Tool quick-changing device for manipulator

Abstract

The utility model relates to the technical field of manipulators, and discloses a tool quick-changing device for manipulators, which comprises a male disc and a female disc, a bulge is arranged in the middle of the male disc, a fool-proof part is arranged on the outer side of the bulge, a slot is arranged in the middle of the female disc, the slot is matched with the bulge and the fool-proof part, an accommodating cavity is arranged in the female disc, and the accommodating cavity is matched with the fool-proof part. A clamping assembly is arranged in the containing cavity and comprises a motor and a pair of clamping plates, a screw is arranged at the output end of the motor, the screw is sleeved with a nut in a threaded mode, a linkage structure is arranged between the nut and the clamping plates, and a channel matched with the clamping plates to move is formed between the inserting groove and the containing cavity. Grooves matched with the inner end faces of the clamping plates are formed in the side edges of the protrusions. According to the utility model, through the cooperative arrangement of the projection, the fool-proof part, the slot and the clamping assembly, the male disc can be smoothly inserted and locked on the female disc only when the projection and the fool-proof part are consistent with the slot in direction, so that the phenomenon of wrong butt joint is effectively avoided.

Description

Technical Field

[0001] The utility model relates to the technical field of manipulators, in particular to a tool quick-changing device for manipulators. Background Art

[0002] Most of the robot quick-change devices currently on the market achieve replacement and fixation by plugging and locking the male disk connected to the end of the robot into the female disk connected to the tool. In the prior art, since the interfaces for docking and locking provided on the male disk and the female disk are symmetrically designed, the male and female disks have no directionality when docking with each other, and it is easy to make a docking error, which affects the subsequent use of the tool. Utility Model Content

[0003] The purpose of the utility model is to provide a tool quick-changing device for a robot to solve the problems raised in the above-mentioned background technology.

[0004] To achieve the above-mentioned purpose, the utility model provides the following technical solutions: a tool quick-changing device for a robot, comprising a male disk and a female disk, a protrusion is provided in the middle of the male disk, an anti-foolproof portion is provided on the outer side of the protrusion, a slot is provided in the middle of the female disk, the slot cooperates with the protrusion and the anti-foolproof portion, a accommodating cavity is provided in the female disk, a clamping assembly for connecting the male disk is provided in the accommodating cavity, the clamping assembly comprises a motor and a pair of clamping plates, a screw is provided on the output end of the motor, a nut is threadedly sleeved on the screw, a linkage structure is provided between the nut and the clamping plate, a channel for cooperating with the movement of the clamping plate is provided between the slot and the accommodating cavity, and a groove cooperating with the inner end face of the clamping plate is provided on the side of the protrusion.

[0005] The following improvement is made in the present application: a fixing seat is sleeved on the screw rod below the nut, the fixing seat is fixedly installed in the hollow cavity, and the screw rod is rotatably installed on the fixing seat through a bearing seat.

[0006] The following improvements are made in the present application scheme: the linkage structure includes connecting rod one, connecting rod two and connecting rod three, one end of connecting rod one is hinged to one side of the nut, and the other end is provided with a fixing rod, the lower end of the fixing rod is rotatably connected to the fixing seat, one end of connecting rod two and connecting rod three are fixedly connected to the splint, and the other end are rotatably connected to the fixing rod.

[0007] The following improvement is made in the solution of the present application: a rotating shaft is embedded on the fixed rod, and the connecting rod one, the connecting rod two and the connecting rod three are all sleeved on the rotating shaft.

[0008] The following improvement is made in the present application: the contacting end surfaces of the male disc and the female disc are both arranged as correspondingly matched wavy curved surfaces. By arranging the fit between the wavy curved surfaces of the male disc and the female disc, misaligned rotation is avoided during assembly.

[0009] The following improvement is made in the present application: a first connection seat for connecting to a robot is provided at one end of the male disk away from the female disk, and a second connection seat for connecting to a tool is provided at one end of the female disk away from the male disk.

[0010] The following improvement is made in the solution of the present application: a plurality of upper output holes are evenly distributed on the side of one end of the male disk close to the first connecting seat, and lower output holes corresponding to the upper output holes are provided on the female disk.

[0011] Compared with the prior art, the utility model provides a tool quick-changing device for a manipulator, which has the following beneficial effects:

[0012] The utility model distinguishes the plugging direction of the male disk and the female disk through the matching arrangement of the protrusion, the anti-mistake part and the slot. Only when the protrusion and the anti-mistake part are in the same direction as the slot, can the male disk be smoothly inserted into the female disk, effectively avoiding the phenomenon of docking errors. Then, the male disk is locked on the female disk through the clamping component, and the rotational force input by the motor is simultaneously transmitted to the linkage structure on both sides through the screw and the nut, driving the two clamping plates to move synchronously towards each other, thereby clamping the protrusion. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 It is a structural schematic diagram of the utility model;

[0014] Figure 2 This is a schematic diagram of the structure of the public disk;

[0015] Figure 3 is a cross-sectional view of the master disc;

[0016] Figure 4 A schematic diagram of the structure of the clamping assembly.

[0017] In the figure: 1. male disk; 11. protrusion; 12. anti-fouling part; 13. groove; 14. upper output hole; 2. female disk; 21. slot; 22. accommodating chamber; 23. lower output hole; 3. motor; 31. clamping plate; 32. screw; 33. nut; 4. linkage structure; 41. connecting rod one; 42. connecting rod two; 43. connecting rod three; 44. fixing rod; 45. rotating shaft; 5. first connecting seat; 6. second connecting seat. DETAILED DESCRIPTION

[0018] The technical solution in the embodiment of the present invention will be described below in conjunction with the accompanying drawings in the embodiment of the present invention:

[0019] like Figure 1-4As shown, a tool quick-changing device for a robot is mainly composed of a male disk 1 and a female disk 2, and the contact end surfaces of the male disk 1 and the female disk 2 are both set to corresponding matching wavy surfaces; and the end of the male disk 1 away from the female disk 2 is provided with a first connecting seat 5 for connecting to the robot, and the end of the female disk 2 away from the male disk 1 is provided with a second connecting seat 6 for connecting to the tool, and the first connecting seat 5 and the second connecting seat 6 are respectively connected and fixed to the robot and the tool by bolts; at the same time, a plurality of upper output holes 14 are evenly distributed on the side of one end of the male disk 1 close to the first connecting seat 5, and a lower output hole 23 corresponding to the upper output hole 14 is provided on the female disk 2. When the contact end surfaces of the male disk 1 and the female disk 2 are completely fitted, the upper output hole 14 and the lower output hole 23 are connected and aligned.

[0020] A protrusion 11 is provided in the middle of the male disk 1, and an anti-foolproofing portion 12 is provided on the outer side of the protrusion 11. A slot 21 is provided in the middle of the female disk 2. The slot 21 matches the combined shape of the protrusion 11 and the anti-foolproofing portion 12. Only when the protrusion 11 and the anti-foolproofing portion 12 are in the same direction as the slot 21, can the male disk 1 be smoothly inserted into the female disk 2; at the same time, a accommodating cavity 22 is provided in the female disk 2, and a clamping assembly is provided in the accommodating cavity 22 for connecting the male disk 1. The clamping assembly includes a motor 3 and a pair of clamping plates 31. A screw rod 32 is provided on the output end of the motor 3, and a nut 33 is threadedly sleeved on the screw rod 32. A linkage structure 4 is provided between the nut 33 and the clamping plate 31. A channel for cooperating with the movement of the clamping plate 31 is provided between the slot 21 and the accommodating cavity 22. A groove 13 matching the inner end face of the clamping plate 31 is provided on the side of the protrusion 11. A screw rod 32 is sleeved below the nut 33. There is a fixed seat, which is fixedly installed in the accommodating cavity 22, and the screw rod 32 is rotatably installed on the fixed seat through the bearing seat. The linkage structure 4 includes a connecting rod 1 41, a connecting rod 2 42, a connecting rod 3 43 and a fixed rod 44, wherein the lower end of the fixed rod 44 is rotatably connected to the fixed seat, and a rotating shaft 45 is embedded on the fixed rod 44. One end of the connecting rod 1 41, the connecting rod 2 42 and the connecting rod 3 43 are all sleeved on the rotating shaft 45, and the other end of the connecting rod 1 41 is hinged to one side of the nut 33, and the other ends of the connecting rod 2 42 and the connecting rod 3 43 are respectively hinged to the inner upper and lower ends of the splint 31, thereby forming a "triangle" between the connecting rod 1 41, the fixing rod 44, the nut 33 and the connecting rod 2 42, the connecting rod 3 43 and the splint 31 respectively. When the nut 33 starts to move along the screw rod 32, the two "triangles" are deformed, and then a pair of splints 31 are pulled toward each other along the channel.

[0021] Start the motor 3, and the rotational force is transmitted to the nut 33 through the screw 32, and then the two clamping plates 31 are moved toward each other through the power transmission of the linkage structure, until the clamping plates 31 abut against the inner wall of the groove 13 on the side of the protrusion 11, thereby clamping and locking the male disk 1.

[0022] The above embodiments are only some embodiments of the utility model, not all embodiments. Based on the embodiments of the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

Claims

1. A tool quick-change device for a robot, comprising a male disk (1) and a female disk (2), characterized in that: The male disk (1) is provided with a protrusion (11) in the middle, and an anti-mistake portion (12) is provided on the outer side of the protrusion (11). The female disk (2) is provided with a slot (21) in the middle, and the slot (21) cooperates with the protrusion (11) and the anti-mistake portion (12). The female disk (2) is provided with a receiving cavity (22), and a clamping assembly for connecting the male disk (1) is provided in the receiving cavity (22). The clamping assembly comprises a motor (3) and a pair of clamping plates (31). A screw rod (32) is provided on the output end of the motor (3), and a nut (33) is threadedly sleeved on the screw rod (32). A linkage structure (4) is provided between the nut (33) and the clamping plate (31). A channel for cooperating with the movement of the clamping plate (31) is provided between the slot (21) and the receiving cavity (22). A groove (13) cooperating with the inner end surface of the clamping plate (31) is provided on the side of the protrusion (11).

2. A tool quick change device for a manipulator according to claim 1, characterized in that: A fixing seat is sleeved on the screw rod (32) below the nut (33), the fixing seat is fixedly mounted in the accommodating cavity (22), and the screw rod (32) is rotatably mounted on the fixing seat via a bearing seat.

3. A tool quick change device for a manipulator according to claim 2, characterized in that: The linkage structure (4) comprises a first connecting rod (41), a second connecting rod (42) and a third connecting rod (43); one end of the first connecting rod (41) is hinged to one side of the nut (33); the other end is provided with a fixing rod (44); the lower end of the fixing rod (44) is rotatably connected to a fixing seat; one end of the second connecting rod (42) and the third connecting rod (43) are both fixedly connected to the clamping plate (31); the other ends are both rotatably connected to the fixing rod (44).

4. A tool quick change device for a manipulator according to claim 3, characterized in that: A rotating shaft (45) is embedded in the fixed rod (44), and the connecting rod one (41), the connecting rod two (42) and the connecting rod three (43) are all sleeved on the rotating shaft (45).

5. A tool quick change device for a manipulator according to claim 1, characterized in that: The contacting end surfaces of the male disc (1) and the female disc (2) are both arranged as correspondingly matched wavy curved surfaces.

6. A tool quick change device for a manipulator according to claim 1, characterized in that: One end of the male disk (1) away from the female disk (2) is provided with a first connection seat (5) for connecting to a robot, and one end of the female disk (2) away from the male disk (1) is provided with a second connection seat (6) for connecting to a tool.

7. A tool quick-change device for a robot according to claim 6, characterized in that: A plurality of upper output holes (14) are evenly distributed on the side edge of one end of the male disk (1) close to the first connecting seat (5), and lower output holes (23) corresponding to the upper output holes (14) are provided on the female disk (2).

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