CN201913646U - Automatic switching device between industrial robot and tools - Google Patents
Automatic switching device between industrial robot and tools Download PDFInfo
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- CN201913646U CN201913646U CN2011200036170U CN201120003617U CN201913646U CN 201913646 U CN201913646 U CN 201913646U CN 2011200036170 U CN2011200036170 U CN 2011200036170U CN 201120003617 U CN201120003617 U CN 201120003617U CN 201913646 U CN201913646 U CN 201913646U
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- industrial robot
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Abstract
The utility model relates to an automatic switching device between an industrial robot and tools, which belongs to the technical field of mechanical switching equipment, mainly resolves the problem of tool exchanging of an existing industrial robot provided with a plurality of tools, and is characterized by comprising a fixed side and an exchanging side. A cavity, a gas inlet way, a gas outlet way and a piston are arranged inside the fixed side, the gas inlet way, the gas outlet way and the piston are connected with the cavity, a connecting support is arranged outside the cavity, a guide fixed hole and a locking steel ball are arranged on the connecting support, and a slope and a groove matched with each other are arranged at the front end of the piston. A guide column, a D-SUB plug, a gas cavity and a connector are arranged on the fixed side, a groove matched with the locking steel ball is arranged on the inner wall of a cavity of the exchanging side, and a guide sleeve, a D-SUB socket, a gas cavity and a connector are correspondingly arranged on the exchanging side. The automatic switching device between the industrial robot and the tools is capable of mounting various tools for an industrial robot, and tools can be exchanged rapidly and automatically and utilization efficiency can be improved. The automatic switching device between the industrial robot and the tools is mainly applicable to automatic switching in connection of an industrial robot with various tools.
Description
Technical field
The utility model belongs to mechanical switching device shifter technical field.Be specifically related to a kind of air pressure that utilizes, realize the device of the automatic switchover when anchor clamps full-automatic device for switching, especially instrument are connected with industrial robot.
Background technology
At present, when utilizing industrial robot to realize the production automation, be positioned at the industrial robot on the production line, only realize a kind of function, for reaching efficient purpose, must take a plurality of industrial robots, the work of continuous-flow type.In order to reduce cost, improve the service efficiency of industrial robot, enterprise takes the way of the instrument of changing, and is that an industrial robot is equipped with a plurality of instruments, realizes multi-functional purpose.When realizing these purposes, exchange tool becomes the work bottleneck of industrial robot, and this device designs for addressing this is that just, can be quick, and stable switching various tool.
Summary of the invention
The purpose of this utility model is exactly to provide at above-mentioned weak point a kind of and can be same industrial robot multiple instrument is installed; realize automatic, rapid tool change; minimizing is because of the downtime of erecting tools, thus the device that the industrial robot of the service efficiency of raising industrial robot and Tool Room automatically switch.
Technical solution of the present utility model is: the device that a kind of industrial robot and Tool Room automatically switch is characterized in that: comprise fixation side that can be loaded on the industrial robot arm and the exchange side that can be loaded on the instrument; This fixation side comprises the fixedly lateral body into and out of air flue that is provided with cavity and is connected with this cavity, is provided with piston in the cavity, and cavity is provided with the connection support that makes this cavity form enclosed cavity outward; Connect support and be provided with guide securement hole and locking steel ball, piston nose is provided with inclined-plane and the groove that cooperates with this locking steel ball; Fixedly lateral body is provided with guide pillar and D-SUB plug; Fixedly the lateral body both sides are provided with air cavity and joint; Exchange side comprises the exchange lateral body that is provided with the cavity that is connected the support cooperation, and this cavity inner wall is provided with and locks the groove that steel ball cooperates; The exchange lateral body is provided with and guide pillar and corresponding guide pin bushing of D-SUB plug and D-SUB socket; Exchange lateral body both sides are provided with fixedly lateral body both sides air cavity is corresponding air cavity and joint.
In the air cavity on the described exchange lateral body of technical solution of the present utility model gas port joint, gas shutoff steel ball and spring are housed.
The described piston of technical solution of the present utility model is provided with endoporus, and spring, steel ball pallet and anti-rotation steel ball are housed in the endoporus.
The interface of the fixedly lateral body of the described piston of technical solution of the present utility model, connection support and this device is equipped with piston packing and sealing gasket respectively, between piston, the connection support link sealing ring is housed.
Between the exchange lateral body of the described gas port joint of technical solution of the present utility model and this device sealing gasket and sealing ring are housed.
The nose shape of the described piston of technical solution of the present utility model alternately is symmetrically distributed by inclined-plane and groove.
Described fixedly lateral body of technical solution of the present utility model and exchange lateral body adopt aluminum to make.
The described joint of technical solution of the present utility model is the different joint of diameter specifications.
The utility model is owing to be equipped with fixation side on industrial robot arm, at the exchange side erecting tools, but the location of implementation tool and industrial robot, be connected, separate and being connected and disconnection of pneumatic signal and electrical signal.Fixation side D-SUB plug links to each other with exchange side D-SUB socket, and fixedly lateral body adopts the duralumin material to make with the exchange lateral body; Fixedly be with the connection support on the end of lateral body, the piston, fixedly form air cavity between lateral body, piston and the connection support, the nose shape of piston alternately is symmetrically distributed by inclined-plane and groove, card has the locking steel ball in the guide securement hole of connection support, the exchange lateral body has and the corresponding groove of locking steel ball, when piston moved to the exchange side direction, piston promoted the locking steel ball and releases in the guide securement hole that connects support, is rolled in the exchange side respective slot; In the air cavity on the exchange lateral body gas port joint is housed, the gas shutoff steel ball is housed on the spring; On the steel ball pallet on the spring of piston inner hole the anti-rotation steel ball is housed; Fixedly on the lateral body guide pillar is housed, on the exchange lateral body guide pin bushing is arranged; Piston, connect support and piston packing and sealing gasket are housed respectively, between piston, the connection support link sealing ring is housed with the fixing interface of lateral body; Between gas port joint and the exchange lateral body sealing gasket and sealing ring are housed.
Interface between industrial robot and instrument is designs fix lateral body and exchange lateral body two parts respectively, and these two parts can accurately be located and firm being connected and separating efficiently with industrial robot by a signal implementation tool.Because an instrument can use on different industrial robots, so just can move an other industrial robot and be positioned the precalculated position from an industrial robot as long as the instrument of the exchange side of same specification is housed; The installation of instrument simultaneously and adjust and can carry out outside lathe uses clamping element can significantly reduce industrial robot downtime flexibly.
The utility model compared with prior art has the following advantages:
1, the utility model can be used in same instrument on the different industrial robots and be positioned the precalculated position fast, can realize that also different instruments is applicable to the quick exchange of same industrial robot;
2, the installation of implementation tool and be positioned at lathe and carry out outward reduces the downtime of industrial robot, improves production efficiency of products;
3, not needing can realize anchor clamps exchange personnel instrument on the scene to exchange automatically;
4, lightweight reduces the heavy burden of industrial robot arm.
The utility model is mainly used in the automatic switchover of multiple instrument when being connected with industrial robot.
Description of drawings
Fig. 1 is a user mode sketch of the present utility model.
Fig. 2 is the external structure schematic diagram of the fixation side 1 of this device of the utility model.
Fig. 3 is the side view of Fig. 1.
Fig. 4 is the external structure schematic diagram of the exchange side 2 of this device of the present utility model.
Fig. 5 is the side view of Fig. 4.
Fig. 6 is the exchange side of this device of the present utility model and the fixation side clamping process schematic diagram of this device.
Fig. 7 is the exchange side of this device of the present utility model and the fixation side separation process schematic diagram of this device.
Fig. 8 is the disposable connection schematic diagram of pneumatic part behind the fixation side clamping of the exchange side of this device of the present utility model and this device.
The specific embodiment
The utility model is described in further detail below in conjunction with accompanying drawing:
As Fig. 1, Fig. 2, Fig. 3, Fig. 4, and it is shown in Figure 5, the fixation side 1 of this device is housed on the industrial robot arm 4, be connected with the exchange side 2 of this device on the instrument 3, fixedly lateral body 5 adopts aluminum to make with exchange lateral body 11, form through hard oxidation processes, can reduce the load-bearing of industrial robot arm like this, intensity and also being guaranteed service life simultaneously, these two parts can accurately be located and firm being connected and separating efficiently with industrial robot arm 4 with the implementation tool 3 that is connected of exchange side D-SUB socket 13 by the fixation side D-SUB plug 6 of this device on it, realize being connected and disconnection of pneumatic signal and electrical signal simultaneously, fixation side 1 and exchange side 2 have interchangeability, the fixation side 1 of same this device can corresponding a plurality of exchange sides 2, moulding time is shortened in the installation of instrument and adjust and can carry out outside lathe; Fixedly that ￠ 6 joints 8 and ￠ 5 joints 9 ￠ 6 joints 8 and ￠ 5 joints 9 and exchange lateral body 11 both sides installed are housed is corresponding in lateral body 5 both sides, and the user can have more needs to select to use different joints.Fixedly in the hole of lateral body 5 moveable piston 16 is housed, piston 16 can advance according to fixing lateral body 5 gases, outgoing direction, in its cavity, slide, the fixing end of lateral body 5, be with on the piston 16 and connect support 17, fixation side 1, form air cavity between piston 16 and the connection support 17, the nose shape of piston 16 alternately is symmetrically distributed by inclined-plane and groove, card has locking steel ball 23 in the guide securement hole of connection support 17, exchange lateral body 11 has and locking steel ball 23 corresponding grooves, piston 16 is when the motion of exchange lateral body 11 directions, piston 16 promotes locking steel ball 23 and is pushed out in the guide securement hole that connects support 17, is rolled in exchange lateral body 11 respective slot; On the steel ball pallet 19 on the spring 25 of piston 16 endoporus anti-rotation steel ball 22 is housed, rotates to prevent piston 16; Outside guide pillar 7 fixedly is housed on the lateral body 5, on the exchange lateral body 11 guide pin bushing 12 is arranged; Piston 16, connect support 17 and piston packing 20 and sealing gasket 18 are housed respectively, piston 16, connect between the support 17 link sealing ring 21 is housed, reach standard-required to guarantee the cavity internal gas pressure with the fixing interface of lateral body 5.
As shown in Figure 6, compressed air when exchange lateral body 11 10 li of switching controls joints during near fixing lateral body 5, compressed air is entered in the fixation side cylinder according to direction as shown, and promote piston 16 to the motion of exchange lateral body 11 directions, at this moment piston 16 can promote locking steel ball 23, locking steel ball 23 is pushed out in the spacing hole that connects support 17, is rolled to simultaneously] exchange in lateral body 11 respective slot, meanwhile there is the dial-out steel ball 24 of respective amount to fall back in the reservation groove of piston 16.Along with exchanging lateral body 11, advancing of piston 16 can be secured on the fixation side 1.At this moment the groove that exchanges lateral body 11 adds the accurate location that entire tool is realized in the outside guide pillar 7 and the location of guide pin bushing 12 with the location of locking steel ball 23.Fixation side D-SUB plug 6 successfully is connected the disposable connection that realizes signal with exchange side D-SUB socket 13 simultaneously.
As shown in Figure 7, the compressed air that the switching controls joint is 10 li, compressed air is entered fixedly in lateral body 5 cylinders, compressed air promotes piston 16 and retreats, piston can be stirred steel ball 24 simultaneously, steel ball 24 is stirred exchange lateral body 11, make exchange side 2 bullets from fixation side 1, locking steel ball 23 is along with moving on piston 16 inclined-planes of piston 16 avoided exchange side, at this moment exchange side 2 can easily break away from fixation side 1, and fixation side D-SUB plug 6 successfully separates the disposable disconnection that realizes signal with the exchange side D-SUB socket 13 of this device simultaneously.
As shown in Figure 8, between gas port joint 14 and the exchange lateral body 11 sealing gasket 15 and sealing ring 28 are housed.The gas shutoff steel ball 27 that the gas port joint of installing on the exchange lateral body 11 when exchange side 2 clamps with fixation side 1 14 promotes on the fixation side, at this moment gas shutoff steel ball 27 separates with sealing ring 28, and Compressed Gas enters exchange side 2 from fixation side 1 and forms the loop.Otherwise when exchange side separated with fixation side, gas shutoff steel ball 27 was pushed down sealing ring 28 and is realized the gas shutoff effects under the elastic force effect of the pressure of Compressed Gas and spring 26.Plug 29 is contained in the end of fixation side 2.
Claims (8)
1. the device that automaticallyes switch of industrial robot and Tool Room is characterized in that: comprise the fixation side (1) that can be loaded on the industrial robot arm (4) and can be loaded on exchange side (2) on the instrument (3); This fixation side (1) comprises the fixedly lateral body (5) into and out of air flue that is provided with cavity and is connected with this cavity, is provided with piston (16) in the cavity, and cavity is provided with the connection support (17) that makes this cavity form enclosed cavity outward; Connect support (17) and be provided with guide securement hole and locking steel ball (23), piston (16) front end is provided with inclined-plane and the groove that cooperates with this locking steel ball (23); Fixedly lateral body (5) is provided with guide pillar (7) and D-SUB plug (6); Fixedly lateral body (5) both sides are provided with air cavity and joint (8,9); Exchange side (2) comprises the exchange lateral body (11) that is provided with the cavity that is connected support (17) cooperation, and this cavity inner wall is provided with and locks the groove that steel ball (23) cooperates; Exchange lateral body (11) is provided with and guide pillar (7) and corresponding guide pin bushing of D-SUB plug (6) (12) and D-SUB socket (13); Exchange lateral body (11) both sides are provided with fixedly lateral body (5) both sides air cavity is corresponding air cavity and joint (8,9).
2. the device that a kind of industrial robot according to claim 1 and Tool Room automatically switch is characterized in that: gas port joint (14), gas shutoff steel ball (27) and spring (26) are housed in the air cavity on the described exchange lateral body (11).
3. the device that a kind of industrial robot according to claim 1 and 2 and Tool Room automatically switch, it is characterized in that: described piston (16) is provided with endoporus, and spring (25), steel ball pallet (19) and anti-rotation steel ball (22) are housed in the endoporus.
4. the device that a kind of industrial robot according to claim 1 and 2 and Tool Room automatically switch, it is characterized in that: described piston (16), connection support (17) are equipped with piston packing (20) and sealing gasket (18) respectively with the interface of the fixedly lateral body (5) of this device, between piston (16), the connection support (17) link sealing ring (21) are housed.
5. the device that a kind of industrial robot according to claim 1 and 2 and Tool Room automatically switch is characterized in that: sealing gasket (15) and sealing ring (28) are housed between the exchange lateral body (11) of described gas port joint (14) and this device.
6. the device that a kind of industrial robot according to claim 1 and 2 and Tool Room automatically switch is characterized in that: the nose shape of described piston (16) alternately is symmetrically distributed by inclined-plane and groove.
7. the device that a kind of industrial robot according to claim 1 and 2 and Tool Room automatically switch is characterized in that: described fixedly lateral body (5) and exchange lateral body (11) adopt aluminum to make.
8. the device that a kind of industrial robot according to claim 1 and 2 and Tool Room automatically switch, it is characterized in that: described joint (8,9) is the different joint of diameter specifications.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011200036170U CN201913646U (en) | 2011-01-07 | 2011-01-07 | Automatic switching device between industrial robot and tools |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011200036170U CN201913646U (en) | 2011-01-07 | 2011-01-07 | Automatic switching device between industrial robot and tools |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN201913646U true CN201913646U (en) | 2011-08-03 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2011200036170U Expired - Fee Related CN201913646U (en) | 2011-01-07 | 2011-01-07 | Automatic switching device between industrial robot and tools |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN201913646U (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106584430A (en) * | 2016-12-05 | 2017-04-26 | 北京理工大学 | Industrial robot tail end mechanism capable of replacing tool fast |
| CN107351125A (en) * | 2017-08-08 | 2017-11-17 | 江苏科技大学 | The detachable attachment mechanism of manipulator on a kind of underwater robot |
| TWI610774B (en) * | 2015-05-20 | 2018-01-11 | Kawasaki Heavy Ind Ltd | Electrical machine installation device and method |
| CN108214542A (en) * | 2017-12-18 | 2018-06-29 | 江苏科技大学 | A kind of two-stage force-increasing mechanism drive-type Underwater electromechanical removal device |
| CN109751468A (en) * | 2017-11-07 | 2019-05-14 | 北京实验工厂 | A kind of High Precision Automatic docking gas source attachment device |
| CN110978003A (en) * | 2019-12-09 | 2020-04-10 | 国网智能科技股份有限公司 | System and method for automatically replacing working tool of live working robot |
-
2011
- 2011-01-07 CN CN2011200036170U patent/CN201913646U/en not_active Expired - Fee Related
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| TWI610774B (en) * | 2015-05-20 | 2018-01-11 | Kawasaki Heavy Ind Ltd | Electrical machine installation device and method |
| CN106584430A (en) * | 2016-12-05 | 2017-04-26 | 北京理工大学 | Industrial robot tail end mechanism capable of replacing tool fast |
| CN107351125A (en) * | 2017-08-08 | 2017-11-17 | 江苏科技大学 | The detachable attachment mechanism of manipulator on a kind of underwater robot |
| CN107351125B (en) * | 2017-08-08 | 2020-08-04 | 江苏科技大学 | Detachable connecting mechanism of manipulator on underwater robot |
| CN109751468A (en) * | 2017-11-07 | 2019-05-14 | 北京实验工厂 | A kind of High Precision Automatic docking gas source attachment device |
| CN109751468B (en) * | 2017-11-07 | 2024-02-09 | 北京实验工厂 | High-precision automatic butt-joint air source connecting device |
| CN108214542A (en) * | 2017-12-18 | 2018-06-29 | 江苏科技大学 | A kind of two-stage force-increasing mechanism drive-type Underwater electromechanical removal device |
| CN108214542B (en) * | 2017-12-18 | 2020-08-25 | 江苏科技大学 | Two-stage force-increasing mechanism driving type underwater electromechanical release device |
| CN110978003A (en) * | 2019-12-09 | 2020-04-10 | 国网智能科技股份有限公司 | System and method for automatically replacing working tool of live working robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20110803 Termination date: 20150107 |
|
| EXPY | Termination of patent right or utility model |