Mechanical arm end quick change device, mounting method and robot

Abstract

The application relates to a mechanical arm end quick-change device, which comprises a main disc and a tool disc, the main disc comprises a base, a sliding block, a first electromagnet, a first positioning column, a countersunk hole, a slot base and a first embedded hole, the tool disc comprises locking device, a second electromagnet, a second positioning column, an arc-shaped slot, a second embedded hole; the base is used for fixing the main disc at the end of the mechanical arm through screws; the first electromagnet is composed of an iron core and a coil, one end of the iron core is fixed on the base, and the other end of the iron core is fixed in the first slot base; the tool disc is connected with an end execution tool through the arc-shaped slot. The mechanical arm end quick-change device provided by the application shortens the tool replacement time, enables the robot to switch tasks more frequently or complete more complex work needing to use multiple end tools, and thus improves the overall output and the working efficiency of the robot.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of robots, in particular to a mechanical arm end quick change device, a mounting method and a robot. BACKGROUND

[0002] Industrial robots, i.e. mechanical arms, are widely used in the production field and play an important role in improving the level of production automation, labor productivity and product quality. The work capacity and work efficiency of the robot depend largely on the work capacity of the robot work tool. The application of the robot work tool quick change device can improve the work efficiency of the robot, improve the adaptability and versatility of the robot to the working environment, and realize one machine with multiple uses.

[0003] The existing mechanical arm realizes switching of different execution tooling through the quick change device, which has the following technical defects: 1. The existing mechanical arm end quick change device uses gas locking main side and tool side to create a closed connection space, which needs other components to cooperate to complete the work, the design is complex, and accidental gas failure may occur, which may cause danger; 2. Under high-speed motion or heavy load conditions, the motion stability and positioning accuracy of the existing mechanical arm end quick change device may be affected, and additional measures may be needed to ensure the stability and accuracy of the device; 3. Due to the complexity of the mechanical arm end quick change device, maintenance and troubleshooting become more difficult, and professionals with corresponding technical ability are needed to handle potential problems. SUMMARY

[0004] In view of some or all of the problems in the prior art, the present application provides a mechanical arm end quick change device, which comprises a main disc and a tool disc, the main disc comprises a base, a sliding block, a first electromagnet, a first positioning column, a countersunk hole, a slot base, and a first embedded hole, and the tool disc comprises a locking device, a second electromagnet, a second positioning column, an arc slot, and a second embedded hole.

[0005] The base fixes the main disc at the end of the mechanical arm through screws, and the first positioning column and the countersunk hole are arranged on the base.

[0006] The lower end of the first positioning column is used to determine the position of the main disc and the end of the mechanical arm, and is inserted into the positioning hole of the end of the mechanical arm, and the upper end of the first positioning column is used to determine the position of the main disc and the tool disc, and the upper end of the first positioning column is used to ensure that the sliding block corresponds to the locking device.

[0007] The slot base comprises a first slot base and a second slot base, the second slot base is fixed on the base through a positioning device, and the first slot base is connected with the second slot base through an insertion piece.

[0008] The sliding block is connected with the slot base, the sliding block is coaxially arranged with the first electromagnet, and the sliding block comprises a slot and a lock;

[0009] The first electromagnet is composed of a core and a coil, one end of the core is fixed on the base, and the other end of the core is fixed in the first slot base;

[0010] The tool disc is connected with the end execution tool through the arc-shaped slot;

[0011] The locking device comprises a steel ball and a spring, one end of the spring is connected with the steel ball, and the other end of the spring is connected with the tool disc body;

[0012] The second electromagnet is composed of a core and a coil, and is arranged in the clamping groove of the tool disc;

[0013] The second positioning column is used to determine the position of the main disc and the tool disc, and the second positioning column is inserted into the counterbore hole so that the main disc and the tool disc are in full contact;

[0014] The first buried wire hole is used to accommodate the lead wire of the first electromagnet, and the second buried wire hole is used to accommodate the lead wire of the second electromagnet.

[0015] Further, the second electromagnet comprises eight columnar electromagnets, and the eight columnar electromagnets are connected in series by the same lead wire.

[0016] Further, when the first electromagnet is energized, the sliding block is attracted back to the main disc, and the locking is released;

[0017] When the second electromagnet is energized, the sliding block is attracted into the tool disc, and the sliding block is locked with the locking device.

[0018] Further, the number of the sliding block and the locking device is four, the sliding block and the locking device are cross-stacked, and when the sliding block enters the tool disc, the steel ball is locked with the lock hole on the sliding block.

[0019] Further, the slot and the lock hole are respectively located on two faces of the sliding block;

[0020] The slot is connected with the slot base, so that the sliding block moves mechanically;

[0021] The lock hole comprises an inclined surface and a hemispherical hole, when the sliding block extends outward, the steel ball of the locking device is compressed along the inclined surface, and is fixed in the hemispherical hole of the lock hole.

[0022] Further, the lead wire of the first electromagnet is controlled by an external control device to control the on-off of electricity; and / or

[0023] The lead wire of the second electromagnet is controlled by an external control device to control the on-off of electricity.

[0024] Further, the second slot base comprises a circular ring and a column, the first slot base bottom is arranged with a disc connected with the first electromagnet, the slot base is connected with the slider through the slot, the slot is a square slot, and the slot base is cross-stacked after being connected with the slider.

[0025] Further, the material of the slider is a ferromagnetic metal material; and / or

[0026] The material of the base, the first positioning column and the slot base is a metal material without ferromagnetism.

[0027] The application also provides a mounting method of the mechanical arm end quick change device, and the method comprises the following steps:

[0028] The position of the main disc and the tool disc is determined by the upper end of the first positioning column and the second positioning column;

[0029] The second positioning column is partially inserted into the counterbore, the second electromagnet is powered on, the slider is attracted to extend outward into the tool disc until the main disc and the tool disc are locked, and the second electromagnet is powered off after being locked;

[0030] When the end execution tool needs to be replaced, the first electromagnet is powered on, the slider is attracted back to the main disc, and the tool disc and the main disc are separated.

[0031] The application also provides a robot comprising the mechanical arm end quick change device.

[0032] Compared with the prior art, the application has the following advantages:

[0033] 1. The mechanical arm end quick change device provided by the application shortens the tool replacement time, enables the robot to switch tasks more frequently or complete more complex work requiring the use of multiple end tools, and thus improves the overall output and the working efficiency of the robot.

[0034] 2. The mechanical arm end quick change device provided by the application reduces human errors and intervention in the automatic tool replacement process, and guarantees the continuity and stability of the work.

[0035] 3. The mechanical arm end quick change device provided by the application has a simple mechanical structure, is convenient to design, and has a low cost. The slider is attracted to slide along the slot by the on-off of the electromagnet, the circuit is simple, the control is convenient, and few adaptive modules are required.

[0036] 4. The mechanical arm end quick change device provided by the application adds a structure principle similar to key unlocking, the slider and the spring steel ball of the tool disc are locked with each other during the movement of the slider in the slot, and the stability and precision are increased. BRIEF DESCRIPTION OF DRAWINGS

[0037] To further clarify the above and other advantages and features of the present embodiments, a more particular description of embodiments of the application will be rendered by reference to specific embodiments thereof which are illustrated in the appended drawings. It is appreciated that these drawings depict only typical embodiments of the application and are therefore not to be considered limiting of its scope. The drawings can be better understood by reference to the following description taken in connection with the accompanying drawings, in which like reference characters designate the same or corresponding parts throughout the figures.

[0038] Figure 1 Fig. 1 shows a right view schematic diagram of a mechanical arm end quick change device according to an embodiment of the present application;

[0039] Figure 2 Fig. 2 shows a front view schematic diagram of a mechanical arm end quick change device according to an embodiment of the present application;

[0040] Figure 3 Fig. 3 shows a schematic diagram of a main disc according to an embodiment of the present application;

[0041] Figure 4 Fig. 4 shows a schematic diagram of a main disc notch and sliding block according to an embodiment of the present application;

[0042] Figure 5 Fig. 5 shows a schematic diagram of a tool disc according to an embodiment of the present application;

[0043] Figure 6 Fig. 6 shows a schematic diagram of a tool disc locking device and electromagnet according to an embodiment of the present application; and

[0044] Figure 7 Fig. 7 shows a schematic diagram of a main disc and tool disc installation according to an embodiment of the present application. DETAILED DESCRIPTION

[0045] In the following description, reference is made to specific embodiments of the application. Those skilled in the art will recognize that the application can be practiced with one or more specific details, or alternatives and / or in combination with other methods or components, not specifically described below. In other instances, well-known structures or operations are not shown or described in detail in order to avoid obscuring the application. Similarly, like reference numerals refer to like elements throughout. It will be appreciated that those elements listed are merely examples of the types of elements that can be included within the present application and that individual elements can be replaced with alternative elements that serve the same or a similar purpose.

[0046] In the present application, unless specifically indicated otherwise, "arranged on" and "arranged above" do not exclude the presence of an intermediate object between them. In addition, "arranged on or above" only indicates the relative position relationship between the two components, and in some cases, such as after reversing the product direction, it can also be converted to "arranged below or below", and vice versa.

[0047] In this specification, reference to "one embodiment" or "the embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment of the application. The appearances of the phrase "in one embodiment" in various places in the specification are not necessarily all referring to the same embodiment.

[0048] It should be noted that the embodiments of the present application, the words "comprise", "comprising", "include", "including", "contain", "containing", "have", "having", "composed of", and / or "comprising of", when used in this specification, indicate the presence of the stated features, elements and / or components but do not preclude the presence or addition of one or more other features, elements, components, and / or combinations thereof.

[0049] In this specification, "first", "second", unless specified otherwise, are used only to distinguish descriptions, do not contain size difference, and cannot be understood as explicitly or implicitly indicating relative importance.

[0050] In this specification, the quantifier "a plurality of", "a plurality" refers to one or more elements.

[0051] It should be noted that the embodiments of the present application describe the method steps in a specific order, however this is only for the purpose of describing this specific embodiment, and does not limit the order of the steps. On the contrary, in different embodiments of the present application, the order of the steps can be adjusted according to the actual needs of the adjustment.

[0052] When the robot arm performs complex operations, it often needs to cooperate with multiple different end tools. The robot arm end quick change device provided by the present application can automatically switch different end execution tools in the application process of the robot arm without manual intervention, by using simple principles and high-precision mechanical design. The robot arm end quick change device provided by the present application shortens the tool replacement time, so that the robot can switch tasks more frequently, thereby improving the overall output; the automatic replacement process reduces human error and intervention, ensuring the continuity and stability of the operation.

[0053] The technical solutions in the embodiments of the present application will be described clearly and completely in combination with the drawings in the embodiments of the present application.

[0054] Figure 1 A right view cross-sectional schematic diagram of the robot arm end quick change device of one embodiment of the present application is shown, Figure 2 A front view schematic diagram of the robot arm end quick change device of one embodiment of the present application is shown. As Figure 1 And Figure 2As shown, the mechanical arm end quick-change device includes a main disc 100 and a tool disc 200. The main disc 100 includes a base 1, a sliding block 2, a first electromagnet 6, a first positioning column 7, a slot 8, a locking hole 9, a countersunk hole 10, a slot base, and a first embedded hole 14. The tool disc includes a locking device 3, a second electromagnet 4, a second positioning column 5, an arc-shaped slot 12, and a second embedded hole 13.

[0055] The base 1 is fixed to the end of the mechanical arm by a screw, and the first positioning column 7 and the countersunk hole 10 are arranged on the base 1. The slot base includes a first slot base 111 and a second slot base 112, and the second slot base 112 is fixed to the base 1 by a positioning device, and the first slot base 111 is connected to the second slot base 112 by a plug. The lower end of the first positioning column 7 is used to determine the position of the main disc and the end of the mechanical arm, and is inserted into a positioning hole in the end of the mechanical arm. The upper end of the first positioning column 7 is used to determine the position of the main disc and the tool disc, and is used to ensure that the sliding block 2 corresponds to the locking device 3. The sliding block 2 is connected to the slot base, and is coaxially arranged with the first electromagnet 6. The sliding block 2 includes the slot 8 and the locking hole 9. The first electromagnet 6 is composed of a core and a coil, and one end of the core is fixed to the base 1, and the other end of the core is fixed in the first slot base 111.

[0056] The tool disc 200 is connected to the end execution tool through the arc-shaped slot 12. The locking device 3 includes a steel ball and a spring, and one end of the spring is connected to the steel ball, and the other end of the spring is connected to the main body of the tool disc. The second electromagnet 4 is composed of a core and a coil, and is arranged in a clamping groove of the tool disc. The second positioning column 5 is used to determine the position of the main disc and the tool disc, and is inserted into the countersunk hole 10 to make the main disc and the tool disc fully contact.

[0057] The first embedded hole 14 is used to accommodate the wire of the first electromagnet 6, and the second embedded hole is used to accommodate the wire of the second electromagnet 4. In an embodiment of the present application, the wire of the first electromagnet 6 and / or the wire of the second electromagnet 4 can be controlled by an external control device to control the on-off of electricity, and the control device can be a single-chip microcomputer board.

[0058] Figure 3 A schematic diagram of the main disc of an embodiment of the present application is shown, Figure 4 A schematic diagram of the slot and the sliding block of the main disc of an embodiment of the present application is shown. The composition of the main disc will be further described below Figure 3 and Figure 4

[0059] ​The main disc main body part is composed of a notch base and a slider, the notch base and the slider are cross-stacked after being connected, and the number of the sliders is four. The notch base and the slider are connected through a notch 8, the notch 8 can be a square notch, the square notch can ensure that the slider only moves along one direction axis when being attracted and moved by the electromagnet, and the locking precision of the notch 9 and the locking device 3 is improved. The first notch base 111 and the second notch base 112 are cross-stacked in positive and negative directions after being connected with the sliders 2, and the first notch base 111 and the second notch base 112 are fixed through an insertion piece. In an embodiment of the present application, the notch 8 and the notch 9 are respectively located on two surfaces of the slider 2; the height of the notch 8 is half of the height of the slider 2, the notch is connected with the notch base, so that the slider can be mechanically moved; the notch 9 can include a slope and a hemispherical hole, when the slider 2 extends outward, the steel ball of the locking device 3 compresses the spring along the slope and is fixed in the hemispherical hole of the notch, at this time, the spring of the locking device 3 is in a relaxed state, and the locking is completed.

[0060] In an embodiment of the present application, the main disc and the end of the mechanical arm are fixed through the screws arranged in the countersunk hole 10, the second positioning column 5 is inserted into the countersunk hole 10, so that the main disc and the tool disc are completely in contact, and the aesthetic degree is improved. In an embodiment of the present application, the second notch base 112 is composed of a circular ring and two columns, and the first notch base 111 is arranged with a disc connected with the first electromagnet 6 at the bottom. In an embodiment of the present application, the first positioning column 7 penetrates through the whole base 1, and the upper end of the first positioning column 7 ensures that the locking device 3 and the slider 2 are one-to-one corresponding, because the locking buckle 9 of the locking device 3 and the slider 2 are arranged in the same direction. When the second notch base 112 is fixed on the base 1 through the positioning device, the first notch base 111 is in contact with the upper end of the first electromagnet 6 and is fixed. The iron core of the first electromagnet 6 penetrates through the main disc main body, one end is fixed on the base 1, and the other end is fixed on the first notch base 111, the iron core is wound with a coil to form an electromagnet, the wound wire is led out through the wire embedding hole 14 in the inside of the base 1, the installation of the main disc part is avoided, and the overall aesthetic degree is improved.

[0061] In an embodiment of the present application, the material of the slider 2 is a ferromagnetic metal material, such as iron; and / or the materials of the remaining parts of the main disc, such as the base, the first positioning column and the notch base, are non-ferromagnetic metal materials, such as aluminum alloy.

[0062] Figure 5 A tool disc schematic diagram of an embodiment of the present application is shown, Figure 6 A tool disc locking device and electromagnet schematic diagram of an embodiment of the present application is shown. The tool disc is described below in combination with Figure 5 and Figure 6 The composition of the tool disc is further described.

[0063] Drawing inspiration from a key structure, there are four locking devices 3. Each locking device 3 consists of a steel ball and a spring. One end of the spring is connected to the steel ball, and the other end is connected to the main body of the tool tray. The locking devices 3 and the slider 2 are stacked diagonally, one above the other, in a crisscross pattern. When the slider 2 enters the tool tray, it is like inserting a key into a lock hole, and the steel ball locks with the locking lug 9 on the slider 2. The second electromagnet 4 includes eight columnar electromagnets connected in series by the same wire, and they are simultaneously energized and de-energized. There are four second positioning posts 5, which are used to determine the positions of the main tray and the tool tray. When the main tray and the tool tray are in contact, the second positioning posts 5 are coaxial with the countersunk hole 10 of the base 1.

[0064] In one embodiment of the present invention, the tool disk 200 is connected to various end effectors. The arc-shaped slot 12 can accommodate various end effectors of different sizes. The bolts connecting the end effectors are inserted into the slot of the arc-shaped slot 12 and the nuts are tightened in the groove below the arc-shaped slot 12 to complete the fixation.

[0065] In one embodiment of the present invention, when the first electromagnet 6 is energized, the slider 2 is drawn back to the main disk, and the locking is released; when the second electromagnet 4 is energized, the slider 2 is attracted into the tool disk 200, and the slider 2 is locked with the locking device 3.

[0066] Figure 7 A schematic diagram of the installation of the master disk and tool disk according to an embodiment of the present invention is shown, as follows: Figure 7 As shown, the installation method includes: after the positions of the main disk 100 and the tool disk 200 are determined by the upper end of the first positioning post and the second positioning post, the tool disk and the main disk can be installed; after the tool disk and the main disk contact, the second positioning post is inserted into the countersunk hole to cover the screws used to fix the main disk and the robotic arm, maintaining an aesthetically pleasing appearance; the second electromagnet is energized to attract the slider to extend outward into the tool disk until the main disk and the tool disk are locked, and then the second electromagnet is de-energized; when the end effector needs to be replaced, the first electromagnet is energized to pull the slider back to the main disk, ensuring that the tool disk and the main disk are separated. The robot controls the robotic arm carrying the main disk to move to the required end effector, and the above process is repeated. In one embodiment of the present invention, the end effector can be various, including an electric gripper, an electric screwdriver, a torque wrench, etc.

[0067] The mechanical arm end quick change device provided by the application shortens the tool replacement time, enables the robot to switch tasks more frequently or complete more complex work requiring the use of multiple end tools, and thus improves the overall output and the work efficiency of the robot.

[0068] The mechanical arm end quick change device provided by the application is suitable for a working environment requiring frequent replacement of mechanical arm end execution tools.

[0069] The application further provides a robot comprising the mechanical arm end quick change device.

[0070] It can be understood that, in addition to the memory and the processor described above, the computer system described above further comprises other software and hardware components not listed in the specification, which can be determined according to the specific data processing equipment model in different application scenarios, and the specification will not be listed in detail.

[0071] Although the above describes the embodiments of the application, it should be understood that they are presented only as examples, not as limitations. It is obvious to those skilled in the relevant art that various combinations, modifications and changes can be made without departing from the spirit and scope of the application. Therefore, the width and scope of the application disclosed herein should not be limited by the above disclosed exemplary embodiments, but should be defined according to the technical solution of the application and its equivalent alternatives.

Claims

1. A quick-change device for the end effector of a robotic arm, characterized in that, It includes a main plate and a tool plate. The main plate includes a base, a slider, a first electromagnet, a first positioning post, a countersunk hole, a slotted base, and a first embedded wire hole. The tool plate includes a locking device, a second electromagnet, a second positioning post, an arc-shaped slot, and a second embedded wire hole. The base is used to fix the main disk to the end of the robotic arm with screws, and the first positioning post and the countersunk hole are arranged on the base. The lower end of the first positioning post is used to determine the position of the main disk and the end of the robotic arm, and the lower end is inserted into the positioning hole at the end of the robotic arm. The upper end of the first positioning post is used to determine the position of the main disk and the tool disk, and the upper end of the first positioning post is used to ensure that the slider corresponds to the locking device. The slot base includes a first slot base and a second slot base. The second slot base is fixed on the base by a positioning device, and the first slot base and the second slot base are connected by inserts. The slider is connected to the slot base, the slider is coaxially arranged with the first electromagnet, and the slider includes a slot and a locking slot. The first electromagnet is composed of an iron core wound with a coil, one end of the iron core is fixed on the base, and the other end of the iron core is fixed in the first slot base; The tool disk is connected to the end effector via the arc-shaped slot; The locking device includes a steel ball and a spring, with one end of the spring connected to the steel ball and the other end of the spring connected to the main body of the tool disc. The second electromagnet is composed of an iron core wound with a coil and is arranged in a slot in the tool disk; The second positioning post is used to determine the position of the main plate and the tool plate. The second positioning post is inserted into the countersunk hole so that the main plate and the tool plate are in complete contact. The first buried wire hole is used to accommodate the wire of the first electromagnet, and the second buried wire hole is used to accommodate the wire of the second electromagnet.

2. The quick-change device for the end effector of a robotic arm according to claim 1, characterized in that, The second electromagnet comprises eight columnar electromagnets connected in series by the same conductor.

3. The quick-change device for the end effector of a robotic arm according to claim 1, characterized in that, When the first electromagnet is energized, it pulls the slider back to the main disk, releasing the lock; When the second electromagnet is energized, it attracts the slider into the tool disk, and the slider is locked with the locking device.

4. The quick-change device for the end effector of a robotic arm according to claim 1, characterized in that, There are four sliders and four locking devices. The sliders and locking devices are stacked in a cross pattern. When the slider enters the tool disk, the steel ball locks with the locking lug on the slider.

5. The quick-change device for the end effector of a robotic arm according to claim 1, characterized in that, The slot and the locking opening are respectively located on two surfaces of the slider; The slot is connected to the slot base, allowing the slider to move mechanically; The lock opening includes an inclined surface and a hemispherical hole. When the slider extends outward, the steel ball of the locking device compresses the spring along the inclined surface and is fixed in the hemispherical hole of the lock opening.

6. The quick-change device for the end effector of a robotic arm according to claim 1, characterized in that, The wires of the first electromagnet are connected to an external control device to control their on / off state; and / or The wires of the second electromagnet are connected to an external control device to control the on / off state of the power supply.

7. The quick-change device for the end effector of a robotic arm according to claim 1, characterized in that, The second slot base includes a ring and a column. The bottom of the first slot base is provided with a disc connected to the first electromagnet. The slot base and the slider are connected through the slot, which is a square slot. The slot base and the slider are stacked crosswise after being connected.

8. The quick-change device for the end effector of a robotic arm according to claim 1, characterized in that, The slider is made of a ferromagnetic metal; and / or The base, the first positioning post, and the slot base are made of non-ferromagnetic metal.

9. A method for installing a quick-change device at the end effector of a robotic arm according to any one of claims 1 to 8, characterized in that, include: The positions of the main plate and the tool plate are determined by the upper end of the first positioning post and the second positioning post together. Insert the second positioning pin into the countersunk hole, energize the second electromagnet, attract the slider to extend outward into the tool disk until the main disk and the tool disk are locked together, and then de-energize the second electromagnet. When it is necessary to replace the end effector, energize the first electromagnet to pull the slider back to the main disk, ensuring that the tool disk and the main disk are separated.

10. A robot, characterized in that, Includes the quick-change device for the end effector of a robotic arm according to any one of claims 1 to 8.

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