Automatic replacement tool for robot paws

Abstract

The utility model relates to an automatic replacement tool for robot grippers, which belongs to the field of mechanical arms and comprises a mechanical arm connected with a robot, one end of the mechanical arm is provided with a female connecting portion, a bin is arranged in an operation area of the mechanical arm and used for storing various grippers, and the female connecting portion is connected with the mechanical arm. One end of each paw is provided with a male connecting part connected with the female connecting part in a matched mode, and the female connecting part is in clutch fit with the male connecting parts so that the mechanical arm can grab or put down the paws. The mechanical arm can achieve quick connection through the female connecting part arranged on the mechanical arm and the male connecting parts arranged on the paws, when the mechanical arm needs to use different paws for machining, the mechanical arm is matched with the arranged bin body to complete automatic replacement of the paws of the mechanical arm, the machining efficiency is improved, and the safety risk is reduced.

Description

TECHNICAL FIELD

[0001] The utility model relates to mechanical arm technical field, specifically say a kind of robot hand claw automatic replacement tooling. BACKGROUND

[0002] Mechanical arm refers to high-precision, multiple input and output, highly nonlinear, strong coupling complex system. Because of its unique operation flexibility, it has been widely used in industrial assembly, safety explosion-proof and other fields.

[0003] In prior art, in order to avoid the singleness of processing scene, realize compatible working operation, mechanical arm needs to replace different hand claws for operation, and the traditional mechanical arm replaces hand claw by manual replacement of various hand claws, there is safety risk, and product processing efficiency is low.

[0004] Therefore, it is necessary to improve the robot hand claw in prior art. UTILITY MODEL CONTENT

[0005] The utility model provides a kind of robot hand claw automatic replacement tooling to solve the problems in relevant technologies, and the device solves the problem that existing mechanical arm needs manual replacement of hand claw.

[0006] To solve the above problems, the following technical solutions are provided:

[0007] A kind of robot hand claw automatic replacement tooling of the utility model, including the mechanical arm connected with robot, the one end of the mechanical arm is equipped with female connecting part, is equipped with warehouse body in the operation area of the mechanical arm, the warehouse body is used to store various hand claws, the one end of each hand claw is equipped with male connecting part matched with female connecting part, and the female connecting part and each male connecting part are all engaged to facilitate the mechanical arm to grab or put down hand claw.

[0008] In the above scheme, the warehouse body for storing hand claws is provided in the operation area of the mechanical arm, and the mechanical arm can be quickly connected by the female connecting part provided on the mechanical arm and the male connecting part provided on each hand claw. When the mechanical arm needs to use different hand claws for processing, the mechanical arm automatically replaces the hand claw by cooperating with the provided warehouse body, improves the processing efficiency and reduces the safety risk.

[0009] The engagement includes but is not limited to adsorption or locking.

[0010] The mechanical arm and the hand claw in the above scheme can adopt adsorption mode, the one end of the mechanical arm is connected with the hand claw by adsorption structure, or adopt locking mode, the one end of the mechanical arm is connected with the hand claw by fastener and fitting part.

[0011] The male connecting part is provided with a positioning pin, and the female connecting part is provided with a positioning slot matched with the positioning pin.

[0012] The positioning pin and the positioning slot cooperate between the male connecting part and the female connecting part, so that the alignment is accurate after the male connecting part and the female connecting part are combined, and the reliability is ensured after the mechanical arm replaces the gripper.

[0013] The female connecting part comprises a female connecting head, the female connecting head is provided with a plug-in end, a locking block is rotatably connected to the plug-in end, and an expander is arranged on the female connecting head, one end of the expander is eccentrically connected with the locking block, the male connecting part comprises a male connecting head, the male connecting head is provided with a plug-in slot matched with the plug-in end, a locking slot matched with one end of the locking block is arranged on the inner wall of the plug-in slot, and the locking block can be engaged or separated from the locking slot under the traction of the expander.

[0014] The plug-in end of the female connecting head and the plug-in slot of the male connecting head are combined, the locking block is arranged on the plug-in end, the locking slot is arranged on the plug-in slot, the locking block is rotated under the traction of the expander prearranged on the plug-in end, so that one end of the locking block extends into the locking slot, the plug-in end and the plug-in slot are locked, when separation is needed, the expander is reversely pushed to realize reverse rotation of the locking block, one end of the locking block is withdrawn from the locking slot, the plug-in end and the plug-in slot are unlocked, and the plug-in end can be taken out of the plug-in slot.

[0015] The plug-in end is in a columnar structure, the plug-in end is provided with a mounting groove, the locking block is rotatably arranged in the mounting groove and one end of the locking block extends out of the plug-in end, and the plug-in end is further provided with a giving slot communicated with the mounting groove along the axial direction of the plug-in end, the giving slot is used for accommodating one end of the expander, and one end of the locking block extends into the giving slot and is hinged with one end of the expander.

[0016] The mounting groove is arranged on the plug-in end and used for rotatably connecting the locking block, when the plug-in end is connected with the plug-in slot, one end of the locking block is located in the mounting groove, when the plug-in end is connected with the plug-in slot, the expander arranged in the giving slot drives the locking block to rotate, one end of the locking block extends to the outside of the plug-in end and enters the locking slot, and the plug-in end and the plug-in slot are connected.

[0017] The locking block is in an L-shaped or V-shaped structure, one end of the expander is fixedly connected with a hook body, the hook body is combined by two hook plates through a connecting column, the hook body is provided with a hook groove, and one arm of the locking block is clamped in the hook groove so that the expander pulls the locking block through the hook body.

[0018] One end of the expander forms the hook body through the two hook plates, the hook groove is left on the hook body, the locking block is in an L-shaped or V-shaped structure, one arm of the locking block is connected with the hook groove, and the locking block and the hook body are in a hinged state.

[0019] The letting-position slot is arranged at the middle of the plug-in end, the mounting slots are annularly arranged around the outer edge surface of the plug-in end with the letting-position slot as the center, the reverse jacking block is arranged in the locking slot, the reverse jacking block is located at the top of the locking slot, and an arc-shaped recess matching one end of the locking block is arranged at the bottom of the reverse jacking block, when the locking block enters the locking slot, the reverse jacking block is located obliquely above the end of the locking block and abuts against the one end of the locking block.

[0020] The reverse jacking block is used for compensating the gap between the one end of the locking block and the top of the locking slot, avoiding shaking, and improving the reliability of the matching between the male connector and the female connector.

[0021] The action end of the mechanical arm is further connected with a CCD camera, and the CCD camera is used for helping the female connecting part to scan and determine the position of the male connecting part.

[0022] In the above scheme, the CCD camera is used for helping the mechanical arm to assist positioning, and high-efficiency mechanical arm changing work is realized.

[0023] The above scheme has the following advantages:

[0024] 1. The robot gripper automatic changing tool comprises a mechanical arm connected with a robot, a female connecting part is arranged at one end of the mechanical arm, a warehouse body is arranged in a working area of the mechanical arm, the warehouse body is used for storing various grippers, one end of each gripper is provided with a male connecting part matched with the female connecting part, and the female connecting part and each male connecting part are in clutching cooperation so as to enable the mechanical arm to grab or put down the gripper, the warehouse body for storing the gripper is arranged in the working area of the mechanical arm, the mechanical arm can realize quick connection through the female connecting part arranged on the mechanical arm and the male connecting part arranged on each gripper, when the mechanical arm needs to use different grippers for machining, the mechanical arm can complete automatic changing of the gripper through cooperation with the arranged warehouse body, the machining efficiency is improved, and the safety risk is reduced.

[0025] 2. A positioning pin is arranged on the male connecting part, a positioning slot matched with the positioning pin is arranged on the female connecting part, and then the male connecting part and the female connecting part are matched through the cooperation of the positioning pin and the positioning slot, so that the alignment is accurate after the male connecting part and the female connecting part are matched, and the reliability of the mechanical arm after changing the gripper is ensured. BRIEF DESCRIPTION OF DRAWINGS

[0026] In order to make the content of the utility model more easily and clearly understood, the utility model will be further described in detail below according to the specific embodiments of the utility model and in combination with the drawings, wherein:

[0027] Figure 1 is a schematic diagram of the robot gripper automatic changing tool of the first embodiment;

[0028] Figure 2 is Figure 1 the enlarged view of A part of

[0029] Figure 3 is an assembly schematic view of a first embodiment robot hand automatic replacement tool;

[0030] Figure 4 is a schematic view of a second embodiment robot hand automatic replacement tool;

[0031] Figure 5 is an exploded schematic view of a female connector of a second embodiment robot hand automatic replacement tool.

[0032] Fig. 1, mechanical arm; 2, female connector; 201, plug-in end; 202, mounting groove; 203, accommodation groove; 204, positioning pin; 3, male connector; 301, plug-in groove; 3011, locking groove; 302, positioning slot; 4, warehouse body; 401, support frame; 402, support plate; 5, hand claw; 6, locking block; 7, hook body; 701, hook disc; 702, hook groove; 8, telescopic device. DETAILED DESCRIPTION

[0033] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0034] The first embodiment provides a robot hand automatic replacement tool as shown in Figure 1 The robot hand automatic replacement tool comprises a mechanical arm 1 connected with a robot, a female connecting part is arranged at one end of the mechanical arm 1, a warehouse body 4 is arranged in a working area of the mechanical arm 1, the warehouse body 4 is used for storing various hand claws 5, one end of each hand claw 5 is provided with a male connecting part adapted to be connected with the female connecting part, and the female connecting part and each male connecting part are in clutching cooperation so as to enable the mechanical arm 1 to grab or put down the hand claw 5. The robot can replace the hand claw 5 connected therewith in the working area by controlling the mechanical arm 1. In the embodiment, a plurality of warehouse bodies 4 can be arranged, and each warehouse body 4 comprises two support frames 401, a region for placing the hand claw 5 is left between the two support frames 401, and in order to ensure the stability of the hand claw 5, a support plate 402 abutting against the top surfaces of the two support frames 401 is further connected to the hand claw 5, as shown in Figure 2 When the hand claw 5 is placed in the warehouse body 4, the support frames 401 are located at both sides of the hand claw 5, at this time, the support plate 402 of the hand claw 5 abuts against the top ends of the two support frames 401 at the same time, and the hand claw 5 is supported on the support frames 401.

[0035] The clutching cooperation of the above embodiment includes but is not limited to adsorption or locking. The working area of the mechanical arm 1 is provided with a warehouse 4 for storing the gripper 5, and the mechanical arm 1 can be quickly connected through the female connection part provided by itself and the male connection part provided on each gripper 5. As an example, the mechanical arm 1 and the gripper 5 can adopt an adsorption mode, that is, one end of the mechanical arm 1 is connected with the gripper 5 through an adsorption structure, or a locking mode, that is, one end of the mechanical arm 1 is connected with the gripper 5 through a buckle and a clasp. In this way, when the mechanical arm 1 needs to use different grippers 5 for processing, the mechanical arm 1 can automatically replace the gripper 5 by cooperating with the warehouse 4 provided, thereby improving the processing efficiency and reducing the safety risk.

[0036] The female connection part on the mechanical arm 1 and the male connection part on each gripper 5 are connected through a positioning structure to ensure the accuracy of the alignment of the two, and specific reference is made to Figure 3 The male connection part is provided with a positioning pin 204, and the female connection part is provided with a positioning slot 302 matched with the positioning pin 204. When the female connection part and the male connection part start to be connected, the positioning pin 204 on the male connection part is aligned with the positioning slot 302 on the female connection part to realize precise insertion.

[0037] Referring to Figure 3 The female connection part includes a female connector 2, and the female connector 2 has an insertion end 201. The insertion end 201 is rotatably connected with a locking block 6. The female connector 2 is provided with an extender 8, one end of the extender 8 is eccentrically connected with the locking block 6. The male connection part includes a male connector 3, and the male connector 3 has an insertion slot 301 matched with the insertion end 201. The inner wall of the insertion slot 301 is provided with a locking slot 3011 matched with one end of the locking block 6. Under the traction of the extender 8, the locking block 6 can be engaged or separated from the locking slot 3011. That is, the female connector 2 has the insertion end 201, and the male connector 3 has the insertion slot 301 matched with the insertion end 201. After the insertion end 201 is inserted into the insertion slot 301, the locking block 6 on the insertion end 201 and the locking slot 3011 on the insertion slot 301 are matched. The locking block 6 is rotated by the extender 8 embedded in the insertion end 201 in advance, so that one end of the locking block 6 extends into the locking slot 3011, and the insertion end 201 and the insertion slot 301 are locked. When it is necessary to separate, the locking block 6 is reversely rotated by the extender 8, so that one end of the locking block 6 exits the locking slot 3011, and the insertion end 201 and the insertion slot 301 are unlocked, so that the insertion end 201 can be taken out of the insertion slot 301.

[0038] As an example, the lock block 6 of the embodiment is in L-shaped or V-shaped structure, the plug-in end 201 is in columnar structure, the mounting groove 202 is formed on the plug-in end 201, the lock block 6 is rotatably arranged in the mounting groove 202, and one end of the lock block 6 extends out of the plug-in end 201. A clearance groove 203 is also formed on the plug-in end 201 along the axis direction of the plug-in end 201 and is in communication with the mounting groove 202. The clearance groove 203 is used for accommodating one end of the extender 8, and one end of the lock block 6 extends into the clearance groove 203 and is hingedly connected with one end of the extender 8. The mounting groove 202 is arranged on the plug-in end 201 and is used for rotatably connecting the lock block 6. When the plug-in end 201 is connected with the plug-in groove 301, one end of the lock block 6 is located in the mounting groove 202. After the plug-in end 201 is connected with the plug-in groove 301, the extender 8 arranged in the clearance groove 203 drives the lock block 6 to rotate, so that one end of the lock block 6 extends out of the plug-in end 201 and enters the lock groove 3011, and the connection between the plug-in end 201 and the plug-in groove 301 is achieved.

[0039] As shown in Figure 4 , compared with the first embodiment, the lock block 6 and the extender 8 of the robot hand claw automatic replacement tool of the second embodiment of the utility model adopt a detachable hinged structure. Specifically, the extender 8 is fixedly connected with a hook body 7 at one end. The hook body 7 is composed of two hook plates 701 through a connecting column. The hook body 7 has a hook groove 702. One arm of the lock block 6 is clamped in the hook groove 702, so that the extender 8 pulls the lock block 6 through the hook body 7. One end of the extender 8 forms the hook body 7 through the two hook plates 701. The hook groove 702 is left on the hook body 7. Since the lock block 6 adopts L-shaped or V-shaped structure, one arm of the lock block 6 is connected with the hook groove 702, so that the lock block 6 and the hook body 7 form a hinged state.

[0040] Further, as shown in Figure 5 , the embodiment adopts the clearance groove 203 arranged in the middle of the plug-in end 201. Three mounting grooves 202 are arranged, and the mounting grooves 202 are circularly distributed around the outer edge of the plug-in end 201 with the clearance groove 203 as the center. A reverse top block is further arranged in the lock groove 3011. The reverse top block is located at the top of the lock groove 3011 and has an arc-shaped groove at the bottom, which is matched with one end of the lock block 6. When the lock block 6 enters the lock groove 3011, the reverse top block is located obliquely above one end of the lock block 6 and abuts against one end of the lock block 6. The reverse top block is used for compensating the gap between one end of the lock block 6 and the top of the lock groove 3011, avoiding shaking and improving the reliability of the matching between the male connector 3 and the female connector 2.

[0041] In order to ensure that the mechanical arm 1 can quickly find the hand claw 5, the action end of the mechanical arm 1 of the first embodiment and the second embodiment is further connected with a CCD camera. The CCD camera is used for helping the female connection part to scan and determine the position of the male connection part, so as to realize efficient mechanical arm 1 replacement work.

[0042] It can be understood that the utility model is described through some embodiments, and the person skilled in the art knows that various changes or equivalent replacements can be made to these features and embodiments without departing from the spirit and scope of the utility model. In addition, under the guidance of the utility model, these features and embodiments can be modified to adapt to specific conditions and materials without departing from the spirit and scope of the utility model. Therefore, the utility model is not limited by the specific embodiments disclosed herein, and all embodiments falling within the scope of the claims of the application belong to the scope protected by the utility model.

Claims

1. A robot gripper automatic changing tool comprising a robot connected mechanical arm (1), characterized in that, One end of the mechanical arm (1) is provided with a female connector, a warehouse (4) is arranged in the working area of the mechanical arm (1), and the warehouse (4) is used for storing various grippers (5). One end of each gripper (5) is provided with a male connector matched with the female connector. The female connector and each male connector are in engagement and disengagement cooperation so that the mechanical arm (1) can pick up or put down the gripper (5). The female connector comprises a female connector head (2), the female connector head (2) is provided with a plug-in end (201), the plug-in end (201) is rotatably connected with a locking block (6), the female connector head (2) is provided with a telescopic device (8), one end of the telescopic device (8) is eccentrically connected with the locking block (6), the male connector comprises a male connector head (3), the male connector head (3) is provided with a plug-in groove (301) matched with the plug-in end (201), the inner wall of the plug-in groove (301) is provided with a locking groove (3011) matched with one end of the locking block (6), under the traction of the telescopic device (8), the locking block (6) can be engaged or separated from the locking groove (3011).

2. The robot gripper automatic changing tooling of claim 1, wherein, The engagement and disengagement cooperation comprises adsorption or locking.

3. A robot gripper automatic changing tool according to claim 1 or 2, characterized in that, The male connector is provided with a positioning pin (204), and the female connector is provided with a positioning slot (302) matched with the positioning pin (204).

4. The robotic gripper automatic change tooling of claim 1, wherein, The plug-in end (201) is in a columnar structure, the plug-in end (201) is provided with a mounting groove (202), the locking block (6) is rotatably arranged in the mounting groove (202), and one end of the locking block (6) extends out of the plug-in end (201), the plug-in end (201) is also provided with a clearance groove (203) communicated with the mounting groove (202) along the axial direction of the plug-in end (201), the clearance groove (203) is used for accommodating one end of the telescopic device (8), and one end of the locking block (6) extends to the clearance groove (203) and is hingedly connected with one end of the telescopic device (8).

5. A robot gripper automatic change tooling as claimed in claim 4, wherein, The locking block (6) is in an L-shaped or V-shaped structure, one end of the telescopic device (8) is fixedly connected with a hook body (7), the hook body (7) is combined by two hook plates (701) through a connecting column, the hook body (7) is provided with a hook groove (702), one arm of the locking block (6) is clamped in the hook groove (702) so that the telescopic device (8) pulls the locking block (6) through the hook body (7).

6. A robot gripper automatic change tooling as claimed in claim 5 wherein, The clearance groove (203) is arranged at the middle of the plug-in end (201), the mounting groove (202) is annularly distributed around the outer edge of the plug-in end (201) with the clearance groove (203) as the center, the locking groove (3011) is provided with a reverse top block, the reverse top block is located at the top of the locking groove (3011) and is provided with an arc-shaped groove matched with one end of the locking block (6) at the bottom of the reverse top block, when the locking block (6) enters the locking groove (3011), the reverse top block is located obliquely above one end of the locking block (6) and abuts against one end of the locking block (6).

7. The robotic hand automatic changing tooling of claim 1, wherein, The action end of the mechanical arm (1) is also connected with a CCD camera, and the CCD camera is used for helping the female connector to scan and determine the position of the male connector.

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