CN115246116A

CN115246116A - Replaceable tool for robot and tool magazine

Info

Publication number: CN115246116A
Application number: CN202210528743.0A
Authority: CN
Inventors: 赵仕勤; 胡爱军
Original assignee: Shanghai Lingxian Robotics Technology Co ltd
Current assignee: Shanghai Lingxian Robotics Technology Co ltd
Priority date: 2022-03-17
Filing date: 2022-05-16
Publication date: 2022-10-28
Anticipated expiration: 2042-05-16
Also published as: CN115246116B; CN219445093U

Abstract

The invention discloses a replaceable tool for a robot and a tool library, wherein the replaceable tool comprises a tool, the tool comprises a functional end and an operating handle which are connected in front and back, a replaceable butt joint piece is arranged on the operating handle, and the tool is detachably butted with the robot through the replaceable butt joint piece. According to the invention, the butt joint is arranged on the tool to be in butt joint with the robot, the structure is simple, the cost is low, the tool at the tail end of the robot can be freely replaced, and the quick-connection unlocking device is of a pure mechanical structure, so that an additional electric power source is not required to be configured, and the use cost of the replaceable tool is reduced; the matched tool library can be used for storing the replaceable tools and can assist in realizing automatic replacement of different tools by the robot.

Description

Replaceable tool for robot and tool magazine

Technical Field

The invention belongs to the field of industrial automation, and particularly relates to a replaceable tool for a robot and a tool library.

Background

The robot is the important industrial automation equipment of modern times, and a robot often can be used in under the multiple operational environment, and the task that carries out is also diversified, and the shape size of operation object is various, only uses single terminal instrument to be far away unable task demand. In order to improve the service efficiency of the robot, a tool end and a robot end of a quick-change device are usually respectively installed at a tail end tool and the tail end of the robot, and the robot can be changed with different tools as required, so that the service efficiency of the robot is greatly improved. Mainstream quick change device in the existing market is mostly hydraulic pressure and pneumatic means, and during the use, need additionally attach power supplies such as pneumatic or hydraulic motor, has increased use cost. The problems of complex structure and high use cost of the existing quick-change tool library are urgently solved.

Disclosure of Invention

In view of the above, the present invention provides a tool and a tool magazine for a robot, which can be replaced to solve the disadvantages of the prior art.

In order to achieve the purpose, the purpose of the invention is realized by the following technical scheme:

the utility model provides a tool capable of changing the outfit for robot, includes the instrument, function end and the handle of connecting around the instrument includes, be equipped with the interfacing part that changes the outfit on the handle, the instrument passes through the interfacing part that changes the outfit docks with robot dismantlement formula.

The robot is provided with a replaceable tool, and the replaceable butt piece is arranged at the tail end of the operating handle.

According to the replaceable tool for the robot, the replaceable butt-joint piece comprises a butt-joint head and a connecting seat which are sequentially connected, the butt-joint head is used for detachably butting with the robot, and the connecting seat is used for being connected with the tail end of the operating handle.

According to the replaceable tool for the robot, the end face, connected with the tail end of the operating handle, of the connecting seat is provided with a threaded hole.

If the robot is with the interchangeable dress instrument, the dress that changes still includes the location platform to the interfacing head, the connecting seat is located respectively the top surface and the bottom surface of location platform.

If the robot is used as a replaceable tool, the positioning table is a cylinder or a polygonal column.

If the robot is used with the tool capable of being replaced, the side surface of the positioning table is uniformly provided with a plurality of positioning rabbets.

According to the tool for the robot, the reloading butt-joint part is an extension section of the operating handle and external threads distributed on the extension section.

According to the replaceable tool for the robot, the replaceable butting piece is an extension section of the operating handle and an internal thread sleeve arranged on the extension section.

The robot is provided with the reloading tool, and the reloading butt joint part is an extension section of the operating handle and one or more bulges distributed on the extension section.

The robot is provided with the replaceable tool, and the replaceable butting piece is an extension section of the operating handle and one or more grooves distributed in the extension section.

According to the replaceable tool for the robot, the replaceable butt-joint part is an extension section of the operating handle and a friction surface distributed on the extension section.

On the other hand, the tool magazine comprises a hollow cabinet body, wherein the top of the hollow cabinet body is provided with a plurality of temporary tool storage positions with insertion holes, the insertion holes are communicated with the hollow interior of the hollow cabinet body, and tools in the replaceable tools for the robot extend into the insertion holes from top to bottom and then are vertically hung on the temporary tool storage positions.

If the tool library, the position is deposited temporarily to the instrument include the storage rack bottom plate and set up in one on the storage rack bottom plate the inserted hole and two parallel arrangement's U-shaped deposit the mouth, two the U-shaped opening of U-shaped deposit the mouth is simultaneously towards and the intercommunication the inserted hole, the circular arc section of U-shaped deposit the mouth be equipped with the mounting groove of locating platform looks adaptation.

If the tool magazine, a guide pin matched with the positioning spigot is arranged in the mounting groove.

If the tool magazine, the circular arc section of U-shaped storage opening has the step face, the mounting groove constitutes the lower step of step face, the surface of the upper step of step face is equipped with compresses tightly the cover, compress tightly the upper surface of cover with the storage rack bottom plate parallel and level.

According to the tool library, the tool temporary storage position is detachably provided with a quick-connection unlocking device, and the quick-connection unlocking device is matched with the U-shaped storage port in shape.

The technical scheme of the invention has the beneficial effects that:

according to the invention, the butt joint is arranged on the tool to be in butt joint with the robot, the structure is simple, the cost is low, the tool at the tail end of the robot can be freely replaced, and the quick-connection unlocking device is of a pure mechanical structure, so that an additional electric power source is not required to be configured, and the use cost of the replaceable tool is reduced; the matched tool library can be used for storing the replaceable tools and can assist in realizing automatic replacement of different tools by the robot.

Drawings

To further illustrate the above objects, structural features and effects of the present invention, the present invention will be described in detail below with reference to the accompanying drawings.

FIG. 1 is a schematic structural diagram of a tool-replaceable ring spanner for a robot according to a preferred embodiment of the present invention;

FIG. 2 is a schematic structural view of a tool-replaceable open wrench for a robot according to a preferred embodiment of the present invention;

FIG. 3 is a schematic view of a screwdriver with a replaceable tool for a robot according to a preferred embodiment of the present invention;

FIG. 4 is a schematic view of another screwdriver with replaceable tools for a robot according to a preferred embodiment of the present invention;

FIG. 5 is a schematic view of a tool-exchangeable socket for a robot according to a preferred embodiment of the present invention;

FIG. 6 is a schematic structural view of an allen wrench for a robot capable of replacing a tool according to a preferred embodiment of the present invention;

FIG. 7 is a schematic view of a replaceable tool head for a robot according to a preferred embodiment of the present invention;

FIG. 8 is a schematic view of a vise for a robot capable of exchanging tools according to a preferred embodiment of the present invention;

FIG. 9 is a schematic view of a jaw of the reloadable tool for a robot according to the preferred embodiment of the invention;

FIG. 10 is a schematic view of an alternative chuck jaw for a robot in accordance with the preferred embodiment of the present invention;

FIG. 11 is a schematic view of a first preferred embodiment of the reloading interface element according to the invention;

FIG. 12 is a schematic structural view of a second preferred embodiment of the reloading adaptor according to the invention;

FIG. 13 is a schematic structural view of a third preferred embodiment of the reloading interface element according to the invention;

FIG. 14 is a schematic structural view of a fourth preferred embodiment of the reloading interface element according to the invention;

FIG. 15 is a schematic structural view of a fifth preferred embodiment of the reloading adaptor according to the invention;

FIG. 16 is a schematic view of a sixth preferred embodiment of the reloading interface element according to the invention;

FIG. 17 is a schematic diagram of a tool library configuration according to a preferred embodiment of the present invention;

FIG. 18 is a schematic view of a preferred embodiment of a storage rack base plate structure of the present invention;

FIG. 19 is an enlarged view of a portion of the area A in FIG. 18;

FIG. 20 is a diagram illustrating the status of tools stored in the tool library according to the preferred embodiment of the present invention;

in the figure: 1. a tool; 1-1, a functional end; 1-2, an operating handle; 3. replacing the butt joint piece; 3-1, butt joint; 3-2, a connecting seat; 3-3, positioning a table; 3-4, positioning a spigot; 3-5, an extension section; 3-6, external threads; 3-7, an internal thread sleeve; 3-8, convex; 3-9, a groove; 4. a hollow cabinet body; 5. a tool temporary storage location; 5-1, an insertion opening; 5-2, a storage rack bottom plate; 5-3, a U-shaped storage port; 5-4, mounting grooves; 5-5, a guide pin; 5-6, pressing sleeve; 6. a quick-connect unlocking device.

Detailed Description

The invention is further described with reference to the following drawings and specific examples, which are not intended to be limiting.

Referring to fig. 1 to 10, the interchangeable tool for a robot according to the present invention includes a tool 1, the tool 1 includes a functional end 1-1 and an operating handle 1-2 connected in front and back, and the functional end 1-1 may be a functional portion (such as a screwdriver bit, a wrench bit, etc.) of any tool for operating food or other tools. The operating handle 1-2 is provided with a replacing butt joint part 3, and the tool 1 is detachably butted with the robot through the replacing butt joint part 3. The change-over abutments 3 are used to interface robots and placement tools, and typically each change-over tool comprises only one change-over abutment 3, as shown in figures 1 to 7; in particular, the partial conversion tool comprises two identical conversion abutments 3, as shown in figures 8 to 10. In the preferred embodiment, the reloading interface 3 is provided at the end of the operating handle 1-2.

Referring to fig. 11, in the first preferred embodiment, the reloading butt-joint part 3 comprises a butt-joint head 3-1 and a connecting seat 3-2 which are connected in sequence, wherein the butt-joint head 3-1 is used for detachably butting with the robot, and the connecting seat 3-2 is used for connecting with the tail end of the operating handle 1-2. It should be understood that the connecting seat 3-2 and the operating handle 1-2 are fixedly connected, and can be directly integrated with each other instead of being detachably connected by bolts.

Generally, the end face of the connecting seat 3-2 connected with the end of the operating handle 1-2 is provided with a threaded hole, one end of the operating handle 1-2 is connected with the functional end 1-1, and the other end is provided with a bolt hole, and is fixedly connected with the reloading butt-joint piece 3 through a bolt, but the invention is not limited thereto.

The butt joint 3-1 is a part of a quick joint which can be quickly disassembled and butted, and the other part (not included in the invention) of the quick joint is arranged as a tail end interface of the robot, so that the butt joint and the replacement of the robot and the replaceable tool can be realized through the quick joint.

With continued reference to fig. 11, the reloading interface element 3 further comprises a positioning table 3-3, the interface joint 3-1 and the connecting seat 3-2 are respectively arranged on the top surface and the bottom surface of the positioning table 3-3, and the positioning table 3-3 mainly plays roles of positioning, pressing and guiding.

Typically, the positioning stage 3-3 is a cylindrical or polygonal column, but the present invention is not limited thereto.

Furthermore, the side surface of the positioning table 3-3 is uniformly provided with a plurality of positioning rabbets 3-4, and preferably, 4 positioning rabbets 3-4 are uniformly arranged around the positioning table 3-3.

Referring to fig. 12, in the second preferred embodiment of the reloading interface element 3, the reloading interface element 3 is an extension 3-5 of the operating handle 1-2 and external threads 3-6 distributed on the extension 3-5, which can match with the internal threads at the end of the robot to realize the interface.

Referring to fig. 13, in a third preferred embodiment of the reloading interface element 3, the reloading interface element 3 is an extension 3-5 of the operating handle 1-2 and an internal thread sleeve 3-7 arranged on the extension 3-5, which can match with the external thread at the end of the robot to realize the interface.

Referring to fig. 14, in a fourth preferred embodiment of the reloading interface element 3, the reloading interface element 3 is an extension 3-5 of the operating handle 1-2 and one or more protrusions 3-8 distributed on the extension 3-5, which can match with a groove at the end of the robot to realize the interface.

Referring to fig. 15, in a fifth preferred embodiment of the reloading interface element 3, the reloading interface element 3 is an extension 3-5 of the operating handle 1-2 and one or more recesses 3-9 distributed on the extension 3-5, which can cooperate with a protrusion on the end of the robot to realize the interface.

Referring to fig. 16, in a sixth preferred embodiment of the reloading interface element 3, the reloading interface element 3 is an extension 3-5 of the operating handle 1-2 and a friction surface 3-10 distributed on the extension 3-5, and can be interfaced with the robot through friction force.

It should be understood that while the present invention has been discussed with respect to a preferred embodiment of the refill adaptor 3, the present invention is not limited to the six specific embodiments described above.

The invention also provides a tool magazine, as shown in fig. 17 to 20, the tool magazine comprises a hollow cabinet 4, a plurality of tool temporary storage positions 5 with insertion openings 5-1 are arranged at the top of the hollow cabinet 4, the insertion openings 5-1 are communicated with the hollow interior of the hollow cabinet 4, and the tool 1 in the replaceable tool for the robot is vertically hung on the tool temporary storage positions 5 after extending into the insertion openings 5-1 from top to bottom.

Specifically, with continued reference to the drawings, the temporary tool storage station 5 includes a storage rack bottom plate 5-2, and an insertion opening 5-1 and two parallel U-shaped storage openings 5-3 formed in the storage rack bottom plate 5-2, the storage rack bottom plate 5-2 is preferably a rectangular plate, and the storage rack bottom plate 5-2 is provided with bolt mounting holes at its periphery and is detachably connected to the top of the hollow cabinet 4 by bolts or the like.

Referring to fig. 20, in the preferred embodiment, the U-shaped storage ports 5-3 are provided in pairs of two each, the paired U-shaped storage ports 5-3 are arranged side by side in parallel, the insertion port 5-1 is arranged on the front side of each pair of U-shaped storage ports 5-3, and the U-shaped openings of the two U-shaped storage ports 5-3 are simultaneously directed toward and communicate with the insertion port 5-1. The size of the insertion opening 5-1 is designed according to the external dimension of the placed tool, and the tool can freely enter and exit the U-shaped storage opening 5-3 through the insertion opening 5-1.

The arc section of the U-shaped storage opening 5-3 is provided with a mounting groove 5-4 matched with the positioning table 3-3 of the replacement butt joint part 3.

Furthermore, a guide pin 5-5 matched with the positioning spigot 3-4 is arranged in the mounting groove 5-4, and the positioning spigot 3-4 is matched with the guide pin 5-5 to position the replaceable tool. Preferably, the left side and the right side of the upper surface of the mounting groove 5-4 are respectively provided with a positioning pin hole, a part of the lower part of the guide pin 5-5 is arranged in the positioning pin hole in an interference manner, and the head part of the guide pin 5-5 is conical.

With continued reference to fig. 20, the arc segment of the U-shaped storage opening 5-3 has a step surface, the mounting groove 5-4 forms a lower step of the step surface, the surface of the upper step of the step surface is provided with a pressing sleeve 5-6, and the upper surface of the pressing sleeve 5-6 is flush with the storage rack bottom plate 5-2. The pressing sleeve 5-6 is preferably a circular ring-shaped plastic sleeve with an opening, and is fixedly arranged on the upper step surface of the step surface through bolts. The pressing sleeve 5-6 provides certain holding force for the replaceable tool through the edge of the extrusion positioning table 3-3, so that the replaceable tool is held in the tool storage position, and the replaceable tool is prevented from being displaced or deflected.

The tool temporary storage position 5 is detachably provided with a quick-coupling unlocking device 6, and the quick-coupling unlocking device 6 is matched with the U-shaped storage port 5-3 in shape. Each storage position is provided with a quick-connection unlocking device 6, the quick-connection unlocking device 6 is provided with a bolt mounting hole, and the quick-connection unlocking device 6 is detachably mounted on the storage rack bottom plate 5-2 through a bolt. The quick-connection unlocking device 6 can unlock the lock catch on the quick connector at the tail end of the robot, and the butt joint and the disassembly of the robot and the replaceable tool are realized. The quick-coupling unlocking device 6 is of a pure mechanical structure, and an additional power source is not needed.

While the invention has been described with reference to a preferred embodiment, it will be understood by those skilled in the art that various changes in form and detail may be made therein without departing from the spirit and scope of the invention.

Claims

1. The tool (1) comprises a functional end (1-1) and an operating handle (1-2), the functional end (1-1) and the operating handle are connected in a front-back mode, a reloading butt joint piece (3) is arranged on the operating handle (1-2), and the tool (1) is detachably butted with a robot through the reloading butt joint piece (3).

2. A reloadable tool for a robot as claimed in claim 1, characterized in that said reloading abutment (3) is provided at the end of said operating handle (1-2).

3. A reloadable tool for robots, as claimed in claim 1, characterized in that said reloadable abutment element (3) comprises an abutment head (3-1) and a coupling socket (3-2) connected in series, said abutment head (3-1) being intended for detachable abutment with the robot, said coupling socket (3-2) being intended for connection with the end of said operating handle (1-2).

4. A tool for robot, according to claim 3, characterized in that the end face of the connecting socket (3-2) connected to the end of the operating handle (1-2) is provided with a threaded hole.

5. A tool-change according to claim 3, wherein the change-over interface (3) further comprises a positioning table (3-3), and the interface joint (3-1) and the connection socket (3-2) are arranged on the top and bottom surfaces of the positioning table (3-3), respectively.

6. Robot reloadable tool according to claim 5, wherein said positioning table (3-3) is a cylinder or a polygonal column.

7. An exchangeable tool for robots, as claimed in claim 6, characterized in that the side of the positioning table (3-3) is provided with a number of positioning notches (3-4) uniformly.

8. A reloadable tool for a robot as claimed in claim 1, characterized in that said reloadable abutment (3) is an extension (3-5) of said lever (1-2) and an external thread (3-6) distributed over said extension (3-5).

9. A reloadable tool for a robot as claimed in claim 1, characterized in that said reloadable abutment (3) is an extension (3-5) of said handle (1-2) and an internally threaded sleeve (3-7) provided in said extension (3-5).

10. A reloadable tool for a robot as claimed in claim 1, characterized in that said reloadable abutment (3) is an extension (3-5) of said lever (1-2) and one or more protrusions (3-8) distributed over said extension (3-5).

11. A reloadable tool for a robot as claimed in claim 1, characterized in that said reloadable abutment (3) is an extension (3-5) of said lever (1-2) and one or more recesses (3-9) distributed in said extension (3-5).

12. A reloadable tool for a robot as claimed in claim 1, characterized in that said reloadable abutment (3) is an extension (3-5) of said lever (1-2) and a friction surface distributed over said extension (3-5).

13. A tool magazine, characterized by comprising a hollow cabinet body, wherein the top of the hollow cabinet body (4) is provided with a plurality of tool temporary storage positions (5) with insertion openings (5-1), the insertion openings (5-1) are communicated with the hollow interior of the hollow cabinet body (4), and a tool (1) in the tool-exchangeable device for the robot as claimed in claim 7 extends into the insertion openings (5-1) from top to bottom and then is vertically suspended on the tool temporary storage positions (5).

14. The tool magazine as claimed in claim 13, characterized in that the tool temporary storage location (5) comprises a storage rack bottom plate (5-2) and one insertion opening (5-1) and two parallel U-shaped storage openings (5-3) which are provided on the storage rack bottom plate (5-2), the U-shaped openings of the two U-shaped storage openings (5-3) simultaneously face and communicate with the insertion opening (5-1), and the circular arc section of the U-shaped storage opening (5-3) is provided with a mounting groove (5-4) which is adapted to the positioning table (3-3).

15. Tool magazine according to claim 14, characterized in that a guide pin (5-5) adapted to the positioning spigot (3-4) is provided in the mounting groove (5-4).

16. The tool magazine as claimed in claim 14, wherein the circular arc section of the U-shaped storage opening (5-3) has a step surface, the mounting groove (5-4) constitutes a lower step of the step surface, a pressing sleeve (5-6) is arranged on the surface of an upper step of the step surface, and the upper surface of the pressing sleeve (5-6) is flush with the storage rack bottom plate (5-2).

17. Tool magazine according to claim 14, characterized in that a quick-action release lock (6) is detachably arranged on the tool temporary storage location (5), the quick-action release lock (6) being adapted to the shape of the U-shaped storage opening (5-3).