A master plate locking module replaceable robot end quick-change device

Abstract

This application relates to the field of robot end effector quick-change technology, and in particular to a robot end effector quick-change device with a replaceable main plate locking module, including a main plate, a tool plate, and a locking module. The locking module includes a three-finger cam structure and a locking ring. The three-finger cam structure is connected to the main plate via a plug-in structure, and the three-finger cam structure is connected to the locking ring, which is connected to the tool plate. By setting the three-finger cam structure, the three-finger cam structure can replace the traditional locking cam, locking steel ball, sleeve, and positioning pin, and directly locks to the locking ring through the cam fingers. This integrated design can effectively avoid the traditional assembly of multiple components, improve assembly efficiency, and reduce assembly errors.

Description

Technical Field

[0001] This application relates to the field of robot end effector quick-change device technology, and in particular to a robot end effector quick-change device with replaceable main disk locking module. Background Technology

[0002] A robot tool changer, also known as a tool change disc, tool changer, quick tool changer, quick changer, quick change fixture, etc., is a flexible connection tool used in the industrial robot industry for end effectors. The quick changer mainly consists of the quick change disc body (generally including a main disc and a tool disc), a locking module, a control module, and the actuator. The locking module typically comprises a locking cam, locking steel balls, a sleeve, a locating pin, and a locking ring.

[0003] The locking modules of existing quick-change devices generally adopt a split design. The split locking modules require each individual component to be assembled one by one. This assembly process is cumbersome, time-consuming, and has unavoidable assembly errors, which in turn affect the positioning accuracy of the tool tray. The fault prevention function of existing quick-change devices is also not perfect. When the robot malfunctions, the execution tool is prone to falling and being damaged. Utility Model Content

[0004] To address the aforementioned technical problems, this utility model provides a robot end effector quick-change device with a replaceable main disc locking module. The technical problem it solves is that the existing robot end effector quick-change devices have complex locking module assembly, and assembly errors can easily affect the operation of the locking module itself. To solve the above technical problems, the technical solution adopted by this utility model is as follows:

[0005] A quick-change device for a robot end effector with a replaceable main plate locking module includes a main plate, a tool plate, and a locking module. The locking module includes a three-finger cam structure and a locking ring. The three-finger cam structure is connected to the main plate via a plug-in structure, and the three-finger cam structure is connected to the locking ring. The locking ring is connected to the tool plate.

[0006] Furthermore, the three-finger cam structure includes a cam body, a shaft, and cam fingers. The cam fingers are rotatably connected to the shaft, and the shaft is fixedly connected to the cam body. The cam body has a groove along its circumference, and both the shaft and the cam fingers are located in the groove. The cam body is plugged into and plugged into the main disk.

[0007] Furthermore, an annular protrusion is fixedly provided on the lower end face of the cam body, and an annular groove that mates with the circular protrusion is provided on the end face of the main disk near the bottom surface of the cam body.

[0008] Furthermore, both the concave surface of the locking ring and the convex surface of the cam finger are set in an arc shape.

[0009] Furthermore, a sealing cover is fixedly installed inside the cavity of the main disc and the three-finger cam structure.

[0010] Furthermore, a bottom cover is fixedly installed at the other end of the main plate.

[0011] Furthermore, the outer surface of the cam is provided with a wear-resistant coating.

[0012] The beneficial effects of this utility model are: by setting a three-finger cam structure, the three-finger cam structure can replace the traditional locking cam, locking steel ball, sleeve and positioning pin, and directly lock the locking ring through the cam fingers. This integrated design can effectively avoid the traditional assembly of multiple components, improve assembly efficiency and reduce assembly errors.

[0013] By setting cam fingers, shafts, and locking rings, the cam body can be automatically locked in the locking ring, and the automatic fault prevention function of the locking module is added.

[0014] By designing the locking module and the main plate with a snap-fit ​​insertion method, it is easy to disassemble and reassemble the locking module and the main plate, which is beneficial for replacing the main plate with different locking modules. Attached Figure Description

[0015] Figure 1 This is a three-dimensional structural diagram of the present invention.

[0016] Figure 2 This is a cross-sectional view of the structure of this utility model.

[0017] Figure 3 This is a three-dimensional schematic diagram of the three-finger cam structure of this utility model.

[0018] Figure 4 This is a three-dimensional schematic diagram of the three-finger cam mechanism of this utility model.

[0019] Figure 5 This is a three-dimensional schematic diagram of the locking module of this utility model.

[0020] Figure 6 This is a three-dimensional schematic diagram of the locking module in Embodiment 2 of this utility model, where the cam body interface is hexagonal.

[0021] In the picture:

[0022] 1. Main plate, 2. Tool plate, 3. Locking module, 31. Three-finger cam structure, 311. Cam body, 312. Shaft, 313. Cam finger, 32. Locking ring, 4. Groove, 5. Annular protrusion, 6. Annular groove, 7. Locking ring concave surface, 8. Cam finger convex surface, 9. Sealing cover, 10. Bottom cover. Detailed Implementation

[0023] To make the objectives, technical solutions, and advantages of this utility model clearer, the utility model will now be described in further detail with reference to the accompanying drawings and the following embodiments, so that the public can better understand the implementation method of this utility model. The specific implementation scheme of this utility model is as follows:

[0024] In one embodiment, a quick-change device for a robot end effector with a replaceable main plate locking module includes a main plate 1, a tool plate 2, and a locking module 3. The locking module 3 includes a three-finger cam structure 31 and a locking ring 32. The three-finger cam structure 31 is connected to the main plate 1 via a plug-in structure, and the three-finger cam structure 31 is connected to the locking ring 32. The locking ring 32 is connected to the tool plate 2. By setting the three-finger cam structure 31, the three-finger cam structure 31 can replace the traditional locking cam, locking steel ball, sleeve, and positioning pin. It directly locks to the locking ring 32 through the cam fingers 313. This integrated design can effectively avoid the traditional assembly of multiple components, improve assembly efficiency, and reduce assembly errors.

[0025] In this embodiment, it should be noted that the three-finger cam structure 31 includes a cam body 311, a shaft 312, and a cam finger 313. The cam finger 313 is rotatably connected to the shaft 312, and the shaft 312 is fixedly connected to the cam body 311. The cam body 311 has a groove 4 along its circumference, and both the shaft 312 and the cam finger 313 are located in the groove 4. The cam body 311 is pluggably connected to the main disk 1. Furthermore, the convex surface 8 of the cam finger and the concave surface 7 of the locking ring are both arc-shaped. This structure can automatically lock the cam body 311 in the locking ring 32 and increases the automatic fault prevention function of the locking module 3.

[0026] Furthermore, an annular protrusion 5 is fixedly provided on the lower end face of the cam body 311, and an annular groove 6 that mates with the circular protrusion is provided on the end face of the main disk 1 near the bottom surface of the cam body 311. This structure facilitates the disassembly and reassembly of the locking module 3 and the main disk 1, and is beneficial for replacing different locking modules 3 on the main disk 1.

[0027] In this embodiment, a sealing cover 9 is fixedly installed inside the cavity of the main disk 1 and the three-finger cam structure 31; the installation of this structure ensures good sealing of the overall structure.

[0028] In this embodiment, a bottom cover 10 is fixedly provided at the other end face of the main disk 1.

[0029] In this embodiment, the outer surface of the cam finger 313 is provided with a wear-resistant coating; this structure can extend the service life of the cam finger 313, reduce wear caused by friction with the locking ring 32, and improve stability.

[0030] In another embodiment, the cam body 311 interface of the locking module 3 is designed as a hexagon. Compared with the above embodiment, this embodiment can achieve high repeatability positioning accuracy for the main disk 1 and the tool disk 2.

[0031] The working principle and process of this utility model are as follows:

[0032] After aligning the annular protrusion 5 on the lower end face of the three-finger cam structure 31 with the annular groove 6 of the main disk 1, the cams are snapped together. Then, the locking ring 32, which is fixedly connected to the tool disk 2, is installed on the cam body 311. When the locking ring 32 is installed, the three cam fingers 313 will rotate synchronously around the shaft 312 until the convex surface of the cam fingers 313 is completely located in the concave surface of the locking ring 32, that is, the cam fingers 313 form a three-point distributed locking in the locking ring 32.

[0033] In the description of this utility model, it should be understood that the terms "center," "upper," "lower," "left," "right," "front," "rear," "lower left," "upper right," "outer," "clockwise," and "counterclockwise," etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the accompanying drawings and are only for the convenience of describing this utility model and simplifying the description, and 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 a limitation on the scope of protection of this utility model. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance. Although this utility model has been described according to a limited number of embodiments, those skilled in the art should understand from the above description that other embodiments can be conceived within the scope of this utility model described herein.

Claims

1. A quick-change device for a robot end effector with a replaceable main plate locking module, comprising a main plate (1), a tool plate (2), and a locking module (3), characterized in that, The locking module (3) includes a three-finger cam structure (31) and a locking ring (32). The three-finger cam structure (31) is connected to the main disk (1) in a plug-in manner. The three-finger cam structure (31) is connected to the locking ring (32), and the locking ring (32) is fixedly connected to the tool disk (2).

2. The quick-change device for a robot end effector with a replaceable main disk (1) locking module (3) according to claim 1, characterized in that: The three-finger cam structure (31) includes a cam body (311), a shaft (312), and a cam finger (313). The cam finger (313) is rotatably connected to the shaft (312), and the shaft (312) is fixedly connected to the cam body (311). The cam body (311) has a groove (4) along its circumference. The shaft (312) and the cam finger (313) are both located in the groove (4). The cam body (311) is plugged into and plugged into the main disk (1).

3. A quick-change device for a robot end effector with a replaceable main disk locking module according to claim 2, characterized in that: A ring protrusion (5) is fixedly provided on the lower end face of the cam body (311), and a ring groove (6) that cooperates with the ring protrusion (5) is provided on the end face of the main disk (1) near the bottom surface of the cam body (311).

4. A quick-change device for a robot end effector with a replaceable main disk locking module according to claim 2, characterized in that: Both the concave surface (7) of the locking ring and the convex surface (8) of the cam finger are set in an arc shape.

5. A quick-change device for a robot end effector with a replaceable main disk locking module according to claim 1, characterized in that: A sealing cover (9) is fixedly installed inside the cavity of the main plate (1) and the three-finger cam structure (31).

6. A quick-change device for a robot end effector with a replaceable main disk locking module according to claim 1, characterized in that: A bottom cover (10) is fixedly installed on the other end face of the main plate (1).

7. A quick-change device for a robot end effector with a replaceable main disk locking module according to claim 2, characterized in that: The outer surface of the cam finger (313) is provided with a wear-resistant coating.

Images