Automatic replacement bin for end effector
By designing an automatic end effector replacement chamber and utilizing the switching of avoidance clamps and limit clamps, as well as the displacement device for control, the problems of low end effector switching efficiency and incorrect model selection are solved, achieving efficient and accurate automated replacement.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2025-03-24
- Publication Date
- 2026-04-14
AI Technical Summary
Traditional end effectors have low switching efficiency and are prone to model selection errors, resulting in low operating efficiency of robotic arms.
Design an automatic end effector changing chamber. By switching the alignment of the avoidance clamp and the limit clamp with the positioning slot, combined with the automatic control of the displacement device, the end effector can freely enter, exit and lock, avoiding manual operation.
It improves the switching efficiency and accuracy of the end effector, enables automated operation, and reduces the possibility of human error.
Smart Images
Figure CN224116202U_ABST
Abstract
Description
Technical Field
[0001] This utility model relates to the field of automation equipment technology, and in particular to an automatic end effector changing chamber. Background Technology
[0002] End effectors are end components in robotics that connect to a robotic arm or attachment to perform critical tasks such as object manipulation. They are essential components of robot design and engineering and are widely used in various fields, including industry, medicine, and food processing.
[0003] In the actual use of robotic arms, the end effector mechanism needs to be switched according to different usage scenarios. Traditional switching operations are mainly carried out manually, which is inefficient and prone to errors in model selection.
[0004] Therefore, in view of the shortcomings of the existing technology, it is necessary to design an automatic end effector replacement chamber to solve the above problems.
[0005] It should be noted that the above introduction to the technical background is only for the purpose of providing a clear and complete explanation of the technical solution of this utility model and for the convenience of those skilled in the art to understand it. It should not be assumed that the above content is known to those skilled in the art simply because it has been described in the background of this utility model. Utility Model Content
[0006] To overcome the shortcomings of the prior art, the present invention aims to disclose an automatic end effector changing chamber to solve the problems of low end effector switching efficiency and easy error in model selection during the use of robotic arms.
[0007] This utility model discloses an automatic end effector replacement compartment, including a compartment body. A limiting plate is slidably connected to the upper end face of the compartment body. The compartment body is provided with several positioning slots for placing end effectors. The limiting plate is provided with a switching slot corresponding to the positioning slot. An avoidance clamp and a limiting clamp are provided in the switching slot along the movement trajectory of the limiting plate. The avoidance clamp and the limiting clamp can be aligned with the positioning slot by sliding the limiting plate. When the avoidance clamp is aligned with the positioning slot, the end effector can freely enter and exit the positioning slot through the avoidance clamp. When the limiting clamp is aligned with the positioning slot, the limiting clamp restricts the end effector within the positioning slot, preventing the end effector from being taken out of the positioning slot when the moving mechanism separates from the end effector.
[0008] Preferred technical solution: The upper surface of the main body of the placement chamber is provided with at least one slide groove, and a slider is slidably connected in the slide groove along the movement direction of the limiting plate. The slider is connected to the limiting plate, and the movement direction of the limiting plate is controlled by the cooperation between the slider and the slide groove.
[0009] Preferred technical solution: The slide groove and the slider are connected by a slide rail set along the movement direction of the limiting plate to reduce sliding resistance.
[0010] Preferred technical solution: The limiting plate is automatically controlled by a displacement device, eliminating the need for manual operation.
[0011] Preferred technical solution: The main body of the placement chamber is provided with a clearance hole, and a connecting block is provided at the lower end of the limiting plate. The connecting block passes through the clearance hole and connects to the moving end of the displacement device, making the structure more compact.
[0012] Preferred technical solution: The displacement device is any one of electric cylinder, pneumatic cylinder and hydraulic cylinder.
[0013] Preferred technical solution: The limiting plate is provided with a limiting groove along its movement direction, and the upper end of the placement chamber body is provided with a limiting rod that is slidably connected to the limiting groove; when the limiting rod slides to both ends of the limiting groove, the avoidance clamp and the limiting clamp are respectively aligned with the positioning placement groove, reducing the difficulty of alignment and improving the alignment accuracy.
[0014] Preferred technical solution: The positioning and placement slots are arranged sequentially along the movement of the limiting plate, and are connected to the switching slots corresponding to the positioning and placement slots, which facilitates the positioning and placement of the end effector by the motion mechanism, while reducing the manufacturing difficulty.
[0015] Preferred technical solution: The positioning and placement groove is equipped with a guide groove to facilitate the directional placement of the end effector.
[0016] Preferred technical solution: Different positioning slots can adopt different specifications and sizes to accommodate different types of end effectors.
[0017] Due to the application of the above technical solution, the beneficial effects of this utility model compared with the prior art are as follows:
[0018] This utility model discloses an automatic end effector changing chamber. By switching the alignment of the avoidance clamp and the limit clamp with the positioning slot, the end effector can freely enter and exit the positioning slot and move in a locked state. This allows the motion mechanism to easily pick up and separate the end effector. At the same time, a displacement device is used to control the alignment switching of the avoidance clamp and the limit clamp with the positioning slot, eliminating the need for manual operation and resulting in high work efficiency and accuracy. Attached Figure Description
[0019] To more clearly illustrate the specific embodiments of this utility model or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this utility model. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.
[0020] Figure 1 This is a schematic diagram of the structure of an automatic end effector changing chamber according to the present invention;
[0021] Figure 2 This is an exploded view of an automatic end effector changing chamber according to the present invention.
[0022] In the above attached figures, 1. Main body of the placement chamber; 11. Positioning placement groove; 11a. Guide groove; 12. Slide groove; 13. Slider; 14. Slide rail; 15. Clearance hole; 16. Limiting rod; 2. Limiting plate; 21. Switching slot; 21a. Clearance clamp; 21b. Limiting clamp; 22. Connecting block; 23. Limiting groove; 3. End effector; 4. Displacement device. Detailed Implementation
[0023] The following specific embodiments illustrate the implementation of this utility model. Those skilled in the art can easily understand other advantages and effects of this utility model from the content disclosed in this specification.
[0024] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be used interchangeably where appropriate for the description of embodiments of this application herein. Furthermore, the terms "comprising" and "having," and their synonyms, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.
[0025] In this application, the terms "upper," "lower," "left," "right," "front," "rear," "top," "bottom," "inner," "outer," "middle," "vertical," "horizontal," "lateral," and "longitudinal" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. These terms are primarily for the purpose of better describing the present invention and its embodiments, and are not intended to limit the indicated device, element, or component to having a specific orientation, or to be constructed and operated in a specific orientation.
[0026] Furthermore, in addition to indicating location or positional relationship, some of the aforementioned terms may also have other meanings. For example, the term "above" may also be used in some cases to indicate a certain dependency or connection relationship. Those skilled in the art can understand the specific meaning of these terms in this utility model according to the specific circumstances.
[0027] Furthermore, the terms "installation," "setting," "equipped with," "connection," "linking," "fitting," and "fitting" should be interpreted broadly. For example, "connection" can be a fixed connection, a detachable connection, or an integral structure; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, or an internal connection between two devices, components, or parts. Similarly, "fitting" can mean completely or partially fitted. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.
[0028] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. This application will now be described in detail with reference to the accompanying drawings and embodiments.
[0029] Example:
[0030] like Figure 1 As shown, this utility model discloses an automatic end effector changing chamber, including a chamber body 1 and a limiting plate 2. The main components of this utility model will be described in detail below:
[0031] like Figure 1 and Figure 2 As shown, the main body 1 of the placement chamber is provided with sixteen positioning placement slots 11, through which the end effector 3 is placed.
[0032] like Figure 1 and Figure 2 As shown, the limiting plate 2 is provided with a switching slot 21 at the corresponding position of the positioning and placement groove 11. The switching slot 21 is provided with a clearance clamp 21a and a limiting clamp 21b. By sliding the limiting plate 2, all clearance clamps 21a can be aligned with the positioning and placement groove 11, or all limiting clamps 21b can be aligned with the positioning and placement groove 11. When the clearance clamps 21a are aligned with the positioning and placement groove 11, the end effector 3 can freely enter and exit the positioning and placement groove 11; when the limiting clamps 21b are aligned with the positioning and placement groove 11, the end effector 3 will be restricted within the positioning and placement groove 11 by the limiting clamps 21b.
[0033] like Figure 1 and Figure 2 As shown, the limiting plate 2 is automatically controlled by the displacement device 4.
[0034] The method and principle of this utility model are as follows: In use, the displacement device 4 moves the limiting plate 2, aligning the clearance clamp 21a with the positioning groove 11. The motion mechanism then moves the end effector 3 to be replaced into the empty positioning groove 11. The displacement device 4 then moves the limiting plate 2 again, aligning the limiting clamp 21b with the positioning groove 11. The motion mechanism then begins to separate from the end effector 3. During this process, because the end effector 3 is confined within the positioning groove 11 by the limiting clamp 21b, it will not be carried out of the positioning groove 11 by the motion mechanism. Separation of the end effector 3 can be completed without manual operation. The motion mechanism then connects with the required end effector 3, and the displacement device 4 again moves the limiting plate 2, aligning the clearance clamp 21a with the positioning groove 11, allowing the motion mechanism to smoothly remove the end effector 3 from the positioning groove 11, completing the replacement operation.
[0035] like Figure 1 and Figure 2 As shown, in order to ensure the stability of the movement of the limiting plate, the upper surface of the main body 1 of the placement chamber is provided with two sliding grooves 12. Each sliding groove 12 is slidably connected with a slider 13 along the movement direction of the limiting plate 2. The slider 13 is connected to the limiting plate 2.
[0036] like Figure 1 and Figure 2 As shown, to reduce motion resistance, the slide groove 12 and the slider 13 are connected by a slide rail 14, which is set along the movement direction of the limiting plate 2.
[0037] like Figure 1 and Figure 2 As shown, in order to reduce the space occupied by the replacement chamber, the main body 1 of the placement chamber is provided with a clearance hole 15, and the lower end of the limiting plate 2 is provided with a connecting block 22. The connecting block 22 passes through the clearance hole 15 and is connected to the moving end of the displacement device 4.
[0038] like Figure 1 and Figure 2 As shown, the displacement device 4 can be any one of an electric cylinder, a pneumatic cylinder, or a hydraulic cylinder.
[0039] like Figure 1 and Figure 2 As shown, in order to improve the positioning accuracy of the avoidance clamp and the limiting clamp with the positioning placement groove, the limiting plate 2 is provided with a limiting groove 23 along its movement direction, and the upper end of the placement chamber body 1 is provided with a limiting rod 16 that is slidably connected to the limiting groove 23; when the limiting rod 16 slides to both ends of the limiting groove 23, the avoidance clamp 21a and the limiting clamp 21b are respectively aligned with the positioning placement groove 11.
[0040] like Figure 1 and Figure 2As shown, in order to reduce the manufacturing difficulty of the replacement compartment, the positioning and placement slots 11 are arranged sequentially along the limiting plate 2, and are connected to the switching slots 21 corresponding to the positioning and placement slots 11.
[0041] like Figure 1 and Figure 2 As shown, in order to improve the placement accuracy of the end effector, a guide groove 11a is provided in the positioning groove 11.
[0042] like Figure 1 and Figure 2 As shown, to expand the application range of the replacement compartment, different positioning slots 11 can adopt different specifications and sizes.
[0043] Finally, it should be noted that the above are merely preferred embodiments of the present utility model and are not intended to limit the present utility model. Although the present utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.
Claims
1. An automatic end effector changing chamber, comprising a chamber body (1), characterized in that: The upper end face of the placement chamber body (1) is slidably connected to a limiting plate (2). The placement chamber body (1) is provided with a plurality of positioning placement slots (11) for placing the end effector (3). The limiting plate (2) is provided with a switching slot (21) at a position corresponding to the positioning placement slot (11). The switching slot (21) is provided with an avoidance clamp (21a) and a limiting clamp (21b) along the movement trajectory direction of the limiting plate (2). The avoidance clamp (21a) and the limiting clamp (21b) can be switched and aligned with the positioning placement slot (11). The avoidance clamp (21a) allows the end effector (3) to enter and exit the positioning placement slot (11). The limiting clamp (21b) can restrict the end effector (3) within the positioning placement slot (11).
2. The end effector automatic magazine changer according to claim 1, characterized in that: The upper surface of the main body (1) of the placement chamber is provided with at least one slide groove (12), and a slider (13) is slidably connected in the slide groove (12) along the movement direction of the limiting plate (2), and the slider (13) is connected to the limiting plate (2).
3. The end effector automatic magazine changer according to claim 2, characterized in that: The slide groove (12) and the slider (13) are connected by a slide rail (14), which is set along the movement direction of the limiting plate (2).
4. An automatic end effector cartridge changing mechanism according to claim 1, characterized in that: The limiting plate (2) is moved and controlled by the displacement device (4).
5. An automatic end effector cartridge changing mechanism according to claim 4, characterized in that: The main body (1) of the placement chamber is provided with a clearance hole (15), and the lower end of the limiting plate (2) is provided with a connecting block (22). The connecting block (22) passes through the clearance hole (15) and is connected to the moving end of the displacement device (4).
6. An automatic end effector magazine changing chamber according to claim 5, characterized in that: The displacement device (4) is any one of an electric cylinder, a pneumatic cylinder, and a hydraulic cylinder.
7. An automatic end effector cartridge changing mechanism according to claim 1, characterized in that: The limiting plate (2) is provided with a limiting groove (23) along its movement direction, and the upper end of the placement chamber body (1) is provided with a limiting rod (16) that is slidably connected to the limiting groove (23); when the limiting rod (16) slides to both ends of the limiting groove (23), the avoidance clamp (21a) and the limiting clamp (21b) are respectively aligned with the positioning placement groove (11).
8. An automatic end effector cartridge changing mechanism according to claim 1, characterized in that: The positioning groove (11) is arranged sequentially along the limiting plate (2), and is connected to the switching slot (21) corresponding to the positioning groove (11).
9. An automatic end effector magazine changer according to claim 1, characterized in that: The positioning groove (11) is provided with a guide groove (11a).
10. An automatic end effector cartridge changing mechanism according to claim 1, characterized in that: Different positioning and placement slots (11) have different specifications and dimensions.