Quick change fixture

Abstract

The utility model discloses a quick installation replacement clamp for the butt joint of mechanical arm and cleaning tool, including the main disc of fixed mounting at the end of mechanical arm and the tool disc of installing on the cleaning tool, the edge of tool disc is equipped with the first detection block, and the edge on main disc is equipped with the in -place detection sensing device for detecting the first detection block, the edge of tool disc still is equipped with the second detection block, and the edge on main disc is equipped with the interval detection sensing device for detecting the interval with second detection block, when in -place detection sensing device and first detection block correspond, interval detection sensing device just corresponds with second detection block, and the positioning pin of being equipped with on main disc and the positioning hole of being equipped with on tool disc one -to -one correspondence, and main disc is through adsorption mouth and tool disc adsorption cooperation, and the pneumatic lock core of arranging in the middle of main disc extends into the middle hole in the middle of tool disc, and the annular groove in middle hole and the pneumatic lock core after aeration form locking cooperation, guarantee butt joint accuracy, prevent butt joint not completely and directly use, convenient replacement.

Description

Technical Field

[0001] This utility model relates to the field of power maintenance technology, and in particular to a quick installation and replacement clamp. Background Technology

[0002] The generator rotor is the rotating part of the generator, operating at high speed during normal operation. It is susceptible to contamination from oil and dust. One of the most common types of contamination is sludge formed on the rotor surface by grease escaping from the generator's interior during high-speed rotation, mixing with airborne dust. This sludge increases the thermal resistance of the main insulation, making it difficult for heat generated by copper conductor losses to be carried away through the electrical insulation and the sludge layer, potentially leading to overheating. Furthermore, it can cause electrical discharges, creating current paths that negatively impact the main insulation.

[0003] Currently, cleaning large hydroelectric generator rotors requires cleaning both the rotor surface and crevices separately, necessitating frequent changes of different tools. Traditional mechanical connection methods require manual tool changes, significantly reducing rotor cleaning efficiency.

[0004] Existing automatic tool changers in other fields, such as the automatic quick-change device for changing grinding tools disclosed in CN216098090U, cannot confirm alignment and depth of change during the change, and cannot guarantee that the tool tray is securely installed, posing a risk of error and requiring improvement in accuracy. Utility Model Content

[0005] This utility model provides a quick-installation and replacement fixture, aiming to solve the aforementioned problem of the lack of a quick-change tool for the designed automatic cleaning fixture. Furthermore, existing quick-change tools cannot confirm alignment and the depth of conversion during the conversion process, and their accuracy needs to be improved.

[0006] To solve the above-mentioned technical problems, the technical solution adopted by this utility model is as follows: A quick-installation and replacement fixture for docking a robotic arm with a cleaning tool includes a main disk fixedly installed at the end of the robotic arm and a tool disk installed on the cleaning tool. The tool disk is provided with a first detection block on its edge, and the main disk is provided with a positioning detection sensor for detecting the first detection block on its edge. The tool disk is also provided with a second detection block on its edge, and the main disk is provided with a distance detection sensing device for detecting the distance between the main disk and the second detection block. The robotic arm drives the main disk to rotate until the positioning detection sensor detects the first detection block. When the positioning detection sensor corresponds to the first detection block, the spacing detection sensor corresponds to the second detection block. The positioning pins on the main disk correspond one-to-one with the positioning holes on the tool disk. The main disk is attracted and engaged with the tool disk through the suction port. The pneumatic lock core arranged in the middle of the main disk extends into the middle hole in the middle of the tool disk. The middle hole has an annular groove that forms a locking engagement with the pneumatic lock core after air is introduced.

[0007] Preferably, both the position detection sensor and the spacing detection sensor are electrically connected to the controller of the robotic arm through a control component, and the position detection sensor and the spacing detection sensor are linked and coordinated with the robotic arm through the controller.

[0008] More preferably, the control component includes a female plug on the main plate and a male plug on the tool plate. When the positioning detection sensor corresponds to the first detection block, the female plug and the male plug correspond and form an electrical connection when the main plate adsorbs the tool plate. A control interface is provided on one side of the main plate and is electrically connected to the female plug. The control interface is electrically connected to the controller of the robotic arm through the installation of control lines.

[0009] Furthermore, the positioning detection sensor, the spacing detection sensor, and the pneumatic lock cylinder control terminal are all electrically connected to the female plug.

[0010] Furthermore, the positioning detection sensing device is an infrared sensor.

[0011] Furthermore, the spacing detection sensing device is a laser displacement sensor.

[0012] Preferably, the adsorption port is located on the side of the main plate near the tool plate, and the outer side of the main plate is provided with an air pipe interface that corresponds to and is connected to the adsorption port. The air pipe interface is connected to an external air extraction source through an air pipe.

[0013] Preferably, the pneumatic lock cylinder is locked by steel balls forming an annular groove.

[0014] More preferably, the pneumatic lock core includes a cam on the main plate, a number of protruding steel balls on the cam, and a piston body inside the cam that is controlled to rise and fall by means of an upward air passage and a downward air passage, with the steel balls and the piston body working together.

[0015] Furthermore, when the upper intake passage is open and the lower intake passage is closed, the piston body rises, and the steel ball protrudes from the cam and locks with the annular groove; When the lower intake is open and the upper intake is closed, the piston body descends, and the steel ball is stored in the cam and released from the annular groove.

[0016] The beneficial effects of this utility model are: 1. In this utility model, when the robotic arm brings the main disk close to the tool disk, the robotic arm rotates the tool disk to find the first detection block through the positioning detection sensor. When the detection sensor corresponds to the first detection block, it can ensure alignment and form automatic docking, thereby improving the accuracy of docking. 2. After accurately locating the position, this utility model directly uses adsorption to fix the tool disc and the main disc, forming a pre-fixed structure to ensure the accuracy of the lock cylinder fixation; 3. This utility model detects the distance between the main disk and the tool disk and the second detection block through a distance detection sensor while pre-fixing, thereby determining whether the main disk and the tool disk are aligned and successfully adsorbed. If the distance is not shortened to the set value or below and the distance is always large, it can be determined that the device has not adsorbed completely, possibly because the angle is not adjusted properly. At this time, continue to slowly rotate the main disk, stop after rotating a little, and adsorb. Repeat the above steps until the distance is shortened to the set value or below. This can be used to determine whether the alignment is complete and whether the adsorption and fixation are complete. 4. After confirming that the adsorption and fixation are complete, this utility model can control the pneumatic lock core to start and lock, thus avoiding locking failure of the pneumatic lock core. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the installation of the present invention between the robotic arm and the cleaning tool; Figure 2 This is a top view of the present invention; Figure 3 This is a three-dimensional schematic diagram of the bottom view of this utility model; Figure 4 This is a three-dimensional schematic diagram of the present invention from a top perspective; Figure 5 This is a cross-sectional schematic diagram of the pneumatic lock cylinder of this utility model when it is locked. Figure 6 This is a cross-sectional schematic diagram of the pneumatic lock cylinder of this utility model during unlocking; In the diagram: 1. Main disk; 2. Tool disk; 3. Robotic arm; 4. Pneumatic lock cylinder; 401. Cam; 402. Steel ball; 403. Piston body; 404. Top cover; 405. Lifting air intake; 406. Lowering air intake; 407. Bottom cover; 408. Piston groove; 409. First sealing ring; 410. Second sealing ring; 411. Third sealing ring; 412. Spring; 413. Mounting hole; 5. Control components; 501. Female plug; 502. Male plug; 503. Control interface; 504. Control circuit; 6. Tracheal inlet; 7. Adsorption port; 8. Positioning pin; 9. Positioning hole; 10. Annular groove; 11. Cleaning tool; 12. Position detection sensor; 13. Spacing detection sensor; 14. First detection block; 15. Second detection block. Detailed Implementation

[0018] The embodiments will be further described below with reference to the accompanying drawings.

[0019] like Figures 1-6 As shown in the preferred embodiment 1, a quick installation and replacement fixture for docking the robotic arm 3 with the cleaning tool 11 includes a main plate 1 fixedly installed at the end of the robotic arm 3 and a tool plate 2 installed on the cleaning tool 11. The tool plate 2 is flange-shaped and is fixedly installed to the fixed end of the cleaning tool 11 by bolts.

[0020] The tool disk 2 is provided with a first detection block 14 on its edge, and the main disk 1 is provided with a position detection sensor 12 for detecting the first detection block 14 on its edge; The tool disk 2 is also provided with a second detection block 15 on its edge, and the main disk 1 is provided with a distance detection sensing device 13 for detecting the distance between the tool disk 2 and the second detection block 15 on its edge. The robotic arm 3 drives the main disk 1 to rotate until the positioning detection sensor 12 detects the first detection block 14. When the positioning detection sensor 12 corresponds to the first detection block 14, the spacing detection sensor 13 corresponds to the second detection block 15. The positioning pins 8 on the main disk 1 correspond one-to-one with the positioning holes 9 on the tool disk 2. The main disk 1 is attracted and engaged with the tool disk 2 through the suction port 7. The pneumatic lock core 4 arranged in the middle of the main disk 1 extends into the middle hole in the middle of the tool disk 2. The annular groove 10 in the middle hole forms a locking engagement with the pneumatic lock core 4 after air is introduced.

[0021] As a preferred embodiment 2, the first detection block 14 can be provided with sensing points, such as sensing marker patches or sensing paint dots, to further ensure the accuracy of sensing during rotation and avoid the sensing part being too large and affecting the accuracy.

[0022] Alternatively, in a preferred embodiment 3, the first detection block 14 can be replaced by a sensing device or a transmitting device, which works in conjunction with the position detection sensing device 12. For example, the position detection sensing device 12 is provided with the signal sensing end of the sensing device, while the first detection block 14 is provided with the signal transmitting end of the sensing device, ensuring that the trajectory of the signal transmitting end around the intermediate axis coincides with the trajectory of the signal sensing end around the intermediate axis. Precise positioning can be achieved during rotation. The tool disk can be provided with an independent circuit that is independently powered by the signal transmitting end of the sensing device. The circuit is connected after the main disk 1 and the tool disk 2 are connected. Similarly, the signal sensing end of the distance detection sensing device can also be set at the distance detection sensing device 13, and the signal transmitting end of the sensing device can be set at the second detection block 15 to realize distance judgment.

[0023] In a preferred embodiment 4, both the position detection sensor 12 and the spacing detection sensor 13 are electrically connected to the controller of the robotic arm 3 via the control component 5. The position detection sensor 12 and the spacing detection sensor 13 work in conjunction with the robotic arm 3 through the controller. This ensures that further operations of the robotic arm 3 can be controlled through detection, achieving automatic control docking.

[0024] As a preferred embodiment 5, the control component 5 includes a female plug 501 on the main plate 1 and a male plug 502 on the tool plate 2. When the positioning detection sensor 12 corresponds to the first detection block 14, the female plug 501 and the male plug 502 correspond and form an electrical connection when the main plate 1 adsorbs the tool plate 2. A control interface 503 is provided on one side of the main plate 1 and is electrically connected to the female plug 501. The control interface 503 is electrically connected to the controller of the robotic arm 3 through the installation of the control line 504.

[0025] The positioning detection sensor 12, the spacing detection sensor 13, and the control terminal of the pneumatic lock cylinder 4 are all electrically connected to the female plug 501 to ensure the connection of the circuit after docking.

[0026] In a preferred embodiment 6, the positioning detection sensing device 12 is an infrared sensor to ensure positioning detection.

[0027] In a preferred embodiment 7, the spacing detection sensing device 13 is a laser displacement sensor to ensure spacing detection.

[0028] In a preferred embodiment 8, the suction port 7 is located on the side of the main plate 1 near the tool plate 2. The outer side of the main plate 1 has an air pipe interface 6 that corresponds to and connects to the suction port 7. The air pipe interface 6 is connected to an external air extraction source via an air pipe. Pre-fixation can be achieved through suction, and the spacing detection sensor 13 can determine whether the fixation is in place. If not, the pneumatic lock cylinder 4 will not be activated; only after it is in place will the next step be performed, preventing the pneumatic lock cylinder 4 from failing to activate.

[0029] In a preferred embodiment 10, the pneumatic lock cylinder 4 is locked to the annular groove 10 by steel balls 402.

[0030] As a preferred embodiment 11, the pneumatic lock cylinder 4 includes a cam 401 disposed on the main plate 1. The cam 401 and the tool plate 2 are integrally formed, and the cam 401 is provided with a plurality of mounting channels 413. The channels are provided with protruding steel balls 402 that can be fed. The cam 401 is provided with a piston groove 408 that communicates with the mounting channels 413. A piston body 403 with a smaller diameter at the top and a larger diameter at the bottom is slidably installed in the piston groove 408. The steel balls 402 are limited to the piston body 403 and the mounting channels 413. The top of the piston groove 408 is sealed and fastened by the top cover 404, and the bottom of the piston groove 408 is fastened by the bottom cover 407. The bottom cover 407 is sealed by the third sealing ring 411. The outer wall of the piston body 403 on the upper side is sealed with the piston groove 408 by the first sealing ring 409. The outer wall of the piston body 403 on the lower side is sealed with the piston groove 408 by the second sealing ring 410. The second sealing ring 410 and the first sealing ring 409 cooperate with the piston body 403 and the piston groove 408 to form a sealed descending cavity. The second sealing ring 410 and the third sealing ring 411 cooperate with the piston body 403, the piston groove 408 and the bottom cover 407 to form a sealed ascending cavity. The ascending airway 405 is connected to the ascending chamber and is sealed to an external air source through an air pipe. The descending airway 406 is connected to the descending chamber and is also sealed to an external air source through an air pipe. When the rising air intake 405 is open and the falling air intake 406 is closed, the gas enters the rising chamber and pushes the piston body 403 to rise. The large diameter part of the piston body 403 contacts the steel ball 402 and pushes the steel ball 402 out of the mounting hole 413 of the cam 401 until the steel ball 402 is stuck at the outlet of the hole and forms a lock with the annular groove 10. When the lowering air intake 406 is ventilated and the raising air intake 405 is not ventilated, the gas enters the lowering chamber and pushes the piston body 403 down. The small diameter part of the piston body 403 contacts the steel ball 402, which increases the distance between the piston body 403 and the mounting hole 413. The steel ball 402 can be stored in the cam 401 and released from the annular groove 10.

[0031] As a more preferred embodiment 11, a spring 412 is provided between the bottom of the piston body 403 and the bottom cover 407, and elastic compression is formed by the spring 412 to play a buffering role, and also to prevent the piston body 403 from being difficult to restore due to the complete disappearance of the rising cavity and the falling cavity. The piston body 403 has a buffer pad layer on top.

[0032] The working principle of this utility model: The robotic arm 3 moves the main disk 1 along a preset route to the vicinity of the tool disk 2 and aligns it with the center line; The robotic arm 3 moves forward, and the rotating main disk 1 drives the positioning detection sensor 12 to rotate synchronously. When the positioning is detected, the first detection block 14 signals and the rotation stops. The device adsorbs through the adsorption port 7, and the positioning detection signal is detected. The spacing detection sensor 13 detects whether the spacing meets the spacing requirements. If the spacing is not shortened to the set value or below, and the spacing is always too large, it can be determined that the device has not adsorbed completely. It may be that the angle is not adjusted properly. At this time, the main disk 1 is slowly rotated. After rotating a little, it is stopped and adsorbed. The above steps are repeated until the spacing is shortened to the set value or below, so that the two disks are in contact and the positioning pin 8 enters the positioning hole 9. The clamp is locked after being activated by the pneumatic lock cylinder 4, and the cleaning tool 11 can be installed on the tool disc 2 by bolts; At the same time, the circuits of the main disk 1 and the tool disk 2 are connected, and the robotic arm can control the entire fixture and working tools.

[0033] When changing tools, release the pneumatic lock core 4, the robot will exit, and the robotic arm 3 can then drive the working tool to complete the corresponding work task.

Claims

1. A quick-installation and replacement fixture for docking a robotic arm (3) with a cleaning tool (11), characterized in that, Includes a main disk (1) fixedly installed at the end of the robotic arm (3) and a tool disk (2) installed on the cleaning tool (11); The tool disk (2) is provided with a first detection block (14) on its edge, and the main disk (1) is provided with a position detection sensor (12) for detecting the first detection block (14) on its edge. The tool disk (2) is also provided with a second detection block (15) on its edge, and the main disk (1) is provided with a distance detection sensing device (13) for detecting the distance between the main disk (1) and the second detection block (15). The robotic arm (3) drives the main disk (1) to rotate until the positioning detection sensor (12) detects the first detection block (14). When the positioning detection sensor (12) corresponds to the first detection block (14), the spacing detection sensor (13) corresponds to the second detection block (15). The positioning pin (8) on the main disk (1) corresponds one-to-one with the positioning hole (9) on the tool disk (2). The main disk (1) is attracted and engaged with the tool disk (2) through the suction port (7). The pneumatic lock core (4) arranged in the middle of the main disk (1) extends into the middle hole in the middle of the tool disk (2). The middle hole is provided with an annular groove (10) and forms a locking engagement with the pneumatic lock core (4) after ventilation.

2. The quick installation and replacement fixture according to claim 1, characterized in that, The position detection sensor (12) and the spacing detection sensor (13) are both electrically connected to the controller of the robotic arm (3) through the control component (5). The position detection sensor (12) and the spacing detection sensor (13) are linked and cooperate with the robotic arm (3) through the controller.

3. The quick installation and replacement fixture according to claim 2, characterized in that, The control component (5) includes a female plug (501) on the main plate (1) and a male plug (502) on the tool plate (2). When the position detection sensor (12) corresponds to the first detection block (14), the female plug (501) and the male plug (502) correspond and form an electrical connection when the main plate (1) adsorbs the tool plate (2). A control interface (503) is provided on one side of the main plate (1) and is electrically connected to the female plug (501). The control interface (503) is electrically connected to the controller of the robotic arm (3) through the installation of the control line (504).

4. The quick installation and replacement fixture according to claim 3, characterized in that, The position detection sensor (12), the spacing detection sensor (13), and the control terminal of the pneumatic lock core (4) are all electrically connected to the female plug (501).

5. A quick-installation and replacement fixture according to any one of claims 1 to 4, characterized in that, The positioning detection sensing device (12) is an infrared sensor.

6. A quick-installation and replacement fixture according to any one of claims 1 to 4, characterized in that, The spacing detection sensing device (13) is a laser displacement sensor.

7. A quick-installation and replacement fixture according to claim 1, characterized in that, The adsorption port (7) is located on the side of the main plate (1) near the tool plate (2). The outer side of the main plate (1) is provided with an air pipe interface (6) that corresponds to and is connected to the adsorption port (7). The air pipe interface (6) is connected to an external air pumping source through an air pipe.

8. A quick-installation and replacement fixture according to claim 1, characterized in that, The pneumatic lock cylinder (4) is locked by steel ball (402) and annular groove (10).

9. A quick-installation and replacement fixture according to claim 8, characterized in that, The pneumatic lock core (4) includes a cam (401) on the main plate (1), a number of protruding steel balls (402) on the cam (401), and a piston body (403) inside the cam (401) that is controlled to rise and fall by means of an upward air intake passage (405) and a downward air intake passage (406). The steel balls (402) and the piston body (403) are linked together.

10. A quick-installation and replacement fixture according to claim 9, characterized in that, When the rising air intake (405) is ventilated and the falling air intake (406) is not ventilated, the piston body (403) rises and the steel ball (402) protrudes from the cam (401) and locks with the annular groove (10); When the lower intake passage (406) is ventilated and the upper intake passage (405) is not ventilated, the piston body (403) descends, and the steel ball (402) is stored in the cam (401) and released from the annular groove (10).

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