Quick-change self-locking type industrial robot end executing mechanism

Abstract

The utility model discloses a quick-change self-locking type industrial robot end actuating mechanism, which belongs to the technical field of industrial robots, and comprises a mechanical arm and an end actuator, an annular slot is arranged on the end face of the mechanical arm, a movable slot is arranged at the end part of the mechanical arm, and a rotating slot is arranged in the mechanical arm and is positioned at the end parts of the annular slot and the movable slot. When the mechanical arm and the end effector are connected, an inserting ring and a fixing base at the end of the end effector are inserted into an annular inserting groove and a movable groove in the end of the mechanical arm, and when the fixing base moves to an inner cavity of a rotating groove, the fixing base is rotated, so that an inserting block on the fixing base is aligned with a fixing inserting groove; and the elastic force of a first spring is used for driving an inserting block to be inserted into a fixing inserting groove to fix the mechanical arm and the end effector, the function of conveniently installing the end effector and the mechanical arm is achieved, and good practicability is achieved.

Description

TECHNICAL FIELD

[0001] The utility model relates to industrial robot technical field more specifically, and relates to a quick-change self-locking industrial robot end effector. BACKGROUND

[0002] With the continuous development of industrial automation technology, industrial robots are more and more widely used in modern production lines, and the end tool of the industrial robot is the key component for performing various operation tasks, such as grabbing, assembling, welding, etc. However, in the actual application process, different operation tasks require different end tools, so frequent replacement of the end tool has become a common requirement on the production line.

[0003] After searching, the utility model patent with publication number CN222570828U discloses a modular industrial robot end tool quick connection device, which comprises a rotating disc, a connecting arm is installed on one side of the rotating disc, a tool connecting plate is installed on the other side of the rotating disc, a tool clamping plate is installed at the bottom of the tool connecting plate, a pressure plate is arranged on the inner side of the tool clamping plate, a lifting rod is installed at the top of the pressure plate, a threaded sleeve is installed on the tool connecting plate, the top end of the lifting rod penetrates through the tool connecting plate and extends into the threaded sleeve, a threaded pressing rod is threadedly connected to the top of the threaded sleeve, and the bottom end of the threaded pressing rod abuts against the top end of the lifting rod; in the modular industrial robot end tool quick connection device, the unique design significantly improves the replacement efficiency of the end tool of the industrial robot, and ensures the stability of the connection; the device adopts the structure of the rotating disc and the connecting arm, so that the end tool can be flexibly adjusted in angle to meet the needs of different working scenes. However, the above-mentioned patent still has the following deficiencies: the convenience and stability of installing the end workpiece through the extrusion between the pressure plate and the tool connecting plate are not good, and therefore we propose a quick-change self-locking industrial robot end effector. UTILITY MODEL CONTENTS

[0004] In view of the problems existing in the prior art, the purpose of the utility model is to provide a quick-change self-locking industrial robot end effector.

[0005] To solve the above problems, the utility model adopts the following technical scheme:

[0006] The utility model provides a kind of quick-change self-locking industrial robot end effector, including mechanical arm and end effector, the end surface of the mechanical arm is equipped with annular slot, the end of the mechanical arm is provided with movable slot, the inside of the mechanical arm and located annular slot and movable slot end are provided with rotating slot, the outside of the mechanical arm and located rotating slot outside is equipped with multiple fixed slots, the tail end of the end effector is provided with connecting seat, the end of the connecting seat is fixedly connected with ring, the end of the ring extends to the inner cavity of rotating slot and is provided with multiple fixed seats, the outside of multiple fixed seats is provided with telescopic slot, the inner cavity of multiple telescopic slots is fixedly connected with first spring, the end of multiple first springs is fixedly connected with plug, the end of the plug is movably sleeved to the inner cavity of fixed slot, the end of the plug is fixedly sleeved with first magnet, the outside of the mechanical arm is provided with reinforcing mechanism.

[0007] As a preferred scheme of the utility model, the reinforcing mechanism includes fixed sleeve ring fixedly connected on the outside of the mechanical arm, the side of the fixed sleeve ring is fixedly connected with multiple second springs, the end of multiple second springs is fixedly connected with sliding sleeve, the sliding sleeve is movably sleeved on the outside of the mechanical arm, the inner wall of the sliding sleeve is fixedly sleeved with second magnet, the inner side of the second magnet and the outer side of the first magnet are attached, the inner wall of the sliding sleeve is fixedly sleeved with third magnet, the end of the sliding sleeve is fixedly connected with multiple slide rods, and the slide rod and fixed sleeve ring are movably sleeved.

[0008] As a preferred scheme of the utility model, the end of the mechanical arm is provided with connecting slot, the inner cavity of the connecting slot is provided with first power supply control line, and the end of the first power supply control line is fixedly connected with socket.

[0009] As a preferred scheme of the utility model, the end of the connecting seat and located inner cavity of the ring is provided with second power supply control line, and the end of the second power supply control line is fixedly connected with plug, and the plug and socket are matched.

[0010] As a preferred scheme of the utility model, the inner wall of the annular slot and the inner and outer side of the ring are attached, the inner wall of the rotating slot and the two end surfaces of the fixed seat are attached, and the side of the plug and the inner wall of the telescopic slot and fixed slot are attached.

[0011] As a preferred scheme of the utility model, the inner side of the second magnet and the outer side of the first magnet are magnetically different, and the outer side of the first magnet and the inner side of the third magnet are magnetically same.

[0012] Compared with prior art, the utility model has the advantages that:

[0013] (1) The utility model discloses a cooperation of annular slot, movable slot, rotation slot, fixed slot, ring, fixed base, telescopic slot, first spring, plug block is used to the connection between mechanical arm and end effector, makes the ring of end effector end and fixed base insert into annular slot and movable slot of mechanical arm end, when fixed base moves to the inner chamber of rotation slot, rotates fixed base, makes the plug block on fixed base and fixed slot align, utilizes the elastic force of first spring and drives plug block to insert into fixed slot and fixes between mechanical arm and end effector, realizes the function of convenient installation between end effector and mechanical arm.

[0014] (2) The utility model discloses when plug block inserts into the inner chamber of first magnet, strengthens the fixing of plug block through the magnetic attraction between first magnet and second magnet, guarantees the connecting strength between mechanical arm and end effector, in addition when end effector is detached from mechanical arm, pushes the sliding sleeve to make first magnet and third magnet align, utilizes the magnetic repulsion between third magnet and first magnet and pushes plug block to separate from the inner chamber of fixed slot, removes the fixing between mechanical arm and fixed base, thereby can pull out ring and fixed base from the inner chamber of annular slot and movable slot, realizes the function of convenient split between mechanical arm and end effector, and the practicality is good. BRIEF DESCRIPTION OF DRAWINGS

[0015] Figure 1 It is the whole structure schematic diagram of the utility model;

[0016] Figure 2 It is the whole cross section schematic diagram of the utility model;

[0017] Figure 3 It is the cross section schematic diagram of the utility model mechanical arm;

[0018] Figure 4 It is the structure schematic diagram of the utility model ring;

[0019] Figure 5 It is the structure schematic diagram of the utility model sliding sleeve;

[0020] Figure 6 It is the structure schematic diagram of the utility model Figure 2 A place amplification schematic diagram in the utility model.

[0021] Label explanation: 1, mechanical arm; 2, end effector; 3, connecting seat; 4, annular slot; 5, movable slot; 6, rotating slot; 7, fixed slot; 8, ring; 9, fixed seat; 10, telescopic slot; 11, first spring; 12, plug; 13, first magnet; 14, reinforcing mechanism; 15, fixed sleeve; 16, second spring; 17, sliding sleeve; 18, second magnet; 19, third magnet; 20, sliding rod; 21, connecting slot; 22, first power supply control line; 23, socket; 24, second power supply control line; 25, plug. DETAILED DESCRIPTION

[0022] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0023] In the description of the present application, it should be pointed out that the terms "upper", "lower", "inner", "outer", "top / bottom end" and the like indicate the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application. In addition, the terms "first", "second" are only for descriptive purposes and cannot be understood as indicating or implying relative importance.

[0024] In the description of the present application, it should be pointed out that unless otherwise explicitly specified and limited, the terms "mounting", "provided with", "sleeved / connected", "connected" and the like should be broadly understood, for example, "connected" can be fixedly connected, or can be detachably connected, or integrally connected; can be mechanically connected, or can be electrically connected; can be directly connected, or can be indirectly connected through an intermediate medium; can be the communication between two elements inside. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0025] Embodiment:

[0026] Please refer to Figures 1-6The utility model relates to a quick-change self-locking industrial robot end effector, including mechanical arm 1 and end effector 2, the end face of mechanical arm 1 is equipped with annular slot 4, the end of mechanical arm 1 is provided with movable slot 5, the inside of mechanical arm 1 and located annular slot 4 and movable slot 5's end are provided with rotary slot 6, the outside of mechanical arm 1 and located rotary slot 6's outside are equipped with a plurality of fixed slot 7, the tail end of end effector 2 is provided with connecting seat 3, the end of connecting seat 3 is fixedly connected with insert ring 8, the end of insert ring 8 extends to the inner chamber of rotary slot 6 through annular slot 4 and is provided with a plurality of fixed seat 9, the outside of a plurality of fixed seat 9 is provided with telescopic slot 10, the inner chamber of a plurality of telescopic slot 10 is fixedly connected with first spring 11, the end of a plurality of first spring 11 is fixedly connected with insert block 12, the end of insert block 12 is movably sleeved to the inner chamber of fixed slot 7, the end of insert block 12 is fixedly sleeved with first magnet 13, the outside of mechanical arm 1 is provided with reinforcing mechanism 14.

[0027] In the embodiment, the movable slot 5 is used for the fixed seat 9 to insert into the inner chamber of the rotary slot 6, and the end effector 2 can be different execution mechanisms, such as a welding gun, a clamping jaw, a suction cup, etc., which can be replaced according to actual requirements.

[0028] Specifically, please refer to Figure 1 , Figure 3 , Figure 5 and Figure 6 The reinforcing mechanism 14 includes a fixed sleeve ring 15 fixedly connected to the outside of the mechanical arm 1, a plurality of second springs 16 fixedly connected to the side surface of the fixed sleeve ring 15, a sliding sleeve 17 fixedly connected to the ends of the plurality of second springs 16, the sliding sleeve 17 movably sleeved to the outside of the mechanical arm 1, a second magnet 18 fixedly sleeved to the inner wall of the sliding sleeve 17, the inner side surface of the second magnet 18 abutting the outer side surface of the first magnet 13, a third magnet 19 fixedly sleeved to the inner wall of the sliding sleeve 17, a plurality of slide rods 20 fixedly connected to the ends of the sliding sleeve 17, and the slide rods 20 movably sleeved to the fixed sleeve ring 15.

[0029] In the embodiment, the sliding sleeve 17 is limited by the cooperation of the slide rods 20 and the fixed sleeve ring 15 to avoid rotation of the sliding sleeve 17, and when the second spring 16 is in a natural state, the second magnet 18 inside the sliding sleeve 17 is aligned with the fixed slot 7 to attract and fix the first magnet 13 at the end of the insert block 12 inserted into the inner chamber of the fixed slot 7.

[0030] Specifically, please refer to Figure 3 The end of the mechanical arm 1 is provided with a connecting slot 21, the inner chamber of the connecting slot 21 is provided with a first power supply control line 22, and the end of the first power supply control line 22 is fixedly connected with a socket 23.

[0031] Specifically, please refer to Figure 3 and Figure 4The end of the connecting seat 3 and inside the inner cavity of the ring 8 is provided with a second power supply control line 24, the end of the second power supply control line 24 is fixedly connected with a plug 25, the plug 25 is matched with the socket 23.

[0032] In this embodiment, the installed end effector 2 is powered through the cooperation of the first power supply control line 22, the socket 23, the second power supply control line 24 and the plug 25.

[0033] Specifically, please refer to Figure 3 、 Figure 4 and Figure 6 , the inner wall of the annular slot 4 and the inner and outer side of the ring 8 are matched, the inner wall of the rotating groove 6 and the two end faces of the fixed seat 9 are matched, the side of the plug 12 and the inner wall of the telescopic groove 10 and the fixed slot 7 are matched.

[0034] In this embodiment, the stability of the ring 8 inserted into the inner cavity of the annular slot 4 is ensured, the stability of the fixed seat 9 located in the inner cavity of the rotating groove 6 is ensured, and the stability of the plug 12 located in the inner cavity of the telescopic groove 10 and the fixed slot 7 is ensured.

[0035] Specifically, please refer to Figures 4 to 6 , the inner side of the second magnet 18 and the outer side of the first magnet 13 are magnetically different, the outer side of the first magnet 13 and the inner side of the third magnet 19 are magnetically the same.

[0036] In this embodiment, the second magnet 18 and the first magnet 13 are attracted to each other by the principle of different magnetic properties, so that the second magnet 18 fixes the first magnet 13 and the plug 12, and the third magnet 19 and the first magnet 13 repel each other by the principle of the same magnetic properties to push the plug 12 away from the inner cavity of the fixed slot 7.

[0037] Working principle: when the end effector 2 needs to be installed on the mechanical arm 1, first, the socket 23 at the end of the first power supply control line 22 is connected with the plug 25 at the end of the second power supply control line 24, so as to control the power supply of the end effector 2 to be installed, then the plug ring 8 at the end of the connecting seat 3 of the end effector 2 is inserted into the annular slot 4 at the end of the mechanical arm 1, and the fixing seat 9 at the end of the plug ring 8 is inserted into the movable slot 5 at the end of the mechanical arm 1, so that the plug ring 8 and the fixing seat 9 move in the inner cavities of the annular slot 4 and the movable slot 5, then when the end surface of the connecting seat 3 and the end surface of the mechanical arm 1 are in contact, the fixing seat 9 moves to the inner cavity of the rotating slot 6, at this time, the connecting seat 3 and the end effector 2 are rotated, so that the plug ring 8 and the fixing seat 9 are synchronously rotated, when the plug block 12 at the side of the fixing seat 9 is aligned with the fixed slot 7 at the side of the mechanical arm 1, the plug block 12 is inserted into the inner cavity of the fixed slot 7 by the elastic force of the first spring 11, so as to fix the fixing seat 9 and the mechanical arm 1, and then fix the mechanical arm 1 and the connecting seat 3, finally, the outer side surface of the first magnet 13 is attached to the inner side surface of the second magnet 18, and the plug block 12 is fixed by the magnetic attraction force between the first magnet 13 and the second magnet 18;

[0038] When the end effector 2 needs to be detached from the mechanical arm 1, first, the sleeve 17 is pushed to move, so that the third magnet 19 and the first magnet 13 are aligned, the plug block 12 is pushed out of the inner cavity of the fixed slot 7 by the magnetic repulsion force between the third magnet 19 and the first magnet 13, so that the plug block 12 is retracted into the inner cavity of the telescopic slot 10, so as to release the fixing between the mechanical arm 1 and the fixing seat 9, then the end effector 2, the connecting seat 3, the plug ring 8 and the fixing seat 9 are rotated, so that the position of the fixing seat 9 is aligned with the movable slot 5, so as to pull out the plug ring 8 and the fixing seat 9 from the inner cavities of the annular slot 4 and the movable slot 5, finally, the socket 23 and the plug 25 are separated, and other end effectors 2 are replaced.

[0039] The above is only the preferred specific implementation of the present application, but the protection scope of the present application is not limited to this, any skilled person in the art can make equivalent replacement or change according to the technical scheme and the improvement concept of the present application within the technical range disclosed by the present application, which should be covered in the protection scope of the present application.

Claims

1. A quick-change self-locking industrial robot end effector comprising a robot arm (1) and an end effector (2), characterized in that: The end face of the mechanical arm (1) is provided with an annular insertion slot (4), the end of the mechanical arm (1) is provided with a movable slot (5), the inside of the mechanical arm (1) and the end of the movable slot (5) are provided with a rotating slot (6), the outer side of the mechanical arm (1) and the outside of the rotating slot (6) are provided with a plurality of fixed insertion slots (7), the tail end of the end effector (2) is provided with a connecting seat (3), the end of the connecting seat (3) is fixedly connected with an insertion ring (8), the end of the insertion ring (8) extends through the annular insertion slot (4) to the inner cavity of the rotating slot (6) and is provided with a plurality of fixed seats (9), the outer side of each of the plurality of fixed seats (9) is provided with an expansion slot (10), the inner cavity of each of the plurality of expansion slots (10) is fixedly connected with a first spring (11), the end of each of the plurality of first springs (11) is fixedly connected with an insertion block (12), the end of the insertion block (12) is movably sleeved into the inner cavity of the fixed insertion slot (7), the end of the insertion block (12) is fixedly sleeved with a first magnet (13), and the outer side of the mechanical arm (1) is provided with a reinforcing mechanism (14).

2. A quick change self-locking industrial robot end effector according to claim 1, characterized in that: The reinforcing mechanism (14) comprises a fixed sleeve ring (15) fixedly connected to the outer side of the mechanical arm (1), a plurality of second springs (16) fixedly connected to the side of the fixed sleeve ring (15), a sliding sleeve (17) fixedly connected to the end of each of the plurality of second springs (16), the sliding sleeve (17) movably sleeved on the outer side of the mechanical arm (1), a second magnet (18) fixedly sleeved on the inner wall of the sliding sleeve (17), the inner side of the second magnet (18) and the outer side of the first magnet (13) are in abutment, a third magnet (19) fixedly sleeved on the inner wall of the sliding sleeve (17), and a plurality of sliding rods (20) fixedly connected to the end of the sliding sleeve (17), the sliding rods (20) and the fixed sleeve ring (15) are movably sleeved.

3. A quick change self-locking industrial robot end effector according to claim 1, characterized in that: The end of the mechanical arm (1) is provided with a connecting slot (21), and the inner cavity of the connecting slot (21) is provided with a first power supply control line (22).

4. A quick change self-locking industrial robot end effector according to claim 3, characterized in that: The end of the connecting seat (3) and the inner cavity of the insertion ring (8) are provided with a second power supply control line (24), the end of the second power supply control line (24) is fixedly connected with a plug (25), and the plug (25) is matched with the socket (23).

5. A quick change self-locking industrial robot end effector according to claim 1, characterized in that: The inner wall of the annular insertion slot (4) and the inner and outer sides of the insertion ring (8) are in abutment, the inner wall of the rotating slot (6) and the two end faces of the fixed seat (9) are in abutment, and the side of the insertion block (12) and the inner walls of the expansion slot (10) and the fixed insertion slot (7) are in abutment.

6. A quick change self-locking industrial robot end effector according to claim 2, characterized in that: The inner side of the second magnet (18) and the outer side of the first magnet (13) are magnetically different, and the outer side of the first magnet (13) and the inner side of the third magnet (19) are magnetically the same.

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