Quick finger replacing device

Abstract

The utility model relates to the technical field of mechanical clamping jaws, in particular to a rapid finger replacing device which comprises a base connected to a sliding block on a clamping jaw control module assembly, a plurality of connecting holes are formed in the end face, away from the clamping jaw control module assembly, of the base, outer clamping fingers are connected into the connecting holes through a plurality of positioning pins, and the outer clamping fingers are connected with the clamping jaw control module assembly. The base is provided with a positioning hole which is vertical and partially overlapped and communicated with the connecting hole, a positioning component is arranged in the positioning hole, and a structure for quickly locking or unlocking and releasing the positioning pin in the connecting hole through the positioning component is formed, so that quick replacement of the outer clamping finger and the clamping jaw control module assembly is realized, the operation is convenient, and the working efficiency is improved. The mechanical clamping jaw has a wide application prospect in the technical field of mechanical clamping jaws.

Description

Technical Field

[0001] The utility model relates to the technical field of mechanical clamping claws, in particular to a finger quick replacement device. Background Art

[0002] A gripper is a device that holds an object and manipulates it. It can clamp and release the object while performing certain actions. In typical robotic processing, workpieces must be clamped, positioned, sorted and transported by a gripper. Currently, a gripper consists of a gripper control module assembly and fingers connected to a robotic arm. The gripper control module assembly controls the gripping and lowering of the fingers. However, in the prior art, the fingers are fixedly connected to the sliders on the gripper control module assembly by bolts, which makes it inconvenient to disassemble when replacing fingers of different models. Therefore, a finger quick replacement device that solves the above problem is needed. Utility Model Content

[0003] In order to solve the problem in the prior art that the fingers and the sliders on the gripper control module assembly are fixedly connected by bolts, and it is inconvenient to disassemble when replacing fingers of different models, a finger quick replacement device is invented.

[0004] The technical solution of the utility model is that it includes a base connected to a slider of a clamp control module assembly, wherein a plurality of connecting holes are provided on the end surface of the base away from the clamp control module assembly, and outer clamp fingers are connected to the connecting holes through a plurality of positioning pins, and locking grooves are provided on the outer end surfaces of the positioning pins. A positioning hole that is vertically and partially overlapping and connected to the connecting hole is provided on the base, and a positioning component is provided in the positioning hole, constituting a structure that realizes rapid locking or unlocking and releasing of the positioning pin and the base in the connecting hole by whether the positioning component is snap-connected with the locking groove.

[0005] Preferably, the locking groove is hourglass-shaped.

[0006] Preferably, the positioning assembly includes a locking pin, a spring and a hand screw, a limiting groove is provided at one end of the locking pin close to the inner bottom of the positioning hole, one end of the spring is in conflict with the inner bottom of the positioning hole, and the other end is arranged in the limiting groove, an unlocking groove is provided on the outer surface of the locking pin, the end face of the unlocking groove is flush with the inner end face of the connecting hole, the diameter of the end part of the locking pin below the unlocking groove is smaller than the diameter of the area above the locking pin, so that a locking protrusion structure is formed on the locking pin below the unlocking groove, which constitutes a structure in which the locking protrusion moves into the locking groove to realize the card-connected locking of the positioning pin.

[0007] Preferably, a threaded hole is provided at one end of the locking pin near the opening of the positioning hole, and one end of the hand screw is threadedly connected in the threaded hole, so that the locking pin is driven to move in the positioning hole by the hand screw, thereby locking or unlocking the positioning pin in the connecting hole.

[0008] Preferably, a spiral groove is formed on the outer end surface of the positioning pin.

[0009] Preferably, a clamping groove is provided on the inner side wall of the opening of the positioning hole, and a flattened steel wire retaining ring is clamped and fixed in the clamping groove.

[0010] The following beneficial effects can be achieved by adopting the technical solution of the utility model: (1) through the positioning pin and the base, it is convenient to connect the outer clamping finger with the clamping claw control module assembly, and then control the movement of the outer clamping finger through the clamping claw control module assembly to achieve the picking and placing of objects, and at the same time facilitate the rapid replacement of the outer clamping finger and the base; (2) through the positioning component, it is convenient to clamp and position the positioning pin inserted into the base, realize the clamping connection between the outer clamping finger and the clamping claw control module assembly, and also facilitate the rapid release and replacement of the outer clamping finger, and realize the rapid replacement of the outer clamping finger and the clamping claw control module assembly; (3) through the spiral groove, it is convenient to keep the locking groove and the outer surface of the entire positioning pin connected to the outside world, so as to avoid negative pressure when inserting into or pulling out of the connecting hole, which affects the separation of the positioning pin and the base; the technical solution of the utility model has broad application prospects in the field of mechanical clamp technology. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] Figure 1 It is a three-dimensional diagram of the finger quick replacement device of the present invention.

[0012] Figure 2 It is a partial cross-sectional view of the finger quick replacement device of the present invention.

[0013] Among them, 1. base, 2. outer clamping finger, 3. positioning hole, 4. locking pin, 5. limit groove, 6. spring, 7. unlocking groove, 8. locking protrusion, 9. threaded hole, 10. hand screw, 11. snap-on groove, 12. flattened wire retaining ring, 13. connecting hole, 14. positioning pin, 15. locking groove, 16. spiral groove. DETAILED DESCRIPTION

[0014] 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.

[0015] 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.

[0016] The base 1 is detachably fixedly connected to the slider of the clamp control module assembly by bolts passing through the connecting holes 13, so that the base 1 is connected to the slider of the clamp control module assembly, and then the base 1 is driven to move simultaneously by the movement of the slider of the clamp control module assembly, thereby controlling the outer clamping fingers 2 connected to the base 1 to open and release objects or close and clamp objects.

[0017] The positioning pin 14 is detachably fixedly connected to the outer clamping finger 2 by a bolt, so that the positioning pin 14 is connected to the outer clamping finger 2, and then the outer clamping finger 2 and the base 1 are quickly replaced by the positioning pin 14. There are at least two positioning pins 14 to prevent the outer clamping finger 2 from rotating relative to the base 1 when a single positioning pin 14 is connected to the base 1, which affects the outer clamping finger 2 from gripping an object.

[0018] The connection hole 13 is provided on the base 1 and is used to connect the positioning pin 14, thereby connecting the outer gripper finger 2 to the base 1. The connection hole 13 passes through the base 1, and the diameter of one end of the connection hole 13 is smaller than the diameter of the other end, so that the base 1 and the slider of the gripper control module assembly can be detachably fixedly connected together by using a bolt passing through the connection hole 13. There are multiple connection holes 13, corresponding to the number of positioning pins 14, so that the multiple positioning pins 14 on the outer gripper finger 2 can be inserted into the connection holes 13 respectively.

[0019] Of course, in special cases, the positioning pin 14 and the connecting hole 13 can also be single, that is, the positioning pin 14 and the connecting hole 13 are both non-circular, which can prevent the positioning pin 14 from rotating relative to the base 1 in the connecting hole 13, thereby preventing the outer clamping finger 2 from rotating relative to the base 1.

[0020] The locking groove 15 is convenient for cooperating with the positioning assembly, so that the positioning pin 14 and the base 1 are locked by partially engaging the positioning assembly in the locking groove 15, thereby connecting the outer clamping finger 2 and the base 1 together. The locking groove 15 is an hourglass shape, which facilitates the positioning assembly to cooperate with the locking groove 15 to realize the quick replacement of the positioning pin 14 and the base 1. Of course, the locking groove 15 can also be other shapes, and the corresponding positioning assembly is also modified accordingly to cooperate with the locking groove 15.

[0021] The positioning hole 3 is opened on the base 1 and is connected to the plurality of connecting holes 13 perpendicularly and partially overlapping. A positioning assembly including a locking pin 4, a spring 6 and a hand screw 10 is arranged in the positioning hole 3, so that the positioning pin 14 inserted into the connecting hole 13 can be clamped and positioned by the positioning assembly. At the same time, the positioning assembly is used to facilitate the quick connection or disconnection of the positioning pin 14 and the base 1.

[0022] The locking pin 4 is slidably disposed in the positioning hole 3 and is used to lock or release the positioning pin 14 of the connecting hole 13 , thereby realizing a quick exchange between the outer clamping finger 2 and the base 1 .

[0023] The unlocking groove 7 is provided on the outer surface of the locking pin 4, and the end face of the unlocking groove 7 is flush with the inner end face of the connecting hole 13, so that when the unlocking groove 7 is completely corresponding to the connecting hole 13, the positioning pin 14 can be pulled out from the connecting hole 13, thereby realizing the quick replacement of the positioning pin 14 and the base 1.

[0024] The locking protrusion 8 and the diameter of the end of the locking pin 4 below the unlocking groove 7 are smaller than the diameter of the area above the locking pin 4, so that a locking protrusion 8 is formed on the locking pin 4 below the unlocking groove 7, and the locking protrusion 8 moves into the locking groove 15 to realize the card-engagement and locking of the positioning pin 14.

[0025] One end of the spring 6 is in conflict with the inner bottom of the positioning hole 3, and the other end is arranged in a limiting groove 5 opened at one end of the locking pin 4 close to the inner bottom of the positioning hole 3, so that the spring 6 provides elastic force for the locking pin 4, and then under the action of the elastic force of the spring 6, the lower end of the locking pin 4 is always away from the inner bottom of the positioning hole 3, and then after the positioning pin 14 is inserted into the connecting hole 13, the locking protrusion 8 is clamped in the locking groove 15 under the action of the elastic force of the spring 6.

[0026] The limiting groove 5 is provided at one end of the locking pin 4 close to the bottom of the positioning hole 3 and is used to limit one end of the spring 6 to prevent the spring 6 from being separated from the locking pin 4, thereby allowing the spring 6 to always provide elastic force for the locking pin 4.

[0027] The locking protrusion 8 is formed by the diameter of the end of the locking pin 4 below the unlocking groove 7 being smaller than the diameter of the area above the locking pin 4, so that a locking protrusion 8 is formed on the locking pin 4 below the unlocking groove 7, and a structure is formed in which the locking protrusion 8 moves into the locking groove 15 to realize the card-engagement and locking of the positioning pin 14.

[0028] The spiral groove 16 is provided on the outer end surface of the positioning pin 14 to facilitate the connection between the locking groove 15 and the outer surface of the entire positioning pin 14 and the outside world, thereby avoiding the formation of a negative pressure effect when the positioning pin 14 is inserted into or pulled out of the connecting hole 13, thereby affecting the separation of the positioning pin 14 from the base 1.

[0029] A clamping groove 11 and a flattened wire retaining ring 12, wherein the clamping groove 11 is arranged on the inner side wall at the opening of the positioning hole 3, and the flattened wire retaining ring 12 is clamped in the clamping groove 11, so that the locking pin 4 is limited by the flattened wire retaining ring 12 to prevent the locking pin 4 from automatically detaching from the positioning hole 3.

[0030] One end of the hand screw 10 is threadedly connected to the threaded hole 9 opened at one end of the locking pin 4 near the opening of the positioning hole 3, so that the hand screw 10 and the locking pin 4 are detachably connected together, and the locking pin 4 is controlled to move in the positioning hole 3 by the hand screw 10, so that the locking pin 4 can lock or release the positioning pin 14, thereby realizing the quick replacement of the outer clamping finger 2 and the base 1. Of course, the hand screw 10 can also be replaced with other structures that can push the locking pin 4 to move in the positioning hole 3, so that the locking pin 4 does not protrude from the positioning hole 3 after the hand screw 10 is removed, so as to avoid accidental contact with the locking pin 4 to affect the stability of the connection between the outer clamping finger 2 and the base 1.

[0031] 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.

[0032] 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. A finger quick-change device, comprising a base (1) connected to a slider of a gripper control module assembly, wherein: A plurality of connection holes (13) are provided on the end surface of the base (1) away from the clamp control module assembly, the connection holes (13) are connected to the outer clamp fingers (2) via a plurality of positioning pins (14), the outer end surfaces of the positioning pins (14) are provided with locking grooves (15), the base (1) is provided with positioning holes (3) which are vertically connected to and partially overlap the connection holes (13), and a positioning assembly is provided in the positioning hole (3), thereby forming a structure in which the positioning pin (14) is quickly locked or unlocked with the base (1) in the connection hole (13) by whether the positioning assembly is connected to the locking groove (15).

2. The finger quick replacement device according to claim 1, characterized in that: The locking groove (15) is hourglass-shaped.

3. The finger quick change device according to claim 1, characterized in that: The positioning assembly comprises a locking pin (4), a spring (6) and a hand screw (10); a limiting groove (5) is provided at one end of the locking pin (4) close to the inner bottom of the positioning hole (3); one end of the spring (6) contacts the inner bottom of the positioning hole (3) and the other end is arranged in the limiting groove (5); an unlocking groove (7) is provided on the outer surface of the locking pin (4); the end surface of the unlocking groove (7) is flush with the inner end surface of the connecting hole (13); the diameter of the end of the locking pin (4) below the unlocking groove (7) is smaller than the diameter of the area above the locking pin (4), so that a locking protrusion (8) is formed on the locking pin (4) below the unlocking groove (7), so that the locking protrusion (8) moves into the locking groove (15) to realize the locking of the positioning pin (14).

4. The finger quick replacement device according to claim 3, characterized in that: A threaded hole (9) is formed at one end of the locking pin (4) close to the opening of the positioning hole (3), and one end of the hand screw (10) is threadedly connected in the threaded hole (9), so that the locking pin (4) is driven by the hand screw (10) to move in the positioning hole (3), thereby achieving locking or unlocking of the positioning pin (14) in the connection hole (13).

5. The finger quick change device according to claim 1, characterized in that: The outer end surface of the positioning pin (14) is provided with a spiral groove (16).

6. The finger quick change device according to claim 1, characterized in that: A clamping groove (11) is provided on the inner side wall of the opening of the positioning hole (3), and a flattened steel wire retaining ring (12) is clamped and fixed in the clamping groove (11).

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