CN107486867A - Robot tool exchanging device driven by air pressure - Google Patents
Robot tool exchanging device driven by air pressure Download PDFInfo
- Publication number
- CN107486867A CN107486867A CN201710945640.3A CN201710945640A CN107486867A CN 107486867 A CN107486867 A CN 107486867A CN 201710945640 A CN201710945640 A CN 201710945640A CN 107486867 A CN107486867 A CN 107486867A
- Authority
- CN
- China
- Prior art keywords
- robot
- cam
- compressed air
- form block
- side form
- 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.)
- Pending
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/04—Gripping heads and other end effectors with provision for the remote detachment or exchange of the head or parts thereof
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/04—Gripping heads and other end effectors with provision for the remote detachment or exchange of the head or parts thereof
- B25J15/0408—Connections means
- B25J15/0425—Connections means having cams
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention provides a kind of robot tool exchanging device driven by air pressure for exchanging end-of-arm tooling automatically for robot, belongs to automated machine apparatus field.Its technical scheme is：The invention provides robot side form block and tool side module, wherein robot side form block includes housing, robot side connecting plate, valve element, cam, upper limit circle, spring, lower limit circle, spring bumper cover, cam withdrawal compressed air interface, cam stretching compressed air interface, dormant bolt, valve core piston.The valve element for promoting robot side form block by compressed air is down moved, and cam is withdrawn, and robot side form block and tool side module can be separated；The valve element for promoting robot side form block by compressed air moves upwards, and cam stretches out, and robot side form block and tool side module reach the purpose that robot end firmly couples with instrument by camlock.The present invention can realize between robot end and instrument it is reliable, easily couple, control mode is simple；And there is auto-lock function, there is good security.
Description
Technical field
The present invention relates to a kind of robot exchange tool, especially a kind of robot tool exchanging device driven by air pressure.
Background technology
The indispensable part of industrial robot modern manufacturing industry.In IC manufacturing, Automobile Welding, automobile assembling
Deng field, robot is just playing more and more important effect.
In robot application field, it is reduce cost feasible that different tasks is completed using relatively general robot
Method.For example, in manufacture manufacture field, the different processes such as a robot can be used to complete to cut, polish, weld.At these
Application field, it is necessary to a kind of robot exchange tool device to enable robot and different instrument to coordinate, so as to complete not
Same process.The part that robot exchange tool device is connected with robot end is referred to as " robot side form block ", with instrument knot
The part of conjunction is referred to as " tool side module ".When robot side form block is connected with each other and locked with tool side module, robot side form
Block and tool side module are just completed to be mutually coupled process, and instrument is secured to the end of robots arm.
According to the retrieval to prior art, find：Patent " cutting and the machine in scoring equipment of Shanghai Communications University's application
Tool hand fixture and the instrument exchanging decice " (patent No.：ZL02151074.1) using manipulator crawl cutting torch and line torch, lead to
It is not strong with property, only meet that device people carries out plasma cut and the needs of line to shipbuilding section, and also security is inadequate, once be
System accident power-off, manipulator can decontrol instrument, occurrence injury suddenly.The research of equipment research institute the 4th of the Second Artillery Force is apllied specially
Sharp " exchanging interface device of automatization tool " (patent No.：ZL200710097421.0) both need to vacuumize withdraw spring pin and
For logical compressed air to cause fixing end and tool ends end to separate, system architecture and control method are relative complex.
Safety is the focus of robot application.When power supply or source of the gas are cut off, robot tool exchanging device is still
Instrument can be firmly attached.The control of robot exchange tool can obtain easily controlling automatically by robot control software
System.Robot control software sends coupling or separated control instruction, control machine people's switch.It is but soft in order to prevent
Harm is produced when situations such as part is out of control, and accident power-off, source of the gas surprisingly lose occurs, it is necessary to which designing one kind has safety interlock function
Robot exchange exchange tool with avoid harm occur, safe operation.
The content of the invention
The object of the present invention is to a kind of air pressure driving robot switch is invented, being capable of robot end's realization operation
Simply, safe and reliable instrument function of exchange.
The present invention solve technical problem technical scheme be：A kind of air pressure driving robot switch, including robot
Side form block and tool side module.
The robot side form block include housing, robot side connecting plate, valve element, cam, upper limit circle, spring, lower limit circle,
Spring bumper cover, cam withdraw compressed air interface, cam stretches out compressed air interface, dormant bolt, valve core piston.
Air pressure driving robot switch is locked using the cam of robot side form block with the flange of tool side module
Mode couples, and the housing bottom plane of robot side form block is with the intracavity bottom plane of tool side module as locating surface.Pass through
Compressed air promotes the valve element of robot side form block down to move, and cam is withdrawn, and robot side form block and tool side module can be with
Separated；The valve element for promoting robot side form block by compressed air moves upwards, and cam stretches out, robot side form block and instrument
Side form block reaches the purpose that robot end firmly couples with instrument by camlock.
Due to the application of above-mentioned technical proposal, the present invention have compared with prior art it is following a little and effect：
1st, security is good, if switch compressed gas source suddenly disappears suddenly, spring elastic reaction bottom spool still
In extreme higher position, cam and flange can guarantee that reliable connection, the danger that switch will not separate, show very well
Self-locking property.
2nd, control mode is simple, by the inflated condition of the compressed air of two air inlets of control machine people's side form block,
The separation and connection of robot side form block and tool side module can be realized.
3rd, it is pollution-free, the motion of valve element is driven using air pressure, is produced without any pollution.
4th, easy-maintaining and maintenance, the parts of robot side form block can be dismantled easily, it is not necessary to special assembling
Instrument.
5th, versatility is good, as long as being fixedly connected different types of instrument in tool side module, the robot of robot end
Side form block can be just connected by setting tool side form block and different types of instrument.
Brief description of the drawings
Fig. 1 is robot side form block of the present invention.
Fig. 2 is inventive article side form block.
In figure：
1st, housing；2nd, robot side connecting plate；3rd, valve element；4th, cam；5th, upper limit circle；6th, spring；7th, lower limit circle；8th, spring
Cover plate；9th, cam withdraws compressed air interface；10th, cam stretches out compressed air interface；11st, dormant bolt；12nd, valve core piston；
13rd, tool side module.
Embodiment
Technical scheme is further described with reference to the accompanying drawings and examples.
As shown in figure 1, robot side form block of the present invention mainly by housing 1, robot side connecting plate 2, valve element 3,
Cam 4, upper limit circle 5, spring 6, lower limit circle 7, spring bumper cover 8, cam withdraw compressed air interface 9, cam stretches out compressed air
Interface 10, dormant bolt 11, valve core piston 12 form.The intracavity bottom support spring 6 of housing 1, the overlying lid spring cover plate 8 of spring 6,
Spring bumper cover 8 supports valve element 3, and the bottom of valve core piston 12 is in contact with the top of valve element 3, and the circular upper limit is fixed on the top of valve core piston 12
Circle 5, robot side connecting plate 2 is fixed with dormant bolt 11 and housing 1, and lower limit circle 7 is placed on the bottom of housing 1, and cam 4 is with can
Rotating manner is fixed on housing 1.Compressed air interface 9, the cavity of resorption installation in housing are withdrawn in the epicoele installation cam of housing 1
Cam stretches out compressed air interface 10.Valve core piston upper surface is fixedly connected with upper limit circle, valve core piston lower surface and spring cup
Plate is fixedly connected.
When robot end needs to separate with instrument, by withdrawing the injecting compressed air of compressed air interface 9 to cam,
The through hole that compressed air can pass through upper limit circle 5 is reached inside upper limit circle, and the upper space of valve core piston 12 is filled compressed air,
The top for acting on valve core piston 12 produces downward pressure, and under pressure promotion, valve element 3 moves downward, the groove on valve element 3
Band moving cam 4, cam 4 rotate to the centerline direction close to valve element 3, and when spring bumper cover 8 contacts with lower limit circle 7, cam 4 moves
Stop.Pass through the movement travel for the levelling valve core 3 that lower limit circle 7 is appropriately set, when valve element 3 stops moving downward, cam 4
Outer rim is just with the flush with outer surface of housing 1, and now, tool side module 13 can be separated smoothly with robot side form block.
3 cams 4, each 120 degree of cam interval are circumferentially uniformly distributed along housing.Pass through 3 cams and tool side module
13 flange is engaged, and adds the stability and reliability of locking.
It is empty by stretching out the injection compression of compressed air interface 10 to cam when robot end needs to couple with instrument
Gas, meanwhile, cam withdraws the pressure release of compressed air interface 9.The lower space of valve core piston 12 is filled compressed air, compressed air
The bottom generation for acting on valve core piston 12 upwards pressure, and under pressure promotion, valve element 3 moves upwards, the groove on valve element 3
Band moving cam 4, cam 4 rotate to the centerline direction away from valve element 3, and when spring bumper cover 8 contacts with upper limit circle 5, cam 4 moves
Stop.Pass through the movement travel for the levelling valve core 3 that upper limit circle 5 is appropriately set, when valve element 3 stops moving upwards, cam 4
The outer rim flange firm locking with tool side module 13 just, now, tool side module 13 are realized close with robot side form block
Connection.
When stretching out unexpected pressure release at compressed air interface 10 due to accidental cause, cam, cause the bottom of valve core piston 12
Space loses compressed air.Now due to design aspect the characteristics of, spring 6 are fixed on the upper of upper surface when valve body piston 12 promotes
When limit circle 5 contacts with robot side connecting plate 2, spring 6 is still in confined state.Valve element 3 is in irremovable state, therefore
Cam 4 will not rotate, so as to ensure the safe operation of system.
Robot side form block leaves the through hole of 3 or more than 3, and robot end passes through through hole with robot side form block
Bolt can be achieved with being fixedly connected for robot end and robot side form block.
As shown in Fig. 2 tool side module 13 of the present invention has flange, pass through the flange and machine of tool side module 13
The phase of cam 4 locking of device people's side form block, can be achieved with coupling for robot end and instrument.
Tool side module leaves the through hole of 3 or more than 3, and instrument just can be real by the bolt of through hole with tool side module
Existing tool side and instrument are fixedly connected.
Finally it should be noted that：The preferred embodiments of the present invention are the foregoing is only, are not intended to limit the invention,
Although the present invention is described in detail with reference to the foregoing embodiments, for those skilled in the art, it still may be used
To be modified to the technical scheme described in foregoing embodiments, or equivalent substitution is carried out to which part technical characteristic.
Within the spirit and principles of the invention, any modification, equivalent substitution and improvements made etc., it should be included in the present invention's
Within protection domain.
Claims (2)
1. a kind of robot tool exchanging device driven by air pressure, including robot side form block and tool side module, wherein robot
Side form block includes housing, robot side connecting plate, valve element, cam, upper limit circle, spring, lower limit circle, spring bumper cover, cam and withdrawn
Compressed air interface, cam stretch out compressed air interface, dormant bolt, it is characterized in that, housing bottom support spring, spring overlying
Lid spring cover plate, spring bumper cover support valve element, valve core piston bottom at the top of valve element with being in contact, circle is fixed on valve core piston top
Upper limit circle, robot side connecting plate are fixed with dormant bolt and housing, lower limit circle is placed on housing bottom, cam is with rotatable
Mode is fixed on housing, housing epicoele installation cam withdraw compressed air interface, housing cavity of resorption installation cam stretch
Go out compressed air interface.
2. robot tool exchanging device driven by air pressure according to claim 1, it is characterized in that, robot side connecting plate is
Circle, the through hole of 3 or more than 3 is distributed to be bolted with robot end in the surrounding of robot side connecting plate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710945640.3A CN107486867A (en) | 2017-10-12 | 2017-10-12 | Robot tool exchanging device driven by air pressure |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710945640.3A CN107486867A (en) | 2017-10-12 | 2017-10-12 | Robot tool exchanging device driven by air pressure |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107486867A true CN107486867A (en) | 2017-12-19 |
Family
ID=60653393
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710945640.3A Pending CN107486867A (en) | 2017-10-12 | 2017-10-12 | Robot tool exchanging device driven by air pressure |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107486867A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110900645A (en) * | 2019-12-10 | 2020-03-24 | 东莞市蓝企信息科技有限公司 | Quick replacement mechanism that robot gripper used |
| CN110900648A (en) * | 2019-12-10 | 2020-03-24 | 东莞市蓝企信息科技有限公司 | Robot and quick clamping mechanism of tongs thereof |
| CN110919680A (en) * | 2019-12-23 | 2020-03-27 | 南华大学 | Robot end effector rapid switching device and switching method |
| CN113161813A (en) * | 2021-04-27 | 2021-07-23 | 广西蓝天航空职业学院 | Robot tool quick-change device and tool library used by same |
| CN113478517A (en) * | 2021-07-12 | 2021-10-08 | 广东电网有限责任公司广州供电局 | Quick change device |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101863036A (en) * | 2010-05-09 | 2010-10-20 | 俞建峰 | Robot tool exchanging device driven by air pressure |
| CN103624767A (en) * | 2013-04-27 | 2014-03-12 | 张家港诺信自动化设备有限公司 | Operation type parallel robot |
-
2017
- 2017-10-12 CN CN201710945640.3A patent/CN107486867A/en active Pending
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101863036A (en) * | 2010-05-09 | 2010-10-20 | 俞建峰 | Robot tool exchanging device driven by air pressure |
| CN103624767A (en) * | 2013-04-27 | 2014-03-12 | 张家港诺信自动化设备有限公司 | Operation type parallel robot |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110900645A (en) * | 2019-12-10 | 2020-03-24 | 东莞市蓝企信息科技有限公司 | Quick replacement mechanism that robot gripper used |
| CN110900648A (en) * | 2019-12-10 | 2020-03-24 | 东莞市蓝企信息科技有限公司 | Robot and quick clamping mechanism of tongs thereof |
| CN110919680A (en) * | 2019-12-23 | 2020-03-27 | 南华大学 | Robot end effector rapid switching device and switching method |
| CN110919680B (en) * | 2019-12-23 | 2023-08-29 | 南华大学 | Quick connection and exchange device and connection and exchange method for robot end effector |
| CN113161813A (en) * | 2021-04-27 | 2021-07-23 | 广西蓝天航空职业学院 | Robot tool quick-change device and tool library used by same |
| CN113161813B (en) * | 2021-04-27 | 2023-03-10 | 广西蓝天航空职业学院 | Robot tool quick-change device and tool library used by same |
| CN113478517A (en) * | 2021-07-12 | 2021-10-08 | 广东电网有限责任公司广州供电局 | Quick change device |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107486867A (en) | Robot tool exchanging device driven by air pressure | |
| CN203541876U (en) | Three-degree-of-freedom anti-collision force sensor | |
| CN110666752B (en) | Combined deflection turntable with multiple working postures and combined mode | |
| CN210233096U (en) | Heavy-load mechanical arm for packaging box | |
| CN113001525B (en) | Parallel mechanism with rotatable axis mechanical arm and movement method | |
| CN105107660A (en) | Large-area paint spraying robot for vehicle surface spraying | |
| CN209111062U (en) | AGV vehicle-mounted mechanical hand | |
| CN101863036A (en) | Robot tool exchanging device driven by air pressure | |
| CN103785959A (en) | Anti-collision connector | |
| CN111216098A (en) | Automatic assembly robot device with clamping jaw | |
| CN103817698A (en) | Automobile coil spring press-demounting manipulator device and utilization method thereof | |
| CN207027093U (en) | A kind of Digit Control Machine Tool automatic loading and unloading robot | |
| CN206913164U (en) | A kind of multifunctional all mechanical arm | |
| CN203485193U (en) | Manipulator device | |
| CN208841444U (en) | A kind of automobile parts welding manipulator structure | |
| CN104647021A (en) | Six-degree-of-freedom adjustment removal and installation tool for equipment removal and installation in narrow space | |
| CN108942894B (en) | Series nine-degree-of-freedom spraying robot | |
| CN110695987A (en) | Passive compliant device for tail end of robot | |
| CN105835089A (en) | Robot tail end magnetism overload protection mechanism | |
| CN211590100U (en) | Automatic assembly robot device with clamping jaw | |
| CN211840724U (en) | Welding robot is used in auto-parts production | |
| CN104647361B (en) | A kind of filament filament assembling machine mechanical arm | |
| CN211388788U (en) | Passive compliant device for tail end of robot | |
| CN206967527U (en) | A kind of mechanical paw safety guard | |
| CN110948274B (en) | Screw structure with hydraulic protection function |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20171219 |
|
| WD01 | Invention patent application deemed withdrawn after publication |