A robot tool quick-connect joint device

Abstract

The present application relates to a robot tool quick-connect joint device. The robot tool quick-connect joint device of this embodiment has a separate design of a bracket, a tool connector and a manipulator end connector. Different tools can be pre-installed on the bottom of the tool connector. The manipulator end connector is connected to the manipulator. A semicircular mounting hole is provided on the bracket. The diameter portion of the mounting hole is an opening and is located at the edge opening of the top plate. The tool connector can be easily loaded into the bracket or removed from the bracket from the edge opening. And the triangle fixation of a positioning component and two second positioning components is used to make the connection between the tool connector and the bracket more stable. At the same time, as a universal component, the tool connector can be connected to different tools through its bottom, which can facilitate the standardization of the joint. The manipulator with the manipulator end connector can directly cooperate with the tool connector equipped with different tools to achieve the switching of different tools.

Description

Technical Field

[0001] The present application belongs to the technical field of robot equipment, and in particular, relates to a robot tool quick-connect joint device. Background Art

[0002] A manipulator is an automatic device that can imitate certain movements of human hands and arms, and is used to grab, move objects or operate tools according to a fixed program. It is characterized by being able to complete various expected operations through programming, and having the advantages of both human and mechanical machines in terms of structure and performance. Different functions can be achieved by installing different tools on the manipulator. In some application scenarios, tools need to be replaced more frequently. At this time, it is necessary to design a joint that can quickly replace tools to improve work efficiency.

[0003] CN206029926U discloses a tool quick-change device for a robot gripper, including a main tool side unit and a tool side unit, the main tool side unit including a robot connection plate, a wide air gripper, a wedge-surface positioning finger, a main tool side quick-connect electrode, a positioning male plate, a main tool side quick-connect connector and a circuit protection plate, and the tool side unit including a tool side quick-connect connector, a positioning mother plate, a tool adapter, and a tool side quick-connect electrode. However, the device uses positioning fingers to grasp and fix, and additional power is required to maintain the position of the positioning fingers to make the connection more stable, and the connection between the bracket below and the tool adapter is unstable, and relative sliding is prone to occur, affecting the connection between the tool adapter and the tool end. Summary of the invention

[0004] The technical problem to be solved by the present invention is: to solve the deficiencies in the prior art, thereby providing a robot tool quick-connect connector device with stable connection and convenient tool replacement.

[0005] The technical solution adopted by the present invention to solve its technical problem is:

[0006] A robot tool quick-connect joint device, comprising:

[0007] bracket, tool connector and robot end connector;

[0008] The bracket is a frame structure, including a top plate, a bottom plate, and a side plate connecting the top plate and the bottom plate. A semicircular first mounting hole is opened on the top plate. A first positioning assembly and a second positioning assembly are also arranged on the top plate next to the first mounting hole. The first positioning assembly and the second positioning assembly include a first positioning block and a second positioning block, and a first fixing bead and a second fixing bead are respectively arranged on the first positioning block and the second positioning block. The first fixing bead and the second fixing bead are respectively fixed by an elastic member and protrude from the first positioning block and the second positioning block. The diameter portion of the first mounting hole is an opening and is located at the edge opening of the top plate.

[0009] The tool connector is cylindrical and is clamped in the semicircular second mounting hole. It includes a columnar body with an opening at the top, a mounting through hole connected to the tool is provided at the bottom of the body, a positioning pin is provided on the inner surface of the bottom of the body, two long strip-shaped connecting grooves are provided on the side wall of the body, and a fixing through hole matched with the second fixing bead is provided on the side wall of the body;

[0010] The manipulator end connector includes an outer shell that can be inserted into the main body, and a mounting block fixed in the outer shell, a positioning column and a connecting stud are arranged on the top of the outer shell, and a quick-connect linkage component that enables the two blocks to be linked is arranged in the outer shell. The quick-connect linkage component includes a rotating block arranged on the mounting block through a rotating shaft, two blocks that can protrude from the side opening of the outer shell, a connecting rod connecting the rotating block and the block, a straight rod connecting the two blocks, and an elastic member sleeved on the connecting rod. Restricted by the straight rod, the two blocks can only move along the straight rod.

[0011] Preferably, in the robot tool quick-connect connector device of the present invention, a first inclined surface is provided above the connecting groove, and the bottom of the clamping block is a second inclined surface matching the first inclined surface.

[0012] Preferably, the robot tool quick-connect connector device of the present invention has a PIN pin disposed in the body, and a PIN pin interface cooperating with the PIN pin is also disposed at the bottom of the robot end connector.

[0013] Preferably, in the robot tool quick-connect connector device of the present invention, the first positioning block has a mounting cavity, a spring is arranged in the mounting cavity, and the spring abuts against the first fixing bead.

[0014] Preferably, in the robot tool quick-connect connector device of the present invention, a groove is formed on the side wall of the body.

[0015] Preferably, in the robot tool quick-connect connector device of the present invention, the brackets are multiple and arranged in parallel.

[0016] Preferably, in the robot tool quick-connect connector device of the present invention, the first positioning assembly and the two positioning assemblies are fixed to the top of the bracket by screws.

[0017] Preferably, in the robot tool quick-connect connector device of the present invention, the second positioning blocks are arranged opposite to each other, and the first positioning block and the two second positioning blocks are arranged in an isosceles triangle.

[0018] Preferably, in the robot tool quick-connect connector device of the present invention, the bottom of the outer shell has a positioning hole that cooperates with the positioning pin, and a third mounting hole that is coaxially arranged with the mounting through hole.

[0019] The beneficial effects of the present invention are:

[0020] The robot tool quick-connect connector device of the present invention has a separate design of the bracket, tool connector and manipulator end connector. Different tools can be pre-installed at the bottom of the tool connector. The manipulator end connector is connected to the manipulator. A semicircular first mounting hole is provided on the bracket. The diameter portion of the first mounting hole is an opening and is located at the edge opening of the top plate. The tool connector can be easily loaded into the bracket or removed from the bracket from the edge opening. And the triangle fixation of a positioning component and two second positioning components is used to make the connection between the tool connector and the bracket more stable. At the same time, as a universal component, the tool connector can be connected to different tools through its bottom, which can facilitate the standardization of the joint. The manipulator with the manipulator end connector can directly cooperate with the tool connector equipped with different tools to achieve the switching of different tools. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The technical solution of the present application is further described below in conjunction with the accompanying drawings and embodiments.

[0022] Figure 1 is a schematic structural diagram of a robot tool quick-connect connector device according to an embodiment of the present application;

[0023] Figure 2 is a schematic structural diagram of a bracket according to an embodiment of the present application;

[0024] Figure 3 is a schematic diagram of the structure of the first positioning component of an embodiment of the present application;

[0025] Figure 4 yes Figure 3 a cross-sectional view of a first positioning assembly;

[0026] Figure 5 is a schematic structural diagram of a second positioning component in an embodiment of the present application;

[0027] Figure 6 is a schematic diagram of the structure of a tool connector according to an embodiment of the present application;

[0028] Figure 7 is a schematic structural diagram of a manipulator-end connector according to an embodiment of the present application;

[0029] Figure 8 yes Figure 7 A schematic diagram of the structure of the bottom of the manipulator end connector;

[0030] Fig. 9 It is a structural schematic diagram of the quick-connect linkage component in the manipulator-end connector of an embodiment of the present application;

[0031] Fig.10 This is a schematic diagram of the structure of the manipulator-end connector after omitting a card block in the embodiment of the present application;

[0032] The reference numerals in the figure are:

[0033] 1 Bracket;

[0034] 2 tool connector;

[0035] 3. Connector on the robot end;

[0036] 11 top plate;

[0037] 12 base plate;

[0038] 13 side panels;

[0039] 14 a first positioning component;

[0040] 15 second positioning component;

[0041] 21 Ontology;

[0042] 22 connection slot;

[0043] 23 fixing through hole;

[0044] 24 positioning pins;

[0045] 25PIN;

[0046] 26 mounting through holes;

[0047] 27 grooves;

[0048] 31 outer shell;

[0049] 32 card blocks;

[0050] 33 wire protector;

[0051] 34 connection studs;

[0052] 35 positioning column;

[0053] 36 mounting blocks;

[0054] 111 first mounting hole;

[0055] 141 first positioning block;

[0056] 142 first fixing bead;

[0057] 143 Spring;

[0058] 151 second positioning block;

[0059] 152 second fixing bead;

[0060] 211 second mounting hole;

[0061] 221 first slope;

[0062] 311 positioning hole;

[0063] 312 third mounting hole;

[0064] 313PIN pin interface;

[0065] 321 rotating block;

[0066] 322 Connecting rod;

[0067] 323 second slope;

[0068] 324 straight bar;

[0069] 325 Elastic parts. DETAILED DESCRIPTION

[0070] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application may be combined with each other.

[0071] In the description of the present application, it should be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the scope of protection of the present application. In addition, the terms "first", "second", etc. are used only for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, features defined as "first", "second", etc. may explicitly or implicitly include one or more of the features. In the description of the invention, unless otherwise specified, "multiple" means two or more.

[0072] In the description of this application, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood by specific circumstances.

[0073] The technical solution of the present application will be described in detail below with reference to the accompanying drawings and in combination with embodiments.

[0074] Example

[0075] This embodiment provides a robot tool quick-connect connector device, such as Figure 1 As shown, including:

[0076] Bracket 1, tool connector 2 and manipulator end connector 3;

[0077] The bracket 1 is a frame structure, including a top plate 11, a bottom plate 12 and a side plate 13 connecting the top plate 11 and the bottom plate 12. The top plate 11 is provided with a semicircular first mounting hole 111. The top plate 11 is also provided with a first positioning component 14 and two second positioning components 15 located next to the first mounting hole 111. The first positioning component 14 and the second positioning component 15 include a first positioning block 141 and a second positioning block 151, and a first fixing bead 142 and a second fixing bead 152 respectively arranged on the first positioning block 141 and the second positioning block 151. The first fixing bead 142 and the second fixing bead 152 are respectively fixed by elastic members and protrude from the first positioning block 141 and the second positioning block 151. Figure 4 As shown, the first positioning block 141 has an installation cavity, and a spring 143 is arranged in the installation cavity. The spring 143 abuts against the fixing bead. The structure of the second positioning component 15 is similar to that of the first positioning component 14. The fixing bead can be partially retracted to exert a certain clamping force. The diameter portion of the first mounting hole 111 is open and located at the edge opening of the top plate 11, so that the tool connector 2 can be installed from the side.

[0078] The tool connector 2 is cylindrical and is clamped in the semicircular second mounting hole 211. It includes a columnar body 21 with an open top. A mounting through hole 26 (usually a screw hole) connected to the tool is provided at the bottom of the body 21. A positioning pin 24 is provided on the inner surface of the bottom of the body 21. A PIN needle 25 is provided in the body 21 to realize power supply to the tool (the power supply method is that the external wire connects the quick-connect connector at the robot arm end to the power supply PIN needle 25 on the tool. If the tool end does not need to be powered, the PIN needle 25 does not need to be provided. It should be noted that the power supply of the PIN needle 25 here does not provide electricity or power for the action of the quick-connect connector itself. The PIN needle 25 is set on a PCB board, and a connector for connecting to the tool is provided at the bottom of the tool connector 2). Two oppositely arranged long strip connecting grooves 22 are provided on the side wall of the body 21, and a first inclined surface 221 is provided above the connecting groove 22. A fixing through hole 23 cooperating with the second fixing bead 152 is provided on the side wall of the body 21.

[0079] The manipulator end connector 3 includes an outer shell 31 that can be inserted into the body 21, and a mounting block 36 fixed in the outer shell 31. A positioning column 35 and a connecting stud 34 are arranged on the top of the outer shell 31. A quick-connect linkage component is arranged in the outer shell 31. The quick-connect linkage component includes a rotating block 321 arranged on the mounting block 36 through a rotating shaft, two clamping blocks 32 that can protrude from the side opening of the outer shell 31, a connecting rod 322 connecting the rotating block 321 and the clamping block 32, and a straight rod 324 connecting the two clamping blocks 32, which is sleeved on the straight rod 3 The elastic member 325 on 24 is restricted by the straight rod 324, and the two blocks 32 can only move along the straight rod 324. When one or both of the blocks 32 are subjected to an axial external force (a force or a component of a force along the straight rod 324), the block 32 can retract into the side opening of the outer shell 31. It should be noted here that the rotating block 321 and the connecting rod 322 in the quick-connect linkage component ensure that one block 32 moves and the other block 32 can be linked. The elastic member 325 enables the block 32 to rebound to the initial position without the action of an external force.

[0080] The bottom of the outer shell 31 has a positioning hole 311 that cooperates with the positioning pin 24, and a third mounting hole 312 that is coaxially arranged with the mounting through hole 26 (that is, the mounting column on the tool can extend into the mounting through hole 26 and the third mounting hole 312). The bottom of the block 32 is a second inclined surface 323 to facilitate cooperation with the first inclined surface 221. The first inclined surface 221 and the second inclined surface 323 together play a guiding role, making it easier for the block 32 to enter the connecting groove.

[0081] A PIN pin interface 313 that cooperates with the PIN pin 25 is also provided at the bottom of the manipulator end connector 3 .

[0082] A groove 27 is provided on the side wall of the body 21 to form a certain space for the power supply line of the manipulator end connector 3 to pass through.

[0083] Furthermore, the second positioning blocks 151 are arranged opposite to each other, and the first positioning block 141 and the two second positioning blocks 151 are arranged in an isosceles triangle. The first positioning block 141 is arranged opposite to the side opening of the semicircular first mounting hole 111 .

[0084] It is worth noting that the tool-end quick-connect connector device of this embodiment is arranged in a row when in use, and a tool is connected to the bottom of the tool connector 2 and the inside of the bracket 1 (each device is connected to a different device). After the quick-connect connector connection end of the robotic arm is matched with the tool connector 2, the robotic arm drives the tool connector 2 and the tool to move out from the side of the semicircular first mounting hole 111 to separate the tool connector 2 from the bracket 1, and then the corresponding tool can be used. After the tool is used, the tool connector 2 is placed back in the bracket 1, and the robotic arm drives the tool connector 2 to separate from the tool connector 2, and the robotic arm drives the tool connector 2 to connect to the new tool connector 2. The connection between the tool connector 2 driven by the robot arm and the tool connector 2 is achieved by extending the card block 32 into the connecting groove 22. When the tool connector 2 is still on the bracket 1, the first fixing bead 142 abuts against the card block 32, causing the card block 32 to retract. When the tool connector 2 is separated from the bracket 1, the first fixing bead 142 loses its abutment against the card block 32, and the card block 32 is completely extended into the connecting groove 22 to fix the tool connector 2 and the connecting end of the quick-connect joint at the robot arm end.

[0085] The first fixing bead 142 may be a protrusion with a spherical front end. The first positioning assembly 14 and the second positioning assembly 15 are fixed to the top of the bracket 1 by screws for easy installation.

[0086] If the tool does not need to be powered but needs to be ventilated, such as if the tool end contains a cylinder, electrical components such as PIN needles can be replaced with air circuit interfaces.

[0087] The robot tool quick-connect connector device of this embodiment has a separate design of the bracket 1, the tool connector 2 and the manipulator end connector 3. Different tools can be pre-installed on the bottom of the tool connector 2. The manipulator end connector 3 is connected to the manipulator. A semicircular mounting hole is provided on the bracket 1. The diameter portion of the mounting hole is an opening and is located at the edge opening of the top plate. The tool connector 2 can be easily loaded into the bracket or removed from the bracket from the edge opening. And the triangle fixation of a positioning component and two second positioning components is used to make the connection between the tool connector and the bracket more stable. At the same time, as a universal component, the tool connector 2 can be connected to different tools through its bottom, which can facilitate the standardization of the joint. The manipulator with the manipulator end connector 3 can directly cooperate with the tool connector 2 equipped with different tools to achieve the switching of different tools.

[0088] A wire protector 33 (a spring through which the wire passes) is also provided on one side of the outer shell 31 , and the wire is connected to the PIN needle interface 313 .

[0089] Based on the above ideal embodiments of this application, the relevant staff can make various changes and modifications without departing from the technical concept of this application through the above description. The technical scope of this application is not limited to the content in the specification, and its technical scope must be determined according to the scope of the claims.

Claims

1. A robot tool quick-connect connector device, characterized in that: include: A bracket (1), a tool connector (2) and a manipulator end connector (3); The bracket (1) is a frame structure, comprising a top plate (11), a bottom plate (12), and a side plate (13) connecting the top plate (11) and the bottom plate (12); a semicircular first mounting hole (111) is provided on the top plate (11); a first positioning component (14) and a second positioning component (15) are also provided on the top plate (11) beside the first mounting hole (111); the first positioning component (14) and the second positioning component (15) comprise a first positioning block (141) and a second positioning block (151), and a first fixing bead (142) and a second fixing bead (152) respectively provided on the first positioning block (141) and the second positioning block (151); the first fixing bead (142) and the second fixing bead (152) are respectively fixed by an elastic member and protrude from the first positioning block (141) and the second positioning block (151); a diameter portion of the first mounting hole (111) is an opening and is located at the edge opening of the top plate (11); The tool connector (2) is cylindrical and is clamped in a semicircular second mounting hole (211), comprising a columnar body (21) with an opening at the top, a mounting through hole (26) connected to the tool is arranged at the bottom of the body (21), a positioning pin (24) is arranged on the inner surface of the bottom of the body (21), two long strip-shaped connecting grooves (22) arranged opposite to each other are arranged on the side wall of the body (21), and a fixing through hole (23) matched with the second fixing bead (152) is arranged on the side wall of the body (21); The manipulator end connector (3) comprises an outer shell (31) which can be inserted into a body (21), and a mounting block (36) fixed in the outer shell (31); a positioning column (35) and a connecting stud (34) are arranged on the top of the outer shell (31); a quick-connect linkage component for enabling two card blocks (32) to be linked is arranged in the outer shell (31); the quick-connect linkage component comprises a rotating block (321) arranged on the mounting block (36) via a rotating shaft, two card blocks (32) which can protrude from a side opening of the outer shell (31), a connecting rod (322) connecting the rotating block (321) and the card blocks (32), a straight rod (324) connecting the two card blocks (32), and an elastic member (325) sleeved on the straight rod (324); the two card blocks (32) can only move along the straight rod (324) due to the restriction of the straight rod (324); A first inclined surface (221) is provided above the connecting groove (22), and a second inclined surface (323) matching with the first inclined surface (221) is provided at the bottom of the clamping block (32); A PIN pin is arranged in the body (21), a PIN pin interface matching the PIN pin is also arranged at the bottom of the manipulator end connector (3), and a wire protector (33) is also arranged on one side of the outer shell (31), and the wire passes through the wire protector (33) and is connected to the PIN pin interface (313).

2. The robot tool quick-connect connector device according to claim 1, characterized in that: The first positioning block (141) has a mounting cavity in it, a spring (143) is arranged in the mounting cavity, and the spring (143) abuts against the first fixing bead (142).

3. The robot tool quick-connect connector device according to claim 1, characterized in that: A groove (27) is provided on the side wall of the body (21).

4. The robot tool quick-connect connector device according to claim 1, characterized in that: The brackets (1) are multiple and arranged in parallel.

5. The robot tool quick-connect connector device according to claim 1, characterized in that: The first positioning component (14) and the second positioning component (15) are fixed to the top of the bracket (1) by means of screws.

6. The robot tool quick-connect connector device according to claim 1, characterized in that: The second positioning blocks (151) are arranged opposite to each other, and the first positioning block (141) and the two second positioning blocks (151) are arranged in an isosceles triangle.

7. The robot tool quick-connect connector device according to claim 1, characterized in that: The bottom of the outer shell (31) has a positioning hole (311) matched with the positioning pin (24), and a third mounting hole (312) coaxially arranged with the mounting through hole (26).

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