Rapid switching device for end effector of industrial robot

Abstract

The utility model belongs to the field of industrial robot mechanism design, and particularly discloses a quick switching device for an end effector of an industrial robot, which comprises a disc driving component, a fan-shaped arm driving component and a clamping jaw. The disc driving assembly is composed of a square air cylinder, a pneumatic reversing valve, a pneumatic motor, an indexing rotating device driving piece and an indexing rotating device driven piece, the pneumatic reversing valve is controlled through stretching and retracting of a cylinder barrel of the square air cylinder, then starting, stopping and the rotating direction of the pneumatic motor are adjusted, and accurate indexing rotation of a disc is achieved. The fan-shaped arm driving assembly drives a fan-shaped arm to rotate through a rotating air cylinder and an air connector. The clamping jaw is composed of a pneumatic two-finger manipulator, a pneumatic three-finger manipulator and a pneumatic wrench which are all connected with the fan-shaped arm flange. According to the utility model, the end executors of the industrial robot can be quickly switched, the working efficiency and the operation flexibility are effectively improved, and the system is suitable for various industrial automation scenes.

Description

Technical Field

[0001] This utility model relates to the field of industrial robot mechanism design, and in particular to a fast switching device for an end effector of an industrial robot. Background Technology

[0002] In modern manufacturing, industrial robots play a crucial role in improving production performance due to their high efficiency and precise positioning. However, most industrial robots are currently equipped with only single-function end effectors, which significantly reduces their versatility and operational efficiency when faced with diverse production tasks. Changing end effectors is cumbersome and can easily cause production line downtime, thus impacting overall production efficiency. The ability to quickly switch end effectors is a vital foundation for the efficient operation of industrial robots and is of great significance for enhancing their capabilities.

[0003] Currently, the end effector switching devices equipped on industrial robots have complex mechanical structures and are not easy to maintain and operate. Furthermore, these devices lack precision during rotation, limiting production efficiency. They also occupy a large amount of space, restricting the robot's workspace and affecting its performance in diverse production tasks. Therefore, simplifying the design, improving precision, reducing space occupation, and maximizing workspace are of significant practical value in improving the operational efficiency of industrial robots. Utility Model Content

[0004] In view of this, it is necessary to provide a fast switching device for end effectors of industrial robots to solve the problems of existing switching devices being complex in structure, occupying a large space, having a small working space, and lacking precision.

[0005] This utility model provides a fast switching device for end effectors of industrial robots, comprising:

[0006] A disc drive assembly includes a pneumatic control element, a square cylinder, and a pneumatic directional valve. The pneumatic directional valve is mounted on the square cylinder. The square cylinder is mounted on a flange rod, and its cylinder barrel has high-precision concentricity with the circular through-hole of the driven component of the indexing rotary table during extension and retraction, allowing the square cylinder to control the pneumatic directional valve through its cylinder barrel extension and retraction. The pneumatic directional valve controls the start, stop, and rotation direction of the pneumatic motor by changing the airflow channel. The pneumatic power element, the pneumatic motor, is mounted on its clamping device, and the pneumatic motor output shaft is mounted on the driving component of the indexing rotary device. The clamping device of the pneumatic motor is mounted on the flange rod. The two positioning pins of the driving component of the indexing rotary device cooperate with the driven component of the indexing rotary device to control the disc to perform precise indexing rotation. The disc and the driven component of the indexing rotary device are bearing-fitted.

[0007] A sector arm drive assembly includes a rotary cylinder and an air connector; the rotary cylinder is mounted on the connector body of the air connector; the air connector is connected to a disc flange to drive the sector arm to rotate; the sector arm is connected to the disc flange.

[0008] The gripper includes a pneumatic two-finger manipulator, a pneumatic three-finger manipulator, and a pneumatic wrench; the pneumatic two-finger manipulator, the pneumatic three-finger manipulator, and the pneumatic wrench are all connected to a sector-shaped arm flange.

[0009] Furthermore, the indexing rotation device in the disk drive assembly also includes a driven component with 12 arc grooves; when the 12 arc grooves and the positioning post of the driving component of the indexing rotation device are screwed into or out of the arc portion of the arc groove, the center of both is always on the axis of the arc groove, and the positioning post of the driving component of the indexing rotation device is tangent to the arc groove, so as to perform precise indexing rotation.

[0010] Furthermore, the fan-shaped arm drive assembly also includes a fan-shaped arm that reduces the space occupied by the device when it is screwed in and increases the working space of the end effector when it is screwed out, so that the end effector has greater flexibility and adaptability when performing tasks.

[0011] Furthermore, the gripper also includes a flange at the tool end of the fan-shaped arm. The selected pneumatic two-finger manipulator, pneumatic three-finger manipulator, and pneumatic wrench are not special cases, and are used to install various end effectors through flange connection.

[0012] Furthermore, the aforementioned sector arm drive assembly also includes a sector arm that can be individually screwed in and out, for more efficient task execution and...

[0013] A wider range of application scenarios adaptability.

[0014] Compared with the prior art, the present invention has the following beneficial effects.

[0015] (1) A quick switching device for an end effector of an industrial robot according to the present invention is provided with a disc drive assembly. The disc drive assembly includes a pneumatic control element, a pneumatic drive element and an indexing rotation device. The pneumatic control element includes a square cylinder and a pneumatic reversing valve to control the start, stop and rotation direction of the pneumatic motor of the pneumatic drive element. The indexing rotation device includes a master and a slave element. The slave element is provided with 12 arc grooves. When the 12 arc grooves and the positioning post of the master element of the indexing rotation device are screwed into or out of the arc part of the arc groove, the center of both is always on the axis of the arc groove and the positioning post of the master element of the indexing rotation device is tangent to the arc groove. This can effectively improve the switching accuracy and simplify the structural design.

[0016] (2) The present invention provides a quick switching device for an end effector of an industrial robot, which is provided with a fan-shaped arm drive assembly. The fan-shaped arm drive assembly includes a rotary cylinder and an air connector, which drives the fan-shaped arm to rotate. The fan-shaped arm can be screwed in and out individually. When screwed in, the space occupied by the device is reduced, and when screwed out, the working space of the end effector is increased. This can effectively reduce the space occupied by the switching device and improve the working space of the industrial robot. Attached Figure Description

[0017] The present invention will be further described below with reference to the accompanying drawings.

[0018] Figure 1 This is a front view of the structure of this utility model.

[0019] Figure 2 This is a bottom view of the structure of this utility model.

[0020] Figure 3 This utility model Figure 1 A partial structural cross-sectional view of structure A is shown.

[0021] Figure 4 This is an isometric view of the structure of this utility model.

[0022] In the diagram: 1. Flange rod, 2. Clamping device, 3. Pneumatic motor, 4. Square cylinder, 5. Pneumatic directional valve, 6. Indexing rotation device driving component, 7. Indexing rotation device driven component, 8. Rotary cylinder, 9. Air connector, 10. Disc, 11. Pneumatic two-finger manipulator, 12. Pneumatic wrench, 13. Pneumatic three-finger manipulator, 14. Sector arm, 15. Angular contact ball bearing, 16. Deep groove ball bearing. Detailed Implementation

[0023] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0024] This embodiment presents a rapid switching device for an end effector of an industrial robot, relating to the field of industrial robot mechanism design. It utilizes mechanical transmission to drive the disk 10 to achieve precise indexing rotation, improving the switching accuracy of the rapid switching device. Furthermore, the rapid switching device employs a fan-shaped arm drive assembly, ensuring the end effector can rotate in and out, effectively reducing the space occupied by the switching device and increasing the working space of the industrial robot.

[0025] Please see Figures 1 to 4This embodiment provides a rapid switching device for an end effector of an industrial robot, comprising a connector, a disc drive assembly, a fan-shaped arm drive assembly, and a gripper.

[0026] The connector includes a flange rod 1, which is used to connect to the end effector of an industrial robot.

[0027] The disc drive assembly includes a pneumatic control element, a pneumatic drive element, an indexing rotation device, and a disc. The pneumatic control element further includes a square cylinder 4 and a pneumatic directional valve 5. The square cylinder 4 is fixedly mounted on the flange rod 1, and the pneumatic directional valve 5 is fixedly mounted on the square cylinder 4. The pneumatic drive element includes a pneumatic motor 3, which is fixedly mounted on a clamping device 2, which is also fixedly mounted on the flange rod 1. The indexing rotation device includes an indexing rotation device driving element 6 and an indexing rotation device driven element 7. The two positioning pins of the indexing rotation device driving element 6 cooperate with the indexing rotation device driven element 7, and the indexing rotation device driven element 7 cooperates with the disc 10 through an angular contact ball bearing 15 and a deep groove ball bearing 16.

[0028] The sector arm drive assembly includes a rotary cylinder 8 and an air connector 9. The rotary cylinder 8 is mounted on the connector body of the air connector 9, and the air connector 9 is flange-connected to the disc 10.

[0029] The gripper includes a pneumatic two-finger manipulator 11, a pneumatic wrench 12, and a pneumatic three-finger manipulator 13. The pneumatic two-finger manipulator 11, the pneumatic wrench 12, and the pneumatic three-finger manipulator 13 are all connected to the flange of the sector arm 14. The sector arm 14 and the disc 10 are rotatably connected through the air connector 9.

[0030] It should be noted that the pneumatic control element, square cylinder 4, and pneumatic reversing valve 5 are used to control the start, stop, and rotation direction of the pneumatic drive element, pneumatic motor 3. The pneumatic drive element, pneumatic motor 3, serves as a power source to transmit power to the indexing rotation device. The indexing rotation device includes a master and a slave component. The slave component is equipped with 12 arc grooves. When the 12 arc grooves and the positioning post of the master component of the indexing rotation device are screwed into or out of the arc portion of the arc groove, the center of both is always on the axis of the arc groove, and the positioning post of the master component of the indexing rotation device is tangent to the arc groove. This can effectively improve the switching accuracy and simplify the structural design. The fan-shaped arm can be screwed in and out individually. When screwed in, it reduces the space occupied by the device, and when screwed out, it increases the working space of the end effector. This can effectively reduce the space occupied by the switching device and increase the working space of the industrial robot.

[0031] The working principle of the above embodiments is as follows.

[0032] The square cylinder 4 controls the pneumatic directional valve 5 by extending and retracting its cylinder barrel, thereby changing the airflow channel to control the start, stop, and rotation direction of the pneumatic motor 3. The pneumatic motor 3 is the power source of the entire device, and its output shaft is connected to the indexing rotation device drive member 6, transmitting power to the indexing rotation device drive member 6. The indexing rotation device driven member 7 is provided with 12 arc grooves. When the 12 arc grooves and the positioning post of the indexing rotation device drive member 6 are screwed into or out of the arc portion of the arc groove, their centers are always on the axis of the arc groove. Furthermore, the positioning pin of the indexing rotation device driving member 6 is tangent to the arc groove, so the driving and driven members of the indexing rotation device can cooperate. The rotation directions of the indexing rotation device driving member 6 and the indexing rotation device 7 are opposite. Therefore, one positioning pin of the indexing rotation device driving member 6 is screwed into the arc groove, and the other positioning pin is screwed out of the arc groove, thereby transmitting power to the indexing rotation device driven member 7. The indexing rotation device driven member 7 cooperates with the bearing of the disc 10, so that the indexing rotation device driven member 7 drives the disc 10 to rotate, thus achieving precise indexing rotation. When the rotary cylinder 8 is connected to the air source, compressed air enters the rotary cylinder 8 and drives the piston and its connected output shaft to rotate. The rotational motion of the piston is transmitted to the air connector 9 connected to it through the output shaft of the rotary cylinder 8. The rotating part of the air connector 9 is connected to the flange of the disc 10 to ensure the sealing and stability of the air circuit. The other end of the air connector 9 is connected to the sector arm 14. The sector arm rotates with the rotation of the air connector 9, realizing the action of screwing in and out. The rotational speed and angle of the sector arm 14 can be controlled by controlling the on / off of the air source and the air pressure.

[0033] The above description is merely a preferred embodiment of the present utility model and is not intended to limit the present utility model. Although the present utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. A rapid switching device for end effectors of industrial robots, characterized in that, include: A disc drive assembly includes a pneumatic control element, a square cylinder (4), and a pneumatic directional valve (5). The pneumatic directional valve (5) is mounted on the square cylinder (4). The square cylinder (4) is mounted on a flange rod (1), and its cylinder barrel has a high degree of concentricity with the circular through hole of the driven part (7) of the indexing rotary table when it extends or retracts, and can be precisely matched so that the square cylinder (4) controls the pneumatic directional valve (5) through its cylinder barrel extension or retraction. The pneumatic directional valve (5) controls the pneumatic motor (3) by changing the airflow channel. The starting, stopping and rotation direction of the pneumatic motor (3) is mounted on its clamping device (2) and the output shaft of the pneumatic motor (3) is mounted on the driving part (6) of the indexing rotation device; the clamping device (2) of the pneumatic motor (3) is mounted on the flange rod (1); the two positioning pins of the driving part (6) of the indexing rotation device cooperate with the driven part (7) of the indexing rotation device to control the disc (10) to perform precise indexing rotation; the disc (10) cooperates with the driven part (7) of the indexing rotation device in bearings; A fan-shaped arm drive assembly includes a rotary cylinder (8) and an air connector (9); the rotary cylinder (8) is mounted on the connector body of the air connector (9); the air connector (9) is connected to the flange of the disc (10) to drive the fan-shaped arm (14) to rotate; the fan-shaped arm (14) is connected to the flange of the disc (10). The gripper includes a pneumatic two-finger manipulator (11), a pneumatic three-finger manipulator (13), and a pneumatic wrench (12); the pneumatic two-finger manipulator (11), the pneumatic three-finger manipulator (13), and the pneumatic wrench (12) are all connected to the flange of the fan-shaped arm (14).

2. The rapid switching device for an end effector of an industrial robot according to claim 1, characterized in that, The indexing rotation device in the disk drive assembly also includes a driven member (7) of the indexing rotation device with 12 arc grooves; when the 12 arc grooves and the positioning post of the driving member (6) of the indexing rotation device are screwed into or out of the arc part of the arc groove, the center of both is always on the axis of the arc groove and the positioning post of the driving member (6) of the indexing rotation device is tangent to the arc groove, so as to perform precise indexing rotation.

3. A rapid switching device for an end effector of an industrial robot according to claim 1, characterized in that, The fan-shaped arm drive assembly also includes a fan-shaped arm (14) that reduces the space occupied by the device when it is screwed in and increases the working space of the end effector when it is screwed out, so that the end effector has greater flexibility and adaptability when performing tasks.

4. A rapid switching device for an end effector of an industrial robot according to claim 1, characterized in that, The gripper also includes a flange on the tool end of the fan-shaped arm (14). The selected pneumatic two-finger manipulator (11), pneumatic three-finger manipulator (13), and pneumatic wrench (12) are not special cases, and are used to install various end effectors through flange connection.

5. A rapid switching device for an end effector of an industrial robot according to claim 3, characterized in that, The aforementioned fan-shaped arm drive assembly also includes a fan-shaped arm (14) that can be individually screwed in and out to enable more efficient task execution and wider adaptability to application scenarios.

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