Manual quick-change device at tail end of robot

Abstract

The utility model discloses a manual quick-change device at the tail end of a robot, and relates to the technical field of mechanical quick-change connectors, in particular to the manual quick-change device at the tail end of the robot. The rotary locking device comprises a robot side mounting plate, a rotary locking structure and a tool side mounting plate, the robot side mounting disc is connected with the robot through a bolt; the rotary locking structure is inserted into a rotary hole in the side part of the robot side mounting disc and can rotate in the rotary hole; the tool side mounting disc comprises a quick mounting part and a flange part, the tool side mounting disc is connected with the rotary locking structure through the quick mounting part, and the flange part is connected with the tool through a bolt. According to the technical scheme, the problems that in the prior art, a mechanism is complex, operation is tedious, replacement time is long, production efficiency is low, positioning precision is low, and replacement accuracy cannot be guaranteed are solved.

Description

Technical Field

[0001] The utility model relates to a manual quick-change device at the end of a robot, and relates to the technical field of mechanical quick-change joints, in particular to a manual quick-change device at the end of a robot. Background Art

[0002] The robot tool quick change device, also known as the tool quick change plate, is a flexible connection tool used in the end effector of the industrial robot industry. However, the existing quick change plates generally have complex structures and cumbersome changing operations, which increases the changing time and reduces production efficiency; the changing positioning accuracy is low and the changing accuracy cannot be guaranteed.

[0003] In view of the problems existing in the above-mentioned prior art, it is very necessary to study and design a new type of manual quick-change device at the end of the robot to overcome the problems existing in the prior art. Summary of the invention

[0004] In view of the technical problems raised by the above-mentioned prior art, such as complex structure, cumbersome operation, long changing time, low production efficiency, low positioning accuracy, and failure to ensure changing accuracy, a manual quick-changing device for the end of a robot is provided.

[0005] The technical means adopted by the utility model are as follows:

[0006] A manual quick-change device at the end of a robot comprises: a robot side mounting plate, a rotation locking structure and a tool side mounting plate;

[0007] Further, the robot side mounting plate is connected to the robot by bolts;

[0008] Furthermore, the rotation locking structure is inserted into a rotation hole on the side of the robot side mounting plate and can rotate in the rotation hole;

[0009] Furthermore, the tool side mounting plate includes a quick-fitting portion and a flange portion, the tool side mounting plate is connected to the rotary locking structure via the quick-fitting portion, and the flange portion is connected to the tooling via bolts.

[0010] Further, the main body of the robot side mounting plate is an annular flange structure;

[0011] Furthermore, the robot side mounting plate is provided with a plurality of upper and lower identical bolt through holes for connecting with the robot;

[0012] Further, two coaxial rotation holes A are provided in the radial direction of the robot side mounting plate;

[0013] Furthermore, the upper end surface of the robot side mounting plate is provided with a limiting hole which is vertically connected to one of the rotation holes A and is used to limit the rotation locking structure;

[0014] Furthermore, a positioning hole is provided at the fixed bottom of the robot side mounting plate for positioning and assembling with the tool side mounting plate.

[0015] Further, the rotary locking structure comprises: a locking shaft, an outer ear ring;

[0016] Further, the main body of the locking shaft is a cylinder, and an embedded portion for connecting with the tool-side mounting plate is processed in the middle thereof, and the embedded portion is a semicircular portion in the middle of the locking shaft;

[0017] Furthermore, the front end of the locking shaft is connected to the outer ear ring through a pin shaft, and the end surface of the rear end is provided with a pin hole;

[0018] Furthermore, a ring groove is provided near the front end of the locking shaft, and the ring groove corresponds to the position of the limit hole; after the locking shaft is inserted into the rotating hole A, the locking shaft and the rotating hole A are clearance-matched; the limit screw is fixed to the robot side mounting plate by threaded connection, and the head is inserted into the ring groove; the limit screw can limit the locking shaft to rotate within a range of 180 degrees, and at the same time prevent the locking shaft from coming out of the rotating hole A on the side wall of the robot side mounting plate;

[0019] Furthermore, the axis of the limiting screw hole is arranged parallel to the semicircular plane of the embedding portion;

[0020] Furthermore, the main body of the outer ear ring is a semi-annular structure, one end of which is connected to the locking shaft, and the other end is provided with a movable positioning pin for cooperating with the pin hole on the locking shaft to position and connect the outer ear ring and the locking shaft.

[0021] Further, the bottom of the tool side mounting plate is a flange portion, and the upper portion of the flange portion is a quick-install portion;

[0022] Furthermore, the flange portion is provided with a plurality of bolt holes for assembly with the tooling;

[0023] Furthermore, a positioning pin is provided on the flange portion and matches with a positioning hole at the bottom of the mounting plate on the robot side;

[0024] Furthermore, the quick-fitting part is an annular truncated cone structure, and a rotating hole B is provided along the radial direction of the quick-fitting part;

[0025] Furthermore, an embedding opening for inserting the embedding part is provided at the top of the rotating hole B.

[0026] Further, after the tool side mounting plate is installed into the robot side mounting plate, the rotation hole B and the rotation hole A are coaxial;

[0027] Furthermore, the diameter of the rotating hole B is the same as that of the rotating hole A, and is suitable for the locking shaft to be inserted and rotated therein.

[0028] Furthermore, the width of the embedding opening is slightly larger than the radius of the semicircular structure of the embedding portion;

[0029] Furthermore, the embedding opening is vertically arranged, and its outer side edge is tangent to the circular edge of the rotating hole B.

[0030] The quick-change process of the utility model is:

[0031] When using for quick change, pull the outer ear ring outward 180 degrees, and then rotate it 180 degrees counterclockwise, that is, drive the locking shaft to rotate 180 degrees, so that the locking shaft rotates to the quick change position, and the embedded part of the locking shaft corresponds to the embedded opening on the tool side mounting disk; then insert the upper quick-loading part of the tool side mounting disk into the inner hole of the robot side mounting disk, and then rotate the tool side mounting disk to make the embedded part of the locking shaft pass through the embedded opening and coincide with the rotating hole B, and the locating pin is inserted into the locating hole on the lower plane of the tool side mounting disk; then rotate the outer ear ring clockwise to rotate the locking shaft to the locking position, that is, after the locking shaft rotates 180 degrees, the part without a gap in the embedded part completely enters the part without a gap in the rotating hole B; then push the outer ear ring inward to make the front end pin shaft of the movable locating pin insert into the locating pin hole on the side wall of the robot side mounting disk 1 to complete the quick change.

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

[0033] 1. The manual quick-change device at the end of the robot provided by the utility model has a simple structure, easy operation and high reliability;

[0034] 2. The manual quick-change device at the end of the robot provided by the utility model adopts positioning pins for positioning, and has high replacement accuracy;

[0035] 3. The manual quick-change device at the end of the robot provided by the utility model significantly improves production efficiency, reduces production costs, and creates good economic benefits for users.

[0036] In summary, the technical solution of the utility model solves the problems in the prior art such as complex structure, cumbersome operation, long changing time, low production efficiency, low positioning accuracy, and the inability to guarantee changing accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] In order to more clearly illustrate the embodiments of the utility model or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0038] Figure 1 This is an exploded view of the utility model.

[0039] In the figure: 1. robot side mounting plate 11, limiting hole 12, rotation hole A 2. tool side mounting plate 21, embedding port 22, rotation hole B 3. locking shaft 31, embedding portion 32, annular groove 4, positioning pin 5, external ear ring 6, movable positioning pin 7, limiting screw 8, pin shaft. DETAILED DESCRIPTION

[0040] It should be noted that, in the absence of conflict, the embodiments and features of the embodiments of the present invention can be combined with each other. The present invention will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0041] In order to make the purpose, technical scheme and advantages of the embodiments of the utility model clearer, the technical scheme in the embodiments of the utility model will be clearly and completely described below in conjunction with the drawings in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. The following description of at least one exemplary embodiment is actually only illustrative and is by no means a limitation on the utility model and its application or use. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the utility model.

[0042] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the utility model. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, it indicates the presence of features, steps, operations, devices, components and / or combinations thereof.

[0043] Unless otherwise specifically stated, the relative arrangement of the parts and steps described in these embodiments, numerical expressions and numerical values ​​do not limit the scope of the utility model. At the same time, it should be clear that, for ease of description, the sizes of the various parts shown in the drawings are not drawn according to the actual proportional relationship. The technology, method and equipment known to ordinary technicians in the relevant field may not be discussed in detail, but in appropriate cases, the technology, method and equipment should be regarded as a part of the authorization specification. In all examples shown and discussed here, any specific value should be interpreted as merely exemplary, rather than as a limitation. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar numbers and letters represent similar items in the following drawings, so once a certain item is defined in one drawing, it does not need to be further discussed in subsequent drawings.

[0044] In the description of the present utility model, it needs to be understood that the directions or positional relationships indicated by directional words such as "front, back, up, down, left, right", "lateral, vertical, perpendicular, horizontal" and "top, bottom" are usually based on the directions or positional relationships shown in the drawings. They are only for the convenience of describing the present utility model and simplifying the description. Unless otherwise stated, these directional words do not indicate or imply that the device or element referred to must have a specific direction or be constructed and operated in a specific direction. Therefore, they cannot be understood as limiting the scope of protection of the present utility model: the directional words "inside and outside" refer to the inside and outside relative to the contours of each component itself.

[0045] For ease of description, spatially relative terms such as "above", "above", "on the upper surface of", "above", etc. may be used here to describe the spatial positional relationship between a device or feature and other devices or features as shown in the figure. It should be understood that spatially relative terms are intended to include different orientations of the device in use or operation in addition to the orientation described in the figure. For example, if the device in the accompanying drawings is inverted, the device described as "above other devices or structures" or "above other devices or structures" will be positioned as "below other devices or structures" or "below their position devices or structures". Thus, the exemplary term "above" can include both "above" and "below". The device can also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatially relative descriptions used here are interpreted accordingly.

[0046] In addition, it should be noted that the use of terms such as "first" and "second" to limit components is only for the convenience of distinguishing the corresponding components. If not otherwise stated, the above terms have no special meaning and therefore cannot be understood as limiting the scope of protection of the utility model.

[0047] like Figure 1As shown, the utility model provides a manual quick-change device at the end of a robot; the robot side mounting plate 1 adopts a flange structure of a circular ring design, the upper plane contacts the robot end flange, and is connected to the robot end flange by bolts, and the lower plane contacts the upper plane of the flange part of the tool side mounting plate 2, and is provided with a positioning hole, and a rotating hole A12 is opened on the side wall of the robot side mounting plate 1, which is a clearance fit with the outer diameter of the locking shaft 3, and the locking shaft 3 can rotate in the rotating hole A12, and a positioning pin hole is provided on its outer wall; the tool side mounting plate 2 adopts a convex structure, and a through hole is set in the middle, The weight of the device can be reduced. The bottom is a flange plate, which can be connected to the tooling with bolts. A positioning pin 4 is fixed on the flange plate. When quick-changing, it can cooperate with the positioning hole on the lower plane of the robot side mounting plate 1 to complete the positioning, thereby ensuring the positioning accuracy during quick-changing. The protruding cylinder of the upper quick-loading part can pass through the middle hole of the robot side mounting plate 1, and a rotating hole B22 is provided on the side. An embedding opening 21 is opened on the upper part of the rotating hole B22, and the size of the embedding opening 21 is slightly larger than the radius of the rotating hole B22. An embedding part 31 is provided in the middle part of the locking shaft 3, which can pass through the embedding part of the rotating hole B22 on the tool side mounting plate 2. The outer diameter of the locking shaft 3 is clearance-matched with the rotating hole A12 and the rotating hole B22. The embedded portion 31 of the locking shaft 3 can rotate in the rotating hole B22 after passing through the embedded portion 21. When the locking shaft 3 rotates 180 degrees, the part of the embedded portion 31 without a gap completely enters the part of the rotating hole B22 without a notch. The locking shaft 3 cannot be removed from the rotating hole B22 due to the obstruction of the hole wall. The robot side mounting plate 1 and the tool side mounting plate 2 are tightly connected together. A 180-degree annular groove 32 is opened at the front end of the locking shaft 3, and the head of the limit screw 7 is inserted into the annular groove 32. The positioning screw 7 is fixed to the robot side mounting plate 1 with a threaded connection, which can limit the locking shaft 3 to rotate within a range of 180 degrees, and at the same time prevent the locking shaft 3 from escaping from the rotating hole A12 on the side wall of the robot side mounting plate 1; the front end of the locking shaft 3 is a square boss, and a pin hole is opened on the boss, which is connected to the outer ear ring 5 with a pin shaft 8, so the locking shaft 3 can be driven to rotate by rotating the outer ear ring 5 up and down; the outer ear ring 5 is a semi-annular design, and the front end opening is connected to the movable positioning pin 6. When the outer ear ring 5 is turned to the locking position, the front end pin shaft of the movable positioning pin 6 is inserted into the positioning pin hole on the side wall of the robot side mounting plate 1.

[0048] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the utility model, rather than to limit it. Although the utility model has been described in detail with reference to the aforementioned embodiments, ordinary technicians in this field should understand that they can still modify the technical solutions recorded in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not make the essence of the corresponding technical solution deviate from the scope of the technical solution of the embodiments of the utility model.

Claims

1. A manual quick-change device at the end of a robot, characterized in that: The robot end manual quick-change device comprises: a robot side mounting plate (1), a rotation locking structure and a tool side mounting plate (2); The robot side mounting plate (1) is connected to the robot via bolts; The rotary locking structure is inserted into a rotary hole on the side of the robot side mounting plate (1) and can rotate in the rotary hole; The tool side mounting plate (2) comprises a quick-fitting portion and a flange portion. The tool side mounting plate (2) is connected to the rotary locking structure via the quick-fitting portion, and the flange portion is connected to the tooling via bolts.

2. The robot end manual quick change device according to claim 1, characterized in that: The main body of the robot side mounting plate (1) is an annular flange structure; The robot side mounting plate (1) is provided with a plurality of upper and lower identical bolt through holes for connecting with the robot; The robot side mounting plate (1) is radially provided with two coaxial rotating holes A (12); The upper end surface of the robot side mounting plate (1) is provided with a limiting hole (11) which is vertically connected to one of the rotation holes A (12) and is used to limit the rotation locking structure; The fixed bottom of the robot side mounting plate (1) is provided with a positioning hole for positioning and assembling with the tool side mounting plate (2).

3. The robot end manual quick change device according to claim 1, characterized in that: The rotary locking structure comprises: a locking shaft (3), an external ear ring (5); The main body of the locking shaft (3) is a cylinder, and an embedded portion (31) for connecting with the tool side mounting plate (2) is processed in the middle thereof, and the embedded portion (31) is a semicircular portion in the middle of the locking shaft (3); The front end of the locking shaft (3) is connected to the outer ear ring (5) through a pin shaft (8), and the end surface of the rear end is provided with a pin hole; The locking shaft (3) is provided with an annular groove (32) near the front end, and the annular groove (32) corresponds to the position of the limiting hole (11); after the locking shaft (3) is inserted into the rotating hole A (12), the locking shaft (3) and the rotating hole A (12) are clearance-matched; the limiting screw (7) is fixed to the robot side mounting plate (1) by threaded connection, and the head is inserted into the annular groove (32); the limiting screw (7) can limit the locking shaft (3) to rotate within a range of 180 degrees, and at the same time prevent the locking shaft (3) from falling out of the rotating hole A (12) on the side wall of the robot side mounting plate (1); The axis of the limiting hole (11) is arranged parallel to the semicircular plane of the embedded portion (31); The main body of the outer ear ring (5) is a semi-annular structure, one end of which is connected to the locking shaft (3), and the other end is provided with a movable positioning pin (6) for cooperating with the pin hole on the locking shaft (3) to position and connect the outer ear ring (5) and the locking shaft (3).

4. The robot end manual quick change device according to claim 1, characterized in that: The bottom of the tool side mounting plate (2) is a flange portion, and the upper portion of the flange portion is a quick-install portion; The flange portion is provided with a plurality of bolt holes for assembly with the tooling; The flange portion is provided with a positioning pin (4) which matches with a positioning hole at the bottom of the robot side mounting plate (1); The quick-loading part is an annular truncated cone structure, and a rotating hole B (22) is provided along the radial direction of the quick-loading part; The top of the rotating hole B (22) is provided with an embedding opening (21) for inserting the embedding portion (31).

5. The manual quick-change device at the end of the robot according to claim 4, characterized in that: After the tool side mounting plate (2) is installed into the robot side mounting plate (1), the rotation hole B (22) and the rotation hole A (12) are coaxial; The diameter of the rotating hole B (22) is the same as that of the rotating hole A (12), and is suitable for the locking shaft (3) to be inserted and rotated therein.

6. The manual quick-change device at the end of the robot according to claim 4, characterized in that: The width of the embedding opening (21) is slightly greater than the radius of the semicircular structure of the embedding portion (31); The embedding opening (21) is vertically arranged, and its outer side is tangent to the circular side of the rotating hole B (22).

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