CN107297640A - A kind of robot automatic tool changer tool magazine - Google Patents

Abstract

The invention belongs to the technical field of robots, and provides an automatic tool change tool magazine for robots, which is used for storing knives and robot tool change, including a tool magazine bracket, a support plate is arranged above the tool magazine bracket, and one side of the support plate is provided with a The knife handle clamp for clamping the tool is fixedly connected with the support plate, the clamping end of the knife handle clamp protrudes from the support plate, and the edge of the side of the support plate provided with the knife handle clamp is provided with a photoelectric sensor facing the tool. Since there is a photoelectric sensor on the edge of the side of the support plate with the handle clamp facing the tool, when the robot moves to the tool change position, the photoelectric sensor can detect whether the tool handle clamp holds the tool, and send the detection result to Robot, thus prompting whether the robot can perform tool change, to ensure the safety of the robot tool change process.

Description

An automatic tool change magazine for a robot

technical field

The invention belongs to the technical field of robots, and more specifically relates to an automatic tool change magazine for a robot.

Background technique

With the gradual maturity of robot technology, especially industrial robot technology, more and more industrial robots are gradually replacing manual processing of parts to realize automatic processing of parts. According to the complexity of the part, the number of tools required for part processing is also different. Sometimes a large number of tools are used, and the manual tool change method can no longer meet the needs of part processing, so the tool magazine system has become A very important device in the processing of industrial robot parts. The tool magazine system is a device that solves the needs of tool storage and tool change during the automatic processing of workpieces. In the process of industrial robot processing, the tool magazine system cooperates with its automatic tool change system to complete various processing requirements. , greatly shorten the processing preparation time and reduce production costs.

Although the existing tool magazine system can realize the automatic tool change of the robot, it cannot identify the condition of the tool at the tool change position during the tool change process, so that the safety of the tool change process cannot be guaranteed.

The above deficiencies need to be improved.

Contents of the invention

The object of the present invention is to provide an automatic tool change magazine for a robot, so as to solve the technical problem in the prior art that the safety of the tool change process cannot be guaranteed during the tool change process of the robot.

In order to achieve the above object, the technical solution adopted by the present invention is to provide an automatic tool change tool magazine for robots, which is used for storing knives and robot tool change, including a tool magazine bracket, a support plate is provided above the tool magazine bracket, One side of the support plate is provided with a knife handle clamp for clamping a tool, the knife handle clamp is fixedly connected with the support plate, the clamping end of the knife handle clamp protrudes from the support plate, and the support plate A photoelectric sensor is provided at the edge of the side on which the tool handle holder is located facing the tool. Further, the photoelectric sensor is arranged at the place directly facing the tool under the tool handle clamp.

Further, the photoelectric sensor is provided with a light emitter and a light receiver, and the light emitter and the light receiver are facing the tool.

Further, the number of the handle holders is multiple and arranged at intervals, each of the handle holders holds one tool, and the edge of one side of the support plate is provided with the handle holders facing each One of the photoelectric sensors is arranged at each of the knives.

Further, the knife includes a handle and a blade, the blade is connected to the lower part of the handle, and the handle clamp clamps the handle.

Further, the support plate is a square support plate, the tool magazine bracket includes four parallel brackets, and the upper ends of the four brackets are fixedly connected to the four corners of the support plate.

Further, a connecting rod is connected between two adjacent brackets.

Further, a base block is provided under the bracket, and the base block is fixedly connected with the lower end of the bracket.

Further, a tool magazine cover is provided above the support plate, and an air cylinder is provided below the support plate, and the tool magazine cover and the air cylinder are connected by a tie rod device.

Further, the number of the cylinders is two, the number of the tie rod devices is two, and the two cylinders are respectively arranged at both ends below the support plate, and each of the cylinders is respectively connected to one of the tie rods device, the two pull rod devices are respectively connected to the two ends of the tool magazine cover.

The beneficial effect of the automatic tool change tool magazine for a robot provided by the present invention is that: since the edge of the side of the support plate provided with the tool handle clamp is directly opposite to the tool, a photoelectric sensor is arranged, when the robot moves to the tool change position, the photoelectric sensor The sensor can detect whether the tool holder clamps the tool, and send the detection result to the robot, so as to prompt the robot whether to change the tool and ensure the safety of the robot tool change process.

Description of drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following will briefly introduce the accompanying drawings that need to be used in the descriptions of the embodiments or the prior art. Obviously, the accompanying drawings in the following description are only of the present invention. For some embodiments, those of ordinary skill in the art can also obtain other drawings based on these drawings without any creative effort.

Fig. 1 is a schematic structural view 1 of an automatic tool change magazine for a robot provided by an embodiment of the present invention;

Fig. 2 is a structural schematic diagram of a tool holder clamp provided by an embodiment of the present invention;

Fig. 3 is a schematic structural diagram 2 of an automatic tool change magazine for a robot provided by an embodiment of the present invention.

Wherein, each reference sign in the figure:

1- tool magazine bracket; 11- bracket; 12- connecting rod; 13- base block;

2-support plate; 3-handle clamp; 31-fixed end; 32-clamping end;

4-knife; 41-handle; 42-blade;

5-photoelectric sensor; 6-knife magazine cover; 7-tie rod device; 8-cylinder.

detailed description

In order to make the technical problems, technical solutions and beneficial effects to be solved by the present invention clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention.

It should be noted that when an element is referred to as being “disposed on” another element, it may be directly on the other element or indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or indirectly connected to the other element. In addition, the terms "first" and "second" are used for descriptive purposes only, and cannot be interpreted as indicating or implying relative importance or implicitly specifying the quantity of indicated technical features. Thus, a feature defined as "first" and "second" may explicitly or implicitly include one or more of these features. In the description of the present invention, "plurality" means two or more, unless otherwise specifically defined.

Please refer to Fig. 1 and Fig. 2, an automatic tool change magazine for a robot, which is used for storing knives and robot tool change, includes a tool magazine support 1, a support plate 2 is arranged above the tool magazine support 1, and one side of the support plate 2 A knife handle clamp 3 for clamping the tool 4 is provided, the knife handle clamp 3 is fixedly connected with the support plate 2, the clamping end 32 of the knife handle clamp 3 protrudes from the support plate 2, and the support plate 2 is provided with one side of the knife handle clamp 3 The edge of the first edge is the first edge, and the first edge is provided with a photoelectric sensor 5 facing the tool 4 . In this embodiment, the fixed end 31 of the handle clamp 3 is fixedly connected to the support plate 2 by bolts.

The working principle of the automatic tool change magazine for the robot provided in this embodiment is as follows: when the robot needs to change the tool, the robot moves to the tool change position, and the photoelectric sensor 5 detects whether the tool handle clamp 3 holds the tool 4, and when the tool handle clamp 3 when the tool 4 is clamped, the photoelectric sensor 5 sends the detection result to the robot, and the robot recognizes that there is a tool 4 at the tool change position, and the tool cannot be changed; when the tool holder 3 does not clamp the tool 4, the photoelectric sensor 5 will The detection result is sent to the robot, and the robot recognizes that there is no tool 4 in the tool change position, and the tool change can be performed, so as to continue the tool change action.

The beneficial effect of such arrangement is: since the photoelectric sensor 5 is arranged at the place facing the tool 4 on the first edge, when the robot moves to the tool changing position, the photoelectric sensor 5 can detect whether the tool holder clamp 3 holds the tool 4, and The detection result is sent to the robot, thus prompting whether the robot can perform tool change, ensuring the safety of the robot tool change process.

Further, the photoelectric sensor 5 is arranged at the place directly facing the tool 4 under the handle holder 3 . The photoelectric sensor 5 is provided with a light emitter and a light receiver, and the light emitter and the light receiver are facing the cutter 4 . In this embodiment, the side adjacent to the first edge of the support plate 2 is provided with an accommodating hole, the photoelectric sensor 5 is arranged in the accommodating hole and one end of the photoelectric sensor 5 provided with a light emitter and a light receiver faces the tool 4, The photoelectric sensor 5 is a diffuse reflection cylindrical photoelectric sensor. When the handle clamp 3 does not hold the tool 4, the light emitted by the light emitter cannot be reflected, so the light receiver cannot receive the light emitted by the light emitter, and the photoelectric sensor sends out a first signal, indicating that the handle clamp 3 is not clamped There is a tool 4; when the tool handle clamp 3 holds the tool 4, the light emitted by the light emitter can be reflected by the tool 4, and the reflected light is received by the light receiver. At this time, the photoelectric sensor sends out a second signal, indicating that the tool handle clamp 3 Holds the tool 4 . Different from other photoelectric sensors, the diffuse reflective cylindrical photoelectric sensor adopted in this embodiment does not need to provide a reflective surface on the tool 4, but uses diffuse reflection to realize the receiver to receive light, so the structure is simpler and the installation is more flexible.

Further, the number of handle holders 3 is multiple and set at intervals, and the number of handle holders 3 can be set according to actual needs, each handle holder 3 clamps a tool 4, and the first edge is facing each A photoelectric sensor 5 is provided at 4 places of the cutter. In this embodiment, the number of tool handle holders 3 is four, and each tool handle holder 3 holds a tool 4 , and a tool position number is engraved on the side of each tool handle holder 3 , which is convenient for numbering the tool 4 .

The knife 4 includes a handle 41 and a blade 42 , the blade 42 is connected to the lower part of the handle 41 , and the handle clamp 3 clamps the handle 41 . The type of cutter 4 can be selected according to actual needs.

Further, the support plate 2 is a rectangular support plate, the tool magazine support 1 includes four supports 11 parallel to each other, and the upper ends of the four supports 11 are fixedly connected to the four corners of the support plate 2 . Connecting rods 12 perpendicular to the brackets 11 are connected between two adjacent brackets 11, and the four connecting rods 12 form a rectangle, so that the tool magazine bracket 1 is more stable and not easily damaged. In one embodiment, a connecting rod 12 is connected between any two brackets 11 , which can further increase the stability of the tool magazine bracket 1 .

A base block 13 is provided below the bracket 11 , and the base block 13 is fixedly connected to the lower end of the bracket 11 . In this embodiment, a base block 13 is provided under each support 11, and four base blocks 13 are fixedly connected to the ground. The area of the base block 13 is larger than the area of the lower end of the support 11, so that the automatic The weight of the tool changing magazine can be further distributed on the four base blocks 13, which reduces the pressure of the automatic tool changing magazine to the ground. In one embodiment, a base block 13 is provided below the four brackets 11, that is, the four brackets 11 are fixedly connected to a base block 13, and the area of the base block 13 is not less than the area surrounded by the four brackets 11. The area of the rectangle.

Please refer to FIG. 1 and FIG. 3 , further, a tool magazine cover 6 is provided above the support plate 2 , and a cylinder 8 is provided below the support plate 2 , and the tool magazine cover 6 and the cylinder 8 are connected by a tie rod device 7 . The number of cylinders 8 is two, the number of tie rod devices 7 is two, and the two cylinders 8 are respectively arranged at the two ends below the support plate 2, and each cylinder 8 is respectively connected to a tie rod device 7, and the two tie rod devices 7 are respectively connected to The two ends on the same side of the tool magazine cover 6. In this embodiment, the two ends of the support plate 2 opposite to the first edge and the second edge are provided with through holes, and the pull rod device 7 passes through the through holes to connect the tool magazine cover 6 above the support plate 2 and the tool magazine cover 6 located on the support plate. 2, the cylinder 8 below is connected, and the cylinder 8 drives the tool magazine cover 6 to open or close through the pull rod device 7. When the tool magazine cover 6 is closed, the cover is arranged on the top of the cutter 4, so as to protect the cutter 4 when the cutter 4 is not in use, and also make the automatic tool change magazine for the robot provided by this embodiment more beautiful; when the robot needs When changing the tool, the tool magazine cover 6 is opened for the robot to change the tool.

The working process of the automatic tool change tool magazine provided by the robot is as follows: when the robot does not need to change the tool, the tool magazine cover 6 is placed on the top of the tool 4 to protect the tool 4; when the robot needs to change the tool At this time, the operator invokes the pre-programmed program of the robot, so that the robot sends instructions to the cylinder 8 before approaching the automatic tool changer for the robot, and the cylinder 8 opens the tool magazine cover 6 through the pull rod device 7; when the robot moves to the tool changer position , the photoelectric sensor 5 detects whether the tool holder clamp 3 at the corresponding position holds the tool 4, and when the photoelectric sensor 5 detects that the tool handle clamp 3 at the corresponding position does not hold the tool 4, the photoelectric sensor 5 sends a first signal to the robot, indicating that the knife The handle clamp 3 does not hold the tool 4, and the robot sends a signal to the spindle holding the tool 4, so that the spindle releases the tool, and places the tool 4 that needs to be replaced on the handle clamp 3; when the photoelectric sensor 5 detects When the tool handle clamp 3 at the corresponding position holds the tool 4, the photoelectric sensor 5 sends a second signal to the robot, indicating that the tool handle clamp 3 clamps the tool 4, and the robot continues to move to the next change after receiving the second signal. Tool position, repeat the above process until the handle clamp 3 that does not hold the tool 4 is found, the robot sends a signal to the spindle holding the tool, so that the spindle performs the action of releasing the tool, and places the tool 4 that needs to be replaced on the handle Clamp 3; then the robot continues to move to the position of the tool 4 that needs to be installed, install the required tool 4, the robot sends a signal to the spindle, so that the spindle performs the action of tightening the tool; then the robot leaves the automatic tool changer for the robot, and gives The cylinder 8 sends an instruction, and the cylinder 8 closes the tool magazine cover 6 through the pull rod device 7, thereby completing the automatic tool changing process of the robot.

The automatic tool change tool magazine for the robot provided in this embodiment is provided with a photoelectric sensor 5 facing the tool 4 at the first edge. tool 4, and send the detection result to the robot, thereby prompting whether the robot can change the tool, to ensure the safety of the robot tool change process; at the same time, a tool magazine cover 6 is provided on the top of the tool 4, and the cylinder 8 is opened or closed by the pull rod device 7 Closing the tool magazine cover 6 can protect the cutter 4 on the one hand, and also make the automatic tool changing tool magazine for the robot more beautiful on the other hand.

The above descriptions are only preferred embodiments of the present invention, and are not intended to limit the present invention. Any modifications, equivalent replacements and improvements made within the spirit and principles of the present invention should be included in the protection of the present invention. within range.

Claims (10)

1. a kind of robot automatic tool changer tool magazine, for storing cutter and robot tool changing, it is characterised in that：Including tool magazine branch Frame, the top of the tool magazine support is provided with supporting plate, and one side of the supporting plate is provided with the handle of a knife folder for being used to clamp cutter, described Handle of a knife folder is fixedly connected with the supporting plate, and the bare terminal end of the handle of a knife folder stretches out the supporting plate, and the supporting plate is provided with institute The edge on one side of handle of a knife folder is stated just to being provided with photoelectric sensor at the cutter.

2. robot as claimed in claim 1 automatic tool changer tool magazine, it is characterised in that：The photoelectric sensor is located at described The lower Founder of handle of a knife folder to the cutter at.

3. robot as claimed in claim 1 automatic tool changer tool magazine, it is characterised in that：The photoelectric sensor is provided with luminous Device and light receiving device, the photophore and the light receiving device are just to the cutter.

4. robot as claimed in claim 1 automatic tool changer tool magazine, it is characterised in that：The quantity of the handle of a knife folder is multiple And be arranged at intervals, each handle of a knife folder one cutter of clamping, the side on one side that the supporting plate is pressed from both sides provided with the handle of a knife Along just to being equipped with a photoelectric sensor at each cutter.

5. robot as claimed in claim 1 automatic tool changer tool magazine, it is characterised in that：The cutter includes handle of a knife and knife Sword, the blade is connected to the bottom of the handle of a knife, the handle of a knife folder clamping handle of a knife.

6. robot as claimed in claim 1 automatic tool changer tool magazine, it is characterised in that：The supporting plate is quadrate support Plate, the tool magazine support includes four supports being parallel to each other, the upper end of four supports and four angles of the supporting plate It is fixedly connected.

7. robot as claimed in claim 6 automatic tool changer tool magazine, it is characterised in that：Connect between the two neighboring support It is connected to connecting rod.

8. robot as claimed in claim 6 automatic tool changer tool magazine, it is characterised in that：The lower section of the support is provided with pedestal Block, the base block is fixedly connected with the lower end of the support.

9. the automatic tool changer tool magazine of the robot as described in any one of claim 1 to 8, it is characterised in that：In the supporting plate Side is additionally provided with below tool magazine lid, the supporting plate and is provided with cylinder, and the tool magazine lid and the cylinder are connected by pull rod device.

10. robot as claimed in claim 9 automatic tool changer tool magazine, it is characterised in that：The quantity of the cylinder is two, The quantity of the pull rod device is two, and two cylinders are respectively arranged on the two ends below the supporting plate, each gas Cylinder connects a pull rod device respectively, and two pull rod device connect the two ends of the tool magazine lid respectively.