Magnetic cone quick-change clamp module

Abstract

This utility model belongs to the field of clamping technology and discloses a magnetic suction conical quick-change clamping module, which solves the problem of reduced locking force caused by air supply interruption in traditional pneumatic quick-change clamps. It includes a main plate flange interface, a tool plate flange interface, a main plate assembly, and a tool plate assembly. The main plate assembly includes an electrically controlled permanent magnet chuck, a frustum-shaped positioning block, a mechanical locking mechanism, and an unlocking cylinder. The tool plate assembly includes a magnetic guide ring and an outer conical sleeve. The electrically controlled permanent magnet chuck is installed below the main plate flange interface, the frustum-shaped positioning block is located below the middle of the electrically controlled permanent magnet chuck, the outer conical sleeve is fitted on the outside of the frustum-shaped positioning block, and the magnetic guide ring is installed at the top of the outer conical sleeve and contacts the working surface of the electrically controlled permanent magnet chuck. The unlocking cylinder is located in the groove of the frustum-shaped positioning block, and the mechanical locking mechanism is located in the receiving cavity of the frustum-shaped positioning block. This utility model combines electromagnetic adsorption, conical positioning, mechanical locking, and pneumatic unlocking to improve efficiency and safety.

Description

Technical Field

[0001] This utility model belongs to the field of clamping technology, and in particular relates to a magnetic suction conical quick-change clamping module. Background Technology

[0002] As the core equipment of automated production lines, industrial robots are typically equipped with quick-change grippers at the end of the robot arm in order to improve the working efficiency of individual robots and enable them to perform diverse tasks such as handling, welding, grinding, and assembly. The use of quick-change grippers allows the robot to quickly and automatically replace different end effectors without human intervention.

[0003] Traditional pneumatic quick-change grippers require complex air or oil pipes to be laid on the robot arm, and the pneumatic system relies on a stable air supply. Once the air supply is interrupted, the locking force will decrease, or even the tool may fall off unexpectedly, posing a safety hazard. At the same time, although purely mechanical quick-change grippers have the advantage of relatively simple structure, they have problems such as insufficient locking force and relatively complex automated docking process. Utility Model Content

[0004] The purpose of this utility model is to provide a magnetic conical quick-change clamp module, which effectively solves the problem that the locking force of traditional pneumatic quick-change clamps will decrease when the air source is interrupted.

[0005] To solve the above-mentioned technical problems, the technical solution adopted by this utility model is: a magnetic suction conical quick-change fixture module, including a main plate flange interface and a tool plate flange interface, and a main plate assembly installed on one side of the robot through the main plate flange interface, and a tool plate assembly installed on one side of the tool through the tool plate flange interface. The main plate assembly includes an electrically controlled permanent magnet chuck, a frustoconical positioning block, a mechanical locking mechanism and an unlocking cylinder. The tool plate assembly includes a magnetic guide ring for cooperating with the electrically controlled permanent magnet chuck to generate magnetic attraction force and an outer conical sleeve fixedly connected to the top end of the tool plate flange interface.

[0006] The electrically controlled permanent magnet chuck is installed below the main disc flange interface. The frustum-shaped positioning block is located below the middle part of the electrically controlled permanent magnet chuck. The outer cone sleeve is fitted on the outside of the frustum-shaped positioning block. The magnetic guide ring is installed on the top of the outer cone sleeve and is in contact with the working surface of the electrically controlled permanent magnet chuck.

[0007] The bottom of the frustoconical positioning block protrudes upward to form a groove, and the unlocking cylinder is located in the groove, with the piston rod of the unlocking cylinder facing directly downward.

[0008] The frustum-shaped positioning block has an internal receiving cavity, and the mechanical locking mechanism is located inside the receiving cavity. The mechanical locking mechanism includes a motor, a driving gear, and a driven gear. The motor is vertically mounted at the center of the receiving cavity. The driving gear is connected to the output shaft of the motor. There are at least two driven gears, which are evenly distributed around the driving gear and mesh with it. A lead screw is fixedly connected to the driven gear. A slider is sleeved on the lead screw for moving along the lead screw axis as the lead screw rotates. A locking rod parallel to the lead screw is located below the lead screw and is connected to the slider. An insertion hole is provided on the inner side of the outer cone sleeve at a position corresponding to the locking rod, and the insertion hole is adapted to the locking rod.

[0009] Furthermore, the electrically controlled permanent magnet chuck integrates a permanent magnet and an electromagnetic coil.

[0010] Furthermore, the motor is a servo motor or a stepper motor.

[0011] Furthermore, the slider is fixedly connected to the locking rod via a connecting rod, the connecting rod being vertically positioned, one end of the connecting rod being connected to the slider, and the other end of the connecting rod being connected to the locking rod.

[0012] Furthermore, the magnetic ring is made of soft iron or a ferromagnetic alloy with high magnetic permeability.

[0013] Compared with the prior art, the beneficial technical effects of this utility model are: (1) This utility model uses an electrically controlled permanent magnet chuck for initial adsorption. It only needs an electric pulse at the moment of magnetization or demagnetization. In the adsorption state, it relies on the strong magnetic force of the permanent magnet to maintain the position. It does not require continuous power supply. Even if there is an accidental power failure during the operation, the main disk assembly and the tool disk assembly can still be firmly adsorbed. The safety is much higher than that of traditional electromagnet and pneumatic clamps. At the same time, the lack of continuous power supply also makes its power consumption extremely low, which is in line with the concept of energy saving and environmental protection.

[0014] (2) After the electric permanent magnet chuck attracts and initially positions the tool disk assembly, the tool disk assembly and the main disk assembly are mechanically locked by the mechanical locking mechanism. Through the double locking method, the entire module is not only reliably connected, but also able to withstand huge loads, impacts and torques, and is suitable for high-load working conditions such as grinding and deburring.

[0015] (3) After the unlocking command is executed, the unlocking cylinder will generate an instantaneous thrust, actively pushing the tool disk assembly and the main disk assembly apart by a small distance, effectively overcoming the sticky effect of the residual magnetic force, ensuring that the tool disk assembly can be separated quickly, and improving the changing efficiency. Attached Figure Description

[0016] Figure 1 This is a front view of the present invention.

[0017] Figure 2 yes Figure 1 Enlarged view of point A in the middle.

[0018] Explanation of reference numerals in the attached diagram: Main disc flange interface-1; Tool disc flange interface-2; Electrically controlled permanent magnet chuck-3; Frustum-shaped positioning block-4; Unlocking cylinder-5; Magnetic guide ring-6; Outer cone sleeve-7; Motor-8; Driving gear-9; Driven gear-10; Lead screw-11; Slider-12; Locking rod-13; Connecting rod-14. Detailed Implementation

[0019] Example 1: A magnetic conical quick-change fixture module, such as Figure 1 and Figure 2 As shown, it includes a main plate flange interface 1, a tool plate flange interface 2, a main plate assembly mounted on one side of the robot via the main plate flange interface 1, and a tool plate assembly mounted on the tool side via the tool plate flange interface 2. Specifically, the main plate assembly is mounted on the end effector flange of the robot arm, and the tool plate assembly is mounted on various end effectors, such as grippers, welding torches, grinding heads, etc.

[0020] The main flange interface 1 is the foundation for connecting the entire module to the robot arm. Designed according to standard robot flanges, it is fixed to the end flange of the robot's sixth axis using bolts and other fasteners to ensure a rigid connection. The tool disc flange interface 2 is used to connect different end tools. This interface is designed with standardized threaded holes or locating pin holes to facilitate the secure mounting of various tools such as grippers and welding pliers.

[0021] The main plate assembly includes an electrically controlled permanent magnet chuck 3, a frustum-shaped positioning block 4, a mechanical locking mechanism, and an unlocking cylinder 5. The tool plate assembly includes a magnetic guide ring 6 that works in conjunction with the electrically controlled permanent magnet chuck 3 to generate magnetic attraction and an outer cone sleeve 7 that is fixedly connected to the top of the tool plate flange interface 2.

[0022] The electrically controlled permanent magnet chuck 3 is installed below the main plate flange interface 1. Internally, the chuck 3 integrates a permanent magnet and an electromagnetic coil. By instantaneously applying power, it changes the internal magnetic circuit state, achieving the switching between attraction and release. In the attracted state, the chuck 3 relies on the magnetic force of the permanent magnet for attraction, requiring no continuous power supply. Therefore, even in the event of a power outage, it maintains a strong magnetic attraction, preventing the tool plate assembly from accidentally falling off. Furthermore, the state switching can be completed with just a single electrical pulse signal, making control simple and the response rapid.

[0023] The frustum-shaped positioning block 4 is a component for achieving precise positioning. It is located below the center of the electrically controlled permanent magnet chuck 3, extending downwards from the central area of ​​the chuck 3. The outer surface of the frustum-shaped positioning block 4 is machined into a high-precision outer conical surface, which will mate with the inner surface of the outer conical sleeve 7 of the tool disk assembly.

[0024] The outer tapered sleeve 7 is fixedly installed on the tool disc flange interface 2. The outer tapered sleeve 7 is sleeved on the outside of the frustum-shaped positioning block 4. The inner surface of the outer tapered sleeve 7 is a high-precision inner tapered surface. Its taper, diameter and precision are completely matched with the outer tapered surface of the frustum-shaped positioning block 4. When the two are in contact, sub-millimeter repeatability can be achieved.

[0025] The magnetic ring 6 is made of a high-permeability material, such as soft iron or a specific ferromagnetic alloy. The magnetic ring 6 is fixedly mounted on the top surface of the outer conical sleeve 7, facing the working surface of the electrically controlled permanent magnet chuck 3. When the main disk assembly approaches, the magnetic ring 6 provides a closed loop for the magnetic lines of force of the electrically controlled permanent magnet chuck 3, thereby generating a strong and concentrated magnetic attraction force that attracts the entire tool disk assembly to the main disk assembly. Initial attraction via the electrically controlled permanent magnet chuck 3 requires only an electrical pulse during magnetization or demagnetization. In the engaged state, the strong magnetic force of the permanent magnet maintains the connection, eliminating the need for continuous power supply. Even in the event of an unexpected power outage during operation, the main disk assembly and the tool disk assembly remain firmly engaged, offering significantly higher safety than traditional electromagnet-type and pneumatic clamps. Furthermore, the absence of a continuous power supply results in extremely low power consumption, conforming to energy conservation and environmental protection principles.

[0026] In this embodiment, after the electronically controlled permanent magnet chuck 3 attracts and initially positions the tool disk assembly, the mechanical locking mechanism will mechanically lock the tool disk assembly to the main disk assembly. This dual locking method makes the entire module not only reliably connected, but also able to withstand huge loads, impacts and torques, making it suitable for high-load conditions such as grinding and deburring.

[0027] Specifically, the mechanical locking mechanism is located within the receiving cavity of the frustum-shaped positioning block 4. The mechanical locking mechanism includes a motor 8, a driving gear 9, and a driven gear 10. The motor 8 is the power source, and it is a small servo motor or stepper motor to achieve precise position and torque control. The motor 8 is vertically mounted at the center of the receiving cavity. The driving gear 9 is connected to the output shaft of the motor 8. There are two driven gears 10, symmetrically distributed on both sides of the driving gear 9, and they mesh with the driving gear 9 to ensure that the power is evenly distributed to each locking point. A lead screw 11 is fixedly connected to the driven gear 10. When the motor 8 rotates, the lead screw 11 is driven to rotate synchronously through the driving gear 9 and the driven gear 10. A slider 12 is sleeved on the lead screw 11 for moving along the axial direction of the lead screw 11 as it rotates. The slider 12 has a nut structure that is threaded into the lead screw 11 and is restricted from rotation. Therefore, when the lead screw 11 rotates, the slider 12 will move along the axial direction of the lead screw 11.

[0028] A locking rod 13, parallel to the lead screw 11, is located below the lead screw 11. The locking rod 13 is fixedly connected to the slider 12 via a connecting rod 14. The connecting rod 14 is vertically positioned, with one end connected to the slider 12 and the other end connected to the locking rod 13. The connecting rod 14 transmits the linear movement of the slider 12 to the locking rod 13. The locking rod 13 is the component that ultimately performs the locking action. A corresponding insertion hole is provided on the inner side of the outer conical sleeve 7. When the locking rod 13 moves linearly with the slider 12, one end of the locking rod 13 can be inserted into the insertion hole on the outer conical sleeve 7, forming a mechanical connection. After the electrically controlled permanent magnet chuck 3 attracts and initially positions the tool disk assembly, the locking rod 13 extends and inserts into the insertion hole of the outer conical sleeve 7, forming a mechanical connection and achieving double locking.

[0029] Furthermore, the bottom of the frustoconical positioning block 4 protrudes upward to form a groove, and the unlocking cylinder 5 is located in the groove. The piston rod of the unlocking cylinder 5 faces directly downward, that is, towards the tool tray assembly. The unlocking cylinder 5 is used to overcome the residual magnetic force of the electro-magnetic chuck 3 after unlocking, ensuring that the main tray assembly and the tool tray assembly can be smoothly separated.

[0030] Upon receiving the unlocking command, unlocking cylinder 5 is ventilated, and its piston rod extends, generating a momentary, powerful thrust that actively pushes the tool tray assembly away from the main tray assembly a short distance. Specifically, addressing the issue of residual magnetism in the electronically controlled permanent magnet chuck 3 after demagnetization, which hinders tool tray assembly separation, unlocking cylinder 5 generates a momentary thrust after the unlocking command is executed, actively pushing the tool tray assembly away from the main tray assembly a short distance. This effectively overcomes the sticky effect of residual magnetism, ensuring rapid separation of the tool tray assembly and improving changing efficiency.

[0031] The working principle of this utility model is as follows: The main disk assembly is connected to the robot arm through the main disk flange interface 1, and the tool disk assembly is connected to the end tool through the tool disk flange interface 2. The electro-magnetic chuck 3 is magnetized, and when the main disk assembly approaches the tool disk assembly, the magnetic ring 6 provides a closed loop for the magnetic lines of force of the electro-magnetic chuck 3, thereby generating a strong and concentrated magnetic attraction force, which attracts the entire tool disk assembly to the main disk assembly. At this time, the motor 8 of the mechanical locking mechanism controls the lead screw 11 to rotate through the driving gear 9 and the driven gear 10, which in turn drives the locking rod 13 to make linear movement by the slider 12, so that the locking rod 13 is inserted into the socket, forming a mechanical connection and realizing the double locking of the tool disk assembly and the main disk assembly. When unlocking is required, after the unlocking command is issued, the unlocking cylinder 5 is vented, and the piston rod of the unlocking cylinder 5 extends, generating an instantaneous and powerful thrust to separate the tool disk assembly from the main disk assembly. This invention combines electro-controlled permanent magnet adsorption, conical surface positioning, electromechanical locking, and pneumatic assisted unlocking technologies, thereby improving efficiency and safety.

[0032] Of course, the above description is not intended to limit the present utility model, and the present utility model is not limited to the examples given above. Any changes, modifications, additions or substitutions made by those skilled in the art within the scope of the present utility model should also fall within the protection scope of the present utility model.

Claims

1. A magnetic suction conical quick-change fixture module, comprising a main disc flange interface and a tool disc flange interface, characterized in that, It also includes a main disk assembly mounted on one side of the robot via a main disk flange interface, and a tool disk assembly mounted on one side of the tool via a tool disk flange interface. The main disk assembly includes an electrically controlled permanent magnet chuck, a frustum-shaped positioning block, a mechanical locking mechanism, and an unlocking cylinder. The tool disk assembly includes a magnetic guide ring for cooperating with the electrically controlled permanent magnet chuck to generate magnetic attraction and an outer cone sleeve fixedly connected to the top of the tool disk flange interface. The electrically controlled permanent magnet chuck is installed below the main plate flange interface, the frustum-shaped positioning block is located below the middle part of the electrically controlled permanent magnet chuck, the outer cone sleeve is fitted on the outside of the frustum-shaped positioning block, and the magnetic guide ring is installed on the top of the outer cone sleeve and is in contact with the working surface of the electrically controlled permanent magnet chuck. The bottom of the frustoconical positioning block protrudes upward to form a groove, and the unlocking cylinder is located in the groove, with the piston rod of the unlocking cylinder facing directly downward. The frustum-shaped positioning block has an internal receiving cavity, and the mechanical locking mechanism is located inside the receiving cavity. The mechanical locking mechanism includes a motor, a driving gear, and a driven gear. The motor is vertically mounted at the center of the receiving cavity. The driving gear is connected to the output shaft of the motor. There are at least two driven gears, which are evenly distributed around the driving gear and mesh with it. A lead screw is fixedly connected to the driven gear. A slider is sleeved on the lead screw for moving along the lead screw axis as the lead screw rotates. A locking rod parallel to the lead screw is located below the lead screw and is connected to the slider. An insertion hole is provided on the inner side of the outer cone sleeve at a position corresponding to the locking rod, and the insertion hole is adapted to the locking rod.

2. The magnetic suction conical quick-change fixture module according to claim 1, characterized in that, The electrically controlled permanent magnet chuck integrates a permanent magnet and an electromagnetic coil.

3. The magnetic suction conical quick-change fixture module according to claim 2, characterized in that, The motor is either a servo motor or a stepper motor.

4. A magnetic suction conical quick-change fixture module according to claim 3, characterized in that, The slider is fixedly connected to the locking rod via a connecting rod. The connecting rod is vertically positioned, with one end connected to the slider and the other end connected to the locking rod.

5. A magnetic suction conical quick-change fixture module according to claim 4, characterized in that, The magnetic ring is made of soft iron or a ferromagnetic alloy with high magnetic permeability.

Images