Manipulator quick-change device

Abstract

The utility model discloses a manipulator quick-change device, which belongs to the field of manipulator quick-change, and comprises a first disc, a second disc, a piston, a push rod and steel balls, a plurality of steel balls are movably arranged on the lower portion of an insertion portion, the insertion portion is inserted into the second disc, and a clamping groove is arranged in the second disc. The first disc is internally provided with a cavity and a through hole which are communicated with each other, the piston is slidably connected into the cavity, a push rod is fixed to the bottom end of the piston, the push rod is inserted into the through hole and can push the steel ball to move outwards to be matched with the clamping groove, the first disc is provided with a first air channel and a second air channel which are communicated with the cavity, and the communication position of the first air channel and the cavity is located above the piston. The communicating position of the second air channel and the cavity is located below the piston, and the first air channel and the second air channel are both communicated with an external air source. Rapid replacement can be achieved only by simply pushing and pulling the second disc up and down and combining up-and-down movement of the piston, a large amount of labor is not needed, the rapid replacement efficiency is high, and stability is high after connection.

Description

Technical Field

[0001] This utility model belongs to the field of quick-change robotic arms, and in particular relates to a quick-change robotic arm device. Background Technology

[0002] A robotic arm is an automated device that mimics certain movements and functions of a human hand and arm to grasp, move objects, or operate tools according to a fixed program. As one of the earliest industrial robots and the first modern robots, the robotic arm can replace heavy human labor to achieve mechanization and automation of production. It can operate in hazardous environments to protect human safety, and is therefore widely used in machinery manufacturing, metallurgy, electronics, light industry, and nuclear energy sectors. The robotic arm is a new type of device developed in the process of mechanized and automated production. In modern production processes, robotic arms are widely used in automated production lines. The research and production of robots has become a rapidly developing emerging technology in the high-tech field, further promoting the development of robotic arms and enabling them to better integrate with mechanization and automation.

[0003] The quick-change module for robotic arms is a connecting device that connects the robotic arm to the robotic arm's manual fixtures or grippers. Existing quick-change modules use threaded locking to fix the main body, which requires a long time for positioning when changing grippers. This existing quick-change method requires a lot of labor, cannot maintain the structural stability after connection, is inconvenient to connect, and the quick-change efficiency needs to be improved. Utility Model Content

[0004] The purpose of this invention is to provide a quick-change device for a robotic arm to overcome at least one of the aforementioned defects in the prior art.

[0005] To achieve this objective, the present invention adopts the following technical solution:

[0006] This utility model provides a quick-change device for a robotic arm, comprising a first plate, a second plate, a piston, a push rod, and steel balls. The bottom of the first plate has an insertion part, and several steel balls are movably disposed at the lower part of the insertion part. The insertion part is inserted into the second plate, which has a slot inside. The first plate has interconnected chambers and through holes inside. The piston is slidably connected to the chambers, and a push rod is fixed at the bottom of the piston. The push rod is inserted into the through hole and can push the steel balls outward to cooperate with the slot. The first plate has a first air passage and a second air passage communicating with the chambers. The connection between the first air passage and the chamber is located above the piston, and the connection between the second air passage and the chamber is located below the piston. Both the first and second air passages are connected to an external air source.

[0007] Preferably, the side wall of the insertion part has mounting holes for mounting steel balls. The diameter of the mounting holes decreases from the inside to the outside. The minimum diameter of the mounting holes is smaller than the diameter of the steel balls, the maximum diameter of the mounting holes is larger than the diameter of the steel balls, and the depth of the mounting holes is smaller than the diameter of the steel balls.

[0008] Preferably, the lower part of the push rod has a first frustum section, a cylindrical section, and a second frustum section from top to bottom, and the slope of the first frustum section is less than the slope of the second frustum section.

[0009] Preferably, the first disc includes a first base and a top cover. The top cover is fixed to the top wall of the first base. The top wall of the chamber has an inclined surface. One end of the first airway is located on the side wall of the first base, and the other end of the first airway is located on the inclined surface. One end of the second airway is located on the side wall of the first base, and the other end of the second airway is located at the bottom of the chamber.

[0010] Preferably, the insertion portion protrudes downward from the bottom wall of the first base.

[0011] Preferably, a first sealing ring is provided between the top cover and the top wall of the first base, a second sealing ring is provided between the piston and the chamber, and a third sealing ring is provided between the push rod and the insertion part.

[0012] Preferably, the second plate includes a second base, a first card holder, and a second card holder. The first card holder and the second card holder are installed inside the second base. The first card holder is located above the second card holder. The first card holder has a first annular groove, and the second card holder has a second annular groove. The first annular groove and the second annular groove cooperate to form a card slot.

[0013] Preferably, the first annular groove has an inclined first groove wall, and the second annular groove has a horizontal second groove wall and a vertical third groove wall.

[0014] Preferably, the first plate also has several third air channels, which are connected to an external air source. A rubber head is fixedly connected to the bottom of the third air channel. The second plate also has several fourth air channels, with the rubber head inserted into the fourth air channel, connecting the third and fourth air channels. The bottom of the first plate has several slots, and the top of the second plate has several pins fixedly connected to it, with the pins engaging with the slots.

[0015] Preferably, a male electrical connector is fixed to the side wall of the first plate, and a female electrical connector is fixed to the side wall of the second plate. The male and female electrical connectors are electrically connected through electrical contact points.

[0016] The beneficial effects of this utility model are as follows:

[0017] 1. Simply push and pull the second disc up and down, combined with the up and down movement of the piston, to achieve quick replacement. No large amount of labor is required, the quick replacement is highly efficient, and the connection is highly stable.

[0018] 2. By matching the diameter and depth of the mounting hole with the diameter of the steel ball, it is ensured that the steel ball can be partially exposed in the mounting hole and fit with the slot, and will not detach from the mounting hole outward; due to the setting of the push rod, the inward movement stroke of the steel ball is limited, preventing the steel ball from detaching from the mounting hole inward.

[0019] 3. The first frustum section, the cylindrical section, and the second frustum section serve as a transitional element in pushing the steel ball, making the process of pushing the steel ball more stable.

[0020] 4. By setting up the inclined plane, space is provided for the connection between the first air passage and the chamber, changing the traditional side air inlet and outlet form to provide an upward air inlet and outlet method. This can make more effective use of the chamber space and make the airflow path smoother. This helps to reduce the resistance and loss of airflow when entering and exiting the chamber, and improve work efficiency.

[0021] 5. The inclined first groove wall helps guide the steel ball to move inward when the first and second discs separate. Combined with the push rod, the horizontally set second groove wall, and the vertically set third groove wall, the steel ball is limited in all directions (up, down, left, and right), ensuring the stability of the connection between the first and second discs.

[0022] 6. The design of the rubber head not only improves the docking stability between the first and second discs, but also ensures the sealing between the third and fourth air passages.

[0023] 7. The combination of pins and slots not only serves as a guide for docking but also further improves the docking stability of the first and second discs. Combined with the cooperation of steel balls and slots, it enables a rapid mechanical connection between the first and second discs.

[0024] 8. Rapid airway opening is achieved through the connection between the third and fourth airways.

[0025] 9. Achieve rapid connection of electrical and signal connections through electrical connection of electrical contact points. Attached Figure Description

[0026] Figure 1 This is a three-dimensional structural diagram of the present invention.

[0027] Figure 2 This is a top view of the structure of this utility model.

[0028] Figure 3 yes Figure 2 Schematic diagram of the cross-sectional structure along the AA direction.

[0029] Figure 4 This is the first three-dimensional exploded structure diagram of this utility model.

[0030] Figure 5 This is a schematic diagram of the second three-dimensional exploded structure of this utility model.

[0031] Figure 6 This is a three-dimensional structural diagram of the first card holder of this utility model.

[0032] Figure 7 This is a three-dimensional structural diagram of the second card holder of this utility model.

[0033] Figure 8 This is a three-dimensional structural diagram of the piston and push rod of this utility model.

[0034] Figure 9 This is a three-dimensional structural diagram of the first base of this utility model.

[0035] Figure 10 This is a bottom view of the structure of the first base of this utility model.

[0036] The labels in the attached diagram are as follows: 1-piston, 2-steel ball, 3-push rod, 4-first disc, 5-second disc, 51-slot, 41-first base, 42-top cover, 411-insertion part, 412-chamber, 413-through hole, 414-first air passage, 415-second air passage, 416-mounting hole, 31-first frustum section, 32-cylindrical section, 33-second frustum section, 417-sloping surface, 6-first sealing ring, 7-second 8-Third sealing ring, 52-Second base, 53-First retainer, 54-Second retainer, 511-First annular groove, 512-Second annular groove, 5111-First groove wall, 5121-Second groove wall, 5122-Third groove wall, 418-Third air passage, 9-Glue head, 55-Fourth air passage, 419-Slot, 10-Pin, 11-Male electrical connector, 12-Female electrical connector, 13-Electrical contact point. Detailed Implementation

[0037] The present invention will now be further described in conjunction with the accompanying drawings and specific embodiments.

[0038] Contents not described in detail in this specification are existing technologies known to those skilled in the art. In the description of this utility model, it should be understood that terms such as "center," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," and "counterclockwise," indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings and are used only for the convenience of describing this utility model and simplifying the description. They do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as limiting this utility model. Furthermore, terms such as "first," "second," and "third," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0039] like Figures 1 to 10As shown, the quick-change device for a robotic arm provided in this embodiment includes a first plate 4, a second plate 5, a piston 1, a push rod 3, and steel balls 2. The bottom of the first plate 4 has an insertion part 411, and several steel balls 2 are movably disposed at the lower part of the insertion part 411. The insertion part 411 is inserted into the second plate 5. The interior of the second plate 5 has a slot 51. The interior of the first plate 4 has a cavity 412 and a through hole 413 that are interconnected. The piston 1 is slidably connected to the cavity 412. The bottom end of the piston 1 is fixed with a push rod 3. The push rod 3 is inserted into the through hole 413 and can push the steel balls 2 to move outward and cooperate with the slot 51. The first plate 4 has a first air passage 414 and a second air passage 415 that communicate with the cavity 412. The connection between the first air passage 414 and the cavity 412 is located above the piston 1, and the connection between the second air passage 415 and the cavity 412 is located below the piston 1. Both the first air passage 414 and the second air passage 415 are connected to an external air source. In this embodiment, the first plate 4 is connected to the machine tool robot, and the second plate 5 is connected to the robotic arm. The rapid assembly and disassembly of the first plate 4 and the second plate 5 allows for quick assembly and disassembly of the robotic arm and the robot, enabling rapid replacement of different robotic arms. When assembling the first plate 4 and the second plate 5, the second plate 5 is pushed upwards, and the insertion part 411 is inserted into the second plate 5. Due to the action of the inner wall of the second plate 5, the steel ball 2 retracts inwards until the top wall of the second plate 5 abuts against the bottom wall of the first plate 4. At this point, the slot 51 and the steel ball 2 are aligned. Compressed air supplied by an external air source enters the chamber 412 through the first air passage 414, pushing the piston 1 downwards, causing the push rod 3 to move downwards, pushing the steel ball 2 outwards and engaging it in the slot 51, thus locking and securing the first plate 4 and the second plate 5, ensuring the stability of the docking. The gas in the chamber 412 below the piston 1 is discharged through the second air passage 415. When the first disc 4 and the second disc 5 need to be separated, compressed air supplied by an external air source enters the chamber 412 through the second air passage 415, pushing the piston 1 upward, causing the push rod 3 to move upward. After losing the pushing force of the push rod 3, the second disc 5 is pulled downward. During the downward movement of the second disc 5, the steel ball 2 is squeezed inward by the inner wall of the second disc 5 and moves out of the slot 51 until the second disc 5 is removed. The gas in the chamber 412 above the piston 1 is discharged through the first air passage 414. In this embodiment, the intake and exhaust of the first air passage 414 and the second air passage 415 are switched by a two-position five-way solenoid valve. This utility model only requires simple up and down pushing and pulling of the second disc 5, combined with the up and down movement of the piston 1, to achieve quick replacement, without a large amount of labor, with high efficiency and high stability after connection.

[0040] The insertion part 411 has a mounting hole 416 on its side wall for mounting the steel ball 2. The diameter of the mounting hole 416 decreases from the inside to the outside, with the minimum diameter being smaller than the diameter of the steel ball 2 and the maximum diameter being larger than the diameter of the steel ball 2. The depth of the mounting hole 416 is less than the diameter of the steel ball 2. By matching the diameter and depth of the mounting hole 416 with the diameter of the steel ball 2, it is ensured that the steel ball 2 can be partially exposed in the mounting hole 416 to engage with the slot 51, and will not disengage from the mounting hole 416 outwards. Due to the setting of the push rod 3, the inward movement stroke of the steel ball 2 is limited, preventing the steel ball 2 from disengaging from the mounting hole 416 inwards.

[0041] The lower part of the push rod 3 has, from top to bottom, a first frustum section 31, a cylindrical section 32, and a second frustum section 33. The slope of the first frustum section 31 is less than that of the second frustum section 33. The arrangement of the first frustum section 31, the cylindrical section 32, and the second frustum section 33 serves as a transition for pushing the steel ball 2, making the pushing process of the steel ball 2 more stable.

[0042] The first plate 4 includes a first base 41 and a top cover 42. The top cover 42 is fixed to the top wall of the first base 41. The top wall of the chamber 412 has an inclined surface 417. One end of the first air passage 414 is located on the side wall of the first base 41, and the other end of the first air passage 414 is located on the inclined surface 417. One end of the second air passage 415 is located on the side wall of the first base 41, and the other end of the second air passage is located at the bottom of the chamber 412. The inclined surface 417 provides space for the communication between the first air passage 414 and the chamber 412, changing the traditional side-inlet / outlet airflow pattern to a top-inlet / outlet airflow pattern. This allows for more efficient use of the space in the chamber 412, making the airflow path smoother. This helps reduce airflow resistance and loss when entering and exiting the chamber 412, thus improving work efficiency.

[0043] The insertion part 411 protrudes downward from the bottom wall of the first base 41. The insertion part 411 is integrally formed with the first base 41, making the structure more stable.

[0044] A first sealing ring 6 is provided between the top cover 42 and the top wall of the first base 41, a second sealing ring 7 is provided between the piston 1 and the chamber 412, and a third sealing ring 8 is provided between the push rod 3 and the insertion part 411. The sealing performance of this device is ensured by the provision of the first sealing ring 6, the second sealing ring 7, and the third sealing ring 8.

[0045] The second disc 5 includes a second base 52, a first retaining seat 53, and a second retaining seat 54. The first retaining seat 53 and the second retaining seat 54 are installed inside the second base 52. The first retaining seat 53 is located above the second retaining seat 54. The first retaining seat 53 has a first annular groove 511, and the second retaining seat 54 has a second annular groove 512. The first annular groove 511 and the second annular groove 512 cooperate to form a retaining groove 51. The first annular groove 511 has an inclined first groove wall 5111, and the second annular groove 512 has a horizontal second groove wall 5121 and a vertical third groove wall 5122. The inclined first groove wall 5111 helps guide the inward movement of the steel ball 2 when the first disc 4 and the second disc 5 separate. Combined with the push rod 3, the horizontal second groove wall 5121, and the vertical third groove wall 5122, the steel ball 2 is limited in all directions (up, down, left, and right), ensuring the stability of the connection between the first disc 4 and the second disc 5.

[0046] The first plate 4 also has several third air passages 418, which are connected to an external air source. A rubber head 9 is fixedly connected to the bottom of each third air passage 418. The second plate 5 also has several fourth air passages 55, with the rubber head 9 inserted into each fourth air passage, connecting the third air passages 418 and the fourth air passages 55. The bottom of the first plate 4 has several slots 419, and the top of the second plate 5 has several pins 10 fixedly attached, which engage with the slots 419. The rubber head 9 not only improves the docking stability between the first plate 4 and the second plate 5 but also ensures the seal between the third air passages 418 and the fourth air passages 55. The engagement of the pins 10 and the slots 419 not only guides the docking but also further improves the docking stability between the first plate 4 and the second plate 5. Combined with the engagement of the steel ball 2 and the slot 51, a rapid mechanical connection between the first plate 4 and the second plate 5 is achieved. The connection between the third air passages 418 and the fourth air passages 55 enables rapid airflow. In this embodiment, the fourth airway 55 is connected to the airway of the robotic arm.

[0047] The first tray 4 has a male electrical connector 11 fixed to its side wall, and the second tray 5 has a female electrical connector 12 fixed to its side wall. The male and female electrical connectors 11 and 12 are electrically connected via an electrical contact point 13. This electrical connection via the contact point 13 enables rapid connection of electrical and signal connections.

[0048] The above embodiments are only used to illustrate the technical solutions of this utility model, and are not intended to limit it. Although this utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this utility model.

Claims

1. A quick-change device for a robotic arm, characterized in that: This includes the first disc, the second disc, the piston, the push rod, and the steel balls; The bottom of the first plate has an insertion part, and several steel balls are movably disposed in the lower part of the insertion part; The insertion part is inserted into the second disk; The second disk has a slot inside; The interior of the first disk has interconnected chambers and through holes; The piston is slidably connected to the chamber, and a push rod is fixed at the bottom end of the piston. The push rod is inserted into the through hole and can push the steel ball to move outward and cooperate with the slot. The first disc has a first air passage and a second air passage communicating with the chamber. The first air passage is located above the piston, and the second air passage is located below the piston. Both the first air passage and the second air passage are connected to an external air source.

2. The quick-change device for a robotic arm according to claim 1, characterized in that: The side wall of the insertion part has mounting holes for installing the steel ball; The diameter of the mounting holes decreases from the inside to the outside; The minimum diameter of the mounting hole is smaller than the diameter of the steel ball, and the maximum diameter of the mounting hole is larger than the diameter of the steel ball. The depth of the mounting hole is less than the diameter of the steel ball.

3. The quick-change device for a robotic arm according to claim 1, characterized in that: The lower part of the push rod has, from top to bottom, a first frustum section, a cylindrical section, and a second frustum section; The slope of the first frustum segment is less than the slope of the second frustum segment.

4. The quick-change device for a robotic arm according to claim 1, characterized in that: The first plate includes a first base and a top cover; A top cover is fixed to the top wall of the first base; The top wall of the chamber has a slope; One end of the first airway is located on the side wall of the first base, and the other end of the first airway is located on the inclined surface. One end of the second airway is located on the side wall of the first base, and the other end of the second airway is located at the bottom of the chamber.

5. The quick-change device for a robotic arm according to claim 4, characterized in that: The insertion portion is formed by the bottom wall of the first base protruding downwards.

6. The quick-change device for a robotic arm according to claim 4, characterized in that: A first sealing ring is provided between the top cover and the top wall of the first base; A second sealing ring is provided between the piston and the chamber; A third sealing ring is provided between the push rod and the insertion part.

7. The quick-change device for a robotic arm according to claim 1, characterized in that: The second tray includes a second base, a first card holder, and a second card holder; The second base has a first card holder and a second card holder installed inside, with the first card holder located above the second card holder; The first card holder has a first annular groove, and the second card holder has a second annular groove. The first annular groove and the second annular groove cooperate to form the card slot.

8. The quick-change device for a robotic arm according to claim 7, characterized in that: The first annular groove has an inclined first groove wall; The second annular groove has a horizontally arranged second groove wall and a vertically arranged third groove wall.

9. The quick-change device for a robotic arm according to claim 1, characterized in that: The first plate also has several third air channels, which are connected to an external air source, and the bottom of the third air channel is fixedly connected to a rubber head; The second plate also has several fourth air channels, and the rubber head is inserted into the fourth air channel, through which the third air channel and the fourth air channel are connected; The bottom of the first tray has several slots, and the top of the second tray has several pins that engage with the slots.

10. The quick-change device for a robotic arm according to claim 1, characterized in that: The side wall of the first plate is fixed with an electrical connection male connector, and the side wall of the second plate is fixed with an electrical connection female connector; The male and female electrical connectors are electrically connected via electrical contact points.

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