A multi-cylinder quick-change disc device

Abstract

A multi-cylinder quick-change disc device, relating to the field of robotics, comprises a robot-side main body and a tool-side main body forming a triangular structure with cylinders mounted at each of the three corners. The central rotating area of ​​the triangle serves as the component mounting area. Each cylinder's output end is connected to a piston via a connecting rod, and the lower end of the piston is connected to a disc. Both the piston and disc are movably sealed within a robot-side flange mounted inside the robot-side main body. The disc's annular wall movably abuts against ball bearings mounted on the periphery of the robot-side flange. An ejector spring is positioned between the piston's top and the cylinder's bottom wall. This device utilizes multiple small-diameter cylinders to distribute the load, arranged in a triangular pattern. This configuration allows for heavier load bearing while significantly improving the quick-change's resistance to off-center loading and torsion. Furthermore, the integrated design results in a lightweight design and the ability to simultaneously mount more modules. Under the same load capacity, it exhibits strong off-center loading capability and low cost.

Description

Technical Field

[0001] This utility model relates to the field of robot technology, specifically to a multi-cylinder quick-change disc device. Background Technology

[0002] Currently, quick-change discs mainly use single-cylinder thrust systems. High-thrust cylinders have large diameters, and due to the limited locking disc neck, while the quick-change has a high load-bearing capacity, it lacks sufficient resistance to off-center loads and torsion. In practical applications, users need to select models with load-bearing capacities far exceeding actual requirements to adapt to off-center load and torsion scenarios. This results in an overall heavy and bulky quick-change disc, increasing the robot's load burden, limiting installation space, and making it difficult to accommodate multiple modules such as communication, control, pneumatic, and water circuits. Furthermore, traditional single-cylinder quick-change discs have a single stress point, weak bending resistance, and are easily affected in terms of accuracy. They cannot simultaneously achieve a compact structure, lightweight design, and high load-bearing performance, making it difficult to meet the comprehensive requirements of efficient robot operation for quick-change devices. Summary of the Invention

[0003] The purpose of this utility model is to address the shortcomings and deficiencies of the existing technology by providing a multi-cylinder quick-change disc device. It uses multiple small-diameter cylinders to share the load, and the multiple cylinders are distributed in a triangular pattern. This allows it to bear heavier loads while greatly improving the anti-eccentric load and anti-torsion capacity of the quick change. Furthermore, it adopts an integrated design, is lightweight, and can simultaneously mount more modules. Under the same load-bearing capacity, it has strong eccentric load capacity and low cost.

[0004] To achieve the above objectives, the present invention adopts the following technical solution: it comprises a robot-side main body and a tool-side main body; a tool-side main body is provided on one side of the robot-side main body; the robot-side main body and the tool-side main body form a triangular structure, and cylinders are installed at the three corners; the central rotating area of ​​the triangular structure is the component mounting area; the output end of each cylinder is connected to a piston by a connecting rod, and the lower end of the piston is connected to a disc; the piston and the disc are movably sealed in the robot-side flange installed in the robot-side main body, and the annular wall of the disc is in movable contact with the ball bearings installed on the peripheral wall of the robot-side flange; an ejector spring is provided between the top of the piston and the bottom wall of the cylinder.

[0005] Furthermore, a tool-side flange is installed inside the tool-side body by means of hexagon socket screws, and the tool-side flange is located on the lower outer ring of the robot-side flange.

[0006] Furthermore, the contact position between the piston and the robot side flange is sealed using an O-ring.

[0007] Furthermore, an O-ring is used to seal the lower end of the cylinder at the contact point with the robot's main body.

[0008] Compared with the prior art, the beneficial effects of this utility model are: This utility model provides a multi-cylinder quick-change disc device, which uses multiple small-diameter cylinders to share the load. The multiple cylinders are distributed in a triangular pattern, which can bear a heavier load while greatly improving the anti-eccentric load and anti-torsion capacity of the quick change. Moreover, it adopts an integrated design, is lightweight, and can simultaneously carry more modules. Under the same load capacity, it has strong eccentric load capacity and low cost. Attached Figure Description

[0009] Figure 1 This is a schematic diagram of the structure of this utility model.

[0010] Figure 2 This is an exploded view of this utility model.

[0011] Explanation of reference numerals in the attached figures: Robot side body 1, tool side body 2, cylinder 3, ejector spring 4, piston 5, robot side flange 6, ball bearing 7, disc 8, tool side flange 9, hex socket screw 10, O-ring one 11, O-ring two 12. Detailed Implementation

[0012] The technical solutions of this utility model will be clearly and completely described below with reference to the accompanying drawings. The preferred embodiments described are only examples. All other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this utility model.

[0013] like Figures 1-2 As shown, this specific embodiment adopts the following technical solution: It includes a robot-side main body 1 and a tool-side main body 2, both made of high-strength aviation aluminum; the tool-side main body 2 is provided on one side of the robot-side main body 1; the robot-side main body 1 and the tool-side main body 2 form a triangular structure, and cylinders 3 (small cylinders) are installed at the three corners. The central rotating area of ​​the triangular structure is the component mounting area. The contact position between the lower end of the cylinder 3 and the robot-side main body 1 is sealed with an O-ring 11; the output end of each cylinder 3 is connected to a piston 5 by a connecting rod, and the lower end of the piston 5 is connected to a disc. 8. Both piston 5 and disc 8 are movably sealed within robot-side flange 6 installed inside robot-side body 1, and the annular wall of disc 8 is movably in contact with ball bearings 7 installed on the periphery of robot-side flange 6. O-rings 12 are used to movably seal the contact position between piston 5 and robot-side flange 6. An ejector spring 4 is provided between the top of piston 5 and the bottom wall of cylinder 3. Tool-side flange 9 is installed inside tool-side body 2 by internal hexagon screws 10, and tool-side flange 9 is located on the lower outer ring of robot-side flange 6. The relevant structural components at the three corners of the triangular structure constitute three locking and mold-fitting points.

[0014] When the robot needs to switch tools (such as switching from a gripper to a lifting suction cup), the tool-side body 2 is first fixed to the tool to be connected, and then the robot-side body 1 is driven to move closer to the tool-side body 2 and dock through the positioning sleeve. After contact, the three cylinders 3 are simultaneously ventilated and started, driving the piston 5 to extend and apply thrust, pushing the three locking mold points to fit precisely. Since the cylinders 3 are evenly distributed in a triangular shape, the thrust is evenly distributed to the three mold points, forming a stable surface support and avoiding local force concentration. After the mold points are fully fitted, the cylinders 3 maintain pressure, and at the same time, the ejector spring 4 is further compressed due to the fit between the robot-side body 1 and the tool-side body 2, generating a reverse clamping force, which forms a "two-way locking" with the thrust of the cylinder 3, ensuring that there is no relative displacement between the robot-side body 1 and the tool-side body 2. At this time, the device can transmit the robot's motion and load, meeting the process requirements of parts gripping, lifting and other processes. When a tool needs to be changed, the control system issues an unlocking command, first controlling the three sets of cylinders 3 to cut off the air supply. The piston 5 retracts under the action of the reset spring inside the cylinder, releasing the thrust on the robot-side body 1 and the tool-side body 2. After the cylinder thrust is released, the ejector spring 4 releases the pre-compression force, generating a pushing action to slightly separate the robot-side body 1 from the tool-side body 2, eliminating the friction between them, making it easier for the robot to quickly detach the robot-side body 1 from the tool-side body 2. After the robot-side body 1 and the tool-side body 2 are separated, the robot can move to the tool-side body 2 corresponding to the new tool and repeat the above locking process to complete the quick tool change and meet different process requirements.

[0015] When encountering sudden special working conditions such as power failure or gas failure, this device can achieve "emergency locking" through the independent action of the ejector spring 4. Specifically, when the device suddenly loses power or gas, the three sets of cylinders 3 lose power and cannot maintain thrust, but the ejector spring 4 is still in a pre-compressed state. Its continuous clamping force can maintain the contact of the three mold-closing points of the robot side body 1 and the tool side body 2, avoiding separation of the two and causing the tool or workpiece to fall off and be damaged, thus ensuring operational safety.

[0016] Compared with the prior art, the beneficial effects of this utility model are: 1. By utilizing multiple small cylinders evenly distributed, the load-bearing capacity is improved, while also enhancing the resistance to torsion and eccentric loads. 2. The rotation center of multiple small cylinders can leave more space to install important components, such as sensors; 3. By utilizing the ejector spring, the piston position remains unchanged in the event of power or air failure, ensuring that the quick changer remains locked and does not fall off, thus preventing damage to the workpiece. 4. By using high-strength aerospace aluminum, the structure is relatively lighter in the same volume, but the load-bearing capacity is increased.

[0017] For those skilled in the art, modifications can be made to the technical solutions described in the foregoing embodiments, and equivalent substitutions can be made to some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this utility model should be included within the protection scope of this utility model.

Claims

1. A multi-cylinder quick-change disc device, characterized in that: It includes a robot-side body (1) and a tool-side body (2); the tool-side body (2) is provided on one side of the robot-side body (1); the robot-side body (1) and the tool-side body (2) form a triangular structure, and cylinders (3) are installed at the three corners. The central rotating area of ​​the triangular structure is the component installation area; the output end of each cylinder (3) is connected to a piston (5) by a connecting rod, and the lower end of the piston (5) is connected to a disc (8). The piston (5) and the disc (8) are movably sealed in the robot-side flange (6) inside the robot-side body (1), and the annular wall of the disc (8) is in movable contact with the ball (7) installed on the circumferential wall of the robot-side flange (6). An ejector spring (4) is provided between the top of the piston (5) and the bottom wall of the cylinder (3).

2. The multi-cylinder quick-change disc device according to claim 1, characterized in that: The tool-side body (2) is fitted with a tool-side flange (9) by an internal hexagon screw (10), and the tool-side flange (9) is located on the lower outer ring of the robot-side flange (6).

3. The multi-cylinder quick-change disc device according to claim 1, characterized in that: The piston (5) is sealed at the contact point with the robot side flange (6) using an O-ring two (12).

4. The multi-cylinder quick-change disc device according to claim 1, characterized in that: The lower end of the cylinder (3) is sealed with an O-ring (11) at the contact position with the robot side body (1).

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