A robot applicable electric quick-change tool

Abstract

The utility model relates to industrial automation technical field discloses a kind of electric quick-change tools suitable for robot, including robot end main plate and tool end tool disc, and including cooperation end and fixed end, the cooperation end of robot end main plate is fixed with connecting block, the connecting block outer wall is attached with the outer wall of robot end main plate, drive assembly is arranged on the side of connecting block away from robot end main plate, and robot end main plate and tool end tool disc are realized limit fixed by the drive assembly;The end face center of the cooperation end on robot end main plate is fixed with cooperation block, the cooperation block is hollow inside and bottom is penetrated the end face of robot end main plate fixed end, the side of cooperation block towards connecting block is equipped with through-hole one, and the through-hole one is axially penetrated cooperation block;Steel ball groove is equipped with steel ball in the sliding connection in steel ball groove based on the center of the two sides of through-hole one adjacent side wall, for solving the problem that robot replaces tool is troublesome.

Description

Technical Field

[0001] This utility model relates to the field of industrial automation technology, and in particular to an electric quick-change tool suitable for robots. Background Technology

[0002] In modern industrial automated production, robots are widely used in various production scenarios, such as assembly, welding, and material handling, due to their advantages of high efficiency, precision, and repeatability. The ability to quickly change the end-effector tools of robots plays a crucial role in improving production efficiency and enhancing production flexibility.

[0003] Traditional robotic tool changing methods have several limitations. On one hand, some manual tool changing methods are cumbersome, time-consuming, and require human intervention, increasing labor costs and production downtime, failing to meet the demands of modern large-scale production for high efficiency and rapid production pace. On the other hand, some automated tool changing devices have complex structures and inadequate designs, resulting in poor stability and reliability during the changing process. Problems such as insecure tool fixation and inaccurate positioning can easily occur, affecting the robot's working accuracy and product quality, and potentially even leading to safety accidents.

[0004] Furthermore, existing tool changing devices often lack effective sensing and protection mechanisms when performing limit fixing and unlocking functions. The inability to promptly and accurately detect whether the tool is properly engaged allows the robot to begin operation without confirming the tool's installation status, increasing the risk of equipment malfunction and damage, and reducing the safety and stability of the entire production system.

[0005] To address this technical problem and improve the way robots change tools, an electric quick-change tool suitable for robots is proposed to solve the problem of cumbersome tool changing for robots. Utility Model Content

[0006] The purpose of this invention is to address the shortcomings of existing technologies by proposing an electric quick-change tool suitable for robots, which solves the problem of deformation after the installation of honeycomb panels.

[0007] To achieve the above objectives, this utility model provides the following technical solution: an electric quick-change tool suitable for robots, comprising a robot-end main plate and a tool-end tool plate, wherein the robot-end main plate and the tool-end tool plate include a mating end and a fixed end.

[0008] A connecting block is fixed on the mating end of the robot end main disk. The outer wall of the connecting block is in contact with the outer wall of the robot end main disk. A drive component is provided on the side of the connecting block away from the robot end main disk. The drive component enables the robot end main disk and the tool end tool disk to be limited and fixed.

[0009] A mating block is fixed at the center of the end face of the main disk mating end of the robot end. The mating block is hollow inside and its bottom penetrates the end face of the fixed end of the main disk of the robot end. A through hole is opened on the side of the mating block facing the connecting block. The through hole axially penetrates the mating block.

[0010] The mating block has a steel ball groove at the center of the adjacent two side walls of the through hole, and a steel ball is slidably connected in the steel ball groove;

[0011] The outer wall of the tool end tool disk is provided with a mating groove. The tool end tool disk achieves circumferential positioning by the gap fit between the mating groove and the connecting block. A second through hole is axially opened in the mating groove. The second through hole is coaxial with and adapted to the first through hole.

[0012] The tool end plate has a through-hole mounting groove 2 at the center of the fixed end face. A tool ring is fixed in the mounting groove 2. The inner diameter of the tool ring is adapted to the size of the mating block. The inner wall of the tool ring has a semi-circular groove symmetrically formed based on the center. The two semi-circular grooves are adapted to the steel ball and located on its sliding path.

[0013] Furthermore, the connecting block has an axially formed through-hole three on the side facing through-hole one, through-hole three being coaxial with through-hole one, and a lead screw bushing is fixed inside through-hole three.

[0014] Furthermore, the drive assembly includes a drive motor, the output end of which is fixedly connected to a telescopic coupling. A lead screw is fixed to the other end of the telescopic coupling, and the lead screw is adapted to a lead screw bushing. The end of the lead screw away from the drive motor is connected via a key to a supporting shaft. The supporting shaft is adapted to the through hole and located on its sliding path. A steel ball disk is fixed to the outer diameter of the supporting shaft. The steel ball disk slides within the mating block and is located on the sliding path of the steel ball. The steel ball disk has a clearance fit with the inner wall of the mating block.

[0015] Furthermore, the fixed end of the robot end main disk is installed at the robot end, the mating end of the robot end main disk is limited and fixed with the mating end of the tool end tool disk, and the fixed end of the tool end tool disk is installed on the gripper.

[0016] Furthermore, a flange ring is fixed inside the through hole one on the side near the connecting block. The flange ring is adapted to the inner diameter of the through hole one and is used to limit the connection position.

[0017] Furthermore, a mounting groove is provided on the outer wall of the robot end main disk, and a sensor is fixed in the mounting groove. The sensing end of the sensor penetrates through the end face of the mating end of the robot end main disk.

[0018] Furthermore, the main disk mating end face of the robot end has several positioning shafts fixed in a central array, and the tool disk mating end of the tool end has positioning holes corresponding to the axial positions of the positioning shafts. The positioning holes are adapted to the positioning shafts and are used for positioning.

[0019] Furthermore, a locking nut is fixed to the side of the steel ball disk away from the drive motor to further restrict the position of the steel ball disk. The diameter of the steel ball disk is larger than the diameter of the through hole to prevent the steel ball disk from sliding out of the mating block.

[0020] This utility model has the following beneficial effects:

[0021] 1. This electric quick-change tool uses a drive motor to rotate a lead screw, which in turn moves a steel ball disc, enabling rapid locking and unlocking of the main disc on the robot end and the tool disc on the tool end. Compared to the traditional manual changing method, this electric drive method significantly shortens tool change time, improves production efficiency, and better adapts to the requirements of modern production for high-efficiency and fast-paced production.

[0022] 2. Sensors installed on the outer wall of the robot's main plate can detect in real time whether the robot's main plate and the tool plate are properly aligned and transmit the signal to the robot's control system. The control system can then perform subsequent operations based on this signal, such as only starting the robot to work after confirming that the tools are properly aligned. This effectively avoids equipment failures and safety accidents caused by improper tool installation, and improves the safety and stability of the entire production system.

[0023] 3. Several positioning axes are fixed on the end face of the robot's main plate and the tool plate based on a central array. These positioning axes can accurately determine the fixed position of the tool plate on the tool end, ensuring that the robot's main plate and the tool plate on the tool end can be accurately aligned when they are in contact. This avoids tool installation deviations caused by inaccurate positioning and further improves the accuracy and reliability of tool replacement. Attached Figure Description

[0024] Figure 1 This is a schematic diagram of the overall structure of an embodiment of the present utility model;

[0025] Figure 2 This is an exploded view of the overall structure of an embodiment of the present utility model;

[0026] Figure 3 This is a schematic axial cross-sectional view of an embodiment of the present utility model;

[0027] Figure 4 This is a radial cross-sectional view of an embodiment of the present invention.

[0028] Legend:

[0029] 1. Robot end plate; 101. Mating block; 102. Through hole one; 103. Flange ring; 104. Steel ball groove; 105. Steel ball; 106. Positioning shaft; 107. Mounting slot one; 108. Sensor;

[0030] 2. Tool end, tool plate; 201. Mating groove; 202. Through hole two; 203. Mounting groove two; 204. Tool ring; 205. Semicircular groove; 206. Positioning hole;

[0031] 3. Connecting block; 301. Through hole three; 302. Lead screw bushing;

[0032] 4. Drive assembly; 401. Drive motor; 402. Telescopic coupling; 403. Lead screw; 404. Steel ball disc; 405. Locking nut; 406. Bushing; 407. Support shaft. Detailed Implementation

[0033] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0034] Reference Figures 1-3 The present invention provides an embodiment of an electric quick-change tool suitable for robots, comprising a robot-end main plate 1 and a tool-end tool plate 2. The robot-end main plate 1 and the tool-end tool plate 2 are divided into a mating end and a fixed end. The fixed end of the robot-end main plate 1 is installed at the end of the robot. The mating end of the robot-end main plate 1 and the mating end of the tool-end tool plate 2 are limited and fixed. The fixed end of the tool-end tool plate 2 is installed on the gripper.

[0035] A connecting block 3 is fixed on the mating end of the robot end main disk 1. The outer wall of the connecting block 3 is in contact with the outer wall of the robot end main disk 1. A driving component 4 is provided on the side of the connecting block 3 away from the robot end main disk 1. The robot end main disk 1 and the tool end tool disk 2 are limited and fixed by the driving component 4.

[0036] A mating block 101 is fixed at the center of the end face of the main disk 1 of the robot end. The mating block 101 is hollow inside and its bottom penetrates the fixed end face of the main disk 1 of the robot end. A through hole 102 is opened on the side of the mating block 101 facing the connecting block 3. The through hole 102 axially penetrates the mating block 101.

[0037] A flange ring 103 is fixed inside the through hole 102 near the connecting block 3. The flange ring 103 is adapted to the inner diameter of the through hole 102 and is used to limit the connection position.

[0038] The mating block 101 has a steel ball groove 104 formed at the center of the side walls adjacent to the through hole 102, and a steel ball 105 is slidably connected in the steel ball groove 104.

[0039] The main disk 1 of the robot end has several positioning axes 106 fixed on the end face of the mating end based on a central array. The positioning axes 106 are used to determine the fixed position of the tool disk 2 of the tool end and to mate with it.

[0040] The outer wall of the robot end main disk 1 is provided with an installation groove 107. A sensor 108 is fixed in the installation groove 107. The sensing end of the sensor 108 penetrates the end face of the mating end of the robot end main disk 1 and is used to sense whether the robot end main disk 1 and the tool end tool disk 2 are mating.

[0041] The tool end tool disk 2 has a mating groove 201 on its outer wall. The tool end tool disk 2 achieves circumferential positioning by the gap fit between the mating groove 201 and the connecting block 3. A second through hole 202 is axially opened in the mating groove 201. The second through hole 202 is coaxial with and adapted to the first through hole 102.

[0042] The tool end plate 2 has a through-hole mounting groove 203 at the center of its fixed end face. A tool ring 204 is fixed in the mounting groove 203. The inner diameter of the tool ring 204 is adapted to the size of the mating block 101. When mated, the mating block 101 is located inside the tool ring 204. The inner wall of the tool ring 204 has semi-circular grooves 205 symmetrically arranged around the center. The two semi-circular grooves 205 are adapted to the steel ball 105 and are located on its sliding path.

[0043] The tool end of the tool disk 2 has a positioning hole 206 corresponding to the axial position of the positioning shaft 106. The positioning hole 206 is adapted to the positioning shaft 106 and is used for positioning.

[0044] The connecting block 3 has an axially formed through hole 301 facing the through hole 102. The through hole 301 is coaxial with the through hole 102, and a lead screw bushing 302 is fixed inside the through hole 301.

[0045] The drive assembly 4 includes a drive motor 401. A telescopic coupling 402 is fixedly connected to the output end of the drive motor 401. A lead screw 403 is fixed to the other end of the telescopic coupling 402, and the lead screw 403 is adapted to the lead screw bushing 302. A supporting shaft 407 is connected to the end of the lead screw 403 away from the drive motor 401 via a key. The supporting shaft 407 is adapted to the through hole 102 and located on its sliding path. A steel ball disk 404 is fixed on the outer diameter of the supporting shaft 407. The steel ball disk 404 slides within the mating block 101 and is located on the sliding path of the steel ball 105. The steel ball disk 404 has a clearance fit with the inner wall of the mating block 101. Through contact between the steel ball disk 404 and the steel ball 105, the steel ball 105 is pushed towards the semi-circular groove 205 to achieve locking.

[0046] Furthermore, the sensor 108 is electrically connected to the drive motor 401 and is used to control the start and stop of the drive motor 401.

[0047] Furthermore, a locking nut 405 is fixed to the side of the steel ball disk 404 away from the drive motor 401, further restricting the position of the steel ball disk 404.

[0048] Furthermore, a bushing 406 is fixed between the drive motor 401 and the connecting block 3. The bushing 406 is sleeved on the outside of the drive assembly 4 to protect the drive assembly 4.

[0049] Furthermore, the diameter of the steel ball disk 404 is larger than the diameter of the through hole 102 to prevent the steel ball disk 404 from sliding out of the mating block 101.

[0050] Drive process: When it is necessary to limit and fix the robot end main disk 1 and the tool end tool disk 2, the drive motor 401 starts, and its output end drives the telescopic coupling 402 to rotate. The telescopic coupling 402 then transmits power to the lead screw 403, causing the lead screw 403 to rotate within the lead screw sleeve 302. Due to the threaded fit between the lead screw 403 and the lead screw sleeve 302, the lead screw 403 moves forward along the axial direction while rotating, thereby pushing the support shaft 407 and the steel ball disk 404 forward.

[0051] Locking process: The main disk 1 of the robot end has a steel ball groove 104 at the center of the adjacent side walls of the through hole 102, with a steel ball 105 slidably connected within the groove 104. The tool ring 204 of the tool end has semi-circular grooves 205 symmetrically formed on its inner wall, with the two semi-circular grooves 205 fitting the steel balls 105 and located on their sliding paths. When the steel ball disk 404 moves forward under the push of the drive assembly 4, it contacts the steel balls 105 and pushes them along the steel ball grooves 104 towards the semi-circular grooves 205 on the inner wall of the tool ring 204 of the tool end.

[0052] As the steel ball 105 enters the semi-circular groove 205, it is stuck between the semi-circular groove 205 and the steel ball groove 104, thereby tightly connecting the robot end main disk 1 and the tool end tool disk 2 together, achieving limit fixation, ensuring that the robot end main disk 1 and the tool end tool disk 2 will not separate during the robot's operation, and ensuring the normal use of the tool.

[0053] Unlocking process: When tool replacement is required, the drive motor 401 rotates in reverse, and the lead screw 403 rotates in reverse and moves backward within the lead screw sleeve 302, driving the support shaft 407 and the steel ball disk 404 to move backward. The steel ball disk 404 no longer applies forward thrust to the steel ball 105, and the steel ball 105 can exit from the semi-circular groove 205, releasing the locking of the robot-end main disk 1 and the tool-end tool disk 2. At this time, the tool-end tool disk 2 can be separated from the robot-end main disk 1, realizing quick tool replacement.

[0054] Sensing protection: A sensor 108 is fixed in the mounting groove 107 on the outer wall of the robot main plate 1. The sensing end of the sensor 108 penetrates the end face of the mating end of the robot main plate 1. The sensor 108 can sense whether the robot main plate 1 and the tool plate 2 are properly mated. When they are properly mated, the sensor 108 transmits a signal to the robot's control system, which can then perform subsequent operations based on this signal.

[0055] A locking nut 405 is fixed to the side of the steel ball disk 404 away from the drive motor 401, which can further restrict the position of the steel ball disk 404 and prevent it from moving axially during operation. A bushing 406 is fixed between the drive motor 401 and the connecting block 3. The bushing 406 is sleeved on the outside of the drive assembly 4, which can protect the drive assembly 4 from interference and damage from the external environment and extend the service life of the drive assembly 4.

[0056] Finally, it should be noted that the above description is only a preferred embodiment of the present utility model and is 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. A robot-compatible electric quick-change tool, comprising a robot-end main tray (1) and a tool-end tool tray (2), characterized in that: The robot end master disk (1) and the tool end tool disk (2) include a mating end and a fixed end. A connecting block (3) is fixed on the mating end of the robot end main disk (1). The outer wall of the connecting block (3) is in contact with the outer wall of the robot end main disk (1). A driving component (4) is provided on the side of the connecting block (3) away from the robot end main disk (1). The robot end main disk (1) and the tool end tool disk (2) are limited and fixed through the driving component (4). A mating block (101) is fixed at the center of the end face of the main disk (1) of the robot end. The mating block (101) is hollow inside and its bottom penetrates the fixed end face of the main disk (1) of the robot end. A through hole (102) is opened on the side of the mating block (101) facing the connecting block (3). The through hole (102) axially penetrates the mating block (101). The mating block (101) has a steel ball groove (104) at the center of the adjacent two side walls of the through hole (102), and a steel ball (105) is slidably connected in the steel ball groove (104). The tool end tool disk (2) has a mating groove (201) on its outer wall. The tool end tool disk (2) is circumferentially limited by the gap fit between the mating groove (201) and the connecting block (3). A through hole two (202) is axially opened in the mating groove (201). The through hole two (202) is coaxial with and adapted to the through hole one (102). The tool end plate (2) has a mounting groove 2 (203) through the center of the fixed end face. A tool ring (204) is fixed in the mounting groove 2 (203). The inner diameter of the tool ring (204) is adapted to the size of the mating block (101). The inner wall of the tool ring (204) has a semi-circular groove (205) based on the center symmetry. The two semi-circular grooves (205) are adapted to the steel ball (105) and are located on its sliding path.

2. The electric quick-change tool suitable for robots according to claim 1, characterized in that: The connecting block (3) has an axial through hole three (301) on the side facing the through hole one (102). The through hole three (301) is coaxial with the through hole one (102), and a lead screw bushing (302) is fixed inside the through hole three (301).

3. The electric quick-change tool suitable for robots according to claim 2, characterized in that: The drive assembly (4) includes a drive motor (401), the output end of which is fixedly connected to a telescopic coupling (402), and the other end of the telescopic coupling (402) is fixedly connected to a lead screw (403), which is adapted to the lead screw bushing (302). The end of the lead screw (403) away from the drive motor (401) is connected to a support shaft (407) by a key. The support shaft (407) is adapted to the through hole (102) and is located on its sliding path. A steel ball disk (404) is fixed on the outer diameter of the support shaft (407). The steel ball disk (404) slides inside the mating block (101) and is located on the sliding path of the steel ball (105). The steel ball disk (404) is in clearance fit with the inner wall of the mating block (101).

4. The electric quick-change tool suitable for robots according to claim 3, characterized in that: The fixed end of the robot end main disk (1) is installed at the end of the robot. The mating end of the robot end main disk (1) is limited and fixed with the mating end of the tool end tool disk (2). The fixed end of the tool end tool disk (2) is installed on the gripper.

5. The electric quick-change tool suitable for robots according to claim 4, characterized in that: A flange ring (103) is fixed inside the through hole (102) on the side near the connecting block (3). The flange ring (103) is adapted to the inner diameter of the through hole (102) and is used to limit the connection position.

6. The electric quick-change tool suitable for robots according to claim 5, characterized in that: The robot end main disk (1) has an installation groove (107) on its outer wall. A sensor (108) is fixed in the installation groove (107). The sensing end of the sensor (108) passes through the end face of the mating end of the robot end main disk (1).

7. The electric quick-change tool suitable for robots according to claim 6, characterized in that: The robot end main disk (1) has several positioning shafts (106) fixed on the end face based on a central array. The tool end tool disk (2) has a positioning hole (206) corresponding to the axial position of the positioning shaft (106) at the end face. The positioning hole (206) is adapted to the positioning shaft (106) for positioning.

8. The electric quick-change tool suitable for robots according to claim 7, characterized in that: A locking nut (405) is fixed on the side of the steel ball disk (404) away from the drive motor (401) to further restrict the position of the steel ball disk (404). The diameter of the steel ball disk (404) is larger than the diameter of the through hole (102) to prevent the steel ball disk (404) from sliding out of the mating block (101).

Images