Mechanical arm tail end tool quick-changing device

Abstract

The utility model relates to the technical field of mechanical arms, in particular to a mechanical arm tail end tool quick-changing device which comprises a main disc, a sinking groove is formed in the main disc, an electromagnet is installed at the circle center of the top of the sinking groove, an inserting sleeve is arranged at the bottom of the main disc, and a top plate is fixedly arranged on the upper side in the inserting sleeve. A supporting rod capable of sliding up and down penetrates through the circle center in the top plate, two sets of spring bolt grooves are symmetrically formed in the annular face of a supporting rod inserting sleeve, slidable spring bolt plates are arranged in the two sets of spring bolt grooves, a bottom plate is fixedly arranged in the inserting sleeve, and connecting rods are arranged between the spring bolt plates and the supporting rod. The tool disc is arranged on the lower side of the main disc, an annular base is arranged in the tool disc, and an annular groove matched with the spring bolt plate is formed in the inner side face of the annular base. The electromagnet is adopted as a power source, additional air pipes and matched mechanisms are not needed, the structure of the device is greatly simplified, and the production cost is reduced. And meanwhile, gas source related components are removed, the external space of the mechanical arm is saved, and the flexibility and applicability of the mechanical arm are improved.

Description

TECHNICAL FIELD

[0001] The utility model relates to mechanical arm technical field, specifically, relate to a mechanical arm end tool quick change device. BACKGROUND

[0002] The mechanical arm is a kind of high-precision, multiple input multiple output, highly nonlinear, strong coupling complex system, is the traditional mechanical structure science combination modern electronic technology, electrical engineering, computer science, control theory, information science and sensor technology etc. Multidisciplinary comprehensive high-tech product. Mechanical arm can imitate the action of human hand, according to given program, trajectory and requirement realizes automatic grabbing, handling etc. Operation. It has high operating flexibility, can accurately position to the certain point in three-dimensional (or two-dimensional) space and carry out work.

[0003] In order to make the mechanical arm can be quickly replaced between different actuators, the mechanical arm end is usually installed mechanical arm tool quick change device, and mechanical arm tool quick change device makes single mechanical arm can exchange different end actuators in manufacturing and equipment process to increase flexibility, is widely applied to automatic spot welding, arc welding, material lifting, stamping, detection, edge rolling, assembly, material removal, burr cleaning (polishing), packaging etc. Operation, has production line replacement fast, effectively reduces downtime etc. Multiple advantages. The existing mechanical arm end tool quick change device mostly uses gas source as power source, and the locking or release mechanism is driven by gas pressure, to realize the quick replacement of end tool. However, this design needs additional gas pipe and supporting mechanism, not only increases the complexity and production cost of device, but also occupies the space outside mechanical arm, affects the flexibility and applicability of mechanical arm. UTILITARIAN CONTENT

[0004] In view of the existing deficiency, the utility model provides a kind of mechanical arm end tool quick change device, the device adopts mechanical structure, does not need gas power, simplifies the device structure, reduces production cost, simultaneously reduces the occupation of space outside mechanical arm.

[0005] To achieve the above object, the technical scheme that the utility model takes is as follows:

[0006] A mechanical arm end tool quick change device, including main disc and tool disc, the inside of the main disc is provided with a sunken groove, the top of the sunken groove is provided with an electromagnet, the bottom of the sunken groove is provided with a ring-shaped clasp, the bottom of the main disc is provided with a plug-in sleeve, the upper end of the plug-in sleeve is provided with a connecting disc, the connecting disc is fixedly connected with the clasp through screws, the inside of the plug-in sleeve is provided with a top plate, the inside of the top plate is provided with a support rod which can slide up and down, the plug-in sleeve is provided with two groups of lock tongue grooves which are symmetrically arranged on the upper surface, the inside of the two groups of lock tongue grooves is provided with a lock tongue plate which can slide, the inside of the plug-in sleeve is provided with a bottom plate, and the upper surface of the bottom plate is flush with the lower surface of the lock tongue plate, a connecting rod is arranged between the lock tongue plate and the support rod, and the two ends of the support rod are hingedly connected with the support rod and the lock tongue plate respectively.

[0007] The tool disc is arranged on the lower side of the main disc, the inside of the tool disc is provided with a ring seat, the ring seat is fixedly connected with the tool disc through a plurality of fastening bolts, the inner diameter of the ring seat is larger than the diameter of the plug-in sleeve, and a ring groove which is matched with the lock tongue plate is formed in the inner side surface of the ring seat.

[0008] Further, the bottom of the lock tongue plate is fixedly provided with a sliding plate close to the inner side end, the inside of the bottom plate is provided with a sliding groove which is matched with the sliding plate, the sliding plate is clamped into the sliding groove and is in sliding connection with the sliding groove, the bottom surface of the bottom plate is fixedly provided with a baffle, and a return spring is arranged between the baffle and the sliding plate.

[0009] Further, the bottom plate of the lock tongue plate is fixedly provided with a limiting plate on the front and rear sides, rotatable balls are embedded on the inner side ends of the front and rear sides of the lock tongue plate, and a limiting groove which is matched with the ball is formed in the inner side surface of the limiting plate.

[0010] Further, the bottom plate of the lock tongue plate is fixedly provided with a limiting plate on the front and rear sides, rotatable balls are embedded on the inner side ends of the front and rear sides of the lock tongue plate, and a limiting groove which is matched with the ball is formed in the inner side surface of the limiting plate.

[0011] Further, the inside of the main disc is provided with a weight-reducing hole close to the four corners.

[0012] Further, a plurality of main disc mounting holes are uniformly formed in the inside of the main disc, and a plurality of tool disc mounting holes are formed in the inside of the tool disc.

[0013] Compared with the prior art, the mechanical arm end tool quick change device has the following beneficial effects:

[0014] 1. The utility model discloses a electromagnet as power source, need not additional trachea and supporting mechanism, greatly simplified device structure, reduced production cost. Simultaneously remove the gas source related parts, save the space of mechanical arm outside, improve the flexibility and applicability of mechanical arm. And through the power on and power off of electromagnet can realize the quick replacement of tool disc, and the operation is simple and fast.

[0015] 2. In the utility model, the slide plate is fixed at the bottom of the lock tongue plate near the inner side end, the slide groove is set in the inside of the bottom plate and matched with the slide plate, the slide plate is clamped into the slide groove and connected with it, the slide plate and the slide groove can guide and limit the movement of the lock tongue plate, so that the lock tongue plate can keep stable movement track when sliding, prevent it from loosening and deviating, the baffle is fixed at the center of the bottom surface of the bottom plate, the reset spring is fixed between the baffle and the slide plate, the reset spring can provide directional elastic force, make the lock tongue plate always move outward, when the electromagnet is powered off, the lock tongue plate can be clamped into the ring groove, the electromagnet does not need to be powered on continuously, reduce the energy consumption, at the same time, it can ensure that the main disc and the tool disc are always locked and connected when the mechanical arm suddenly loses power, effectively prevent the tool disc from falling off after power off.

[0016] 3. In the utility model, the function of the limiting plate is to limit the sliding range of the lock tongue plate, ensure its stable movement in the set track, the lock tongue plate can be prevented from deviating and loosening due to external force or vibration through the limiting plate, so as to ensure the overall stability and reliability of the device, at the same time, the ball provides accurate movement guide, reduces the friction resistance of the lock tongue plate in the sliding process, makes the movement more smooth.

[0017] 4. In the utility model, the positioning rod cooperates with the positioning hole to realize the accuracy when the main disc and the tool disc are connected, the main disc and the tool disc can keep high position consistency in the docking process, improve the positioning accuracy of the device. At the same time, after the positioning rod is inserted into the positioning hole, it provides additional support and stability for the main disc and the tool disc, prevents relative movement caused by vibration or external force in the working process. ACCURACY

[0018] Figure 1 It is the overall structure schematic diagram of the utility model.

[0019] Figure 2 It is the structure schematic diagram of the main disc in the utility model.

[0020] Figure 3 It is another angle structure schematic diagram of the main disc in the utility model.

[0021] Figure 4 It is the sectional view of the main disc in the utility model.

[0022] Figure 5 It is the local structure schematic diagram of the main disc in the utility model.

[0023] Figure 6 It is the structure schematic view of the plug-in sleeve in the utility model.

[0024] Figure 7 It is the structure schematic view of the tool disc in the utility model.

[0025] Figure 8 It is the sectional view of the tool disc in the utility model.

[0026] Figure 9 It is the structure schematic view of the main disc and the tool disc after being connected in the utility model.

[0027] In the drawing: 1, main disc;2, tool disc;3, main disc mounting hole;4, weight reduction hole;5, positioning rod;6, plug-in sleeve;7, connecting disc;8, electromagnet;9, sink groove;10, clamping ring;11, lock tongue plate;12, top plate;13, support rod;14, connecting rod;15, reset spring;16, baffle;17, sliding groove;18, sliding plate;19, hinged joint;20, ball;21, limiting plate;22, limiting groove;23, bottom plate;24, lock tongue groove;25, tool disc mounting hole;26, ring seat;27, fastening bolt;28, positioning hole;29, ring groove. DETAILED DESCRIPTION

[0028] The technical scheme in the embodiments of the utility model will be described clearly and completely below in conjunction with the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, rather than all the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the utility model.

[0029] Embodiment:

[0030] As Figures 1 to 9As shown, a mechanical arm end tool quick change device includes a main disc 1 and a tool disc 2, the main disc 1 is used for being installed on the end of the mechanical arm, a sunken groove 9 is formed in the main disc 1, an electromagnet 8 is installed at the top center of the sunken groove 9, the electromagnet 8 generates magnetic force through power supply, is used for adsorbing or releasing a support rod 13, and then drives a lock tongue plate 11 to move to realize locking or unlocking of the tool disc 2, a ring-shaped collar 10 is fixedly arranged at the bottom position of the sunken groove 9, a plug-in sleeve 6 is arranged at the bottom of the main disc 1, a connecting disc 7 is fixedly arranged on the upper end of the ring surface of the plug-in sleeve 6, the connecting disc 7 is fixedly connected with the collar 10 through screws, a top plate 12 is fixedly arranged on the inside of the plug-in sleeve 6, a support rod 13 which can slide up and down is arranged in the inside of the top plate 12, two groups of lock tongue grooves 24 are symmetrically formed on the ring surface of the plug-in sleeve 6, the lock tongue grooves 24 are both provided with a slidable lock tongue plate 11, a bottom plate 23 is fixedly arranged in the plug-in sleeve 6, and the upper surface of the bottom plate 23 is flush with the lower surface of the lock tongue plate 11, a connecting rod 14 is arranged between the lock tongue plate 11 and the support rod 13, the both ends of the support rod 13 are respectively hinged with the support rod 13 and the lock tongue plate 11 through hinge joints 19, the lock tongue plate 11 is driven to slide in the lock tongue groove 24 through the connecting rod 14, and the functions of locking or releasing the tool disc 2 are realized.

[0031] The tool disc 2 is arranged on the lower side of the main disc 1, the tool disc 2 is used for being installed on the end tool, the tool disc 2 is provided with a ring seat 26, the ring seat 26 is fixedly connected with the tool disc 2 through a plurality of fastening bolts 27, the inner diameter of the ring seat 26 is greater than the diameter of the plug-in sleeve 6, a ring groove 29 which is matched with the lock tongue plate 11 is formed on the inner side surface of the ring seat 26, when the lock tongue plate 11 slides into the ring groove 29, the locking of the tool disc 2 is realized.

[0032] In the embodiment, the bottom of the lock tongue plate 11 is fixedly provided with a sliding plate 18 near the inner side end, a sliding groove 17 which is matched with the sliding plate 18 is formed in the inside of the bottom plate 23, the sliding plate 18 is clamped into the sliding groove 17 and is slidably connected with the sliding groove 17, the movement of the lock tongue plate 11 can be guided and limited through the sliding plate 18 and the sliding groove 17, so that the lock tongue plate 11 can keep a stable movement track when sliding, and the lock tongue plate 11 is prevented from being loose and deviated, a baffle 16 is fixedly arranged at the center of the bottom surface of the bottom plate 23, a return spring 15 is fixedly arranged between the baffle 16 and the sliding plate 18, the return spring 15 can provide directional elastic force, and the lock tongue plate 11 is always moved outward, when the electromagnet 8 is powered off, the lock tongue plate 11 can be clamped into the ring groove 29, the electromagnet 8 does not need to be continuously powered on, the energy consumption is reduced, and the main disc 1 and the tool disc 2 are always locked and connected when the mechanical arm suddenly encounters power failure, the tool disc 2 is effectively prevented from falling off after power failure.

[0033] In this embodiment, the bottom plate 23 on both sides of the lock tongue plate 11 is fixed with a limiting plate 21, and the inner side of the limiting plate 21 is provided with a limiting groove 22 matched with the rolling ball 20. The rolling ball 20 is inserted into the limiting groove 22 and connected with the limiting groove 22. The limiting plate 21 limits the sliding range of the lock tongue plate 11, ensures stable movement in the set track, prevents the lock tongue plate 11 from being offset and loosened due to external force or vibration, and ensures the overall stability and reliability of the device. At the same time, the rolling ball 20 provides accurate movement guide, reduces the friction resistance of the lock tongue plate 11 in the sliding process, and makes the movement more smooth.

[0034] In this embodiment, the bottom surface of the main disc 1 is symmetrically provided with a positioning rod 5, and the inside of the tool disc 2 is symmetrically provided with a positioning hole 28 matched with the positioning rod 5. The positioning rod 5 can be inserted into the positioning hole 28. The positioning rod 5 cooperates with the positioning hole 28 to realize the accuracy of the connection between the main disc 1 and the tool disc 2. The main disc 1 and the tool disc 2 can maintain high position consistency during docking, improving the positioning accuracy of the device. At the same time, after the positioning rod 5 is inserted into the positioning hole 28, additional support and stability are provided for the main disc 1 and the tool disc 2, preventing relative movement caused by vibration or external force during work.

[0035] In this embodiment, the main disc 1 is provided with a weight reduction hole 4 near the four corners. The weight reduction hole 4 can reduce the weight of the main disc 1, which helps to improve the movement flexibility and response speed of the mechanical arm, especially in automatic production lines and robot assembly lines that need to frequently change tools. In addition, the design of the weight reduction hole 4 not only reduces the weight, but also helps to optimize the structure of the main disc 1, which can disperse stress, improve the strength and rigidity of the main disc 1, and reduce deformation or damage caused by stress concentration.

[0036] In this embodiment, the main disc 1 is uniformly provided with a plurality of main disc mounting holes 3, which can be matched with bolts to install the main disc 1 on the mechanical arm. The tool disc 2 is provided with a plurality of tool disc mounting holes 25, which are used to cooperate with bolts to install the tool disc on the end tool.

[0037] It should be noted that the reset spring 15 is always in a compressed state, and the magnetic attraction generated by the electromagnet 8 is greater than the elastic force generated by the two reset springs 15.

[0038] The working principle of the mechanical arm end tool quick change device is as follows:

[0039] When the tool disc 2 needs to be replaced, first, the electromagnet 8 is started, the electromagnet 8 generates magnetic attraction force when powered on, the support rod 13 is adsorbed and moved upward, the support rod 13 drives the lock tongue plate 11 to slide inward in the lock tongue groove 24 through the connecting rod 14, the lock tongue plate 11 is separated from the ring groove 29 on the tool disc 2 and is retracted into the plug sleeve 6, at this time, the main disc 1 and the tool disc 2 are in an unlocked state. After unlocking, the control mechanical arm moves the main disc 1, the positioning rod 5 is aligned with the positioning hole 28 of the tool disc 2, the positioning rod 5 is slowly inserted, the main disc 1 and the tool disc 2 are accurately docked, and the plug sleeve 6 is inserted into the ring seat 26. Then, the electromagnet 8 is powered off, the magnetic force is lost, the lock tongue plate 11 is pushed to move outward through the reset spring 15, and the support rod 13 is moved downward until the lower end of the support rod 13 falls on the bottom plate 23. The lock tongue plate 11 is extended from the lock tongue groove 24 and is clamped into the ring groove 29 inside the ring seat 26, and locking is achieved.

[0040] Obviously, the above embodiments of the utility model are only examples for clearly illustrating the utility model, and are not a limitation on the embodiments of the utility model. For ordinary skilled in the art, on the basis of the above description, other different forms of changes or changes can be made, all the embodiments cannot be exhausted here, and all the embodiments still belong to the protection scope of the utility model.

Claims

1. A mechanical arm end tool quick change device, comprising a main disc (1) and a tool disc (2), characterized in that: The main disc (1) is internally provided with a sunken groove (9), the top center of the sunken groove (9) is provided with an electromagnet (8), the bottom of the sunken groove (9) is fixedly provided with an annular clasp (10), the bottom of the main disc (1) is provided with a plug-in sleeve (6), the upper end of the ring surface of the plug-in sleeve (6) is fixedly provided with a connecting disc (7), the connecting disc (7) is fixedly connected with the clasp (10) through screws, the inside of the plug-in sleeve (6) is fixedly provided with a top plate (12), the center of the inside of the top plate (12) is provided with a vertically-slidable supporting rod (13), the ring surface of the plug-in sleeve (6) is symmetrically provided with two groups of lock tongue grooves (24), the inside of the two groups of lock tongue grooves (24) is provided with a slidable lock tongue plate (11), the inside of the plug-in sleeve (6) is fixedly provided with a bottom plate (23), and the upper surface of the bottom plate (23) is flush with the lower surface of the lock tongue plate (11), a connecting rod (14) is arranged between the lock tongue plate (11) and the supporting rod (13), and the two ends of the supporting rod (13) are respectively hingedly connected with the supporting rod (13) and the lock tongue plate (11) through hinge joints (19). The tool disc (2) is arranged on the lower side of the main disc (1), the inside of the tool disc (2) is provided with an annular seat (26), the annular seat (26) is fixedly connected with the tool disc (2) through a plurality of fastening bolts (27), the inner diameter of the annular seat (26) is greater than the diameter of the plug-in sleeve (6), and the inner side of the annular seat (26) is provided with an annular groove (29) matched with the lock tongue plate (11).

2. The mechanical arm end tool quick change device according to claim 1, characterized in that: The bottom of the lock tongue plate (11) is fixedly provided with a sliding plate (18) close to the inner side end, the inside of the bottom plate (23) is provided with a sliding groove (17) matched with the sliding plate (18), the sliding plate (18) is clamped into the sliding groove (17) and is in sliding connection with the sliding groove (17), the bottom center of the bottom plate (23) is fixedly provided with a baffle (16), and the baffle (16) is fixedly provided between the sliding plate (18) and the baffle (16). A return spring (15) is arranged.

3. The mechanical arm end tool quick change device of claim 1, wherein: The bottom plate (23) on the front and rear sides of the lock tongue plate (11) is fixedly provided with a limiting plate (21), rotatable balls (20) are embedded on the inner side ends of the front and rear sides of the lock tongue plate (11), and a limiting groove (22) matched with the ball (20) is formed in the inner side of the limiting plate (21). The ball (20) is clamped into the limiting groove (22) and is in rolling connection with the limiting groove (22).

4. The mechanical arm end tool quick change device of claim 1, wherein: The bottom of the lock tongue plate (11) is fixedly provided with a sliding plate (18) close to the inner side end, the inside of the bottom plate (23) is provided with a sliding groove (17) matched with the sliding plate (18), the sliding plate (18) is clamped into the sliding groove (17) and is in sliding connection with the sliding groove (17), the bottom center of the bottom plate (23) is fixedly provided with a baffle (16), and the baffle (16) is fixedly provided between the sliding plate (18) and the baffle (16). A return spring (15) is arranged.

5. The mechanical arm end tool quick change device of claim 4, wherein: The bottom of the lock tongue plate (11) is fixedly provided with a sliding plate (18) close to the inner side end, the inside of the bottom plate (23) is provided with a sliding groove (17) matched with the sliding plate (18), the sliding plate (18) is clamped into the sliding groove (17) and is in sliding connection with the sliding groove (17), the bottom center of the bottom plate (23) is fixedly provided with a baffle (16), and the baffle (16) is fixedly provided between the sliding plate (18) and the baffle (16). A return spring (15) is arranged.

6. The mechanical arm end tool quick change device of claim 4, wherein: The bottom of the lock tongue plate (11) is fixedly provided with a sliding plate (18) close to the inner side end, the inside of the bottom plate (23) is provided with a sliding groove (17) matched with the sliding plate (18), the sliding plate (18) is clamped into the sliding groove (17) and is in sliding connection with the sliding groove (17), the bottom center of the bottom plate (23) is fixedly provided with a baffle (16), and the baffle (16) is fixedly provided between the sliding plate (18) and the baffle (16). A return spring (15) is arranged. The bottom of the lock tongue plate (11) is fixedly provided with a sliding plate (18) close to the inner side end, the inside of the bottom plate (23) is provided with a sliding groove (17) matched with the sliding plate (18), the sliding plate (18) is clamped into the sliding groove (17) and is in sliding connection with the sliding groove (17), the bottom center of the bottom plate (23) is fixedly provided with a baffle (16), and the baffle (16) is fixedly provided between the sliding plate (18) and the baffle (16). A return spring (15) is arranged.

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