Manipulator fast replacing device and the robotic device with fast replacing deviceTechnical field
The present invention relates to electronic devices and components take out device field, particularly relate to manipulator fast replacing device and the robotic device with fast replacing device.
Background technology
Electron trade, when carrying out plug-in unit to pcb board, often needs to use manipulator automatic fetching device.Existing manipulator automatic fetching device generally comprises frame, and frame is provided with manipulator.Frame is driven can be rotated by rotation motor.Electronic devices and components can be captured by each manipulator.Although existing this take out device can meet primary demand, it is very inconvenient that the gripping head of its grabbing device is changed, and after needing each gripping head to disassemble, then the gripping head of needs installed one by one.Because the installation of gripping head each in prior art is wasted time and energy, make the installation of the gripping head of machine really consuming time longer.The gripping head form of whole machine is single, can not realize quick-replaceable according to actual needs.
Summary of the invention
The technical problem that the present invention solves is to provide a kind of manipulator fast replacing device of fast changeable gripping head.
The technical solution adopted for the present invention to solve the technical problems is: manipulator fast replacing device, comprise rotating disk, rotating disk is connected with rotary disc driving mechanism, and rotating disk circumference is provided with multiple interface arrangment, each interface arrangment is connected with gripping head, and one end of described gripping head is provided with dop;
Also comprise multiple connector, each connector and each gripping head one_to_one corresponding, one end of connector is provided with hole clipping, after described dop inserts described hole clipping, and gripping head and connector clamping.
Further: the interface arrangment that described rotating disk is arranged comprises locating slot and is arranged on the shell fragment in locating slot.
Further: described gripping head is jaw.
Present invention also offers the robotic device with fast replacing device, comprise rotatable frame, described frame is connected with rotation motor and is driven by described rotation motor, also comprise control system, described frame is provided with multiple manipulator mechanism, each manipulator mechanism comprises rack-mounted slide unit cylinder and the grabbing device with slide unit cylinders, and described slide unit cylinder is connected with control system respectively with grabbing device
Also comprise rotating disk, rotating disk is connected with rotary disc driving mechanism, and rotating disk circumference is provided with multiple interface arrangment, and each interface arrangment is connected with gripping head, and one end of described gripping head is provided with dop;
The connector that described grabbing device comprises drive division and is connected with drive division, each connector and each gripping head one_to_one corresponding, one end of connector is provided with hole clipping, after described dop inserts hole clipping, gripping head and connector clamping.
The invention has the beneficial effects as follows: because gripping head is fixed by snap fit, improve replacing efficiency.The quick-replaceable of gripping head can be realized.
Accompanying drawing explanation
Fig. 1 is schematic diagram rotating disk being connected with multiple gripping head;
Fig. 2 is the schematic diagram rotatable frame being provided with multiple grabbing device;
Be labeled as in figure: rotating disk 1, dop 2, gripping head 3, rotary disc driving mechanism 4, rotation motor 5, frame 6, connector 7, interface arrangment 8.
Detailed description of the invention
Below in conjunction with the drawings and specific embodiments, the present invention is further described.
As depicted in figs. 1 and 2, manipulator fast replacing device of the present invention comprises rotating disk 1, and rotating disk 1 is connected with rotary disc driving mechanism 4, and rotating disk 1 circumference is provided with multiple interface arrangment 8, the quantity of interface arrangment 8 can be 2,3,6,8,9 etc., can set according to user demand.Each interface arrangment 8 is connected with gripping head 3, and one end of described gripping head 3 is provided with dop 2; Also comprise multiple connector 7, each connector 7 and each gripping head 3 one_to_one corresponding, one end of connector 7 is provided with hole clipping, after described dop 2 inserts described hole clipping, and gripping head 3 and connector 7 clamping.When gripping head changed by needs, first original gripping head unloaded, rotating disk is equipped with new gripping head in advance, being declined by connector makes corresponding hole clipping and dop clamping, then rises, connector like this with regard to fast changeable gripping head.Above-mentioned gripping head can be jaw etc.
The embodiment of the interface arrangment 8 on above-mentioned rotating disk 1 has multiple, and be preferably as shown in Figure 1, the interface arrangment that described rotating disk is arranged comprises locating slot and is arranged on the shell fragment in locating slot.This interface arrangment is fairly simple, both can, to gripping head clamping, facilitate again connector to be separated after each gripping head clamping with rotating disk.
Present invention also offers a kind of robotic device with fast replacing device, comprise rotatable frame 6, described frame 6 is connected with rotation motor 5 and is driven by described rotation motor 5, also comprise control system, described frame 6 is provided with multiple manipulator mechanism, each manipulator mechanism comprises rack-mounted slide unit cylinder and the grabbing device with slide unit cylinders, described slide unit cylinder is connected with control system respectively with grabbing device, also comprise rotating disk 1, rotating disk 1 is connected with rotary disc driving mechanism 4, rotating disk 1 circumference is provided with multiple interface arrangment 8, each interface arrangment 8 is connected with gripping head 3, one end of described gripping head 3 is provided with dop 2, the connector 7 that described grabbing device comprises drive division and is connected with drive division, each connector 7 and each gripping head 3 one_to_one corresponding, one end of connector 7 is provided with hole clipping, after described dop 2 inserts hole clipping, gripping head 3 and connector 7 clamping.During use, Fig. 2 shown device is positioned at the top of Fig. 1, by the position of each gripping head 3 of rotating disk 1 adjustable in Fig. 1, makes it to align with each connector 7.Then, connector 7 declines and corresponding gripping head 3 clamping.Then connector 7 is risen.Now, gripping head has been in place and can have used.Known by foregoing description, gripping head of the present invention is changed fast, can significantly improve the replacing speed of gripping head.
Embodiment 1:
With the robotic device of fast replacing device, comprise rotatable frame 6, described frame 6 is connected with rotation motor 5 and is driven by described rotation motor 5, also comprise control system, described frame 6 is provided with 9 manipulator mechanisms, each manipulator mechanism comprises rack-mounted slide unit cylinder and the grabbing device with slide unit cylinders, described slide unit cylinder is connected with control system respectively with grabbing device, also comprise rotating disk 1, rotating disk 1 is connected with rotary disc driving mechanism 4, rotating disk 1 circumference is provided with 9 interface arrangments 8, each interface arrangment 8 is connected with gripping head 3, one end of described gripping head 3 is provided with dop 2, the connector 7 that described grabbing device comprises drive division and is connected with drive division, each connector 7 and each gripping head 3 one_to_one corresponding, one end of connector 7 is provided with hole clipping, after described dop 2 inserts hole clipping, gripping head 3 and connector 7 clamping.Described gripping head 3 is jaw.
Above-described specific embodiment; object of the present invention, technical scheme and beneficial effect are further described; be understood that; the foregoing is only specific embodiments of the invention; be not limited to the present invention; within the spirit and principles in the present invention all, any amendment made, equivalent replacement, improvement etc., all should be included within protection scope of the present invention.