CN114030010A - Positioning device and jig library - Google Patents
Positioning device and jig library Download PDFInfo
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- CN114030010A CN114030010A CN202111560292.0A CN202111560292A CN114030010A CN 114030010 A CN114030010 A CN 114030010A CN 202111560292 A CN202111560292 A CN 202111560292A CN 114030010 A CN114030010 A CN 114030010A
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- 238000009434 installation Methods 0.000 description 13
- 230000008859 change Effects 0.000 description 5
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- 230000009471 action Effects 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 210000003437 trachea Anatomy 0.000 description 3
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- 235000008331 Pinus X rigitaeda Nutrition 0.000 description 1
- 235000011613 Pinus brutia Nutrition 0.000 description 1
- 241000018646 Pinus brutia Species 0.000 description 1
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- 238000012986 modification Methods 0.000 description 1
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- 229910001220 stainless steel Inorganic materials 0.000 description 1
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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
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Abstract
The invention relates to a positioning device and a jig library. The positioning device comprises a positioning block and a positioning assembly, wherein the positioning block comprises a body and a positioning bulge arranged on the edge of the body; the one end of body is used for fixed tool, the other end of body be used for with the robot can dismantle the connection, locating component has and holds the accommodation space of locating piece, one side that locating component is close to accommodation space be equipped with the constant head tank that accommodation space is linked together, the location arch is used for inserting and establishes in the constant head tank, and follow the bellied direction of inserting of location, the equivalent diameter of constant head tank reduces gradually, the bellied shape in location with the shape phase-match of constant head tank. The positioning device can ensure the jig to be accurately aligned when the jig is dismounted by the robot, so that the jig can be quickly replaced by the robot.
Description
Technical Field
The invention relates to the technical field of automation equipment, in particular to a positioning device and a jig library.
Background
With the continuous rise of labor cost, factories in various industries generally have the phenomenon of changing from manual production to automatic production, industrial robots are indispensable automation equipment in the automatic production, and more enterprises put forward the technology and equipment for introducing the intelligent automation of the robots.
With the development of automation technology, one robot can not meet the actual production requirements by using one set of jig to complete one type of work, and the general trend of automatic production is that one robot corresponds to a plurality of sets of jigs of different types. When the robot changes the tool, the robot is usually required to unload the tool which is not needed at the designated position of the tool library, then the control system positions the precise coordinate of the required tool in the tool library, and finally the robot is controlled to move to the coordinate and change the required tool. In order to enable the removed jig to be accurately positioned by the control system when the removed jig is used next time, the robot needs to ensure that the removed jig can be accurately aligned to a specified position when the jig is removed.
Disclosure of Invention
Therefore, there is a need for a positioning device and a tool magazine, wherein the positioning device can ensure that the tools are accurately aligned when the robot unloads the tools, so that the robot can rapidly replace the tools.
On the one hand, this application provides a positioner for the robot changes the tool, includes:
the positioning block comprises a body and a positioning bulge arranged on the edge of the body; one end of the body is used for connecting a jig, the other end of the body is used for being detachably connected with the robot,
the positioning assembly is provided with an accommodating space for accommodating the positioning block, one side of the positioning assembly, which is close to the accommodating space, is provided with a positioning groove communicated with the accommodating space, the positioning protrusion is used for being inserted into the positioning groove, and along the insertion direction of the positioning protrusion, the equivalent diameter of the positioning groove is gradually reduced, and the shape of the positioning protrusion is matched with that of the positioning groove.
The technical solution of the present application is further described below:
in one embodiment, the body has a first edge and a second edge arranged at an included angle, the first edge and the second edge are both provided with the positioning protrusions, the positioning assembly includes a first positioning seat corresponding to the first edge and a second positioning seat corresponding to the second edge, the first positioning seat and the second positioning seat are both provided with the positioning grooves, the positioning protrusions of the first edge are used for being inserted into the positioning grooves of the first positioning seat, and the positioning protrusions of the second edge are used for being inserted into the positioning grooves of the second positioning seat.
In one embodiment, the body further comprises a third edge arranged opposite and parallel to the second edge, and the third edge is provided with the positioning protrusion; the positioning assembly further comprises a third positioning seat corresponding to the third edge, the third positioning seat is provided with the positioning groove, and the positioning bulge on the third edge is used for being inserted into the positioning groove of the third positioning seat.
In one embodiment, the first positioning seat, the second positioning seat and the third positioning seat enclose together to form the accommodating space, and one side of the accommodating space opposite to the first positioning seat is provided with an opening for avoiding the jig.
In one embodiment, the first positioning seat is movably arranged along a first direction, and the second positioning seat and the third positioning seat are movably arranged along a second direction; wherein the first direction is parallel to the first edge, and the second direction is parallel to the second edge and the third edge.
In one embodiment, the first positioning seat is provided with a first installation groove extending along the first direction, and the first installation groove is used for penetrating a first connecting piece to fix the first positioning seat; the second positioning seat is provided with a second mounting groove extending along the second direction, and the second mounting groove is used for penetrating a second connecting piece to fix the second positioning seat; the third positioning seat is provided with a third mounting groove extending along the second direction, and the third mounting groove is used for penetrating a third connecting piece to fix the third positioning seat.
In one embodiment, the groove wall of the positioning groove includes a first inclined surface and a second inclined surface which are oppositely arranged, and a third inclined surface which connects the first inclined surface and the second inclined surface, the distance between the first inclined surface and the second inclined surface gradually decreases along the insertion direction of the positioning protrusion, the positioning groove has a notch which is used for communicating the accommodating cavity, the third inclined surface is oppositely arranged with the notch, and the distance from the third inclined surface to the notch gradually decreases along the insertion direction of the positioning protrusion.
In one embodiment, a joint of the first inclined surface and the third inclined surface and a joint of the second inclined surface and the third inclined surface are provided with round corners.
In one embodiment, the body is provided with a first mounting hole for mounting a quick change disc; and/or a second mounting hole for mounting the jig is formed in the body, and the second mounting hole is a counter bore; and/or a third mounting hole matched with the pin key is formed in the body; and/or, a wire casing for accommodating the jig wire pipe is arranged on the body.
On the other hand, this application still provides a tool storehouse, including the workstation, the workstation is equipped with two at least tool places the position that is used for placing the tool, every the tool places the position and all is equipped with foretell positioner.
The positioning device, namely the jig library, is characterized in that the jig is provided with a positioning block, and the positioning block is provided with a positioning bulge; set up locating component through the tool of placing the position at the tool storehouse again, and set up on locating component be used for with the protruding complex constant head tank of location, when the robot releases the tool to the tool places the position, through making the location arch insert in the constant head tank, because along the protruding direction of inserting of location, the constant head tank equivalent diameter of constant head tank reduces gradually, thereby can play the guide effect to locating piece and with positioning block connection's tool, even the robot is when lifting the tool off, the tool fails to aim at the center that the tool placed the position completely, also can make the tool fall back to the true position through the guide effect of location arch and constant head tank, and then realized the tool accuracy that will lift off counterpoint, so that use next time.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the invention and, together with the description, serve to explain the invention and not to limit the invention.
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
FIG. 1 is a schematic structural diagram of a tool library according to an embodiment;
FIG. 2 is an enlarged view of a portion A shown in FIG. 1;
fig. 3 is a partial enlarged view of a portion B shown in fig. 1;
FIG. 4 is an exploded view of the positioning device according to one embodiment;
FIG. 5 is a schematic structural view of a second positioning socket of the positioning device shown in FIG. 4;
fig. 6 is a top view of the positioning device shown in fig. 4.
Description of reference numerals:
10. a positioning device; 11. positioning blocks; 111. a body; 1111. a first edge; 1112. a second edge; 1113. a third edge; 112. positioning the projection; 113. a first mounting hole; 114. a second mounting hole; 115. a third mounting hole; 116. a wire slot; 12. a positioning assembly; 120. positioning a groove; 1201. an accommodating space; 1202. an opening; 121. a first positioning seat; 1211. a first mounting groove; 122. a second positioning seat; 1221. a second mounting groove; 123. a third positioning seat; 1231. a third mounting groove; 124. a first inclined surface; 125. a second inclined surface; 126. a third inclined surface; 127. a notch; 20. a work table; 21. a jig placing position; 22. avoiding the mouth; 31. the disc is quickly replaced.
Detailed Description
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein.
One aspect of the present application provides a tool magazine for storing tools. Specifically, referring to fig. 1, fig. 1 shows a schematic structural diagram of a tool magazine according to an embodiment of the present invention, where the tool magazine includes a workbench 20, and at least two tool placement positions 21 for placing tools are disposed on the workbench 20. Preferably, the different jig placing locations 21 are respectively used for storing different jigs. When the robot needs to replace the jig, the old jig needs to be unloaded to the designated jig placing position 21, and then the robot moves to the new jig placing position 21 to clamp the new jig under the control of the control system. In order to ensure that the unloaded jig can be accurately butted with the robot when being used next time, the unloaded jig needs to be accurately aligned when being placed into the jig placing position 21. Based on this, this application on the other hand still provides a positioner 10, and positioner 10 sets up on tool places the position 21 for when the robot changes the tool, make the tool that unloads down can place the position 21 accurate counterpoint with the tool.
Specifically, referring to fig. 2 to 6, the positioning device 10 includes a positioning block 11 and a positioning assembly 12, wherein the positioning block 11 includes a body 111 and a positioning protrusion 112 disposed at an edge of the body 111; the body 111 includes a first end surface and a second end surface opposite to each other, the first end surface is used for fixing the jig, the second end surface is used for being detachably connected with the robot, for example, in this embodiment, the second end surface is connected with the quick-change disc 31, and the quick-change disc 31 is used for being detachably connected with the robot, so as to achieve quick-change of the jig.
Further, the positioning component 12 is used for being fixed on the jig placing position 21 of the jig library, the positioning component 12 has an accommodating space 1201 for accommodating the positioning block 11, a positioning groove 120 communicated with the accommodating space 1201 is arranged on one side of the positioning component 12 close to the accommodating space 1201, and the positioning protrusion 112 is used for being inserted in the positioning groove 120 to realize the alignment of the positioning block 11 and the positioning component 12. Further, the equivalent diameter of the positioning groove 120 is gradually reduced in the insertion direction of the positioning projection 112. For example, in the present embodiment, when the jig is removed, the positioning protrusion 112 is inserted into the positioning groove 120 from the top to the bottom, so that the equivalent diameter of the positioning groove 120 gradually decreases from the top to the bottom, that is, the positioning groove 120 has a shape with a larger upper end and a narrower bottom. Wherein the equivalent diameter of the positioning groove 120 means: the size of the positioning groove 120 in the direction perpendicular to the insertion direction of the positioning projection 112. Further, the shape of the positioning projection 112 matches the shape of the positioning groove 120.
Specifically, during operation, the jig is detachably clamped to the robot through the positioning block 11. When a new jig needs to be replaced, the control system firstly controls the robot to move the currently clamped jig and the positioning block 11 to the position above the designated jig placing position 21, and enables the positioning protrusion 112 of the positioning block 11 to be approximately aligned with the positioning groove 120 of the positioning component 12 on the jig placing position 21, then controls the robot to slowly descend until the bottom edge of the positioning protrusion 112 is a predetermined distance away from the notch of the positioning groove 120, such as 2mm-8mm, at the moment, the robot releases the positioning block 11 and the jig, enables the positioning block 11 to fall into the accommodating space 1201 of the positioning component 12, and enables the positioning protrusion 112 to be inserted into the positioning groove 120, the equivalent diameter of the positioning groove 120 is gradually reduced from top to bottom, in the falling process of the positioning block 11 and the jig, the positioning groove 120 and the positioning protrusion 112 can play a guiding role in cooperation, even if the jig is not completely aligned with the center of the jig placing position 21 when the robot unloads the jig, the jig can also fall back to the correct position by the guiding action of the positioning protrusion 112 and the positioning groove 120, and the accurate alignment of the detached jig is realized.
The positioning device 10 is provided with a positioning block 11 on the jig, and a positioning protrusion 112 on the positioning block 11; set up locating component 12 through the tool of putting the position 21 in the tool storehouse again, and set up on locating component 12 and be used for with the protruding 112 complex constant head tank 120 of location, when the robot releases the tool to the tool puts the position 21, through making the location protruding 112 insert in the constant head tank 120, because along the protruding 112 direction of inserting of location, the constant head tank 120 equivalent diameter of constant head tank 120 reduces gradually, thereby can play the guide effect to locating piece 11 and the tool of being connected with locating piece 11, even the robot is when unloading the tool, the tool can not aim at the center that the tool put the position 21 completely, also can make the tool fall back to the correct position through the guide effect of location protruding 112 and constant head tank 120, and then realized the tool accurate counterpoint of will unloading, so that use next time.
Meanwhile, the positioning block 11 of the positioning device 10 is matched with the positioning assembly and can be integrally processed during processing, for example, the positioning device can be integrally processed through a stainless steel plate without adding special materials, and the positioning device is simple in structure, simple in process and low in cost. In addition, the positioning block 11 can meet the positioning requirement only by arranging a simple protruding structure, so that the positioning block 11 can be designed to be small and exquisite enough in volume and light in weight, and is connected to a jig without influencing the flexibility and the range of motion of the robot or the function of the jig.
Further, referring to fig. 4 and fig. 6, the body 111 has a first edge 1111 and a second edge 1112 disposed at an included angle, wherein the first edge 1111 is parallel to the first direction, and the second edge 1112 is parallel to the second direction, preferably, the first direction is perpendicular to the second direction, for example, in the embodiment of fig. 6, the first direction is a left-right direction, and the second direction is a front-back direction. Furthermore, the first edge 1111 and the second edge 1112 are both provided with positioning protrusions 112, the positioning assembly 12 includes a first positioning seat 121 corresponding to the first edge 1111 and a second positioning seat 122 corresponding to the second edge 1112, the first positioning seat 121 and the second positioning seat 122 are both provided with positioning grooves 120, and the positioning protrusions 112 of the first edge 1111 are used for being inserted into the positioning grooves 120 of the first positioning seat 121, so as to position the positioning block 11 in the first direction (left-right direction). The positioning protrusion 112 of the second edge 1112 is configured to be inserted into the positioning groove 120 of the second positioning seat 122, so as to position the positioning block 11 in the second direction (front-back direction). Therefore, the first positioning device and the second positioning seat 122 can realize the positioning of the positioning block 11 and the jig connected with the positioning block 11 in two directions, thereby improving the positioning accuracy and ensuring that the detached jig can be accurately aligned with the jig placing position 21.
Preferably, with continued reference to fig. 4, the body 111 further includes a third edge 1113 disposed opposite and parallel to the second edge 1112, the third edge 1113 being provided with a positioning protrusion 112; the positioning assembly 12 further includes a third positioning seat 123 corresponding to the third edge 1113, the third positioning seat 123 is provided with a positioning groove 120, and the positioning protrusion 112 of the third edge 1113 is configured to be inserted into the positioning groove 120 of the third positioning seat 123. The positioning of the positioning block 11 is further enhanced by the cooperation of the first positioning seat 121, the second positioning seat 122 and the third positioning, so that the positioning accuracy is improved.
Further, referring to fig. 4, the first positioning seat 121, the second positioning seat 122 and the third positioning seat 123 together enclose a receiving space 1201, one side of the receiving space 1201 opposite to the first positioning seat 121 has an opening 1202, and the opening 1202 is used for avoiding the jig. Specifically, the holding tank that is used for holding the tool is offered to the position that workstation 20 of tool storehouse corresponds tool and places position 21, the holding tank corresponds with accommodation space 1201, the holding tank has the mouth 22 of dodging that is used for the tool business turn over, accommodation space 1201's opening 1202 with dodge mouthful 22 and correspond, thereby when lifting the tool off, the robot passes through the translation tool earlier, it is the tool entering holding tank, descend tool and locating piece 11 again, make the protruding 112 in location of locating piece 11 insert in locating component 12's constant head tank 120. Similarly, when the jig is taken out, the robot first lifts the jig and the positioning block 11 to separate the positioning block 11 from the positioning component 12, and then the robot translates the jig out of the jig placing position 21 from the opening 1202 and the avoiding opening 22.
Further, referring to fig. 6, the first positioning seat 121 is movably disposed along the first direction, and the second positioning seat 122 and the third positioning seat 123 are movably disposed along the second direction, so that when the first positioning seat 121, the second positioning seat 122 and the third positioning seat 123 are mounted on the workbench 20, the mounting positions can be finely adjusted, it is ensured that the positioning grooves 120 on the first positioning seat 121, the second positioning seat 122 and the third positioning seat 123 can be aligned with the positioning protrusions 112 on the three edges of the positioning block 11 in a one-to-one correspondence manner, and it is ensured that the positioning block 11 is accurately aligned with the first positioning seat 121, the second positioning seat 122 and the third positioning seat 123.
Preferably, in the present embodiment, the first positioning seat 121 defines a first mounting groove 1211 extending along the first direction, and the first mounting groove 1211 is configured to penetrate through the first connecting member to fix the first positioning seat 121. The second positioning seat 122 is provided with a second mounting groove 1221 extending along the second direction, and the second mounting groove 1221 is used for penetrating through the second connecting member to fix the second positioning seat 122. The same is true. The third positioning seat 123 is provided with a third mounting groove 1231 extending along the second direction, and the third mounting groove 1231 is used for penetrating through the third connecting member to fix the third positioning seat 123.
Preferably, the first connecting member, the second connecting member and the third connecting member are all threaded members, such as screws. The first connecting member, the second connecting member and the third connecting member are all connected to the workbench 20 by threads, so that the position of the first positioning seat 121 in the first direction can be finely adjusted by unscrewing the first connecting member, the fine adjustment range of the first positioning seat 121 is the length of the first installation groove 1211, and preferably, in this embodiment, the length of the first installation groove 1211 is 10 mm. The same is true. Therefore, the position of the second positioning seat 122 in the second direction can be finely adjusted by loosening the second connecting member, the fine adjustment range of the second positioning seat 122 is the length of the second installation groove 1221, and preferably, in this embodiment, the length of the second installation groove 1221 is 10 mm. Similarly, the position of the third positioning seat 123 in the second direction can be finely adjusted by loosening the third connecting member, the fine adjustment range of the third positioning seat 123 is the length of the third mounting groove 1231, and preferably, in this embodiment, the length of the third mounting groove 1231 is 10 mm. Preferably, in the present embodiment, the first installation groove 1211, the second installation groove 1221 and the third installation groove 1231 are countersunk grooves, so that after the first connecting member, the second connecting member and the third connecting member are screwed, the first installation groove 1211, the second installation groove 1221 and the third installation groove 1231 have flat surfaces.
Further, when the positioning fixture is installed, the first connecting piece, the second connecting piece and the third connecting piece are all loosened, then the positioning block 11 is placed in the accommodating space 1201, the three positioning protrusions 112 on the positioning seat are inserted into the three positioning grooves 120 in a one-to-one correspondence manner, and in the process that the positioning protrusions 112 are inserted into the positioning grooves 120, the positioning block 11 and the positioning component 12 can be aligned to the center by self under the action of gravity, and at the moment, the first connecting piece, the second connecting piece and the third connecting piece only need to be screwed, so that the first positioning seat 121, the second positioning seat 122 and the third positioning seat 123 can be installed on the workbench 20, the installation speed is greatly improved, and time and labor are saved.
Specifically, referring to fig. 5, the groove wall of the positioning groove 120 includes a first inclined surface 124 and a second inclined surface 125 which are oppositely arranged, and a third inclined surface 126 connecting the first inclined surface 124 and the second inclined surface 125, a distance between the first inclined surface 124 and the second inclined surface 125 is gradually reduced along an insertion direction of the positioning protrusion 112, the positioning groove 120 has a notch 127 for communicating the receiving cavity, the third inclined surface 126 is disposed opposite to the notch 127, and, in the insertion direction of the positioning projection 112, the distance from the third inclined surface 126 to the notch 127 is gradually reduced, that is, in the present embodiment, the positioning groove 120 has an inverted trapezoidal shape, and correspondingly, the positioning protrusion 112 has an inverted trapezoidal shape, therefore, the positioning groove 120 with the inverted trapezoid shape is matched with the positioning protrusion 112 with the inverted trapezoid shape, so as to guide the jig, and the jig can be automatically aligned to the center of the jig placing position 21 under the action of force. Of course, it should be noted that in other embodiments, the positioning slot 120 may be a tapered slot or an inverted triangular slot. The positioning protrusion 112 is also a corresponding cone or an inverted triangle, etc. to ensure that the positioning protrusion 112 can be tightly fitted with the positioning slot 120.
Further, in the present embodiment, the connection between the first inclined surface 124 and the third inclined surface 126 and the connection between the second inclined surface 125 and the third inclined surface 126 are rounded. Correspondingly, each edge of the positioning protrusion 112 also has a fillet transition, so that when the robot releases the jig, the positioning protrusion 112 can be smoothly inserted into the positioning groove 120, so as to avoid being stuck, and further realize positioning of the jig.
Referring to fig. 6, the body 111 defines a first mounting hole 113 for mounting the quick-change disc 31, preferably, the quick-change disc 31 is generally circular, and the first mounting hole 113 is disposed in a plurality of numbers, for example, in this embodiment, the first mounting hole 113 defines three, and the three first mounting holes 113 are spaced apart from each other along the circumferential direction of the quick-change disc 31.
Further, the body 111 is provided with a plurality of second mounting holes 114 for mounting the jigs, and preferably, the second mounting holes 114 are provided in plural, so as to improve the stability of the mounting jig, for example, in the embodiment, the second mounting holes 114 are provided in four, and the four second mounting holes 114 are distributed on the periphery of the quick-change disc 31 and respectively correspond to four corners of the jig. Preferably, the second mounting hole 114 is a counter bore, so as to ensure that the surface of the body 111 of the positioning block 11 is smooth after the jig is mounted.
Further, the method is carried out. Still offer on the body 111 be used for with pin key complex third mounting hole 115, generally, all be equipped with the pin key hole that is used for the location on quick change dish 31 and the tool, through set up third mounting hole 115 on body 111, and make third mounting hole 115 and quick change dish 31 and the pin key hole intercommunication on the tool, insert third mounting hole 115 and pin key hole through with the pin key, can make the tool, locating piece 11 and quick change dish 31 three be connected the fastening, difficult pine takes off.
Furthermore, a wire groove 116 for accommodating a wire pipe of the jig is further formed in the body 111. Specifically, in order to realize the various functions of tool, the tool generally all is connected with various cables and trachea, through set up wire casing 116 on locating piece 11, all wears to establish in wire casing 116 the various cables and the trachea of tool, has avoided cable and trachea in disorder or accidental damage, has both guaranteed the aesthetic property and has also guaranteed the security.
The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.
In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the invention and to simplify the description, and are not intended to indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and are not to be considered limiting of the invention.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In the present invention, unless otherwise expressly stated or limited, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through an intermediate. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.
It will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and the like as used herein are for illustrative purposes only and do not denote a unique embodiment.
Claims (10)
1. A positioning device for a robot to replace a jig, comprising:
the positioning block comprises a body and a positioning bulge arranged on the edge of the body; one end of the body is used for connecting a jig, the other end of the body is used for being detachably connected with the robot,
the positioning assembly is provided with an accommodating space for accommodating the positioning block, one side of the positioning assembly, which is close to the accommodating space, is provided with a positioning groove communicated with the accommodating space, the positioning protrusion is used for being inserted into the positioning groove, and along the insertion direction of the positioning protrusion, the equivalent diameter of the positioning groove is gradually reduced, and the shape of the positioning protrusion is matched with that of the positioning groove.
2. The positioning device as set forth in claim 1, wherein the body has a first edge and a second edge disposed at an included angle, the first edge and the second edge are both provided with the positioning protrusions, the positioning assembly comprises a first positioning seat corresponding to the first edge and a second positioning seat corresponding to the second edge, the first positioning seat and the second positioning seat are both provided with the positioning grooves, the positioning protrusions of the first edge are configured to be inserted into the positioning grooves of the first positioning seat, and the positioning protrusions of the second edge are configured to be inserted into the positioning grooves of the second positioning seat.
3. The positioning device as set forth in claim 2 wherein said body further includes a third edge disposed opposite and parallel to said second edge, said third edge being provided with said positioning projection; the positioning assembly further comprises a third positioning seat corresponding to the third edge, the third positioning seat is provided with the positioning groove, and the positioning bulge on the third edge is used for being inserted into the positioning groove of the third positioning seat.
4. The positioning device according to claim 3, wherein the first positioning seat, the second positioning seat and the third positioning seat together enclose the accommodating space, and a side of the accommodating space opposite to the first positioning seat has an opening for avoiding the jig.
5. The positioning device as claimed in claim 3, wherein the first positioning seat is movably disposed along a first direction, and the second positioning seat and the third positioning seat are movably disposed along a second direction; wherein the first direction is parallel to the first edge, and the second direction is parallel to the second edge and the third edge.
6. The positioning device according to claim 5, wherein the first positioning seat defines a first mounting groove extending along the first direction, the first mounting groove being used for passing a first connecting member therethrough to fix the first positioning seat; the second positioning seat is provided with a second mounting groove extending along the second direction, and the second mounting groove is used for penetrating a second connecting piece to fix the second positioning seat; the third positioning seat is provided with a third mounting groove extending along the second direction, and the third mounting groove is used for penetrating a third connecting piece to fix the third positioning seat.
7. The positioning device as set forth in claim 1, wherein a groove wall of the positioning groove includes a first inclined surface and a second inclined surface which are opposed to each other, and a third inclined surface which connects the first inclined surface and the second inclined surface, a distance between the first inclined surface and the second inclined surface gradually decreases in an insertion direction of the positioning projection, the positioning groove has a notch for communicating with the accommodation cavity, the third inclined surface is opposed to the notch, and a distance from the third inclined surface to the notch gradually decreases in the insertion direction of the positioning projection.
8. The positioning device as set forth in claim 7 wherein a junction of said first inclined surface and said third inclined surface and a junction of said second inclined surface and said third inclined surface are rounded.
9. The positioning device as claimed in claim 1, wherein the body is provided with a first mounting hole for mounting the quick-change disc; and/or a second mounting hole for mounting the jig is formed in the body, and the second mounting hole is a counter bore; and/or a third mounting hole matched with the pin key is formed in the body; and/or, a wire casing for accommodating the jig wire pipe is arranged on the body.
10. A tool magazine, comprising a workbench, wherein the workbench is provided with at least two tool placement positions for placing tools, and each tool placement position is provided with a positioning device according to any one of claims 1 to 9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111560292.0A CN114030010A (en) | 2021-12-20 | 2021-12-20 | Positioning device and jig library |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111560292.0A CN114030010A (en) | 2021-12-20 | 2021-12-20 | Positioning device and jig library |
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| CN114030010A true CN114030010A (en) | 2022-02-11 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111560292.0A Pending CN114030010A (en) | 2021-12-20 | 2021-12-20 | Positioning device and jig library |
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|---|---|---|---|---|
| JP7201885B1 (en) * | 2022-08-22 | 2023-01-10 | ファナック株式会社 | Robot hanging jig, robot hanging jig set, and robot installation method |
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