CN106335081A - Robot tool switching anti-drop device and control method - Google Patents
Robot tool switching anti-drop device and control method Download PDFInfo
- Publication number
- CN106335081A CN106335081A CN201610784335.6A CN201610784335A CN106335081A CN 106335081 A CN106335081 A CN 106335081A CN 201610784335 A CN201610784335 A CN 201610784335A CN 106335081 A CN106335081 A CN 106335081A
- Authority
- CN
- China
- Prior art keywords
- tool
- chuck
- safety relay
- drop device
- place
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The embodiment of the invention discloses a robot tool switching anti-drop device which comprises a circuit control module and a gas circuit control module; the circuit control module is composed of tool detection sensors which are used for detecting whether detection tools are put in place or not and are arranged below tool placement frame tables respectively and a chuck electromagnetic valve which is connected to a chuck through a safety relay which is connected in series in a circuit in a manner of connection of the chuck electromagnetic valve and the safety relay; the gas circuit control module is composed of pneumatic travel control valves which are arranged at the middle parts of the corresponding tool placement frame tables and are mutually connected in series; and the pneumatic travel control valves are connected with a chuck cylinder through a one-way control valve which is connected with the pneumatic travel control valves. The invention aims at providing the robot tool switching anti-drop device which prevents the chuck from dropping on the aspects of the circuit and a gas circuit from the physical level.
Description
Technical field
The present invention relates to robot field, more particularly, to a kind of robot tool switching anti-drop device and control method.
Background technology.
At present, industrial robot is widely used in automatic production line, by the instrument being arranged in robot, with
Substitute workman and carry out operation, improve production efficiency, simultaneously in order to meet the variation of product of production line, instrument is all mounted in card
On disk, then using solenoid valve control chuck cylinder clamping with unclamp the switching to carry out multiple types.Mistake in diverter tool
Cheng Zhong, robot is high-speed motion, once bugs or gas circuit, circuit component damage lead to misoperation, can make moment
Become the serious accidents such as chuck unclamps, instrument throws away.
Content of the invention
Embodiment of the present invention technical problem to be solved is, provides a kind of circuit from physical layer, gas circuit two side
The robot tool switching anti-drop device that chuck comes off is taken precautions against in face simultaneously.
Described robot tool switches anti-drop device, including circuit control module and gas circuit control module, described circuit
Control module include being arranged on below place tool pallet for detecting the tool detection sensor whether instrument is in place
And by concatenating the connected chuck magnetic valve being connected on chuck of safety relay in circuit；Described gas circuit controls
Module includes being separately positioned on the gas control stroke control valve of the mutual concatenation in the middle part of place tool pallet, described gas control Stroke Control
Valve is connected with chuck cylinder by connected one-way control valve.
As the improvement further of the technical program, below described place tool pallet, diagonally position is respectively arranged with a work
Tool detection sensor, after described tool detection sensor is concatenated one by one using double groups of contacts, accesses described safety relay.
Described tool detection sensor and safety relay are connected with the 24v power supply of plc system offer respectively.
The embodiment of the present invention additionally provides a kind of robot tool switching anti-drop device control method, walks including following
Rapid:
(1), during gripping apparatus diverter tool, to be switched instrument is positioned on place tool pallet described gripping apparatus；
(2) the tool detection sensor below described place tool pallet detects after to be switched instrument places, and will believe
Number send connected safety relay to；
(3), after safety relay is connected to signal, control connected chuck magnetic valve；
(4) chuck magnetic valve opens coil to unclamp chuck after receiving signal；
(5), when described to be switched instrument is positioned on place tool pallet, triggering is arranged in described place tool pallet
The gas control stroke control valve in portion；
(6), after source of the gas flows through above-mentioned stroke control valve, open unidirectionally controlled valve and supply it is allowed to open end to chuck cylinder
Gas, makes chuck open.
Preferably, diagonally it is respectively arranged with two tool detection sensors below place tool pallet in described step 2,
After described tool detection sensor is concatenated one by one using double groups of contacts, access safety relay.
Described tool detection sensor and safety relay are connected with the 24v power supply of plc system offer respectively.
Implement the embodiment of the present invention, have the advantages that
A kind of robot tool of the embodiment of the present invention switches anti-drop device, arranges on the pallet of each place tool
Two sets of tool detection sensors (diagonally each 1), for detecting whether instrument is in place.Sensor is using double group contacts one by one
After being concatenated, access safety relay；Meanwhile, the line solenoid valve ring signal that control chuck unclamps need to be through safety relay
Just permission action after normally opened contact, the 24v power supply being provided using system, after sensor all turns on, drive safety relay
Adhesive；Now program can control chuck to thread off, in gas circuit: in the centrally disposed gas of the pallet of each place tool
All of stroke control valve is concatenated simultaneously, after source of the gas flows through all of stroke control valve, opens unidirectional control by control stroke control valve
Valve processed, it is allowed to open end supply to chuck cylinder, by double guarantee above, adds that safety relay inherently has self inspection
Brake, so can avoid bugs, component ageing and the chuck that leads to get loose, significantly reduce the safety in production
Hidden danger.
Brief description
Fig. 1 is embodiment of the present invention electrical block diagram；
Fig. 2 is embodiment of the present invention gas circuit structure schematic diagram.
Specific embodiment
For making the object, technical solutions and advantages of the present invention clearer, below in conjunction with accompanying drawing, the present invention is made into one
Step ground describes in detail.
Embodiment of the present invention robot tool switches anti-drop device, and robot tool switches anti-drop device, including electricity
Road control module and gas circuit control module, described circuit control module include being arranged on below place tool pallet for detecting
Tool detection sensor and the connected connection of safety relay in circuit by concatenation that whether instrument is in place
Chuck magnetic valve on chuck；Below described place tool pallet, diagonally position is respectively arranged with a tool detection sensor,
After described tool detection sensor is concatenated one by one using double groups of contacts, access described safety relay, tool detection senses
Device and safety relay are connected with the 24v power supply of plc system offer respectively；Described gas circuit control module includes being separately positioned on
The gas control stroke control valve of the mutual concatenation in the middle part of place tool pallet, described gas control stroke control valve passes through connected list
It is connected to control valve with chuck cylinder.
The embodiment of the present invention additionally provides a kind of robot tool switching anti-drop device control method, walks including following
Rapid:
(1), during gripping apparatus diverter tool, to be switched instrument is positioned on place tool pallet described gripping apparatus；
(2) the tool detection sensor below described place tool pallet detects after to be switched instrument places, and will believe
Number send connected safety relay to；
(3), after safety relay is connected to signal, control connected chuck magnetic valve；
(4) chuck magnetic valve opens coil to unclamp chuck after receiving signal；
(5), when described to be switched instrument is positioned on place tool pallet, triggering is arranged in described place tool pallet
The gas control stroke control valve in portion；
(6), after source of the gas flows through above-mentioned stroke control valve, open unidirectionally controlled valve and supply it is allowed to open end to chuck cylinder
Gas, makes chuck open.
Diagonally it is respectively arranged with two tool detection sensors, described instrument inspection below place tool pallet in step 2
After survey sensor is concatenated one by one using double groups of contacts, access safety relay.
Tool detection sensor and safety relay are connected with the 24v power supply of plc system offer respectively.
A kind of robot tool of the embodiment of the present invention switches anti-drop device, arranges on the pallet of each place tool
Two sets of tool detection sensors (diagonally each 1), for detecting whether instrument is in place.Sensor is using double group contacts one by one
After being concatenated, access safety relay；Meanwhile, the line solenoid valve ring signal that control chuck unclamps need to be through safety relay
Just permission action after normally opened contact, the 24v power supply being provided using system, after sensor all turns on, drive safety relay
Adhesive；Now program can control chuck to thread off, in gas circuit: in the centrally disposed gas of the pallet of each place tool
All of stroke control valve is concatenated simultaneously, after source of the gas flows through all of stroke control valve, opens unidirectional control by control stroke control valve
Valve processed, it is allowed to open end supply to chuck cylinder, by double guarantee above, adds that safety relay inherently has self inspection
Brake, so can avoid bugs, component ageing and the chuck that leads to get loose, significantly reduce the safety in production
Hidden danger.
Above disclosed be only a kind of preferred embodiment of the present invention, certainly the power of the present invention can not be limited with this
Sharp scope, the equivalent variations therefore made according to the claims in the present invention, still belong to the scope that the present invention is covered.
Claims (6)
1. a kind of robot tool switching anti-drop device it is characterised in that: include circuit control module and gas circuit control module,
Described circuit control module include being arranged on below place tool pallet for detecting the instrument inspection whether instrument is in place
Survey sensor and by concatenating the connected chuck magnetic valve being connected on chuck of safety relay in circuit；Described
Gas circuit control module includes being separately positioned on the gas control stroke control valve of the mutual concatenation in the middle part of place tool pallet, described gas control
Stroke control valve is connected with chuck cylinder by connected one-way control valve.
2. robot tool as claimed in claim 1 switching anti-drop device it is characterised in that: under described place tool pallet
Diagonally position is respectively arranged with a tool detection sensor for side, and described tool detection sensor is gone here and there one by one using double groups of contacts
After connecing, access described safety relay.
3. robot tool as claimed in claim 1 switching anti-drop device it is characterised in that: described tool detection sensor
And the 24v power supply that safety relay is provided with robot system respectively is connected.
4. as described in claim 1,2 or 3 robot tool switching anti-drop device control method it is characterised in that: include
Following steps:
(1), during gripping apparatus diverter tool, to be switched instrument is positioned on place tool pallet described gripping apparatus；
(2) the tool detection sensor of described place tool pallet side detects after to be switched instrument places, and signal is passed
Give connected safety relay；
(3), after safety relay is connected to signal, control connected chuck magnetic valve；
(4) chuck magnetic valve opens coil to unclamp chuck after receiving signal；
(5), when described to be switched instrument is positioned on place tool pallet, triggering is arranged in the middle part of described place tool pallet
Gas control stroke control valve；
(6), after source of the gas flows through above-mentioned stroke control valve, open unidirectionally controlled valve it is allowed to open end supply to chuck cylinder, make
Chuck is opened.
5. robot tool as claimed in claim 4 switching anti-drop device control method it is characterised in that: described step 2
Middle place tool pallet side is diagonally respectively arranged with two tool detection sensors, and described tool detection sensor is using double
After group contact is concatenated one by one, access safety relay.
6. robot tool as claimed in claim 4 switching anti-drop device control method it is characterised in that: described instrument inspection
Survey sensor and safety relay is connected with the 24v power supply of plc system offer respectively.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610784335.6A CN106335081B (en) | 2016-08-31 | 2016-08-31 | A kind of robot tool switching anti-drop device and control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610784335.6A CN106335081B (en) | 2016-08-31 | 2016-08-31 | A kind of robot tool switching anti-drop device and control method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106335081A true CN106335081A (en) | 2017-01-18 |
| CN106335081B CN106335081B (en) | 2019-05-24 |
Family
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610784335.6A Active CN106335081B (en) | 2016-08-31 | 2016-08-31 | A kind of robot tool switching anti-drop device and control method |
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Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1402987A2 (en) * | 2002-09-26 | 2004-03-31 | Reis GmbH & Co. Maschinenfabrik Obernburg | Process for monitoring an energy source guiding device as a manipulator |
| CN201333702Y (en) * | 2008-12-05 | 2009-10-28 | 上海发那科机器人有限公司 | Circuit structure for preventing automatic tool changer from dropping |
| CN101766857A (en) * | 2008-12-29 | 2010-07-07 | 北京谊安医疗系统股份有限公司 | Pneumatic and electric coupled switch |
| CN203437692U (en) * | 2013-07-26 | 2014-02-19 | 深圳市大族激光科技股份有限公司 | Anti-fall device of cutter head |
| CN204462793U (en) * | 2014-12-30 | 2015-07-08 | 斗山机床（烟台）有限公司 | A kind of fixture control circuit and lathe |
| CN206029952U (en) * | 2016-08-31 | 2017-03-22 | 广州中设机器人智能装备股份有限公司 | Robot tool switches dropout prevention means |
-
2016
- 2016-08-31 CN CN201610784335.6A patent/CN106335081B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1402987A2 (en) * | 2002-09-26 | 2004-03-31 | Reis GmbH & Co. Maschinenfabrik Obernburg | Process for monitoring an energy source guiding device as a manipulator |
| CN201333702Y (en) * | 2008-12-05 | 2009-10-28 | 上海发那科机器人有限公司 | Circuit structure for preventing automatic tool changer from dropping |
| CN101766857A (en) * | 2008-12-29 | 2010-07-07 | 北京谊安医疗系统股份有限公司 | Pneumatic and electric coupled switch |
| CN203437692U (en) * | 2013-07-26 | 2014-02-19 | 深圳市大族激光科技股份有限公司 | Anti-fall device of cutter head |
| CN204462793U (en) * | 2014-12-30 | 2015-07-08 | 斗山机床（烟台）有限公司 | A kind of fixture control circuit and lathe |
| CN206029952U (en) * | 2016-08-31 | 2017-03-22 | 广州中设机器人智能装备股份有限公司 | Robot tool switches dropout prevention means |
Non-Patent Citations (1)
| Title |
|---|
| 陆鑫盛、周洪编著: "《气动自动化系统的优化设计》", 31 December 2000 * |
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|---|---|
| CN106335081B (en) | 2019-05-24 |
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