Mechanical robot end fast-changing device

Abstract

The application provides a mechanical robot end quick change device, relates to the field of robot quick change equipment, and aims to solve the problem that the existing mechanical robot end quick change device can only install one manipulator at the same time, and when other types of manipulators are needed, the installed manipulator needs to be removed, thereby wasting a large amount of working time, and the mechanical robot end quick change device comprises a connecting arm; an installation mechanism is arranged in the connecting arm; an end pivot is arranged in the installation mechanism, and a switching mechanism is arranged above the installation mechanism; a fixing mechanism is arranged on the left side of the switching mechanism. The position of the manipulator on the conversion plate can be quickly adjusted by using the movable arm, the manipulator suitable for operation is selected, the waste of manpower and time caused by the removal of the whole manipulator when the manipulator needs to be replaced is avoided, and therefore the working efficiency is improved.

Description

Technical Field

[0001] This invention belongs to the technical field of robot quick-change equipment, and more specifically, relates to a mechanical robot end effector quick-change device. Background Technology

[0002] In the operation of modern industrial robots, robots often need to perform multiple tasks. By using end effectors, robots can quickly perform tasks such as spot welding guns, grippers, vacuum tools, pneumatic and electric motors after being equipped with corresponding manipulators.

[0003] Based on existing technology, it has been found that existing quick-change devices for mechanical robot end effectors typically only allow one type of robotic arm to be installed at a time. When other types of robotic arms are needed, the installed robotic arms must be removed, which is very troublesome and wastes a lot of working time. At the same time, the positioning device of the existing quick-change devices for mechanical robot end effectors is not perfect when switching robotic arms. If the program input is incorrect and the positioning error is large, it can easily cause damage to the robotic arm after it is started, or even cause a safety accident. Summary of the Invention

[0004] To address the aforementioned technical problems, this invention provides a mechanical robot end effector quick-change device. This addresses the issue that existing mechanical robot end effector quick-change devices typically only allow the installation of one type of robotic arm. When other types of robotic arms are needed, the installed robotic arm must be removed, which is cumbersome and wastes a significant amount of time. Furthermore, existing mechanical robot end effector quick-change devices have inadequate positioning devices during robotic arm switching. If a program input error leads to a large positioning error, it can easily damage the robotic arm after activation, potentially causing safety accidents.

[0005] The purpose and effectiveness of this invention, a mechanical robot end effector quick-change device, are achieved through the following specific technical means:

[0006] A mechanical robot end effector quick-change device, comprising:

[0007] Connecting arm;

[0008] The connecting arm has an internal mounting mechanism, and the connecting base plate is connected to the mounting housing of the mounting mechanism by screws; the mounting mechanism has an end pivot, and a switching mechanism is installed above the mounting mechanism.

[0009] A fixing mechanism is installed on the left side of the switching mechanism, and the fixing plate is connected to the switching plate of the switching mechanism by screws.

[0010] Furthermore, the connecting arm includes:

[0011] Fixed arm, with a pivot on the left side of the fixed arm;

[0012] The connecting base plate has screw holes at its four corners and is connected to the top of the fixed arm via a pivot.

[0013] Furthermore, the connecting arm also includes:

[0014] The movable arm is located above the fixed arm; a motor is located above the movable arm, and gears are located inside the movable arm; the gears of the movable arm have screw holes inside, and the gears of the movable arm mesh with the gears of the movable arm motor.

[0015] The guide has a thread on its upper part and a bearing installed on its lower part. The guide is inserted into the threaded hole of the movable arm gear and a spring is fitted on the outer side of the guide.

[0016] Furthermore, the mounting mechanism includes:

[0017] The mounting box has a circular through hole inside and four screw holes at the bottom.

[0018] Furthermore, the mounting mechanism also includes:

[0019] A fixing sleeve is attached to the right side of the mounting box by screws.

[0020] The driving component is inserted into the inside of the fixed sleeve, and a rotating shaft is connected to the left side of the driving component, with the rotating shaft passing through the through hole of the mounting housing.

[0021] Furthermore, the terminal central nervous system includes:

[0022] The main body has an annular protrusion on its upper part and is inserted into the interior of the mounting box. The interior of the main body has a transverse through hole and a longitudinal through hole, and a bearing of a guide is inserted into the upper part of the longitudinal through hole of the main body.

[0023] Furthermore, the terminal central nervous system also includes:

[0024] The connecting contact point is located above the main body and is made of a thin metal sheet. The connecting contact point is connected to the control center of the main body via a wire.

[0025] Positioning components, with threads on the bottom, and two positioning components are installed on the top of the main body.

[0026] Furthermore, the switching mechanism includes:

[0027] The conversion plate is installed on top of the main body, and mounting grooves are provided on the left and right sides of the conversion plate; a T-shaped through hole is provided inside the conversion plate, and four rectangular slots arranged in a circle are provided around the T-shaped through hole of the conversion plate.

[0028] Furthermore, the switching mechanism also includes:

[0029] Positioning slots: Four positioning slots are arranged in a matrix inside the conversion plate;

[0030] Connect the electrodes, which are located below the conversion plate.

[0031] Furthermore, the fixing mechanism includes:

[0032] The fixing plate is inserted into the mounting slot of the conversion plate;

[0033] The connection interface is installed on the right side of the mounting plate using screws.

[0034] Compared with the prior art, the present invention has the following beneficial effects:

[0035] 1. This device includes a connecting arm, whose right side connects to the robotic arm of the control device. The transmission gear of the motor inside the movable arm meshes with the gear inside the movable arm. When the motor rotates, it drives the gear to rotate. Through the meshing of the internal threads of the gear and the guide component, the movable arm moves up and down, thereby compressing the spring on the outside of the guide component to lock or unlock the conversion plate. At the same time, the fixed arm and the connecting base plate are connected by a rotating shaft. Using the above mechanism, the device can be rotated and fine-tuned within a certain angle. The movable arm can also be used to quickly adjust the position of the robotic arm on the conversion plate, selecting the appropriate robotic arm for operation. This avoids the waste of manpower and time caused by disassembling the entire robotic arm when it needs to be replaced, thus improving work efficiency.

[0036] 2. This device includes a switching mechanism and a fixing mechanism. The switching plate is used to mount the robot arm through the screw holes on the outside, and the control assembly of the device is connected to the robot arm through the connection interface installed in the fixing plate. When the movable arm rises and the outer spring of the guide is released, the switching plate can be manually or electrically rotated to adjust the robot arm to the working position. The positioning slot and positioning component determine the fixed position of the switching plate. After the position is adjusted, the movable arm locks the switching plate. If the switching plate is in the correct position, the connecting electrode will spring into the groove where the connection contact point is located, and the connecting electrode will contact the connection contact point to supply power to the robot arm. Conversely, if the switching plate is in the wrong position, the robot arm cannot be powered. The switching mechanism can install four robots to meet the needs of different robots in different tasks. It also ensures that the robot arm is in the correct working position when changing robots, preventing damage caused by misalignment, thereby improving the overall safety performance of the device. Attached Figure Description

[0037] Figure 1 This is a three-dimensional structural diagram of the present invention.

[0038] Figure 2 This is a schematic diagram of the three-dimensional rear view structure of the present invention.

[0039] Figure 3 This is an exploded structural diagram of the present invention.

[0040] Figure 4 This is a schematic diagram of the three-dimensional cross-sectional structure of the installation mechanism and the end hub of the present invention.

[0041] Figure 5 This is a schematic diagram of the three-dimensional cross-sectional structure of the switching mechanism of the present invention.

[0042] Figure 6 This is a schematic diagram of the fixing mechanism of the present invention.

[0043] Figure 7 This is the invention Figure 4 A magnified schematic diagram of the local structure at point A is shown.

[0044] Figure 8 This is the invention Figure 5 A magnified schematic diagram of the local structure at point B is shown.

[0045] In the diagram, the correspondence between component names and drawing numbers is as follows:

[0046] 1. Connecting arm; 101. Fixed arm; 102. Connecting base plate; 103. Movable arm; 104. Guide component;

[0047] 2. Installation mechanism; 201. Mounting housing; 202. Fixing sleeve; 203. Driving component;

[0048] 3. End-effector; 301. Main body; 302. Connecting contact point; 303. Positioning component;

[0049] 4. Switching mechanism; 401. Conversion plate; 402. Positioning slot; 403. Connecting electrode;

[0050] 5. Fixing mechanism; 501. Fixing plate; 502. Connection interface. Detailed Implementation

[0051] The embodiments of the present invention will be described in further detail below with reference to the accompanying drawings and examples. The following examples are for illustrative purposes only and should not be construed as limiting the scope of the invention.

[0052] In the description of this invention, unless otherwise stated, "a plurality of" means two or more; the terms "upper," "lower," "left," "right," "inner," "outer," "front end," "rear end," "head," "tail," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the invention. Furthermore, the terms "first," "second," "third," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0053] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "connected" and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0054] Example:

[0055] As attached Figure 1 To be continued Figure 8 As shown:

[0056] This invention provides a mechanical robot end effector quick-change device, comprising: a connecting arm 1; an installation mechanism 2 is installed inside the connecting arm 1, and a connecting base plate 102 is connected to the installation housing 201 of the installation mechanism 2 by screws; an end effector hub 3 is installed inside the installation mechanism 2, and a switching mechanism 4 is installed above the installation mechanism 2; a fixing mechanism 5; the fixing mechanism 5 is installed on the left side of the switching mechanism 4, and a fixing plate 501 is connected to the conversion plate 401 of the switching mechanism 4 by screws.

[0057] like Figure 3As shown, the connecting arm 1 includes: a fixed arm 101, the right side of which is connected to a mechanical arm outside the device, and a rotating shaft on the left side; a connecting base plate 102, which is a plate-shaped structure with screw holes at its four corners, and is connected to the fixed arm 101 above it via the rotating shaft; the connecting base plate 102 is used to fix the mounting mechanism 2, and can also rotate the mounting mechanism 2 and its connected mechanisms within a certain angle under the drive of the rotating shaft of the fixed arm 101; and a movable arm 103, the right side of which is slidably connected to the mechanical arm outside the device, and the movable arm 103 is located above the fixed arm 101; a motor is located above the movable arm 103. The boom 103 has a gear inside; the gear of the boom 103 has a threaded hole inside, and the gear of the boom 103 meshes with the gear of the boom 103 motor; the boom 103 is driven by the motor to rotate the gear, and through the guide member 104, the boom 103 rises or falls; the guide member 104 has a columnar structure, the upper part of the guide member 104 has a thread, the lower part of the guide member 104 is installed with a bearing, and the guide member 104 is inserted into the threaded hole of the gear of the boom 103, and a spring is fitted on the outer side of the guide member 104; when the boom 103 moves, the guide member 104 is compressed or released by the boom 103, thereby achieving the purpose of pressing and releasing the conversion plate 401.

[0058] like Figure 4 As shown, the mounting mechanism 2 includes: a mounting housing 201, which is circular in structure, with a circular through hole inside and four screw holes at the bottom; the mounting housing 201 is used to mount the end effector 3; a fixing sleeve 202, which is elliptical in structure, with a plate-like protrusion on the left side, and is connected to the right side of the mounting housing 201 by screws; the fixing sleeve 202 is used to mount the fixing drive component 203; the drive component 203 is a stepper motor, inserted inside the fixing sleeve 202, with a rotating shaft connected to the left side of the drive component 203, and the rotating shaft of the drive component 203 passing through the through hole of the mounting housing 201; when the device is in use, the drive component 203 can drive the rotating manipulator, and in conjunction with the four functional manipulators mounted on the switching mechanism 4, the device can achieve more functions without replacing the manipulators.

[0059] like Figure 4As shown, the end-effector 3 includes: a main body 301, with an annular protrusion on its upper surface, and the main body 301 is inserted into the mounting housing 201; the main body 301 has a transverse through hole and a longitudinal through hole, and a bearing of a guide member 104 is inserted into the longitudinal through hole of the main body 301; the main body 301 is used to install other parts of the end-effector 3, and a drive shaft is inserted into the transverse through hole of the main body 301; the main body 301 has a circuit board and a control center inside, which transmits motion signals to the robot arm mounted on the device via wires; the bearing of the guide member 104 is fixed inside the main body 301 by four movable fastening screws, which, together with the connecting base plate 102, fix the entire device to the connecting base plate 201. The interior of the connecting arm 1 includes: a connecting contact point 302, which is rectangular in structure and located above the main body 301. The connecting contact point 302 is a thin metal sheet and is connected to the control center of the main body 301 via a wire. The connecting contact point 302 controls the power supply of the device; after the connecting electrode 403 contacts the connecting contact point 302, the power supply to the entire device is switched on, allowing the device to operate normally. A positioning element 303 is conical in structure and has threads at its bottom. Two positioning elements 303 are installed above the main body 301. The positioning element 303 assists the switching mechanism 4 in aligning with the end center 3, thereby preventing misalignment of the switching mechanism 4 during robot switching, which could lead to accidents during operation.

[0060] like Figure 5As shown, the switching mechanism 4 includes: a conversion plate 401, which is a rectangular plate structure, installed above the main body 3011, and has mounting slots on its left and right sides; a T-shaped through hole is provided inside the conversion plate 401, and four rectangular slots arranged in a circle are provided around the T-shaped through hole; the conversion plate 401 can move upward when the movable arm moves upward to release the spring, and after rotation, the robot arm connected to the corresponding fixed mechanism 5 can be adjusted to the working position, allowing the robot arm to be replaced without disassembling the device; and a positioning slot 402, which is a circular structure, with four positioning slots 402 arranged in a matrix. The column is set inside the conversion plate 401; a positioning element 303 is inserted inside the positioning groove 402 to ensure that the conversion plate 401 is installed in place when the robot is replaced, so that the robot can reach the working position correctly and prevent misalignment; the connecting electrode 403 has a rectangular structure and is connected to the bottom of the conversion plate 401; when the conversion plate 401 is in the correct position, the connecting electrode 403 will spring into the groove where the connecting contact point 302 is located under the action of the spring, and connect with the connecting contact point 302, and then supply power to the robot. This, together with the positioning element 303, ensures the position of the conversion plate 401 and prevents the robot from starting to work if it has not reached the working position correctly.

[0061] like Figure 6 As shown, the fixing mechanism 5 includes: a fixing plate 501, which has a U-shaped structure and is inserted into the mounting groove of the conversion plate 401; a connecting interface 502, which is installed on the right side of the fixing plate 501 by screws; the connecting interface 502 is selected according to the wires used by the robot. After the robot is installed on the conversion plate 401, the robot is connected to the control center inside the main body 301 through the connecting interface 502, and then the control center of the main body 301 is connected to the control assembly of the entire device.

[0062] In use: The fixed arm 101 is fixedly connected to the external robotic arm, and the movable arm 103 is slidably connected to the external robotic arm. The fixed arm 101 is connected to the connecting base plate 102 via a rotating shaft. Then, the housing 201 is fixedly installed on the top of the connecting base plate 102 with screws. The end effector 3 is installed inside the housing 201. The drive component 203 is then inserted into the transverse through hole of the main body 301 and fixed with the fixing sleeve 202. The conversion plate 401 is then installed on top of the main body 301. The bearing of the guide component 104 is inserted into the longitudinal through hole of the main body 301 and fixed with screws. The four slots of the through hole of the conversion plate 401 are then engaged with the four screws of the fixing bearing. The fixed plate 501 is then installed on the outside of the positioning groove 402 with screws, and the connecting interface 502 is connected to the fixed plate 501. Finally, the robotic arm to be used in the operation is installed on the outside of the conversion plate 401 with screws and connected to the connecting interface 502. Connect the robotic arm to the control assembly of the device. When the robotic arm needs to be replaced, start the drive motor of the movable arm 103 to move the movable arm upward, release the spring on the outside of the guide 104, and unlock the conversion plate 401. Manually or electrically rotate the conversion plate 401 to adjust the robotic arm to the working position. Insert the positioning member 303 into the positioning groove 402 and lock the conversion plate 401 by the spring on the outside of the guide 104. After the position of the conversion plate 401 is determined, if the position is correct, the connecting electrode 403 will spring into the groove where the connecting contact point 302 is located and connect with the connecting contact point 302 to supply power to the robotic arm on the conversion plate 401. At this point, the device is running normally. Using this device, the robotic arm can be replaced without disassembling it, avoiding the waste of time during operation. At the same time, the circuit protection through two locking methods ensures that the robotic arm will only work when it reaches the working position, avoiding damage to the robotic arm and preventing safety accidents.

[0063] The embodiments of the present invention are given for illustrative and descriptive purposes only, and are not intended to be exhaustive or to limit the invention to the forms disclosed. Many modifications and variations will be apparent to those skilled in the art. The embodiments were chosen and described in order to better illustrate the principles and practical application of the invention, and to enable those skilled in the art to understand the invention and to design various embodiments with various modifications suitable for a particular purpose.

Claims

1. A mechanical robot end effector quick-change device, characterized in that, include: Connecting arm (1); The connecting arm (1) is equipped with an installation mechanism (2), and the connecting base plate (102) is connected to the installation box (201) of the installation mechanism (2) by screws; The installation mechanism (2) is equipped with an end hub (3), and a switching mechanism (4) is installed above the installation mechanism (2); Fixing mechanism (5); The fixing mechanism (5) is installed on the left side of the switching mechanism (4), and the fixing plate (501) is connected to the conversion plate (401) of the switching mechanism (4) by screws; The connecting arm (1) includes: a fixed arm (101), with a rotating shaft on the left side of the fixed arm (101); and a connecting base plate (102), with screw holes at the four corners of the connecting base plate (102), and the connecting base plate (102) is connected to the top of the fixed arm (101) via the rotating shaft. The connecting arm (1) further includes: a movable arm (103), which is located above the fixed arm (101); a motor is provided above the movable arm (103), and a gear is provided inside the movable arm (103); a screw hole is provided inside the gear of the movable arm (103), and the gear of the movable arm (103) meshes with the gear of the motor of the movable arm (103); a guide (104), which is provided with a thread above the guide (104), a bearing is installed below the guide (104), and the guide (104) is inserted into the screw hole of the gear of the movable arm (103), and a spring is fitted on the outside of the guide (104); The installation mechanism (2) includes: an installation box (201), the interior of which is provided with a circular through hole, and four screw holes are provided at the bottom of the installation box (201); The mounting mechanism (2) further includes: a fixing sleeve (202), which is connected to the right side of the mounting box (201) by screws; and a driving component (203), which is inserted into the inside of the fixing sleeve (202), and a rotating shaft is connected to the left side of the driving component (203), and the rotating shaft of the driving component (203) passes through the through hole of the mounting box (201).

2. The mechanical robot end effector quick-change device as described in claim 1, characterized in that, The end hub (3) includes: a main body (301), an annular protrusion on the top of the main body (301), and the main body (301) is inserted into the interior of the mounting box (201); the interior of the main body (301) has a transverse through hole and a longitudinal through hole, and a bearing of a guide member (104) is inserted above the longitudinal through hole of the main body (301).

3. The mechanical robot end effector quick-change device as described in claim 2, characterized in that, The terminal hub (3) further includes: a connecting contact point (302), which is located above the main body (301) and is a thin metal sheet, and is connected to the control hub of the main body (301) via a wire; and a positioning member (303), which has a threaded bottom and two positioning members (303) are installed above the main body (301).

4. The mechanical robot end effector quick-change device as described in claim 1, characterized in that, The switching mechanism (4) includes: a conversion plate (401), which is installed above the main body (301), and the conversion plate (401) has mounting grooves on its left and right sides; the conversion plate (401) has a T-shaped through hole inside, and four rectangular slots arranged in a circle are provided around the T-shaped through hole of the conversion plate (401).

5. The mechanical robot end effector quick-change device as described in claim 4, characterized in that, The switching mechanism (4) further includes: positioning slots (402), four positioning slots (402) are arranged in a matrix inside the conversion plate (401); and connecting electrodes (403), the connecting electrodes (403) are connected to the bottom of the conversion plate (401).

6. The mechanical robot end effector quick-change device as described in claim 1, characterized in that, The fixing mechanism (5) includes: a fixing plate (501) inserted into the mounting groove of the conversion plate (401); and a connecting interface (502) installed on the right side of the fixing plate (501) by screws.

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