An electrically integrated end-effector quick-change locking device for industrial robots

Abstract

The present invention discloses an electrically integrated industrial robot end quick-change locking device, comprising: a locking body, which is formed by an accommodating column and a fixing plate connected as a whole, a plurality of first air holes are opened on the outer wall of the accommodating column from the outside to the inside, a driving motor is installed in the fixing plate, a locking mechanism is located on the upper side of the locking body, and is used for rotating under the drive motor, a plurality of second air holes are opened on it, and a cover body is located on the upper side of the locking mechanism, and a plurality of third air holes are opened on it, and is used for being clamped and locked by the rotating locking mechanism when extending into the accommodating holes from top to bottom, so that the end effector fixedly connected to the upper side of the cover body is connected together with the locking body, and then the driving gas passes through the first air hole, the second air hole, and the third air hole in sequence and enters the end effector to drive the end effector to move; the present invention can integrate an electrical interface while realizing the quick-change function of the end effector of the industrial robot, and can directly enter the working state after quick change.

Description

Technical Field

[0001] The present invention belongs to the field of industrial robot end effector connection components, and in particular relates to an electrically integrated industrial robot end effector quick-change locking device. Background Art

[0002] In recent years, industrial robotic machining systems have begun to be used in the manufacturing and assembly of large, complex products. This technology offers better spatial accessibility and smaller installation space requirements than machining centers, allowing for flexible installation at the assembly site. Due to their versatility, efficiency, and high levels of automation, industrial robotic systems are becoming a growing trend in large-scale component assembly and processing within high-end manufacturing sectors such as aerospace.

[0003] As manufacturing companies further explore and deepen the functions of industrial robots, more and more end effectors have emerged, many of which feature pneumatic modules. The traditional connection method is a separate connection. After the end effector mechanical module is installed, gas power is provided to the end effector through the gas line interface located at the end. This installation process is cumbersome and cannot meet the needs of rapid replacement of industrial robot end effectors. In addition, exposed gas lines may pose a risk to the safe operation of the robot. Summary of the Invention

[0004] The purpose of the present invention is to provide an electrically integrated industrial robot end quick-change locking device to solve the problems of complicated installation process, long time consumption and low alignment accuracy of the existing end effector, and to quickly and accurately replace the existing industrial robot end effector and its circuit and pneumatic components.

[0005] The present invention adopts the following technical solution: an electrically integrated industrial robot end quick-change locking device, comprising:

[0006] The locking body, whose lower side is fixed to the flange surface of the end of the industrial robot, is made up of a receiving column and a fixing plate connected in one piece.

[0007] The outer wall of the accommodating column is provided with a plurality of first air holes from the outside to the inside, and the plurality of first air holes are used to pass the driving gas from the outside to the inside. The accommodating column is provided with an accommodating hole along its axis, and a driving motor is installed in the fixing plate.

[0008] The locking mechanism is located on the upper side of the locking body and is used to rotate under the drive of the driving motor. A plurality of second air holes are opened on the locking mechanism.

[0009] The cover body has an end effector fixedly connected to its upper side. The cover body is located on the upper side of the locking mechanism and is provided with a plurality of third air holes. When the cover body extends into the accommodating hole from top to bottom, it is clamped and locked by the rotating locking mechanism, so that the end effector fixedly connected to the upper side of the cover body is connected together with the locking body, and then the driving gas passes through the first air hole, the second air hole, and the third air hole in sequence and enters the end effector to provide gas power for the end effector.

[0010] Furthermore, the locking mechanism includes:

[0011] The accommodating ring is located on the upper side of the locking body and is coaxially arranged with the locking body. A accommodating groove is opened along its inner wall from the inside to the outside.

[0012] The center ring is located on the upper side of the receiving ring, and a through hole is opened on its side wall.

[0013] Steel ball, located in the through hole,

[0014] Steel balls are used for:

[0015] When the receiving ring rotates until the receiving groove corresponds to the through hole, the steel ball moves outward into the outer receiving cavity formed by the receiving groove and the through hole, thereby releasing the cover body and unlocking the clamping and locking of the cover body;

[0016] When the accommodating ring rotates until the accommodating groove no longer corresponds to the through hole, the steel ball moves inwardly into the accommodating cavity formed between the through hole and the cover body, and then clamps the cover body, so that the cover body and the locking body remain in a locked state.

[0017] Furthermore, a limiting ring is fixedly connected to the accommodating hole of the locking body, the limiting ring and the accommodating hole are coaxially arranged, the outer wall of the limiting ring is fixedly connected to the inner wall of the accommodating hole of the locking body, and a limiting hole is opened in the center of the limiting ring.

[0018] Furthermore, the center ring is composed of a first overlapping ring, a second vertical ring, a third fixed ring, and a fourth plane ring, which are connected in sequence from top to bottom and have gradually decreasing inner diameters.

[0019] The first lap ring is arranged horizontally, with its lower side resting against the upper side of the receiving ring.

[0020] The second vertical ring is arranged horizontally and parallel to the receiving ring. A through hole is opened on its side wall. The diameter of the through hole decreases from the outside to the inside, and then the steel ball is clamped.

[0021] The third fixing ring is arranged vertically, and its outer wall abuts against the upper side of the limiting ring and the inner wall of the receiving hole.

[0022] The fourth plane ring is horizontally arranged and fixedly connected to the limiting ring, with the lower side of the fourth plane ring clamped on the upper side of the limiting ring, and a second air hole is vertically penetrated through the fourth plane ring.

[0023] Furthermore, a movable groove is provided on the upper side of the locking body along its outer edge from top to bottom, and the movable groove is used to leave a cavity for the steel ball to move outward.

[0024] Furthermore, a mounting hole is opened on the fixed plate, and the mounting hole is used for the output shaft of the driving motor to extend from bottom to top. The output shaft of the driving motor is fixedly connected with a cylindrical platform, which is located on the upper side of the fixed plate. The cylindrical platform is used to rotate with the output shaft, and an insertion rod is fixedly connected to the position near the outer edge of the cylindrical platform.

[0025] Two toggle plates are integrally connected to the side of the accommodating ring close to the drive motor. A rod is inserted from bottom to top between the two toggle plates, and then the two toggle plates are driven to rotate by the rod during the rotation of the drive motor, thereby causing the accommodating ring to rotate to complete locking and unlocking.

[0026] Furthermore, the first air hole of the accommodating column and the third air hole of the cover body are both L-shaped.

[0027] Furthermore, two travel switches are fixedly connected to the upper side of the fixed plate. The two travel switches are symmetrically arranged and located on both sides of the cylindrical platform.

[0028] A stopper is fixedly connected to the side wall of the cylindrical platform, and the stopper is used to touch two travel switches, thereby stopping the driving motor from moving.

[0029] The beneficial effects of the present invention are:

[0030] 1. The present invention can quickly replace the end effector to perform various processing tasks. It can realize the quick-change function of the industrial robot end effector while integrating the electrical interface. After the quick change, the end effector can directly enter the working state without the need for manual connection of the air pipe and the interface. This improves the working efficiency of the industrial robot end effector. While ensuring the accuracy of the end effector's alignment and installation, it reduces the dependence on manual labor and improves the safety and versatility of the industrial robot system.

[0031] 2. This invention greatly improves the efficiency of quick-changing industrial robot end effectors while being compatible with more electrical interfaces. During operation, the industrial robot can be programmed to adapt to different types of end effectors, building an automated end effector library. The overall structure is compact, the working performance is stable, and the production cost is low.

[0032] 3. The drive motor of the present invention is used in conjunction with a worm reducer. The worm reducer is self-locking and has a self-locking feature even if the power is cut off during operation. It will not be unlocked due to shaking and cause danger.

[0033] 4. The present invention does not require plugging and unplugging of the air tube during the quick-change process, and can enter the working state after quick-change, providing reliable physical connection and gas power supply for the end effector. It can be applied to work occasions where industrial robots need to be equipped with different end effectors, and can be used with the end effector library to realize the function of automatically replacing the end effector of the industrial robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 It is a structural schematic diagram of the present invention;

[0035] Figure 2 is a cross-sectional view of the present invention;

[0036] Figure 3 A top view of the locking body of the present invention;

[0037] Figure 4 It is a structural schematic diagram of the cover body of the present invention;

[0038] Figure 5 Schematic diagram of the center ring structure of the present invention.

[0039] Among them: 1. Locking body; 11. First air hole; 12. Limiting ring; 13. Movable groove; 14. Fixed plate; 15. Driving motor; 16. Cylindrical platform; 17. Insertion rod; 18. Stopper; 2. Accommodating column; 21. Accommodating hole; 3. Locking mechanism; 31. Second air hole; 32. Accommodating ring; 33. Accommodating groove; 34. Center ring; 35. Through hole; 36. Steel ball; 4. Cover; 41. Third air hole; 42. Make way hole; 5. First lap ring; 6. Second vertical ring; 7. Third fixed ring; 8. Fourth plane ring; 9. Toggle plate; 10. Travel switch. DETAILED DESCRIPTION

[0040] The present invention will be described in detail below with reference to the accompanying drawings and specific embodiments.

[0041] In the description of the present invention, 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 orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention 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 present invention. In addition, the terms "first" and "second" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, unless otherwise specified, "multiple" means two or more. The "direction" in the present invention is based on the direction of the present invention. Figure 1 Description of the direction of the state.

[0042] The present invention discloses an electrically integrated industrial robot end quick-change locking device, such as Figure 1-3 As shown, it includes a locking body 1, a locking mechanism 3, and a cover body 4.

[0043] The lower side of the locking body 1 is fixed to the flange surface of the end of the industrial robot. The locking body 1 is formed by an integral connection of a receiving column 2 and a fixing plate 14. A plurality of first air holes 11 are opened on the outer wall of the receiving column 2 from the outside to the inside. The plurality of first air holes 11 are used to pass the driving gas from the outside to the inside. The receiving column 2 is provided with a receiving hole 21 along its axis, and a driving motor 15 is installed on the fixing plate 14.

[0044] The locking mechanism 3 is located on the upper side of the locking body 1 . The locking mechanism 3 is configured to rotate under the drive of the driving motor 15 . A plurality of second air holes 31 are defined in the locking mechanism 3 .

[0045] like Figure 4 As shown, the end effector is fixedly connected to the upper side of the cover body 4, and the cover body 4 is located on the upper side of the locking mechanism 3. A plurality of third air holes 41 are provided on the cover body 4. When the cover body 4 is used to extend into the accommodating hole 21 from top to bottom, it is clamped and locked by the rotated locking mechanism 3, thereby connecting the end effector fixedly connected to the upper side of the cover body 4 with the locking body 1, and then allowing the driving gas to pass through the first air hole 11, the second air hole 31, and the third air hole 41 in sequence into the end effector to provide gas power for the end effector.

[0046] The locking mechanism 3 includes a receiving ring 32 , a center ring 34 , and steel balls 36 .

[0047] The accommodating ring 32 is located on the upper side of the locking body 1 and is coaxially arranged with the locking body 1. A accommodating groove 33 is opened from the inside to the outside along the inner wall of the accommodating ring 32. The center ring 34 is located on the upper side of the accommodating ring 32. A through hole 35 is opened on the side wall of the center ring 34, and a steel ball 36 is located in the through hole 35.

[0048] The steel ball 36 is used for: when the accommodating ring 32 rotates to the accommodating groove 33 and the through hole 35, the steel ball 36 moves outward to the outer accommodating cavity formed by the accommodating groove 33 and the through hole 35, thereby loosening the cover body 4 and unlocking the clamping and locking of the cover body 4; it is also used for when the accommodating ring 32 rotates to the accommodating groove 33 and the through hole 35 do not correspond to each other, the steel ball 36 moves inward to the inner accommodating cavity formed between the through hole 35 and the clearance hole 42 of the cover body 4, and then clamps the cover body 4 so that the cover body 4 and the locking body 1 remain in a combined state.

[0049] A stop ring 12 is fixedly connected to the receiving hole 21 of the locking body 1. The stop ring 12 is coaxial with the receiving hole 21. The outer wall of the stop ring 12 is fixedly connected to the inner wall of the receiving hole 21 of the locking body 1. A stop hole is defined in the center of the stop ring 12. The stop hole and the receiving hole 21 of the receiving column 2 are used to pass cables through, facilitating their organization and storage.

[0050] like Figure 5 As shown, the center ring 34 is composed of a first overlapping ring 5, a second vertical ring 6, a third fixed ring 7, and a fourth plane ring 8, which are connected in sequence from top to bottom and have gradually decreasing inner diameters.

[0051] The first lap ring 5 is arranged horizontally, and its lower side is against the upper side of the accommodating ring 32. The second vertical ring 6 is arranged horizontally and parallel to the accommodating ring 32. A through hole 35 is opened on the side wall of the second vertical ring 6. The diameter of the through hole 35 decreases from the outside to the inside, and then the steel ball 36 is clamped.

[0052] The third fixing ring 7 is arranged vertically, and the outer wall of the third fixing ring 7 is against the upper side of the limiting ring 12 and the inner wall of the accommodating hole 21. The fourth plane ring 8 is arranged horizontally and fixedly connected to the limiting ring 12. The lower side of the fourth plane ring 8 is stuck on the upper side of the limiting ring 12, and a second air hole 31 is vertically opened on the fourth plane ring 8.

[0053] A movable groove 13 is formed on the upper side of the locking body 1 along its outer edge from top to bottom. The movable groove 13 is used to leave a cavity for the steel ball 36 to move outward.

[0054] A mounting hole is provided on the fixed plate 14, and the mounting hole is used for the output shaft of the driving motor 15 to extend from bottom to top. A cylindrical platform 16 is fixedly connected to the output shaft of the driving motor 15. The cylindrical platform 16 is located on the upper side of the fixed plate 14. The cylindrical platform 16 is used to rotate with the output shaft. An insertion rod 17 is fixedly connected to the cylindrical platform 16 near the outer edge.

[0055] Two toggle plates 9 are integrally connected to one side of the accommodating ring 32 close to the drive motor 15. The insertion rod 17 is inserted from bottom to top between the two toggle plates 9, and then the two toggle plates are driven to rotate by the insertion rod 17 during the rotation of the drive motor 15, thereby causing the accommodating ring 32 to rotate to complete locking and unlocking.

[0056] The first air hole 11 of the accommodating column 2 and the third air hole 41 of the cover body 4 are both L-shaped, which facilitates providing an air passage for the end effector.

[0057] Two limit switches 10 are also fixedly connected to the upper side of the fixed plate 14. The two limit switches 10 are symmetrically arranged and are respectively located on both sides of the cylindrical platform 16. A stopper 18 is fixedly connected to the side wall of the cylindrical platform 16. The stopper 18 is used to touch the two limit switches 10, thereby stopping the drive motor 15 from moving.

[0058] like Figure 3 As shown, the locking body 1 is the base of the fixed end effector of the present invention and is also the basic structure for realizing the locking function. The method of using the present invention is as follows:

[0059] When it is necessary to lock the cover body 4 with the locking body 1, the driving motor 15 rotates clockwise, thereby causing the cylindrical platform 16 to rotate clockwise and driving the insertion rod 17 to rotate clockwise. At this time, the toggle plate 9 rotates counterclockwise under the drive of the insertion rod 17, thereby driving the accommodating ring 32 to rotate counterclockwise, causing the steel ball 36 to move inward to the inner accommodating cavity between the through hole 35 and the give way hole 42 of the cover body 4, so that the steel ball 36 is stuck in the cover body 4, so that the cover body 4 and the locking body 1 remain in a locked state. In the locked state, the first air hole 11 of the accommodating column 2, the second air hole 31 of the locking mechanism 3, and the third air hole 41 of the cover body 4 all correspond to each other and are connected to each other, so that the driving gas passes through the first air hole 11, the second air hole 31, and the third air hole 41 in sequence and enters the end effector, driving the end effector to move.

[0060] When it is necessary to unlock the cover body 4 and the locking body 1, the driving motor 15 rotates counterclockwise, thereby causing the cylindrical platform 16 to rotate counterclockwise and driving the insertion rod 17 to rotate counterclockwise. At this time, the toggle plate 9 rotates clockwise under the drive of the insertion rod 17, thereby driving the receiving ring 32 to rotate clockwise, causing the steel ball 36 to move outward to the outer receiving cavity formed by the receiving groove 33 and the through hole 35, so that the steel ball 36 releases the cover body 4, and the cover body 4 is unlocked from the locking body 1.

[0061] The above are only preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. An electrically integrated industrial robot end quick-change locking device, characterized in that: include: The locking body (1) has its lower side fixed on the flange surface of the end of the industrial robot, and the locking body (1) is formed by integrally connecting the receiving column (2) and the fixing plate (14). A plurality of first air holes (11) are provided on the outer wall of the accommodating column (2) from the outside to the inside, and the plurality of first air holes (11) are used to introduce driving gas from the outside to the inside. The accommodating column (2) is provided with an accommodating hole (21) along its axis. A driving motor (15) is installed in the fixing plate (14). The locking mechanism (3) is located on the upper side of the locking body (1) and is used to rotate under the drive of the driving motor (15). A plurality of second air holes (31) are provided on the locking mechanism. The cover body (4) is fixedly connected to the end effector on its upper side. The cover body (4) is located on the upper side of the locking mechanism (3) and is provided with a plurality of third air holes (41) for being held and locked by the rotating locking mechanism (3) when extending into the receiving hole (21) from top to bottom, so that the cover body (4) and the locking body (1) are connected together, and then the driving gas passes through the first air hole (11), the second air hole (31), and the third air hole (41) in sequence and enters the end effector to provide gas power for the end effector; The locking mechanism (3) comprises: The accommodating ring (32) is located on the upper side of the locking body (1) and is coaxially arranged with the locking body (1). An accommodating groove (33) is formed along the inner wall thereof from the inside to the outside. The center ring (34) is located on the upper side of the receiving ring (32), and a through hole (35) is opened on its side wall. The steel ball (36) is located in the through hole (35), The steel ball (36) is used for: When the receiving ring (32) is rotated until the receiving groove (33) corresponds to the through hole (35), the steel ball (36) moves outward into the outer receiving cavity formed by the receiving groove (33) and the through hole (35), thereby releasing the cover body (4) and unlocking the holding and locking of the cover body (4); When the receiving ring (32) is rotated until the receiving groove (33) no longer corresponds to the through hole (35), the steel ball (36) moves inwardly into the inner receiving cavity formed between the through hole (35) and the cover body (4), and then clamps the cover body (4), so that the cover body (4) and the locking body (1) remain in a locked state; The fixing plate (14) is provided with a mounting hole, the mounting hole is used for the output shaft of the driving motor (15) to extend from bottom to top, the output shaft of the driving motor (15) is fixedly connected with a cylindrical platform (16), the cylindrical platform (16) is located on the upper side of the fixing plate (14), the cylindrical platform (16) is used to rotate with the output shaft, and an insertion rod (17) is fixedly connected to the cylindrical platform (16) near the outer edge. Two toggle plates (9) are integrally connected to one side of the accommodating ring (32) close to the driving motor (15), and an insertion rod (17) is inserted from bottom to top between the two toggle plates (9). When the driving motor (15) rotates, the two toggle plates are driven to rotate by the insertion rod (17), thereby causing the accommodating ring (32) to rotate, thereby completing locking and unlocking.

2. The electrically integrated industrial robot end quick-change locking device according to claim 1, characterized in that: A limiting ring (12) is fixedly connected to the receiving hole (21) of the locking body (1), the limiting ring (12) and the receiving hole (21) are coaxially arranged, the outer wall of the limiting ring (12) is fixedly connected to the inner wall of the receiving hole (21) of the locking body (1), and the center of the limiting ring (12) is provided with a limiting hole.

3. The electrically integrated industrial robot end quick-change locking device according to claim 2, characterized in that: The center ring (34) is composed of a first overlapping ring (5), a second vertical ring (6), a third fixed ring (7), and a fourth plane ring (8), which are connected in sequence from top to bottom and have gradually decreasing inner diameters. The first lap ring (5) is arranged horizontally, with its lower side resting against the upper side of the accommodating ring (32). The second vertical ring (6) is arranged horizontally and parallel to the receiving ring (32). A through hole (35) is provided on its side wall. The diameter of the through hole (35) decreases from the outside to the inside, thereby clamping the steel ball (36). The third fixing ring (7) is arranged vertically, and its outer wall abuts against the upper side of the limiting ring (12) and the inner wall of the accommodating hole (21). The fourth plane ring (8) is arranged horizontally and fixedly connected to the limiting ring (12), with its lower side clamped on the upper side of the limiting ring (12), and a second air hole (31) is vertically penetrated therethrough.

4. The electrically integrated industrial robot end quick-change locking device according to claim 2, characterized in that: A movable groove (13) is provided on the upper side of the locking body (1) along its outer edge from top to bottom, and the movable groove (13) is used to leave a cavity for the steel ball (36) to move outward.

5. An electrically integrated industrial robot end quick-change locking device according to any one of claims 2 to 4, characterized in that: The first air hole (11) of the accommodating column (2) and the third air hole (41) of the cover body (4) are both L-shaped.

6. The electrically integrated industrial robot end quick-change locking device according to claim 5, characterized in that: Two travel switches (10) are also fixedly connected to the upper side of the fixed plate (14). The two travel switches (10) are symmetrically arranged and respectively located on both sides of the cylindrical platform (16). A stopper (18) is fixedly connected to the side wall of the cylindrical platform (16), and the stopper (18) is used to touch the two travel switches (10), thereby stopping the driving motor (15) from moving.

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