Quick change device for connecting robot and gripper

Abstract

The utility model discloses a quick-change device for connecting a robot and a gripper, which comprises an air inlet disc, a locking disc, an air outlet disc and an air guide disc, the air guide disc is clamped between the locking disc and the air outlet disc, the air inlet disc is directly connected with an industrial robot, the air outlet disc is directly connected with the gripper of a nozzle group, and the air guide disc is connected with the gripper of the nozzle group. A locking block is fixedly installed on the outer wall of the air inlet disc, a locking disc limiting groove is formed in the outer wall of the locking disc, the automatic spraying device relates to the technical field of industrial robot automatic spraying equipment, the diameter of a locking disc through hole is the same as that of a first air inlet disc counter bore, and bolt installation of the air inlet disc and a robot body is facilitated through the locking disc through hole. The locking disc limiting groove is matched with the limiting hole to limit the rotating angle of the locking disc, the diameter of the opening position of the locking disc is the same as the diameter of the large head of the locking nail, the diameter of the locking position of the locking disc is the same as the diameter of the neck of the locking nail, and therefore rapid replacement between the robot and the gripper can be conveniently, rapidly and accurately completed.

Description

Technical Field

[0001] This utility model relates to the technical field of automated spraying equipment for industrial robots, specifically a quick-change device for connecting a robot and a gripper. Background Technology

[0002] With the rapid advancement of industrialization and intelligentization in today's society, intelligent robots are being applied to production workshops across various industries. In the field of industrial robot spraying, different nozzle assemblies are required for different spraying objects, and the entire nozzle assembly is mounted on the robot's gripper. Simultaneously, it is essential to ensure the sealed connection of all air and liquid pipes before spraying operations.

[0003] For different products, not only do we need to replace the corresponding nozzle assembly grippers, but we also need to frequently connect various pipelines. This greatly increases labor and production efficiency, and will seriously affect the service life of each pipeline connection. All of this will increase the cost of the entire coating production line. Utility Model Content

[0004] The purpose of this invention is to provide a quick-change device for connecting a robot and a gripper, so as to solve the problems mentioned in the background art.

[0005] To achieve the above objectives, this utility model provides the following technical solution:

[0006] A quick-change device for connecting a robot and a gripper includes an air inlet plate, a locking plate, an air outlet plate, and an air guide plate. The air guide plate is clamped between the locking plate and the air outlet plate. The air inlet plate is directly connected to the industrial robot, and the air outlet plate is directly connected to the nozzle assembly gripper. A locking block is fixedly installed on the outer wall of the air inlet plate. A locking plate limiting groove is formed on the outer wall of the locking plate. Locking plate through holes and locking plate locking positions are evenly distributed on the outer wall of the locking plate in a circular array. A locking handle is fixedly installed on the outer wall of the locking plate. Locking pins are evenly distributed on the surface of the air outlet plate. There are a certain number of locking pins. The inner wall of the locking plate has a locking plate opening position. Locking pin holes are formed on the surface of the air inlet plate. The locking pins pass through the locking plate opening position and engage with the locking pin holes for a snap-fit ​​connection.

[0007] In a preferred embodiment of this utility model, the air intake plate is bolted to the robot body, the side wall of the air intake plate is provided with an air intake plate locking plane, the bottom of the air intake plate is provided with an air intake plate countersunk hole, the air intake plate countersunk hole and the locking pin hole are distributed alternately, and the bottom outer wall of the air intake plate is provided with a limit hole.

[0008] In a preferred embodiment of this utility model, an air intake plate positioning hole is provided on the surface of the air intake plate, an air intake plate countersunk hole and an air intake plate outlet are provided on the outer wall of the air intake plate, the air intake plate countersunk hole and the air intake plate outlet are distributed in a circular array, an air intake plate locking block hole is provided on the side wall of the air intake plate, and an air intake plate inlet is uniformly provided on the side wall of the air intake plate.

[0009] In a preferred embodiment of this utility model, the outer wall of the air guide plate is uniformly threaded with air guide bolts, a sealing ring one is sleeved on the outer wall of the top end of the air guide bolt, a sealing ring two is sleeved on the outer wall of the bottom end of the air guide bolt, the outer wall of the bottom of the air guide plate is uniformly provided with air guide plate threaded holes, and the outer wall of the bottom of the air guide plate is uniformly provided with air guide plate air guide holes.

[0010] In a preferred embodiment of the present invention, the top outer wall of the air outlet plate is uniformly provided with an air outlet plate inlet, the output end of the air outlet plate inlet is the air outlet plate outlet, and the surface of the air outlet plate is provided with an air outlet plate countersunk hole one, an air outlet plate countersunk hole two, and an air outlet plate positioning hole.

[0011] In a preferred embodiment of this utility model, the side wall of the locking disc is provided with a locking disc locking groove, and the side of the air outlet disc near the locking disc is the air outlet disc locking plane.

[0012] Additional aspects and advantages of this invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.

[0013] 1. By setting the air outlet plate directly connected to the nozzle assembly gripper, the air guide plate is responsible for guiding the gas and liquid phases in the air inlet plate to the air outlet plate, so that the air outlet plate connected to the spraying gripper is tightly fixed to the air inlet plate connected to the robot body. This enables the quick replacement function between the spraying gripper and the robot, which greatly improves production efficiency.

[0014] 2. By setting the through hole of the locking plate to have the same diameter as the countersunk hole of the air intake plate, the through hole of the locking plate facilitates the bolt installation of the air intake plate and the robot body. The locking plate limit groove and limit hole cooperate to limit the rotation angle of the locking plate. The diameter of the locking plate in the open position is the same as the diameter of the large end of the locking pin, and the diameter of the locking plate in the locked position is the same as the diameter of the neck of the locking pin, thus facilitating quick and accurate replacement between the robot and the gripper. Attached Figure Description

[0015] The above and / or additional aspects and advantages of this utility model will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, in which:

[0016] Figure 1 This is a schematic diagram of the overall assembly structure of a quick-change device for connecting a robot and a gripper.

[0017] Figure 2 A schematic diagram of the air intake disc in a quick-change device used to connect a robot and a gripper;

[0018] Figure 3 A front view schematic diagram of the air intake plate in a quick-change device used to connect a robot and a gripper;

[0019] Figure 4 A schematic front view of a locking disc in a quick-change device used to connect a robot and a gripper;

[0020] Figure 5 A schematic diagram of the air outlet plate in a quick-change device for connecting a robot and a gripper;

[0021] Figure 6 A front view schematic diagram of the air outlet plate in a quick-change device used to connect a robot and a gripper;

[0022] Figure 7 A schematic diagram of the air guide plate in a quick-change device for connecting a robot and a gripper;

[0023] Figure 8 A front view schematic diagram of an air guide plate in a quick-change device used to connect a robot and a gripper;

[0024] Figure 9 This is a schematic diagram of an explosion in a quick-change device used to connect a robot and a gripper.

[0025] In the diagram: 1. Inlet plate; 2. Locking plate; 3. Outlet plate; 4. Inlet plate inlet; 5. Outlet plate countersunk hole 1; 6. Outlet plate countersunk hole 2; 7. Outlet plate positioning hole; 8. Locking block; 9. Locking handle; 10. Inlet plate locking plane; 11. Inlet plate countersunk hole 1; 12. Locking pin hole; 13. Limiting hole; 14. Inlet plate countersunk hole 2; 15. Inlet plate outlet; 16. Inlet plate locking block hole; 17. Inlet plate inlet; 18. Inlet plate positioning hole; 19. Locking plate through hole; 20. Locking plate limiting groove; 21. Locking plate open position; 22. Locking plate locked position; 23. Locking plate locking groove; 24. Locking pin; 25. Outlet plate locking plane; 26. Outlet plate inlet; 27. Air guide bolt; 28. Sealing ring 1; 29. ​​Air guide plate; 30. Air guide plate threaded hole; 31. Sealing ring 2; 32. Air guide plate air guide hole; 33. Detailed Implementation

[0026] The embodiments of this utility model are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this utility model, and should not be construed as limiting this utility model.

[0027] Example 1: As Figure 1 and 2 The system includes an air inlet plate 1, a locking plate 2, an air outlet plate 3, and an air guide plate 30. The air guide plate 30 is clamped between the locking plate 2 and the air outlet plate 3. The air inlet plate 1 is directly connected to the industrial robot, and the air outlet plate 3 is directly connected to the nozzle assembly gripper. A locking block 9 is fixedly installed on the outer wall of the air inlet plate 1. A locking plate limiting groove 21 is opened on the outer wall of the locking plate 2. Locking plate through holes 20 and locking plate locking positions 23 are evenly opened on the outer wall of the locking plate 2. The locking plate through holes 20 and locking plate locking positions 23 are arranged in a circular array. A locking handle 10 is fixedly installed on the outer wall of the locking plate 2. Locking pins 25 are evenly distributed on the surface of the air outlet plate 3. There are 6 locking pins 25. The inner wall of the locking plate 2 has a locking plate opening position 22. The surface of the air inlet plate 1 has a locking pin hole 13. The locking pin 25 passes through the locking plate opening position 22 and engages with the locking pin hole 13.

[0028] The specific application scenario of this embodiment is as follows: The locking disc 2 is the core component of the entire device. The limiting groove 21 ensures that the locking handle 10 accurately controls the locking and opening of the gripper. The air outlet disc 3, which is directly connected to the gripper, is evenly distributed with six locking pins 25. The locking pins 25 pass through the opening position 22 of the locking disc and reach the locking pin hole 13 of the air inlet disc. Rotate the locking handle 10 to the locking position 23 of the locking disc, so that the air outlet disc 3 and the air inlet disc 1 are tightly connected. If the gripper needs to be replaced, the locking handle 10 can be rotated in the opposite direction. Various air pipes and liquid pipes are connected to the air inlet disc inlet 4, and pass through the air inlet disc outlet 16, the air guide disc air guide hole 33, and the air outlet disc inlet 27, and finally reach the air outlet disc outlet 5. The various phase pipes of the robot gripper are connected to it, thereby realizing the various actions of the gripper.

[0029] Example 2: As Figure 1 and Figure 2 The air intake plate 1 is bolted to the robot body. The side wall of the air intake plate 1 is provided with an air intake plate locking plane 11. The bottom of the air intake plate 1 is provided with an air intake plate countersunk hole 12. The air intake plate countersunk hole 12 and the locking pin hole 13 are distributed alternately. The bottom outer wall of the air intake plate 1 is provided with a limit hole 14. The surface of the air intake plate 1 is provided with an air intake plate positioning hole 19. The outer wall of the air intake plate 1 is provided with an air intake plate countersunk hole 15 and an air intake plate outlet 16. The air intake plate countersunk hole 15 and the air intake plate outlet 16 are distributed in a circular array. The side wall of the air intake plate 1 is provided with an air intake plate locking block hole 17. The side wall of the air intake plate 1 is provided with an air intake plate inlet 18 evenly distributed.

[0030] The specific application scenario of this embodiment is as follows: A bolt passes through the countersunk hole 12 of the air intake plate to connect the quick-change device to the robot body. The positioning hole 19 of the air intake plate plays a positioning role in this process. A limiting pin is inserted into the limiting hole 14, which cooperates with the limiting groove 21 of the locking plate to limit the rotation angle of the locking plate. The bolt passes through the countersunk hole 15 of the air intake plate and the threaded hole 31 of the air guide plate to connect the air guide plate 30 to the air intake plate. When the entire device is tightly connected, the locking pin 25 is inserted into the locking pin hole 13 of the air intake plate, and the locking plate 2 and the locking pin 25 are in contact. The cooperation between the gripper and the robot is the key part of the entire device for the rapid installation and disassembly of the gripper and the robot. The locking plate is clamped between the air inlet plate 1 and the air guide plate 30. The through hole 20 of the locking plate has the same diameter as the countersunk hole 12 of the air inlet plate. The through hole 20 of the locking plate facilitates the bolt installation of the air inlet plate and the robot body. The limiting groove 21 of the locking plate cooperates with the limiting hole 14 to limit the rotation angle of the locking plate. The diameter of the opening position 22 of the locking plate is the same as the diameter of the large end of the locking pin. The diameter of the locking position 23 of the locking plate is the same as the diameter of the neck of the locking pin.

[0031] Example 3: As Figure 1 and Figure 2 The outer wall of the air guide plate 30 is uniformly threaded with air guide bolts 28. A sealing ring 29 is fitted onto the top of the outer wall of the air guide bolt 28, and a sealing ring 32 is fitted onto the bottom of the outer wall of the air guide bolt 28. The bottom outer wall of the air guide plate 30 is uniformly provided with air guide plate threaded holes 31 and air guide plate air guide holes 33.

[0032] The specific application scenario of this embodiment is as follows: the air outlet plate 3 is evenly distributed with six locking pins 25, which improves the stability of the entire device. The bolts pass through the second countersunk hole 7 of the air outlet plate to connect the air outlet plate to the spraying gripper. The positioning hole 8 of the air outlet plate plays a positioning role in this process. The bolts pass through the first countersunk hole 6 of the air outlet plate to connect the locking pins to the air outlet plate. The air guide plate 30 is evenly distributed with 12 air guide holes 33, which greatly improves the transmission speed of the entire quick change device and further improves production efficiency. Because of the frequent replacement of the gripper and the direct contact between the air outlet plate 3 and the air guide plate 30, the wear between the air outlet plate 3 and the air guide plate becomes the main wear. Therefore, detachable air guide bolts 28 are installed on the air guide holes 33. The severely worn air guide bolts are replaced individually to ensure the integrity of the overall seal. Sealing ring 1 29 and sealing ring 2 32 are respectively provided on the air guide bolts and the air guide plate to reduce the transmission loss of the air and liquid paths.

[0033] Example 4: Figure 1 and Figure 2 The top outer wall of the air outlet plate 3 is evenly provided with air outlet plate inlets 27, the output end of the air outlet plate inlet 27 is the air outlet plate outlet 5, the surface of the air outlet plate 3 is provided with air outlet plate countersunk hole 1 6, air outlet plate countersunk hole 2 7 and air outlet plate positioning hole 8, the side wall of the locking plate 2 is provided with locking plate locking groove 24, and the side of the air outlet plate 3 near the locking plate 2 is the air outlet plate locking plane 26.

[0034] The specific application scenario of this embodiment is as follows: The locking block 9 is installed on the air intake plate locking block hole 17 on the air intake plate 1. The rotatable locking block is lifted upward to reach the position of the locking groove 24 of the locking plate, ensuring that the locking plate will not loosen or rotate due to external force when the device is locked, causing the gripper to detach from the robot. The air intake plate 1 and the air outlet plate 3 are respectively provided with locking plane 11 and locking plane 26. When the quick-change device is not used for a long time, it is necessary to fix the device as a whole through the two locking planes to prevent the parts from being lost.

[0035] The working principle of this utility model is as follows: When used by those skilled in the art, the air inlet plate 1 with locking block 9 is connected to the robot body by bolts. The locking plate 2 is the core component of the whole device. The locking handle 10 is used to ensure that the locking groove firmly controls the locking and opening of the gripper. The air outlet plate 3, which is directly connected to the gripper, is evenly distributed with six locking pins 25. The number of locking pins can be determined according to the actual situation. The locking pins 25 pass through the locking plate opening position 22 and reach the air inlet plate locking pin hole 13. The locking handle 10 is rotated to the locking plate locking position 23, so that the air outlet plate 3 is tightly connected to the air inlet plate 1. If the gripper needs to be replaced, the locking handle 10 is rotated in the opposite direction. Various air pipes and liquid pipes are connected to the air inlet plate inlet 4, and pass through the air inlet plate outlet 16, the air guide plate air guide hole 33, and the air outlet plate inlet 27, and finally reach the air outlet plate outlet 5. The various phase pipes of the robot gripper are connected to it, thereby realizing the various actions of the gripper.

[0036] Although embodiments of the present invention have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the claims and their equivalents.

Claims

1. A quick-change device for connecting a robot and a gripper, comprising an air inlet plate (1), a locking plate (2), an air outlet plate (3), and an air guide plate (30), wherein the air guide plate (30) is clamped between the locking plate (2) and the air outlet plate (3), the air inlet plate (1) is directly connected to the industrial robot, and the air outlet plate (3) is directly connected to the nozzle assembly gripper, wherein a locking block (9) is fixedly installed on the outer wall of the air inlet plate (1), characterized in that, The outer wall of the locking disc (2) is provided with a locking disc limiting groove (21). The outer wall of the locking disc (2) is provided with locking disc through holes (20) and locking disc locking positions (23) evenly distributed. The locking disc through holes (20) and locking disc locking positions (23) are distributed in a circular array. The locking handle (10) is fixedly installed on the outer wall of the locking disc (2). The surface of the air outlet disc (3) is provided with locking pins (25) evenly distributed. There are 6 locking pins (25). The inner wall of the locking disc (2) is provided with a locking disc opening position (22). The surface of the air inlet disc (1) is provided with locking pin holes (13). The locking pins (25) pass through the locking disc opening position (22) and engage with the locking pin holes (13) for a snap-fit ​​connection.

2. The quick-change device for connecting a robot and a gripper according to claim 1, characterized in that, The air intake plate (1) is bolted to the robot body. The side wall of the air intake plate (1) is provided with an air intake plate locking plane (11). The bottom of the air intake plate (1) is provided with an air intake plate countersunk hole (12). The air intake plate countersunk hole (12) and the locking pin hole (13) are distributed alternately. The bottom outer wall of the air intake plate (1) is provided with a limit hole (14).

3. A quick-change device for connecting a robot and a gripper according to claim 2, characterized in that, The surface of the air intake plate (1) is provided with an air intake plate positioning hole (19). The outer wall of the air intake plate (1) is provided with an air intake plate countersunk hole (15) and an air intake plate outlet (16). The air intake plate countersunk hole (15) and the air intake plate outlet (16) are arranged in a circular array. The side wall of the air intake plate (1) is provided with an air intake plate locking block hole (17). The side wall of the air intake plate (1) is provided with an air intake plate inlet (18) evenly distributed.

4. A quick-change device for connecting a robot and a gripper according to claim 1, characterized in that, The outer wall of the air guide plate (30) is uniformly threaded with air guide bolts (28). A sealing ring (29) is sleeved on the outer wall of the top end of the air guide bolt (28), and a sealing ring (32) is sleeved on the outer wall of the bottom end of the air guide bolt (28). The outer wall of the bottom of the air guide plate (30) is uniformly provided with air guide plate threaded holes (31) and air guide plate air guide holes (33).

5. A quick-change device for connecting a robot and a gripper according to claim 1, characterized in that, The top outer wall of the air outlet plate (3) is uniformly provided with an air outlet plate inlet (27), the output end of the air outlet plate inlet (27) is the air outlet plate outlet (5), and the surface of the air outlet plate (3) is provided with an air outlet plate countersunk hole one (6), an air outlet plate countersunk hole two (7) and an air outlet plate positioning hole (8).

6. A quick-change device for connecting a robot and a gripper according to claim 1, characterized in that, The side wall of the locking disc (2) is provided with a locking disc locking groove (24), and the side of the air outlet disc (3) near the locking disc (2) is the air outlet disc locking plane (26).

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