Manipulator quick-change connecting piece

Abstract

The utility model discloses a mechanical arm quick-change connecting piece which comprises a first connecting device and a second connecting device, the first connecting device is used for being installed on a mechanical arm, a groove is formed in the second connecting device, an executing mechanism used for clamping the groove is arranged in the first connecting device, and the second connecting device is used for being installed on the mechanical arm. The executing mechanism is connected with the ventilation electromagnetic valve through an air channel, and the ventilation electromagnetic valve controls clamping connection between the executing mechanism and the groove by connecting or disconnecting the air channel. By controlling the ventilation electromagnetic valve, the air path is in a disconnected state, and the clamping state between the executing mechanism and the groove cannot be switched, so that the situation that due to manual operation errors, the first connecting device and the second connecting device are separated from the clamping state, a tool falls off from the mechanical arm, and the working efficiency is improved is avoided. Therefore, the harm to people is avoided.

Description

Technical Field

[0001] The utility model relates to the field of connecting devices, and more specifically, to a quick-change connector for a manipulator. Background Art

[0002] A quick-change connector for a manipulator, also known as a quick-change disk for a manipulator, also known as a tool quick-change device or a quick-changer, is a connecting tool for an end effector in the industrial robot industry. It allows the manipulator to quickly replace different end effectors, such as a welding torch, a gripper, etc., in a short time to adapt to different operation tasks.

[0003] After the existing quick-change connector completes the connection between the manipulator and the tooling through a certain locking device, if the operator accidentally touches the locking device or operates it incorrectly, it is extremely easy to cause the quick-change connector to unlock, resulting in the tooling falling off the manipulator and causing damage to personnel or equipment. Summary of the Utility Model

[0004] In order to solve the above problems, the utility model provides a quick-change connector for a manipulator, which includes a first connecting device and a second connecting device. The first connecting device is used to be installed on the manipulator. A groove is provided in the second connecting device, and an actuating mechanism for engaging with the groove is provided in the first connecting device. The actuating mechanism is connected to a vent solenoid valve through an air path, and the vent solenoid valve controls the engagement between the actuating mechanism and the groove by conducting or disconnecting the air path.

[0005] Furthermore, the actuating mechanism includes a connecting piece and a first piston piece. An air cavity is provided in the connecting piece, and the air cavity is communicated with the vent solenoid valve. The first piston piece is partially embedded in the air cavity in the axial direction, and a clamping component is arranged around the first piston piece.

[0006] Furthermore, the clamping component includes a connecting sleeve sleeved outside the first piston piece. An inner tube body for the first piston piece to move up and down is provided in the connecting sleeve. A plurality of retractable clamping pieces are arranged at one end of the connecting sleeve away from the first piston piece. The clamping pieces are arranged at intervals along the end face of the connecting sleeve at a preset distance. A jacking part is arranged at one end of the first piston piece away from the air cavity.

[0007] Furthermore, the jacking part is a ring protruding outward along the end face of one end of the first piston piece away from the air cavity.

[0008] Furthermore, the second connecting device includes a through groove for the connecting sleeve to pass through. The groove is arranged along the inner wall of the through groove and is opposite to the position of the clamping piece.

[0009] Furthermore, the ventilation solenoid valve includes a valve body, an intake pipe and an outlet pipe are arranged on both sides of the valve body, and the outlet pipe communicates with a connecting piece.

[0010] Furthermore, a stroke cavity is arranged in the valve body. The stroke cavity is respectively communicated with the intake pipe and the outlet pipe. A second piston member is arranged in the stroke cavity. The second piston member can move in the stroke cavity. The outer wall of the second piston member includes a first contact wall and a second contact wall. When the second piston member is in the stroke cavity, the first contact wall is closely attached to the inner wall of the stroke cavity, and the inner diameter of the second contact wall is smaller than that of the first contact wall.

[0011] Furthermore, a guide rod is arranged on the second connecting device, and a through hole corresponding to the position of the guide rod is arranged on the first connecting device.

[0012] Compared with the prior art, the beneficial effects of the present utility model are as follows:

[0013] In this application, first, by controlling the ventilation solenoid valve, the gas path is made to be in a conducting state. Then, the manipulator is used to move the first connecting device to the second connecting device. By inflating the gas path, the actuating mechanism and the groove are in a clamped state, so as to connect the first connecting device and the second connecting device. Furthermore, the manipulator can realize the grasping of the tooling. After completing the above steps, by controlling the ventilation solenoid valve again, the gas path is made to be in a disconnected state, so that the clamped state between the actuating mechanism and the groove cannot be switched, thereby avoiding the tooling from falling off the manipulator due to human operation errors, which may cause harm to people.

[0014] The additional aspects and advantages of the present utility model will be given in the following description part, and some will become obvious from the following description, or will be understood through the practice of the present utility model. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the technical solutions in the embodiments of the present utility model or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the following drawings are only some embodiments of the present utility model. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0016] Figure 1 It is a schematic diagram of the overall structure of the present utility model;

[0017] Figure 2 It is an exploded view of the structure of the actuating mechanism of the present utility model;

[0018] Figure 3Structural schematic diagram of the connecting member of the present utility model;

[0019] Figure 4 Structural schematic diagram of the second connecting device of the present utility model;

[0020] Figure 5 Structural schematic diagram of the ventilation solenoid valve of the present utility model;

[0021] Figure 6 Structural schematic diagram of the second piston member of the present utility model;

[0022] Figure 7 Structural cross-sectional view of the ventilation solenoid valve of the present utility model in the off state;

[0023] Figure 8 Structural cross-sectional view of the ventilation solenoid valve of the present utility model in the on state;

[0024] The reference numerals and names in the figure are as follows:

[0025] The first connecting device 100, the second connecting device 200, the groove 210, the actuator 300, the ventilation solenoid valve 400, the connecting member 310, the first piston member 320, the air chamber 311, the clamping assembly 330, the connecting sleeve 331, the inner pipe body 332, the clamping member 333, the ejecting portion 321, the through groove 220, the valve body 410, the intake pipe 420, the outlet pipe 430, the stroke chamber 411, the second piston member 440, the first contact wall 441, the second contact wall 442, the guide rod 230, the through hole 110. Detailed implementation manners

[0026] The technical solutions in the embodiments of the present utility model will be clearly and completely described below. Obviously, the described embodiments are only a part of the embodiments of the present utility model, rather than all of the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present utility model without creative efforts shall fall within the protection scope of the present utility model.

[0027] A more detailed description of the present utility model will be given. 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. It should be noted that when an element is expressed as "fixed to" another element, it can be directly on the other element, or there can be one or more intermediate elements therebetween. When an element is expressed as "connected to" another element, it can be directly connected to the other element, or there can be one or more intermediate elements therebetween.

[0028] In the description of the present utility model, it should be noted that the orientation or positional relationship indicated by orientation words such as "front, rear, upper, lower, left, right", "lateral, vertical, perpendicular, horizontal" and "top, bottom", etc. is usually based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present utility model and simplifying the description. Without contrary explanation, these orientation words do not indicate and imply that the device or component referred to must have a specific orientation or be constructed and operated in a specific orientation. Therefore, it should not be construed as a limitation on the protection scope of the present utility model; the orientation words "inside, outside" refer to the inside and outside relative to the contour of each component itself. In the description of the present utility model, it should be noted that the use of words such as "first", "second", etc. to limit the components is only for the convenience of distinguishing the corresponding components. Without additional statement, the above words have no special meaning. Therefore, it should not be construed as a limitation on the protection scope of the present utility model. In the description of the embodiments of the present application, "a plurality of" means two or more, unless otherwise specifically defined.

[0029] Unless otherwise defined, all technical and scientific terms used in this specification have the same meaning as commonly understood by those skilled in the technical field to which the present utility model belongs. The terms used in the description of the present utility model are only for the purpose of describing specific embodiments and are not used to limit the present utility model.

[0030] In addition, the technical features involved in different embodiments of the present application described below can be combined with each other as long as they do not conflict with each other.

[0031] Now, with reference to the drawings, a further description of the preferred embodiments of the present utility model is made. As Figure 1 shown, the quick-change connector for the manipulator includes a first connection device 100 and a second connection device 200. The first connection device 100 is used to be installed on the manipulator, and the second connection device 200 is used to be installed on the tooling that needs to be quickly connected, such as a welding torch, a gripper, etc., to adapt to different operation tasks. A groove 210 is provided in the second connection device 200, and an actuator 300 for engaging with the groove 210 is provided in the first connection device 100. The actuator 300 is connected to a pneumatic solenoid valve 400 through a gas path, and the pneumatic solenoid valve 400 controls the engagement between the actuator 300 and the groove 210 by conducting or disconnecting the gas path.

[0032] Specifically, on the basis of the above embodiments, when the pneumatic solenoid valve 400 conducts the gas path, the pneumatic solenoid valve 400 can control the switching of the engagement state between the actuator 300 and the groove 210 by inhaling or inflating. When the pneumatic solenoid valve 400 disconnects the gas path, the engagement state between the actuator 300 and the groove 210 cannot be switched, thus forming a stable state.

[0033] In some embodiments, first, by controlling the ventilation solenoid valve 400, the gas path is made conductive. Then, the manipulator is used to move the first connecting device 100 to the second connecting device 200. By inflating the gas path, the actuator 300 and the groove 210 are in a clamped state, thereby connecting the first connecting device 100 and the second connecting device 200. Furthermore, the manipulator can grasp the tooling. After completing the above steps, by controlling the ventilation solenoid valve 400 again, the gas path is made non-conductive, so that the clamped state between the actuator 300 and the groove 210 cannot be switched, thus avoiding the tooling falling from the manipulator due to human operation errors, which may cause harm to people.

[0034] Furthermore, on the basis of the above embodiments, in combination with Figure 2 and Figure 3 as shown, the actuator 300 includes a connecting member 310 and a first piston member 320. An air chamber 311 is provided in the connecting member 310. The air chamber 311 communicates with the ventilation solenoid valve 400. The first piston member 320 is partially inserted into the air chamber 311 in the axial direction. When the gas path is conductive, the air chamber 311 is inflated or deflated through the gas path, thereby controlling the first piston member 320 to move up and down in the air chamber 311. A clamping assembly 330 is arranged around the first piston member 320. When the first piston member 320 moves up and down in the air chamber 311, the clamping between the clamping assembly 330 and the groove 210 can be controlled.

[0035] Furthermore, on the basis of the above embodiments, in combination with Figure 2 and Figure 3 as shown, the clamping assembly 330 includes a connecting sleeve 331 sleeved outside the first piston member 320. An inner tube 332 for the first piston member 320 to move up and down is provided in the connecting sleeve 331. A plurality of telescopic clamping members 333 are arranged at one end of the connecting sleeve 331 away from the first piston member 320. The clamping members 333 are arranged at intervals of a preset distance along the end face of the connecting sleeve 331, that is, the connecting member 310 can move telescopically along the end face of the connecting sleeve 331. A top portion 321 is provided at one end of the first piston member 320 away from the air chamber 311. When the first piston member 320 moves up and down in the air chamber 311, it also moves in the inner tube 332 of the connecting sleeve 331. When moving to the clamping members 333, the top portion 321 of the first piston member 320 pushes the clamping members 333 outwards along the end face of the connecting sleeve 331, so that the clamping members 333 can be clamped in the groove 210.

[0036] In some embodiments, in combination with Figure 2 and Figure 3 As shown, the ejecting portion 321 is an annular shape protruding outward along the end surface of the first piston member 320 away from the air chamber 311. In this way, when the ejecting portion 321 moves to the engaging member 333, it can ensure that all the engaging members 333 arranged along the end surface of the connecting sleeve 331 are pushed outward, so as to achieve a better engaging effect.

[0037] Furthermore, on the basis of the above embodiments, in combination with Figure 2 and Figure 4 As shown, the second connecting device 200 includes a through groove 220 through which the connecting sleeve 331 can pass, and the groove 210 is arranged along the inner wall of the through groove 220 and is opposite to the position of the engaging member 333. In this way, when the first connecting device 100 and the second connecting device 200 are connected, the connecting sleeve 331 is embedded in the through groove 220 and the engaging member 333 is opposite to the groove 210. Then, when the air path is in a conducting state, the air chamber 311 is continuously inflated through the air path to make the first piston member 320 move downward through the connecting sleeve 331, so that the ejecting portion 321 of the first piston member 320 pushes the engaging member 333 outward along the end surface of the connecting sleeve 331, so that the engaging member 333 can be stuck in the groove 210.

[0038] Furthermore, on the basis of the above embodiments, as Figure 5 As shown, the ventilation solenoid valve 400 includes a valve body 410, an air inlet pipe 420 and an air outlet pipe 430 are arranged on both sides of the valve body 410, the air outlet pipe 430 is communicated with the connecting member 310, and the air inlet pipe 420 is communicated with an external air charging and suction device (not shown in the figure).

[0039] Furthermore, on the basis of the above embodiments. In combination with Figures 6 to 8As shown, a stroke cavity 411 is provided inside the valve body 410. The stroke cavity 411 is respectively in communication with the intake pipe 420 and the exhaust pipe 430. A second piston member 440 is provided inside the stroke cavity 411. The second piston member 440 can move inside the stroke cavity 411. The outer wall of the second piston member 440 includes a first contact wall 441 and a second contact wall 442. When the second piston member 440 is inside the stroke cavity 411, the first contact wall 441 is closely attached to the inner wall of the stroke cavity 411. The inner diameter of the second contact wall 442 is smaller than that of the first contact wall 441. Thus, when the second piston member 440 moves the first contact wall 441 between the intake pipe 420 and the exhaust pipe 430, since the first contact wall 441 is closely attached to the inner wall of the stroke cavity 411, the second piston member 440 blocks the intake pipe 420 and the exhaust pipe 430, thereby enabling the ventilation solenoid valve 400 to achieve the effect of disconnecting the air path. When the second piston member 440 moves the second contact wall 442 between the intake pipe 420 and the exhaust pipe 430, since the inner diameter of the second contact wall 442 is smaller than that of the first contact wall 441, there is a gap between the second piston member 440 and the blocked intake pipe 420 and exhaust pipe 430, thereby enabling the ventilation solenoid valve 400 to achieve the effect of conducting the air path.

[0040] In some embodiments, in combination with Figure 3 and Figure 4 As shown, a guide rod 230 is provided on the second connecting device 200, and a through hole 110 corresponding to the position of the guide rod 230 is provided on the first connecting device 100. When the first connecting device 100 and the second connecting device 200 are connected, the guide rod 230 is inserted into the through hole 110, thereby realizing the guiding of the movement between the first connecting device 100 and the second connecting device 200.

[0041] Details of the above exemplary embodiments, and the present invention can be implemented in other specific forms without departing from the spirit or basic characteristics of the present invention. Therefore, in any regard, the embodiments should be regarded as exemplary and non-limiting. The scope of the present invention is defined by the appended claims rather than the above description. Therefore, all changes falling within the meaning and scope of the equivalent elements of the claims are intended to be included in the present invention.

Claims

1. A robot quick-change connector, characterized in that: The invention comprises a first connecting device (100) and a second connecting device (200), wherein the first connecting device (100) is used for being installed on a manipulator, a groove (210) is arranged in the second connecting device (200), an actuator (300) for clamping the groove (210) is arranged in the first connecting device (100), the actuator (300) is connected to a ventilation solenoid valve (400) via an air circuit, and the ventilation solenoid valve (400) controls the clamping connection between the actuator (300) and the groove (210) by opening or disconnecting the air circuit.

2. The robot quick-change connector according to claim 1, characterized in that: The actuator (300) comprises a connecting member (310) and a first piston member (320). An air cavity (311) is provided in the connecting member (310). The air cavity (311) is communicated with a ventilation solenoid valve (400). The first piston member (320) is partially embedded in the air cavity (311) in an axial direction. A clamping assembly (330) is arranged around the first piston member (320).

3. The robot quick-change connector according to claim 2, characterized in that: The clamping assembly (330) comprises a connecting sleeve (331) sleeved on the outside of the first piston member (320), wherein the connecting sleeve (331) has an inner tube body (332) for the first piston member (320) to be lifted and lowered, and a plurality of retractable clamping members (333) are arranged at one end of the connecting sleeve (331) away from the first piston member (320), wherein the clamping members (333) are arranged at intervals of a preset distance along the end surface of the connecting sleeve (331), and an ejection portion (321) is arranged at one end of the first piston member (320) away from the air cavity (311).

4. The robot quick-change connector according to claim 3, characterized in that: The ejection portion (321) is annular and protrudes outward along the end surface of one end of the first piston member (320) away from the air cavity (311).

5. The robot quick-change connector according to claim 2, characterized in that: The second connecting device (200) comprises a through slot (220) through which the connecting sleeve (331) can pass, and the groove (210) is arranged along the inner wall of the through slot (220) and is located opposite to the position of the clamping member (333).

6. The robot quick-change connector according to claim 1, characterized in that: The ventilation solenoid valve (400) comprises a valve body (410), and an air inlet pipe (420) and an air outlet pipe (430) are arranged on both sides of the valve body (410), and the air outlet pipe (430) is communicated with the connecting piece (310).

7. The robot quick-change connector according to claim 6, characterized in that: A stroke chamber (411) is arranged in the valve body (410), and the stroke chamber (411) is communicated with the air inlet pipe (420) and the air outlet pipe (430) respectively. A second piston member (440) is arranged in the stroke chamber (411), and the second piston member (440) can move in the stroke chamber (411). The outer wall of the second piston member (440) includes a first contact wall (441) and a second contact wall (442). When the second piston member (440) is in the stroke chamber (411), the first contact wall (441) is tightly attached to the inner wall of the stroke chamber (411), and the inner diameter of the second contact wall (442) is smaller than that of the first contact wall (441).

8. The robot quick-change connector according to claim 1, characterized in that: A guide rod (230) is provided on the second connecting device (200), and a through hole (110) corresponding to the position of the guide rod (230) is provided on the first connecting device (100).

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