CN110539319B - Robot tool quick-change system - Google Patents
Robot tool quick-change system Download PDFInfo
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- CN110539319B CN110539319B CN201811129612.5A CN201811129612A CN110539319B CN 110539319 B CN110539319 B CN 110539319B CN 201811129612 A CN201811129612 A CN 201811129612A CN 110539319 B CN110539319 B CN 110539319B
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- tool
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- instrument
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- 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
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- 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
- B25J19/0075—Means for protecting the manipulator from its environment or vice versa
- B25J19/0083—Means for protecting the manipulator from its environment or vice versa using gaiters
Abstract
The invention relates to a robot tool quick-change system which comprises a quick-change system support and a quick-change control system, wherein a tool positioning cantilever beam is arranged at the upper part of the quick-change system support, a tool positioning plate is arranged at the tool positioning end of the tool positioning cantilever beam, the quick-change control system comprises a PLC (programmable logic controller) module and a tool release safety switch, the tool release safety switch comprises a safety lock groove block and a safety key insertion sheet, the safety lock groove block is arranged on the tool positioning plate, the safety key insertion sheet is arranged on a robot tool, the robot hangs the robot tool on the tool positioning plate, the safety lock groove block is matched with the safety key insertion sheet to switch on the tool release safety switch, and the PLC module controls a hard control tool release electromagnetic valve of the robot to be powered on according to a switching-on signal of the tool release safety switch. The robot tool is judged whether to be placed in place or not by adopting the contact-conducting safety switch to replace the traditional sensor, and the robot tool has the characteristics of safety and reliability.
Description
Technical Field
The invention relates to a tool quick-change system of a robot, in particular to a robot tool quick-change system with improved safety performance, and belongs to the field of robot equipment.
Background
At present, in a common robot tool quick-change system, each tool uses 1 placing bracket, only 1 proximity sensor is arranged on each bracket and used for detecting whether the tool is placed in place, and only 1 output point is used for controlling a tool release valve on a robot. The existing placing support occupies a large space, a sensor on the support is easy to malfunction, for example, a tool carried by a maintenance worker is easy to trigger the sensor, so that the malfunction is caused. Moreover, only 1 output valve controls the tool release valve on the robot, once the operator operates the valve by mistake, the tool can fall off from the robot, and the tool is about 100 kilograms, which is most likely to cause casualties or property loss.
Disclosure of Invention
The invention discloses a quick change system of a robot tool, which adopts a contact-conducting safety switch to replace a traditional sensor to judge whether the robot tool is placed in place or not, and solves the problems of personal safety and property loss of personnel caused by misoperation of the sensor in the prior art.
The quick-change system for the robot tool comprises a quick-change system support and a quick-change control system, wherein a tool positioning cantilever beam is arranged at the upper part of the quick-change system support, a tool positioning plate is arranged at a tool positioning end of the tool positioning cantilever beam, the quick-change control system comprises a PLC (programmable logic controller) module and a tool release safety switch, the tool release safety switch comprises a safety lock groove block and a safety key insertion sheet, the safety lock groove block is arranged on the tool positioning plate, the safety key insertion sheet is arranged on the robot tool, the robot hangs the robot tool on the tool positioning plate, the safety lock groove block is matched with the safety key insertion sheet to be switched on to switch on the tool release safety switch, and the PLC module controls a hard control tool release electromagnetic valve of the robot to be switched on electrically according to a switching-on signal of the tool release safety switch.
Furthermore, a T-shaped tool positioning cantilever beam is arranged at the upper part of the quick-change system bracket of the scheme, a tool positioning plate A is arranged at one side tool positioning end of the T-shaped tool positioning cantilever beam, a tool positioning plate B is arranged at the other side tool positioning end of the T-shaped tool positioning cantilever beam, the tool releasing safety switch comprises a tool releasing safety switch A and a tool releasing safety switch B, the tool releasing safety switch A comprises a safety lock groove block A and a safety key inserting sheet A, the tool releasing safety switch B comprises a safety lock groove block B and a safety key inserting sheet B, the safety lock groove block A is arranged on the tool positioning plate A, the safety key inserting sheet A is arranged on a robot tool A, the robot hangs the robot tool A on the tool positioning plate A, the safety lock groove block A is matched with the safety key inserting sheet A to switch on the tool releasing safety switch A, and the safety lock groove block B is arranged on the tool positioning plate B, the safety key inserting piece B is arranged on a robot tool B, the robot hangs the robot tool B on a tool positioning plate B, the safety lock groove block B is matched with the safety key inserting piece B to be connected with a tool release safety switch B, and the PLC module controls a hard control tool release electromagnetic valve of the robot to be electrically connected according to connection signals of the tool release safety switch A and the tool release safety switch B.
Furthermore, the quick change control system of this scheme still includes the two return circuits of accuse safety firmly, the two return circuits of accuse safety include safety circuit A firmly, safety circuit B, safety circuit A includes the safety relay A of establishing ties, instrument release safety switch A, instrument release safety switch B, safety circuit B includes the safety relay B of establishing ties, driven switch A, driven switch B, driven switch A links with instrument release safety switch A, driven switch B links with instrument release safety switch B, the PLC module is according to the hard accuse instrument release solenoid valve of safety relay A and the signal control robot of safety relay B synchronous motion and is switched on by electric.
Further, the quick change control system of this scheme still includes soft accuse safety double circuit, soft accuse safety double circuit includes safety circuit C, safety circuit D, safety circuit C includes the safety relay C of establishing ties, driven switch C, safety circuit D includes the safety relay D of establishing ties, driven switch D, driven switch C and the reverse linkage of instrument release safety switch A, driven switch D and the reverse linkage of instrument release safety switch B, the PLC module is according to safety relay C, the instrument release safety switch A of safety relay D feedback, the signal control safety relay E that instrument release safety switch B switched on simultaneously switches on soft accuse instrument release solenoid valve and turns on electricity, the PLC module is according to hard accuse instrument release solenoid valve, soft accuse instrument release solenoid valve turns on electricity simultaneously and switches on signal control robot release robot instrument.
Further, the instrument locating plate of this scheme is vertical arranging, the upper end of instrument locating plate is equipped with locating pin A, locating pin B, the lower extreme of instrument locating plate is equipped with pinhole piece A, the robot tool articulates on the instrument locating plate through the instrument mounting panel, be equipped with locating pin hole A on the upper end "L" shape bent plate end of instrument mounting panel, locating pin hole B, the lower extreme of instrument mounting panel is equipped with locating pin C, locating pin A forms pin joint A with locating pin hole A, locating pin B forms pin joint B with locating pin hole B, pinhole piece A forms pin joint C with locating pin C, the instrument mounting panel passes through pin joint A with the instrument locating plate, pin joint B, pin joint C forms fixed the articulating.
Furthermore, the tool positioning cantilever beam is provided with a robot tool dustproof device, and a dustproof cover plate of the robot tool dustproof device is horizontally arranged above the position of the robot tool.
Furthermore, the dustproof cover plate of this scheme includes shell plate spare, and the cladding of one side that shell plate spare and robot tool are relative has dustproof sponge layer, and dustproof sponge layer prevents that external contamination granule from getting into the top module of robot tool.
Furthermore, the robot tool dustproof device of the scheme further comprises a cylinder rotation driving mechanism, the cylinder rotation driving mechanism comprises a rotating arm, one end of the rotating arm is connected with a rotation output shaft of the cylinder, the other end of the rotating arm is connected with a dustproof cover plate, and the cylinder driving rotating arm drives the dustproof cover plate to rotate upwards to erect or rotate downwards to reset.
Further, the quick change system support of this scheme includes the support bed plate, immediately is equipped with long tube-shape support pillar on the support bed plate, is equipped with deep floor between long tube-shape support pillar and the support bed plate.
The robot tool quick-change system adopts the contact-conducting safety switch to replace the traditional sensor to judge whether the robot tool is placed in place, and has the characteristics of safety and reliability.
Drawings
Fig. 1 is a block diagram of an embodiment of a quick change robot tool system of the present invention.
Fig. 2 is a structural diagram of the quick robot tool change system in fig. 1 after the robot tool a is removed.
Fig. 3 is a structural diagram of the quick robot tool change system in fig. 1 after the robot tool B is removed.
Fig. 4 is a structural view of the robot tool B.
Fig. 5 is a schematic diagram of a hard control safety double loop and a soft control safety double loop.
Fig. 6 is a schematic diagram of the lines of the hard control tool release solenoid valve and the soft control tool release solenoid valve.
The quick-change system comprises a quick-change system bracket 100, a tool positioning plate 110, a positioning pin A111, a positioning pin B112, a pin hole block A113, a tool release safety switch 120, a safety lock groove block 121, a safety key inserting sheet 122, a dust-proof cover plate 131, an air cylinder 132, a robot tool A210, a positioning pin hole A211, a positioning pin hole B212, a positioning pin C213 and a robot tool B220.
Detailed Description
The quick-change system for the robot tool comprises a quick-change system support and a quick-change control system, wherein a tool positioning cantilever beam is arranged at the upper part of the quick-change system support, a tool positioning plate is arranged at a tool positioning end of the tool positioning cantilever beam, the quick-change control system comprises a PLC (programmable logic controller) module and a tool release safety switch, the tool release safety switch comprises a safety lock groove block and a safety key insertion sheet, the safety lock groove block is arranged on the tool positioning plate, the safety key insertion sheet is arranged on the robot tool, the robot hangs the robot tool on the tool positioning plate, the safety lock groove block is matched with the safety key insertion sheet to be switched on to switch on the tool release safety switch, and the PLC module controls a hard control tool release electromagnetic valve of the robot to be switched on electrically according to a switching-on signal of the tool release safety switch. In order to increase the stability and the structural strength of the quick-change system support, the quick-change system support comprises a support base plate, a rectangular cylindrical support pillar is vertically arranged on the support base plate, and a reinforcing rib plate is arranged between the rectangular cylindrical support pillar and the support base plate. According to the scheme, the safety switch which is in contact conduction is adopted to replace a traditional sensor to judge whether the robot tool is placed in place, the condition that the sensor is easily triggered by mistake in the existing scheme is effectively avoided, and the safety and the stability of the equipment are improved.
In order to avoid outside harmful particle to invade the module at robot utensil top, be equipped with robot instrument dust keeper on the instrument location cantilever beam of this scheme, robot utensil dust keeper's dust cover board is flat to be put in the top of robot instrument's position. For the dustproof effect of further improve equipment, the dustproof cover plate of this scheme includes shell plate, and the one side cladding that shell plate is relative with the robot utensil has dustproof sponge layer, and dustproof sponge layer prevents that the external contamination granule from getting into the top module of robot instrument. Based on above-mentioned scheme, in order to improve the degree of automation of operation, the robot of being convenient for takes away or prevents the instrument, the robot possesses dust keeper of this scheme still includes cylinder rotation driving mechanism, and cylinder rotation driving mechanism includes the swinging boom, and the one end of swinging boom is connected with the rotatory output shaft of cylinder, and the other end and the dustproof cover plate of swinging boom are connected, and cylinder drive swinging boom drives the dustproof cover plate and upwards rotates to stick up or the rotatory resetting of downside.
The scheme also discloses a scheme of hanging two robot tools from left and right by adopting a bracket, as shown in figures 1-4, a T-shaped tool positioning cantilever beam is arranged at the upper part of the bracket of the quick-change system, a tool positioning plate A is arranged at one side tool positioning end of the T-shaped tool positioning cantilever beam, a tool positioning plate B is arranged at the other side tool positioning end of the T-shaped tool positioning cantilever beam, a tool releasing safety switch comprises a tool releasing safety switch A and a tool releasing safety switch B, the tool releasing safety switch A comprises a safety lock groove block A and a safety key inserting sheet A, the tool releasing safety switch B comprises a safety lock groove block B and a safety key inserting sheet B, the safety lock groove block A is arranged on the tool positioning plate A, the safety key inserting sheet A is arranged on the robot tool A, the robot hangs the robot tool A on the tool positioning plate A, the safety lock groove block A is matched with the safety key inserting sheet A to switch on the tool releasing safety switch A, the safety lock groove block B is arranged on the tool positioning plate B, the safety key insertion sheet B is arranged on the robot tool B, the robot hangs the robot tool B on the tool positioning plate B, the safety lock groove block B is matched with the safety key insertion sheet B to be connected with a tool release safety switch B, and the PLC module controls a hard control tool release electromagnetic valve of the robot to be powered on and connected according to connection signals of the tool release safety switch A and the tool release safety switch B.
Based on above-mentioned scheme, in order to prevent that relay or return circuit from adhesion trouble, this scheme has adopted the design of accuse safety double circuit firmly, as shown in fig. 5, quick change control system still includes accuse safety double circuit firmly promptly, accuse safety double circuit firmly includes safety circuit A, safety circuit B, safety circuit A includes the safety relay A of establishing ties, instrument release safety switch A, instrument release safety switch B, safety circuit B includes the safety relay B of establishing ties, driven switch A, driven switch B, driven switch A links with instrument release safety switch A, driven switch B links with instrument release safety switch B, the PLC module is according to the hard accuse instrument release solenoid valve of safety relay A and safety relay B simultaneous action's signal control robot and gets the electricity and switches on.
Based on the scheme, in order to prevent the tool from accidentally falling off from the robot due to the fault of the release solenoid valve or manual misoperation, the scheme adopts a soft control safety double-loop design, as shown in fig. 5 and 6, namely the quick-change control system also comprises a soft control safety double-loop, the soft control safety double-loop comprises a safety loop C and a safety loop D, the safety loop C comprises a safety relay C and a driven switch C which are connected in series, the safety loop D comprises a safety relay D and a driven switch D which are connected in series, the driven switch C is reversely linked with the tool release safety switch A, the driven switch D is reversely linked with the tool release safety switch B, the PLC module controls the safety relay E to be switched on to switch on the soft control tool to release the solenoid valve to be powered according to signals fed back by the safety relay C and the safety relay D, the tool release safety switch A and the tool release safety switch B are switched on simultaneously, the PLC module controls the robot to release the robot tool according to the simultaneous electric connection signals of the hard control tool release electromagnetic valve and the soft control tool release electromagnetic valve.
In order to make the robot tool can be firmly hung on the tool positioning plate of the bracket, the tool positioning plate is vertically arranged, the upper end of the tool positioning plate is provided with a positioning pin A and a positioning pin B, the lower end of the tool positioning plate is provided with a pin hole block A, the robot tool is hung on the tool positioning plate through a tool mounting plate, the upper end L-shaped curved plate end of the tool mounting plate is provided with a positioning pin hole A and a positioning pin hole B, the lower end of the tool mounting plate is provided with a positioning pin C, the positioning pin A and the positioning pin hole A form a pin joint A, the positioning pin B and the positioning pin hole B form a pin joint B, the pin hole block A and the positioning pin C form a pin joint C, the tool mounting plate and the tool positioning plate form a fixed hanging connection through the pin joint A, the pin joint B and the pin joint C.
The scheme discloses a robot tool quick-change system, which adopts a tool support to store two tools, and the tools and the tool support are positioned and connected by using three positioning pins, so that the field occupied area of the tool quick-change support is greatly reduced. In order to prevent dust, metal dust or other solid particles from entering a water module, an electric module and an air module on an ATC (automatic TOOL changer) auxiliary plate, a dust cover is arranged above the auxiliary plate, an outer shell of the dust cover is made of a plate, a piece of dust-proof sponge with compact texture is wrapped inside the dust cover, the dust cover is driven by a clamp cylinder, and the dust cover can be closed to 0 degree or opened to 135 degrees under the driving of an electromagnetic reversing valve. The standardized design is adopted for 90% of hardware in the scheme, and most of design workload can be reduced when various tools are used for quickly changing the support. This scheme has adopted safety switch as the detection sensor of instrument on the rack. The safety switch is a special sensor, has 4-level safety certification, and can be inserted into the safety switch (safety lock groove block) only by using a special safety bolt (safety key inserting sheet). Each tool is provided with 1 set of safety switches, and the safety bolt is inserted into the safety switch only when the tool is placed on the bracket.
When the tools on the two sides are all arranged on the placing rack (the quick-change system bracket), as shown in fig. 5, the safety loop is conducted, and the safety relay A and the safety relay B are simultaneously attracted. In order to prevent the relay or the safety circuit from generating adhesion faults, the safety circuit adopts a double-circuit design, and if 2 safety circuits are not simultaneously attracted or simultaneously disconnected, the safety relay can give an alarm to the PLC module and is locked. Before the double loops are not synchronized, the loops for controlling the release solenoid valve, as shown in fig. 6, cannot be powered, and the tool cannot be accidentally dropped due to adhesion problems. When any tool is not arranged on the placing rack, the safety switch A or the safety switch B can be disconnected, so that the safety circuit is disconnected, and the safety relay A and the safety relay B can not be attracted. The circuit for controlling the release solenoid valve will not be energized. Therefore, as long as the robot takes any tool away from the placing rack, the tool cannot be accidentally separated from the robot. The tool can only be disengaged when the robot replaces the tool in the rack.
This scheme has adopted 2 release solenoid valves to be used for controlling the instrument to break away from the robot, as shown in fig. 6, the hard controlled release solenoid valve by hardware loop control completely and the soft controlled release solenoid valve by PLC program control, only when 2 solenoid valves switched on simultaneously, the instrument just can break away from the robot. The use of 2 release solenoid valves can effectively reduce the accidental disengagement of the tool caused by solenoid valve failure or manual misoperation. Meanwhile, in the aspect of software, the robot sends the program signal of the release tool to the PLC module by using 2 IO signals, and the PLC module executes the program signal only when receiving the 2 IO signals. Meanwhile, the PLC module can also synchronously judge the 2 signals, if the 2 signals are not synchronous, the program can be locked, and only when the 2 signals are all OFF, the locking can be released and the re-execution can be carried out. The 2 signals can be synchronously turned ON only when a special program is executed, so that the 2 signals are prevented from being turned ON by people.
The robot tool quick-change system adopts a new tool placing structure, reduces the occupied space for placing tools, and improves the tool replacing speed and precision. This scheme is changed traditional proximity sensor (response metal) into safety switch, installs safety switch locally on the rack, installs the safety switch bolt on the instrument. When the tool is removed by the robot, the bolt is pulled out. When the tool is placed on the stand by the robot, the latch is inserted into the safety door switch. Because the bolt is special, the inadvertent misoperation can not occur. By installing 1 safety switch per placement position and making up a safety circuit, it is only possible to energize the tool release valve on the robot when all tools are on the rack. This scheme increases the control switch of the release valve on the robot from 1 to 2, only when 2 switches are opened simultaneously, and when safety circuit switched on, just let the robot release instrument. Meanwhile, the 2 switches are monitored in real time in the program, if the 2 switches are not opened simultaneously, but are opened firstly for 1 switch and then for 1 switch, the system automatically alarms, the release valve is locked, and the alarm can be reset only when the 2 switches are completely closed. Therefore, the tool falling accident caused by misoperation of personnel is effectively prevented. Because the simultaneous opening of 2 switches can only be realized by normal automatic program control, the simultaneous opening of 2 switches cannot be realized manually. Based on the above content, the space that the instrument was placed and is taken can effectively be reduced to this scheme, and the robot change instrument is more quick, accurate, has still prevented the sensor malfunction on the instrument rack to and the instrument accident that drops that artifical maloperation arouses, effectively avoided the emergence of accident. Based on the characteristics, compared with the existing similar scheme, the robot tool quick-change system has outstanding substantive characteristics and remarkable progress.
The robot tool quick-change system of the present solution is not limited to the disclosure in the specific embodiment, the technical solutions presented in the embodiments can be extended based on the understanding of those skilled in the art, and the simple alternatives made by those skilled in the art according to the present solution in combination with the common general knowledge also belong to the scope of the present solution.
Claims (9)
1. The utility model provides a robot instrument quick change system, characterized by includes quick change system support, quick change control system, the upper portion of quick change system support is equipped with instrument location cantilever beam, the instrument location end of instrument location cantilever beam is equipped with the instrument locating plate, quick change control system includes PLC module, instrument release safety switch includes safety lock groove piece, safety key inserted sheet, the safety lock groove piece is established on the instrument locating plate, safety key inserted sheet is established on the robot instrument, the robot will the robot instrument articulates on the instrument locating plate, safety lock groove piece with safety key inserted sheet cooperation switch-on the instrument release safety switch, the PLC module basis the hard accuse instrument release solenoid valve of instrument release safety switch's switch-on signal control robot gets electric switch-on.
2. The robot tool quick-change system according to claim 1, wherein a T-shaped tool positioning cantilever beam is arranged at the upper part of the quick-change system support, a tool positioning plate A is arranged at one side tool positioning end of the T-shaped tool positioning cantilever beam, a tool positioning plate B is arranged at the other side tool positioning end of the T-shaped tool positioning cantilever beam, the tool releasing safety switch comprises a tool releasing safety switch A and a tool releasing safety switch B, the tool releasing safety switch A comprises a safety lock groove block A and a safety key inserting sheet A, the tool releasing safety switch B comprises a safety lock groove block B and a safety key inserting sheet B, the safety lock groove block A is arranged on the tool positioning plate A, the safety key inserting sheet A is arranged on the robot tool A, and the robot hangs the robot tool A on the tool positioning plate A, safety lock slot piece A with safety key inserted sheet A cooperation switch-on instrument release safety switch A, safety lock slot piece B is established on the instrument locating plate B, safety key inserted sheet B is established on robot instrument B, and the robot will robot instrument B articulates on the instrument locating plate B, safety lock slot piece B with safety key inserted sheet B cooperation switch-on instrument release safety switch B, the PLC module basis the hard accuse instrument release solenoid valve of instrument release safety switch A, instrument release safety switch B gets electric switch-on.
3. The quick-change system for the robotic tool according to claim 2, wherein the quick-change control system further comprises a hard-control safety double circuit, the hard-control safety double circuit comprises a safety circuit A and a safety circuit B, the safety circuit A comprises a safety relay A, a tool release safety switch A and a tool release safety switch B which are connected in series, the safety circuit B comprises a safety relay B, a driven switch A and a driven switch B which are connected in series, the driven switch A is linked with the tool release safety switch A, the driven switch B is linked with the tool release safety switch B, and the PLC module controls the hard-control tool release solenoid valve of the robot to be powered on according to the signal of the synchronous action of the safety relay A and the safety relay B.
4. The quick-change system for robotic tools according to claim 2, further comprising a soft-control safety dual-loop, wherein the soft-control safety dual-loop comprises a safety loop C and a safety loop D, the safety loop C comprises a safety relay C and a driven switch C which are connected in series, the safety loop D comprises a safety relay D and a driven switch D which are connected in series, the driven switch C is reversely linked with the tool-releasing safety switch A, the driven switch D is reversely linked with the tool-releasing safety switch B, the PLC module controls the safety relay E to switch on the soft-control tool-releasing solenoid valve according to the signals fed back by the safety relay C and the safety relay D that the tool-releasing safety switch A and the tool-releasing safety switch B are simultaneously switched on, and the PLC module controls the soft-control tool-releasing solenoid valve to be powered on according to the signals fed back by the hard-control tool-releasing solenoid valve, And the soft control tool release electromagnetic valve simultaneously obtains an electric connection signal to control the robot to release the robot tool.
5. The quick-change system for robot tools according to claim 1, wherein the tool positioning plate is vertically arranged, the upper end of the tool positioning plate is provided with a positioning pin A and a positioning pin B, the lower end of the tool positioning plate is provided with a pin hole block A, the robot tool is hung on the tool positioning plate through a tool mounting plate, the upper end L-shaped curved plate end of the tool mounting plate is provided with a positioning pin hole A and a positioning pin hole B, the lower end of the tool mounting plate is provided with a positioning pin C, the positioning pin A and the positioning pin hole A form a pin joint A, the positioning pin B and the positioning pin hole B form a pin joint B, the pin hole block A and the positioning pin C form a pin joint C, and the tool mounting plate and the tool positioning plate are fixedly hung through the pin joint A, the pin joint B and the pin joint C.
6. The quick robot tool change system according to claim 1, wherein a robot tool dust guard is provided on the tool positioning cantilever beam, the dust guard plate of the robot tool dust guard lying above the position of the robot tool.
7. The quick robot tool change system according to claim 6, wherein the dust shield comprises a housing plate, the side of the housing plate opposite the robot tool being coated with a dust sponge layer, the dust sponge layer preventing external contaminating particles from entering the top module of the robot tool.
8. The quick-change system for robot tools according to claim 6, wherein the dust-proof device for robot tools further comprises a cylinder rotation driving mechanism, the cylinder rotation driving mechanism comprises a rotating arm, one end of the rotating arm is connected with a rotation output shaft of a cylinder, the other end of the rotating arm is connected with the dust-proof cover plate, and the cylinder drives the rotating arm to drive the dust-proof cover plate to rotate upwards and erect or rotate downwards for resetting.
9. The quick-change system for robot tools according to claim 1, wherein the quick-change system support comprises a support base plate, a rectangular cylindrical support pillar is vertically arranged on the support base plate, and a reinforcing rib plate is arranged between the rectangular cylindrical support pillar and the support base plate.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201811129612.5A CN110539319B (en) | 2018-09-27 | 2018-09-27 | Robot tool quick-change system |
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| CN201811129612.5A CN110539319B (en) | 2018-09-27 | 2018-09-27 | Robot tool quick-change system |
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| CN110539319B true CN110539319B (en) | 2021-10-15 |
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| CN113084856B (en) * | 2021-04-20 | 2022-08-30 | 安徽华菱汽车有限公司 | Robot quick-change anti-drop protection system, installation method and protection implementation method |
| CN113500338A (en) * | 2021-07-20 | 2021-10-15 | 东风汽车股份有限公司 | Standardized gripper switching device and using method thereof |
| CN113500336A (en) * | 2021-07-20 | 2021-10-15 | 东风汽车股份有限公司 | Flexible positioning fixture for side wall |
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| CN206795857U (en) * | 2017-05-11 | 2017-12-26 | 深圳市利和兴股份有限公司 | Quick-changing type mechanical paw |
| CN207172101U (en) * | 2017-08-25 | 2018-04-03 | 苏州工业园区耐斯达自动化技术有限公司 | Quick fixture replacing device |
| CN207206414U (en) * | 2017-09-21 | 2018-04-10 | 基点维科(成都)医疗机器人技术有限公司 | Sample holder quick change connection device and the sample holder with quick change connection device |
-
2018
- 2018-09-27 CN CN201811129612.5A patent/CN110539319B/en active Active
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| CN110539319A (en) | 2019-12-06 |
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