Tool quick-changing device for electric robot

Abstract

The utility model relates to the technical field of quick-changing devices, in particular to an electric robot tool quick-changing device which comprises an upper connecting disc and a lower connecting disc, a mounting groove is formed in the upper connecting disc, a connecting seat is connected in the mounting groove, a motor assembly is connected to the connecting seat, and a locking assembly is connected to the upper connecting disc. A rotating shaft of the motor assembly is connected with the locking assembly, a locking hole is formed in the lower connecting disc, a plurality of locking grooves are formed in the locking hole, and a structure that when the upper connecting disc and the lower connecting disc are connected, the locking assembly is partially inserted into the locking hole and clamped and fixed into the locking grooves to achieve locking of the upper connecting disc and the lower connecting disc is formed. A plurality of positioning pins are connected to the upper connecting disc, a plurality of positioning holes corresponding to the positioning pins are formed in the lower connecting disc, the electric drive quick-change device achieves quick change of a mechanical arm and an end effector, the assembly performance is improved, and the electric drive quick-change device has wide application prospects in the technical field of quick-change devices.

Description

Technical Field

[0001] The utility model relates to the technical field of quick-change devices, in particular to a quick-change device for electric robot tools. Background Art

[0002] The quick-change device for robots, also called tool quick-change plate, gun change plate, etc., is a flexible connection tool used in the industrial robot industry between the end effector and the robot arm. The tool quick-change device generally includes an upper connection plate connected to the robot arm and a lower connection plate connected to the end effector. The upper connection plate and the lower connection plate are connected to the robot arm and the end effector respectively by bolts, and then connected by the locking structure connected on the upper connection plate and the lower connection plate.

[0003] Most of the existing robot quick-change devices are controlled by air pressure, but air pressure control has disadvantages. Some workplaces do not have an "air source", such as laboratories and classrooms. At this time, it is not convenient to use an air pressure controlled quick-change device. Therefore, a quick-change device that solves the above problem is needed. Utility Model Content

[0004] In order to solve the problem that most of the existing robot quick-changing devices are controlled by air pressure, but air pressure control has disadvantages, and some workplaces do not have an "air source", such as laboratories and classrooms, etc., it is inconvenient to use air pressure controlled quick-changing devices at this time, an electric robot tool quick-changing device is invented.

[0005] The technical solution of the utility model is to include an upper connecting plate and a lower connecting plate, wherein the upper connecting plate is provided with an installation groove, the installation groove is connected with a connecting seat, the connecting seat is connected with a motor assembly, the upper connecting plate is connected with a locking assembly, the rotating shaft of the motor assembly is connected to the locking assembly, the lower connecting plate is provided with a locking hole, the locking hole is provided with a plurality of locking grooves, so that when the upper connecting plate is connected to the lower connecting plate, the locking assembly part is inserted into the locking hole and fixed in the locking groove by clamping, so as to realize the structure of locking the upper connecting plate and the lower connecting plate, the upper connecting plate is connected with a plurality of positioning pins, and the lower connecting plate is provided with a plurality of positioning holes corresponding to the positioning pins.

[0006] Preferably, the locking assembly comprises a locking head, a locking ball, a locking cam and a guide pin shaft, the locking head is fixed on the upper connecting plate at the opening of the mounting slot, and partially extends into the mounting slot to conflict with the connecting seat, the locking head is provided with a connecting groove on the end face close to the mounting slot, a support bearing is interference-connected in the connecting groove, the rotating shaft of the motor assembly is interference-connected in the support bearing, the vertical cross-section of the locking head is T-shaped, the locking head is provided with a telescopic groove at one end away from the upper connecting plate, the rotating shaft of the motor assembly passes through the locking head, extends into the telescopic groove and is threadedly connected with the locking cam, there are a plurality of guide pin shafts and are connected in the telescopic groove, a limiting groove is provided on the outer end face of the locking cam, the guide pin shaft is slidably connected in the limiting groove, a plurality of telescopic holes connected to the telescopic groove are provided on the side wall of the end of the locking head away from the upper connecting plate, the locking ball is arranged in the telescopic hole, a structure is formed in which the locking cam moves in the telescopic groove to make the locking ball move in the telescopic hole, and a baffle is fixed at the opening of the telescopic groove.

[0007] Preferably, a threaded hole is formed at the axis of the locking cam, and a threaded protrusion is formed at the outer end surface of the rotating shaft of the motor assembly, and the threaded protrusion is threadedly connected in the threaded hole.

[0008] Preferably, the diameter of the telescopic hole located on the outer end surface of the locking head is smaller than the diameter of the locking ball.

[0009] Preferably, the outer end surface of the locking cam away from the motor assembly is a multi-section inclined surface, the end of the locking cam away from the motor assembly is located below the uppermost end of the telescopic hole, and the distance between the outer end surface of the locking cam away from the motor assembly and the telescopic hole is less than the diameter of the locking ball.

[0010] Preferably, the end surface of the locking hole close to the upper connecting plate is an inclined end surface.

[0011] Preferably, a plurality of upper fixing screw holes and a plurality of lower fixing screw holes are respectively formed on the upper connecting plate and the lower connecting plate.

[0012] Preferably, a plurality of upper connecting screw holes and a plurality of lower connecting screw holes are respectively formed on the side end surfaces of the upper connecting plate and the lower connecting plate.

[0013] Preferably, the lower fixing screw hole group includes a first lower fixing screw hole, a second lower fixing screw hole and a third lower fixing screw hole, the diameters of the first lower fixing screw hole and the second lower fixing screw hole are the same, the diameter of the first lower fixing screw hole from the end face axis of the lower connecting disk is smaller than the diameter of the second lower fixing screw hole from the end face axis of the lower connecting disk, the diameter of the first lower fixing screw hole is larger than the diameter of the third fixing screw hole, and the diameter of the first lower fixing screw hole from the end face axis of the lower connecting disk is equal to the diameter of the third lower fixing screw hole from the end face axis of the lower connecting disk.

[0014] Preferably, a mounting groove connected to the cylinder is formed on the side end surface of the upper connecting disk, and a proximity sensor is fixed in the mounting groove, thereby forming a structure for monitoring the movement of the piston disk in the cylinder through the proximity sensor.

[0015] The following beneficial effects can be achieved by adopting the technical solution of the utility model: (1) the connecting seat, the motor assembly and the locking mechanism facilitate the connection of the motor assembly with the upper connecting disk, and then the locking mechanism is controlled by the motor assembly to realize the rapid locking and unlocking of the upper connecting disk and the lower connecting disk; (2) the torque of the connection between the upper connecting disk and the lower connecting disk is increased by the coordinated use of the locking ball and the locking hole, so that the upper connecting disk and the lower connecting disk are not easy to rotate relative to each other, thereby increasing the stability of the upper connecting disk and the lower connecting disk being locked by the clamping connection; (3) the limiting pin and the limiting hole facilitate the precise docking of the upper connecting disk and the lower connecting disk when connected, thereby facilitating the precise matching of the locking ball with the locking hole; (4) the upper connecting disk and the lower connecting disk can be assembled to the robot arm and the end effector respectively by bolts through a plurality of upper fixing screw holes and lower fixing screw holes; (5) the upper connecting disk and the lower connecting disk can be loaded with other hydropower components respectively through a plurality of upper connecting screw holes and lower connecting screw holes; the technical solution of the utility model has broad application prospects in the technical field of quick-change devices. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a cross-sectional view of the electric robot tool quick-changing device of the utility model.

[0017] Figure 2 It is a three-dimensional view of the upper connecting plate of the electric robot tool quick-changing device of the utility model.

[0018] Figure 3 It is a three-dimensional view of the lower connecting plate of the electric robot tool quick-changing device of the utility model.

[0019] Among them, 1. upper connecting plate, 2. lower connecting plate, 3. mounting groove, 4. connecting seat, 5. motor assembly, 6. locking head, 7. connecting groove, 8. supporting bearing, 9. telescopic groove, 10. telescopic hole, 11. locking ball, 12. locking cam, 13. guide pin shaft, 14. limit groove, 15. baffle, 16. locking hole, 17. locking groove, 18. positioning pin, 19. positioning hole, 20. upper fixing screw hole, 21. lower fixing screw hole, 22. upper connecting screw hole, 23. lower connecting screw hole. DETAILED DESCRIPTION

[0020] The following will clearly and completely describe the technical solutions of various embodiments of the utility model in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the utility model, rather than all of the embodiments. Based on the embodiments of the utility model, all other embodiments obtained by ordinary technicians in this field without making creative work belong to the scope of protection of the utility model. In the description of the utility model, it should be noted that the orientation or position relationship indicated by the terms "center", "up", "down", "left", "right", "vertical", "horizontal", "inside", "outside", etc. is based on the orientation or position relationship shown in the accompanying drawings, which is only for the convenience of describing the utility model and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the utility model.

[0021] In addition, the terms "first", "second", and "third" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance. In the description of the present utility model, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" 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 it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present utility model can be understood according to specific circumstances.

[0022] like Figure 1-3 The electric robot tool quick-changing device shown includes an upper connecting plate 1 and a lower connecting plate 2 which are detachably fixed to the robot arm and the end effector respectively by bolts, so that the robot arm and the end effector are detachably connected by the snap connection between the upper connecting plate 1 and the lower connecting plate 2, and the end effector is controlled to work by the robot arm.

[0023] The mounting groove 3 is opened on the upper connecting plate 1 , and the connecting seat 4 is detachably fixedly connected in the mounting groove 3 by a plurality of bolts, so that the connecting seat 4 can be firmly connected in the mounting groove 3 , and then in the connecting plate 1 on the connecting seat 4 .

[0024] The motor assembly 5 is detachably fixedly connected to the connection base 4 by a plurality of bolts, so that the motor assembly 5 is connected to the connection base 4 in the installation groove 3, and then firmly connected to the connection plate 1 on the connection base 4. The motor assembly 5 is a driving motor that can rotate in both directions in the market, so that the upper connection plate 1 and the lower connection plate 2 can be quickly locked or unlocked by the forward or reverse rotation of the driving motor when the upper connection plate 1 and the lower connection plate 2 are connected.

[0025] The locking assembly includes a locking head 6, a locking ball 11, a locking cam 12 and a guide pin shaft 13, and is connected to the rotating shaft of the motor assembly 5, so that when the motor assembly 5 is powered on, the rotating shaft rotates to drive the locking assembly to work, thereby realizing rapid locking or unlocking of the upper connecting plate 1 and the lower connecting plate 2 when the upper connecting plate 1 is connected to the lower connecting plate 2.

[0026] The locking head 6 has a T-shaped vertical section, and one flat end is detachably fixedly connected to the upper connecting plate 1 at the opening of the installation groove 3 by a plurality of bolts, so that the installation groove 3 is blocked by the locking head 6, and the locking assembly is connected to the upper connecting plate 1. The locking head 6 has a limiting protrusion extending from the end surface close to the installation groove, and the limiting protrusion conflicts with the connecting seat 4, so that the connecting seat 4 is further limited by the limiting protrusion, so that the connecting seat 4 is firmly in the connecting seat 4 installation groove 3.

[0027] Connecting groove 7 and supporting bearing 8. The connecting groove 7 is arranged on the end face of the locking head 6 close to the motor assembly 5. The outer ring of the supporting bearing 8 is interference connected in the connecting groove 7. The rotating shaft of the motor assembly 5 is interference connected in the inner ring of the supporting bearing 8, so that the motor assembly 5 is limited by the supporting bearing 8. At the same time, the rotation of the rotating shaft of the motor assembly 5 relative to the locking head 6 is not affected, and the friction between the rotating shaft of the motor assembly 5 and the locking head 6 is reduced when the rotating shaft rotates.

[0028] The telescopic groove 9 starts at the end of the locking seat away from the upper connecting plate 1 and is connected to the connecting groove 7. The rotating shaft of the motor assembly 5 passes through the locking seat and is threadedly connected to the locking cam 12 in the telescopic groove 9, so that the locking cam 12 is driven by the rotation of the rotating shaft of the motor assembly 5 to move axially along the rotating shaft of the motor assembly 5 in the telescopic groove 9.

[0029] The locking cam 12 has a threaded hole at its axis, and a threaded protrusion is provided on the outer end surface of a section of the rotating shaft of the motor assembly 5 in the telescopic slot 9, and the threaded protrusion is threadedly connected in the threaded hole, so that the locking cam 12 and the rotating shaft of the motor assembly 5 can form a screw structure, and then the rotating shaft of the motor assembly 5 is rotated to drive the locking cam 12 to move axially along the rotating shaft of the motor assembly 5 in the telescopic slot 9. The outer end surface of the locking cam 12 away from the motor assembly 5 is a multi-section inclined surface, and the end of the locking cam 12 away from the motor assembly 5 is located below the uppermost end of the telescopic hole 10, and the distance between the outer end surface of the end of the locking cam 12 away from the motor assembly 5 and the telescopic hole 10 is less than the diameter of the locking ball 11, so that when the locking cam 12 moves in the direction away from the upper connecting plate 1, it can better press the locking ball 11 to move in the telescopic hole 10, and prevent the locking ball 11 from falling off from the end of the telescopic hole 10 in the telescopic slot 9.

[0030] The guide pin 13 and the limiting groove 14 are threadedly connected to the locking seat in the locking groove 17. The limiting groove 14 is arranged on the outer end face of the locking cam 12. The guide pin 13 is slidably connected in the limiting groove 14, so that the locking cam 12 is limited by the guide pin 13 and the limiting groove 14, so that the locking cam 12 and the rotating shaft of the motor assembly 5 form a lead screw structure, so that the locking cam 12 can only move along the axial direction of the rotating shaft of the motor assembly 5, and the locking cam 12 is prevented from rotating with the rotating shaft of the motor assembly 5.

[0031] Telescopic hole 10, locking ball 11, the telescopic hole 10 is set on the side wall of the end of the locking seat away from the upper connecting plate 1, and is connected to the telescopic groove 9. The locking ball 11 is set in the telescopic hole 10, so that when the rotating shaft of the motor assembly 5 drives the locking cam 12 to move, it can press the locking ball 11 to move in the telescopic hole 10, so that the locking ball 11 partially protrudes outside the locking seat, and then cooperates with the locking groove 17 on the lower connecting plate 2 to achieve the locking of the upper connecting plate 1 and the lower connecting plate 2. The diameter of the telescopic hole 10 located on the outer end face of the locking head 6 is smaller than the diameter of the locking ball 11, so as to prevent the locking ball 11 from detaching from the end of the telescopic hole 10 located on the outer end face of the locking head 6.

[0032] The baffle plate 15 is detachably fixedly connected to the locking head 6 at the opening of the telescopic slot 9 by bolts, so that the baffle plate 15 limits the total distance of the locking cam 12 in the telescopic slot 9 to prevent the locking cam 12 from escaping from the telescopic slot 9.

[0033] The locking hole 16 and the locking groove 17 are provided on the lower connecting plate 2, so that the locking head 6 can be inserted into the locking hole 16 when the upper connecting plate 1 and the lower connecting plate 2 are connected, and then the locking ball 11 can be locked in the fast locking groove 17 on the inner wall of the locking hole 16, so as to achieve the locking of the upper connecting plate 1 and the lower connecting plate 2. The locking groove 17 is arranged obliquely near the end surface of the upper connecting plate 1, so that after the locking cam 12 moves up and down and no longer presses the locking ball 11, as the upper connecting plate 1 and the lower connecting plate 2 are separated, the arc surface of the obliquely arranged locking groove 17 can press the locking ball 11 to retract into the locking hole 16, so that the upper connecting plate 1 and the lower connecting plate 2 are released from the locked state, and a quick and complete separation is achieved.

[0034] The positioning pin 18 and the positioning hole 19 are detachably fixed on the end surface of the upper connecting plate 1 close to the lower connecting plate 2 by bolts, so that the positioning pin 18 is connected with the upper connecting plate 1. The positioning hole 19 is provided on the lower connecting plate 2 and corresponds to the positioning pin 18, so that when the upper connecting plate 1 is connected with the lower connecting plate 2, the positioning pin 18 is inserted into the positioning hole 19 to realize the accurate connection between the upper connecting plate 1 and the lower connecting plate 2, thereby realizing that the locking ball 11 can be accurately engaged and locked in the locking groove 17.

[0035] The upper fixing screw hole 20 and the lower fixing screw hole 21 are respectively opened on the upper connecting plate 1 and the lower connecting plate 2, so that the upper connecting plate 1 and the lower connecting plate 2 are respectively connected to the robot arm and the end effector through the upper fixing screw hole 20 and the lower fixing screw hole 21, and then the robot arm and the end effector are connected together through the locking connection between the upper connecting plate 1 and the lower connecting plate 2, and the end effector is controlled by the robot arm to perform operations.

[0036] The upper connecting screw hole 22 and the lower connecting screw hole 23 are respectively opened on the side end faces of the upper connecting plate 1 and the lower connecting plate 2, so that the side walls of the upper connecting plate 1 and the lower connecting plate 2 can be loaded with electrical and pneumatic components respectively through the upper connecting screw hole 22 and the lower connecting screw hole 23, thereby facilitating the end effector to perform better operation.

[0037] Unless otherwise specified, the device elements involved in the above embodiments are all conventional device elements, and the structural settings, working modes or control modes involved are all conventional settings, working modes or control modes in the art unless otherwise specified.

[0038] The above-mentioned embodiments only express several implementation methods of the utility model, and the description is relatively specific and detailed, but it cannot be understood as limiting the scope of the utility model patent. It should be pointed out that for ordinary technicians in this field, several modifications and improvements can be made without departing from the concept of the utility model, which all belong to the protection scope of the utility model. Therefore, the protection scope of the utility model patent shall be based on the attached claims.

Claims

1. An electric robot tool quick-change device, comprising an upper connection plate (1) and a lower connection plate (2), wherein: The upper connecting plate (1) is provided with a mounting groove (3), the mounting groove (3) is connected with a connecting seat (4), the connecting seat (4) is connected with a motor assembly (5), the upper connecting plate (1) is connected with a locking assembly, the rotating shaft of the motor assembly (5) is connected with the locking assembly, the lower connecting plate (2) is provided with a locking hole (16), the locking hole (16) is provided with a plurality of locking grooves (17), so that when the upper connecting plate (1) is connected with the lower connecting plate (2), the locking assembly is partially inserted into the locking hole (16) and fixed in the locking groove (17), so that the upper connecting plate (1) and the lower connecting plate (2) are locked, the upper connecting plate (1) is connected with a plurality of positioning pins (18), and the lower connecting plate (2) is provided with a plurality of positioning holes (19) corresponding to the positioning pins (18).

2. The electric robot tool quick change device according to claim 1, characterized in that: The locking assembly comprises a locking head (6), a locking ball (11), a locking cam (12) and a guide pin shaft (13); the locking head (6) is fixed on the upper connecting plate (1) at the opening of the mounting groove (3), and a portion of the locking head (6) extends into the mounting groove (3) to abut against the connecting seat (4); a connecting groove (7) is provided on the end surface of the locking head (6) close to the mounting groove (3); a support bearing (8) is interference-connected in the connecting groove (7); the rotating shaft of the motor assembly (5) is interference-connected in the supporting bearing (8); the vertical cross-section of the locking head (6) is T-shaped; an end of the locking head (6) away from the upper connecting plate (1) is provided with a telescopic groove (9); the rotating shaft of the motor assembly (5) passes through the locking head (6) extends into the telescopic slot (9) and is threadedly connected to the locking cam (12), a plurality of guide pin shafts (13) are connected to the telescopic slot (9), a limit slot (14) is provided on the outer end surface of the locking cam (12), and the guide pin shaft (13) is slidably connected in the limit slot (14), a side wall of the locking head (6) away from the upper connecting plate (1) is provided with a plurality of telescopic holes (10) connected to the telescopic slot (9), the locking ball (11) is arranged in the telescopic hole (10), and a structure is formed in which the locking cam (12) moves in the telescopic slot (9) so that the locking ball (11) moves in the telescopic hole (10), and a baffle (15) is fixed at the opening of the telescopic slot (9).

3. The electric robot tool quick change device according to claim 2, characterized in that: A threaded hole is formed at the axis of the locking cam (12), and a threaded protrusion is formed at the outer end surface of the rotating shaft of the motor assembly (5), wherein the threaded protrusion is threadedly connected in the threaded hole.

4. The electric robot tool quick change device according to claim 2, characterized in that: The diameter of the telescopic hole (10) located on the outer end surface of the locking head (6) is smaller than the diameter of the locking ball (11).

5. The electric robot tool quick change device according to claim 2, characterized in that: The outer end surface of the locking cam (12) away from the motor assembly (5) is a multi-section inclined surface, one end of the locking cam (12) away from the motor assembly (5) is located below the uppermost end of the telescopic hole (10), and the distance between the outer end surface of the end of the locking cam (12) away from the motor assembly (5) and the telescopic hole (10) is less than the diameter of the locking ball (11).

6. The electric robot tool quick change device according to claim 1, characterized in that: The locking groove (17) is arranged obliquely close to the end surface of the upper connecting plate (1).

7. The electric robot tool quick change device according to claim 1, characterized in that: The upper connection plate (1) and the lower connection plate (2) are respectively provided with a plurality of upper fixing screw holes (20) and lower fixing screw holes (21).

8. The electric robot tool quick change device according to claim 1, characterized in that: A plurality of upper connection screw holes (22) and lower connection screw holes (23) are respectively formed on the side end surfaces of the upper connection plate (1) and the lower connection plate (2).

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