Automatic sleeve replacement device for robot end effector

Abstract

A sleeve automatic replacement device for a robot end effector comprises a housing, a sleeve turntable assembly, a locking jaw assembly, a bearing assembly and a power input assembly. The present invention can realize automatic replacement of the sleeve of the end effector for different connecting fasteners when the robot performs assembly and disassembly tasks, thereby improving efficiency and ensuring personnel safety.

Description

Technical Field

[0001] The invention belongs to the technical field of robots, and in particular to an automatic sleeve replacement device for a robot end effector. Background Art

[0002] When robots perform assembly and disassembly tasks, they need to use different sleeve tools for different connecting fasteners. If the tools are replaced manually, the efficiency of robot assembly and disassembly will be affected, and there will be certain risks to the safety of the workers themselves. Therefore, for robot assembly and disassembly tasks, an automatic sleeve replacement device for the robot end effector is needed to improve efficiency and ensure personnel safety. Summary of the invention

[0003] The object of the present invention is to provide an automatic sleeve replacement device for a robot end effector, which can automatically replace the sleeve according to different connecting fasteners when the robot performs assembly and disassembly tasks.

[0004] The technical solution of the present invention is as follows:

[0005] The invention discloses an automatic sleeve replacement device for a robot end effector, which is characterized in that it comprises a box body, a sleeve turntable assembly, a locking clamping claw assembly, a bearing assembly and a power input assembly.

[0006] The box body is composed of an upper box body, a lower box body and an upper box cover.

[0007] The sleeve turntable assembly is composed of a plurality of sleeve sets, a sleeve positioning shaft, an upper sleeve base, a lower sleeve base, an upper base spring, a lower base spring and a turntable. The sleeve positioning shaft is fixed in a hole on the turntable, and the plurality of sleeve sets are placed on the upper sleeve base one by one according to the model of the sleeve positioning shaft, and are stably positioned with the cooperation of the sleeve positioning shaft. The upper base spring is sleeved on the sleeve positioning shaft and is located between the upper sleeve base and the lower sleeve base. The lower base spring is sleeved on the sleeve positioning shaft and is located between the turntable and the lower sleeve base.

[0008] The locking jaw assembly is composed of an inner locking jaw, an outer locking jaw, a jaw fixing base, an inner pin and an outer pin. The inner locking jaw is connected to the bearing seat through the inner pin and can rotate around the inner pin. The jaw fixing base is fixed to the lower box body, and the outer locking jaw is connected to the jaw fixing base through the outer pin and can rotate around the outer pin. The bottom of the inner locking jaw and the outer locking jaw are in contact with and against the upper sleeve base and the lower sleeve base. The center of gravity of the inner locking jaw and the outer locking jaw is located close to the outer protruding position of the inner locking jaw and the outer locking jaw, so that the locking assembly is in an open state in a natural state.

[0009] The bearing assembly is composed of an upper bearing, a lower bearing, a bearing end cover and a bearing seat. The bearing seat is fixed to the upper housing by bolts, and the upper bearing and the lower bearing are sleeved on the turntable to realize the turntable rotating around the center. The bearing end cover is fixed to the turntable by threads to limit and fix the upper bearing.

[0010] The power input assembly is composed of a transmission assembly and a stepper motor. The stepper motor provides power input for the entire device, and the transmission assembly is coaxially fixed on the turntable to drive the entire sleeve turntable assembly to rotate.

[0011] When the end of the robot needs to install a sleeve kit, the power input assembly drives the sleeve turntable assembly to rotate, so that the sleeve turntable assembly rotates to the corresponding position to ensure that the required sleeve kit is located at the hole position of the non-locking clamping claw end on the upper box. The end of the robot extends into the hole and matches the installation position of the upper end of the sleeve kit to complete the installation action.

[0012] When the robot end needs to remove the sleeve kit, the power input assembly drives the sleeve turntable assembly to rotate, so that the sleeve turntable assembly rotates to the corresponding position, ensuring that the space required for removing the sleeve kit is located at the hole position of the locking jaw end on the upper box. The sleeve kit sleeved at the robot end extends into the hole and gradually extends under the positioning and guiding action of the sleeve positioning shaft. During the descent process, the upper base spring and the lower base spring are gradually compressed, and the upper sleeve base presses the lower ends of the inner locking jaw and the outer locking jaw, and the upper ends of the inner locking jaw and the outer locking jaw press the sleeve kit. As the sleeve kit is further extended, the bottom notches of the inner locking jaw and the outer locking jaw cooperate with the lower sleeve base, and the locking of the sleeve kit is completed. At this time, the robot end begins to return, and the sleeve kit is separated from the robot end under the locking of the locking jaw assembly, and the robot end completes the removal of the sleeve kit. At this time, the locking assembly is in a balanced locking state with the sleeve kit and the upper sleeve base under the action of the upper base spring. When the sleeve turntable assembly rotates under the drive of the power input assembly, the locking assembly separates from the sleeve set, and the upper sleeve base pushes the sleeve set to reset under the action of the upper base spring. At the same time, the inner locking jaw and the outer locking jaw also complete the reset under the combined action of their own gravity and the lower sleeve base, preparing for the next sleeve set removal operation.

[0013] Compared with the prior art, the present invention has the following outstanding advantages:

[0014] The present invention adopts a sleeve turntable assembly that can hold multiple sleeves, thereby increasing the types of replaceable sleeves; adopts a locking clamping claw assembly to achieve simple and efficient disassembly of the sleeve; adopts a stepper motor control drive to improve the efficiency and automation of sleeve replacement, and can serve as an auxiliary supporting equipment for robot assembly and disassembly. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 This is the overall structure diagram of the robot end sleeve automatic replacement device of the present invention

[0016] Figure 2 It is a cross-sectional view of the present invention

[0017] Figure 3 It is an exploded view of the present invention

[0018] Figure 4 This is a partial view of the sleeve turntable assembly of the present invention

[0019] Figure 5 This is a partial view of the locking jaw assembly of the present invention

[0020] Figure 6 This is a partial view of the bearing assembly of the present invention.

[0021] Figure 7 This is a partial view of the power input assembly of the present invention

[0022] Figure 8 The installation sleeve kit state diagram of the present invention is

[0023] Fig. 9 This is a partial view of the locking state of the locking jaw assembly of the present invention

[0024] In the figure:

[0025] 1 is the box body, 2 is the sleeve turntable assembly, 3 is the locking jaw assembly, 4 is the bearing assembly, 5 is the power input assembly, 11 is the upper box body, 12 is the lower box body, 13 is the upper box cover, 21 is the turntable, 22 is the sleeve positioning shaft, 23 is the upper base spring, 24 is the upper sleeve base, 25 is the sleeve kit, 26 is the lower sleeve base, 27 is the lower base spring, 31 is the inner locking jaw, 32 is the outer locking jaw, 33 is the outer pin, 34 is the jaw fixing base, 35 is the inner pin, 41 is the bearing end cover, 42 is the bearing seat, 43 is the lower bearing, 44 is the upper bearing, 51 is the transmission assembly, 52 is the stepping motor DETAILED DESCRIPTION

[0026] The present invention is further described below with specific embodiments.

[0027] See also Figure 1 The box body 1 of the present invention is composed of an upper box body 11, a lower box body 12 and an upper box cover 13, wherein the upper box body 11 is fixedly connected to the lower box body 12 by bolts, and the upper box cover 13 is placed in the center of the upper box body 11 to play a sealing role.

[0028] See also Figure 2 , Figure 3 and Figure 4The sleeve turntable assembly 2 is composed of a plurality of sleeve sets 25, a sleeve positioning shaft 22, an upper sleeve base 24, a lower sleeve base 26, an upper base spring 23, a lower base spring 27 and a turntable 21. The sleeve positioning shaft 22 is fixed in a hole on the turntable 21, and the plurality of sleeve sets 25 are placed on the upper sleeve base 24 in a one-to-one correspondence according to the model of the sleeve positioning shaft 22, and are stably positioned under the cooperation of the sleeve positioning shaft 22. The upper base spring 23 is sleeved on the sleeve positioning shaft 22 and is located between the upper sleeve base 24 and the lower sleeve base 26. The lower base spring 27 is sleeved on the sleeve positioning shaft 22 and is located between the turntable 21 and the lower sleeve base 26.

[0029] See also Figure 2 , Figure 3 and Figure 5 The locking jaw assembly 3 is composed of an inner locking jaw 31, an outer locking jaw 32, a jaw fixing base 34, an inner pin 35 and an outer pin 33. The inner locking jaw 31 is connected to the bearing seat 42 through the inner pin 35 and can rotate around the inner pin 35. The jaw fixing base 34 is fixed to the lower box 12, and the outer locking jaw 32 is connected to the jaw fixing base 34 through the outer pin 33 and can rotate around the outer pin 33. The bottoms of the inner locking jaw 31 and the outer locking jaw 32 are in contact with and abut against the upper sleeve base 24 and the lower sleeve base 26.

[0030] See also Figure 2 , Figure 3 and Figure 6 The bearing assembly 4 is composed of an upper bearing 44, a lower bearing 43, a bearing end cover 41 and a bearing seat 42. The bearing seat 42 is fixed to the upper housing 11 by bolts, and the upper bearing 44 and the lower bearing 43 are sleeved on the turntable 21 to realize the rotation of the turntable 21 around the center. The bearing end cover 41 is fixed to the turntable 21 by threads, which plays a role in limiting and fixing the upper bearing 44.

[0031] See also Figure 2 , Figure 3 and Figure 7 The power input assembly 5 is composed of a transmission assembly 51 and a stepper motor 52. The stepper motor 52 provides power input for the entire device, and the transmission assembly 51 is coaxially fixed on the turntable 21 to drive the entire sleeve turntable assembly 2 to rotate.

[0032] See also Figure 2 , Figure 3 and Figure 8When the robot end needs to install the sleeve set 25, the power input assembly 5 drives the sleeve turntable assembly 2 to rotate, so that the sleeve turntable assembly 2 rotates to the corresponding position, ensuring that the required sleeve set 25 is located at the hole position of the non-locking clamping claw end on the upper box 11. The robot end extends into the hole and matches the installation position of the upper end of the sleeve set 25 to complete the installation action.

[0033] See also Figure 2 , Figure 3 and Fig. 9 When the end of the robot needs to remove the sleeve kit 25, the power input assembly 5 drives the sleeve turntable assembly 2 to rotate, so that the sleeve turntable assembly 2 rotates to the corresponding position, ensuring that the space required for removing the sleeve kit 25 is located at the hole position of the locking jaw end on the upper box 11. The sleeve kit 25 sleeved on the end of the robot extends into the hole and gradually extends under the positioning and guiding action of the sleeve positioning shaft 22. During the descent process, the upper base spring 23 and the lower base spring 27 are gradually compressed, and the upper sleeve base 24 presses the lower ends of the inner locking jaw 31 and the outer locking jaw 32, and the upper ends of the inner locking jaw 31 and the outer locking jaw 32 firmly press the sleeve kit 25. As the sleeve kit 25 is further extended, the bottom notches of the inner locking jaw 31 and the outer locking jaw 32 cooperate with the lower sleeve base 26, and the locking of the sleeve kit 25 is completed. At this time, the end of the robot begins to return, and the sleeve kit 25 is separated from the end of the robot under the locking of the locking jaw assembly 3, and the end of the robot completes the disassembly of the sleeve kit 25. At this time, the locking assembly 3 is in a balanced locking state with the sleeve kit 25 and the upper sleeve base 24 under the action of the upper base spring 23. When the sleeve turntable assembly 2 rotates under the drive of the power input assembly 5, the locking assembly 3 is separated from the sleeve kit 25, and the upper sleeve base 24 pushes the sleeve kit 25 to reset under the action of the upper base spring 23. At the same time, the inner locking jaw 31 and the outer locking jaw 32 also complete the reset under the combined action of their own gravity and the lower sleeve base 26, preparing for the next disassembly operation of the sleeve kit 25.

[0034] The present invention adopts a sleeve turntable assembly that can hold multiple sleeves, thereby increasing the types of replaceable sleeves; adopts a locking clamping claw assembly to achieve simple and efficient disassembly of the sleeve; adopts a stepper motor control drive to improve the efficiency and automation of sleeve replacement, and can serve as an auxiliary supporting equipment for robot assembly and disassembly.

[0035] The above embodiment is only one of the preferred embodiments of the present invention, and is not intended to limit the scope of implementation of the present invention. Therefore, any equivalent changes made based on the structure, shape, and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. An automatic sleeve replacement device for a robot end effector, characterized in that: It comprises a housing (1), a sleeve turntable assembly (2), a locking jaw assembly (3), a bearing assembly (4) and a power input assembly (5); The box body (1) comprises an upper box body (11), a lower box body (12) and an upper box cover (13); The sleeve turntable assembly (2) comprises a plurality of sleeve sets (25), a plurality of sleeve positioning shafts matched with the sleeve sets (25), and a turntable (21); the sleeve positioning shafts are composed of an upper sleeve base (24), an upper base spring (23), a sleeve positioning shaft (22), a lower sleeve base (26) and a lower base spring (27); the turntable (21) is provided with a plurality of mounting holes along the circumference for mounting the sleeve positioning shaft (22); the upper sleeve base (24), the upper base spring (23), the lower sleeve base (26) and the lower base spring (27) are sequentially sleeved on the sleeve positioning shaft (22); one end of the sleeve positioning shaft (22) is used to be connected to the sleeve set (25), and the other end is fixed in the mounting hole; The locking jaw assembly (3) comprises an inner locking jaw (31), an outer locking jaw (32) and a jaw fixing base (34); the bearing assembly (4) comprises an upper bearing (44), a lower bearing (43), a bearing end cover (41) and a bearing seat (42); the inner locking jaw (31) is movably connected to the bearing seat (42) via an inner pin (35), and the outer locking jaw (32) is movably connected to the jaw fixing base (34) via an outer pin (33); the jaw fixing base (34) is fixed to the lower housing (12), and the bottom of the inner locking jaw (31) and the bottom of the outer locking jaw (32) are in contact with and abut against the upper sleeve base (24) and the lower sleeve base (26) respectively; The bearing seat (42) is fixed to the upper housing (11) by bolts, the upper bearing (44) and the lower bearing (43) are sleeved on the turntable (21) to realize the turntable (21) rotating around the center, and the bearing end cover (41) is fixed to the turntable (21) by threads to play a role in limiting and fixing the upper bearing (44); The power input assembly (5) is composed of a transmission assembly (51) and a stepper motor (52); the stepper motor (52) is used to provide power input, and the transmission assembly (51) is coaxially fixed on the turntable (21) to drive the sleeve turntable assembly (2) to rotate.

2. The automatic sleeve replacement device for the robot end effector according to claim 1, characterized in that: The upper box body (11) is provided with a plurality of holes.

3. The automatic sleeve replacement device for the robot end effector according to claim 1 or 2, characterized in that: When the end of the robot needs to install a sleeve kit (25), the power input assembly (5) drives the sleeve turntable assembly (2) to rotate, so that the sleeve turntable assembly (2) rotates to a corresponding position, ensuring that the required sleeve kit (25) is located at the hole position of the non-locking clamping claw end on the upper box (11); the end of the robot extends into the hole and cooperates with the installation position of the upper end of the sleeve kit (25) to complete the installation action.

4. The automatic sleeve replacement device for the robot end effector according to claim 1 or 2, characterized in that: When the sleeve kit (25) needs to be removed from the end of the robot, the power input assembly (5) drives the sleeve turntable assembly (2) to rotate, so that the sleeve turntable assembly (2) rotates to the corresponding position, ensuring that the space required for removing the sleeve kit (25) is located at the hole position of the locking claw end on the upper box body (11); the sleeve kit (25) sleeved on the end of the robot extends into the hole and gradually extends under the positioning and guiding action of the sleeve positioning shaft (22); during the descent process, the upper base spring (23) and the lower base spring (27) are gradually compressed, and the upper sleeve base (24) presses the lower ends of the inner locking claw (31) and the outer locking claw (32), and the inner The upper ends of the locking jaws (31) and the outer locking jaws (32) press the sleeve kit (25); as the sleeve kit (25) is further extended, the bottom notches of the inner locking jaws (31) and the bottom notches of the outer locking jaws (32) cooperate with the lower sleeve base (26), and the locking of the sleeve kit (25) is completed; at this time, the robot end begins to return, and the sleeve kit (25) is separated from the robot end under the locking of the locking jaw assembly (3), and the robot end completes the disassembly of the sleeve kit (25). The locking jaw assembly (3) is in a balanced locking state with the sleeve kit (25) and the upper sleeve base (24) under the action of the upper base spring (23).

5. The automatic sleeve replacement device for the robot end effector according to claim 4, characterized in that: When the sleeve turntable assembly (2) rotates under the drive of the power input assembly (5), the locking jaw assembly (3) is separated from the sleeve kit (25), and the upper sleeve base (24) pushes the sleeve kit (25) to reset under the action of the upper base spring (23); at the same time, the inner locking jaw (31) and the outer locking jaw (32) also complete the reset under the combined action of their own gravity and the lower sleeve base (26), preparing for the next sleeve kit (25) disassembly operation.

6. The automatic sleeve replacement device for the robot end effector according to any one of claims 1 or 2, characterized in that: The center of gravity of the inner locking jaw (31) and the outer locking jaw (32) is located near the outer protruding position of the inner locking jaw (31) and the outer locking jaw (32), so that the locking jaw assembly (3) is in an open state in a natural state.

7. The automatic sleeve replacement device for the robot end effector according to any one of claims 1 or 2, characterized in that: The plurality of sleeve sets (25) are placed on the upper sleeve base (24) in a one-to-one correspondence according to the model of the sleeve positioning shaft (22).

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