CN214490637U

CN214490637U - Mechanical device for automatically disassembling and assembling end effector

Info

Publication number: CN214490637U
Application number: CN202120535779.2U
Authority: CN
Inventors: 何宣儒
Original assignee: Individual
Current assignee: Individual
Priority date: 2021-03-12
Filing date: 2021-03-12
Publication date: 2021-10-26
Anticipated expiration: 2031-03-12

Abstract

The utility model discloses a mechanical device for automatically disassembling and assembling an end effector, which comprises a rotary clamping seat; a rotary clamping seat is fixed at the tail end of the mechanical arm main body, and an end effector is clamped on the rotary clamping seat through a locking mechanism; the terminal surface of rotatory cassette is fixed with the camera, has seted up location fixed slot and structure fixed slot around the camera on the terminal surface of rotatory cassette. The advantages are that: the main body of the control mechanical arm drives the rotary clamping seat to move to the position above the end effector on the appointed position, the camera can accurately position and identify at a fixed distance, after identification is completed, the rotary clamping seat is controlled to move downwards, and after the fixed identification electric slot is matched and connected with the corresponding positioning electronic connector, the end effector is locked on the rotary clamping seat through the locking mechanism; the utility model can realize quick disassembly and assembly and change of the end effector, meet different processing procedures and is beneficial to improving the operating efficiency; through the utility model discloses just can satisfy multiple processing technology, save area, the maintenance cost is low.

Description

Mechanical device for automatically disassembling and assembling end effector

The technical field is as follows:

the utility model relates to a mechanical equipment technical field, in particular to automatic dismouting end effector's mechanical device.

Background art:

at present, large-scale assembly line factories are everywhere seen, various complex products produced by factories can be completed by a plurality of processes, most of the processes are automatically completed by machine automatic production and processing at present in industrial production intellectualization, and one production process is spliced by a longer assembly line; thus, although the production time can be greatly reduced and the production efficiency can be improved, the process of a long production line is too complex, the management is relatively difficult, the production equipment occupies a large space, the expenses for purchasing the equipment and maintaining the equipment are very expensive, and the large-scale site rent and the personnel cost are high; and when a new product needs to be converted and produced, a great deal of adjustment must be carried out on all the machines, which is time-consuming and labor-consuming.

The utility model has the following contents:

an object of the utility model is to provide a can realize quick assembly disassembly and change end effector in order to satisfy different manufacturing procedure, be favorable to improving the operating efficiency, and take up an area of the little automatic assembly disassembly end effector's in space mechanical device.

The utility model discloses by following technical scheme implement: a mechanical device for automatically disassembling and assembling an end effector comprises a mechanical arm main body, a rotary clamping seat and an end effector; the tail end of the mechanical arm main body is fixedly provided with the rotary clamping seat, and the end effector is clamped on the rotary clamping seat through a locking mechanism; a camera is fixed in the middle of the end face of the rotary clamping seat, and a positioning fixing groove and more than three structure fixing grooves are formed in the end face of the rotary clamping seat around the camera; the inner wall of the positioning fixing groove is provided with a power electric slot and a fixing identification electric slot, and the inner wall of the structure fixing groove is provided with an information transmission interface electric slot; a positioning block movably inserted in the positioning fixing groove is fixed on a base of the end effector, and positioning electronic connectors respectively inserted in the power electric slot and the fixed identification electric slot are fixed on the positioning block; the base of the end effector is fixed with a fixed block which is movably inserted in each structure fixed groove, and the fixed block is fixed with a transmission electronic joint which is movably inserted in the information transmission interface electric slot.

Further, locking mechanism includes the magnet lock, on the inner wall of location fixed slot with all the embedding is fixed with on the inner wall of structure fixed slot the magnet lock, the locating piece with the draw-in groove has all been seted up on the fixed block, the tapered end activity joint of magnet lock is in corresponding in the draw-in groove.

Further, the structure fixing groove is L-shaped.

Further, the bottom surface of arm main part is fixed with main base, be fixed with module case group on the main base, module case group includes the module case that a plurality of open-top set up, the wire casing has been seted up to the lateral wall of module case.

Furthermore, a tool box set is fixed on the main base, and a plurality of tool accommodating grooves are formed in the tool box set.

Furthermore, a three-coordinate standard ball is fixed on the main base.

The utility model has the advantages that: according to production requirements, a mechanical arm main body is controlled to drive a rotary clamping seat to move to the position above an end effector at a specified position, a camera takes three fixed blocks as references for identification and measurement, accurate positioning and distance identification can be realized, the three structure fixed grooves are ensured to correspond to the three fixed blocks one by one, and the positioning fixed grooves correspond to positioning blocks; after the fixed identification electric slot is matched and connected with the corresponding positioning electronic joint, whether the connection between the rotary clamping seat and the end effector is accurate or not is confirmed through background program identification, and after the connection is correct, the end effector is locked on the rotary clamping seat through a locking mechanism; when other end effectors need to be replaced, the mechanical arm main body is controlled to drive the connected end effectors to move to the designated positions, and the lock head of the electromagnet lock is controlled to release the end effectors to be placed back to the original positions and then connected with the other required end effectors; the utility model can realize quick disassembly and assembly and change of the end effector so as to satisfy different processing procedures and be beneficial to improving the operation efficiency; and through the utility model discloses just can satisfy multiple processing technology, not only save area, equipment management and maintenance cost are low moreover.

Description of the drawings:

fig. 1 is a schematic structural view of embodiment 1.

Fig. 2 is an end view of the rotary cartridge described in embodiment 1.

Fig. 3 is an end view of the base of the end effector described in example 1.

Fig. 4 is a schematic structural view of embodiment 2.

The parts in the drawings are numbered as follows: arm main part 1, rotatory cassette 2, location fixed slot 2.1, power electricity slot 2.11, fixed discernment electricity slot 2.12, structure fixed slot 2.2, information transfer interface electricity slot 2.21, end effector 3, locating piece 3.1, location electronic joint 3.2, fixed block 3.3, conveying electronic joint 3.4, locking mechanism 4, electromagnet lock 4.1, draw-in groove 4.2, camera 5, main base 6, module case group 7, module case 7.1, wire casing 7.11, tool case group 8, tool holding tank 8.1, three-coordinate standard ball 9.

The specific implementation mode is as follows:

the technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.

Example 1: as shown in fig. 1 to 3, the present embodiment provides a mechanical apparatus for automatically dismounting and mounting an end effector, which includes a mechanical arm main body 1, in the present embodiment, the mechanical arm main body 1 is a six-axis mechanical arm, and the mechanical arm main body 1 may also be a main body structure of a related mechanical arm used in automated production of a parallel arm, a three-axis mechanical arm, and the like in the prior art; the device also comprises a rotary clamping seat 2 and an end effector 3; the tail end of the mechanical arm main body 1 is fixedly provided with a rotary clamping seat 2, an end effector 3 is clamped on the rotary clamping seat 2 through a locking mechanism 4, the rotary clamping seat 2 is used for being connected with the corresponding end effector 3 according to the processing technology requirement, the rotary clamping seat comprises an end effector for drilling, an end effector for milling, an end effector for 3D detection and the like, and the corresponding processing tool is inserted into the end effector 3 for processing operation.

A camera 5 is fixed in the middle of the end face of the rotary clamping seat 2, and the camera 5 used in the embodiment is a 3D positioning recognition camera; a positioning fixing groove 2.1 and three structure fixing grooves 2.2 which are respectively in an L shape are formed in the end face of the rotary clamping seat 2 around the camera 5, and the three structure fixing grooves 2.2 are distributed around the camera 5 in a right triangle shape; a power electric slot 2.11 and a fixed identification electric slot 2.12 are arranged on the inner wall of the positioning fixing groove 2.1, and an information transmission interface electric slot 2.21 is arranged on the inner wall of the structure fixing groove 2.2; a positioning block 3.1 movably inserted in the positioning fixing groove 2.1 is fixed on the base of the end effector 3, and a positioning electronic joint 3.2 respectively inserted in the power electric slot 2.11 and the fixed identification electric slot 2.12 is fixed on the positioning block 3.1; a fixed block 3.3 movably inserted in each structure fixed groove 2.2 is fixed on the base of the end effector 3, and a transmission electronic joint 3.4 movably inserted in the information transmission interface electric insertion groove 2.21 is fixed on the fixed block 3.3; after the fixed identification electric slot 2.12 is matched and connected with the corresponding positioning electronic joint 3.2, whether the rotary card holder 2 is correctly connected with the end effector 3 can be identified and confirmed through a background program; the power electric slot 2.11 is matched with the corresponding positioning electronic joint 3.2, so that a power supply can be provided for a driving element of the end effector 3; through the matching of the information transmission interface electric slot 2.21 and the corresponding transmission electronic joint 3.4, the action state of the end effector 3 and the control background can be mutually transmitted in an electric signal form, so that the action of the end effector 3 can be more accurately controlled.

According to the production requirement, the end effector 3 is placed at the appointed position, the base of the end effector 3 is horizontally arranged upwards, the mechanical arm main body 1 is controlled to drive the rotary clamping seat 2 to move to the position above the end effector 3 at the appointed position, the camera 5 takes the three fixed blocks 3.3 as the reference for identification and measurement, can accurately position and distance identification, ensures that the three structure fixed grooves 2.2 correspond to the three fixed blocks 3.3 one by one and the positioning fixed grooves 2.1 correspond to the positioning blocks 3.1, after the identification is finished, the rotating clamping seat 2 is controlled to move downwards, so that the structure fixing grooves 2.2 are sleeved on the corresponding fixing blocks 3.3, the positioning fixing grooves 2.1 are sleeved on the positioning blocks 3.1, meanwhile, the transmission electronic joint 3.4 on the fixed block 3.3 is inserted into the corresponding information transmission interface electric socket 2.21, and the positioning electronic joint 3.2 on the positioning block 3.1 is inserted into the corresponding power electric socket 2.11 and the fixed identification electric socket 2.12; after the fixed identification electric slot 2.12 is connected with the corresponding positioning electronic joint 3.2 in a matching way, whether the rotary clamping seat 2 is correctly connected with the end effector 3 is identified and confirmed through a background program, and after the rotary clamping seat 2 is correctly connected with the end effector 3, the locking mechanism 4 is controlled to lock the end effector 3 on the rotary clamping seat 2; in this embodiment, the locking mechanism 4 includes an electromagnet lock 4.1, the inner walls of the positioning fixing groove 2.1 and the structure fixing groove 2.2 are both embedded and fixed with the electromagnet lock 4.1, the positioning block 3.1 and the fixing block 3.3 are both provided with a clamping groove 4.2, and the lock head of the electromagnet lock 4.1 is movably clamped in the corresponding clamping groove 4.2; when the fixed recognition electric slot 2.12 is connected with the corresponding positioning electronic connector 3.2 in a matching manner, after the rotary clamping seat 2 and the end effector 3 are stably connected, the background program controls the electromagnet lock 4.1 to be powered off, after the electromagnet is powered off, the electromagnet stops adsorbing the lock head, the lock head is popped out and clamped in the corresponding clamping slot 4.2, and the end effector 3 is locked on the rotary clamping seat 2; when other end effectors 3 need to be replaced, the mechanical arm body 1 is controlled to drive the connected end effectors 3 to move to the designated positions, the lock heads of the electromagnetic locks 4.1 are controlled to contract to release the end effectors 3 and put the end effectors back to the original positions, and then the other end effectors 3 which are needed are connected according to the process.

Example 2: as shown in fig. 4, the present embodiment provides a mechanical apparatus for automatically disassembling and assembling an end effector, which further includes a module box set 7 and a tool box set 8 on the basis of embodiment 1; a main base 6 is fixed on the bottom surface of the mechanical arm main body 1, the main base 6 is used for fixing the mechanical arm main body 1 and is used for connecting a module box group 7 and a tool box group 8, the module box group 7 comprises a plurality of module boxes 7.1 with top openings, each module box 7.1 is used for placing a corresponding end effector 3, when in placement, the base of each end effector 3 is arranged upwards, the mechanical arm main body 1 is convenient for driving a rotary clamping seat 2 to be clamped with the corresponding end effector 3, and the specific number of the module boxes 7.1 is determined according to the number requirement of the end effectors 3 required by production; in this embodiment, the module box group 7 is directly fixed on the main base 6, and may also adopt the structural forms of a turntable, a flow belt and the like in the prior art, which are not described herein again; the side wall of the module box 7.1 is provided with a wire slot 7.11, and the end effector 3 is usually connected with a power circuit, a control circuit and related pipelines, so that the power circuit, the control circuit and the related pipelines are arranged in the wire slot 7.11, and the end effector 3 is more favorably and stably arranged in the module box 7.1.

A tool box group 8 is fixed on the main base 6, and a plurality of tool accommodating grooves 8.1 are formed in the tool box group 8; according to different processing technologies, each end effector 3 is provided with a corresponding processing tool in a matching way, wherein the processing tool comprises a drill bit for drilling, a milling head, a 3D detection probe, a spray nozzle for spraying paint, a cutting head for laser cutting and the like; in this embodiment, each tool accommodating groove 8.1 is used for vertically accommodating various machining tools, so that the robot arm main body 1 drives the corresponding end effector 3 to insert and fix the corresponding tool, and the structure for inserting and fixing the machining tool on the end effector 3 is the prior art and is not described herein again; the specific number of the tool accommodating grooves 8.1 is determined according to the type and number requirements of the machining tools required by production; in this embodiment, the toolbox group 8 is directly fixed on the main base 6, and may also adopt the structural forms of a turntable, a flow belt and the like in the prior art, which are not described herein again; a three-coordinate standard ball 9 is fixed on the main base 6 and used for intelligent identification and positioning of the mechanical arm main body 1 and relative position positioning of the mechanical arm main body and a processing part.

The above description is only a preferred embodiment of the present invention, and should not be taken as limiting the invention, and any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A mechanical device for automatically disassembling and assembling an end effector comprises a mechanical arm main body and is characterized by further comprising a rotary clamping seat and an end effector; the tail end of the mechanical arm main body is fixedly provided with the rotary clamping seat, and the end effector is clamped on the rotary clamping seat through a locking mechanism; a camera is fixed in the middle of the end face of the rotary clamping seat, and a positioning fixing groove and more than three structure fixing grooves are formed in the end face of the rotary clamping seat around the camera; the inner wall of the positioning fixing groove is provided with a power electric slot and a fixing identification electric slot, and the inner wall of the structure fixing groove is provided with an information transmission interface electric slot; a positioning block movably inserted in the positioning fixing groove is fixed on a base of the end effector, and positioning electronic connectors respectively inserted in the power electric slot and the fixed identification electric slot are fixed on the positioning block; the base of the end effector is fixed with a fixed block which is movably inserted in each structure fixed groove, and the fixed block is fixed with a transmission electronic joint which is movably inserted in the information transmission interface electric slot.

2. The mechanical device for automatically disassembling and assembling an end effector according to claim 1, wherein the locking mechanism includes an electromagnetic lock, the electromagnetic lock is embedded and fixed on both the inner wall of the positioning fixing groove and the inner wall of the structure fixing groove, the positioning block and the fixing block are both provided with a locking slot, and a locking head of the electromagnetic lock is movably locked in the corresponding locking slot.

3. The mechanical device for automatically disassembling and assembling an end effector according to claim 1, wherein the structure fixing groove has an L-shape.

4. The mechanical device for automatically disassembling and assembling the end effector as claimed in claim 1, wherein a main base is fixed to a bottom surface of the robot main body, a module box set is fixed to the main base, the module box set includes a plurality of module boxes with top openings, and a wire slot is formed in a side wall of each module box.

5. The mechanical device for automatically disassembling and assembling an end effector as claimed in claim 4, wherein a tool box set is fixed on the main base, and a plurality of tool receiving slots are formed on the tool box set.

6. The mechanical device for automatically disassembling and assembling an end effector according to claim 4 or 5, wherein a three-dimensional standard ball is fixed on the main base.