CN115609619A

CN115609619A - Terminal quick-change device interfacing apparatus of robot

Info

Publication number: CN115609619A
Application number: CN202211036740.1A
Authority: CN
Inventors: 赵海峰; 郭燕; 汤凯; 李飞锦; 王家豪
Original assignee: Nanjing College of Information Technology
Current assignee: Nanjing College of Information Technology
Priority date: 2022-08-26
Filing date: 2022-08-26
Publication date: 2023-01-17

Abstract

The invention discloses a butt joint device of a quick changer at the tail end of a robot, which comprises an operation platform, an operation robot, a laser transmitter and a quick changer workbench, wherein the laser transmitter is arranged at the rod-shaped front end of a sixth shaft of the operation robot and is parallel to the sixth shaft, the quick changer workbench comprises a driving motor and a disc-shaped tool library, the driving motor drives a clamp in the disc-shaped tool library to move to a replacement position according to the requirement of the operation robot, a position sensitive positioning panel is arranged at the center above the quick changer workbench and receives laser emitted by the laser transmitter, and the relative displacement of a male head and a female head of the clamp in the disc-shaped tool library is measured by the position sensitive positioning panel. The device can assist the quick butt joint replacement of the robot tail end quick changer, shortens the robot teaching time and improves the production efficiency.

Description

Terminal quick-change device interfacing apparatus of robot

Technical Field

The invention relates to the technical field of industrial robots, in particular to a quick docking device of a robot tail end quick changer.

Background

The industrial manipulator (industrial robot) is widely applied to the intelligent manufacturing fields of electronics, logistics, chemical industry and the like by virtue of flexible and reliable functions, and is realized by replacing a terminal tool when the same station finishes different process tasks. The more the requirements of the station process are, the more the end tool fixtures are equipped for the robot, and in the complex stations, the robot is equipped with a tool library consisting of a plurality of end tools, and in order to realize the quick replacement of the end tools, the existing method is to rapidly teach the butt joint replacement through a quick end change male head arranged on the upper side of a robot arm and one or more quick end change female heads arranged on a workbench. The appearance of the design of the terminal quick change device of robot for the robot can accomplish different process tasks at same station, but too much quick change anchor clamps have also brought inconvenience for the robot teaching simultaneously, when the terminal anchor clamps of different positions need to be changed, all need teach the position one by one, especially brought very big puzzlement for the new hand of operating industrial robot.

Disclosure of Invention

The purpose of the invention is as follows: the invention aims to provide a quick butt joint device of a robot tail end quick changer.

The technical scheme is as follows: the utility model provides a terminal fast changer interfacing apparatus of robot, includes operation platform, operation robot, laser emitter and fast changer workstation, laser emitter installs on the shaft-like front end of operation robot sixth axle to parallel with the sixth axle, fast changer workstation includes driving motor and disc tool storehouse, and driving motor drives the anchor clamps in the disc tool storehouse according to operation robot's demand and removes to changing the position, and the position sensitive locating panel is installed to fast changer workstation top central authorities department, the position sensitive locating panel receives the laser that laser emitter sent and measures the public head of anchor clamps and the relative displacement of female head in the disc tool storehouse.

Further, the laser emitter is sleeved on a screw rod at the rod-shaped front end of the sixth shaft.

Further, the quick changer workbench is installed on the operating platform.

Further, a display panel for displaying the position information of the clamp is mounted on the operating platform.

Furthermore, a data acquisition unit is installed on the position sensitive positioning panel and used for acquiring and transmitting data to the display panel.

Further, the jig is mounted to the end of the disk tool magazine and includes different types.

Further, the disk tool magazine is mounted on an upper side of the driving motor.

Has the advantages that: compared with the prior art, the invention has the following remarkable advantages: the quick butt joint of terminal quick-change ware of auxiliary robot is changed, has shortened the robot teaching time, has improved production efficiency.

Drawings

FIG. 1 is a schematic structural view of the present invention;

FIG. 2 is a schematic diagram of a laser transmitter;

FIG. 3 is a schematic structural view of a rod-shaped tip;

FIG. 4 is a schematic view of a position sensitive locating panel;

FIG. 5 is a schematic view of a first disc tool library tool;

FIG. 6 is a schematic diagram of a second disk library tool.

Detailed Description

The technical scheme of the invention is further explained by combining the attached drawings.

As shown in fig. 1, the device of the present invention comprises an operation platform 1, an operation robot 2, a laser emitter 3 and a quick-change device workbench 5, wherein the laser emitter 3 is mounted on a sixth axis rod-shaped front end 31 of the operation robot 2 and is parallel to the sixth axis, as shown in fig. 2, the laser emitter 3 is movable on the sixth axis rod-shaped front end 31, as shown in fig. 3, a structural schematic diagram of the rod-shaped front end 31 is shown.

The quick changer workbench 5 comprises a driving motor 51 and a disc tool magazine 52, the driving motor 51 drives the clamps in the disc tool magazine 52 to move to the replacing position according to the requirements of the operating robot 2, the disc tool magazine 52 is installed on the upper side of the driving motor 51, the clamps are installed at the tail end of the disc tool magazine 52 and used for placing different types of tail end clamps, such as the tail end clamps of different types shown in fig. 5 and 6, and the quick changer workbench 5 is installed on the operating platform 1.

As shown in fig. 4, a position-sensitive positioning panel 4 is installed at the center above the fast converter workbench 1, and the position-sensitive positioning panel 4 receives laser emitted by the laser emitter 3 and measures the relative displacement between the male head and the female head of the fixture in the disc-shaped tool magazine 52. A display panel 6 for displaying the position information of the clamp is arranged on the operating platform 1, and a data acquisition unit is arranged on the position sensitive positioning panel and used for acquiring and transmitting data to the display panel 6.

When butt joint the terminal quick change device instrument of robot, operation robot 2 sends the sensitive locating panel 4 in position on the laser irradiation workstation 1 through laser emitter 3, surveys the relative displacement of the terminal anchor clamps public head of robot and female head, through position data collector, receives the position data of the sensitive locating panel 4 in position to give display panel 6 feedback through the program transmission, at this moment, user direct operation robot 2 moves in X, Y direction, just can realize the quick butt joint of terminal quick change device female head of robot and the public head of terminal instrument, greatly shortens the robot teaching time, has saved production debugging time and cost, has improved production efficiency effectively.

The invention can also be used for the rapid butt joint of the operation procedure position of the robot, when the butt joint is carried out, the user only needs to place the position sensitive positioning panel at a certain point of the working position, and the mobile robot can reach the target point by reading out the relative coordinates of the target point.

Claims

1. The utility model provides a terminal quick-change ware interfacing apparatus of robot which characterized in that: including operation platform (1), operation robot (2), laser emitter (3) and fast changer workstation (5), install on operation robot (2) sixth axle shaft-like front end (31) to it is parallel with the sixth axle laser emitter (3), fast changer workstation (5) are including driving motor (51) and disc tool storehouse (52), and driving motor (51) move to changing the position according to the anchor clamps in the demand drive disc tool storehouse (52) of operation robot (2), and the position sensitive locating panel (4) are installed to fast changer workstation (1) top central authorities department, the laser that laser emitter (3) sent is received in position sensitive locating panel (4) and the relative displacement of the public head and the female head of anchor clamps in measuring disc tool storehouse (52).

2. The robot end quick changer docking device of claim 1, wherein: the laser emitter (3) is sleeved on a screw rod of the rod-shaped front end (31) of the sixth shaft.

3. The robot end quick changer docking device of claim 1, wherein: the quick changer workbench (5) is arranged on the operating platform (1).

4. The robot end quick changer docking device of claim 1, wherein: and a display panel (6) for displaying the position information of the clamp is arranged on the operating platform (1).

5. The robot end quick changer docking device of claim 1, wherein: and a data acquisition unit for acquiring and transmitting data to the display panel (6) is arranged on the position sensitive positioning panel (4).

6. The robot end quick changer docking device of claim 1, wherein: the gripper is mounted to the end of a disk magazine (52), and includes different types.

7. The robot end quick changer docking device of claim 1, wherein: the disk tool magazine (52) is mounted on the upper side of the drive motor (51).