A robot end fast-changing device and a robot

Abstract

The utility model provides a kind of robot end quick change device and robot, the robot end quick change device includes main chuck and fixture chuck, main chuck includes the inner cavity extending along axial direction and the inner cavity is equipped with piston, elastic member, limit portion and locking assembly in sequence, main chuck is cooperated with piston head to form closed cavity and is equipped with power medium connector on main chuck, locking assembly includes hinged seat, several connecting rods and the several fixed pins corresponding to the hinged seat of connecting rod, any fixed pin can be penetrated through the lateral wall of main chuck and extend, piston rod is connected after passing through limit portion with hinged seat, elastic member is limited between limit portion and piston and elastically deforms with piston, fixture chuck includes the connecting slot extending along axial direction and is equipped with connecting hole on the connecting slot wall corresponding to several fixed pins one by one.The utility model's robot end quick change device can realize the quick replacement of large load tooling fixture, effectively solve the compatibility problem of robot handling mechanism in automated production line.

Description

Technical Field

[0001] This utility model belongs to the technical field of robot handling equipment, specifically relating to a robot end effector quick-change device and a robot. Background Technology

[0002] With the continuous development of automated production line technology, production line compatibility is a crucial issue that equipment manufacturers must consider in the future. Among these, the compatibility of robotic handling equipment is paramount for overall line compatibility. If robotic handling stations can quickly change fixtures, not only can the overall production line efficiency be improved, but production line costs can also be significantly reduced. Currently, most robotic handling stations on automated production lines are dedicated to a single line. In a few compatible production lines, the tooling fixtures that work with the robot are directly connected to the robot's six-axis flange. When changing tooling fixtures, manual disassembly and installation are required, leading to line downtime and rework during the process. A small number of devices use robot quick-change chucks for replacement, but because these chucks cannot withstand large loads, they can only handle small-load tooling fixture changes; large-load changes still require complete replacement. Under these conditions, production line efficiency is significantly impacted, and production line costs increase substantially. Therefore, it is necessary to propose a new quick-change device for the robot's end effector. Utility Model Content

[0003] The purpose of this invention is to address the shortcomings of existing technologies and provide a high-load robot end-effector quick-change device and robot that can accelerate the production efficiency of compatible production lines.

[0004] To achieve the above objectives, the technical solution of this utility model is implemented as follows: Based on one aspect of this utility model, a quick-change device for a robot end effector is provided, including a main chuck and a clamping chuck. The main chuck includes an axially extending inner cavity, in which a piston, an elastic element, a limiting part, and a locking assembly are sequentially arranged. The end of the main chuck cooperates with the piston head of the piston to form a closed cavity, and the main chuck is provided with a power medium connector communicating with the closed cavity. The locking assembly includes a hinge seat, a plurality of connecting rods hinged to the hinge seat, and a plurality of fixing pins hinged to the connecting rods. A through hole is provided on the side wall of the main chuck opposite any of the fixing pins. The piston rod of the piston passes through the limiting part and connects to the hinge seat. The elastic element is located between the limiting part and the piston and elastically deforms with the piston. The clamping chuck includes an axially extending connecting groove, and a plurality of connecting holes are provided on the groove wall opposite the plurality of fixing pins.

[0005] In one embodiment, the retaining pin extends vertically through the sidewall of the main chuck.

[0006] In one embodiment, the elastic element includes a return spring and a spring stop sleeved on the piston rod, the spring stop being connected to one end of the return spring near the limiting portion.

[0007] In one embodiment, the limiting part is a retaining spring, the edge of which is embedded in the side wall of the inner cavity.

[0008] In one embodiment, the power medium connector is a pneumatic connector or pilot-operated throttle valve for compressed air flow, or the power medium connector is a hydraulic quick connector for hydraulic fluid flow.

[0009] In one embodiment, the main chuck is provided with a magnetic switch, and the clamp chuck is provided with a permanent magnet corresponding to the magnetic switch.

[0010] In one embodiment, the main chuck extends through both ends along the axial direction, and a sealing cap and a retaining spring for fastening the sealing cap are provided on the end of the main chuck near the piston. A sealing ring is embedded around the outer side of the piston head in the circumferential direction.

[0011] In one embodiment, the main chuck extends radially to form at least one mounting base, and a locating pin extends axially along the main chuck on the mounting base, and a locating hole is provided on the clamp chuck corresponding to the locating pin.

[0012] In one embodiment, the mounting base is provided with a distance sensor for collision avoidance relative to the clamp chuck.

[0013] According to another aspect of the present invention, a robot is provided, including the robot end effector quick-change device as described in any of the preceding claims.

[0014] Compared with existing technologies, the robot end effector quick-change device of this invention can quickly complete docking and replacement. The entire fixture and tooling replacement process is automatically completed within seconds, without disassembly and assembly, solving the problem of time-consuming and labor-intensive robot chuck replacement. Compared with the traditional ball bearing structure, the load capacity is increased by 3-5 times, better solving the compatibility problem of high-load robot handling mechanisms in automated production lines. The use of a single-acting cylinder principle achieves cost savings, significantly reducing processing costs. Based on this embodiment, the robot handling robot using the quick-change end effector can quickly change fixtures without manual intervention, effectively improving production efficiency. It is also compatible with both low-load and high-load production lines, greatly reducing the cost of introducing production lines. Attached Figure Description

[0015] Figure 1 This is a three-dimensional structural diagram of an embodiment of a robot end effector quick-change device according to the present invention; Figure 2 for Figure 1 A schematic cross-sectional view of the robot's end effector quick-change device. Figure 3 This is a perspective structural diagram of another embodiment of the robot end effector quick-change device of this utility model; Figure 4 for Figure 3 A schematic cross-sectional view of the robot's end effector quick-change device. Explanation of reference numerals in the attached drawings: 1 Main chuck, 11 Enclosed cavity, 13 Sealing cover, 15 Snap ring, 17 Mounting base, 19 Positioning pin, 2 Clamp chuck, 21 Connecting hole, 3 Piston, 31 Sealing ring, 4 Elastic element, 43 Spring stop, 5 Limiting part, 6 Locking assembly, 61 Hinge seat, 63 Connecting rod, 65 Fixing pin, 67 Connecting shaft, 7 Power medium connector, 8 Distance sensor. Detailed Implementation

[0016] This embodiment provides a quick-change device for the end effector of a robot, such as... Figure 1 and Figure 2 As shown, the system includes a main chuck 1 and a fixture chuck 2. The main chuck 1 includes an axially extending inner cavity, within which a piston 3, an elastic element 4, a limiting part 5, and a locking assembly 6 are sequentially arranged. The fixture chuck 2 is a fixture flange that connects to a tooling fixture, including an axially extending connecting groove and several connecting holes 21. The main chuck 1 is a cavity flange that connects to the sixth axis of the robot, and the fixture chuck 2 connects to the tooling fixture. One main chuck 1 connected to the sixth axis of the robot can be adapted to multiple fixture chucks 2 connected to tooling fixtures.

[0017] In this embodiment, the main chuck 1 has a sealing cover 13 and a retaining spring 15 for fastening the sealing cover 13 at both ends along the axial direction and near the piston 3. The sealing cover 13 performs a sealing function under the action of the retaining spring 15. The end of the main chuck 1 cooperates with the piston head of the piston 3 to form a closed cavity 11, and the main chuck 1 has a power medium connector 7 for compressed air to flow through the closed cavity 11. A sealing ring 31 is embedded around the outside of the piston head in a circumferential direction. The locking assembly 6 includes a hinge seat 61, four connecting rods 63 hinged to the hinge seat 61, and four fixing pins 65 hinged to the connecting rods 63. The side wall of the main chuck 1 has a through hole opposite any fixing pin 65. Any fixing pin 65 extends through the side wall of the main chuck 1 and perpendicularly through the side wall of the main chuck 1. The four connecting holes 21 of the clamp chuck 2 are arranged corresponding to the four fixing pins 65.

[0018] In this embodiment, the piston rod of piston 3 passes through the limiting part 5 and connects to the hinge seat 61. The elastic element 4 includes a return spring and a spring stop 43 sleeved on the piston rod, with the spring stop 43 connected to the end of the return spring near the limiting part 5. The limiting part 5 is a retaining ring, with its edge embedded in the side wall of the inner cavity. Under the action of the limiting part 5, the spring stop 43 limits the return spring.

[0019] In this embodiment, the power medium connector 7 is a pneumatic connector used for quick connection and sealing, and the mechanical locking mechanism of the connector itself can prevent the hose from being accidentally pulled out.

[0020] In this embodiment, the main chuck 1 is connected to the sixth axis of the robot. Compressed air is introduced through the power medium connector 7 on the main chuck 1, which pushes the piston 3 forward. The sealing ring 31 installed on the piston 3 prevents compressed air leakage. Driven by the piston 3, the hinge seat 61, under the action of the connecting shaft 67, causes the connecting rod 63 to move forward. The connecting rod 63 drives the fixing pin 65 through the hole on the main chuck 1 and into the connecting hole 21 of the fixture chuck 2, thereby fixing the fixture chuck 2 together. When it is necessary to change the tooling fixture, the compressed air is discharged through the power medium connector 7, and the piston 3 moves to the right under the action of the return spring, simultaneously driving the hinge seat 61, the connecting shaft 67, the connecting rod 63, and the fixing pin 65 to unlock.

[0021] In this embodiment, the main chuck 1 is equipped with a magnetic switch to determine whether the mechanism is in position. The clamp chuck 2 is equipped with a permanent magnet corresponding to the magnetic switch. When the clamp chuck 2 is in position and locked, the permanent magnet moves close to the magnetic switch, triggering the switch and sending a positioning signal. When the clamp chuck 2 disengages or is not fully locked, the permanent magnet moves away from the magnetic switch, the switch resets, and sends a signal indicating that the mechanism is not in position or has disengaged.

[0022] The robot end effector quick-change device in this embodiment can quickly complete docking and tooling replacement. The entire fixture replacement process is automatically completed within seconds, without disassembly or assembly, solving the problem of time-consuming and labor-intensive robot chuck replacement. Compared with the traditional ball bearing structure, its load capacity is increased by 3-5 times, better solving the compatibility problem of high-load robot handling mechanisms in automated production lines. Utilizing the single-acting cylinder principle, it achieves cost savings, significantly reducing processing costs. Based on this robot end effector quick-change device, the handling robot can quickly change fixtures without manual intervention, effectively improving production efficiency. It is also compatible with both low-load and high-load production lines, greatly reducing the cost of introducing such production lines.

[0023] In other embodiments, the power medium connector 7 can also be a pilot-operated throttle valve, which, compared to a pneumatic connector, can better prevent hose detachment in situations of severe vibration or external pulling. During normal operation, when the pneumatic system is started, the outlet side of the pilot-operated throttle valve establishes working pressure. This pressure serves as a pilot signal, pushing the valve core to overcome the spring force and open, allowing normal airflow, while the clamp chuck 2 remains properly secured. If the hose breaks or is accidentally pulled out, the pressure on the outlet side is instantly lost, dropping to atmospheric pressure. The pilot pressure disappears, and the valve core quickly resets under the action of the internal spring, sealing tightly. Due to the unidirectional nature of the valve, the gas in the main path cannot flow in reverse, thus firmly locking the high-pressure gas in the closed cavity 11, preventing accidental loosening of the clamp chuck 2, and also preventing the danger caused by the hose being flung under high-pressure gas jets.

[0024] In other embodiments, such as Figure 3 and Figure 4 As shown, considering the accuracy issues during robot docking, two mounting seats 17 can be radially extended on the main chuck 1. Positioning pins 19 extend axially from the main chuck 1 on each mounting seat 17. Positioning holes are correspondingly formed on the clamping chuck 2 relative to the positioning pins 19, allowing for precise positioning. Furthermore, a distance sensor 8 for collision avoidance is mounted on one of the mounting seats 17 relative to the clamping chuck 2. The distance sensor effectively avoids collisions; when it receives a signal, it sends a feedback signal to the robot, causing the robot to stop moving.

[0025] Those skilled in the art should understand that the discussion of any of the above embodiments is merely exemplary and is not intended to imply that the scope of protection of this application is limited to these examples; within the framework of this application, the technical features of the above embodiments or different embodiments can also be combined, the steps can be implemented in any order, and there are many other variations of different aspects of one or more embodiments of this application as described above, which are not provided in detail for the sake of brevity.

[0026] One or more embodiments in this application are intended to cover all such substitutions, modifications, and variations that fall within the broad scope of this application. Therefore, any omissions, modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of one or more embodiments in this application should be included within the protection scope of this application.

Claims

1. A quick-change device for the end effector of a robot, characterized in that, The device includes a main chuck (1) and a clamping chuck (2). The main chuck (1) includes an axially extending inner cavity, in which a piston (3), an elastic element (4), a limiting part (5), and a locking assembly (6) are sequentially arranged. The end of the main chuck (1) cooperates with the piston head of the piston (3) to form a closed cavity (11), and the main chuck (1) is provided with a power medium connector (7) communicating with the closed cavity (11). The locking assembly (6) includes a hinge seat (61), a plurality of connecting rods (63) hinged to the hinge seat (61), and a corresponding connecting rod. A plurality of fixing pins (65) are hinged to the connecting rod (63). The side wall of the main chuck (1) is provided with a through hole opposite any of the fixing pins (65). The piston rod of the piston (3) passes through the limiting part (5) and is connected to the hinge seat (61). The elastic element (4) is located between the limiting part (5) and the piston (3) and deforms elastically with the piston (3). The clamp chuck (2) includes a connecting groove extending along the axial direction and a plurality of connecting holes (21) are provided on the groove wall of the connecting groove corresponding to the plurality of fixing pins (65).

2. The robot end effector quick-change device as described in claim 1, characterized in that, The fixing pin (65) penetrates vertically through the side wall of the main chuck (1).

3. The robot end effector quick-change device as described in claim 1, characterized in that, The elastic element (4) includes a return spring and a spring stop (43) sleeved on the piston rod, and the spring stop (43) is connected to one end of the return spring near the limiting part (5).

4. The robot end effector quick-change device as described in claim 1, characterized in that, The limiting part (5) is a retaining ring, and the edge of the retaining ring is embedded in the side wall of the inner cavity.

5. The robot end effector quick-change device as described in any one of claims 1-4, characterized in that, The power medium connector (7) is a pneumatic connector or pilot-operated throttle valve for compressed air flow, or the power medium connector (7) is a hydraulic quick connector for hydraulic fluid flow.

6. The robot end effector quick-change device as described in any one of claims 1-4, characterized in that, The main chuck (1) is provided with a magnetic switch, and the clamp chuck (2) is provided with a permanent magnet corresponding to the magnetic switch.

7. The robot end effector quick-change device as described in any one of claims 1-4, characterized in that, The main chuck (1) is axially connected at both ends. A sealing cap (13) and a retaining ring (15) for fastening the sealing cap (13) are provided on the end of the main chuck (1) near the piston (3). A sealing ring (31) is embedded around the outer side of the piston head in a circumferential direction.

8. The robot end effector quick-change device as described in any one of claims 1-4, characterized in that, The main chuck (1) extends radially and forms at least one mounting base (17). A positioning pin (19) extends axially along the main chuck (1) on the mounting base (17). A positioning hole is provided on the clamp chuck (2) corresponding to the positioning pin (19).

9. The robot end effector quick-change device as described in claim 8, characterized in that, The mounting base (17) is provided with a distance sensor (8) for collision avoidance relative to the clamp chuck (2).

10. A robot, characterized in that, Including the robot end effector quick-change device as described in any one of claims 1-9.

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