Transferable manipulator end effector quick-changing device

Abstract

The utility model discloses a drivable manipulator end effector quick change device, which relates to the technical field of robot end effector quick change and comprises an upper main disc, a bearing base flange is mounted at the upper end of the upper main disc, a lower main disc is detachably connected to the lower end of the upper main disc, a tool side flange is mounted at the lower end of the lower main disc, and a tool side flange is mounted at the lower end of the tool side flange. A hollow column is fixedly arranged in the upper main disc in a sleeved mode, a first convex groove is formed in the lower end of the bearing base flange, a second convex groove is formed in the tool side flange disc, a transmission component is arranged in the hollow column, and a driven component is arranged in the second convex groove. By arranging the driven component and the transmission component, equipment can be driven to rotate, other independent transmission devices do not need to be introduced into the tool side flange plate to drive the equipment to rotate, the complexity of the device is reduced, only one motor is needed to serve as a power source, and cost is saved.

Description

Technical Field

[0001] The utility model relates to the technical field of quick-changing of robot end effectors, in particular to a drivable quick-changing device for an end effector of a manipulator. Background Art

[0002] Robots are widely used in various industrial automation fields, such as welding, assembly, handling, grinding, polishing, and inspection. However, the application of robots is inseparable from various end-effectors, such as grippers, suction cups, welding guns, cutting tools, deburring tools, grinders, polishers, scanners, lasers, etc. Therefore, the connection between the robot and the end-effector is crucial for achieving automation.

[0003] First, the aforementioned "connection" often involves multiple functions, including the transmission of load current and voltage between the manipulator and the end effector, the transmission of power air pressure or hydraulic pressure, the transmission of communication signals, the transmission of coolant, the transmission of materials, and so on. Secondly, the design of the manipulator automation solution requires this "connection" to be simpler, faster, and more efficient. Because the manipulator may require the replacement of its end effector or switch between multiple end effectors during the execution of a certain production process, in order to give full play to the economy and flexibility of the manipulator's automated flexible manufacturing.

[0004] Based on these two points, multifunctional quick-change plates (also known in the industry as gun changers, quick-change devices, quick changers, and quick changers) used in robotic end-of-arm applications have been widely researched and popularized. Well-known manufacturers of robot quick-change plates include ATI, SCHUNK, and NITTA, as well as domestic companies such as Qiaotian and Linghang. These manufacturers not only offer a wide range of quick-change plates with varying load capacities, but also conduct extensive research and product development in areas such as functional module expansion (such as high-voltage modules and welding modules), floating adaptive docking, and locking safety after pressure loss.

[0005] Most of the multifunctional quick-change discs in the existing technology do not have a transmission function, that is, they cannot transmit mechanical rotation to the end effector through the quick-change disc. It may be necessary to introduce other independent transmission devices to make up for this defect, which increases the complexity of the equipment and requires further improvement. For this purpose, a transmission-capable manipulator end effector quick-change device is proposed. Utility Model Content

[0006] The main purpose of the utility model is to provide a drivable manipulator end effector quick-change device, which can effectively solve the problems in the background technology.

[0007] In order to achieve the above purpose, the technical solution adopted by the utility model is:

[0008] A quick-changing device for a transmittable manipulator end effector comprises an upper main plate, a bearing base flange is installed at the upper end of the upper main plate, a lower end of the upper main plate is detachably connected to a lower main plate, a tool side flange is installed at the lower end of the lower main plate, an internal fixing sleeve of the upper main plate is provided with a hollow column, a first convex groove is provided at the lower end of the bearing base flange, a second convex groove is provided in the tool side flange, a transmission component is provided in the hollow column, and a driven component is provided in the second convex groove.

[0009] Preferably, the transmission component includes two second bearings, the two second bearings are distributed up and down, the two second bearings are fixedly sleeved in the first convex groove and the hollow column respectively, and the interiors of the two second bearings are commonly fixedly sleeved with a driving shaft, the upper end of the driving shaft is movably inserted into the upper side of the bearing base flange, and the lower end of the driving shaft is movably inserted into the lower end of the upper main disk and is fixedly connected to the driving gear disk.

[0010] Preferably, the driven component includes a first bearing, the first bearing fixed sleeve is arranged in the second convex groove, the internal fixed sleeve of the first bearing is provided with a driven shaft, the upper end of the driven shaft is fixedly connected to a driven gear plate, the outer surface movable sleeve of the driven shaft is provided with a spring, the spring is located between the driven gear plate and the first bearing, and the lower end of the driven shaft is movably inserted into the tool side flange to drive the lower side.

[0011] Preferably, a plurality of through grooves distributed in a circular array are provided on the lower portion of the outer surface of the upper main disk, and a first chamber and a second chamber are provided in sequence from top to bottom inside the upper main disk, a piston is movably connected to the cylindrical surface in the first chamber, and the piston is movably sleeved on the hollow column, a slider is slidably connected to the second chamber, and movable balls are provided in the plurality of through grooves.

[0012] Preferably, the slider is movably connected to the ball bearing, the slider cooperates with the ball bearing, and the slider is transmission-connected to the piston via a connecting rod.

[0013] Preferably, a slot is provided on the inner cylindrical surface of the lower main disk.

[0014] Preferably, two valve tubes are fixedly inserted and connected to the outer surface of the upper main plate, and both of the valve tubes extend into the first chamber.

[0015] Preferably, signal modules are installed on both the upper main disk and the lower main disk.

[0016] Compared with the prior art, the present invention has the following beneficial effects:

[0017] By setting the driven component and the transmission component, the equipment can be driven to transmit. When in use, the driving shaft is connected to the output end of the motor. When the motor drives the driving shaft to rotate, the driving shaft drives the driven gear plate and the driven shaft to rotate through the driving gear plate, thereby driving the equipment on the tool side flange to rotate. The tool side flange does not need to introduce other independent transmission devices to drive the equipment to rotate, which reduces the complexity of the device and only requires one motor as the power source, saving costs.

[0018] By arranging the driving gear disc and the driven gear disc to cooperate with each other, the driven shaft and the driving shaft can be quickly connected, which greatly reduces the installation and disassembly time, and allows connection at any angle, which can reduce additional installation time and improve work efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 This is a schematic diagram of the entire structure proposed in this embodiment;

[0020] Figure 2 Schematic diagram of the cross-sectional structure of the upper main disk in this embodiment;

[0021] Figure 3 Schematic diagram of the overall cross-sectional structure of this embodiment;

[0022] Figure 4 Schematic diagram of the structure of the driven component and the transmission component in this embodiment.

[0023] In the figure: 1. Upper main plate; 2. Bearing base flange; 3. Lower main plate; 4. Tool side flange; 5. Signal module; 6. First chamber; 7. Piston; 8. Second chamber; 9. Slider; 10. Through groove; 11. Ball; 12. Hollow column; 13. Slot; 14. First convex groove; 15. Second convex groove; 16. Driven component; 17. Transmission component; 18. Valve tube; 161. First bearing; 162. Driven shaft; 163. Driven gear disc; 164. Spring; 171. Driving shaft; 172. Second bearing; 173. Driving gear disc. DETAILED DESCRIPTION

[0024] In order to make the technical means, creative features, objectives and effects achieved by the present invention easier to understand, the present invention is further described below in conjunction with specific implementation methods.

[0025] In the description of this utility model, it should be noted that the terms "upper," "lower," "inner," "outer," "front end," "rear end," "both ends," "one end," "the other end," and the like, indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings and are intended solely to facilitate the description of this utility model and simplify the description. They are not intended to indicate or imply that the devices or components referred to must have a specific orientation, be constructed, or operate in a specific orientation. Therefore, they should not be construed as limitations on this utility model. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0026] In the description of this utility model, it should be noted that, unless otherwise expressly specified or limited, the terms "installed," "provided with," "connected," etc. should be understood in a broad sense. For example, "connected" can mean 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 an indirect connection through an intermediate medium, or it can be internal communication between two components. Those skilled in the art will be able to understand the specific meanings of the above terms in this utility model based on the specific circumstances.

[0027] like Figures 1-4 As shown, a quick-changing device for a transmittable manipulator end effector includes an upper main disk 1, a bearing base flange 2 is installed at the upper end of the upper main disk 1, and a lower main disk 3 is detachably connected to the lower end of the upper main disk 1. The lower main disk 3 is an annular structure, and a positioning column is provided on the lower main disk 3 to facilitate connection with the upper main disk 1. A tool side flange 4 is installed at the lower end of the lower main disk 3, and the internal fixing sleeve of the upper main disk 1 is provided with a hollow column 12. A first convex groove 14 is provided at the lower end of the bearing base flange 2, and a second convex groove 15 is provided in the tool side flange 4. A transmission component 17 is provided in the hollow column 12, and a driven component 16 is provided in the second convex groove 15.

[0028] By setting the driven component 16 and the transmission component 17 to cooperate with each other, the equipment on the tool side flange 4 can be driven to transmit. The transmission component 17 includes two second bearings 172, and the two second bearings 172 are distributed up and down. The two second bearings 172 are fixedly sleeved in the first convex groove 14 and the hollow column 12 respectively. The interior of the two second bearings 172 is fixedly sleeved with a driving shaft 171. The second bearing 172 is used to support the rotation of the driving shaft 171. The upper end of the driving shaft 171 is movably inserted into the bearing base flange 2 On the upper side, the lower end of the driving shaft 171 is movably inserted into the lower end of the upper main plate 1 and is fixedly connected to the driving gear plate 173. The driven component 16 includes a first bearing 161, and the first bearing 161 is fixedly sleeved in the second convex groove 15. The inner fixed sleeve of the first bearing 161 is provided with a driven shaft 162. The upper end of the driven shaft 162 is fixedly connected to the driven gear plate 163. The outer surface of the driven shaft 162 is movably sleeved with a spring 164. The spring 164 is located between the driven gear plate 163 and the first bearing 161. The driven shaft 1 The lower end of 62 is movably inserted into the tool side flange 4 to drive the lower side. When the upper main disk 1 and the lower main disk 3 are connected, the driving gear disk 173 and the driven gear disk 163 are engaged. The driving gear disk 173 is located in the second convex groove 15. When in use, the driving shaft 171 is connected to the output end of the motor. When the motor drives the driving shaft 171 to rotate, the driving shaft 171 drives the driven gear disk 163 and the driven shaft 162 to rotate through the driving gear disk 173, which can drive the equipment on the tool side flange 4 to rotate. The tool side flange 4 does not need to be introduced. Other independent transmission devices drive the equipment to rotate (equipment such as various types of belt machines, grinding disc grinders, grinding head grinders and polishing machines, etc.), reducing the complexity of the device. When connected with other lower main discs 3, only one motor is needed as a power source, saving costs. The active gear disc 173 and the driven gear disc 163 work together to quickly connect the driven shaft 162 and the active shaft 171, greatly reducing the installation and disassembly time, and allowing connection at any angle, which can reduce additional installation time and improve work efficiency.

[0029] In order to realize the quick connection between the upper main disk 1 and the lower main disk 3, a plurality of through grooves 10 distributed in a ring array are provided on the lower part of the outer surface of the upper main disk 1. The through grooves 10 have a certain inclination angle to facilitate the balls 11 to roll back into the second chamber 8. The interior of the upper main disk 1 is provided with a first chamber 6 and a second chamber 8 from top to bottom. The cylindrical surface of the first chamber 6 is movably connected with a piston 7, and the piston 7 is movably sleeved on the hollow column 12. The second chamber 8 is slidably connected with a slider 9. A plurality of through grooves 10 are provided with movable balls 11. The diameter of the side of the through groove 10 close to the card slot 13 is smaller than the diameter of the ball 11 to prevent the ball 11 from escaping from the through groove 10 and being unable to be movably connected to the ball 11 from the slider 9. The slider 9 cooperates with the ball 11, and the slider 9 is connected to the piston 7 through a connecting rod. 3. Two valve tubes 18 are fixedly inserted and connected to the outer surface of the upper main disk 1. Both valve tubes 18 extend into the first chamber 6. The valve tubes 18 are used to control the inlet and outlet of gas and liquid. The two valve tubes 18 extend to the upper and lower sides of the piston 7 respectively to control the up and down movement of the piston 7. During installation, the upper main disk 1 is inserted into the lower main disk 3, and the active gear plate 173 and the driven gear plate 163 are connected. The gas is transported to the lower part of the piston 7 through the valve tubes 18, driving the piston 7 to move upward. The piston 7 drives the slider 9 to move upward, and the slider 9 pushes the ball 11 into the slot 13, thereby completing the fixation between the upper main disk 1 and the lower main disk 3. During disassembly, the gas is transported to the upper part of the piston 7 through the valve tubes 18, and the gas at the lower part of the piston 7 is discharged. The ball 11 is no longer squeezed and slides into the second chamber 8, thereby separating the upper main disk 1 and the lower main disk 3.

[0030] Signal modules 5 are installed on both the upper main disk 1 and the lower main disk 3 , and the signal modules 5 are used to transmit signals.

[0031] The above shows and describes the basic principles, main features and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The above embodiments and descriptions are merely illustrative of the principles of the present invention. Various changes and improvements may be made to the present invention without departing from the spirit and scope of the present invention. Such changes and improvements are intended to fall within the scope of the present invention. The scope of protection claimed in this invention is defined by the appended claims and their equivalents.

Claims

1. A quick-change device for a drivable manipulator end effector, comprising an upper main plate (1), characterized in that: The upper end of the upper main disk (1) is equipped with a bearing base flange (2), the lower end of the upper main disk (1) is detachably connected to the lower main disk (3), the lower end of the lower main disk (3) is equipped with a tool side flange (4), the internal fixing sleeve of the upper main disk (1) is provided with a hollow column (12), the lower end of the bearing base flange (2) is provided with a first convex groove (14), the tool side flange (4) is provided with a second convex groove (15), a transmission component (17) is provided in the hollow column (12), and a driven component (16) is provided in the second convex groove (15).

2. The drivable manipulator end effector quick-change device according to claim 1, characterized in that: The transmission component (17) includes two second bearings (172), the two second bearings (172) are distributed in an upper and lower manner, the two second bearings (172) are fixedly sleeved in the first convex groove (14) and the hollow column (12), and the interiors of the two second bearings (172) are fixedly sleeved with a driving shaft (171), the upper end of the driving shaft (171) is movably inserted into the upper side of the bearing base flange (2), and the lower end of the driving shaft (171) is movably inserted into the lower end of the upper main disk (1) and is fixedly connected to the driving gear disk (173).

3. The drivable manipulator end effector quick-change device according to claim 1, characterized in that: The driven component (16) includes a first bearing (161), the first bearing (161) is fixedly sleeved in the second convex groove (15), the inner fixed sleeve of the first bearing (161) is provided with a driven shaft (162), the upper end of the driven shaft (162) is fixedly connected to a driven gear disk (163), the outer surface of the driven shaft (162) is movably sleeved with a spring (164), the spring (164) is located between the driven gear disk (163) and the first bearing (161), and the lower end of the driven shaft (162) is movably inserted into the tool side flange (4) to drive the lower side.

4. The drivable manipulator end effector quick-change device according to claim 1, characterized in that: The lower portion of the outer surface of the upper main disk (1) is provided with a plurality of through grooves (10) distributed in an annular array. The interior of the upper main disk (1) is provided with a first chamber (6) and a second chamber (8) in sequence from top to bottom. The inner cylindrical surface of the first chamber (6) is movably connected to a piston (7), and the piston (7) is movably sleeved on a hollow column (12). The second chamber (8) is slidably connected to a slider (9), and a plurality of the through grooves (10) are provided with movable balls (11).

5. The drivable manipulator end effector quick-change device according to claim 4, characterized in that: The slider (9) is movably connected to the ball (11), the slider (9) and the ball (11) cooperate with each other, and the slider (9) and the piston (7) are connected by a connecting rod.

6. The drivable manipulator end effector quick-change device according to claim 5, characterized in that: A clamping groove (13) is provided on the inner cylindrical surface of the lower main disk (3).

7. The drivable manipulator end effector quick-change device according to claim 1, characterized in that: Two valve tubes (18) are fixedly connected and inserted into the outer surface of the upper main disk (1), and both valve tubes (18) extend into the first chamber (6).

8. The drivable manipulator end effector quick-change device according to claim 1, characterized in that: Signal modules (5) are installed on both the upper main disk (1) and the lower main disk (3).

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