Quick-change structure of end tool precision part for industrial robot

Abstract

The application discloses a quick-change structure of an end tool precision part for an industrial robot and belongs to the field of mechanical hands. The quick-change structure comprises a quick-change mechanism, a driving mechanism is arranged below the inner side of the quick-change mechanism, an adsorption mechanism is arranged above the driving mechanism, a clamping mechanism is arranged below the driving mechanism, the quick-change mechanism comprises a mounting seat, symmetrical side plates are fixed to the lower surface of the mounting seat, rotary heads one are rotatably arranged on the upper sides of the opposite sides of the two side plates through rotary shafts, and electric push rods one are fixed to the bottom ends of the rotary heads one. The device is provided with the quick-change mechanism matched with the driving mechanism, the up-and-down position of the adsorption mechanism and the clamping mechanism can be adjusted, manual disassembly and replacement of the tool are not needed, the complicated operation mode of traditional manual disassembly is abandoned, the production and replacement operation process is greatly simplified, the replacement time is shortened, and the production operation demand of frequent replacement in the precision part machining process is met.

Description

Technical Field

[0001] This invention relates to the field of robotic arms, and more particularly to a quick-change structure for precision parts of an end effector for industrial robots. Background Technology

[0002] In the field of intelligent manufacturing of precision parts, the end effector of industrial robots is the core execution component for realizing automated workpiece transfer and precise assembly. The performance of the end effector directly determines the processing efficiency of the production line and the precision of the finished product. At present, the intelligent manufacturing industry is developing rapidly, and the types of precision parts processed are complex, with significant differences in the shape, specifications and dimensions of the parts. In actual processing, it is necessary to frequently switch between mechanical gripping and suction cup picking modes to adapt to workpieces with different structural characteristics.

[0003] Currently, conventional end-effector jigs on the market have relatively simple structural designs, mostly consisting of only a single gripping or adsorption mechanism, resulting in low integration. During production changeovers, workers must manually disassemble and replace the jigs, which is not only cumbersome and time-consuming, but also prone to positioning errors due to manual disassembly and assembly, leading to poor positioning accuracy, severely disrupting production rhythm, and reducing production line continuity. Furthermore, conventional jig structures lack versatility and adaptability, failing to flexibly accommodate precision parts of different specifications and shapes, thus limiting their applicability. In addition, most existing composite gripping jigs use independent drive structures, requiring different drive devices for the gripping and adsorption mechanisms to operate, resulting in complex equipment structures, high energy consumption, and increased equipment maintenance costs.

[0004] Improvements are needed, so we propose a quick-change structure for precision parts of end effector fixtures for industrial robots. Summary of the Invention

[0005] Purpose of the Invention: The purpose of this invention is to provide a quick-change structure for precision parts in end-effector jigs for industrial robots. This addresses the technical problems of conventional end-effector jigs, such as their simple structure, low integration, and the need for manual disassembly and assembly during production changes. These changes are cumbersome, time-consuming, and prone to positioning errors and inaccuracies, disrupting production cycles and affecting production line continuity. Another objective of this invention is to address the insufficient versatility and adaptability of traditional jigs, making them unsuitable for precision parts of different specifications and shapes. It also addresses the issues of existing composite gripping jigs using independent drive structures, resulting in complex equipment structures, high energy consumption, and high maintenance costs. By optimizing the overall jig structure, this invention enables rapid switching between gripping and adsorption operation modes, broadening the jig's applicability, reducing equipment energy consumption and subsequent maintenance costs, and improving the overall operational efficiency and processing accuracy of intelligent manufacturing of precision parts.

[0006] Technical solution: A quick-change structure for precision parts of an end effector for an industrial robot, including a quick-change mechanism, wherein a drive mechanism is provided on the lower inner side of the quick-change mechanism;

[0007] An adsorption mechanism is provided above the driving mechanism;

[0008] A clamping mechanism is provided below the driving mechanism;

[0009] The quick-change mechanism includes a mounting base, on the lower surface of which side plates are symmetrically fixed. A rotating head is rotatably mounted on the opposite sides of each of the two side plates via a rotating shaft. An electric push rod is fixed to the bottom of the rotating head, and a second rotating head is fixed to the bottom of the output end of the electric push rod. An eccentric disc is rotatably mounted on the opposite sides of each of the two rotating heads via a rotating shaft. A shaft is fixed at the center of the opposite sides of each of the two eccentric discs. The opposite ends of the two shafts penetrate to the opposite sides of the two side plates and are rotatably mounted to the side plates via a rotating shaft. A gear is fixed to the outer wall of each shaft on the opposite sides of the two side plates.

[0010] Furthermore, the driving mechanism includes a driving box, with its two sides fixedly connected to the opposite ends of the two shafts. Two electric push rods are fixedly mounted on both sides of the interior of the driving box. Rotating plates are rotatably mounted on the opposite ends of the output ends of the two electric push rods via a rotating shaft. A pressing block is fixed below the opposite sides of each of the two rotating plates. Guide crossbars are symmetrically fixed on the opposing sides of each of the two rotating plates. Gear rings are rotatably mounted on the opposite outer walls of the two electric push rods via a rotating shaft. The end of the guide crossbar away from the rotating plate passes through the gear ring and is slidably mounted with it. Gears are meshed on the upper outer walls of the gear rings. Rotating rods are fixed on the opposing sides of the two gears. The opposing ends of the two rotating rods pass through both sides of the driving box and are each fixed with a gear three. The rotating rods are rotatably mounted with the driving box via a rotating shaft. The outer wall of the gear three meshes with the outer wall of the gear one.

[0011] Furthermore, an air exchange box is fixedly located on the inner rear surface of the drive box and above the two electric push rods. The top of the air exchange box is fixedly connected to multiple docking nozzles. A piston plate is slidably installed inside the air exchange box. A push column is fixed on the lower surface of the piston plate. The bottom end of the push column extends through to the bottom of the air exchange box and is fixed with a trapezoidal pressure block. Multiple through guide grooves are opened on the upper surface of the drive box. The trapezoidal pressure block and the extrusion block are on the same vertical plane.

[0012] Furthermore, a lifting plate is slidably installed inside the drive box and below the two electric push rods, and a trapezoidal pressure block is fixed on the upper surface of the lifting plate and between the two extrusion blocks.

[0013] Furthermore, multiple springs are fixed together on the lower surface of the piston plate and the lower inner surface of the air exchange box, and multiple springs are fixed together on the lower surface of the lifting plate and the lower inner surface of the drive box.

[0014] Furthermore, the adsorption mechanism includes a mounting plate, the bottom of which is detachably mounted to the top of the drive box via bolts. A rotating cylinder is embedded in the center of the upper surface of the mounting plate, and the rotating cylinder is rotatably mounted to the mounting plate via a rotating shaft. The upper surface of the rotating cylinder has multiple through-type arc-shaped actuation grooves, and an adsorption tube is rotatably mounted on the inner side of the arc-shaped actuation grooves via a rotating shaft. The top end of the adsorption tube has an integrally formed suction cup, and the bottom end of the adsorption tube is fixedly connected to a ventilation hose. The bottom end of the adsorption tube extends into the interior of the guide groove and is slidably mounted with the guide groove. The bottom ends of the multiple ventilation hoses are respectively connected to the interior of the multiple docking nozzles.

[0015] Furthermore, the outer wall of the rotating cylinder is provided with a spiral groove, and a threaded vertical rod is rotatably connected to the upper surface of the mounting plate and located to the left of the rotating cylinder via a rotating shaft. A lifting sleeve is threadedly installed on the outer wall of the threaded vertical rod, and an actuating column is fixed to the right side of the lifting sleeve and located inside the spiral groove. A guide vertical rod is slidably installed inside the left side of the lifting sleeve, and the bottom end of the guide vertical rod is fixedly connected to the upper surface of the mounting plate.

[0016] Furthermore, the clamping mechanism includes a mounting shell. The top of the mounting shell is threadedly attached to the bottom of the drive box via bolts. Two clamping seats are slidably mounted on the bottom of the mounting shell. A disc is rotatably mounted on the front surface of the mounting shell via a rotating shaft. Two arc-shaped traction rods are rotatably mounted on the rear surface of the disc via a rotating shaft. The opposite ends of the two arc-shaped traction rods are rotatably mounted to the front surfaces of the two clamping seats via rotating shafts. The central axis of the disc extends into the interior of the mounting shell and is fixed to an eccentric disc. Pull rods are rotatably mounted above the front and rear surfaces of the eccentric disc via rotating shafts. The top ends of the two pull rods extend into the interior of the drive box and are rotatably mounted to a rotating seat via a rotating shaft. The top of the rotating seat is detachably mounted to the lower surface of the lifting plate via bolts via a rotating shaft.

[0017] Furthermore, each of the two clamping seats has a transverse screw threaded onto its opposite sides. The opposite ends of the two transverse screws pass through to the opposite sides of the two clamping seats and are rotatably mounted with clamping plates via a rotating shaft. Guide posts are fixed below the opposite sides of the two clamping plates. The opposite ends of the two guide posts pass through to the opposite sides of the two clamping seats and are slidably mounted with the clamping seats.

[0018] Beneficial effects: This device is equipped with a quick-change mechanism and a drive mechanism, which can complete the up-down position switching of the adsorption mechanism and the clamping mechanism. There is no need for staff to manually disassemble and replace the fixtures. It eliminates the cumbersome operation mode of traditional manual disassembly and assembly, greatly simplifies the production changeover process, shortens the changeover time, and adapts to the production operation needs of frequent changeovers in the machining of precision parts.

[0019] This device innovatively adopts a single-unit integrated drive structure, which is different from the structure of traditional composite gripping jigs with multiple independently driven components. It relies on a single drive component and a quick-change mechanism to complete the power distribution. The device can control the gripping mechanism or adsorption mechanism at the working position to complete the corresponding operation according to the operation requirements. There is no need to configure drive components for the two types of gripping mechanisms separately, which effectively simplifies the overall mechanical structure of the equipment, reduces the number of drive devices, reduces the energy consumption of the equipment, simplifies the internal structure of the equipment, reduces potential failure points, reduces the maintenance cost of later equipment inspection and maintenance, and improves the stability of equipment operation.

[0020] This device features adjustable structures for both the adsorption mechanism and the clamping mechanism. The adsorption mechanism can adjust the opening distance of the suction cups via mechanical transmission, making it suitable for thin, fragile, and smooth precision parts of different sizes and specifications. The clamping mechanism can adjust the clamping distance of the clamping plates, making it suitable for hard precision parts of different outer diameters. This effectively solves the problems of poor versatility, insufficient adaptability, and limited application range of traditional jigs, and can meet the processing and gripping needs of a wide variety of precision parts, making it applicable to a wide range of scenarios.

[0021] The adsorption and clamping mechanisms of this device are all installed using bolts for easy disassembly. The modular assembly structure makes it convenient for staff to disassemble, inspect, clean, and maintain each mechanism. Attached Figure Description

[0022] Figure 1 This is a front view structural diagram of the present invention;

[0023] Figure 2 This is a schematic diagram of the quick-change structure of the present invention;

[0024] Figure 3 This is a schematic diagram of the drive mechanism of the present invention;

[0025] Figure 4 This is a cross-sectional structural schematic diagram of the ventilation box of the present invention;

[0026] Figure 5 This is a schematic diagram of the adsorption mechanism of the present invention;

[0027] Figure 6 This is a schematic diagram of the clamping mechanism of the present invention;

[0028] Figure 7 This is a rear view of the clamping mechanism of the present invention with the mounting shell removed.

[0029] In the diagram: 1. Quick-change mechanism; 2. Drive mechanism; 3. Adsorption mechanism; 4. Clamping mechanism; 101. Mounting base; 102. Side plate; 103. Rotating head one; 104. Electric push rod one; 105. Rotating head two; 106. Eccentric disk one; 107. Shaft column; 108. Gear one; 201. Drive box; 202. Electric push rod two; 203. Rotating plate; 204. Extrusion block; 205. Guide crossbar; 206. Gear ring; 207. Gear two; 208. Rotating rod; 209. Gear three; 210. Air exchange box; 211. Connecting nozzle; 212. Piston plate; 213. Push column; 214. Trapezoidal pressure block one; 21 5. Guide sloping groove; 216. Lifting plate; 217. Trapezoidal pressure block II; 218. Spring I; 219. Spring II; 301. Mounting plate; 302. Rotating cylinder; 303. Arc-shaped actuating groove; 304. Adsorption tube; 305. Suction cup; 306. Ventilation hose; 307. Spiral groove; 308. Threaded vertical rod; 309. Lifting sleeve; 310. Actuating column; 311. Guide vertical rod; 401. Mounting shell; 402. Clamping seat; 403. Disc; 404. Arc-shaped traction rod; 405. Eccentric disc II; 406. Pull rod; 407. Rotating seat; 408. Horizontal screw; 409. Clamping piece; 410. Guide column. Detailed Implementation

[0030] To make the technical solution of the present invention clearer, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0031] Example

[0032] like Figure 1 and Figure 2 As shown, a quick-change structure for precision parts of an end effector for an industrial robot is provided, including a quick-change mechanism 1;

[0033] The quick-change mechanism 1 includes a mounting base 101. Side plates 102 are symmetrically fixed on the lower surface of the mounting base 101. Rotating heads 103 are rotatably mounted on the opposite sides of the two side plates 102 via a rotating shaft. An electric push rod 104 is fixed at the bottom end of the rotating head 103. A rotating head 105 is fixed at the bottom end of the output end of the electric push rod 104. An eccentric disk 106 is rotatably mounted on the opposite sides of the two rotating heads 105 via a rotating shaft. A shaft column 107 is fixed at the center of the opposite sides of the two eccentric disks 106. The opposite ends of the two shaft columns 107 pass through the opposite sides of the two side plates 102 and are rotatably mounted with the side plates 102 via a rotating shaft. Gears 108 are fixed on the outer walls of the two shaft columns 107 and on the opposite sides of the two side plates 102.

[0034] In use, the mounting base 101 is used to fix the entire quick-change mechanism 1 at the end of the robotic arm of the industrial robot, realizing the positioning and installation of the overall structure; the electric push rod 104 can rotate adaptively with the rotating head 103 and the rotating head 2 105 through the telescopic action, pulling the eccentric disk 106 to deflect, driving the shaft column 107 to rotate inside the side plate 102, thereby controlling the drive mechanism 2 to rotate 180 degrees, realizing the vertical position adjustment of the adsorption mechanism 3 and the clamping mechanism 4, and synchronously driving the gear 108 to rotate, so as to adjust the power transmission object inside the drive mechanism 2.

[0035] like Figure 3 and Figure 4 As shown, a drive mechanism 2 is provided on the lower inner side of the quick-change mechanism 1;

[0036] The drive mechanism 2 includes a drive box 201. Both sides of the drive box 201 are fixedly connected to the opposite ends of two shafts 107. Electric push rods 202 are fixedly mounted on both sides of the interior of the drive box 201. Rotating plates 203 are rotatably mounted on the opposite ends of the output ends of the two electric push rods 202 via a rotating shaft. Pressing blocks 204 are fixedly mounted below the opposite sides of the two rotating plates 203. Guide crossbars 205 are symmetrically fixed on the opposite sides of the two rotating plates 203. The opposite outer walls of the two electric push rods 202 are rotatably mounted on the opposite sides via a rotating shaft. A gear ring 206 is provided, and the end of the guide crossbar 205 away from the rotating plate 203 passes through the gear ring 206 and is slidably installed with the gear ring 206; a gear 207 is meshed on the upper side of the outer wall of the gear ring 206, and a rotating rod 208 is fixed on the opposite side of the two gears 207. The opposite ends of the two rotating rods 208 pass through to both sides of the drive box 201 and are fixed with gears 209. The rotating rods 208 are rotatably installed with the drive box 201 through a rotating shaft; the outer wall of gear 209 meshes with the outer wall of gear 108.

[0037] An air exchange box 210 is fixedly mounted on the inner rear surface of the drive box 201 and above the two electric push rods 202. The top of the air exchange box 210 is fixedly connected to multiple docking nozzles 211. A piston plate 212 is slidably installed inside the air exchange box 210. A push column 213 is fixed on the lower surface of the piston plate 212. The bottom end of the push column 213 extends through to the bottom of the air exchange box 210 and is fixed with a trapezoidal pressure block 214. Multiple through guide grooves 215 are opened on the upper surface of the drive box 201. The trapezoidal pressure block 214 and the extrusion block 204 are on the same vertical plane.

[0038] Inside the drive box 201 and below the two electric push rods 202, a lifting plate 216 is slidably installed. On the upper surface of the lifting plate 216 and between the two pressing blocks 204, a trapezoidal pressure block 217 is fixed.

[0039] Multiple springs 218 are fixed together on the lower surface of piston plate 212 and the lower inner surface of air exchange box 210, and multiple springs 219 are fixed together on the lower surface of lifting plate 216 and the lower inner surface of drive box 201.

[0040] When the quick-change mechanism 1 controls the drive mechanism 2 to rotate, the rotation of gear 108 drives gear 3 209 to rotate, which in turn drives gear 207 to rotate via the rotating rod 208. The rotation of gear 207 controls the rotation of the gear ring 206. When the gear ring 206 rotates, it drives the rotating plate 203 to rotate via the guide crossbar 205, which in turn controls the extrusion block 204 to rotate to the position above or below the output end of the electric push rod 202. At this time, in conjunction with the adsorption mechanism 3 and the clamping mechanism 4, the following two driving states will occur:

[0041] When the adsorption mechanism 3 is flipped and moved to the position below the drive mechanism 2 by the control of the quick-change mechanism 1, the output ends of the two electric push rods 202 move relative to each other, and the two pressing blocks 204 move relative to each other and come into contact with the trapezoidal pressure block 214. By pressing the trapezoidal pressure block 214, the piston plate 212 slides inside the air exchange box 210. At this time, the air exchange box 210 will draw air into the adsorption mechanism 3 through the docking nozzle 211, which makes it easier to suck up the workpiece through the adsorption mechanism 3. When the output ends of the electric push rods 202 move and retract in opposite directions, the piston plate 212 moves and resets under the elastic reset of the spring 218. At this time, the air exchange box 210 exhausts air into the adsorption mechanism 3 through the docking nozzle 211, which makes it easier to remove the workpiece.

[0042] When the clamping mechanism 4 is flipped and moved to the position below the drive mechanism 2 by the control of the quick-change mechanism 1, the output ends of the two electric push rods 202 move relative to each other. The two pressing blocks 204 move relative to each other and come into contact with the trapezoidal pressure block 217. By pressing the trapezoidal pressure block 217, the lifting plate 216 is controlled to press the spring 219, which in turn drives the clamping mechanism 4 to perform a clamping action to facilitate clamping the workpiece. When the output ends of the electric push rods 202 move away from each other, the lifting plate 216 is reset under the elastic reset of the spring 219, which drives the clamping mechanism 4 to perform a releasing action to facilitate releasing the workpiece.

[0043] The overall structure relies on the drive mechanism 2 and the quick-change mechanism 1 to quickly switch between clamping and adsorption gripping modes. As the gripping mode is switched, the adsorption mechanism 3 or the clamping mechanism 4 can be controlled independently, eliminating the need for manual disassembly and assembly of fixtures, thus improving changeover efficiency and positioning accuracy.

[0044] like Figure 5 As shown, an adsorption mechanism 3 is provided above the drive mechanism 2;

[0045] The adsorption mechanism 3 includes a mounting plate 301. The bottom of the mounting plate 301 is detached and installed from the top of the drive box 201 by bolts. A rotating cylinder 302 is embedded in the center of the upper surface of the mounting plate 301. The rotating cylinder 302 is rotatably installed with the mounting plate 301 via a rotating shaft. Multiple through arc-shaped actuating grooves 303 are opened on the upper surface of the rotating cylinder 302. An adsorption tube 304 is rotatably installed on the inner side of the arc-shaped actuating grooves 303 via a rotating shaft. A suction cup 305 is integrally formed at the top of the adsorption tube 304. A ventilation hose 306 is fixedly connected to the bottom of the adsorption tube 304. The bottom of the adsorption tube 304 extends into the interior of the guide groove 215 and is slidably installed with the guide groove 215. The bottom ends of the multiple ventilation hoses 306 are respectively connected to the interior of multiple docking nozzles 211.

[0046] The outer wall of the rotating cylinder 302 is provided with a spiral groove 307. The upper surface of the mounting plate 301 and the left side of the rotating cylinder 302 are rotatably connected to a threaded vertical rod 308 via a rotating shaft. The outer wall of the threaded vertical rod 308 is threadedly installed with a lifting sleeve 309. The right side of the lifting sleeve 309 and the inner side of the spiral groove 307 is fixed with a toggle column 310. The left side of the inner side of the lifting sleeve 309 is slidably installed with a guide vertical rod 311. The bottom end of the guide vertical rod 311 is fixedly connected to the upper surface of the mounting plate 301.

[0047] When in use, after negative pressure is generated inside the air exchange box 210, the negative pressure is transmitted to the suction tube 304 through the docking nozzle 211 and the air exchange hose 306, so that the suction cup 305 generates suction force to complete the suction of thin, fragile, and smooth precision parts; otherwise, the parts are released.

[0048] Manually rotating the threaded vertical rod 308 causes the lifting sleeve 309 to rise and fall vertically along the threaded vertical rod 308 under the limiting guidance of the guide vertical rod 311. This causes the actuating column 310 to slide inside the spiral groove 307, driving the rotating cylinder 302 to rotate. When the rotating cylinder 302 rotates, it actuates the adsorption tube 304 through the arc-shaped actuating groove 303, causing the adsorption tube 304 to slide and deflect along the guide inclined groove 215, adjusting the opening distance of the suction cup 305 to adapt to precision adsorption workpieces of different sizes.

[0049] like Figure 6 and Figure 7 As shown, a clamping mechanism 4 is provided below the drive mechanism 2;

[0050] The clamping mechanism 4 includes a mounting shell 401. The top of the mounting shell 401 is threadedly installed to the bottom of the drive box 201 by bolts. Two clamping seats 402 are slidably installed on the bottom of the mounting shell 401. A disc 403 is rotatably mounted on the front surface of the mounting shell 401 via a rotating shaft. Two arc-shaped traction rods 404 are rotatably mounted on the rear surface of the disc 403 via a rotating shaft. The opposite ends of the two arc-shaped traction rods 404 are rotatably mounted to the front surfaces of the two clamping seats 402 via rotating shafts. The central shaft of the disc 403 extends into the interior of the mounting shell 401 and is fixed with an eccentric disc 405. Pull rods 406 are rotatably mounted above the front and rear surfaces of the eccentric disc 405 via rotating shafts. The top ends of the two pull rods 406 extend into the interior of the drive box 201 and are rotatably mounted with a rotating seat 407 via a rotating shaft. The top of the rotating seat 407 is detached and installed from the lower surface of the lifting plate 216 via bolts.

[0051] A transverse screw 408 is threaded onto the upper side of each opposite side of the clamping seat 402. The opposite ends of the two transverse screws 408 pass through to the opposite sides of the two clamping seats 402 and are rotatably mounted with clamping plates 409 via a rotating shaft. Guide posts 410 are fixed below the opposite sides of the two clamping plates 409. The opposite ends of the two guide posts 410 pass through to the opposite sides of the two clamping seats 402 and are slidably mounted with the clamping seats 402.

[0052] When in use, the lifting plate 216 moves downward under pressure, causing the rotating seat 407 to press down. Through the pull rod 406, the eccentric disk 405 rotates, and the eccentric disk 405 drives the disc 403 to rotate synchronously, driving the arc-shaped traction rod 404 to deflect and push and pull, causing the two clamping seats 402 to slide relative to each other, thus clamping the workpiece. The lifting plate 216 rises, controlling the two clamping seats 402 to slide back and forth, releasing the workpiece clamping.

[0053] The operator can rotate the horizontal screw 408 and adjust the clamping distance of the clamping plate 409 under the limiting sliding action of the guide post 410 to adapt to precision hard parts with different outer diameter specifications.

[0054] The embodiments described above are merely illustrative of several implementations of the present invention, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of the present invention. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these modifications and improvements all fall within the scope of protection of the present invention. Therefore, the scope of protection of this patent should be determined by the appended claims.

Claims

1. A quick-change structure for precision parts of an end effector for an industrial robot, comprising a quick-change mechanism (1), characterized in that: A drive mechanism (2) is provided on the lower inner side of the quick-change mechanism (1); An adsorption mechanism (3) is provided above the driving mechanism (2); A clamping mechanism (4) is provided below the driving mechanism (2); The quick-change mechanism (1) includes a mounting base (101). Side plates (102) are symmetrically fixed on the lower surface of the mounting base (101). Rotating heads (103) are rotatably mounted on the opposite sides of the two side plates (102) via a rotating shaft. An electric push rod (104) is fixed at the bottom end of the rotating head (103). A rotating head (105) is fixed at the bottom end of the output end of the electric push rod (104). An eccentric disk (106) is rotatably mounted on the opposite sides of the two rotating heads (105) via a rotating shaft. A shaft column (107) is fixed at the center of the opposite sides of the two eccentric disks (106). The opposite ends of the two shaft columns (107) pass through the opposite sides of the two side plates (102) and are rotatably mounted with the side plates (102) via a rotating shaft. Gears (108) are fixed on the outer walls of the two shaft columns (107) and on the opposite sides of the two side plates (102).

2. The quick-change structure for precision parts of an end effector for an industrial robot according to claim 1, characterized in that: The driving mechanism (2) includes a driving box (201). The two sides of the driving box (201) are fixedly connected to the opposite ends of the two shafts (107). Electric push rods (202) are fixed on both sides inside the driving box (201). Rotating plates (203) are rotatably mounted on the opposite ends of the output ends of the two electric push rods (202) via a rotating shaft. Pressing blocks (204) are fixed below the opposite sides of the two rotating plates (203). Guide crossbars (205) are symmetrically fixed on the opposite sides of the two rotating plates (203). Gear rings (205) are rotatably mounted on the opposite sides of the outer walls of the two electric push rods (202) via a rotating shaft. 6) The end of the guide bar (205) away from the rotating plate (203) passes through the gear ring (206) and is slidably installed with the gear ring (206); a gear two (207) is meshed on the upper side of the outer wall of the gear ring (206), and a rotating rod (208) is fixed on the opposite side of the two gear two (207). The opposite ends of the two rotating rods (208) pass through the two sides of the drive box (201) and are fixed with gear three (209). The rotating rod (208) is rotatably installed with the drive box (201) through a rotating shaft; the outer wall of the gear three (209) is meshed with the outer wall of the gear one (108).

3. The quick-change structure for precision parts of an end effector for an industrial robot according to claim 2, characterized in that: An air exchange box (210) is fixed on the inner rear surface of the drive box (201) and above the two electric push rods (202). The top of the air exchange box (210) is fixedly connected to multiple docking nozzles (211). A piston plate (212) is slidably installed inside the air exchange box (210). A push column (213) is fixed on the lower surface of the piston plate (212). The bottom end of the push column (213) extends through to the bottom of the air exchange box (210) and is fixed with a trapezoidal pressure block (214). Multiple through guide grooves (215) are opened on the upper surface of the drive box (201). The trapezoidal pressure block (214) and the extrusion block (204) are on the same vertical plane.

4. The quick-change structure for precision parts of an end effector for an industrial robot according to claim 2, characterized in that: Inside the drive box (201) and below the two electric push rods (202), a lifting plate (216) is slidably installed. On the upper surface of the lifting plate (216) and between the two pressing blocks (204), a trapezoidal pressure block (217) is fixed.

5. The quick-change structure for precision parts of an end effector for an industrial robot according to claim 3, characterized in that: Multiple springs (218) are fixed together on the lower surface of the piston plate (212) and the lower inner surface of the air exchange box (210), and multiple springs (219) are fixed together on the lower surface of the lifting plate (216) and the lower inner surface of the drive box (201).

6. The quick-change structure for precision parts of an end effector for an industrial robot according to claim 3, characterized in that: The adsorption mechanism (3) includes a mounting plate (301). The bottom of the mounting plate (301) is detached and installed from the top of the drive box (201) by bolts. A rotating cylinder (302) is embedded in the center of the upper surface of the mounting plate (301). The rotating cylinder (302) is rotatably installed with the mounting plate (301) by a rotating shaft. The upper surface of the rotating cylinder (302) is provided with multiple through arc-shaped actuating grooves (303). An adsorption tube (304) is rotatably installed on the inner side of the arc-shaped actuating groove (303) by a rotating shaft. A suction cup (305) is integrally formed at the top of the adsorption tube (304). A ventilation hose (306) is fixedly connected to the bottom of the adsorption tube (304). The bottom of the adsorption tube (304) extends into the interior of the guide groove (215) and is slidably installed with the guide groove (215). The bottom ends of the multiple ventilation hoses (306) are respectively connected to the interior of the multiple docking nozzles (211).

7. The quick-change structure for precision parts of an end effector for an industrial robot according to claim 6, characterized in that: The outer wall of the rotating cylinder (302) is provided with a spiral groove (307). The upper surface of the mounting plate (301) and located to the left of the rotating cylinder (302) are rotatably connected to a threaded vertical rod (308) via a rotating shaft. The outer wall of the threaded vertical rod (308) is threaded with a lifting sleeve (309). The right side of the lifting sleeve (309) and located inside the spiral groove (307) is fixed with a toggle column (310). The left side of the inside of the lifting sleeve (309) is slidably installed with a guide vertical rod (311). The bottom end of the guide vertical rod (311) is fixedly connected to the upper surface of the mounting plate (301).

8. The quick-change structure for precision parts of an end effector for an industrial robot according to claim 4, characterized in that: The clamping mechanism (4) includes a mounting shell (401). The top of the mounting shell (401) is threadedly installed to the bottom of the drive box (201) by bolts. Two clamping seats (402) are slidably installed on the bottom of the mounting shell (401). A disc (403) is rotatably mounted on the front surface of the mounting shell (401) via a rotating shaft. Two arc-shaped traction rods (404) are rotatably mounted on the rear surface of the disc (403) via a rotating shaft. The opposite ends of the two arc-shaped traction rods (404) are respectively connected to the two clamping seats via a rotating shaft. The front surface of the disc (402) is rotatably mounted. The central axis of the disc (403) passes through the interior of the mounting shell (401) and is fixed with an eccentric disc (405). A pull rod (406) is rotatably mounted above the front and rear surfaces of the eccentric disc (405) via a rotating shaft. The top ends of the two pull rods (406) extend into the interior of the drive box (201) and are rotatably mounted with a rotating seat (407) via a rotating shaft. The top of the rotating seat (407) is detached and installed from the lower surface of the lifting plate (216) via bolts through a rotating shaft.

9. A quick-change structure for precision parts of an end effector for an industrial robot according to claim 8, characterized in that: Each of the clamping seats (402) has a transverse screw (408) threaded onto its opposite side. The opposite ends of the two transverse screws (408) pass through to the opposite sides of the two clamping seats (402) and are rotatably mounted with clamping pieces (409) via a rotating shaft. Guide posts (410) are fixed below the opposite sides of the two clamping pieces (409). The opposite ends of the two guide posts (410) pass through to the opposite sides of the two clamping seats (402) and are slidably mounted with the clamping seats (402).

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