Novel quick-change disc for turnover type robot tail end

Abstract

The utility model discloses a novel quick-change disc for the tail end of a turnover type robot, and relates to the technical field of robot quick-change discs, the novel quick-change disc comprises a main disc seat, a tool disc and a locking disc, the locking disc is connected between the main disc seat and the tool disc, and the main disc seat, the tool disc and the locking disc are detachably connected; the locking disc is provided with a locking assembly, the main disc seat and the tool disc are locked and fixed through the locking assembly, the locking assembly comprises a positioning pin fixedly installed on the bottom face of the tool disc, the locking disc is provided with a through hole allowing the positioning pin to penetrate through, the main disc seat is provided with a pin hole allowing the positioning pin to be inserted in, and the locking assembly is fixedly installed on the main disc seat. A positioning hole is formed in the side wall of the main disc base and communicates with the pin hole, and a positioning rod is slidably installed in the positioning hole. The quick-change disc solves the problem that when an existing quick-change disc is pneumatically locked, locking force is reduced due to air pressure fluctuation of an air source, and the risk that a tool falls off suddenly is caused.

Description

Technical Field

[0001] The utility model belongs to the technical field of robot quick-change discs, and in particular relates to a novel quick-change disc for a tip-over robot end. Background Art

[0002] A manipulator is an automatic device that can imitate certain movements and functions of human hands and arms and is used to grab, move objects or operate tools according to a fixed program. It is characterized by being able to complete various expected operations through programming, and has the advantages of both human and mechanical machines in structure and performance. The manipulator is the earliest industrial robot and also the earliest modern robot. It can replace heavy human labor to realize mechanization and automation of production, and can operate in harmful environments to protect personal safety. Therefore, it is widely used in machinery manufacturing, metallurgy, electronics, light industry, atomic energy and other departments. The manipulator will use a quick-change disk during use.

[0003] During the replacement process of the robot, the mechanical connection, electrical connection, gas circuit and signal connection with the tool on the quick-change disk at the end of the robot need to be replaced synchronously, which consumes a lot of time and reduces work efficiency. During the operation of the robot, the cylinder must be kept full of compressed air. Once the air is stopped unexpectedly, the piston will loosen and the ball pin will release the locked state, causing the tool disk to fall off, which may easily damage the tool and workpiece.

[0004] In view of this, this application is hereby filed. Utility Model Content

[0005] The technical problem to be solved by the utility model is to overcome the deficiencies of the prior art and provide a novel quick-change disc for the end of a flip-type robot to achieve the desired purpose.

[0006] In order to solve the above technical problems, the utility model provides a new type of quick-change disk for the end of a flip robot, including a main disk seat, a tool disk and a locking disk, wherein the locking disk is connected between the main disk seat and the tool disk, and the main disk seat, the tool disk and the locking disk are detachably connected; a locking assembly is provided on the locking disk, and the main disk seat and the tool disk are locked and fixed by the locking assembly, and the locking assembly includes a positioning pin fixedly installed on the bottom surface of the tool disk, a through hole for the positioning pin to pass through is provided on the locking disk, a pin hole for the positioning pin to be inserted is provided on the main disk seat, a positioning hole is provided on the side wall of the main disk seat, and the positioning hole and the pin hole are connected to each other, a positioning rod is slidably installed inside the positioning hole, a locking hole for the positioning rod to be inserted is provided on the side wall of the positioning pin, an annular ring shaft is rotatably installed inside the locking disk, a receiving groove is provided on the side wall of the locking disk, and a pressure plate is fixedly installed on the outer wall of the annular ring shaft located inside the receiving groove, and one side of the pressure plate is pressed tightly on one end of the positioning rod extending to the outside of the positioning hole.

[0007] Furthermore, it also includes a positioning component arranged on the locking plate for locking the rotation of the annular ring shaft, the positioning component includes a mounting groove opened on the side wall of the locking plate, a transmission gear is fixedly installed on the outer wall of the annular ring shaft inside the mounting groove, the rear side of the transmission gear is meshedly connected with a transmission rack, and the transmission rack is slidably connected inside the mounting groove.

[0008] Furthermore, a guide groove is provided on the side wall of the installation groove, a guide block is provided on the side wall of the transmission rack, and the guide block on the side wall of the transmission rack is slidably connected to the inside of the guide groove.

[0009] Furthermore, a movable ring is fixedly connected to the bottom end of the transmission rack, and the movable ring is slidably sleeved on the outside of the main disk seat. A silicon steel sheet is fixedly installed on the outer wall of the movable ring, and an electromagnet is fixedly installed on the side wall of the bottom surface of the locking disk. The electromagnet and the silicon steel sheet are symmetrically arranged.

[0010] Furthermore, an annular groove is provided inside the locking plate, and the annular ring shaft is rotatably connected inside the annular groove.

[0011] Furthermore, a baffle is slidably connected to the inside of the positioning hole, and the baffle is fixedly connected to the outer wall of the positioning rod. A return spring is also installed inside the positioning hole, and the return spring is sleeved on the outside of the positioning rod. One end of the return spring is fixedly connected to one side of the baffle, and the other end of the return spring is fixedly connected to the inner wall of the positioning hole.

[0012] Furthermore, there are a plurality of positioning pins, and each of the positioning pins is evenly distributed along the circumferential direction of the tool disk; the number of the pin holes corresponds to the number of the positioning pins.

[0013] Furthermore, a plurality of pressure plates are provided, and each of the pressure plates is evenly distributed along the circumferential direction of the locking plate; and the number of the pressure plates corresponds to the number of the positioning rods.

[0014] After adopting the above technical scheme, the utility model has the following beneficial effects compared with the prior art.

[0015] 1. In the utility model, the pressure plate arranged on the locking disk can be rotated to press the positioning rod slidably connected to the main disk seat, so that the pressure plate pushes the positioning rod to slide to the inside of the pin hole. When the main disk seat, the tool disk and the locking disk are combined, the positioning rod can be inserted into the through hole opened on the side wall of the positioning pin to realize the locking cooperation of the main disk seat, the tool disk and the locking disk, avoiding the risk of the tool suddenly falling off due to the decrease of the locking force caused by the fluctuation of the air pressure of the air source, and the positioning surface during locking is arranged on the contact end surface of the main disk seat and the locking disk. The positioning is reliable without load influence, and there is no need to set pneumatic joints and pneumatic pipelines, making the overall structure lighter and more compact.

[0016] 2. In the utility model, the rotation of the annular ring shaft can be locked by the meshing of the transmission gear and the transmission rack, thereby preventing the annular ring shaft from rotating when the quick-change disk is locked, and improving the locking stability. At the same time, in the process of unlocking, the transmission rack can be pressed down to drive the transmission gear meshed with it to rotate, and the transmission gear drives the annular ring shaft to rotate, and the annular ring shaft drives the pressure plate to disengage from the positioning rod, thereby achieving the effect of convenient disassembly, and by energizing the electromagnet, the silicon steel sheet can be fixedly adsorbed on the electromagnet, and the position of the transmission rack and the movable ring can be fixed by the cooperation of the electromagnet and the silicon steel sheet, thereby preventing the transmission rack from moving up and down when the quick-change disk is locked. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The accompanying drawings are part of the present invention and are used to provide a further understanding of the present invention. The schematic embodiments of the present invention and their descriptions are used to explain the present invention, but do not constitute an improper limitation on the present invention. Obviously, the accompanying drawings described below are only some embodiments. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without creative work. In the accompanying drawings:

[0018] Figure 1 This is a front view structural schematic diagram of the utility model;

[0019] Figure 2 It is a side view structural schematic diagram of the utility model;

[0020] Figure 3 This is a schematic diagram of the structure of the utility model when viewed from above;

[0021] Figure 4 for Figure 3 Schematic diagram of the structure along the section line BB;

[0022] Figure 5 for Figure 4 A magnified view of the structure at center.

[0023] Numbers in the figure: 1. main disk seat; 2. tool disk; 3. locking disk; 4. pin hole; 5. positioning pin; 6. positioning hole; 7. positioning rod; 8. receiving groove; 9. annular ring shaft; 10. pressure plate; 11. baffle; 12. return spring; 13. mounting groove; 14. transmission gear; 15. transmission rack; 16. movable ring; 17. electromagnet; 18. silicon steel sheet.

[0024] It should be noted that these drawings and textual descriptions are not intended to limit the conceptual scope of the present invention in any way, but rather to illustrate the concept of the present invention for those skilled in the art by referring to specific embodiments. DETAILED DESCRIPTION

[0025] In order to make the purpose, technical solutions and advantages of the embodiments of the utility model clearer, the technical solutions in the embodiments will be clearly and completely described below in conjunction with the drawings in the embodiments of the utility model. The following embodiments are used to illustrate the utility model but are not used to limit the scope of the utility model.

[0026] In the description of the present invention, it should be noted that the terms "upper", "lower", "front", "back", "left", "right", "vertical", "inside", "outside", etc. indicate directions or positional relationships based on the directions or positional relationships shown in the accompanying drawings. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction. Therefore, they cannot be understood as limitations on the present invention.

[0027] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installation", "connection" and "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0028] Embodiment 1:

[0029] like Figures 1 to 5 As shown, the utility model provides a novel quick-change disc for the end of a flip-type robot.

[0030] Specifically, by Figure 1-Figure 5 The tool tray 2 is provided with a main plate base 1, a tool plate 2 and a locking plate 3. The locking plate 3 is connected between the main plate base 1 and the tool plate 2. The main plate base 1, the tool plate 2 and the locking plate 3 are detachably connected. A locking assembly is provided on the locking plate 3. The main plate base 1 and the tool plate 2 are locked and fixed by the locking assembly. The locking assembly includes a positioning pin 5 fixedly installed on the bottom surface of the tool plate 2. A through hole is provided on the locking plate 3 for the positioning pin 5 to pass through. A pin hole 4 is provided on the main plate base 1 for the positioning pin 5 to be inserted. A positioning Hole 6, the positioning hole 6 is connected with the pin hole 4, a positioning rod 7 is slidably installed inside the positioning hole 6, a locking hole for inserting the positioning rod 7 is opened on the side wall of the positioning pin 5, an annular ring shaft 9 is rotatably installed inside the locking plate 3, an annular groove is opened inside the locking plate 3, the annular ring shaft 9 is rotatably connected inside the annular groove, a receiving groove 8 is opened on the side wall of the locking plate 3, a pressing plate 10 is fixedly installed on the outer wall of the annular ring shaft 9 located inside the receiving groove 8, and one side of the pressing plate 10 is pressed tightly on one end of the positioning rod 7 extending to the outside of the positioning hole 6;

[0031] By rotating the pressure plate 10 arranged on the locking plate 3, the positioning rod 7 slidably connected to the main plate seat 1 can be pressed, so that the pressure plate 10 pushes the positioning rod 7 to slide into the pin hole 4. When the main plate seat 1, the tool plate 2 and the locking plate 3 are combined, the positioning rod 7 can be inserted into the through hole opened on the side wall of the positioning pin 5 to achieve the locking and matching of the main plate seat 1, the tool plate 2 and the locking plate 3, avoiding the risk of the tool suddenly falling off due to the decrease of the locking force caused by the fluctuation of the air source pressure, and the positioning surface during locking is set at the contact end surface of the main plate seat 1 and the locking plate 3, the positioning is reliable without load influence, and there is no need to set up pneumatic joints and pneumatic pipelines, making the overall structure lighter and more compact;

[0032] It also includes a positioning component arranged on the locking plate 3 for locking the rotation of the annular ring shaft 9, the positioning component includes a mounting groove 13 opened on the side wall of the locking plate 3, a transmission gear 14 is fixedly installed on the outer wall of the annular ring shaft 9 inside the mounting groove 13, and the rear side of the transmission gear 14 is meshedly connected with a transmission rack 15, and the transmission rack 15 is slidably connected inside the mounting groove 13.

[0033] The rotation of the annular ring shaft 9 can be locked by the meshing of the transmission gear 14 and the transmission rack 15, thereby preventing the annular ring shaft 9 from rotating when the quick-change disk is locked, thereby improving the locking stability. At the same time, in the process of unlocking, the transmission rack 15 can be pressed down to drive the transmission gear 14 meshed with it to rotate, and the transmission gear 14 drives the annular ring shaft 9 to rotate, and the annular ring shaft 9 drives the pressure plate 10 to disengage from the positioning rod 7, thereby achieving the effect of convenient disassembly.

[0034] Further:

[0035] like Figure 1 It is shown that a guide groove is provided on the side wall of the mounting groove 13, and a guide block is provided on the side wall of the transmission rack 15. The guide block on the side wall of the transmission rack 15 is slidably connected to the inside of the guide groove.

[0036] In the utility model, the sliding of the transmission rack 15 can be limited by the cooperation of the provided guide groove and the guide block, so as to ensure that the transmission rack 15 can only slide vertically, thereby improving the sliding stability of the transmission rack 15.

[0037] Embodiment 2:

[0038] Based on the first embodiment, Figure 2-Figure 5 It is shown that the bottom end of the transmission rack 15 is fixedly connected with a movable ring 16, and the movable ring 16 is slidably sleeved on the outside of the main disk seat 1. A silicon steel sheet 18 is fixedly installed on the outer wall of the movable ring 16, and an electromagnet 17 is fixedly installed on the side wall of the bottom surface of the locking disk 3. The electromagnet 17 and the silicon steel sheet 18 are symmetrically arranged.

[0039] In the utility model, by energizing the electromagnet 17, the silicon steel sheet 18 can be fixedly adsorbed on the electromagnet 17, and the position of the transmission rack 15 and the movable ring 16 can be fixed by the cooperation of the electromagnet 17 and the silicon steel sheet 18, thereby preventing the transmission rack 15 from moving up and down when the quick-change disc is locked.

[0040] Further:

[0041] like Figure 5 It is given that a baffle 11 is slidably connected to the inside of the positioning hole 6, and the baffle 11 is fixedly connected to the outer wall of the positioning rod 7. A return spring 12 is also installed inside the positioning hole 6, and the return spring 12 is sleeved on the outside of the positioning rod 7. One end of the return spring 12 is fixedly connected to one side of the baffle 11, and the other end of the return spring 12 is fixedly connected to the inner wall of the positioning hole 6.

[0042] In the present invention, when the quick-change disk needs to be unlocked, the elastic force of the return spring 12 can pull the baffle 11 to move, and the baffle 11 can drive the positioning rod 7 to slide to the outside of the positioning hole 6, so that the positioning rod 7 can be disengaged from the through hole opened on the positioning pin 5, further facilitating the disassembly of the quick disk.

[0043] Further:

[0044] like Figure 1 and Figure 4 It is shown that there are multiple locating pins 5, and each locating pin 5 is evenly distributed along the circumferential direction of the tool disk 2; the number of pin holes 4 corresponds to the number of locating pins 5, and there are multiple pressure plates 10, and each pressure plate 10 is evenly distributed along the circumferential direction of the locking disk 3; the number of pressure plates 10 corresponds to the number of locating rods 7, which can improve the locking stability between the main disk seat 1, the tool disk 2 and the locking disk 3.

[0045] Working principle: By rotating the pressure plate 10 arranged on the locking plate 3, the positioning rod 7 slidably connected to the main plate seat 1 can be pressed, and then the pressure plate 10 pushes the positioning rod 7 to slide into the pin hole 4. When the main plate seat 1, the tool plate 2 and the locking plate 3 are combined, the positioning rod 7 can be inserted into the through hole opened on the side wall of the positioning pin 5 to achieve the locking and matching of the main plate seat 1, the tool plate 2 and the locking plate 3, avoiding the risk of the tool suddenly falling off due to the decrease of the locking force caused by the fluctuation of the air source pressure, and the positioning surface during locking is set at the contact end surface of the main plate seat 1 and the locking plate 3. The positioning is reliable without load influence, and there is no need to set up pneumatic joints and pneumatic pipelines, making the overall structure lighter and more compact; through the transmission gear 14 The meshing with the transmission rack 15 can lock the rotation of the annular ring shaft 9, thereby preventing the annular ring shaft 9 from rotating when the quick-change disk is locked, thereby improving the locking stability. At the same time, in the process of unlocking, by pressing down the transmission rack 15, the transmission gear 14 meshed with it can be driven to rotate, and the transmission gear 14 drives the annular ring shaft 9 to rotate, and the annular ring shaft 9 drives the pressure plate 10 to disengage from the positioning rod 7, thereby achieving the effect of convenient disassembly, and by energizing the electromagnet 17, the silicon steel sheet 18 can be fixedly adsorbed on the electromagnet 17, and the position of the transmission rack 15 and the movable ring 16 can be fixed by the cooperation of the electromagnet 17 and the silicon steel sheet 18, thereby preventing the transmission rack 15 from moving up and down when the quick-change disk is locked.

[0046] The above is only a preferred embodiment of the present invention, and does not constitute any form of limitation to the present invention. Although the present invention has been disclosed as a preferred embodiment as above, it is not intended to limit the present invention. Any technician familiar with this patent can make some changes or modifications to equivalent embodiments of equivalent changes using the technical content suggested above without departing from the scope of the technical solution of the present invention. The implementation schemes in the above embodiments can also be further combined or replaced. However, any simple modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of the present invention without departing from the content of the technical solution of the present invention are still within the scope of the present invention.

Claims

1. A novel quick-change plate for a flip robot end, comprising a main plate seat (1), a tool plate (2) and a locking plate (3), wherein the locking plate (3) is provided with a locking assembly, and the main plate seat (1) and the tool plate (2) are locked and fixed by the locking assembly; It is characterized in that The locking assembly comprises a positioning pin (5) fixedly mounted on the bottom surface of the tool disk (2); a through hole for the positioning pin (5) to pass through is provided on the locking disk (3); a pin hole (4) for the positioning pin (5) to be inserted is provided on the main disk seat (1); a positioning hole (6) is provided on the side wall of the main disk seat (1); the positioning hole (6) and the pin hole (4) are communicated with each other; a positioning rod (7) is slidably mounted inside the positioning hole (6); and a locking hole for the positioning rod (7) to be inserted is provided on the side wall of the positioning pin (5); An annular ring shaft (9) is rotatably mounted inside the locking plate (3), a receiving groove (8) is provided on the side wall of the locking plate (3), a pressure plate (10) is fixedly mounted on the outer wall of the annular ring shaft (9) inside the receiving groove (8), and one side of the pressure plate (10) is pressed tightly against one end of the positioning rod (7) extending to the outside of the positioning hole (6).

2. According to claim 1, a new quick-change plate for the end of a flip robot is characterized in that: The invention also comprises a positioning assembly arranged on the locking plate (3) for locking the rotation of the annular ring shaft (9), wherein the positioning assembly comprises a mounting groove (13) provided on the side wall of the locking plate (3), a transmission gear (14) being fixedly mounted on the outer wall of the annular ring shaft (9) inside the mounting groove (13), a transmission rack (15) being meshedly connected to the rear side of the transmission gear (14), and the transmission rack (15) being slidably connected to the inside of the mounting groove (13).

3. According to claim 2, a new quick-change plate for the end of a flip robot is characterized in that: A guide groove is provided on the side wall of the installation groove (13), a guide block is provided on the side wall of the transmission rack (15), and the guide block on the side wall of the transmission rack (15) is slidably connected to the inside of the guide groove.

4. According to claim 2, a new quick-change plate for the end of a flip robot is characterized in that: The bottom end of the transmission rack (15) is fixedly connected to a movable ring (16), and the movable ring (16) is slidably sleeved on the outside of the main disk seat (1). A silicon steel sheet (18) is fixedly mounted on the outer wall of the movable ring (16). An electromagnet (17) is fixedly mounted on the side wall of the bottom surface of the locking disk (3), and the electromagnet (17) and the silicon steel sheet (18) are symmetrically arranged.

5. The novel quick-change plate for the end of a flip robot according to claim 1 is characterized in that: An annular groove is provided inside the locking plate (3), and the annular ring shaft (9) is rotatably connected inside the annular groove.

6. The novel quick-change plate for the end of a flip robot according to claim 1 is characterized in that: A baffle (11) is slidably connected to the interior of the positioning hole (6), and the baffle (11) is fixedly connected to the outer wall of the positioning rod (7). A return spring (12) is also installed inside the positioning hole (6), and the return spring (12) is sleeved on the outside of the positioning rod (7). One end of the return spring (12) is fixedly connected to one side of the baffle (11), and the other end of the return spring (12) is fixedly connected to the inner wall of the positioning hole (6).

7. The novel quick-change plate for the end of a flip robot according to claim 1 is characterized in that: A plurality of positioning pins (5) are provided, and each positioning pin (5) is evenly distributed along the circumferential direction of the tool disk (2); the number of the pin holes (4) corresponds to the number of the positioning pins (5).

8. The novel quick-change plate for the end of a flip robot according to claim 1 is characterized in that: A plurality of the pressure plates (10) are provided, and the pressure plates (10) are evenly distributed along the circumferential direction of the locking plate (3); the number of the pressure plates (10) corresponds to the number of the positioning rods (7).

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