fixed connection, female seat electrode is fixed to be set up on third mounting flange, and female seat electrode upper end is connected with elastic electrode, lower extreme and execution unit are connected, the second gas joint is fixed to be set up on mounting plate, and magnetic sheet and first gas joint intercommunication, lower extreme and execution unit are connected are passed to the second gas joint upper end.
Furthermore, a guide pin is arranged on the lower surface of the fixed shell, the lower end of the guide pin is in a conical shape with a small lower part and a large upper part, and a guide hole corresponding to the guide pin is formed in the third fixed flange.
Further, the number of the guide pins and the number of the guide holes are two.
Furthermore, an adjusting spring is sleeved on the guide anti-rotation sliding column, the lower end of the adjusting spring abuts against the magnet, and the upper end of the adjusting spring abuts against the end face of the stepped hole of the fixed shell.
Further, the number of the elastic electrodes and the number of the female seat electrodes are two.
Further, a sealing ring is arranged on the lower end face of the fixed shell and is positioned at the communication position of the first gas joint and the second gas joint.
Furthermore, a sealing ring is arranged on the lower end face of the fixed shell, the first gas joint is in an L shape with 90-degree turnover, the vertical section of the first gas joint is communicated with the second fixed flange, and the horizontal section of the first gas joint is connected with the manipulator through a hose.
Further, the number of the first gas connectors and the number of the second gas connectors are three.
Further, the magnet and the magnetic plate are both made of magnetic materials, and the lower end of the magnet is opposite to the upper end of the magnetic plate in magnetism.
Furthermore, the elastic electrode comprises an electrode sleeve, a fixed rod and a conductive rod, the electrode sleeve is fixedly arranged in the second fixing flange, the electrode sleeve is in a circular tube shape, the fixed rod is fixedly arranged at the upper end of the electrode sleeve, the conductive rod is sleeved in the electrode sleeve in a sliding mode, a conductive spring is arranged between the conductive rod and the fixed rod, the conductive spring is located in the electrode sleeve, and two ends of the conductive spring are fixedly connected with the fixed rod and the conductive rod respectively.
Through the technical scheme, the beneficial effects of the utility model are that:
1. the utility model is provided with a magnetic fixing component and an execution unit connecting component, the upper end of the magnetic fixing component is fixedly connected with the manipulator, the lower end of the execution unit connecting component is fixedly connected with the execution unit, the lower end of the magnetic fixing component is fixedly connected with the upper end of the execution unit connecting component by the attraction of the magnet and the magnetic plate, the execution unit connecting component is arranged on the upper ends of various execution units in advance, when the execution unit is replaced, only the guide hole is required to be aligned with the guide pin, then the magnet and the magnetic plate attract the execution unit to the manipulator, the replacement is convenient, the magnetism between the magnet and the magnetic plate ensures that the execution unit can reliably run when in normal work, when the execution units touch due to misoperation and the touch stress is larger than the attraction force between the magnet and the magnetic plate, the execution unit can drop from the manipulator, prevents execution unit and manipulator because of the collision causes the damage.
2. The utility model discloses a be provided with elasticity electrode and first gas and connect on the fixed subassembly of magnetism, be provided with female seat electrode and the gaseous joint of second on the execution unit coupling assembling simultaneously, when execution unit installs on the manipulator, elasticity electrode and female seat electrode connection make the manipulator be the execution unit power supply, first gas connects and the gaseous joint connection of second simultaneously, makes the manipulator be the execution unit air feed, need not reconnect the wire after the installation and trachea make manipulator and execution unit be connected, has further simplified the change procedure.
Drawings
Fig. 1 is the utility model relates to a robot synthesizes real standard platform with manipulator electromagnetism quick change device's schematic structure.
Fig. 2 is a front view of the separation state of the robot comprehensive practical training platform manipulator electromagnetic quick-change device.
Fig. 3 is the utility model relates to a real standard platform of robot synthesizes is with manipulator electromagnetism quick change device's top view.
Fig. 4 is a structural section view of the separation state of the robot comprehensive practical training platform manipulator electromagnetic quick change device.
Fig. 5 is a cross-sectional view of the structure of the suction state of the electromagnetic quick-change device for the manipulator of the comprehensive practical training platform of the robot.
Fig. 6 is a schematic structural diagram of a fixed housing of the manipulator electromagnetic quick-change device for a robot comprehensive practical training platform.
Fig. 7 is a sectional view of the utility model discloses a robot synthesizes real standard platform with fixed casing of manipulator electromagnetism quick change device's structure.
Fig. 8 is a schematic structural view of the guiding anti-rotation sliding column of the electromagnetic quick-change device for the manipulator of the robot comprehensive practical training platform.
Fig. 9 is a schematic structural diagram of an elastic electrode of the manipulator electromagnetic quick-change device for the robot comprehensive practical training platform of the present invention.
The reference numbers in the drawings are as follows: 1 is manipulator flange, 2 is the fixed subassembly of magnetism, 3 is execution unit coupling assembling, 201 is fixed casing, 202 is the direction and prevents changeing the traveller, 203 is magnet, 204 is the elastic electrode, 205 is first gas joint, 206 is first mounting flange, 207 is the second mounting flange, 208 is the direction roof, 209 is the uide pin, 2010 is adjusting spring, 2011 is the sealing washer, 301 is the third mounting flange, 302 is the magnetic sheet, 303 is the mounting plate, 304 is the mother's seat electrode, 305 is the second gas joint, 2041 is the electrode cover, 2042 is the dead lever, 2043 is the conducting rod, 2044 is the conducting spring.
Detailed Description
The invention will be further explained with reference to the drawings and the detailed description below:
as shown in fig. 1 to 9, a manipulator electromagnetic quick-change device for a robot comprehensive practical training platform is arranged between a manipulator and an execution unit, and comprises a manipulator connecting flange 1, a magnetic fixing component 2 and an execution unit connecting component 3, wherein the manipulator is fixedly connected with the magnetic fixing component 2 through the manipulator connecting flange 1, and the execution unit connecting component 3 is detachably connected with the lower end of the magnetic fixing component 2;
the manipulator connecting flange 1 is in a circular flat plate shape, and a through hole is formed in the center of the manipulator connecting flange 1 and is in a circular segmental shape;
the magnetic fixing component 2 comprises a fixing shell 201, a guide anti-rotation sliding column 202, a magnet 203, an elastic electrode 204 and a first gas joint 205, the middle part of the fixing shell 201 is in a circular tube shape, the upper end and the lower end of the fixing shell 201 are respectively provided with a first fixing flange 206 and a second fixing flange 207, the middle part of the fixing shell 201 is provided with a stepped hole, the first fixing flange 206 is fixedly connected with a manipulator connecting flange 1, the second fixing flange 207 is fixedly provided with the elastic electrode 204 and the first gas joint 205, the upper end of the elastic electrode 204 is connected with the manipulator, the lower end of the elastic electrode 204 extends out of the lower surface of the second fixing flange 207, one end of the first gas joint 205 is communicated with the second fixing flange 207, the other end of the first gas joint is connected with the manipulator, the upper end of the guide anti-rotation sliding column 202 is fixedly provided with a guide top plate 208, the guide top plate 208 is, the lower end of the guide anti-rotation sliding column 202 penetrates through the manipulator connecting flange 1 and is sleeved in the fixed shell 201 in a sliding mode, and the magnet 203 is fixedly arranged at the lower end of the guide anti-rotation sliding column 202 and is sleeved in the fixed shell 201;
the execution unit connecting assembly 3 is fixedly arranged at the upper end of the execution unit, the execution unit connecting assembly 3 comprises a third fixing flange 301, a magnetic plate 302, an installation bottom plate 303, a female seat electrode 304 and a second gas connector 305, the third fixing flange 301, the magnetic plate 302 and the installation bottom plate 303 are sequentially and fixedly arranged from top to bottom, the upper surface of the magnetic plate 302 is attached to the lower surface of the magnet 203, the installation bottom plate 303 is fixedly connected with the execution unit, the female seat electrode 304 is fixedly arranged on the third fixing flange 301, the upper end of the female seat electrode 304 is connected with the elastic electrode 204, the lower end of the female seat electrode 304 is connected with the execution unit, the second gas connector 305 is fixedly arranged on the installation bottom plate 303, the upper end of the second gas connector 305 penetrates through the magnetic plate 302 to be communicated with the first gas connector 205, and the lower end of the second; the magnet 203 and the magnetic plate 302 are both made of magnetic materials, and the lower end of the magnet 203 is opposite to the upper end of the magnetic plate 302 in magnetism.
In order to connect the magnetic fixing component 2 and the execution unit connection component 3 in an oriented manner, the elastic electrode 204 and the female socket electrode 304 as well as the first gas connector 205 and the second gas connector 305 can be connected with each other correspondingly, in this embodiment, the lower surface of the fixing housing 201 is provided with a guide pin 209, the lower end of the guide pin 209 is in a conical shape with a small lower part and a large upper part, and the third fixing flange 301 is provided with a guide hole corresponding to the guide pin 209; the number of the guide pins 209 and the guide holes is two.
In order to ensure that the magnet 203 can be attracted to the magnetic plate 302, in this embodiment, an adjusting spring 2010 is sleeved on the guiding anti-rotation sliding column 202, and the lower end of the adjusting spring 2010 abuts against the magnet 203 and the upper end abuts against the end surface of the stepped hole of the fixed housing 201.
In order to optimize the product structure, the number of the elastic electrode 204 and the female socket electrode 304 is two.
In order to ensure the sealing performance when the first gas joint 205 is communicated with the second gas joint 305, a sealing ring 2011 is arranged on the lower end surface of the fixed shell 201, and the sealing ring 2011 is positioned at the position where the first gas joint 205 is communicated with the second gas joint 305.
In order to facilitate the communication between the first gas joint 205 and the manipulator, a sealing ring 2011 is arranged on the lower end face of the fixed shell 201, the first gas joint 205 is in an L shape with 90-degree turnover, the vertical section of the first gas joint 205 is communicated with the second fixed flange 207, and the horizontal section of the first gas joint is connected with the manipulator through a hose.
Further optimizing the product structure, the number of the first gas joint 205 and the second gas joint 305 is three.
The elastic electrode 204 comprises an electrode sleeve 2041, a fixing rod 2042 and a conducting rod 2043, the electrode sleeve 2041 is fixedly arranged in the second fixing flange 207, the electrode sleeve 2041 is in a circular tube shape, the fixing rod 2042 is fixedly arranged at the upper end of the electrode sleeve 2041, the conducting rod 2043 is slidably sleeved in the electrode sleeve 2041, a conducting spring 2044 is arranged between the conducting rod 2043 and the fixing rod 2042, the conducting spring 2044 is located in the electrode sleeve 2041, and two ends of the conducting spring 2044 are fixedly connected with the fixing rod 2042 and the conducting rod 2043 respectively.
When the execution unit is replaced, the execution unit on the manipulator is held by hand and downward force is exerted, when the downward force exceeds the attraction force between the magnet 203 and the magnetic plate 302, the execution unit and the execution unit connecting assembly 3 are separated from the magnetic fixing assembly 2 on the manipulator, then another execution unit provided with the execution unit connecting assembly 3 is taken, the guide hole is aligned to the guide pin 209, then the execution unit is attracted to the manipulator by the magnet 203 and the magnetic plate 302, the replacement is convenient and fast, the magnetism between the magnet 203 and the magnetic plate 302 ensures that the execution unit can reliably run in normal work, when the execution unit is touched due to misoperation and the touch stress is greater than the attraction force between the magnet 203 and the magnetic plate 302, the execution unit can fall off the manipulator, and the execution unit and the manipulator are prevented from being damaged due to collision.
When the execution unit connecting assembly 3 and the execution unit are installed on the magnetic fixing assembly 2 on the manipulator, the elastic electrode 204 is connected with the female base electrode 304, so that the manipulator supplies power to the execution unit, meanwhile, the first gas connector 205 is connected with the second gas connector 305, so that the manipulator supplies gas to the execution unit, and after the execution unit is installed, a wire and a gas pipe are not needed to be connected, so that the manipulator is connected with the execution unit, and the replacement procedure is further simplified.
The above-mentioned embodiments are merely preferred embodiments of the present invention, and not intended to limit the scope of the present invention, so that equivalent changes or modifications made by the structure, features and principles of the present invention should be included in the claims of the present invention.
Claims (10)
1. A manipulator electromagnetic quick-change device for a robot comprehensive practical training platform is arranged between a manipulator and an execution unit and is characterized by comprising a manipulator connecting flange (1), a magnetic fixing component (2) and an execution unit connecting component (3), wherein the manipulator is fixedly connected with the magnetic fixing component (2) through the manipulator connecting flange (1), and the execution unit connecting component (3) is detachably connected with the lower end of the magnetic fixing component (2);
the manipulator connecting flange (1) is in a circular flat plate shape, and a through hole is formed in the center of the manipulator connecting flange (1) and is in a circular segment shape;
the magnetic fixing component (2) comprises a fixing shell (201), a guide anti-rotation sliding column (202), a magnet (203), an elastic electrode (204) and a first gas joint (205), wherein the middle part of the fixing shell (201) is in a circular tube shape, the upper end and the lower end of the fixing shell (201) are respectively provided with a first fixing flange (206) and a second fixing flange (207), the middle part of the fixing shell (201) is provided with a stepped hole, the first fixing flange (206) is fixedly connected with a manipulator connecting flange (1), the second fixing flange (207) is fixedly provided with the elastic electrode (204) and the first gas joint (205), the upper end of the elastic electrode (204) is connected with the manipulator, the lower end of the elastic electrode extends out of the lower surface of the second fixing flange (207), one end of the first gas joint (205) is communicated with the second fixing flange (207), and the other end of the first gas joint (205) is, the upper end of the guide anti-rotation sliding column (202) is fixedly provided with a guide top plate (208), the guide top plate (208) is positioned in the through hole, the shape of the guide top plate (208) corresponds to that of the through hole, the lower end of the guide anti-rotation sliding column (202) penetrates through the manipulator connecting flange (1) and is sleeved in the fixed shell (201) in a sliding mode, and the magnet (203) is fixedly arranged at the lower end of the guide anti-rotation sliding column (202) and is sleeved in the fixed shell (201);
execution unit coupling assembling (3) is fixed to be set up in the execution unit upper end, and execution unit coupling assembling (3) includes third mounting flange (301), magnetic sheet (302), mounting plate (303), female seat electrode (304) and second gas joint (305), third mounting flange (301), magnetic sheet (302) and mounting plate (303) from the top down are fixed the setting in proper order, laminating of magnetic sheet (302) upper surface and magnet (203) lower surface, mounting plate (303) and execution unit fixed connection, female seat electrode (304) are fixed to be set up on third mounting flange (301), female seat electrode (304) upper end is connected with elastic electrode (204), the lower extreme is connected with execution unit, second gas joint (305) are fixed to be set up on mounting plate (303), second gas joint (305) upper end is passed magnetic sheet (302) and is linked together with first gas joint (205), The lower end is connected with the execution unit.
2. The manipulator electromagnetic quick-change device for the comprehensive practical training platform of the robot as claimed in claim 1, wherein a guide pin (209) is arranged on the lower surface of the fixing shell (201), the lower end of the guide pin (209) is in a conical shape with a small lower part and a large upper part, and a guide hole corresponding to the guide pin (209) is arranged on the third fixing flange (301).
3. The manipulator electromagnetic quick-change device for the comprehensive practical training platform of the robot as claimed in claim 2, wherein the number of the guide pins (209) and the number of the guide holes are two.
4. The manipulator electromagnetic quick-change device for the comprehensive practical training platform of the robot as claimed in claim 1, wherein an adjusting spring (2010) is sleeved on the guide anti-rotation sliding column (202), the lower end of the adjusting spring (2010) abuts against the magnet (203), and the upper end of the adjusting spring abuts against the end face of the stepped hole of the fixed shell (201).
5. The manipulator electromagnetic quick-change device for the comprehensive practical training platform of the robot as claimed in claim 1, wherein the number of the elastic electrodes (204) and the number of the female socket electrodes (304) are two.
6. The manipulator electromagnetic quick-change device for the comprehensive practical training platform of the robot as claimed in claim 1, wherein a sealing ring (2011) is arranged on the lower end face of the fixed shell (201), and the sealing ring (2011) is located at a position where the first gas connector (205) is communicated with the second gas connector (305).
7. The manipulator electromagnetic quick-change device for the comprehensive practical training platform of the robot as claimed in claim 1, wherein a sealing ring (2011) is arranged on the lower end face of the fixed shell (201), the first gas joint (205) is in an L shape with 90-degree turnover, the vertical section of the first gas joint (205) is communicated with the second fixed flange (207), and the horizontal section of the first gas joint is connected with the manipulator through a hose.
8. The manipulator electromagnetic quick-change device for the comprehensive practical training platform of the robot as claimed in claim 1, wherein the number of the first gas connectors (205) and the number of the second gas connectors (305) are three.
9. The manipulator electromagnetic quick-change device for the comprehensive practical training platform of the robot as claimed in claim 1, wherein the magnet (203) and the magnetic plate (302) are both made of magnetic materials, and the lower end of the magnet (203) is opposite to the upper end of the magnetic plate (302) in magnetism.
10. The manipulator electromagnetism quick change device for comprehensive practical training platform of robot of claim 1, characterized in that, elasticity electrode (204) includes electrode cover (2041), dead lever (2042) and conducting rod (2043), electrode cover (2041) is fixed to be set up in second fixed flange (207), electrode cover (2041) is the pipe form, dead lever (2042) is fixed to be set up in electrode cover (2041) upper end, conducting rod (2043) slip fit in electrode cover (2041), be provided with between conducting rod (2043) and dead lever (2042) electrically conductive spring (2044), electrically conductive spring (2044) is located electrode cover (2041), electrically conductive spring (2044) both ends respectively with dead lever (2042) and electrically conductive rod (2043) fixed connection.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920838510.4U CN210010997U (en) | 2019-06-05 | 2019-06-05 | Robot synthesizes real standard manipulator electromagnetism quick change device for platform |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201920838510.4U CN210010997U (en) | 2019-06-05 | 2019-06-05 | Robot synthesizes real standard manipulator electromagnetism quick change device for platform |
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| CN210010997U true CN210010997U (en) | 2020-02-04 |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110091350A (en) * | 2019-06-05 | 2019-08-06 | 河南轩明实业有限公司 | A kind of robot comprehensive practical traning platform manipulator electromagnetism fast replacing device |
| TWI707753B (en) * | 2020-05-07 | 2020-10-21 | 鈦昇科技股份有限公司 | Automatic arm replacement mechanism |
| TWI728851B (en) * | 2020-07-02 | 2021-05-21 | 台達電子工業股份有限公司 | Replaceable gripper module and method for replacing gripping member |
-
2019
- 2019-06-05 CN CN201920838510.4U patent/CN210010997U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110091350A (en) * | 2019-06-05 | 2019-08-06 | 河南轩明实业有限公司 | A kind of robot comprehensive practical traning platform manipulator electromagnetism fast replacing device |
| TWI707753B (en) * | 2020-05-07 | 2020-10-21 | 鈦昇科技股份有限公司 | Automatic arm replacement mechanism |
| TWI728851B (en) * | 2020-07-02 | 2021-05-21 | 台達電子工業股份有限公司 | Replaceable gripper module and method for replacing gripping member |
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