Multi-free-end robot tail end structure

Abstract

The utility model relates to the technical field of multi-axis robots, in particular to a multi-free-end robot tail end structure which comprises a main body, a first piston, a second piston, a sliding disc, a positioning disc and a connecting main disc, one end of the first piston is used for abutting against the middle position of one end face of the sliding disc, one end of the second piston is used for abutting against the non-middle position of one end face of the sliding disc, and one end face of the positioning disc abuts against the other end face of the sliding disc. The two end faces of the sliding disc communicate with a plurality of through holes, connecting rods penetrate through the through holes to communicate between the sliding disc and the connecting main disc in a one-to-one correspondence mode, and the hole diameter of the through holes is larger than the diameter of the connecting rods. The utility model aims to provide the multi-free-end robot tail end structure which is good in pose tolerance capability and can be suitable for quick change of tail end tools of most robots.

Description

Technical Field

[0001] The utility model relates to the technical field of multi-axis robots, and particularly relates to a multi-free-end robot end structure. Background Art

[0002] The tasks performed by robots are often diverse, and the quality, shape, and size of the task objectives are mostly different. Therefore, using only a single end tool cannot meet the requirements of complex tasks. The existing solution is to equip the robot with an end tool quick-change device and a tool library, so that the robot can replace the end tool according to the actual needs of the operation task, improving the operation ability and operation efficiency of the robot.

[0003] Most of the existing quick-change tools do not have a pose tolerance ability or have a very poor pose tolerance ability, and the robotic arm needs to have very high precision to complete the switching of the end tool, making the quick-change device inapplicable to most end tools, greatly reducing the flexibility of the robot equipped with the end tool quick-change device. Summary of the Invention

[0004] In order to overcome the shortcomings and deficiencies existing in the prior art, the purpose of the utility model is to provide a multi-free-end robot end structure, which has good pose tolerance ability and can be applied to the quick change of end tools of most robots.

[0005] The utility model is realized through the following technical solutions:

[0006] A multi-free-end robot end structure includes a main body, a first piston, a second piston slidably arranged in the main body, a sliding disk, a positioning disk, and a connecting main disk that are sequentially movably arranged at one end of the main body. One end of the first piston is used to abut against the middle position of one end face of the sliding disk, one end of the second piston is used to abut against a non-middle position of one end face of the sliding disk, and one end face of the positioning disk abuts against the other end face of the sliding disk; a plurality of through holes are communicated with both end faces of the sliding disk, and connecting rods are correspondingly communicated with the through holes one by one between the sliding disk and the connecting main disk, and the aperture of the through hole is larger than the diameter of the connecting rod.

[0007] Wherein, one end of the second piston is connected with a plurality of positioning columns, and the plurality of positioning columns are slidably connected with the main body and are respectively used to abut against non-middle positions of one end face of the sliding disk.

[0008] Wherein, one end of the positioning column is a conical structure, and a conical groove corresponding to the conical structure is arranged on one end face of the sliding disk.

[0009] Wherein, a plurality of rolling abutting members are arranged on one end face of the positioning disk.

[0010] Wherein, a plurality of first elastic members are further connected between the positioning disk and the connecting main disk.

[0011] Wherein, one end of the main body close to the sliding disk is provided with a first blind hole, a piston cover plate is installed at the opening of the first blind hole, and a first piston chamber is formed between the piston cover plate and the first blind hole;

[0012] The piston cover plate is provided with a piston expansion hole, and the first piston is respectively slidably connected to the first blind hole and the piston expansion hole.

[0013] Wherein, one side of the main body is provided with a first air hole, the first air hole is communicated with the bottom end of the first piston chamber, and a first convex block is arranged at the bottom end of the first piston member.

[0014] Wherein, a second elastic member is further connected between the piston cover plate and the first piston.

[0015] Wherein, a second piston chamber is arranged in the main body, and the second piston is slidably arranged in the second piston chamber; a second air hole and a third air hole are arranged on one side of the main body, the second air hole is communicated with the top end of the second piston chamber, the third air hole is communicated with the bottom end of the second piston chamber, and a second convex block is arranged at the bottom end of the second piston member.

[0016] Advantages of the present utility model:

[0017] A multi-free-end robot end structure of the present utility model is provided with a first piston, a second piston, a sliding disk, a positioning disk and a connecting main disk, and the connecting main disk is responsible for connecting with an external quick-change device. When the first piston and the second piston do not act on the sliding disk, the connecting main disk can realize displacements in horizontal, vertical and inclined directions within the limits of the connecting rod and the through hole, and has good pose tolerance ability; in addition, when the first piston and the second piston act on the sliding disk respectively, the friction force between the sliding disk, the positioning disk and the connecting main disk increases, so that the position of the connecting main disk is fixed.

[0018] Compared with the prior art, the present utility model can realize the state switching between the flexibility and rigidity of the robot end structure. When replacing a quick-change tool, the present utility model switches to a flexible state with high pose tolerance ability to improve applicability; and when a processing command needs to be executed after the quick-change tool replacement is completed, the present utility model switches to a rigid state to improve, ensuring the accuracy of the robot during work. Description of the drawings

[0019] The present utility model is further described with the aid of the drawings, but the embodiments in the drawings do not constitute any limitation to the present utility model. For those of ordinary skill in the art, other drawings can also be obtained according to the following drawings without creative work.

[0020] Figure 1 It is a three-dimensional structure schematic diagram of the present utility model.

[0021] Figure 2 This is an exploded view of the present utility model.

[0022] Figure 3 This is a cross-sectional view of the present utility model.

[0023] Reference numerals

[0024] Main body -- 100, first piston -- 101, second piston -- 102, sliding disk -- 103, positioning disk -- 104, connecting main disk -- 105, through hole -- 106, connecting rod -- 107, positioning post -- 108, conical groove -- 109, rolling contact member -- 110, first elastic member -- 111, first piston cavity -- 112, piston cover plate -- 113, piston expansion hole -- 114, first air hole -- 115, first convex block -- 116, second elastic member -- 117, second piston cavity -- 118, second air hole -- 119, third air hole -- 120, second convex block -- 121. Detailed implementation manners

[0025] In order to make the above objects, features and advantages of the present utility model more obvious and understandable, the following will describe the detailed implementation manners of the present utility model with reference to the accompanying drawings. Many specific details are set forth in the following description in order to fully understand the present utility model. However, the present utility model can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without departing from the connotation of the present utility model. Therefore, the present utility model is not limited by the specific embodiments disclosed below.

[0026] In the description of the present utility model, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings. These are 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. Therefore, it should not be construed as a limitation of the present utility model.

[0027] In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be construed as indicating or implying relative importance or implicitly indicating the quantity of the indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include at least one of such features. In the description of the present utility model, "a plurality of" means at least two, such as two, three, etc., unless otherwise specifically and clearly defined.

[0028] The tasks performed by robots are often diverse, and the quality, shape, and size of task objectives are mostly different. Therefore, using only a single end tool cannot meet the requirements of complex tasks. The existing solution is to equip the robot with an end tool quick-change device and a tool library, enabling the robot to replace the end tool according to the actual needs of the operation task, thereby improving the operation ability and efficiency of the robot.

[0029] Most of the existing quick-change tools have no pose tolerance ability or very poor pose tolerance ability. The robotic arm needs to have very high precision to complete the switching of the end tool, making the quick-change device inapplicable to most end tools and greatly reducing the flexibility of the robot equipped with the end tool quick-change device.

[0030] To solve the above problems, this embodiment discloses a multi-free-end robot end structure, the structure of which is as Figures 1 to 3 shown. The robot end structure includes a main body 100, a first piston 101, a second piston 102 slidably disposed in the main body 100, a sliding disk 103, a positioning disk 104, and a connecting main disk 105 sequentially and movably disposed at one end of the main body 100. One end of the first piston 101 is used to abut against the middle position of one end face of the sliding disk 103, and one end of the second piston 102 is used to abut against a non-middle position of one end face of the sliding disk 103. One end face of the positioning disk 104 abuts against the other end face of the sliding disk 103; a plurality of through holes 106 are communicated with both end faces of the sliding disk 103, and connecting rods 107 are correspondingly communicated with each other through the through holes 106 between the sliding disk 103 and the connecting main disk 105, and the aperture of the through hole 106 is larger than the diameter of the connecting rod 107.

[0031] Specifically, for the multi-free-end robot end structure of this embodiment, by providing the first piston 101, the second piston 102, the sliding disk 103, the positioning disk 104, and the connecting main disk 105, the connecting main disk 105 is responsible for connecting with the external quick-change device. When the first piston 101 and the second piston 102 do not act on the sliding disk 103, the connecting main disk 105 can achieve displacements in the horizontal, vertical, and inclined directions within the limits of the connecting rod 107 and the through hole 106, and has good pose tolerance ability; in addition, when the first piston 101 and the second piston 102 act on the sliding disk 103 respectively, the friction force between the sliding disk 103, the positioning disk 104, and the connecting main disk 105 increases, so that the position of the connecting main disk 105 is fixed.

[0032] Compared with the prior art, the robot end structure of this embodiment can realize the state switching between flexibility and rigidity. When replacing the quick-change tool, the utility model switches to a flexible state with high pose tolerance ability to improve applicability; when a machining command needs to be executed after the replacement of the quick-change tool is completed, the utility model switches to a rigid state to improve, ensuring the accuracy of the robot during operation.

[0033] Further, one end of the second piston 102 is connected with a plurality of positioning columns 108, and the plurality of positioning columns 108 are slidably connected with the main body 100 and respectively used to abut against non-middle positions of one end face of the sliding disk 103. In this embodiment, the plurality of positioning columns 108 are evenly distributed at a plurality of positions inside the main body 100, so that the stability of the positioning columns 108 acting on the sliding disk 103 is higher; in addition, one end of the positioning column 108 is of a conical structure, and a conical groove 109 corresponding to the conical structure is arranged on one end face of the sliding disk 103. The cooperation of the conical surfaces between the positioning column 108 and the sliding disk 103 is realized by inserting the conical structure at one end of the positioning column 108 into the conical groove 109, thereby improving the stability when the second piston 102 acts and the position of the connecting main disk 105 is fixed (i.e., the rigid state of the robot end structure).

[0034] Further, a plurality of rolling abutting members 110 are arranged on one end face of the positioning disk 104. In this embodiment, the rolling abutting members 110 are preferably ball bearings. By abutting between the ball bearings and the sliding disk 103, the wear degree between the sliding disk 103 and the positioning disk 104 is reduced, and the service life of the robot end structure of this embodiment is improved.

[0035] In addition, a plurality of first elastic members 111 are also connected between the positioning disk 104 and the connecting main disk 105. The first elastic members 111 are preferably springs. By arranging the first elastic members 111, the displacement of the connecting main disk 105 can be buffered and limited, further improving the applicability of this embodiment.

[0036] Specifically, a first blind hole is arranged at one end of the main body 100 close to the sliding disk 103, and a piston cover plate 113 is installed at the opening of the first blind hole. A first piston cavity 112 is formed between the piston cover plate 113 and the first blind hole; the piston cover plate 113 is provided with a piston expansion hole 114, and the first piston 101 is respectively slidably connected with the first blind hole and the piston expansion hole 114.

[0037] A first air hole 115 is arranged on one side of the main body 100, and the first air hole 115 is communicated with the bottom end of the first piston cavity 112. A first convex block 116 is arranged at the bottom end of the first piston 101.

[0038] In this embodiment, air is introduced into the first air hole 115 through an external air source to drive the first piston 101 to extend and act on the middle part of the sliding disk 103, thereby realizing the fixation of the position of the connecting main disk 105. The first convex block 116 can prevent the first piston 101 from fitting with the bottom end of the first piston cavity 112 to form a vacuum state, which may cause the first piston 101 to be unable to slide in the first piston cavity 112. In addition, a second elastic member 117 is connected between the piston cover plate 113 and the first piston 101. When the first piston 101 extends, the second elastic member 117 is compressed. The second elastic member 117 can reset the first piston 101 after the external air source is disconnected. The second elastic member 117 is preferably a spring.

[0039] Specifically, a second piston cavity 118 is provided in the main body 100, and the second piston 102 is slidably arranged in the second piston cavity 118. A second air hole 119 and a third air hole 120 are provided on one side of the main body 100. The second air hole 119 communicates with the top end of the second piston cavity 118, and the third air hole 120 communicates with the bottom end of the second piston cavity 118. A second convex block 121 is provided at the bottom end of the second piston 102.

[0040] In this embodiment, air is introduced into the third air hole 120 through an external air source to drive the second piston 102 to extend and act on a non-middle position of the sliding disk 103, thereby realizing further fixation of the position of the connecting main disk 105. The second convex block 121 can prevent the second piston 102 from fitting with the bottom end of the second piston cavity 118 to form a vacuum state, which may cause the second piston 102 to be unable to slide in the second piston cavity 118. On the contrary, introducing air into the second air hole 119 can drive the second piston 102 to retract.

[0041] It should be noted that seals are provided between the first piston 101 and the first piston cavity 112 and the piston expansion hole 114, between the second piston 102 and the second piston cavity 118, and between the positioning column 108 and the main body 100 to improve the sealing performance of the end structure of this embodiment.

[0042] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit the protection scope of the present invention. Although the present invention has been described in detail with reference to the preferred embodiments, those of ordinary skill in the art should understand that the technical solutions of the present invention can be modified or equivalently replaced without departing from the essence and scope of the technical solutions of the present invention.

Claims

1. A multi-free-end robot terminal structure, characterized in that: It comprises a main body, a first piston slidably arranged in the main body, a second piston, a sliding plate movably arranged at one end of the main body in sequence, a positioning plate and a connecting main plate, one end of the first piston is used to abut against the middle position of one end surface of the sliding plate, one end of the second piston is used to abut against the non-middle position of one end surface of the sliding plate, and one end surface of the positioning plate abuts against the other end surface of the sliding plate; The two end surfaces of the sliding disk are connected with a plurality of through holes, and the sliding disk and the connecting main disk are connected with connecting rods through the through holes in a one-to-one correspondence, and the aperture of the through hole is larger than the diameter of the connecting rod.

2. A multi-free-end robot terminal structure according to claim 1, characterized in that: One end of the second piston is connected to a plurality of positioning posts, which are slidably connected to the main body and are respectively used to abut against non-central positions of an end surface of the sliding disk.

3. A multi-free-end robot terminal structure according to claim 2, characterized in that: One end of the positioning column is a tapered structure, and one end surface of the sliding disk is provided with a tapered groove corresponding to the tapered structure.

4. The multi-free-end robot terminal structure according to claim 1, characterized in that: One end surface of the positioning plate is provided with a plurality of rolling abutments.

5. The multi-free-end robot terminal structure according to claim 1, characterized in that: A plurality of first elastic members are also connected between the positioning plate and the connecting main plate.

6. The multi-free-end robot terminal structure according to claim 1, characterized in that: A first blind hole is arranged at one end of the main body close to the sliding disk, a piston cover plate is arranged at the opening of the first blind hole, and a first piston cavity is formed between the piston cover plate and the first blind hole; The piston cover plate is provided with a piston telescopic hole, and the first piston is slidably connected with the first blind hole and the piston telescopic hole respectively.

7. The multi-free-end robot terminal structure according to claim 6, characterized in that: A first air hole is arranged on one side of the main body, the first air hole is communicated with the bottom end of the first piston chamber, and a first protrusion is arranged on the bottom end of the first piston member.

8. The multi-free-end robot terminal structure according to claim 6, characterized in that: A second elastic member is also connected between the piston cover plate and the first piston.

9. The multi-free-end robot terminal structure according to claim 1, characterized in that: A second piston cavity is provided in the main body, and the second piston is slidably provided in the second piston cavity; A second air hole and a third air hole are arranged on one side of the main body, the second air hole is communicated with the top end of the second piston cavity, the third air hole is communicated with the bottom end of the second piston cavity, and a second protrusion is arranged at the bottom end of the second piston member.

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