CN108673546A - A kind of robot exchange tool system - Google Patents
A kind of robot exchange tool system Download PDFInfo
- Publication number
- CN108673546A CN108673546A CN201810756131.0A CN201810756131A CN108673546A CN 108673546 A CN108673546 A CN 108673546A CN 201810756131 A CN201810756131 A CN 201810756131A CN 108673546 A CN108673546 A CN 108673546A
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- robot
- tool
- ontology
- cavity
- spring
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- 229910000831 Steel Inorganic materials 0.000 claims abstract description 28
- 239000010959 steel Substances 0.000 claims abstract description 28
- 230000000694 effects Effects 0.000 abstract description 6
- 230000006835 compression Effects 0.000 abstract description 3
- 238000007906 compression Methods 0.000 abstract description 3
- 239000012636 effector Substances 0.000 description 6
- 238000004519 manufacturing process Methods 0.000 description 3
- 238000003466 welding Methods 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 208000002925 dental caries Diseases 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 230000002093 peripheral effect Effects 0.000 description 2
- 239000012237 artificial material Substances 0.000 description 1
- 238000002788 crimping Methods 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 235000013399 edible fruits Nutrition 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000004806 packaging method and process Methods 0.000 description 1
- 238000004080 punching Methods 0.000 description 1
- 230000008439 repair process Effects 0.000 description 1
- 230000006641 stabilisation Effects 0.000 description 1
- 238000011105 stabilization Methods 0.000 description 1
- 238000002604 ultrasonography Methods 0.000 description 1
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
- B25J15/0408—Connections means
- B25J15/0416—Connections means having balls
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of robot exchange tool systems, use air pressure locking and back off tool, it ensure that the stability of tool and the operation stationarity of tool, and carry out promptly and fix by using five steel balls, while can increase steel ball quantity according to the weight of product, but it is odd number to be to maintain steel ball quantity always, to ensure robot firmly grasp stationarity and safety, uniform force simultaneously, effect promptly is more preferable, extends the service life of tool and robot exchange tool；The robot exchange system of the present invention, using fixed tool system, robot tool is improved to card slot type structure using spring and system this body structure, it is lifted from side by the active force of robot, pass through the force compression spring of robot when putting, in systems by robot tool clamping lock, tool is proposed from card slot also with the active force of robot when carrying.
Description
Technical field
The present invention relates to a kind of exchange tool systems, and in particular to a kind of robot exchange tool system.
Background technology
Robot tool fast replacing device makes machine by making robot replace different end effector or peripheral equipment automatically
The application of device people is more flexible.These end effectors and peripheral equipment include such as spot-welding gun, handgrip, vacuum tool, gas
Dynamic and electro-motor etc..Tool fast replacing device includes that a robot side is used for being mounted on robot arm, further includes one
Tool side is used for being mounted on end effector.Tool fast replacing device can allow different media such as gas, electric signal, liquid
Body, video, ultrasound etc. are communicated to end effector from robot arm.The advantages of robot tool fast replacing device, is：
1. production line replacement can be completed in a few seconds；
2. maintenance and repair tool can substantially reduce downtime with quick-replaceable；
3. by using more than one end effector in the application, to make flexible increase；
4. using the automatic end effector for exchanging simple function, executed instead of the multi-functional tooling of original bulky complex
Device.
Robot tool fast replacing device enables individual machine people to be exchanged during manufacturing and equipping and uses different ends
It holds actuator to increase flexible, is widely used in automatic spot, arc-welding, material snatch, punching press, detection, crimping, assembly, material
The operations such as removal, deburred, packaging.In addition, tool fast replacing device can be provided for tool in some important applications it is standby
Part tool, effectively avoids accident.A few hours are manually needed to replace tool relatively, tool fast replacing device replaces cutfit automatically
It can just be completed within the several seconds.Meanwhile the device is also widely used in some non-robot fields, including gantry system,
Flexible fixture, artificial spot welding and artificial material snatch.
But existing technology is to carry out whole tool using four steel balls to fix, steel ball quantity is even number, Wu Fabao
The stationarity and safety that robot is firmly grasped are demonstrate,proved, while stress is not uniform enough, is unable to reach the effect of the service life of extension tool
Fruit；The prior art puts the exchange tool of robot on an operating system, and the undesirable effect of generation is exactly the operation of robot
Work the active force generated by the handling of robot, and the position of robot tool can shift, to influence robot tool
Decline working efficiency when exchange, the accident that seriously will produce in production occurs.
Invention content
The present invention provides a kind of robot exchange tool system, solves the problems in background technology.
In order to solve the above technical problem, the present invention provides the following technical solutions：
A kind of robot exchange tool system of the present invention, including No.1 ontology and No. two ontologies, the No.1 ontology and two
The inside of number ontology is respectively provided with that there are five cavitys, and all intrinsic cavitys of No.1 are opposite with the cavity of No. two ontologies
It answers, the top of No. two ontologies is arranged in the No.1 ontology, and the bottom end of No.1 ontology is fastened on the cavity of No. two body interiors
Interior, the cavity inside of the No.1 ontology is both provided with piston rod and spring, and the top of the spring is each attached to No.1 ontology
Cavity top, the piston rod is arranged at the lower section of spring, and the bottom end of the spring is fixed on the inside of piston rod,
The side of the bottom end of the piston rod is both provided with movable steel ball, and the outside side of the steel ball is both provided with movable steel
Circle；The side of the cavity of the No.1 ontology offers locking stomata and unclamps stomata, the locking stomata and release stomata
Outlet side be connected with the cavity of No.1 ontology.
As a preferred technical solution of the present invention, the top of the cavity of the No.1 ontology is respectively and fixedly provided with fixed block,
The top of the spring is fixed on the lower face of fixed block.
As a preferred technical solution of the present invention, the locking stomata is arranged at the top of the cavity of No.1 ontology
End.
As a preferred technical solution of the present invention, the release stomata is arranged in the cavity of No.1 ontology
Portion.
As a preferred technical solution of the present invention, the height of the piston rod is less than the height of the cavity of No.1 ontology
Degree.
The advantageous effect that is reached of the present invention is：Air pressure locking and back off tool are used, ensure that the stability of tool
And the operation stationarity of tool, and carry out promptly and fix by using five steel balls, while can be according to the weight of product
Steel ball quantity can be increased, but be to maintain always steel ball quantity be odd number, to ensure robot firmly grasp stationarity and safety,
Uniform force simultaneously, effect promptly is more preferable, extends the service life of tool and robot exchange tool；The robot of the present invention
Robot tool is improved to card slot type knot using fixed tool system by exchange system using spring and system this body structure
Structure is lifted by the active force of robot from side, by the force compression spring of robot when putting, machine is artificial
Have clamping lock in systems, proposes tool from card slot also with the active force of robot when carrying.
Description of the drawings
Attached drawing is used to provide further understanding of the present invention, and a part for constitution instruction, the reality with the present invention
It applies example to be used to explain the present invention together, not be construed as limiting the invention.
In the accompanying drawings：
Fig. 1 is a kind of sectional view of robot exchange tool system of the present invention；
Fig. 2 is a kind of placement figure of the steel ball of robot exchange tool system of the present invention；
Fig. 3 is a kind of hookup of the piston rod and steel ball of robot exchange tool system of the present invention；
In figure：1, No.1 ontology；2, No. two ontologies；3, steel ring；4, steel ball；5, piston rod；6, spring；7, stomata is locked；
8, stomata is unclamped.
Specific implementation mode
Hereinafter, preferred embodiments of the present invention will be described with reference to the accompanying drawings, it should be understood that preferred reality described herein
Apply example only for the purpose of illustrating and explaining the present invention and is not intended to limit the present invention.
Embodiment：As shown in Figs. 1-3, a kind of robot exchange tool system of the present invention, including No.1 ontology 1 and No. two sheets
The inside of body 2, No.1 ontology 1 and No. two ontologies 2 is respectively provided with there are five cavity, and the cavity in all No.1 ontologies 1 with
The cavity of No. two ontologies 2 is corresponding, and the top of No. two ontologies 2 is arranged in No.1 ontology 1, and the bottom end of No.1 ontology 1 is fastened on
In cavity inside No. two ontologies 2, the cavity inside of No.1 ontology 1 is both provided with piston rod 5 and spring 6, and the top of spring 6 is equal
It is fixed on the top of the cavity of No.1 ontology 1, piston rod 5 is arranged at the lower section of spring 6, and the bottom end of spring 6 is fixed on work
The side of the inside of stopper rod 5, the bottom end of piston rod 5 is both provided with movable steel ball 4, and the outside side of steel ball 4 is both provided with work
Dynamic steel ring 3；The side of the cavity of No.1 ontology 1 offers locking stomata 7 and unclamps stomata 8, locks stomata 7 and unclamps gas
The outlet side in hole 8 is connected with the cavity of No.1 ontology 1, locks 7 air inlet of stomata, under the action of spring 6 is with locking stomata 7
Push piston rod 5 down, piston rod 5 pushes steel ball 4 to move outward, locks steel ring 3, and No.1 ontology 1 is combined into No. two ontologies 2
One；8 air inlet of stomata is unclamped, piston rod 5 is pushed up under the action of unclamping stomata 8, piston rod 5, which is cancelled, pushes steel ball 4
Power, steel ball 4 move inward, and No.1 ontology 1 is separated with No. two ontologies 2.
The top of the cavity of No.1 ontology 1 is respectively and fixedly provided with fixed block, and the top of spring 6 is fixed on the lower face of fixed block.
Locking stomata 7 is arranged at the top of the cavity of No.1 ontology 1.
Unclamp the middle part that stomata 8 is arranged at the cavity of No.1 ontology 1.
The height of piston rod 5 is less than the height of the cavity of No.1 ontology 1.
A kind of this kind of robot exchange tool system, uses air pressure locking and back off tool, ensure that the stabilization of tool
Property and tool operation stationarity, and carry out by using five steel balls it is promptly and fixed, while can be according to the weight of product
Amount can increase steel ball quantity, but it is odd number to be to maintain steel ball quantity always, to ensure the stationarity and safety of robot promptly
Property, while uniform force, effect promptly are more preferable, extend the service life of tool and robot exchange tool；The machine of the present invention
Robot tool is improved to card slot using fixed tool system by device people's exchange system using spring and system this body structure
Formula structure is lifted by the active force of robot from side, by the force compression spring of robot when putting, by machine
Artificial tool clamping lock in systems, proposes tool also with the active force of robot when carrying from card slot.
Finally it should be noted that：The foregoing is only a preferred embodiment of the present invention, is not intended to restrict the invention,
Although the present invention is described in detail referring to the foregoing embodiments, for those skilled in the art, still may be used
With technical scheme described in the above embodiments is modified or equivalent replacement of some of the technical features.
All within the spirits and principles of the present invention, any modification, equivalent replacement, improvement and so on should be included in the present invention's
Within protection domain.
Claims (5)
1. a kind of robot exchange tool system, including No.1 ontology (1) and No. two ontologies (2), which is characterized in that the No.1
The inside of ontology (1) and No. two ontologies (2) is respectively provided with there are five cavity, and the cavity in all No.1 ontologies (1) is with two
The cavity of number ontology (2) is corresponding, and the top of No. two ontologies (2), and the bottom of No.1 ontology (1) is arranged in the No.1 ontology (1)
End is fastened in the internal cavity of No. two ontologies (2), and the cavity inside of the No.1 ontology (1) is both provided with piston rod (5)
With spring (6), the top of the spring (6) is each attached to the top of the cavity of No.1 ontology (1), and the piston rod (5) is all provided with
The lower section in spring (6) is set, and the bottom end of the spring (6) is fixed on the inside of piston rod (5), the bottom of the piston rod (5)
The side at end is both provided with movable steel ball (4), and the outside side of the steel ball (4) is both provided with movable steel ring (3)；It is described
The side of the cavity of No.1 ontology (1) offers locking stomata (7) and unclamps stomata (8), the locking stomata (7) and release
The outlet side of stomata (8) is connected with the cavity of No.1 ontology (1).
2. a kind of robot exchange tool system according to claim 1, which is characterized in that the No.1 ontology (1)
The top of cavity is respectively and fixedly provided with fixed block, and the top of the spring (6) is fixed on the lower face of fixed block.
3. a kind of robot exchange tool system according to claim 1, which is characterized in that the locking stomata (7) is equal
It is arranged on the top of the cavity of No.1 ontology (1).
4. a kind of robot exchange tool system according to claim 1, which is characterized in that the release stomata (8) is equal
It is arranged at the middle part of the cavity of No.1 ontology (1).
5. a kind of robot exchange tool system according to claim 1, which is characterized in that the height of the piston rod (5)
Height of the degree less than the cavity of No.1 ontology (1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810756131.0A CN108673546A (en) | 2018-07-11 | 2018-07-11 | A kind of robot exchange tool system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810756131.0A CN108673546A (en) | 2018-07-11 | 2018-07-11 | A kind of robot exchange tool system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108673546A true CN108673546A (en) | 2018-10-19 |
Family
ID=63813900
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810756131.0A Withdrawn CN108673546A (en) | 2018-07-11 | 2018-07-11 | A kind of robot exchange tool system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108673546A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112248020A (en) * | 2020-10-10 | 2021-01-22 | 安徽工业大学 | Quick automatic interface device of end execution device of mechanical arm |
| CN113021040A (en) * | 2021-05-19 | 2021-06-25 | 深圳市强瑞精密装备有限公司 | Clamping mechanism |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN204658462U (en) * | 2015-04-22 | 2015-09-23 | 上海快点机器人科技有限公司 | Robot quick-change tool device |
| CN105666512A (en) * | 2016-04-05 | 2016-06-15 | 山东大学 | Rapid robot end change device and method |
| CN206048233U (en) * | 2016-10-13 | 2017-03-29 | 侯治国 | A kind of robot workpiece automatic quick changing device and the robot using which |
| CN208663841U (en) * | 2018-07-11 | 2019-03-29 | 江苏宇邦工业自动化系统有限公司 | A kind of robot exchange tool system |
-
2018
- 2018-07-11 CN CN201810756131.0A patent/CN108673546A/en not_active Withdrawn
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN204658462U (en) * | 2015-04-22 | 2015-09-23 | 上海快点机器人科技有限公司 | Robot quick-change tool device |
| CN105666512A (en) * | 2016-04-05 | 2016-06-15 | 山东大学 | Rapid robot end change device and method |
| CN206048233U (en) * | 2016-10-13 | 2017-03-29 | 侯治国 | A kind of robot workpiece automatic quick changing device and the robot using which |
| CN208663841U (en) * | 2018-07-11 | 2019-03-29 | 江苏宇邦工业自动化系统有限公司 | A kind of robot exchange tool system |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112248020A (en) * | 2020-10-10 | 2021-01-22 | 安徽工业大学 | Quick automatic interface device of end execution device of mechanical arm |
| CN112248020B (en) * | 2020-10-10 | 2022-03-29 | 安徽工业大学 | Quick automatic interface device of end execution device of mechanical arm |
| CN113021040A (en) * | 2021-05-19 | 2021-06-25 | 深圳市强瑞精密装备有限公司 | Clamping mechanism |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20181019 |
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| WW01 | Invention patent application withdrawn after publication |