Robot side quick-change disc and tool side quick-change disc

Abstract

The utility model belongs to the field of industrial robot quick-change discs, and provides a robot side quick-change disc and a tool side quick-change disc which comprise a base, a fixing ring is connected to the base and is of a regular polygon structure, mounting holes are formed in the circumferential side face of the fixing ring, steel columns are transversely embedded in the mounting holes in a clamped mode, and the steel columns are connected with the base in a clamped mode. A cam is connected into the fixing ring, the shape of the cross section of the cam is the same as that of the fixing ring, and the outer circumferential face of the cam is an outer inclined face extending outwards in the radial direction of the cam. According to the utility model, the regular polygon mechanism is adopted, so that the stress is uniform and stable, and the phenomena of jumping and blocking of the quick-change disc and a tail end tool are avoided.

Description

Technical Field

[0001] The utility model belongs to the field of industrial robot quick-change discs, in particular to a robot-side quick-change disc and a tool-side quick-change disc. Background Art

[0002] As one of the core components of industrial robot peripherals, robot end tool quick changer is widely used in various industries in the industrial field.

[0003] The quick change plate of the industrial robot is divided into the robot side and the tool side. Only when the quick change plate on the robot side and the quick change plate on the tool side are accurately connected and integrated into a whole, the industrial robot can function and perform production tasks with different requirements.

[0004] However, in the actual production process, the quick-change disk, especially the quick-change disk on the tool side, will "shake" during operation. When the quick-change disk is overloaded, the quick-change disk and the end tool will "jump", causing damage or breakage of the robot's end tool. The surface of the steel ball in the quick-change disk locking mechanism will also wear, and the guide groove of the steel ball will also wear. The worn metal powder will gather inside the guide groove, causing the steel ball to "get stuck", the internal stress of the quick-change disk will increase, the dynamic torque of the quick-change disk will decrease, and the locking mechanism as a whole will be worn, reducing the efficiency of the robot and indirectly increasing production costs.

[0005] The reasons for the above technical failure are as follows: most of the existing quick-change disks currently adopt a circular body or a design that is close to a circular body. The interior of the entire quick-change disk integrates five major components: a pneumatic mechanism, a cam mechanism, a locking mechanism, a positioning mechanism, and a quick-change disk housing. Each mechanism is connected together with fastening bolts. The power source of the quick-change disk is external compressed air. The compressed air enters one side of the pneumatic mechanism cylinder through a pipeline. The generated pressure drives the cylinder to move, and the locking steel ball is embedded in the annular fixing ring of the locking mechanism. The steel ball moves outward under the thrust and is pushed by the cylinder to the end groove of the guide groove of the locking ring on the tool side, locking the quick-change disk on the tool side. After the compressed air is input in the reverse direction, the steel ball retracts to the annular fixing ring of the locking mechanism under the action of the reverse friction force. At this time, the quick-change disk on the tool side is loosened and separated from the quick-change disk on the robot side.

[0006] The steel balls in the robot side locking mechanism and the side locking ring of the tool are combined into a locking mechanism, which is the force-bearing mechanism of the quick-change disk. The existing steel ball guide grooves of quick-change disks are of two types: "full groove" and "half groove". Regardless of the "full groove" or "half groove" guide method, an arc-shaped groove is designed at the bottom of the guide groove. The groove is at least larger than the steel ball π / 12 arcs to ensure that the steel ball is fixed in the arc-shaped inner groove. The cylinder drives the cam to move, and the steel ball is driven by pressure to be guided into the groove. A point on the surface of the steel ball contacts a point on the inner arc surface of the groove, and the force phenomenon is "point contact". The number of steel balls in a quick-change disk is generally between 4 and 24, and the design of 12 steel balls is more common. The external force driving the steel ball is compressed air. Since the pressure of compressed air is a non-constant value, it is a variable value. The position of the steel ball in the guide groove is always changing, resulting in different force points for each steel ball. According to the design of 12 steel balls in the fast-change plate fixing ring, it means that any 3 points among the 12 force points form a force surface. Theoretically, there is C 1 3 2 =220 force-bearing surfaces, and the force-bearing surfaces are constantly changing. As a result, the bearing capacity at each point is changing, causing the locking steel ball to rub hard against the locking ring on the tool side. As a result, the steel ball rubs against the inner groove, and the metal powder rubbed off gathers inside the groove, causing the steel ball to "get stuck". The final result is that the locking mechanism of the quick-change disc is damaged. Utility Model Content

[0007] In order to solve the above technical problems, the utility model provides a robot side quick change plate and a tool side quick change plate to solve the problem that the quick change plate and the end tool will "jump" during use in the prior art, causing the locking mechanism to be worn as a whole.

[0008] In the first aspect, the present application proposes a robot-side quick-change plate, comprising a base, a fixing ring connected to the base, the fixing ring being a regular polygonal structure, a mounting hole being provided on the peripheral side of the fixing ring, a steel column being laterally embedded in the mounting hole, a cam being connected in the fixing ring, the cross-section of the cam being of the same shape as that of the fixing ring, and the outer peripheral surface of the cam being an outer inclined surface extending outward in the radial direction of the cam.

[0009] Preferably, a protrusion is connected in the mounting hole, both ends of the steel column are spherical structures, and an annular groove corresponding to the protrusion is opened on the steel column.

[0010] Preferably, there is a gap between the mounting hole and the steel column.

[0011] Preferably, the thickness of the fixing ring is 1 / 3 of the diameter of the steel column.

[0012] Preferably, it further comprises a cylinder, a piston is installed at the output end of the cylinder, a plurality of springs are arranged between the cylinder and the piston, and the piston passes through the fixing ring and is connected with the cam.

[0013] Preferably, it further comprises a robot side housing, the cylinder is installed in the robot side housing, and the robot side housing is provided with a guide groove.

[0014] Preferably, positioning pin grooves are respectively provided on two surfaces of the piston and the cam that are opposite to each other.

[0015] Preferably, a sealing ring is provided on the piston.

[0016] In the second aspect, the present application proposes a tool-side quick-change plate, which is used in conjunction with the above-mentioned robot-side quick-change plate, and includes a locking ring. The shape of the inner hole of the locking ring is the same as the shape of the fixing ring, and the inner circumferential surface of the inner hole is an inner inclined surface extending inward along the radial direction of the locking ring. The inward inclination angle of the inner circumferential surface of the inner hole is the same as the outward inclination angle of the outer circumferential surface of the cam.

[0017] Preferably, it further comprises a tool side housing, the locking ring is installed in the tool side housing, and a guide column corresponding to the guide groove on the robot side housing is installed on the tool side housing.

[0018] Compared with the prior art, the utility model has the following beneficial effects:

[0019] 1. The utility model adopts a regular polygonal mechanism, which ensures uniform and stable force, so that the quick-change disc and the end tool will not experience "jumping and jamming".

[0020] 2. The inclination angle of the outer bevel of the cam of the utility model is the same as the inclination angle of the inner hole of the locking ring, so that the steel column actually moves between two parallel bevels, the friction is small, there are no guide grooves and grooves, and the phenomenon of "steel ball getting stuck" will not occur. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 This is a schematic diagram of the robot side quick change plate structure of the utility model;

[0022] Figure 2 For this utility model Figure 1 A schematic diagram of the structure viewed from above;

[0023] Figure 3 For this utility model Figure 2 Schematic diagram of the cross-section structure at AA in the middle;

[0024] Figure 4 For this utility model Figure 1 Schematic diagram of the explosion structure;

[0025] Figure 5 For this utility model Figure 4 Schematic diagram of the middle base structure;

[0026] Figure 6 For this utility model Figure 5 A magnified view of the local structure at center A;

[0027] Figure 7 For this utility model Figure 4 Schematic diagram of the middle steel column structure;

[0028] Figure 8 For this utility model Figure 4 Schematic diagram of the middle cam structure;

[0029] Fig. 9 This is a schematic diagram of the structure of the tool side quick change plate of the utility model;

[0030] Fig.10 For this utility model Fig. 9 Schematic diagram of the structure of the middle locking ring;

[0031] Fig.11 This is a schematic diagram of the assembly structure of the robot side quick change plate and the tool side quick change plate of the utility model;

[0032] Fig.12 The utility model is a schematic diagram of the assembly structure of the steel column of the robot side quick change plate and the locking ring of the tool side quick change plate.

[0033] In the figure:

[0034] 1. Robot side quick change plate; 11. Robot side housing; 12. Cylinder; 13. Spring; 14. Piston; 15. Base; 16. Fixing ring; 161. Mounting hole; 162. Bump; 17. Steel column; 171. Annular slot; 18. Cam; 19. Positioning pin slot;

[0035] 2. Tool side quick change plate; 21. Tool side housing; 22. Guide column; 23. Locking ring;

[0036] 3. Sealing ring. DETAILED DESCRIPTION

[0037] The following is a further detailed description of the implementation of the present invention in conjunction with the accompanying drawings and examples. The following examples are used to illustrate the present invention, but cannot be used to limit the scope of the present invention.

[0038] Embodiment 1: As shown in the attached Figure 1 To Attachment Figure 8 As shown: the utility model provides a robot side quick change plate 1 and a tool side quick change plate 2.

[0039] The robot-side quick-change plate 1 includes a base 15, which is preferably circular in shape. A fixing ring 16 is connected to the base 15, and the fixing ring 16 is a regular polygonal structure. The shape of the fixing ring 16 is preferably a regular hexagon. A mounting hole 161 is opened on the side surface of the fixing ring 16, and a steel column 17 is horizontally embedded in the mounting hole 161. A cam 18 is connected to the fixing ring 16, and the shape of the cross section of the cam 18 is the same as that of the fixing ring 16, and the shape of the cam 18 is preferably a regular hexagon.

[0040] As attached Figure 8 As shown: the outer peripheral surface of the cam 18 is an outer inclined surface extending outward in the radial direction of the cam 18, that is, the contact surface between the cam 18 and the steel column 17 is an inclined surface, and the inclination angle of the outer inclined surface is 0-90°, preferably 45°. When the inclination angle is 45°, the steel ball is in the center position, the stroke is the shortest, and the response speed is the fastest.

[0041] As attached Figure 7 As shown: both ends of the steel column 17 are spherical structures, which is convenient for driving and retracting the steel column 17.

[0042] As attached Figure 6 and attached Figure 7 As shown: an annular groove 171 is provided in the middle of the steel column 17, and a protrusion 162 is provided at the corresponding middle position of the mounting hole 161 of the fixing ring 16, which is used to fix the steel column 17 so that the steel column 17 is in the center position of the fixed edge when not driven.

[0043] Fixed edge: The fixed ring 16 is composed of six fixed edges, each of which is laterally embedded with a steel column 17.

[0044] There is a gap between the mounting hole 161 and the steel column 17 to ensure that the steel column 17 can move smoothly in the mounting hole 161 of the fixing ring 16 without being stuck during the locking process of the tool-side quick-change plate 2 and the robot-side quick-change plate 1.

[0045] It also includes a cylinder 12 , a piston 14 is installed at the output end of the cylinder 12 , a plurality of springs 13 are arranged between the cylinder 12 and the piston 14 , and the piston 14 passes through a fixing ring 16 and is connected to a cam 18 .

[0046] The thickness of the fixing ring 16 is 1 / 3 of the diameter of the steel column 17, ensuring that the distance of the steel column 17 driven inside and outside the fixing ring 16 is 1 / 3, which facilitates the steel column 17 to be quickly driven or retracted. When the cylinder 12 drives the steel column 17, 1 / 3 of the steel column 17 is pushed out of the fixing ring 16 and contacts the locking ring 23 on the tool side. When the compressed gas disappears, the steel column 17 returns to its original position, exactly in the center of the locking edge (fixed edge).

[0047] The robot also includes a housing 11 on the robot side. The cylinder 12 is circular in shape, which is convenient for installing the cylinder 12 in the housing 11 on the robot side. A guide groove is provided on the housing 11 on the robot side.

[0048] Positioning pin grooves 19 are respectively provided on the two opposite surfaces of the piston 14 and the cam 18 to facilitate guiding the robot to quickly align.

[0049] A sealing ring 3 is provided on the piston 14 , and the sealing ring 3 is installed between the matching surfaces of the piston 14 and the cylinder 12 to ensure that the gas source can push the piston 14 to move without air leakage.

[0050] As attached Fig. 9 and attached Fig.10 As shown: the tool side quick change plate 2, used in conjunction with the above-mentioned robot side quick change plate 1, includes a locking ring 23, the inner hole shape of the locking ring 23 is the same as the shape of the fixing ring 16, and the shape of the inner hole is preferably a regular hexagonal structure.

[0051] The inner circumference of the inner hole is an inner bevel extending inwardly along the radial direction of the locking ring 23. The inward inclination angle of the inner circumference of the inner hole is the same as the outward inclination angle of the outer circumference of the cam 18. The inclination angle of the six inner bevels of the inner hole is preferably 45°.

[0052] It also includes a tool side housing 21 , a locking ring 23 is installed in the tool side housing 21 , and a guide column 22 corresponding to the guide groove on the robot side housing 11 is installed on the tool side housing 21 .

[0053] As attached Fig.11 and attached Fig.12 As shown: when the compressed pneumatic drive cylinder 12 moves, the cylinder 12 drives the hexagonal cam 18 to push the six steel columns 17 in the regular hexagonal fixing ring 16 into the 45° inner hole of the locking ring 23 on the tool side. The six steel balls are embedded in a horizontal manner, so that the steel column 17 is in linear contact with the inner hole surface of the locking ring 23, and the contact surface is a straight line. The force-bearing mechanism composed of the steel column 17 and the locking ring 23 forms a force-bearing surface with only one dimension, thereby solving the "shaking phenomenon" of the quick-change disc on the tool side.

[0054] The regular hexagon is evenly and stably stressed, so the quick-change plate and the end tool will not "jump".

[0055] The outer bevel of the cam 18 is 45°, and the inner bevel of the inner hole of the locking ring 23 is also 45°, so that the steel column 17 actually moves between two parallel bevels, with low friction. Without guide grooves and other mechanisms, the phenomenon of "steel ball getting stuck" will not occur.

[0056] The embodiments of the present invention are provided for the purpose of illustration and description. Although the embodiments of the present invention have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limitations on the present invention. Ordinary technicians in this field can change, modify, replace and modify the above embodiments within the scope of the present invention.

Claims

1. A robot-side quick-change plate (1), characterized in that: The invention comprises a base (15), a fixing ring (16) is connected to the base (15), the fixing ring (16) is a regular polygonal structure, a mounting hole (161) is provided on the peripheral side of the fixing ring (16), a steel column (17) is transversely embedded in the mounting hole (161), a cam (18) is connected in the fixing ring (16), the cross-section of the cam (18) is the same as that of the fixing ring (16), and the outer peripheral surface of the cam (18) is an outer inclined surface extending outward along the radial direction of the cam (18).

2. A robot-side quick-change plate (1) as claimed in claim 1, characterized in that: A protrusion (162) is connected to the mounting hole (161), both ends of the steel column (17) are spherical structures, and an annular groove (171) corresponding to the protrusion (162) is formed on the steel column (17).

3. A robot-side quick-change plate (1) as claimed in claim 2, characterized in that: There is a gap between the mounting hole (161) and the steel column (17).

4. A robot-side quick-change plate (1) as claimed in claim 1, characterized in that: The thickness of the fixing ring (16) is 1 / 3 of the diameter of the steel column (17).

5. A robot-side quick-change plate (1) as claimed in claim 1, characterized in that: It also comprises a cylinder (12), a piston (14) being installed at the output end of the cylinder (12), a plurality of springs (13) being arranged between the cylinder (12) and the piston (14), and the piston (14) passing through the fixing ring (16) and being connected to the cam (18).

6. A robot-side quick-change plate (1) as claimed in claim 5, characterized in that: It also comprises a robot side housing (11), the cylinder (12) is installed in the robot side housing (11), and the robot side housing (11) is provided with a guide groove.

7. A robot-side quick-change plate (1) as claimed in claim 5, characterized in that: Positioning pin grooves (19) are respectively provided on two surfaces of the piston (14) and the cam (18) that face each other.

8. A robot-side quick-change plate (1) as claimed in claim 5, characterized in that: A sealing ring (3) is provided on the piston (14).

9. A tool-side quick-change plate (2), used in conjunction with the robot-side quick-change plate (1) according to any one of claims 1 to 8, characterized in that: It comprises a locking ring (23), the inner hole shape of the locking ring (23) is the same as the shape of the fixing ring (16), the inner circumferential surface of the inner hole is an inner inclined surface extending inwardly along the radial direction of the locking ring (23), and the inward inclination angle of the inner circumferential surface of the inner hole is the same as the outward inclination angle of the outer circumferential surface of the cam (18).

10. A tool-side quick-change plate (2) as claimed in claim 9, characterized in that: It also includes a tool side housing (21), the locking ring (23) is installed in the tool side housing (21), and a guide column (22) corresponding to the guide groove on the robot side housing (11) is installed on the tool side housing (21).

Images