Locking device for gun changing disc

Abstract

The utility model relates to the field of industrial automation, in particular to a gun changing disc locking device which comprises a robot side and a tool side, the robot side comprises a locking shell, a cam and a plurality of steel balls, the cam is rotatably arranged on the locking shell, the steel balls are located in locking holes, a pushing cambered surface is arranged on the cam, the pushing cambered surface comprises a locking section and a loosening section, and the locking section and the loosening section are arranged on the locking shell. The pushing cambered surface makes contact with the steel balls, the normal of the contact point of the steel balls and the locking section points to one side of the loosening section, the tool side comprises a tool plate body, a plurality of locking cambered surfaces are arranged on the tool plate body, and locking or loosening of the tool side is achieved through contact or separation of the locking cambered surfaces and the steel balls. By arranging the cam, the pushing cambered surface, the steel ball and the locking cambered surface, locking is achieved, when power is suddenly cut off, the steel ball makes contact with the locking section of the pushing cambered surface, pushing force is generated on the cam, the cam has the rotating tendency of continuing to be tightened, and therefore tool side falling caused by sudden power cut is avoided.

Description

TECHNICAL FIELD

[0001] The utility model relates to the field of industrial automation especially relates to a gun changing disc locking device. BACKGROUND

[0002] The quick change disc is the robot end tool connector commonly used in the current industrial automation, and the driving mode of the quick change disc is one of using compressed air as a power source to drive the cylinder piston to realize the locking of the quick change disc, and the other is using electric energy as power to drive the piston movement to realize the locking.

[0003] The existing quick change disc driven by compressed air can only be used in the factory area provided with an air compressor, and when there are foreign matters in the compressed air pipeline, the quick change disc may be accidentally loosened, so the quick change disc driven by electricity is now used more. However, if power failure occurs accidentally, the quick change disc may still be loosened, causing accidents. Therefore, it is necessary to improve such a structure to overcome the above-mentioned defects. SUMMARY

[0004] The utility model discloses a gun changing disc locking device which overcomes the defects of the prior art.

[0005] A gun changing disc locking device includes a robot side and a tool side, the robot side includes a locking shell, a cam and a plurality of steel balls, the cam is rotationally arranged on the locking shell, the locking shell is uniformly provided with a plurality of locking holes, the steel balls are located in the locking holes, the cam is provided with a pushing arc surface, the pushing arc surface includes a locking section and a loosening section, the pushing arc surface is in contact with the steel balls, and the normal line of the steel balls at the contact point with the locking section points to the loosening section side, so that the cam has a tightening tendency of clockwise rotation, the tool side includes a tool disc body, the tool disc body is provided with a plurality of locking arc surfaces, and the locking or loosening of the tool side is realized through the contact or separation of the locking arc surfaces and the steel balls.

[0006] In the above technical solution, the robot side is connected with the robot, the tool side is fixedly connected with the tool, the locking shell is used for setting components, the cam is used for pushing the steel balls to switch between the locking section and the loosening section, the pushing arc surface is used for realizing the locking of the tool side, and the locking arc surface generates a pushing force on the steel ball under the weight of the tool side when power failure occurs, the pushing force is transmitted to the locking section through the steel ball, the direction of the force is the normal direction of the contact point of the steel ball and the locking section, and the tangent direction of the force generates a tendency of clockwise rotation of the cam, so that the tool disc body is locked.

[0007] The further setting of the utility model discloses: the locking section is the outer convex arc surface, and the center of the locking section is not coincident with the rotation center of the cam, and the loosening section is the inner concave arc surface.

[0008] In the above technical solution: the locking section is the outer convex arc surface, for when the locking section contacts the steel ball, can produce the force of pushing, the center of the locking section is not coincident with the rotation center of the cam, so that the generated thrust can not point to the center and will be biased to one side, so that the cam produces the tendency of rotation, the loosening section is the inner concave arc surface, so that the steel ball and the loosening section contact, will not contact the locking arc surface simultaneously.

[0009] The further setting of the utility model discloses: the pushing arc surface further includes the limiting section, the limiting section is located the locking section away from the loosening section one side, and the limiting section is straight line, and is directed to the rotation center of the cam.

[0010] In the above technical solution: the limiting section is used to determine the limit position of the locking section, so that the cam will not rotate too large angle.

[0011] The further setting of the utility model discloses: the robot side further includes the back cover, drive motor and transmission mechanism, the drive motor is fixedly arranged on the back cover, and the transmission mechanism transmits power from the drive motor to the cam.

[0012] In the above technical solution: the back cover is used to cooperate with the locking shell to protect the transmission mechanism, the drive motor is used to transmit power, and the transmission mechanism is used to transmit power.

[0013] The further setting of the utility model discloses: the transmission mechanism includes motor gear, first gear, second gear, third gear and transmission shaft gear, the motor gear is engaged with the first gear, the second gear is engaged with the first gear, the third gear rotates coaxially with the second gear, the third gear is engaged with the transmission shaft gear, and the cam is fixedly connected with the transmission shaft gear.

[0014] In the above technical solution: the engagement between the motor gear, the first gear, the second gear, the third gear and the transmission shaft gear is used to reduce the rotation speed and increase the torque.

[0015] The further setting of the utility model discloses: the upper surface of the transmission shaft gear is provided with the locking detection column, the locking detection sensor is fixedly arranged on the locking shell, and the position of the locking detection sensor corresponds to the locking detection column.

[0016] In the above technical solution: the locking detection column and the locking detection sensor cooperate to detect whether the transmission shaft gear rotates to the locking position.

[0017] The utility model discloses a further setting be: the lower surface of transmission shaft gear is provided with the loose detection column, the locking shell is fixedly provided with the loose detection sensor, the position of loose detection sensor corresponds with loose detection column.

[0018] In the above technical solution: loose detection column and loose detection sensor cooperate to detect whether the transmission shaft gear rotates to the loose position.

[0019] The utility model discloses a further setting be: the locking shell still is fixedly provided with the positioning pin, the tool disc body is provided with the guide sleeve, and the position of positioning pin corresponds with guide sleeve.

[0020] In the above technical solution: the positioning pin is used for cooperating with the guide sleeve to make the robot side and the tool side butt joint accurately.

[0021] The utility model discloses a kind of gun changing disc locking devices, compared with prior art:

[0022] 1. The utility model discloses a cam, push camber, steel ball and locking camber are set, realize locking, and can be suddenly powered off, through the contact of steel ball and the locking section of push camber, push camber generates the tendency of continued tightening rotation, to avoid the tool side drop caused by sudden power failure;

[0023] 2. The utility model discloses a driving motor and transmission mechanism are further set to be driven using electric energy, so as to be used in factory building without setting air compressor;

[0024] 3. The utility model discloses a locking detection column, loose detection column, locking detection sensor and loose detection sensor are further set to detect whether locking is realized, to improve the accuracy of locking. DRAWINGS

[0025] Figure 1 It is the schematic view of the utility model;

[0026] Figure 2 It is the cross section schematic view when folding of the utility model;

[0027] Figure 3 It is the schematic view of transmission structure of the utility model;

[0028] Figure 4 It is the schematic view of cam of the utility model;

[0029] Figure 5 It is the position schematic view of cam and steel ball when locking of the utility model;

[0030] Figure 6 It is the schematic view of tool side of the utility model.

[0031] Corresponding component name indicated by numbers and letters in the figure: 10 - robot side; 20 - tool side; 30 - locking housing; 301 - locking hole; 302 - positioning pin; 40 - cam; 401 - pushing arc surface; 401a - locking section; 401b - loosening section; 401c - limiting section; 50 - steel ball; 60 - tool disc body; 601 - locking arc surface; 602 - guide sleeve; 70 - rear cover; 80 - driving motor; 90 - transmission mechanism; 901 - motor gear; 902 - first gear; 903 - second gear; 904 - third gear; 905 - transmission shaft gear; 905a - locking detection column; 905b - loosening detection column; 110 - locking detection sensor; 120 - loosening detection sensor. DETAILED DESCRIPTION

[0032] The embodiments of the utility model are described in detail below, and the embodiments are implemented on the premise of the technical scheme of the utility model, and detailed implementation modes and specific operation processes are given, but the protection scope of the utility model is not limited to the following embodiments.

[0033] As Figures 1-6 shown, the utility model discloses a kind of gun changing disc locking devices, including robot side 10 and tool side 20, the robot side 10 includes locking housing 30, cam 40 and several steel balls 50, the cam 40 rotation is arranged on the locking housing 30, the locking housing 30 is evenly provided with several locking holes 301, the steel ball 50 is located in the locking hole 301, the cam 40 is provided with pushing arc surface 401, the pushing arc surface 401 includes locking section 401a and loosening section 401b, the pushing arc surface 401 is contacted with the steel ball 50, and normal line of the steel ball 50 at the contact point with the locking section 401a is directed to loosening section 401b side, the tool side 20 includes tool disc body 60, the tool disc body 60 is provided with several locking arc surfaces 601, locking or loosening of tool side 20 is realized by the contact or separation of the locking arc surface 601 with the steel ball 50. Wherein, the locking housing 30 is provided with a boss, a passage is through the middle of the boss, the locking hole 301 is horizontally through the sidewall of the boss, and the cam 40 is rotationally arranged in the passage;The number of locking holes is at least three, and evenly arranged;The cam 40 is evenly provided with at least three pushing arc surfaces 401;The tool disc body 60 is provided with assembly hole, the diameter of the assembly hole is consistent with the outer diameter of the boss, and the locking arc surface 601 is arranged on the inner wall surface of the assembly hole;Preferably, the loosening section 401b is right side of the locking section 401a, so that the cam 40 is tightened by clockwise rotation, and loosened by counterclockwise rotation.

[0034] As Figures 1-6As shown in the utility model discloses a kind of gun changing disc locking devices, the locking section 401a is the outer convex arc surface, and the center of the locking section 401a and the rotation center of cam 40 do not coincide, the loosening section 401b is the inner concave arc surface. Among them, the pushing arc surface 401 further includes transition section, and the transition section is used to connect the locking section 401a and the loosening section 401b.

[0035] As Figures 1-6 shown, the utility model discloses a kind of gun changing disc locking devices, the pushing arc surface 401 further includes limiting section 401c, the limiting section 401c is located at the side of the locking section 401a away from the loosening section 401b, and the limiting section 401c is straight line, and the rotation center of cam 40 is directed to. Among them, second transition section is further included, and the second transition section is used to connect the limiting section 401c and the locking section 401a.

[0036] As Figures 1-6 shown, the utility model discloses a kind of gun changing disc locking devices, the robot side 10 further includes rear cover 70, drive motor 80 and transmission mechanism 90, the drive motor 80 is fixedly arranged on the rear cover 70, and the transmission mechanism 90 is transmitted to cam 40 from drive motor 80 with power. Among them, the upper surface is provided with placing groove, and the transmission mechanism 90 is arranged in the placing groove.

[0037] As Figures 1-6 shown, the utility model discloses a kind of gun changing disc locking devices, and the transmission mechanism 90 includes motor gear 901, first gear 902, second gear 903, third gear 904 and transmission shaft gear 905, the motor gear 901 is engaged with the first gear 902, the second gear 903 and the first gear 902 are engaged, the third gear 904 rotates coaxially with the second gear 903, the third gear 904 is engaged with the transmission shaft gear 905, and the cam 40 is fixedly connected with the transmission shaft gear 905. Among them, the transmission shaft gear only rotates in 120 degree angle range.

[0038] As Figures 1-6 shown, the utility model discloses a kind of gun changing disc locking devices, and the upper surface of transmission shaft gear 905 is provided with locking detection column 905a, and locking detection sensor 110 is fixedly arranged on locking shell 30, and the position of locking detection sensor 110 corresponds with locking detection column 905a.

[0039] As Figures 1-6As shown in the utility model discloses a kind of gun changing disc locking devices, the lower surface of transmission shaft gear 905 is provided with loosening detection column 905b, loosening detection sensor 120 is fixedly arranged on locking shell 30, the position of loosening detection sensor 120 corresponds with loosening detection column 905b.

[0040] As Figures 1-6 As shown in the utility model discloses a kind of gun changing disc locking devices, locking shell 30 is also fixedly provided with positioning pin 302, tool disc body 60 is provided with guide sleeve 602, the position of positioning pin 302 corresponds with guide sleeve 602. Among them, preferably, the number of positioning pin 302 is two, the number of guide sleeve is also two, and the cross-sectional shape of two positioning pins 302 is different.

[0041] The working principle of the utility model is:

[0042] a) when locking;

[0043] b) drive motor starts;

[0044] c) power is transmitted through transmission mechanism, reaches cam;

[0045] d) cam rotates clockwise;

[0046] e) steel ball is pushed by push arc;

[0047] f) when locking detection column is detected by locking detection sensor, drive motor stops;

[0048] g) at this time, steel ball is in contact with locking section and locking arc surface simultaneously, and tool disc body is locked;

[0049] h) and steel ball is extruded by locking arc surface, generates thrust to locking section, so that cam generates clockwise rotation trend, avoids loosening;

[0050] i) when loosening;

[0051] j) drive motor starts, power is transmitted through transmission mechanism, reaches cam;

[0052] k) cam rotates counterclockwise;

[0053] l) steel ball falls back to loosening section of push arc, no longer in contact with locking arc surface, at this time, tool disc body can be removed.

[0054] The above merely illustrates a preferred embodiment of the present application, but the protection scope of the present application is not limited thereto, and any skilled person in the art, according to the technical scheme and the inventive concept of the present application, can make equivalent replacement or change within the technical range disclosed by the present application, which should be covered within the protection scope of the present application.

[0055] It is to be noted that, in the present document, relational terms such as first and second and the like can be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises", "comprising", or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but can include other elements not expressly listed or inherent to such process, method, article, or apparatus. An element proceeded by "comprises... a" does not, without more constraints, exclude the existence of additional identical elements in the process, method, article, or apparatus that comprises the element.

Claims

1. A change gun disc lock device comprising a robot side (10) and a tool side (20), characterized in that: The robot side (10) comprises a locking shell (30), a cam (40) and a plurality of steel balls (50), the cam (40) is rotationally arranged on the locking shell (30), the locking shell (30) is uniformly provided with a plurality of locking holes (301), the steel balls (50) are located in the locking holes (301), the cam (40) is provided with a pushing arc surface (401), the pushing arc surface (401) comprises a locking section (401a) and a releasing section (401b), the pushing arc surface (401) is in contact with the steel balls (50), and the normal line of the steel balls (50) at the contact point with the locking section (401a) points to the side of the releasing section (401b), the tool side (20) comprises a tool disc body (60), the tool disc body (60) is provided with a plurality of locking arc surfaces (601), the locking or releasing of the tool side (20) is realized by the contact or separation of the locking arc surfaces (601) and the steel balls (50).

2. A gun changing lock device according to claim 1, wherein: The locking section (401a) is an outward convex circular arc surface, and the center of the locking section (401a) is not coincided with the rotation center of the cam (40), and the releasing section (401b) is an inward concave circular arc surface.

3. A gun changing lockout device according to claim 2, wherein: The pushing arc surface (401) further comprises a limiting section (401c), the limiting section (401c) is located on the side of the locking section (401a) away from the releasing section (401b), and the limiting section (401c) is a straight line and points to the rotation center of the cam (40).

4. A lockout device according to claim 1 or claim 3, wherein: The robot side (10) further comprises a rear cover (70), a driving motor (80) and a transmission mechanism (90), the driving motor (80) is fixedly arranged on the rear cover (70), and the transmission mechanism (90) transmits power from the driving motor (80) to the cam (40).

5. A gun changing lock device according to claim 4, wherein: The transmission mechanism (90) comprises a motor gear (901), a first gear (902), a second gear (903), a third gear (904) and a transmission shaft gear (905), the motor gear (901) is engaged with the first gear (902), the second gear (903) is engaged with the first gear (902), the third gear (904) is coaxially rotatable with the second gear (903), the third gear (904) is engaged with the transmission shaft gear (905), and the cam (40) is fixedly connected with the transmission shaft gear (905).

6. A gun changing lock device according to claim 5, wherein: A locking detection column (905a) is arranged on the upper surface of the transmission shaft gear (905), and a locking detection sensor (110) is fixedly arranged on the locking shell (30), and the position of the locking detection sensor (110) corresponds to the locking detection column (905a).

7. A gun changing lock device according to claim 6, wherein: A releasing detection column (905b) is arranged on the lower surface of the transmission shaft gear (905), and a releasing detection sensor (120) is fixedly arranged on the locking shell (30), and the position of the releasing detection sensor (120) corresponds to the releasing detection column (905b).

8. A gun changing lock device according to claim 7, wherein: The locking shell (30) is further provided with a positioning pin (302) fixedly arranged thereon, and the tool disc body (60) is provided with a guide sleeve (602), the positioning pin (302) and the guide sleeve (602) correspond in position.

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