A multifunctional tool end based on a quick-change coupling that can be automatically compensated

Abstract

The utility model relates to a kind of multifunctional tool ends based on quick-change connector can be automatically compensated, including mounting plate;Cylinder is equipped with clamping jaw;Positioning member, including locating block;Locating block can be close to each other or away from each other;Further include locking member;Cylinder drives clamping jaw close to each other in the process, can drive locating block close to each other;Locking member can be when clamping jaw and locating block are contacted with the clamped object, limiting locating block;By positioning member and locking member cooperation, can drive locating block automatic accurate positioning to workpiece while clamping jaw clamps workpiece, and it is rigidly locked in contact instant;Can establish a stable, repeatable mechanical positioning reference for workpiece;Effectively avoid the problem that workpiece is prone to micro-motion, deviation under processing stress, provide vital process stability for subsequent precision polishing, high-precision detection etc. Operation, significantly improve the consistency of final processing quality.

Description

Technical Field

[0001] This utility model relates to a multi-functional tool end, specifically a multi-functional tool end with automatic compensation based on a quick-change connector. Background Technology

[0002] In modern stainless steel workpiece processing, due to the large overall weight of the workpieces, traditional manual handling methods are not only labor-intensive and inefficient, but also pose safety hazards. Furthermore, after the main processing is completed, the workpieces typically require multiple subsequent processes such as deburring and surface quality inspection. To improve production efficiency, ensure processing consistency, and reduce labor costs, industrial robotic arms have been widely used in the automated processing of such workpieces. The robotic arm typically interacts with the workpiece through its end effector—the tool end—and relies on various integrated functional modules on the tool end to sequentially complete a series of operations, including workpiece clamping, positioning, deburring and grinding, and online inspection.

[0003] Currently, most common tool end clamping mechanisms use a pair of grippers driven by a cylinder. The extension and retraction of the cylinder drives the grippers to move closer or further apart in a linear motion, thereby achieving the clamping and release of the workpiece.

[0004] A single clamping function is insufficient to meet the complex requirements of precise positioning and stable locking of workpieces in complex processes. Especially when subjected to lateral forces or vibrations during processing, the workpiece is prone to slight movements, affecting the accuracy of subsequent processing or inspection. Utility Model Content

[0005] The purpose of this invention is to provide a multi-functional tool end with automatic compensation based on a quick-change connector, so as to solve the problems mentioned in the background art.

[0006] To achieve the above objectives, this utility model provides the following technical solution: A multi-functional tool end with automatic compensation based on a quick-connect coupling includes a mounting plate; a quick-connect coupling module is mounted on one side of the mounting plate. It also includes a cylinder mounted on the other side of the mounting plate; symmetrically arranged grippers are slidably mounted on the cylinder; The positioning component includes symmetrically arranged positioning blocks that slide and engage with the cylinder; the positioning blocks can move closer to or further away from each other. It also includes a locking component; during the process of the cylinder driving the grippers to move closer to each other, it can drive the positioning blocks to move closer to each other; the locking component can limit the positioning blocks when both the grippers and the positioning blocks are in contact with the object being clamped.

[0007] As described above, the automatic compensation multi-functional tool end based on quick-change connector includes: the positioning element further includes a protrusion mounted on the positioning block; the gripper is equipped with a first boss and a second boss; and the protrusion is located between the first boss and the second boss.

[0008] As described above, the self-compensating multi-functional tool end based on quick-change connector: when the first boss abuts against the protruding block, the gripper and the side of the positioning block closest to the clamped object are coplanar.

[0009] As described above, the automatic compensation multi-functional tool end based on quick-change connector includes: a locking sleeve disposed on the cylinder; a moving block slidably fitted inside the locking sleeve; a locking spring disposed inside the locking sleeve, the two ends of the locking spring respectively abutting against the locking sleeve and the moving block; a locking block that can abut against and cooperate with the positioning block is installed on the moving block; and a locking groove is formed on the positioning block.

[0010] As described above, the self-compensating multi-functional tool end based on a quick-change connector has a wedge block mounted on the moving block that can mate with the second boss; the inclined surface of the wedge block is away from the first boss.

[0011] As described above, the automatic compensation multi-functional tool end based on quick-change connector has the following features: a threaded sleeve is installed on the locking sleeve, a bidirectional lead screw is rotatably installed on the cylinder, and multiple sets of the threaded sleeves are respectively threaded into both ends of the bidirectional lead screw.

[0012] As described above, the self-compensating multi-functional tool end based on quick-change connector has gaskets installed on both the gripper and the positioning block.

[0013] As described above, the automatic compensation multi-functional tool end based on quick-change connector: the mounting plate is equipped with an environmental monitoring module and an air pressure monitoring module for monitoring the working environment.

[0014] Compared with the prior art, the beneficial effects of this utility model are: By cooperating with the positioning and locking components, the positioning block can automatically and accurately position the workpiece while the gripper clamps it, and rigidly lock it at the moment of contact. This establishes a stable and repeatable mechanical positioning reference for the workpiece, effectively avoiding the problem of micro-movement and displacement of the workpiece under processing force. It provides crucial process stability for subsequent precision grinding, high-precision inspection and other operations, and significantly improves the consistency of the final processing quality. Attached Figure Description

[0015] Figure 1 This is a schematic diagram of a multi-functional tool end with automatic compensation based on a quick-change connector.

[0016] Figure 2 This is a structural schematic diagram of an automatically compensating multi-functional tool end based on a quick-change connector from another perspective.

[0017] Figure 3 This is a schematic diagram of the gripper structure in an automatically compensating multi-functional tool end based on a quick-change connector.

[0018] Figure 4 for Figure 3 A schematic diagram of the structure at point A in the middle.

[0019] Figure 5 This is a schematic diagram of the positioning block in an automatically compensating multi-functional tool end based on a quick-change connector.

[0020] Figure 6 This is a schematic diagram of the locking block and wedge block in an automatically compensating multi-functional tool end based on a quick-change connector.

[0021] In the diagram: 1. Mounting plate; 2. Quick-connect connector module; 3. Environmental monitoring module; 4. Cylinder; 5. Gripper; 501. First boss; 502. Second boss; 6. Barometric pressure monitoring module; 7. Positioning block; 701. Protruding block; 702. Locking groove; 8. Locking sleeve; 9. Threaded sleeve; 10. Lead screw column; 11. Moving block; 1101. Locking block; 1102. Wedge block; 12. Locking spring; 13. Gasket. Detailed Implementation

[0022] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present utility model. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments.

[0023] Please see Figures 1-6 As an embodiment of this utility model, the automatically compensating multifunctional tool end based on quick-change connector includes a mounting plate 1; a quick-change connector module 2 is mounted on one side of the mounting plate 1. It also includes a cylinder 4 installed on the other side of the mounting plate 1; symmetrically arranged grippers 5 are slidably mounted on the cylinder 4; The positioning component includes symmetrically arranged positioning blocks 7 that slide and engage with the cylinder 4; the positioning blocks 7 can move closer to or further away from each other; It also includes a locking component; during the process of the cylinder 4 driving the gripper 5 to move closer to each other, it can drive the positioning block 7 to move closer to each other; the locking component can limit the positioning block 7 when both the gripper 5 and the positioning block 7 are in contact with the object being clamped.

[0024] In this embodiment, the quick-connect module 2 is quickly connected to processing modules with different functions to realize the conversion of different functions of the tool end, thereby improving the practicality and applicability of the tool end.

[0025] In the initial state, the multiple sets of positioning blocks 7 are in a position far apart from each other, and the multiple sets of grippers 5 are in the position with the largest spacing, so that the object to be gripped can be smoothly placed between the grippers 5.

[0026] After the object is successfully placed, cylinder 4 will drive the grippers 5 to move closer together to shorten the distance between them, thereby clamping the object.

[0027] Furthermore, as the grippers 5 approach each other, they will cause the positioning blocks 7 to approach each other as well, and the positioning blocks 7 and grippers 5 will simultaneously come into contact with the object being gripped. At the same time, when they come into contact, the locking component will limit the positioning blocks 7, effectively preventing positioning drift that may occur due to force or vibration during clamping, and ensuring the stability and high rigidity of the positioning reference during subsequent processing.

[0028] By cooperating with the positioning and locking components, the positioning block 7 can automatically and accurately position the workpiece while the gripper 5 clamps it, and rigidly lock it at the moment of contact. This establishes a stable and repeatable mechanical positioning reference for the workpiece, effectively avoiding the problem of micro-movement and displacement of the workpiece under processing force. This provides crucial process stability for subsequent precision grinding, high-precision inspection and other operations, and significantly improves the consistency of the final processing quality.

[0029] As a further embodiment of the present invention, the positioning member further includes a protrusion 701 mounted on the positioning block 7; a first boss 501 and a second boss 502 are mounted on the gripper 5; and the protrusion 701 is located between the first boss 501 and the second boss 502.

[0030] In this embodiment, in the initial state, the multiple sets of positioning blocks 7 are in a position far apart from each other, and the multiple sets of grippers 5 are in the position with the largest spacing, so that the object to be clamped can be smoothly placed between the grippers 5; and the second protrusion 502 abuts against the protruding block 701, so that the positioning blocks 7 can move closer to each other, thereby ensuring sufficient feeding space.

[0031] As the grippers 5 approach each other, the second protrusion 502 will separate from the protrusion 701 first, and the first protrusion 501 will gradually approach the protrusion 701; during this process, the position of the protrusion 701 remains unchanged, so the position of the positioning block 7 remains unchanged.

[0032] When the first boss 501 abuts against the protrusion 701, the continuously moving gripper 5, through the squeezing action of the first boss 501 against the protrusion 701, drives the positioning block 7 to move synchronously, so that the positioning block 7 can abut against the clamped object for positioning. Since the movement of the positioning block 7 is provided by the movement of the gripper 5 driven by the cylinder 4, it can be ensured that the positioning action is only triggered when the gripper approaches the workpiece, avoiding premature action of the positioning block 7 that would cause interference.

[0033] As a further embodiment of this utility model, when the first boss 501 abuts against the protruding block 701, the gripper 5 and the side of the positioning block 7 closest to the object being clamped are coplanar.

[0034] In this embodiment, when the first boss 501 abuts against the protrusion 701, the sides of the gripper 5 and the positioning block 7 closest to the clamped object are coplanar. Therefore, when the gripper 5 continues to move and drives the positioning block 7 to move, the two can maintain synchronous contact with the clamped object, ensuring that the clamping force and positioning force can be applied to the workpiece simultaneously and evenly. This avoids the "micro-movement" or stress concentration of the workpiece that may be caused by sequential force application, improves the rigidity and overall stability of the clamping, and enhances the reliability and repeatability of the entire tool end in long-term use.

[0035] As a further embodiment of this utility model, the locking component includes a locking sleeve 8 disposed on the cylinder 4; a moving block 11 is slidably fitted inside the locking sleeve 8; a locking spring 12 is disposed inside the locking sleeve 8, the two ends of the locking spring 12 respectively abutting against the locking sleeve 8 and the moving block 11, and a locking block 1101 that can abut against and cooperate with the positioning block 7 is installed on the moving block 11; a locking groove 702 is provided on the positioning block 7.

[0036] In this embodiment, in the initial state, the locking block 1101 abuts against the positioning block 7, the locking block 1101 is inserted into the locking sleeve 8, and the locking spring 12 is compressed by the moving block 11.

[0037] When the gripper 5 moves the positioning block 7 synchronously through the squeezing action of the first boss 501 and the protruding block 701, the locking block 1101 slides on the positioning block 7 and approaches the locking groove 702; and when the positioning block 7 abuts against the clamped object, the locking block 1101 aligns with the locking groove 702 (the second boss 502 passes over the locking block 1101). At this time, under the elastic force of the locking spring 12, the locking block 1101 enters the locking groove 702 (the moving block 11 moves outward in the locking sleeve 8), thereby limiting the positioning block 7 through the abutment action of the locking block 1101 and the locking groove 702, so as to increase its displacement resistance; thus effectively avoiding the positioning drift that may be caused by force or vibration during clamping, and ensuring the stability and high rigidity of the positioning reference in subsequent processing.

[0038] As a further embodiment of this utility model, the movable block 11 is equipped with a wedge block 1102 that can cooperate with the second boss 502; the inclined surface of the wedge block 1102 is away from the first boss 501.

[0039] In this embodiment, when the locking member limits the positioning block 7, the wedge block 1102 is located between the protrusion block 701 and the second protrusion 502.

[0040] During the release of the clamped object, cylinder 4 drives the grippers 5 to move away from each other, so that they are no longer engaged with the clamped object.

[0041] During the process of the clamping 5 moving away from each other, the first boss 501 first separates from the protrusion 701, and the second boss 502 gradually approaches the protrusion 701. During this process, the first boss 502 will first abut against the inclined surface of the wedge 1102 and squeeze the wedge 1102, thereby driving the moving block 11 to slide inward in the locking sleeve 8 through the wedge 1102, thereby driving the locking block 1101 to move synchronously. When the second boss 502 disengages from the inclined surface of the wedge 1102, the locking block 1101 separates from the locking groove 702 to release the limiting state of the positioning block 7. Then the second boss 502 will contact the plane of the wedge 1102 until it abuts against the protrusion 701, thereby preventing the locking block 1101 from re-engaging with the locking groove 702 and preventing reset failure.

[0042] Then the second protrusion 502 will press the protrusion 701 so that the gripper 5 and the positioning block 7 move synchronously to complete the reset.

[0043] Because the tool performs the action sequence of "unlock first, then drive reset" (unlocking is completed only after the second boss 501 contacts and squeezes the inclined surface of the wedge block 1102, and then contacts the protruding block 701 to drive the positioning block 7 back to its original position), it avoids the mechanism jamming or damage that may be caused by forcibly driving due to the lock not being released.

[0044] As a further embodiment of this utility model, a threaded sleeve 9 is installed on the locking sleeve 8, and a bidirectional lead screw 10 is rotatably installed on the cylinder 4. Multiple sets of the threaded sleeves 9 are respectively threadedly engaged with both ends of the bidirectional lead screw 10.

[0045] In this embodiment, the locking position is adjusted according to the size of the object being clamped. That is, by rotating the bidirectional lead screw 10, the threaded sleeve 9 is driven to move closer or further away from each other through the threaded engagement. This makes the locking block 1101 and the locking groove 702 closer or further away from the object being clamped, thereby improving the practicality of the tool end.

[0046] As a further improvement of this utility model, both the gripper 5 and the positioning block 7 are equipped with gaskets 13.

[0047] In this embodiment, the contact between the gripper 5, the positioning block 7 and the workpiece is improved by the shim 13, the friction is increased, and the clamping or positioning failure during the processing is avoided.

[0048] As a further embodiment of this utility model, the mounting plate 1 is equipped with an environmental monitoring module 3 and an air pressure monitoring module 6 for monitoring the working environment.

[0049] In this embodiment, the environmental monitoring module 3 can collect images of the current environment and send them back to the software for analysis as correction input or as detection input. Based on the collected data, the tool end action is compensated to improve the machining accuracy. Meanwhile, the air pressure monitoring module 6 can monitor the pressure change inside the cylinder 4 in real time to avoid over-clamping or clamping failure.

[0050] The above embodiments are exemplary and not restrictive. Therefore, without departing from the spirit or basic characteristics of this utility model, any technical solutions that can be implemented in other specific forms are included in this utility model.

Claims

1. A multi-functional tool end with automatic compensation based on quick-connect coupling, comprising a mounting plate (1); a quick-connect coupling module (2) is mounted on one side of the mounting plate (1). Its features are, It also includes a cylinder (4) installed on the other side of the mounting plate (1); symmetrically arranged grippers (5) are slidably mounted on the cylinder (4); The positioning component includes symmetrically arranged positioning blocks (7) that slide and engage with the cylinder (4); the positioning blocks (7) can move closer to or further away from each other; It also includes a locking component; during the process of the cylinder (4) driving the gripper (5) to approach each other, it can drive the positioning block (7) to approach each other; the locking component can limit the positioning block (7) when both the gripper (5) and the positioning block (7) are in contact with the object being clamped.

2. The automatically compensating multi-functional tool end based on a quick-change connector according to claim 1, characterized in that, The positioning component also includes a protrusion (701) mounted on the positioning block (7); a first boss (501) and a second boss (502) are mounted on the gripper (5); and the protrusion (701) is located between the first boss (501) and the second boss (502).

3. The automatically compensating multi-functional tool end based on a quick-change connector according to claim 2, characterized in that, When the first boss (501) abuts against the protrusion (701), the gripper (5) and the positioning block (7) are coplanar with the side of the object being clamped.

4. The automatically compensating multi-functional tool end based on a quick-change connector according to claim 2, characterized in that, The locking component includes a locking sleeve (8) disposed on the cylinder (4); a moving block (11) is slidably fitted inside the locking sleeve (8); a locking spring (12) is disposed inside the locking sleeve (8), the two ends of the locking spring (12) respectively abut against the locking sleeve (8) and the moving block (11), and a locking block (1101) that can abut against and cooperate with the positioning block (7) is installed on the moving block (11); a locking groove (702) is provided on the positioning block (7).

5. A multi-functional tool end with automatic compensation based on a quick-change connector according to claim 4, characterized in that, The movable block (11) is equipped with a wedge (1102) that can cooperate with the second boss (502); the inclined surface of the wedge (1102) is away from the first boss (501).

6. A multi-functional tool end with automatic compensation based on a quick-change connector according to claim 4, characterized in that, A threaded sleeve (9) is installed on the locking sleeve (8), and a bidirectional lead screw (10) is rotatably installed on the cylinder (4). Multiple sets of threaded sleeves (9) are threadedly engaged with both ends of the bidirectional lead screw (10).

7. A multi-functional tool end with automatic compensation based on a quick-change connector according to claim 1, characterized in that, Gaskets (13) are installed on both the gripper (5) and the positioning block (7).

8. A multi-functional tool end with automatic compensation based on a quick-change connector according to claim 1, characterized in that, The mounting plate (1) is equipped with an environmental monitoring module (3) and an air pressure monitoring module (6) for monitoring the working environment.

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