CN203438241U - Rapidly switching device for mechanical arm tool - Google Patents

Abstract

The utility model discloses a fast switching device for manipulator tools. The device includes a manipulator module and a tool module. The tool module includes at least one tool device, and each tool device is provided with a processing tool and a The drive device provides driving force for the processing tool, and the manipulator module is provided with a universal joint assembly for mating connection with the tool device. This kind of equipment has the advantages of long service life and high work efficiency.

Description

A fast switching device for manipulator tools

technical field

The utility model relates to an automation device, in particular to a fast switching device for manipulator tools.

Background technique

With the continuous progress of mankind, people have put forward higher and higher requirements for materials. In order to meet the higher and higher material requirements of human beings, the social production model is gradually changing into a large-scale automated production model. With this historical trend , industrial manipulators are being increasingly used in the current industrial automation production. The use of manipulators in industrial production has advantages that traditional production models do not have, such as high production efficiency, stable production quality, and labor cost savings. At present, the manipulator has been widely used in the production line. In the production line, each station has a corresponding manipulator to process the workpiece, which has the advantages of fast, efficient and safe. In order for the manipulator to realize the process of processing the workpiece, it is necessary to install a processing tool on the manipulator, and process the sub-processed workpiece at each station through the processing tool, and finally complete a complete product. In order to further improve the production efficiency of industrial production, a manipulator is usually provided with multiple processing tools. However, as more and more processing tools are installed on the manipulator, there will be insurmountable defects in the manipulator during the production process, which are mainly manifested in: First, after the number of workpieces to be processed increases, the load on the manipulator is too large. The transmission parts are subjected to greater force and greater impact, which will reduce the service life of the manipulator; on the other hand, since the space where the processing tools can be installed on the manipulator is fixed, when the processing tools installed on the manipulator After increasing, the adjacent processing tools may cause spatial overlap during operation, which reduces the degree of freedom of the processing tools when they are working. The tools need to take some curved paths during the processing to avoid other tools, which leads to work Efficiency is reduced; moreover, when there are a lot of processing tools required, one manipulator can no longer install all these tools. At this time, the producer needs to increase the number of manipulators to meet the production demand. As the number of manipulators increases, the production cost also increases. Simultaneous growth, which is very unfavorable for production enterprises.

Utility model content

In order to overcome the deficiencies of the existing technology, the utility model provides a fast switching device for manipulator tools, which solves the problems of shortened service life, low flexibility, low efficiency, and increased cost caused by the installation of tools on the manipulator in the previous production process. technical flaws.

The technical scheme that the utility model solves its technical problem adopts is:

A manipulator tool fast switching device, the device includes a manipulator module and a tool module, the tool module includes at least one tool device, each tool device is provided with a processing tool independent of other tool devices and provides driving for the processing tool The force driving device, the manipulator module is provided with a universal joint assembly for mating connection with the tool device.

As an improvement of the above technical solution, the manipulator module includes a manipulator, the above-mentioned universal joint assembly is installed on the free end of the manipulator, the universal joint assembly includes a joint base plate, and the joint base plate is fixed and useful On the connecting boss connected to the end of the manipulator, tool clamping devices for clamping the tool device are provided on the corresponding two sides of the joint bottom plate.

As a further improvement of the above technical solution, the tool module includes a tool carrying plate, and at least one tool placement position is arranged on the tool carrying plate, the above tool device is placed on the tool placement position, and the tool device includes a tool Bottom plate, the tool bottom plate is fixedly installed with processing tools for processing products.

As a further improvement of the above technical solution, the tool clamping device includes arc-shaped left and right clamps hinged on the side wall of the joint bottom plate, the hinge position of the left clamp and the right clamp is the middle position, and the left The upper part of the clamping hand and the right clamping hand are respectively hinged with a left connecting piece and a right connecting piece, the free ends of the left connecting piece and the right connecting piece are hingedly connected through the hinged center column, and the tool clamping device also includes a The drive cylinder seat on the joint bottom plate, the clamp hand drive cylinder is fixedly installed on the drive cylinder seat, one end of the hinged center column is connected to the joint base plate through a clamping spring, and the other end of the hinged center column is pressed against the above-mentioned clamp hand Drive the end of the push rod of the cylinder, and the corresponding two sides of the tool bottom plate are provided with clamping blocks for cooperation with the left and right clamps.

As a further improvement of the above technical solution, the drive cylinder seat is provided with limit screws for limiting the left and right grippers.

As a further improvement of the above technical solution, an air supply output port is provided at the central position of the joint base plate, and an air supply input port matching the air supply output port is provided at the central position of the tool base plate.

As a further improvement of the above technical solution, a porous power socket is provided on the joint base plate, and a multi-pin power plug used in conjunction with the porous power socket is provided on the tool base plate.

As a further improvement of the above technical solution, the joint base plate is provided with a positioning guide post, and the tool base plate is provided with a positioning guide hole matched with the above positioning guide post.

As a further improvement of the above technical solution, a positioning hole is provided on the joint base plate, and a positioning boss matched with the positioning hole is provided on the tool base plate.

As a further improvement of the above technical solution, the tool base plate or the connecting plate fixedly connected with the tool base plate is provided with positioning holes, and the tool supporting plate is provided with positioning protrusions that match the positioning holes. tower.

As a further improvement of the above technical solution, the device further includes a bottom mounting plate, and the manipulator module and the tool module are fixedly mounted on the bottom mounting plate.

As a further improvement of the above technical solution, the equipment also includes a workpiece transport module, the workpiece transport module includes a workpiece guide rail and a workpiece transport wheel set installed on the workpiece guide rail, and the workpiece transport wheel set is equipped with a A workpiece carrying plate for conveying workpieces above the workpiece conveying wheel set.

The beneficial effects of the utility model are: the utility model provides a fast switching device for manipulator tools, the manipulator module and the tool module of this kind of equipment are not fixedly connected, and at least one tool device is provided on the tool module, and the tool device can pass through The universal connector assembly on the robot module connects to the robot on the robot module. In the actual production process, after the workpiece to be processed enters the processing station, the manipulator selects the required tool device under the control of the control system and connects it to the universal joint assembly before processing the workpiece. After completing this process, the manipulator sends the tool device to Returning to the corresponding position, the universal joint assembly releases the workpiece device and then selects other required tool devices for the next processing procedure. The advantages of this kind of equipment are: firstly, the tool device is no longer fixedly installed on the manipulator, and the manipulator only needs to bear the load of one tool device every time the workpiece is processed, which is small in load, which is beneficial to prolong the service life of the entire equipment; secondly, every time Only one tool device works during the processing, the tool on the tool device is not affected by the position of other tools, the flexibility is high, the tool does not need to go through too many curved paths, and the processing efficiency is high; in addition, this equipment can make each A manipulator can be configured with a sufficient number of tool devices, which can reduce the number of manipulators installed, save production costs, and also save space required in the production process. This kind of manipulator tool quick switching equipment solves the technical defects such as shortened service life, low flexibility, low efficiency and high cost caused by the installation of tools on the manipulator in the past production process.

Description of drawings

Below in conjunction with accompanying drawing and embodiment the utility model is further described.

Fig. 1 is a schematic diagram of assembly of the utility model;

Fig. 2 is the assembly diagram of another angle of the utility model;

Fig. 3 is the structural representation of universal joint assembly in the utility model;

Fig. 4 is a schematic structural view of the second angle of the universal joint assembly in the utility model;

Fig. 5 is a structural schematic diagram of the third angle of the universal joint assembly in the utility model;

Fig. 6 is a top view of the universal joint assembly in the utility model;

Fig. 7 is the bottom view of the universal joint assembly in the utility model;

Fig. 8 is the front view of the universal joint assembly in the utility model;

Fig. 9 is a right view of the universal joint assembly in the utility model;

Fig. 10 is an assembly diagram of the tool clamping device installed on the joint base plate in the utility model;

Fig. 11 is an assembly schematic diagram of another angle in which the tool clamping device is installed on the joint bottom plate in the utility model;

Fig. 12 is a schematic diagram of the mechanism of the tool module in the utility model;

Fig. 13 is the right side view of the tool module in the utility model;

Fig. 14 is a top view of the tool module in the utility model;

Fig. 15 is a schematic structural view of the tool device in the utility model;

Fig. 16 is a rear view of the tool device in the utility model;

Fig. 17 is a left view of the tool device in the utility model;

Fig. 18 is a top view of the tool device in the utility model;

Fig. 19 is a schematic structural view of the tool carrying device in the utility model;

Fig. 20 is a schematic structural view of the workpiece transport module in the utility model;

Fig. 21 is a top view of the workpiece transport module in the utility model;

Fig. 22 is a right view of the workpiece transport module in the utility model.

Detailed ways

Referring to Fig. 1, Fig. 2, Fig. 15, a kind of manipulator tool fast switching equipment, this equipment comprises manipulator module 1 and tool module 3, said tool module 3 includes at least one tool device 4, each tool device 4 is set There is a processing tool 40 independent of other tool devices 4 and a driving device providing driving force for the processing tool 40 , and the manipulator module 1 is provided with a universal joint assembly 2 for mating connection with the tool device 4 .

The manipulator module 1 and the tool module 3 of this device are not fixedly installed, but are connected through the above-mentioned universal joint assembly 2. In actual production applications, the device can select different tools on the tool module 3 according to different processes. The device 4 is connected with the universal joint assembly 2 to process the workpiece. On the one hand, this structure reduces the load on the manipulator module 1 and is beneficial to prolong its service life; The degree of freedom of operation is beneficial to improve efficiency; it is also possible to arrange enough tool devices 4 on the tool module 3 .

The manipulator module 1 includes a manipulator 11, and the above-mentioned universal joint assembly 2 is installed on the free end of the manipulator 11. Referring to FIGS. The bottom plate 21 is fixedly provided with a connecting boss 22 for connecting with the end of the above-mentioned manipulator 11, and the corresponding two sides of the joint bottom plate 21 are provided with a tool clamping device 23 for clamping the above-mentioned tool device 4. A visual sensor 28, an industrial camera 291 and an illuminating device 292 are also provided on the side of the joint bottom plate 21, and a protective cover 20 is provided on the side of the universal joint assembly 2, and the protective cover 20 covers the outside of the tool clamping device 23, Prevent the tool clamping device 23 from pinching components or operators.

12, FIG. 13, FIG. 14, and FIG. 19, the tool module 3 includes a tool placement device 30, and the tool placement device 30 includes a placement base plate 34, and a support column 35 is fixedly arranged on the placement base plate 34. , the upper end of the support column 35 is erected with a tool carrying plate 31 , and at least one tool placement 32 is arranged on the tool carrying plate 31 , and the above-mentioned tool device 4 is placed on the tool placement 32 . 15-18, the tool device 4 includes a tool base plate 41, and the tool base plate 41 is fixedly installed with a processing tool 40 for processing products. The processing tools 40 installed on each workpiece device 4 may be the same or different, and the specific type of processing tools 40 shall be determined according to actual processing requirements.

Referring to Fig. 9, Fig. 10 and Fig. 11, the tool clamping device 23 includes an arc-shaped left gripper 231 and a right gripper 232 hinged on the side wall of the joint bottom plate 21, the left gripper 231 and the right gripper 232 The hinged position is the middle position, and the upper parts of the left gripper 231 and the right gripper 232 are respectively hinged with a left connecting piece 233 and a right connecting piece 234, and the free ends of the left connecting piece 233 and the right connecting piece 234 pass through the hinged center post 235 For hinged connection, the tool clamping device 23 also includes a driving cylinder seat 236 fixedly arranged on the joint bottom plate 21, and a gripper driving cylinder 237 is fixedly installed on the driving cylinder seat 236, and one end of the above-mentioned hinged center column 235 passes through the clamp The tight spring 238 is connected to the joint bottom plate 21, and the other end of the hinged center column 235 is pressed against the end of the push rod of the gripper driving cylinder 237. Referring to Fig. 15 and Fig. 16, the corresponding two sides of the tool bottom plate 41 are arranged There is a clamping block 42 used in cooperation with the left clamping hand 231 and the right clamping hand 232.

The driving cylinder base 236 is provided with a limit screw 239 for limiting the left gripper 231 and the right gripper 232 .

The working principle of the above-mentioned tool clamping device 23 is as follows: the clamping spring 238 is in an elastically elongated state. When the device 23 needs to clamp the tool device 4, the gripper drive cylinder 237 starts, and its push rod pushes the hinged center column 235 to move downward, so that the left gripper 231 and the right gripper 232 are released, and the left gripper 231 and the right gripper are moved. The hand 232 cooperates with the clamping block 42. At this time, the clamping hand drive cylinder 237 stops working, and the left clamping hand 231 and the right clamping hand 232 return to the clamping state and clamp the tool device 4 under the drive of the clamping spring 238. The clamping device 23 can complete the work of clamping the tool device 4 once.

Referring to Fig. 5, Fig. 7, Fig. 15 and Fig. 18, the central position of the joint base plate 21 is provided with an air supply outlet 24, and the side wall of the joint base plate 21 is provided with an air supply head connected to the air supply output port 24 241 , the central position of the tool bottom plate 41 is provided with an air supply input port 44 matching the air supply output port 24 . After the tool device 4 is connected to the universal joint assembly 2 and the air supply device is connected to the air supply head 241, the high-pressure gas can be supplied to the tool device 4 through the cooperation of the air supply output port 24 and the air supply input port 44. 4, the machining tool 40 driven by the air cylinder provides the driving force.

The connector bottom plate 21 is provided with a porous power socket 25 , and the tool bottom plate 41 is provided with a multi-pin power plug 45 used in conjunction with the porous power socket 25 . The cooperation between the porous power supply jack 25 and the multi-pin power plug 45 can be used to drive the workpiece device 4 connected to the universal joint assembly 2. In this embodiment, the porous power supply jack 25 is a 23-hole jack. The pin power plug 45 is a 23-pin plug.

The joint bottom plate 21 is provided with a positioning guide post 26 , and the tool bottom plate 41 is provided with a positioning guide hole 46 matched with the positioning guide post 26 .

The joint bottom plate 21 is provided with a positioning hole 27 , and the tool bottom plate 41 is provided with a positioning boss 47 matched with the positioning hole 27 .

The above-mentioned positioning guide post 26 , positioning guide hole 46 , positioning hole 27 and positioning boss 47 help the tool device 4 to be better positioned to the correct position when it is connected to the universal joint assembly 2 .

Referring to Fig. 15 and Fig. 19, the tool bottom plate 41 or the connecting plate fixedly connected with the tool bottom plate 41 is provided with a positioning hole 43, and the tool carrying plate 31 is provided with a positioning hole 43 to match the positioning hole 43 Place the positioning boss 33, place the positioning hole 43 and place the setting of the positioning boss 33 to facilitate the tool device 4 to be placed on a suitable position on the tool carrier plate 31.

Referring to FIG. 1 and FIG. 2 , the device also includes a bottom mounting plate 5 on which the manipulator module 1 and the tool module 3 are fixedly mounted.

Referring to Fig. 20, Fig. 21 and Fig. 22, the equipment also includes a workpiece transportation module 6, the workpiece transportation module 6 includes a transportation module bottom plate 60, and a guide column device 64 and a workpiece guide rail 61 are arranged on the transportation module bottom plate 60, so that A workpiece conveying wheel set 62 is installed on the workpiece guide rail 61. The workpiece guide rail 61 includes a fixed guide rail 611 fixedly connected to the transport module bottom plate 60 and a guide post set on the guide post device 64 and a movable guide rail that can slide along the guide post 612, the workpiece conveying wheel set 62 is provided with a workpiece carrying plate 63 that can transport workpieces above the workpiece conveying wheel set 62, and the workpiece is placed on the workpiece placement position on the workpiece carrying plate 63 when the equipment is working.

The above is a specific description of the preferred implementation of the present utility model, but the invention is not limited to the described embodiments, and those skilled in the art can also make various equivalent deformations without violating the spirit of the present utility model Or replacement, these equivalent modifications or replacements are all included within the scope defined by the claims of the present application.

Claims (10)

1. A device for quickly switching manipulator tools, characterized in that the device includes a manipulator module (1) and a tool module (3), the tool module (3) includes at least one tool device (4), each tool The device (4) is provided with a processing tool (40) independent of other tool devices (4) and a driving device providing driving force for the processing tool (40), and the manipulator module (1) is provided with a The device (4) cooperates with the connected universal joint assembly (2). 2. A manipulator tool quick switching device according to claim 1, characterized in that: the manipulator module (1) includes a manipulator (11), and the above-mentioned universal joint assembly (2) is installed on the manipulator (11) ), the universal joint assembly (2) includes a joint bottom plate (21), and the joint bottom plate (21) is fixedly provided with a connecting boss for connecting with the end of the manipulator (11) (22), the joint bottom plate (21) is provided with a tool clamping device (23) for clamping the tool device (4) on its corresponding two sides. 3. A manipulator tool quick switching device according to claim 2, characterized in that: said tool module (3) includes a tool carrying plate (31), and at least one tool is arranged on the tool carrying plate (31) Placement position (32), the above tool device (4) is placed on the tool placement position (32), the tool device (4) includes a tool base plate (41), and the tool base plate (41) is fixed and installed Processing tools (40) for processing products. 4. A manipulator tool quick switching device according to claim 3, characterized in that: the tool clamping device (23) includes an arc-shaped left gripper hinged on the side wall of the joint bottom plate (21) ( 231) and the right gripper (232), the hinged position of the left gripper (231) and the right gripper (232) is the middle position, and the upper parts of the left gripper (231) and the right gripper (232) are respectively hinged with a left connection (233), the right connecting piece (234), the free ends of the left connecting piece (233) and the right connecting piece (234) are hingedly connected through the hinged center column (235), and the tool clamping device (23) It also includes a drive cylinder seat (236) fixed on the joint bottom plate (21), the drive cylinder seat (236) is fixedly installed with a clamp hand drive cylinder (237), and one end of the above-mentioned hinged center column (235) is clamped The spring (238) is connected to the joint bottom plate (21), and the other end of the hinged center column (235) is pressed against the end of the push rod of the clamper driving cylinder (237), and the tool bottom plate (41) corresponds to two The side is provided with a clamping block (42) used in cooperation with the left clamping hand (231) and the right clamping hand (232). 5. A manipulator tool quick switching device according to claim 4, characterized in that: the drive cylinder seat (236) is provided with a device for limiting the left gripper (231) and the right gripper (232). the set screw (239) in place. 6. A manipulator tool quick switching device according to claim 5, characterized in that: the central position of the joint base plate (21) is provided with an air supply outlet (24), and the central position of the tool base plate (41) is An air supply input port (44) matching the air supply output port (24) is provided at the position. 7. A manipulator tool quick switching device according to claim 6, characterized in that: the joint base plate (21) is provided with a porous power jack (25), and the tool base plate (41) is provided with There is a multi-pin power plug (45) used in conjunction with the porous power jack (25). 8. A manipulator tool quick switching device according to claim 7, characterized in that: the joint bottom plate (21) is provided with a positioning guide column (26), and the tool bottom plate (41) is provided with the above-mentioned The positioning guide hole (46) matched with the positioning guide post (26), the positioning hole (27) is set on the joint bottom plate (21), and the tool bottom plate (41) is provided with the positioning hole (27) Cooperating positioning boss (47). 9. A manipulator tool quick switching device according to claim 8, characterized in that: the tool bottom plate (41) or the connecting plate fixedly connected with the tool bottom plate (41) is provided with a positioning hole (43) , the tool carrying plate (31) is provided with a placement positioning boss (33) that matches the placement positioning hole (43). 10. A manipulator tool quick switching device according to any one of claims 1-9, characterized in that the device also includes a bottom mounting plate (5), the manipulator module (1) and the tool module ( 3) Fixedly installed on the bottom mounting plate (5), the device also includes a workpiece transport module (6), the workpiece transport module (6) includes a workpiece guide rail (61) and is installed on the workpiece guide rail (61) The workpiece conveying wheel set (62), the workpiece conveying wheel set (62) is provided with a workpiece carrying plate (63) that can transport workpieces above the workpiece conveying wheel set (62).

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