Quick-change structure of industrial robot clamp

Abstract

The application provides an industrial robot clamp quick-change structure, which comprises a quick-change clamp, a clamp base for placing the quick-change clamp, and a magnetic force device below the clamp base to make the clamp base in a magnetic suspension state. The top surface of the quick-change clamp is provided with a first centering guide structure which is matched with a second centering guide structure on the end connector of an industrial robot in shape. When the industrial robot needs to replace the quick-change clamp, the second centering guide structure can be close to and inserted into the first centering guide structure. The application can effectively adjust the position deviation of the end connector and the quick-change clamp during quick change, ensure that the wear or damage phenomenon caused by the position deviation after the connection of the two does not occur, realize automatic deviation correction and avoid collision between the two. Meanwhile, the operation requirement of the operator during clamp quick change can be significantly reduced, and the work efficiency is improved.

Description

Technical Field

[0001] This invention belongs to the field of quick-change design technology for robot grippers, and specifically relates to a quick-change structure for industrial robot grippers. Background Technology

[0002] As industrial robot application technology matures, it needs to adapt to various complex environments. In a complex machining environment, different parts need to be gripped, requiring different fixtures. To improve production efficiency, quick-change fixtures are often used to quickly switch between different gripping tools. However, quick-change fixtures require highly skilled operators to teach the alignment points during quick-change. If the machining environment changes, the alignment and teaching must be repeated, which is not conducive to ordinary personnel and affects production efficiency. On the other hand, during automatic operation, the robot may vibrate when picking up and releasing quick-change fixtures, causing the quick-change fixture position to deviate from the original taught position. This can lead to interference between the robot and the fixture during quick-change, resulting in wear or damage. Summary of the Invention

[0003] Therefore, the present invention provides a quick-change structure for industrial robot grippers, which can solve the technical problems of existing quick-change grippers requiring point teaching during quick changes, which places high demands on operators and results in low work efficiency, and the quick-change grippers and mating parts being misaligned, leading to wear or damage.

[0004] To address the aforementioned problems, this invention provides a quick-change structure for an industrial robot gripper, comprising a quick-change gripper, a gripper base for placing the quick-change gripper, and a magnetic device located below the gripper base to enable the gripper base to be in a magnetically levitated state. The top surface of the quick-change gripper has a first alignment guide structure, which matches the shape of a second alignment guide structure on the end effector connector of the industrial robot. When the industrial robot needs to change the connection of the quick-change gripper, the second alignment guide structure can approach and insert into the first alignment guide structure.

[0005] In some embodiments, the first centering guide structure is a tapered centering groove, and the cross-sectional area of ​​the centering groove gradually decreases along its depth direction; the second centering guide structure is a tapered centering boss, and the cross-sectional area of ​​the centering boss gradually decreases along its direction of approach to the first centering guide structure.

[0006] In some embodiments, the first alignment guide structure has a first foolproof part, and the second alignment guide structure has a second foolproof part, wherein during the insertion of the end connector and the quick-change clamp, the second foolproof part is located within the receiving area of ​​the first foolproof part.

[0007] In some embodiments, the fixture base has a receiving cavity, the quick-change fixture has a fixture connecting plate and a functional fixture connected to the bottom surface of the fixture connecting plate, the first centering guide structure is formed on the top surface of the fixture connecting plate, the cavity opening of the receiving cavity has a support platform, and the fixture connecting plate is supported on the support platform so that the functional fixture is received in the receiving cavity.

[0008] In some embodiments, the support platform is a first conical surface that gradually expands from the inside to the outside of the accommodating cavity, and the outer circumferential wall of the clamp connecting plate is a second conical surface that matches the first conical surface.

[0009] In some embodiments, an anti-rotation protrusion extending toward one side of the second conical surface is formed on the first conical surface, and an anti-rotation groove extending away from the first conical surface is formed on the second conical surface, wherein the anti-rotation protrusion and the anti-rotation groove are shaped to match each other.

[0010] In some embodiments, the magnetic device includes a placement plate having a magnetic levitation groove formed thereon for accommodating the fixture base, with at least the bottom portion of the fixture base suspended and accommodated within the magnetic levitation groove.

[0011] In some embodiments, the magnetic levitation grooves are multiple, and the multiple magnetic levitation grooves are spaced apart on the placement plate.

[0012] In some embodiments, a circumferential limiting portion is provided between the magnetic levitation groove and the clamp base to restrict the circumferential displacement of the clamp base. The circumferential limiting portion includes a limiting protrusion formed on the inner wall of the magnetic levitation groove and a limiting groove formed on the outer wall of the clamp base. The limiting protrusion is limited and accommodated in the limiting groove, and the single-sided limiting gap between the limiting protrusion and the limiting groove is d, where d≤10mm.

[0013] In some embodiments, the end connector has a plurality of suction ports formed on one end face facing the quick-change fixture, so as to achieve the connection between the end connector and the quick-change fixture through the negative pressure formed by the suction ports.

[0014] The quick-change structure for industrial robot grippers provided by this invention has the following beneficial effects:

[0015] When an industrial robot needs to replace a quick-change fixture connected to a gripper base, the gripper base is magnetically levitated and therefore floats within a certain area on the horizontal plane. When there is a certain positional deviation between the end connector and the quick-change fixture, the position of the quick-change fixture will adjust and change with the end connector as it approaches and connects during assembly, due to the alignment guiding effect between the first and second alignment guiding structures. This facilitates the shape matching of the first and second alignment guiding structures to achieve alignment between the two. In other words, the technical solution of this invention can effectively adjust the positional deviation between the end connector and the quick-change fixture caused by the vibration during quick-change, preventing wear or damage caused by positional offset after connection, achieving automatic correction and avoiding collisions. At the same time, it can reduce the accuracy requirements of the robot's teaching points, thereby significantly reducing the difficulty of operation for operators during quick-change fixtures and improving work (debugging) efficiency.

[0016] The alignment between the end connector and the quick-change fixture is achieved by matching the slope of the larger upper alignment groove and the smaller lower alignment boss. The structure is simple and has a large tolerance for positional deviation. By setting the alignment groove on the quick-change fixture, the mass of the quick-change fixture can be reduced, which in turn reduces the magnetic levitation power requirement of the magnetic device.

[0017] A receiving cavity is formed on the fixture base, and the quick-change fixture is supported at the opening of the receiving cavity through the fixture connecting plate. This ensures the stable placement of the functional fixture while accommodating it in the receiving cavity, thus isolating and storing the functional fixture and providing protection for it (dustproof, waterproof, etc.).

[0018] The anti-rotation protrusions and anti-rotation grooves connect the quick-change clamp and the clamp base into a whole in the circumferential direction (i.e., the rotation direction), preventing relative rotation between the quick-change clamp and the clamp base during the insertion and assembly of the second centering guide structure and the first centering guide structure. This can reduce the wear of the quick-change clamp or the clamp base caused by the relative rotation between the two and improve the service life of the corresponding components.

[0019] A magnetic levitation groove is formed on the placement plate, which allows at least the bottom part of the fixture base to be suspended and contained in the magnetic levitation groove. The groove opening and groove wall of the magnetic levitation groove can limit the horizontal position of the fixture base, thereby preventing the fixture base from detaching from the corresponding area of ​​the placement plate.

[0020] By limiting the single-sided limiting gap d in the circumferential limiting part, the angular displacement adjustment of the fixture base can be kept within a reasonable range, preventing excessive positional deviation that exceeds the centering guidance range of the first and second centering guidance structures, thus ensuring a reliable and quick connection between the end connector and the quick-change fixture.

[0021] The end connector and quick-change fixture are connected by negative pressure adsorption, making fixture replacement more convenient and further improving work efficiency. Attached Figure Description

[0022] To more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the accompanying drawings used in the description of the embodiments or the prior art will be briefly introduced below. The drawings described below are merely exemplary, and those skilled in the art can derive other embodiments based on the provided drawings without creative effort.

[0023] Figure 1 This is a three-dimensional structural diagram of the quick-change structure of the industrial robot gripper according to an embodiment of the present invention;

[0024] Figure 2 yes Figure 1 A three-dimensional structural diagram of the end connector in the image;

[0025] Figure 3 yes Figure 1 A three-dimensional structural diagram of the clamp connecting plate in the middle;

[0026] Figure 4 yes Figure 1 A three-dimensional structural diagram of the fixture base in the diagram;

[0027] Figure 5 This is a schematic diagram (partial cross-section) of the quick-change clamp and clamp base assembled on the magnetic device in this invention.

[0028] The attached figures are labeled as follows:

[0029] 1. Quick-change fixture;

[0030] 11. First centering guide structure; 111. First anti-foolproof part; 12. Fixture connecting plate; 121. Anti-rotation groove; 13. Functional fixture;

[0031] 2. Fixture base;

[0032] 21. Receiving cavity; 211. Supporting platform; 212. Anti-rotation protrusion;

[0033] 3. Magnetic device; 31. Placement plate; 311. Magnetic levitation groove;

[0034] 101. End connector; 102. Second centering guide structure; 103. Second foolproof part; 104. Adsorption port. Detailed Implementation

[0035] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The following description of at least one exemplary embodiment is merely illustrative and is in no way intended to limit the present invention or its application or use. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0036] In the description of this invention, it should be understood that the orientation or positional relationship indicated by directional terms such as "front, back, up, down, left, right", "horizontal, vertical, horizontal" and "top, bottom" is generally based on the orientation or positional relationship shown in the accompanying drawings, and is only for the convenience of describing this invention and simplifying the description. Unless otherwise stated, these directional terms 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 on the scope of protection of this invention; the directional terms "inner" and "outer" refer to the inner and outer contours relative to the outline of each component itself.

[0037] For ease of description, spatial relative terms such as "above," "on top of," "on the upper surface of," "above," etc., are used herein to describe the spatial positional relationship of a device or feature as shown in the figures to other devices or features. It should be understood that spatial relative terms are intended to encompass different orientations in use or operation beyond the orientation of the device as described in the figures. For example, if the device in the figures were inverted, a device described as "above" or "on top of" other devices or structures would subsequently be positioned as "below" or "under" other devices or structures. Thus, the exemplary term "above" can include both "above" and "below." The device may also be positioned in other different ways (rotated 90° or in other orientations), and the spatial relative descriptions used herein will be interpreted accordingly.

[0038] Furthermore, it should be noted that the use of terms such as "first" and "second" to define components is merely for the purpose of distinguishing the corresponding components. Unless otherwise stated, the above terms have no special meaning and therefore should not be construed as limiting the scope of protection of this invention.

[0039] See Figure 1 and Figure 5As shown, according to an embodiment of the present invention, a quick-change structure for an industrial robot gripper is provided, including a quick-change gripper 1, a gripper base 2 for placing the quick-change gripper 1, and a magnetic device 3 located below the gripper base 2 to enable the gripper base 2 to be in a magnetically levitated state. The top surface of the quick-change gripper 1 has a first alignment guide structure 11, which is shaped to match a second alignment guide structure 102 on the end connector 101 of the industrial robot. When the industrial robot needs to change the connection of the quick-change gripper 1, the second alignment guide structure 102 can approach and insert into the first alignment guide structure 11.

[0040] In this technical solution, when the industrial robot needs to replace the quick-change fixture 1 connected to the fixture base 2, since the fixture base 2 is in a magnetically levitated state (without contact or friction with its external structure during position adjustment), it floats within a certain area on the horizontal plane. When there is a certain positional deviation between the end connector 101 and the quick-change fixture 1, due to the alignment guiding effect between the first alignment guide structure 11 and the second alignment guide structure 102, the position of the quick-change fixture 1 will adjust and change along with the end connector 101 as they approach and assemble. This facilitates the alignment of the first centering guide structure 11 and the second centering guide structure 102 by matching their shapes. In other words, the technical solution of the present invention can effectively adjust the positional deviation of the end connector 101 and the quick-change fixture 1 caused by the vibration when the quick-change fixture 1 is released or absorbed during quick-change, ensuring that the two do not experience wear or damage due to positional offset after connection, thus achieving automatic correction and avoiding collision between the two. At the same time, it can reduce the accuracy requirements of the robot teaching point, thereby significantly reducing the difficulty of operation for the operator during quick-change of fixtures and improving the efficiency of operation (debugging).

[0041] See details Figure 1 As shown, in one specific embodiment, the first centering guide structure 11 is a tapered centering groove, and the cross-sectional area of ​​the centering groove gradually decreases along its depth direction. The second centering guide structure 102 is a tapered centering boss, and the cross-sectional area of ​​the centering boss gradually decreases along its direction close to the first centering guide structure 11. In one specific embodiment, when the aforementioned centering boss or centering groove is projected onto a horizontal plane, the distance between its large end contour and its small end contour is not less than 6mm, ensuring a large deviation adjustment range at the initial insertion stage.

[0042] In this technical solution, on the one hand, the alignment between the end connector 101 and the quick-change fixture 1 is formed by matching the slope of the alignment groove with the larger upper opening size and the alignment boss with the smaller lower bottom size. The structure is simple and the position deviation tolerance is large. On the other hand, setting the alignment groove on the quick-change fixture 1 can reduce the mass of the quick-change fixture 1, thereby reducing the magnetic levitation power requirement of the magnetic device 3.

[0043] To further ensure the positional correspondence of the two components to be connected in the horizontal plane, in some embodiments, the first alignment guide structure 11 has a first anti-misalignment part 111, and the second alignment guide structure 102 has a second anti-misalignment part 103. During the insertion process of the end connector 101 and the quick-change clamp 1, the second anti-misalignment part 103 is located within the receiving area of ​​the first anti-misalignment part 111. Specifically, the aforementioned first anti-misalignment part 111 and second anti-misalignment part 103 can be structures that can match and accommodate each other and are not symmetrically centered.

[0044] See also Figure 4 and Figure 5 As shown, in some embodiments, the clamp base 2 has a receiving cavity 21, the quick-change clamp 1 has a clamp connecting plate 12 and a functional clamp 13 connected to the bottom surface of the clamp connecting plate 12, the first centering guide structure 11 is formed on the top surface of the clamp connecting plate 12, the cavity opening of the receiving cavity 21 is arranged facing upward and a support platform 211 is formed on the inner wall of the cavity opening, the clamp connecting plate 12 is supported on the support platform 211 so that the functional clamp 13 is received in the receiving cavity 21. In a specific embodiment, the aforementioned functional clamp 13 is a suction cup, and its specific functional type can be reasonably selected according to actual needs.

[0045] In this technical solution, a receiving cavity 21 is formed on the fixture base 2 and the quick-change fixture 1 is supported at the opening of the receiving cavity 21 by the fixture connecting plate 12. This ensures the stable placement of the functional fixture 13 while accommodating the functional fixture 13 in the receiving cavity 21, thus isolating and storing the functional fixture 13 and providing protection for the functional fixture 13 (dustproof, waterproof, etc.).

[0046] In some embodiments, the support platform 211 is a first conical surface that gradually expands from the inside to the outside of the accommodating cavity 21 (not indicated in the figure), and the outer circumferential wall of the clamp connecting plate 12 is a second conical surface that matches the first conical surface (not indicated in the figure).

[0047] In this technical solution, the accuracy of the relative position between the quick-change fixture 1 and the fixture base 2 is ensured by the mutual cooperation of the first conical surface and the second conical surface, thereby reducing the positional deviation between the end connector 101 and the quick-change fixture 1.

[0048] See also Figure 3 and Figure 4 As shown, an anti-rotation protrusion 212 extending toward one side of the second conical surface is formed on the first conical surface, and an anti-rotation groove 121 extending away from the first conical surface is formed on the second conical surface. The anti-rotation protrusion 212 and the anti-rotation groove 121 are shaped to match each other. That is, when the quick-change clamp 1 is placed in the receiving cavity 21 of the clamp base 2, the anti-rotation protrusion 212 and the anti-rotation groove 121 are completely matched in an inner and outer receiving state.

[0049] In this technical solution, the anti-rotation protrusion 212 and the anti-rotation groove 121 connect the quick-change clamp 1 and the clamp base 2 into a whole in the circumferential direction (i.e., the rotation direction), preventing relative rotation between the quick-change clamp 1 and the clamp base 2 during the insertion and assembly of the second centering guide structure 102 and the first centering guide structure 11. This can reduce the wear of the quick-change clamp 1 or the clamp base 2 caused by the relative rotation between the two, and improve the service life of the corresponding components.

[0050] In some embodiments, the magnetic device 3 includes a placement plate 31 on which a magnetic levitation groove 311 for accommodating the clamp base 2 is formed. At least the bottom portion of the clamp base 2 is suspended and accommodated within the magnetic levitation groove 311. In one feasible embodiment, a first permanent magnet can be provided on the bottom surface of the clamp base 2, and a second permanent magnet can be provided on the bottom wall of the magnetic levitation groove 311. The first permanent magnet and the second permanent magnet have the same magnetic poles (e.g., both are N poles or both are S poles), thereby achieving magnetic levitation of the clamp base 2 very simply by utilizing the repulsion of like poles. In another feasible embodiment, corresponding coils can be provided at the relative positions of the magnetic levitation groove 311 and the clamp base 2, thereby achieving magnetic levitation by electromagnetic means. This method has a higher manufacturing cost, but it is particularly suitable for situations where the quick-change clamp 1 is heavy.

[0051] In this technical solution, a magnetic levitation groove 311 is formed on the placement plate 31, which allows at least the bottom part of the clamp base 2 to be suspended and contained in the magnetic levitation groove 311. The groove opening and groove wall of the magnetic levitation groove 311 can limit the horizontal position of the clamp base 2, thereby preventing the clamp base 2 from leaving the corresponding area of ​​the placement plate 31.

[0052] In a preferred embodiment, there are multiple magnetic levitation grooves 311, which are spaced apart on the placement plate 31. This allows multiple quick-change clamps 1 or various different quick-change clamps 1 to be placed on the same placement plate 31 at the same time.

[0053] In some embodiments, the magnetic levitation groove 311 and the clamp base 2 have a circumferential limiting portion that restricts the circumferential displacement of the clamp base 2. The circumferential limiting portion includes a limiting protrusion formed on the inner wall of the magnetic levitation groove 311 and a limiting groove formed on the outer wall of the clamp base 2. The limiting protrusion is limited and accommodated in the limiting groove, and the single-sided limiting gap between the limiting protrusion and the limiting groove is d, where d≤10mm.

[0054] In this technical solution, by limiting the single-sided limiting gap d in the aforementioned circumferential limiting part, the angular displacement adjustment of the fixture base 2 can be kept within a reasonable range, preventing excessive positional deviation caused by excessive size, which would exceed the centering guidance range of the aforementioned first centering guide structure 11 and second centering guide structure 102, thus ensuring a reliable and quick connection between the end connector 101 and the quick-change fixture 1.

[0055] See details Figure 1 As shown, the end connector 101 has a plurality of suction ports 104 formed on one side of the quick-change clamp 1, so as to realize the connection between the end connector 101 and the quick-change clamp 1 through the negative pressure formed by the suction ports 104. That is, the end connector 101 and the quick-change clamp 1 are connected by negative pressure suction, making clamp replacement more convenient and further improving work efficiency.

[0056] It will be readily understood by those skilled in the art that, without conflict, the advantageous technical features of the above-mentioned methods can be freely combined and superimposed.

[0057] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the protection scope of the present invention. The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the technical principles of the present invention, and these improvements and modifications should also be considered within the protection scope of the present invention.

Claims

1. A quick-change structure for an industrial robot gripper, characterized in that, The system includes a quick-change fixture (1), a fixture base (2) for placing the quick-change fixture (1), and a magnetic device (3) located below the fixture base (2) to enable the fixture base (2) to be in a magnetically levitated state. The top surface of the quick-change fixture (1) has a first alignment guide structure (11), which is shaped to match a second alignment guide structure (102) on the end connector (101) of the industrial robot. When the industrial robot needs to change the connection of the quick-change fixture (1), the second alignment guide structure (102) can approach and insert into the first alignment guide structure (11). The magnetic device (3) includes a placement plate (31). A magnetic levitation groove (311) is formed on the fixture base (2) for accommodating the fixture base (2). At least the bottom part of the fixture base (2) is suspended and accommodated in the magnetic levitation groove (311). When there is a positional deviation between the end connector (101) and the quick-change fixture (1), due to the alignment guiding effect between the first alignment guide structure (11) and the second alignment guide structure (102), the position of the quick-change fixture (1) will follow the end connector (101) to adjust and change during the assembly connection process when the end connector (101) approaches it. This facilitates the shape matching of the first alignment guide structure (11) and the second alignment guide structure (102) to achieve the alignment of their positions.

2. The quick-change structure for industrial robot grippers according to claim 1, characterized in that, The first centering guide structure (11) is a centering groove with a tapered shape, and the cross-sectional area of ​​the centering groove gradually decreases along its groove depth direction. The second centering guide structure (102) is a centering boss with a tapered shape, and the cross-sectional area of ​​the centering boss gradually decreases along its direction close to the first centering guide structure (11).

3. The quick-change structure for industrial robot grippers according to claim 1, characterized in that, The first centering guide structure (11) has a first foolproof part (111), and the second centering guide structure (102) has a second foolproof part (103). During the insertion process of the end connector (101) and the quick-change clamp (1), the second foolproof part (103) is located in the receiving area of ​​the first foolproof part (111).

4. The quick-change structure for industrial robot grippers according to claim 1, characterized in that, The fixture base (2) has a receiving cavity (21), the quick-change fixture (1) has a fixture connecting plate (12) and a functional fixture (13) connected to the bottom surface of the fixture connecting plate (12), the first centering guide structure (11) is formed on the top surface of the fixture connecting plate (12), the cavity opening of the receiving cavity (21) is formed with a support platform (211), the fixture connecting plate (12) is supported on the support platform (211) so that the functional fixture (13) is received in the receiving cavity (21).

5. The quick-change structure for industrial robot grippers according to claim 4, characterized in that, The support platform (211) is a first conical surface that gradually expands from the inside to the outside of the accommodating cavity (21), and the outer circumferential wall of the clamp connecting plate (12) is a second conical surface that matches the first conical surface.

6. The quick-change structure for industrial robot grippers according to claim 5, characterized in that, An anti-rotation protrusion (212) extending toward one side of the second conical surface is formed on the first conical surface, and an anti-rotation groove (121) extending away from the first conical surface is formed on the second conical surface. The anti-rotation protrusion (212) and the anti-rotation groove (121) are shaped to match each other.

7. The quick-change structure for industrial robot grippers according to claim 1, characterized in that, The magnetic levitation groove (311) is multiple, and the multiple magnetic levitation grooves (311) are spaced apart on the placement plate (31).

8. The quick-change structure for industrial robot grippers according to claim 1, characterized in that, The magnetic levitation groove (311) and the clamp base (2) have a circumferential limiting part that restricts the circumferential displacement of the clamp base (2). The circumferential limiting part includes a limiting protrusion formed on the inner wall of the magnetic levitation groove (311) and a limiting groove formed on the outer wall of the clamp base (2). The limiting protrusion is limited and accommodated in the limiting groove, and the single-sided limiting gap between the limiting protrusion and the limiting groove is d, where d≤10mm.

9. The quick-change structure for industrial robot grippers according to claim 1, characterized in that, The end connector (101) has a plurality of suction ports (104) formed on one side of the quick-change clamp (1) so as to achieve the connection between the end connector (101) and the quick-change clamp (1) through the negative pressure formed by the suction ports (104).

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