Quick replacement structure for end effector of robot

Abstract

The utility model relates to the technical field of robots, in particular to a robot rapid end effector replacing structure which comprises a workbench, a plurality of limiting grooves distributed left and right are formed in the upper end face of the workbench in a penetrating mode, guide pins are movably connected into the limiting grooves, and the upper end faces of the guide pins are fixedly connected with replacing blocks located above the workbench. The lower end face of the guide pin is fixedly connected with an actuator body. The clamping block enters the clamping groove, the moving block is driven by the steel ball to move upwards, the moving block is matched with the sliding hole to drive the slope block to move horizontally, the slope block enters the fixing groove, the clamping block is fixed into the clamping groove, and then the actuator body is installed on the power arm. And then a reset spring is matched with a first sliding block to drive a moving block to move downwards, the moving block is matched with a sliding hole to drive a slope block to move horizontally, the slope block is moved out of a fixing groove, the fixing state of a clamping block is relieved, and then the actuator body is detached from the power arm.

Description

Technical Field

[0001] The utility model relates to the technical field of robots, in particular to a rapid end effector replacement structure for robots. Background Art

[0002] With the development of society and the improvement of productivity, more and more industries are replacing manual labor with robots. Robots can not only repeat the same work tirelessly, but also work for a long time in different complex environments, such as high-temperature and corrosive environments. Therefore, robots are constantly being introduced into industries such as industry, agriculture, exploration, and medical treatment. The human arms are particularly suitable for production and manufacturing. The dual-arm collaborative robot simulates the human arms in the hope of using this advantage to achieve more coordinated cooperation between the robotic arms, just like humans, who can coordinate the control of their arms to work.

[0003] Most of the existing robot end effectors are snap-fit structures. However, when replacing the end effector, it is mostly manually replaced, and it cannot be automatically and quickly replaced. The manual replacement efficiency is low, which in turn affects the production efficiency. Summary of the Utility Model

[0004] The purpose of the utility model is to provide a rapid end effector replacement structure for robots, which has the characteristics of automatically and quickly replacing the end effector and avoiding affecting the production efficiency.

[0005] To achieve the above purpose, the utility model provides the following technical solution: A rapid end effector replacement structure for robots, including a workbench. A plurality of left-right distributed limiting grooves are penetrated and opened on the upper end surface of the workbench. A guide pin is movably connected inside the limiting groove. The upper end surface of the guide pin is fixedly connected with a replacement block located above the workbench, and the lower end surface of the guide pin is fixedly connected with an end effector body;

[0006] A clamping groove is opened on the upper end surface of the replacement block. Grooves are opened on the upper end surface of the replacement block around the clamping groove. A plurality of through holes respectively communicating with the grooves are penetrated and opened on the inner wall of the clamping groove. A moving block is slidably connected inside the groove. A sliding hole is penetrated and opened on the outer wall of the moving block. An inclined block is slidably connected inside the sliding hole, and the other end of the inclined block extends into the through hole;

[0007] A pneumatic structure is arranged above the workbench. The pneumatic structure includes a power arm. A connecting block is fixedly connected to the lower end of the power arm. A clamping block matching the clamping groove is fixedly connected to the lower end surface of the connecting block. A plurality of fixing grooves matching the inclined blocks are opened on the outer wall of the clamping block.

[0008] In order to drive the moving block to move, as an optimization of a rapid end effector replacement structure of a robot according to the present utility model, a steel ball is fixedly connected to the upper end surface of the moving block, and an electromagnet matching the steel ball is embedded and installed on the lower end surface of the connecting block.

[0009] In order to drive the moving block to reset, as an optimization of a rapid end effector replacement structure of a robot according to the present utility model, two symmetrically distributed first sliding grooves are formed in the inner wall of the groove, two first sliding blocks matching the first sliding grooves are fixedly connected to the outer wall of the moving block, and a reset spring is fixedly connected between the lower end surface of the first sliding block and the first sliding groove.

[0010] In order to enable the inclined plane block to move along with the sliding hole, as an optimization of a rapid end effector replacement structure of a robot according to the present utility model, a second sliding block is fixedly connected to the lower end inside the sliding hole, and a second sliding groove matching the second sliding block is formed in the inclined plane of the inclined plane block;

[0011] A plurality of uniformly distributed balls in contact with the second sliding groove are movably connected to the upper end surface of the second sliding block.

[0012] In order to enable the electromagnet to cooperate with the steel ball to drive the moving block to move, as an optimization of a rapid end effector replacement structure of a robot according to the present utility model, the elastic force of the reset spring is less than the suction force between the electromagnet and the steel ball.

[0013] In order to enable the sliding hole to drive the inclined plane block to move horizontally, as an optimization of a rapid end effector replacement structure of a robot according to the present utility model, the lower end inside the sliding hole is arranged in an inclined plane structure.

[0014] Compared with the prior art, the beneficial effects of the present utility model are as follows:

[0015] During installation, the clamping block enters the clamping groove, and then the steel ball is magnetically attracted to move upward. The moving block is driven to move upward by the steel ball. When the moving block moves, the moving block cooperates with the sliding hole to drive the inclined plane block to move horizontally, so that the inclined plane block moves out of the through hole and enters the fixing groove. Through the mutual cooperation between the fixing groove and the inclined plane block, the clamping block is fixed in the clamping groove, and then the actuator body is installed on the power arm;

[0016] During disassembly, the electromagnet is turned off to release the adsorption state of the electromagnet on the steel ball. Then the reset spring cooperates with the first sliding block to drive the moving block to move downward. When the moving block moves downward, the moving block cooperates with the sliding hole to drive the inclined plane block to move horizontally, so that the inclined plane block moves into the through hole and moves out of the fixing groove, releasing the fixing state of the clamping block, and then the actuator body is removed from the power arm, thereby automatically and quickly replacing the actuator body. Description of the Drawings

[0017] Figure 1 This is a schematic diagram of the overall structure of the utility model;

[0018] Figure 2 This is a schematic diagram of the front view sectional structure of the utility model;

[0019] Figure 3 This is the utility model Figure 2 Schematic diagram of the enlarged structure of part a in;

[0020] In the figure: 1, workbench; 2, limit groove; 3, guide pin; 4, replacement block; 5, actuator body; 6, clamping groove; 7, groove; 8, through hole; 9, moving block; 10, sliding hole; 11, inclined plane block; 12, second sliding groove; 13, power arm; 14, connecting block; 15, clamping block; 16, fixing groove; 17, steel ball; 18, electromagnet; 19, first sliding groove; 20, first slider; 21, reset spring; 22, second slider; 23, ball. Specific embodiments

[0021] In order to make the purpose, technical solutions and advantages of the present utility model clearer, the present utility model will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present utility model and are not used to limit the present utility model. In the description of the present utility model, it should be understood that the orientation or positional relationship indicated by the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the accompanying drawings, and is only for the convenience of describing the present 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 should not be construed as a limitation of the present utility model. In addition, in the description of the present utility model, the meaning of "a plurality" is two or more unless otherwise specifically defined.

[0022] Please refer to Figures 1 to 3 , a rapid end effector replacement structure for a robot, including a workbench 1, a plurality of left-right distributed limit grooves 2 are penetrated through the upper end surface of the workbench 1, a guide pin 3 is movably connected inside the limit groove 2, the upper end surface of the guide pin 3 is fixedly connected with a replacement block 4 located above the workbench 1, and the lower end surface of the guide pin 3 is fixedly connected with an actuator body 5;

[0023] The upper end surface of the replacement block 4 is provided with a clamping groove 6. The upper end surface of the replacement block 4 is provided with a groove 7 around the clamping groove 6. A plurality of through holes 8 communicating with the groove 7 are respectively penetrated through the inner wall of the clamping groove 6. A moving block 9 is slidably connected inside the groove 7. A sliding hole 10 is penetrated through the outer wall of the moving block 9. An inclined block 11 is slidably connected inside the sliding hole 10. The other end of the inclined block 11 extends into the through hole 8;

[0024] Above the workbench 1, a pneumatic structure is provided. The pneumatic structure includes a power arm 13. A connecting block 14 is fixedly connected to the lower end of the power arm 13. A clamping block 15 matching the clamping groove 6 is fixedly connected to the lower end surface of the connecting block 14. A plurality of fixing grooves 16 matching the inclined block 11 are provided on the outer wall of the clamping block 15.

[0025] In this embodiment: By programming, the movement route of the power arm 13 is set, so that the power arm 13 runs according to the programmed route to replace the actuator body 5;

[0026] During installation, the power arm 13 drives the clamping block 15 to move above the replacement block 4, and then the power arm 13 drives the clamping block 15 to move downward, so that the clamping block 15 enters the clamping groove 6. Then, the electromagnet 18 is started. The electromagnet 18 generates a magnetic force, and the steel ball 17 is attracted to move upward by the magnetic force. Since the elastic force of the return spring 21 is less than the suction force between the electromagnet 18 and the steel ball 17, the electromagnet 18 can suck the steel ball 17 upward. The steel ball 17 drives the moving block 9 to move upward. When the moving block 9 moves, since the lower end inside the sliding hole 10 is provided with an inclined surface structure matching the inclined block 11, the moving block 9 cooperates with the sliding hole 10 to drive the inclined block 11 to move horizontally, so that the inclined block 11 moves out of the through hole 8 and enters the fixing groove 16. Through the mutual cooperation between the fixing groove 16 and the inclined block 11, the clamping block 15 is fixed in the clamping groove 6, and then the actuator body 5 is installed on the power arm 13;

[0027] During disassembly, the electromagnet 18 is turned off, so that the electromagnet 18 releases the adsorption state of the steel ball 17. Then, the return spring 21 cooperates with the first slider 20 to drive the moving block 9 to move downward. When the moving block 9 moves downward, the moving block 9 cooperates with the sliding hole 10 to drive the inclined block 11 to move horizontally, so that the inclined block 11 moves into the through hole 8, and the inclined block 11 moves out of the fixing groove 16, releasing the fixing state of the clamping block 15. Then, the actuator body 5 is removed from the power arm 13, so as to automatically and quickly replace the actuator body 5.

[0028] As a technical optimization scheme of the present invention, a steel ball 17 is fixedly connected to the upper end surface of the moving block 9, and an electromagnet 18 matching the steel ball 17 is embedded and installed on the lower end surface of the connecting block 14.

[0029] In this embodiment, through the mutual cooperation between the electromagnet 18 and the steel ball 17, the moving block 9 can be driven to move.

[0030] As a technical optimization scheme of the present utility model, two symmetrically distributed first sliding grooves 19 are provided on the inner wall of the groove 7, and two first sliding blocks 20 matching the first sliding grooves 19 are fixedly connected to the outer wall of the moving block 9. A return spring 21 is fixedly connected between the lower end surface of the first sliding block 20 and the first sliding groove 19.

[0031] In this embodiment, the first sliding groove 19 and the first sliding block 20 can make the moving block 9 move smoothly, and the return spring 21 can drive the moving block 9 to reset.

[0032] As a technical optimization scheme of the present utility model, a second sliding block 22 is fixedly connected to the lower end inside the sliding hole 10, and a second sliding groove 12 matching the second sliding block 22 is provided at the inclined surface of the inclined block 11;

[0033] A plurality of uniformly distributed balls 23 that are in contact with the second sliding groove 12 are movably connected to the upper end surface of the second sliding block 22.

[0034] In this embodiment, the second sliding block 22 and the second sliding groove 12 can limit the inclined block 11, enable the inclined block 11 to move along with the sliding hole 10, and the balls 23 can reduce the friction between the second sliding block 22 and the second sliding groove 12.

[0035] As a technical optimization scheme of the present utility model, the elastic force of the return spring 21 is less than the suction force between the electromagnet 18 and the steel ball 17.

[0036] In this embodiment, the elastic force of the return spring 21 is less than the suction force between the electromagnet 18 and the steel ball 17, which can enable the electromagnet 18 to cooperate with the steel ball 17 to drive the moving block 9 to move.

[0037] As a technical optimization scheme of the present utility model, the lower end inside the sliding hole 10 is provided with an inclined surface structure.

[0038] In this embodiment, the lower end inside the sliding hole 10 is provided with an inclined surface structure matching the inclined block 11, which can enable the sliding hole 10 to drive the inclined block 11 to move horizontally.

[0039] Working principle: By programming the movement route of the power arm 13, the power arm 13 is made to run according to the programmed route to replace the actuator body 5;

[0040] During installation, the power arm 13 drives the clamping block 15 to move above the replacement block 4, and then the power arm 13 drives the clamping block 15 to move downward, so that the clamping block 15 enters the clamping groove 6. Then, the electromagnet 18 is activated, and the electromagnet 18 generates magnetic force to attract the steel ball 17 to move upward by the magnetic force. Since the elastic force of the return spring 21 is less than the suction force between the electromagnet 18 and the steel ball 17, the electromagnet 18 can attract the steel ball 17 upward. The steel ball 17 drives the moving block 9 to move upward. When the moving block 9 moves, since the lower end inside the sliding hole 10 is provided with an inclined surface structure matching the inclined surface block 11, the moving block 9 cooperates with the sliding hole 10 to drive the inclined surface block 11 to move horizontally, so that the inclined surface block 11 moves out of the through hole 8 and enters the fixing groove 16. Through the mutual cooperation between the fixing groove 16 and the inclined surface block 11, the clamping block 15 is fixed in the clamping groove 6, and then the actuator body 5 is installed on the power arm 13;

[0041] During disassembly, the electromagnet 18 is turned off to release the adsorption state of the electromagnet 18 on the steel ball 17. Then, the return spring 21 cooperates with the first slider 20 to drive the moving block 9 to move downward. When the moving block 9 moves downward, the moving block 9 cooperates with the sliding hole 10 to drive the inclined surface block 11 to move horizontally, so that the inclined surface block 11 moves into the through hole 8 and moves out of the fixing groove 16, releasing the fixing state of the clamping block 15, and then the actuator body 5 is removed from the power arm 13, thus automatically and quickly replacing the actuator body 5.

[0042] The above are only the preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent replacements, and improvements made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A robot rapid end effector replacement structure, comprising a workbench (1), characterized in that: The upper end surface of the workbench (1) is penetrated by a plurality of limit grooves (2) distributed on the left and right, the limit grooves (2) are movably connected with guide pins (3) inside, the upper end surface of the guide pins (3) is fixedly connected with a replacement block (4) located above the workbench (1), and the lower end surface of the guide pins (3) is fixedly connected with an actuator body (5); The upper end surface of the replacement block (4) is provided with a clamping groove (6), the upper end surface of the replacement block (4) is provided with a groove (7) located around the clamping groove (6), the inner wall of the clamping groove (6) is penetrated with a plurality of through holes (8) respectively connected with the groove (7), the interior of the groove (7) is slidably connected with a moving block (9), the outer wall of the moving block (9) is penetrated with a sliding hole (10), the interior of the sliding hole (10) is slidably connected with an inclined surface block (11), and the other end of the inclined surface block (11) extends into the through hole (8); A pneumatic structure is arranged above the workbench (1), and the pneumatic structure comprises a power arm (13), the lower end of the power arm (13) is fixedly connected to a connecting block (14), the lower end surface of the connecting block (14) is fixedly connected to a clamping block (15) matching the clamping groove (6), and the outer wall of the clamping block (15) is provided with a plurality of fixing grooves (16) matching the inclined surface block (11).

2. The robot rapid end effector replacement structure according to claim 1, characterized in that: A steel ball (17) is fixedly connected to the upper end surface of the moving block (9), and an electromagnet (18) matching the steel ball (17) is embedded and installed on the lower end surface of the connecting block (14).

3. The robot rapid end effector replacement structure according to claim 2, characterized in that: The inner wall of the groove (7) is provided with two symmetrically distributed first slide grooves (19), the outer wall of the moving block (9) is fixedly connected with two first sliders (20) matching the first slide grooves (19), and a return spring (21) is fixedly connected between the lower end surface of the first slider (20) and the first slide groove (19).

4. The robot rapid end effector replacement structure according to claim 1, characterized in that: A second sliding block (22) is fixedly connected to the inner lower end of the sliding hole (10), and a second sliding groove (12) matching the second sliding block (22) is provided on the inclined surface of the inclined surface block (11); The upper end surface of the second sliding block (22) is movably connected to a plurality of evenly distributed balls (23) that abut against the second sliding groove (12).

5. The robot rapid end effector replacement structure according to claim 3, characterized in that: The elastic force of the return spring (21) is smaller than the suction force between the electromagnet (18) and the steel ball (17).

6. The robot rapid end effector replacement structure according to claim 1, characterized in that: The inner lower end of the sliding hole (10) is arranged as an inclined surface structure.

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