Quick-change type tool interface automatic alignment device

Abstract

The utility model provides a quick-change type tool interface automatic alignment device, which relates to the quick-change type tool connection field, and comprises a base, the upper side of the base is connected with a top frame, the upper end of the top frame is connected with an air cylinder, the lower end of the air cylinder is connected with a clamping assembly, the lower side of the clamping assembly clamps a connecting end, and the connecting end is connected with the top frame. The clamping assembly comprises a lifting plate connected to the lower end of the air cylinder, a clamping plate is slidably connected to the lower side of the lifting plate, a clamping block is connected to the inner side of the clamping plate, an inserting groove is formed in the upper end of the tool end, and a locking groove is formed in the inner groove wall of the inserting groove. A sensor is arranged on the outer wall of the tool end, the rotating assembly comprises a rotating shaft, and the upper end of the rotating shaft is connected with a rotating disc. The tool end and the robot execution end can be automatically aligned and connected conveniently, maintenance is easy, and the device is suitable for quick replacement of connection tools which are not easy to move manually.

Description

Technical Field

[0001] This utility model relates to the field of quick-change tool connection technology, and specifically to an automatic alignment device for quick-change tool interfaces. Background Technology

[0002] Quick-change devices for robots, also known as tool change discs or tool changers, are flexible connection tools used in the industrial robot industry between end effectors and robotic arms. A typical quick-change device includes an upper connecting disc for connecting the robotic arm and a lower connecting disc for connecting the end effector. The upper and lower connecting discs are bolted to the robotic arm and the end effector respectively, and the connection is achieved through a locking structure on the upper and lower connecting discs.

[0003] A search revealed existing technology (publication number: CN222755470U), which describes "an electric robot tool quick-change device, comprising an upper connecting plate and a lower connecting plate. The upper connecting plate has a mounting groove, a connecting seat is connected to the mounting groove, a motor assembly is connected to the connecting seat, and a locking component is connected to the upper connecting plate. The shaft of the motor assembly is connected to the locking component. The lower connecting plate has a locking hole with several locking grooves, forming a structure where, when the upper and lower connecting plates are connected, the locking component is partially inserted into the locking hole and locked in the locking groove, achieving a locking mechanism between the upper and lower connecting plates. The upper connecting plate has several positioning pins, and the lower connecting plate has several positioning holes corresponding to the positioning pins. This invention enables the electric drive quick-change device to quickly change the robotic arm and end effector, improving assembly performance and having broad application prospects in the field of quick-change device technology."

[0004] While existing electric robot tool quick-change devices enable rapid tool replacement, they still have some shortcomings: the motor assembly described in the aforementioned patent documents is placed inside the mounting slot of the connector, making it difficult to repair the motor in case of failure. Additionally, the enclosed space leads to poor heat dissipation. Furthermore, the upper and lower connecting plates cannot achieve automatic positioning and connection, requiring manual alignment before connection via the motor assembly. Since the tools involved are generally made of metal, the larger tools are heavy and difficult to move manually, making positioning and assembly quite troublesome. Utility Model Content

[0005] To overcome the shortcomings of the existing technology, a quick-change tool interface automatic alignment device is provided to solve the problems mentioned in the background.

[0006] To achieve the above objectives, a quick-change tool interface automatic alignment device is provided, comprising: a base, a top frame connected to the upper side of the base, a cylinder connected to the upper end of the top frame, a clamping assembly connected to the lower end of the cylinder, a connecting end clamped on the lower side of the clamping assembly, a tool end provided on the lower side of the connecting end, and a rotating assembly provided on the lower end of the tool end; the clamping assembly includes a lifting plate connected to the lower end of the cylinder, a clamping plate slidably connected to the lower side of the lifting plate, and a clamping block connected to the inner side of the clamping plate; a slot is provided on the upper end of the tool end, a locking groove is provided on the inner wall of the slot, and a sensor is provided on the outer wall of the tool end; the rotating assembly includes a rotating shaft, a turntable connected to the upper end of the rotating shaft, a positioning ring provided on the upper end of the turntable, and the lower end of the rotating shaft rotatably connected to the upper end of the base.

[0007] Furthermore, the lifting plate has sliders connected to both ends, and the sliders are slidably connected in the grooves opened in the inner walls of the side plates on both sides of the base, and the lower end of the lifting plate is connected to a limit block.

[0008] Furthermore, a double-threaded screw is threaded through the inside of the clamping plate, and one end of the double-threaded screw is connected to a first motor.

[0009] Furthermore, a gear set is connected to the outer side of the rotating shaft, and a second motor is connected to the lower side of the gear set.

[0010] Furthermore, the connecting end includes a connecting block, and the connecting block has an inner cavity, and a spring is provided inside the inner cavity.

[0011] Furthermore, the lower end of the connecting block is provided with a plug-in block, and the outer wall of the plug-in block is provided with a locking ball that is movably connected. A piston block is slidably connected inside the plug-in block, and the piston block is located at the lower end of the spring.

[0012] Furthermore, the outer wall of the connecting block is connected to an air inlet, and the inner end of the air inlet is connected to an airflow channel opened inside the connecting block.

[0013] Furthermore, a photoelectric sensor is connected to the outer wall of the connecting block, and a positioning pin is connected to the lower end of the connecting block.

[0014] The beneficial effects of this utility model are as follows:

[0015] 1. In use, first place the connecting end on the turntable, then drive the clamping assembly downwards using the cylinder until the clamping block is outside the connecting end. Then start the first motor to drive the double-threaded screw to move the clamping plate closer, thereby clamping the connecting end through the clamping block. Then start the cylinder again to move the connecting end upwards, and then place the tool end on the turntable through the positioning ring. At this time, start the second motor to drive the turntable to rotate, so that the light emitted by the photoelectric sensor is detected by the sensor. At this time, the connecting end and the tool end are aligned vertically. Start the external air source, so that the driving piston block moves upwards through the air inlet pipe and airflow channel, causing the locking ball to retract into the inner wall of the insertion block. Then start the cylinder to drive the connecting end downwards, thereby connecting it to the slot through the insertion block. Then start the external air source to evacuate air. At this time, under the action of the spring, the piston block is driven downwards, and the piston block squeezes the locking ball outwards to the locking groove, realizing the quick connection of the tool end. The same principle applies to disassembly.

[0016] 2. By utilizing the air intake pipe, airflow channel, and external air source, the use of the motor assembly inside is avoided, thus avoiding the inconvenience of maintaining the motor assembly and the problem of poor heat dissipation. Secondly, it facilitates automatic alignment adjustment of the connection end and the tool end, making it suitable for connecting larger and heavier tools and improving the ease of assembly. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the overall structure of an embodiment of the present utility model.

[0018] Figure 2 This is a schematic diagram of the clamping component structure according to an embodiment of the present utility model.

[0019] Figure 3 This is a schematic cross-sectional view of the connection end in an embodiment of the present invention.

[0020] Figure 4 This is a three-dimensional structural diagram of the connection end according to an embodiment of the present utility model.

[0021] Figure 5 This is a schematic diagram of the connection structure between the connection end and the tool end in an embodiment of the present utility model.

[0022] In the diagram: 1. Base; 2. Top frame; 3. Cylinder; 4. Clamping assembly; 41. Lifting plate; 42. Slider; 43. Limit block; 44. First motor; 45. Double threaded screw; 46. Clamping plate; 47. Clamping block; 5. Rotating assembly; 51. Rotating shaft; 52. Second motor; 53. Gear set; 54. Turntable; 55. Positioning ring; 6. Connecting end; 61. Connecting block; 611. Inner cavity; 612. Spring; 62. Piston block; 63. Air inlet; 631. Airflow channel; 64. Photoelectric sensor; 65. Positioning pin; 66. Locking ball; 67. Insertion block; 7. Tool end; 71. Locking groove; 72. Slot. Detailed Implementation

[0023] Reference Figures 1 to 5 As shown, this utility model provides a quick-change tool interface automatic alignment device, including: a base 1, a top frame 2 connected to the upper side of the base 1, a cylinder 3 connected to the upper end of the top frame 2, a clamping assembly 4 connected to the lower end of the cylinder 3, a connecting end 6 clamped on the lower side of the clamping assembly 4, a tool end 7 provided on the lower side of the connecting end 6, and a rotating assembly 5 provided on the lower end of the tool end 7. The clamping assembly 4 includes a lifting plate 41 connected to the lower end of the cylinder 3, a clamping plate 46 slidably connected to the lower side of the lifting plate 41, and a clamping block 47 connected to the inner side of the clamping plate 46. A slot 72 is opened at the upper end of the tool end 7, and a locking groove 71 is opened in the inner wall of the slot 72. A sensor is provided on the outer wall of the tool end 7. The rotating assembly 5 includes a rotating shaft 51, a turntable 54 connected to the upper end of the rotating shaft 51, a positioning ring 55 provided at the upper end of the turntable 54, and the lower end of the rotating shaft 51 is rotatably connected to the upper end of the base 1.

[0024] In this embodiment, the base 1, the top frame 2, the clamping assembly 4, and the rotating assembly 5 constitute the main structure of the quick-change tool interface automatic alignment device involved in this application.

[0025] Among them, the connecting end 6 and the tool end 7 are set as two parts connecting the robot execution end and the tool, and the overall shape is set as a cylindrical structure, which is similar to the upper connecting plate and lower connecting plate structure involved in the publicly disclosed prior art.

[0026] like Figure 1 and Figure 2 In the middle, the lifting plate 41 is connected to two ends of the slider 42, and the slider 42 is slidably connected in the grooves opened in the inner wall of the side plates on both sides of the base 1. The lower end of the lifting plate 41 is connected to the limit block 43. The clamping plate 46 is screwed through the double threaded rod 45, and one end of the double threaded rod 45 is connected to the first motor 44. The outer side of the rotating shaft 51 is connected to the gear set 53, and the lower side of the gear set 53 is connected to the second motor 52.

[0027] Specifically, the clamping block 47 is designed as an arc-shaped block structure to facilitate clamping of the connecting end 6.

[0028] Specifically, the lower end of the lifting plate 41 is connected to an end plate, and one end of the double threaded screw 45 is rotatably connected to the end plate, while the other end of the double threaded screw 45 is connected to the output shaft of the second motor 52. At the same time, the first motor 44 rotates through the inside of the end plate.

[0029] like Figures 2 to 5 In the middle, the connecting end 6 includes a connecting block 61, and the connecting block 61 has an inner cavity 611 inside, and a spring 612 is provided inside the inner cavity 611. The lower end of the connecting block 61 is provided with a plug-in block 67, and the outer wall of the plug-in block 67 is provided with a locking ball 66 that is movably connected. The plug-in block 67 is slidably connected with a piston block 62, and the piston block 62 is located at the lower end of the spring 612. The outer wall of the connecting block 61 is connected with an air inlet 63, and the inner end of the air inlet 63 is connected with an airflow channel 631 opened inside the connecting block 61. The outer wall of the connecting block 61 is connected with a photoelectric sensor 64, and the lower end of the connecting block 61 is connected with a positioning pin 65.

[0030] Specifically, the connection method between the connecting end 6 and the tool end 7 is basically the same as that of the upper and lower connecting plates involved in the published prior art. The difference is that the power of the driving piston block 62 in this application is an external air source.

[0031] It should be noted that the external air source is a dual-purpose suction and suction air pump, which can be installed at the top of the connection end 6.

[0032] In use, first place the connecting end on the turntable, then drive the clamping assembly downwards using a cylinder until the clamping block is outside the connecting end. Then start the first motor, causing the double-threaded screw to move the clamping plate closer, thus clamping the connecting end through the clamping block. Then start the cylinder again to move the connecting end upwards, and then place the tool end on the turntable through the positioning ring. At this time, start the second motor to drive the turntable to rotate, so that the light emitted by the photoelectric sensor is detected by the sensor. At this time, the connecting end and the tool end are aligned vertically. Start the external air source, so that the air intake pipe and airflow channel cause the driving piston block to move upwards, causing the locking ball to retract into the inner wall of the insertion block. Then start the cylinder to drive the connecting end downwards, thus connecting it to the slot through the insertion block. Then start the external air source to evacuate air. At this time, under the action of the spring, the piston block is driven downwards, and then the piston block squeezes the locking ball outwards into the locking groove, realizing the quick connection of the tool end. The same principle applies to disassembly.

[0033] The quick-change tool interface automatic alignment device of this utility model can effectively solve the problems mentioned in the background technology. Based on the existing quick-change tool interface automatic alignment device technology, it can facilitate the automatic alignment and connection of the tool end and the robot execution end, and is easy to maintain and suitable for quick replacement of connection tools that are not easy to move manually.

Claims

1. A quick change tool interface auto-alignment device, comprising: The base (1) is characterized in that: a top frame (2) is connected to the upper side of the base (1), and a cylinder (3) is connected to the upper end of the top frame (2), and a clamping assembly (4) is connected to the lower end of the cylinder (3). At the same time, a connecting end (6) is clamped on the lower side of the clamping assembly (4), and a tool end (7) is provided on the lower side of the connecting end (6), and a rotating assembly (5) is provided on the lower end of the tool end (7). The clamping assembly (4) includes a lifting plate (41) connected to the lower end of the cylinder (3), and the lower side of the lifting plate (41) is... A clamping plate (46) is slidably connected, and a clamping block (47) is connected to the inner side of the clamping plate (46). A slot (72) is provided at the upper end of the tool end (7), and a locking groove (71) is provided in the inner wall of the slot (72). A sensor is provided on the outer wall of the tool end (7). The rotating assembly (5) includes a rotating shaft (51), and a turntable (54) is connected to the upper end of the rotating shaft (51). A positioning ring (55) is provided at the upper end of the turntable (54). At the same time, the lower end of the rotating shaft (51) is rotatably connected to the upper end of the base (1).

2. The quick-change tool interface automatic alignment device of claim 1, wherein, The lifting plate (41) is connected to two sliders (42) at both ends, and the sliders (42) are slidably connected in the grooves opened on the inner walls of the side plates of the base (1), and the lower end of the lifting plate (41) is connected to a limit block (43).

3. The quick-change tool interface automatic alignment device of claim 1, wherein, The clamp (46) is internally threaded with a double threaded screw (45), and one end of the double threaded screw (45) is connected to a first motor (44).

4. The quick-change tool interface automatic alignment device of claim 1, wherein, A gear set (53) is connected to the outside of the rotating shaft (51), and a second motor (52) is connected to the lower side of the gear set (53).

5. The quick-change tool interface automatic alignment device of claim 1, wherein, The connecting end (6) includes a connecting block (61), and the connecting block (61) has an inner cavity (611) inside, and a spring (612) is provided inside the inner cavity (611).

6. The quick-change tool interface automatic alignment device of claim 5, wherein, The lower end of the connecting block (61) is provided with a plug-in block (67), and the outer wall of the plug-in block (67) is provided with a locking ball (66) that is movably connected. The plug-in block (67) is slidably connected with a piston block (62), and the piston block (62) is located at the lower end of the spring (612).

7. The quick-change tool interface automatic alignment device of claim 6, wherein, The outer wall of the connecting block (61) is connected to an air inlet (63), and the inner end of the air inlet (63) is connected to an airflow channel (631) opened inside the connecting block (61).

8. The quick-change tool interface automatic alignment device of claim 6, wherein, A photoelectric sensor (64) is connected to the outer wall of the connecting block (61), and a positioning pin (65) is connected to the lower end of the connecting block (61).

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