Robot end effector quick change device

Abstract

The utility model relates to the technical field of clamp replacement, especially to a robot end clamp quick change device, including robot end support, quick change module and clamp body, the quick change module installs at the bottom surface of robot end support, the inside fixedly connected with locating block of quick change module, the guide hole no. 2 that the locating block inside sets up inserts has the lever, and one end of the lever located quick change module inside detachably sets up the cam block, adopt passive design, need not to rely on power supply or gas source, through manual operation and stir switch can control quick change module and the locking and separation of clamp body, reduce wiring and control difficulty, improve the adaptability of device under complex working condition, realize the circumference direction installation limit with the cooperation of guide step and guide groove, the linkage structure of collocation steel ball, cone, can complete the quick fixing and separation of clamp body without disassembling screw, convenient operation and high switching efficiency.

Description

Technical Field

[0001] This utility model relates to the field of fixture replacement technology, and in particular to a quick-change device for robot end effector fixtures. Background Technology

[0002] In modern manufacturing, robots have become core equipment for industrial upgrading in fields such as automobile manufacturing, electronics and electrical engineering, and logistics sorting, thanks to their advantages such as high degree of automation, high precision, and continuous operation. With the diversification of market demand, production lines need to frequently switch between different tasks, such as gripping, welding, and assembly. This makes the rapid change capability of robot end grippers a key factor affecting production efficiency and production line flexibility. Currently, most quick-change devices on the market are driven by active power. Active-driven quick-change devices, such as pneumatic, electromagnetic, or hydraulic quick-change devices, can achieve automated and rapid switching, but they require additional air, electrical, or hydraulic systems. This not only increases the overall size and weight of the equipment, but also results in complex wiring, strong dependence on operating conditions, and a tendency for locking failure or unlocking difficulties in the event of sudden situations such as air or power outages. Furthermore, the high manufacturing cost and maintenance difficulty limit their widespread application in small and medium-sized production lines. Utility Model Content

[0003] To overcome the technical defects of existing technologies, this utility model provides a quick-change device for robot end effector grippers. The technical solution adopted by this utility model is: a robot end effector quick-change device, including a robot end effector support, a quick-change module, and a fixture body. The quick-change module is installed on the bottom surface of the robot end effector support. A positioning block is fixedly connected inside the quick-change module. A lever is inserted into a guide hole inside the positioning block. A cam block is detachably fitted at one end of the lever inside the quick-change module. Steel balls are respectively arranged in multiple raceways opened on the circumferential surface of the quick-change module. The bottom end of the quick-change module is inserted into the top of the fixture body. An inclined inner wall of the fixture body is opened inside the fixture body. The lever drives the cam block to rotate to move the steel balls in the raceways. When the steel balls are in contact with the inner wall of the inclined inner wall of the fixture, they are used to fix the position of the quick-change module and the fixture body. When the steel balls slide into the raceways, they are used to release the fixation of the position of the quick-change module and the fixture body.

[0004] By adopting the above technical solution, through the linkage structure of the lever, cam block, steel ball and the inclined inner wall of the fixture body, the mechanical locking and unlocking of the quick-change module and the fixture body can be realized without relying on power or air source. This simplifies the control logic and avoids the failure problem of active device under the condition of gas or power failure, ensuring stable operation of the device in complex working environment.

[0005] Preferably, the bottom of the robot end effector is fixedly connected to the mounting positioning circle of the quick-change module. The quick-change module is fitted inside the mounting positioning surface of the quick-change module at the bottom of the mounting positioning circle. The circumferential surface of the quick-change module is provided with multiple screw holes, and screws are inserted into the screw holes to fix the position of the quick-change module and the mounting positioning circle of the quick-change module.

[0006] By adopting the above technical solution, the matching of the mounting positioning circle and the mounting positioning surface of the quick-change module can quickly achieve coaxial positioning of the robot end bracket and the quick-change module. The uniform arrangement of multiple screw holes can ensure the structural stability after the two are connected, and prevent the quick-change module from radially shifting or loosening during robot operation, laying the foundation for the precise installation of the fixture body in the future.

[0007] Preferably, the quick-change module and the positioning block are integrally formed. A retaining ring is fixedly connected inside the guide hole two opened inside the positioning block. A retaining ring two is fixedly sleeved on the surface of the lever. A compression spring one is sleeved on the surface of the lever. The two ends of the compression spring one are fixedly connected to the retaining ring two and the positioning block, respectively.

[0008] By adopting the above technical solution, the integrated design of the quick-change module and the positioning block reduces assembly steps, reduces the matching error between components, and improves the overall rigidity of the device. The combination of retaining ring one, retaining ring two and compression spring one can achieve automatic reset after the lever is operated, ensuring that the lever drives the cam block back to the initial position, avoiding the device locking failure due to the lever loosening, while simplifying the manual operation steps and improving the ease of use.

[0009] Preferably, the positioning block has an arc-shaped limiting groove and a rectangular limiting groove on one side inside the quick-change module. The arc-shaped limiting groove and the rectangular limiting groove are perpendicular to each other. The circumferential surface of the lever is fixedly connected to two symmetrically arranged limiting posts.

[0010] By adopting the above technical solution, the vertical layout of the arc-shaped limiting groove and the rectangular limiting groove, together with the symmetrically arranged limiting posts, can accurately limit the rotation angle and axial movement range of the lever. When the lever drives the limiting post to engage with the arc-shaped limiting groove, it can stably maintain the locking posture of the cam block. When the limiting post moves along the rectangular limiting groove, it can smoothly realize the pressing and resetting of the lever, avoiding excessive rotation or deviation of the lever, and ensuring that the device operates accurately and reliably.

[0011] Preferably, a guide post is inserted into a guide hole inside the quick-change module. The top of the guide post is in contact with the surface of the cam block. The guide post and the quick-change module are slidably connected. A compression spring is sleeved on the surface of the guide post. The two ends of the compression spring are fixedly connected to the top of the guide post and the quick-change module, respectively.

[0012] By adopting the above technical solution, the guide hole one provides vertical sliding guidance for the guide post, avoiding tilting of the guide post during up and down movement. When the cam block rotates, it can transmit locking force by squeezing the guide post. The compression spring two can drive the guide post to automatically reset after the cam block is released from squeezing, thereby pushing the subsequent cone to retract, providing power for the steel ball to be released and the fixture body to be separated, realizing the automated connection of the unlocking action and improving the fixture switching efficiency.

[0013] Preferably, a cone is provided in the quick-change slot at the bottom of the quick-change module. The cone is fixedly connected to the bottom end of the guide post. A conical stop block is fixedly connected in the groove at the bottom of the cone. An inclined surface is provided on the circumference of the cone and the circumference of the conical stop block, respectively. The inclined surface is used to guide the steel ball to slide.

[0014] By adopting the above technical solution, when the cone moves up and down with the guide column, the inclined surface of its circumference can accurately squeeze the steel ball to move outward along the raceway, ensuring that the steel ball is tightly fitted with the inclined surface of the inner side wall of the clamp, achieving reliable locking. The inclined surface of the cone stop can assist in guiding the steel ball to reset, while preventing the steel ball from falling out of the raceway during installation or loosening, simplifying the assembly and maintenance process of the steel ball, and improving the structural stability of the device.

[0015] Preferably, the quick-change module has a tool mounting hole on its circumferential surface, and a dust plug is installed inside the tool mounting hole.

[0016] By adopting the above technical solution, the tool mounting hole provides operating space for the end face screw fixing of the cam block, which facilitates the assembly and subsequent maintenance and replacement of the cam block. The dust plug can effectively block external dust and debris from entering the quick-change module, prevent dust from adhering to the surface of moving parts such as guide columns and steel balls, and affect the flexibility of movement. At the same time, it improves the appearance integrity and aesthetics of the device and extends the service life of the components.

[0017] Preferably, a toggle switch is fixedly connected to the outer end of the lever.

[0018] By adopting the above technical solution, the toggle switch increases the operating contact area of ​​the lever, making it easier for operators to quickly identify and manually control the device. The device can be locked and unlocked with a simple press-and-rotate action, without the need for additional tools, thus lowering the operating threshold. Especially in emergency situations or scenarios without support, the fixture body can be quickly replaced, improving work efficiency and emergency response capabilities.

[0019] Preferably, the fixture body has an internal mounting and positioning surface, and the quick-change module has an internal mounting and positioning circle. The mounting and positioning surface and the mounting and positioning circle are provided to allow the bottom end of the quick-change module to be inserted into the fixture body. The quick-change module and the fixture body have the same diameter.

[0020] By adopting the above technical solution, the installation positioning surface of the fixture body and the installation positioning circle of the fixture body can be matched to achieve quick coaxial docking between the quick-change module and the fixture body, avoiding circumferential misalignment during installation. The design that the two have the same diameter ensures a smooth transition of the outer surface after connection, reducing the risk of foreign objects getting caught during operation, while improving the overall compactness of the device structure and adapting it to equipment such as wheeled humanoid robots that have requirements for the space size of the end effector.

[0021] Preferably, the quick-change module has two symmetrically arranged guide steps fixedly connected inside the mounting positioning circle of the clamp body at the bottom, and two symmetrically arranged guide grooves are formed on the upper surface of the clamp body.

[0022] By adopting the above technical solution, the two symmetrically arranged guide steps correspond one-to-one with the guide grooves, which can accurately limit the circumferential relative rotation of the quick-change module and the fixture body, avoid the fixture body from rotating and shifting due to torque during operation, ensure the clamping accuracy of the fixture on the workpiece, and at the same time, the guide structure also provides a quick positioning reference for the installation of the fixture body, reducing the adjustment time during installation and further improving the fixture switching efficiency.

[0023] The beneficial effects of this utility model are: it adopts a passive design, does not rely on power or air source, and the locking and separation of the quick-change module and the fixture body can be controlled by manually operating the toggle switch, which reduces the difficulty of wiring and control and improves the adaptability of the device in complex working conditions. The circumferential installation limit is achieved by the cooperation of the guide step and the guide groove. Combined with the linkage structure of steel ball and cone, the fixture body can be quickly fixed and separated without removing screws. It is convenient to operate and has high switching efficiency. The quick-change module has a simplified internal structure. The assembly logic of components such as positioning blocks, levers, compression spring one, and compression spring two is clear, making processing and assembly difficult. At the same time, the tool mounting holes are equipped with dust plugs, which combine dust protection and aesthetics. Through the limiting cooperation of the arc-shaped limiting groove, the rectangular limiting groove and the limiting post, as well as the reset action of the compression spring, the action of the lever driving the cam block is ensured to be accurate and reliable, the device is locked firmly and separated smoothly, and the manual operation is highly real-time. Attached Figure Description

[0024] Figure 1 This is a schematic diagram of the overall structure of this utility model; Figure 2 This utility model Figure 1 Sectional view at point AA; Figure 3 This utility model Figure 2 Enlarged view of point A in the middle; Figure 4This is a schematic diagram of the robot end effector and quick-change module in this utility model; Figure 5 This utility model Figure 4 Enlarged view of point B in the middle; Figure 6 This is a schematic diagram of the quick-change module in this utility model; Figure 7 This is a schematic diagram of the structure of the cam block and quick-change module in this utility model; Figure 8 This is a schematic diagram of the quick-change module and the toggle switch in this utility model; Figure 9 This utility model Figure 8 Sectional view at point BB.

[0025] Explanation of reference numerals in the attached figures: 1. Robot end effector; 2. Quick-change module; 3. Gripper body; 4. Lever; 5. Compression spring one; 6. Retaining ring one; 7. Cone; 8. Steel ball; 9. Conical stop block; 10. Positioning block; 11. Compression spring two; 12. Guide post; 13. Dust plug; 14. Cam block; 15. Retaining ring two; 16. Guide hole one; 17. Quick-change mold slot; 18. Tool mounting hole; 19. Quick-change module 20. Installation positioning circle; 21. Installation positioning surface of quick-change module; 22. Installation positioning surface of fixture body; 23. Installation positioning circle of fixture body; 24. Guide hole two; 201. Toggle switch; 202. Screw hole; 210. Guide step; 220. Arc-shaped limiting groove; 230. Rectangular limiting groove; 240. Limiting post; 250. Inclined surface; 260. Raceway; 310. Inclined surface of inner side wall of fixture; 311. Guide groove. Detailed Implementation

[0026] The present invention will be further described below with reference to the accompanying drawings: like Figures 1 to 9 As shown, this embodiment provides a quick-change device for a robot end effector, including a robot end effector support 1, a quick-change module 2, and a fixture body 3. The quick-change module 2 is installed on the bottom surface of the robot end effector support 1. A positioning block 10 is fixedly connected inside the quick-change module 2. A lever 4 is inserted into a guide hole 23 inside the positioning block 10. A cam block 14 is detachably fitted onto one end of the lever 4 inside the quick-change module 2. Steel balls 8 are respectively arranged in multiple raceways 260 on the circumferential surface of the quick-change module 2. The bottom end of the quick-change module 2 is inserted into the top of the fixture body 3. An inner sidewall slope 310 is formed inside the fixture body 3. The lever 4 drives the cam block 14 to rotate, which moves the steel balls 8 in the raceways 260. When the steel balls 8 are in contact with the inner wall of the inner sidewall slope 310, they are used to fix the position of the quick-change module 2 and the fixture body 3. When the steel balls 8 slide into the raceways 260, they are used to release the fixation of the position of the quick-change module 2 and the fixture body 3.

[0027] The bottom of the robot end effector 1 is fixedly connected to the mounting positioning circle 19 of the quick-change module. The quick-change module 2 is fitted inside the mounting positioning surface 20 of the quick-change module at the bottom of the mounting positioning circle 19. The circumferential surface of the quick-change module 2 is provided with multiple screw holes 202. Screws are inserted into the screw holes 202 to fix the position of the quick-change module 2 and the mounting positioning circle 19 of the quick-change module.

[0028] The quick-change module 2 and the positioning block 10 are integrally formed. A retaining ring 6 is fixedly connected in the guide hole 23 inside the positioning block 10. A retaining ring 15 is fixedly sleeved on the surface of the lever 4. A compression spring 5 is sleeved on the surface of the lever 4. The two ends of the compression spring 5 are fixedly connected to the retaining ring 15 and the positioning block 10, respectively.

[0029] The positioning block 10 is located inside the quick-change module 2 and has an arc-shaped limiting groove 220 and a rectangular limiting groove 230 on one side. The arc-shaped limiting groove 220 and the rectangular limiting groove 230 are perpendicular to each other. The circumferential surface of the lever 4 is fixedly connected to two symmetrically arranged limiting posts 240.

[0030] A guide post 12 is inserted into the guide hole 16 inside the quick-change module 2. The top of the guide post 12 is in contact with the surface of the cam block 14. The guide post 12 and the quick-change module 2 are slidably connected. A compression spring 11 is sleeved on the surface of the guide post 12. The two ends of the compression spring 11 are fixedly connected to the top of the guide post 12 and the quick-change module 2, respectively.

[0031] A cone 7 is provided in the quick-change mold groove 17 at the bottom of the quick-change module 2. The cone 7 is fixedly connected to the bottom end of the guide post 12. A conical stop block 9 is fixedly connected in the groove at the bottom of the cone 7. An inclined surface 250 is provided on the circumference of the cone 7 and the circumference of the conical stop block 9, respectively. The inclined surface 250 is used to guide the steel ball 8 to slide.

[0032] The quick-change module 2 has a tool mounting hole 18 on its circumferential surface, and a dust plug 13 is installed inside the tool mounting hole 18.

[0033] A toggle switch 201 is fixedly connected to the external end of the lever 4.

[0034] The fixture body 3 has an internal mounting and positioning surface 21, and the quick-change module 2 has an internal mounting and positioning circle 22. The mounting and positioning surface 21 and the mounting and positioning circle 22 are provided to allow the bottom end of the quick-change module 2 to be inserted into the interior of the fixture body 3. The quick-change module 2 and the fixture body 3 have the same diameter.

[0035] The quick-change module 2 has two symmetrically arranged guide steps 210 fixedly connected inside the mounting and positioning circle 22 of the fixture body at the bottom, and two symmetrically arranged guide grooves 311 are opened on the upper surface of the fixture body 3.

[0036] Working principle: First, use screws to fix the quick-change module 2 to the robot end bracket 1 through screw holes 202. Turn the toggle switch 201 of the quick-change module 2 to the OFF position. Insert the fixture body 3 into the lower end of the quick-change module 2. Press the toggle switch 201 to turn it from OFF to ON, and then release it. The fixture body 3 will be fixed. Conversely, press and hold the toggle switch 201 to turn it from ON to OFF, and then release it. The fixture body 3 will separate from the quick-change module 2. There are two guide steps 210, which are arranged 180 degrees around the central axis of the quick-change module 2. There are two guide grooves 311, which are arranged 180 degrees around the central axis of the fixture body 3. The fixture body 3 corresponds one-to-one with the two guide steps 210 of the quick-change module 2 through the two guide grooves 311, thereby realizing the installation limit in the circumferential direction of the fixture. When the toggle switch 201 is in the OFF position, pressing the switch by hand causes the lever 4 to move the limit post 240 along the rectangular limit groove 230 into the inner cavity of the quick-change module 2, thus disengaging it from the rectangular limit groove 230. At this point, turning the toggle switch 201 to the ON position causes the limit post 240 to rotate 90 degrees, and it does so as well. Releasing the lever causes the limit post 240 to sink into the arc-shaped limit groove 220, preventing further movement. The cam block 14 is then fixed to the lever. 4. When the toggle switch 201 is turned ON, release the hand. The limit post 240 is in the arc-shaped limit groove 220 and cannot move. The lower end of the cam block 14 will press the upper end of the guide post 12, causing the guide post 12 to move downward along the guide hole 16, thereby pushing the cone 7 to move downward. Then the side wall of the inclined surface 250 of the cone 7 will press the steel ball 8 to move outward, and then further press the inclined surface 310 of the inner side wall of the fixture, thereby fixing the fixture body 3 on the quick-change module 2. When the toggle switch 201 is pressed with a finger and turned to OFF, the limit post 240 rotates 90 degrees and retracts along the rectangular limit groove 230. When the finger is released, under the reset action of the compression spring 5, the lever 4 drives the retaining ring 15 to move outward until the retaining ring 15 stops after hitting the limit of the retaining ring 6. At this time, the long side of the cam block 14 will rotate 90 degrees. At this time, the guide post 12 will no longer be squeezed. The guide post 12 will move upward under the reset action of the compression spring 11 until the end face of the outer edge of the cone 7 hits the inner wall of the quick mold change groove 17 and stops. At this time, the inner side of the steel ball 8 is not squeezed, and the fixture body 3 can be taken out downward. At the same time as taking it out, the steel ball 8 will roll along the inner side of the raceway 260, thereby realizing the quick separation of the fixture body 3. The conical stop block 9 facilitates the installation and limiting of the steel ball 8, preventing the ball from falling out. The tool mounting hole 18 is used for the end face screw fixing of the cam block 14. After installation, the hole is plugged with a dust plug 13, which not only prevents dust but also improves the overall aesthetics of the device. The quick-change module mounting positioning circle 19 and quick-change module mounting positioning surface 20 are used for the installation and positioning of the robot end bracket 1 and quick-change module 2. The fixture body mounting positioning surface 21 and fixture body mounting positioning circle 22 are used for the installation and positioning of quick-change module 2 and fixture body 3. The guide hole 23 guides the lever 4 to prevent tilting when the lever 4 moves. By manually operating the toggle switch 201, the quick-change module 2 and fixture body 3 can be quickly separated and installed, improving the fixture switching efficiency.

[0037] The foregoing has shown and described the basic principles, main features, and advantages of this utility model. Those skilled in the art should understand that this utility model is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of this utility model. Various changes and modifications may be made to this utility model without departing from the spirit and scope of the invention. All such changes and modifications fall within the scope of the invention as claimed, which is defined by the appended claims and their equivalents.

Claims

1. A quick-change device for a robot end effector, comprising a robot end effector support (1), a quick-change module (2), and a gripper body (3), characterized in that: The quick-change module (2) is installed on the bottom surface of the robot end bracket (1). A positioning block (10) is fixedly connected inside the quick-change module (2). A lever (4) is inserted into the guide hole (23) inside the positioning block (10). A cam block (14) is detachably fitted at one end of the lever (4) inside the quick-change module (2). Steel balls (8) are respectively installed in the multiple raceways (260) opened on the circumferential surface of the quick-change module (2). The bottom end of the quick-change module (2) is inserted into... Inside the top of the clamp body (3), the clamp body (3) has an inner sidewall slope (310). The lever (4) drives the cam block (14) to rotate so that the steel ball (8) moves in the raceway (260). When the steel ball (8) is in contact with the inner wall of the clamp inner sidewall slope (310), it is used to fix the position of the quick-change module (2) and the clamp body (3). When the steel ball (8) slides into the raceway (260), it is used to release the fixation of the position of the quick-change module (2) and the clamp body (3).

2. The quick-change device for robot end effector according to claim 1, characterized in that: The bottom of the robot end bracket (1) is fixedly connected to the mounting positioning circle (19) of the quick-change module. The quick-change module (2) is fitted inside the mounting positioning surface (20) of the quick-change module at the bottom of the mounting positioning circle (19). The circumferential surface of the quick-change module (2) is provided with multiple screw holes (202). Screws are inserted into the screw holes (202) to fix the position of the quick-change module (2) and the mounting positioning circle (19) of the quick-change module.

3. The robot end effector quick-change device according to claim 1, characterized in that: The quick-change module (2) and the positioning block (10) are integrally formed. A retaining ring (6) is fixedly connected in the guide hole (23) opened inside the positioning block (10). A retaining ring (15) is fixedly sleeved on the surface of the lever (4). A compression spring (5) is sleeved on the surface of the lever (4). The two ends of the compression spring (5) are fixedly connected to the retaining ring (15) and the positioning block (10) respectively.

4. The robot end effector quick-change device according to claim 1, characterized in that: The positioning block (10) is located inside the quick-change module (2) and has an arc-shaped limiting groove (220) and a rectangular limiting groove (230) on one side. The arc-shaped limiting groove (220) and the rectangular limiting groove (230) are perpendicular to each other. The circumferential surface of the lever (4) is fixedly connected to two symmetrically arranged limiting posts (240).

5. The robot end effector quick-change device according to claim 1, characterized in that: The quick-change module (2) has a guide hole (16) inside which a guide post (12) is inserted. The top of the guide post (12) is in contact with the surface of the cam block (14). The guide post (12) and the quick-change module (2) are slidably connected. The surface of the guide post (12) is fitted with a compression spring (11). The two ends of the compression spring (11) are fixedly connected to the top of the guide post (12) and the quick-change module (2) respectively.

6. The robot end effector quick-change device according to claim 1, characterized in that: A cone (7) is provided in the quick-change mold groove (17) at the bottom of the quick-change module (2). The cone (7) is fixedly connected to the bottom end of the guide post (12). A conical stop block (9) is fixedly connected in the groove at the bottom of the cone (7). An inclined surface (250) is provided on the circumference of the cone (7) and the circumference of the conical stop block (9). The inclined surface (250) is used to guide the steel ball (8) to slide.

7. The quick-change device for robot end effector according to claim 1, characterized in that: The quick-change module (2) has a tool mounting hole (18) on its circumferential surface, and a dust plug (13) is installed inside the tool mounting hole (18).

8. The robot end effector quick-change device according to claim 1, characterized in that: The lever (4) is fixedly connected to a toggle switch (201) at one end located on the outside.

9. The quick-change device for robot end effector according to claim 1, characterized in that: The fixture body (3) has an installation positioning surface (21) inside, and the quick-change module (2) has an installation positioning circle (22) on its bottom circumferential surface. The installation positioning surface (21) and the installation positioning circle (22) are provided to allow the bottom end of the quick-change module (2) to be inserted into the interior of the fixture body (3). The quick-change module (2) and the fixture body (3) have the same diameter.

10. The robot end effector quick-change device according to claim 1, characterized in that: The quick-change module (2) has two symmetrically arranged guide steps (210) fixedly connected inside the mounting positioning circle (22) of the clamp body at the bottom, and two symmetrically arranged guide grooves (311) are opened on the upper surface of the clamp body (3).

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