CN210081771U - Industrial robot tool magazine - Google Patents
Industrial robot tool magazine Download PDFInfo
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- CN210081771U CN210081771U CN201920853698.XU CN201920853698U CN210081771U CN 210081771 U CN210081771 U CN 210081771U CN 201920853698 U CN201920853698 U CN 201920853698U CN 210081771 U CN210081771 U CN 210081771U
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- industrial robot
- turntable
- control cabinet
- indexing
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Abstract
The utility model discloses an industrial robot tool library, which comprises a control cabinet, a control system, a tool turntable, a connecting assembly, a dividing device and a power system; the control system, the dividing device and the power system are respectively arranged in the control cabinet, the dividing device is in transmission connection with the power system, the top of the connecting component is fixedly connected with a tool turntable, the bottom of the connecting component is fixedly connected with the dividing device, and the power system is connected with the control system; each station of the tool rotary table is provided with a tool quick connector; the utility model provides an industrial robot tool library, which is convenient for the industrial robot to finish the storage and replacement work of tools through the automatic rotation of the tool turntable to the first opening; the tool turntable rotates instead of the industrial robot moves, so that the programming complexity of the industrial robot during operation is reduced; be provided with the carousel protection casing, play dustproof guard action who prevents falling to standardized instrument on the instrument carousel.
Description
Technical Field
The utility model relates to an industrial robot operation field, in particular to industrial robot tool magazine.
Background
With the upgrading and iteration of the industry, the requirements of the manufacturing industry on the production technology are higher and higher, and the industrial robot technology is beginning to be widely applied to various manufacturing industries. The industrial robot technology is to program an industrial robot so as to control the industrial robot to perform production and labor actions similar to those of a human, and assist a producer in performing industrial manufacturing and production activities.
Before an industrial robot carries out various production tasks, different tools such as a finger cylinder, a pneumatic suction cup, an electric (pneumatic) main shaft, a welding gun support and the like need to be designed and installed for the industrial robot; in the prior art, tools required by production are designed into a series of standardized tools for conveniently replacing the tools, however, the following problems still exist in the process of replacing the tools:
(1) the replacement of the tool requires manual disassembly, which wastes time and labor;
(2) if a plurality of tools need to be replaced fully automatically, position coordinate values of a plurality of tools need to be calculated in a control program when the industrial robot is programmed, so that the programming is complex and tedious;
(3) there is a lack of means for placing and protecting tools.
It is seen that improvements and enhancements to the prior art are needed.
SUMMERY OF THE UTILITY MODEL
In view of the foregoing prior art, an object of the present invention is to provide an industrial robot tool magazine, which can realize automatic replacement of an industrial robot tool by rotation of a tool turntable, and simplify the work of replacing the tool of the industrial robot.
In order to achieve the purpose, the utility model adopts the following technical proposal:
an industrial robot tool library comprises a control cabinet, a control system, a tool turntable, a connecting assembly, a dividing device and a power system; the control system, the dividing device and the power system are respectively arranged in the control cabinet, the dividing device is in transmission connection with the power system, the top of the connecting component is fixedly connected with a tool turntable, the bottom of the connecting component is fixedly connected with the dividing device, and the power system is connected with the control system; and a quick connection tool is placed on each station of the tool turntable.
In the industrial robot tool storehouse, driving system includes motor and motor link, motor and motor link fixed connection, the motor link is fixed to be set up in the switch board, the motor is connected in control system.
In the industrial robot tool storehouse, coupling assembling is including connecting pivot and bearing cap board, bearing cap board detachably sets up on the switch board, it rotationally sets up on bearing cap board to connect the pivot, the upper end and the instrument carousel of connecting the pivot are connected, the bottom and the indexing means of connecting the pivot are connected.
In the industrial robot tool storehouse, indexing device includes graduation carousel and graduation pulling teeth, the graduation pulling teeth is connected with motor drive, the graduation pulling teeth rotationally sets up in graduation carousel bottom, graduation carousel bottom is seted up a plurality of and is pulled out tooth complex interior tooth's socket screens with the graduation.
The industrial robot tool library in, still include the carousel protection casing that detachably set up in switch board roof upper surface, first opening has been seted up on the carousel protection casing.
Industrial robot instrument storehouse in, still include carousel protection casing link, offer the screens of placing that are used for placing the carousel protection casing on the carousel protection casing link, set up the second opening the same with first opening size on the carousel protection casing link, carousel protection casing link detachably sets up in the upper surface of switch board roof.
In the industrial robot tool storehouse, the switch board bottom is fixed and is provided with the removal universal wheel, be provided with the locking device who is used for locking the removal universal wheel between removal universal wheel and the switch board.
In the industrial robot tool library, the tool rotary table is a 6-station tool rotary table.
The industrial robot tool library further comprises an operator, wherein the operator is detachably arranged on the outer surface of the control cabinet, and the operator is connected to the control system.
Advantageous effects
Compared with the prior art, the utility model provides an industrial robot tool library, which is convenient for the industrial robot to finish the tool storage and replacement work through the automatic rotation of the tool turntable to the first opening; the tool turntable rotates instead of the industrial robot moves, so that the programming complexity of the industrial robot during operation is reduced; be provided with transparent carousel protection casing, play dustproof falling guard action to the standardized instrument on the instrument carousel.
Drawings
Fig. 1 is a schematic overall structure diagram of an industrial robot tool magazine provided by the present invention;
fig. 2 is a schematic diagram of an internal structure of an industrial robot tool magazine provided by the present invention;
fig. 3 is a schematic diagram of the internal structure of the industrial robot tool magazine at another viewing angle;
fig. 4 is a schematic structural diagram of an indexing device of an industrial robot tool magazine according to the present invention;
fig. 5 is a schematic view of a use state of the industrial robot tool magazine provided by the present invention.
Detailed Description
The utility model provides an industrial robot tool magazine, for making the utility model discloses a purpose, technical scheme and effect are clearer, clear and definite, and it is right that the following refers to the drawing and the embodiment of lifting the utility model discloses do further detailed description. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the invention.
In the description of the present invention, it should be understood that the terms "inside", "upper surface", "bottom", etc. indicate the orientation or position relationship of the present invention based on the drawings, and are only for convenience of description and simplified description. 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.
Example 1
Referring to fig. 1 and 2, the utility model provides an industrial robot tool magazine, which comprises a control cabinet 1, a control system (not shown in the figure), a tool turntable 2, a connecting assembly 3, an indexing device 4 and a power system 5; the control system, the dividing device 4 and the power system 5 are respectively arranged in the control cabinet 1, the dividing device 4 is in transmission connection with the power system 5, the top of the connecting component 3 is fixedly connected with the tool turntable 2, and the bottom of the connecting component 3 is fixedly connected with the dividing device 4; the power system 5 is connected with the control system; a quick connection tool 21 is arranged on each station of the tool turntable 2; according to different production tasks of the industrial robot, quick connection tools with different functional attributes can be placed on each station of the tool turntable; in this embodiment, the control system may be, but is not limited to, PLCS7-200 SMART.
Further, referring to fig. 2, the power system 5 includes a motor 51 and a motor connecting frame 52, the motor 51 is fixedly connected with the motor connecting frame 52, the motor connecting frame 52 is fixedly disposed in the control cabinet 1, and the motor 51 is connected to the control system; in this embodiment, the motor connecting frame 52 is connected to the lower surface of the top plate 11 of the control cabinet 1 by bolts.
Further, referring to fig. 3, the connecting assembly 3 includes a connecting shaft 31 and a bearing cover plate 32, the bearing cover plate 32 is detachably disposed on the control cabinet 1, the connecting shaft 31 is rotatably disposed in the bearing cover plate 32, an upper end of the connecting shaft 31 is connected to the tool turntable 2, and a bottom end of the connecting shaft 31 is connected to the indexing device 4; in this embodiment, the bearing cover plate is in a bolted connection with the upper surface of the top plate of the control cabinet, and the connection rotating shaft may be, but is not limited to, in a welded connection with the tool turntable and the indexing device.
Further, referring to fig. 4, the indexing device 4 includes an indexing turntable 41 and indexing teeth 42, the indexing teeth 42 are in transmission connection with the motor 51, the indexing teeth 42 are rotatably disposed at the bottom of the indexing turntable 41, and the bottom of the indexing turntable 41 is provided with a plurality of inner tooth socket detents 411 matched with the indexing teeth 42; when the automatic tool changing warehouse works, the motor drives the indexing tooth-pulling to rotate, the indexing tooth-pulling is matched with a plurality of inner tooth groove clamping positions at the bottom of the indexing rotary table, and the indexing rotary table rotates from one inner tooth groove clamping position to the other inner tooth groove clamping position, so that the rotation of the indexing rotary table is realized.
Further, referring to fig. 1, the automatic tool changer further includes a turntable shield 6 detachably disposed on an upper surface of a top plate 11 of the control cabinet 1, the turntable shield 6 is provided with a first opening, and the size of the first opening is such that the industrial robot is not interfered when changing tools; preferably, in this embodiment, the turntable shield comprises a side plate 61 and a top cover 62, wherein the side plate and the top cover are in a bolted connection relationship; transparent material can be selected for use to make the carousel protection casing, makes things convenient for the staff to observe in the carousel, the condition when industrial robot changes the instrument.
Further, referring to fig. 2, the automatic tool magazine replacement further includes a turntable shield connecting frame 7, a placing clamp for placing the turntable shield 6 is disposed on the turntable shield connecting frame 7, a second opening having the same size as the first opening is disposed on the turntable shield connecting frame 7, and the turntable shield connecting frame 7 is detachably disposed on the upper surface of the top plate 11 of the control cabinet 1; in this embodiment, carousel protection casing link passes through the bolt fastening in the upper surface of switch board roof, places the carousel protection casing in the screens of placing of carousel protection casing link, and the rethread bolt is further fixed the carousel protection casing.
Further, referring to fig. 1, a movable universal wheel 8 is fixedly arranged at the bottom of the control cabinet 1, and a locking device (not shown in the figure) for locking the movable universal wheel is arranged between the movable universal wheel 8 and the control cabinet 1; through set up the removal universal wheel in switch board bottom, be convenient for adjust according to the production needs of reality and remove the position of automatic change tool magazine, and be provided with locking device, can lock the position of automatic change tool magazine.
Further, referring to fig. 2, in the present embodiment, the tool turret 2 is a 6-station tool turret; in other embodiments, the tool carousel for different stations may be selected based on the requirements of the actual production task and the number of replacement tools required.
The working principle of the industrial robot tool library provided by the embodiment is as follows: referring to fig. 5, before use, the tool change sequence in the automatic tool changer may be programmed according to the actual production task to be performed by the industrial robot, and the industrial robot and the automatic tool changer are controlled by the same control system; when the industrial robot needs to carry out tool replacement work, the control system controls the industrial robot to operate to the point A (outside the automatic replacement tool library and above the quick connection tool) through programming, and the quick connection head on the industrial robot is tightened; after the time is delayed for 1 second, the automatic replacement tool library controls the motor to start, the motor drives the indexing tooth pulling indexing turntable to rotate, the indexing turntable rotates to drive the tool turntable connected with the upper end of the rotating shaft to rotate, and the tool turntable rotates the tool to be replaced or the empty position on the tool turntable to the first opening; after that, the industrial robot moves from the point A to the point B (in the quick-connection tool), the quick joint of the industrial robot is opened, and the quick joint of the quick-connection tool is connected, so that the tool is stored and replaced; after the installation is finished, the quick connection tool moves to a point C (outside an automatic tool changing warehouse) along with the industrial robot, and the whole process of automatically changing the tool is finished.
In the embodiment, the tool turntable is a 6-station tool turntable, the tool turntable can sequentially rotate by 60 degrees to change different tools, the tool turntable rotates by 60 degrees every time, and the motor is self-locked after stopping operation so as to prevent position errors caused by angular displacement; the mode of presetting the tool change sequence is suitable for automatic continuous production of the industrial robot, and the automatic tool change of the industrial robot is realized.
Example 2
Referring to fig. 1, the main differences between the present embodiment and embodiment 1 are: the industrial robot tool library further comprises an operator 9, the operator 9 is detachably arranged on the outer surface of the control cabinet 1, and the input end and the output end of the operator 9 are respectively connected with the output end and the input end of the control system.
In this embodiment, can set up two hangers in the rear side of manipulator is fixed, set up in hangers complex gag lever post at switch board external surface fixation, place the manipulator in the surface of switch board through the hangers, and the staff can take off the manipulator and operate at the course of the work.
In this embodiment, the operator includes a switch button, a number panel and a sequential rotation button, and the switch button, the number panel and the sequential rotation button are all self-locking buttons; before use, standardized tools are placed on the tool rotating disc in the tool library according to numbers, and in the embodiment, the tool rotating disc is provided with 6 stations which can respectively correspond to the number buttons of numbers 1-6 on the number panel.
The working principle of the industrial robot tool library provided by the embodiment is as follows: the sequence of automatic tool library changing tools is controlled by a worker through an operator, and when a corresponding digital button is pressed down, the station corresponding to the serial number rotates to the automatic installation station, so that the automatic tool changing of the industrial robot is realized; or the sequential rotation button is pressed down, and the tool turntable rotates the conversion tool clockwise or anticlockwise (rotates according to the programmed direction); the mode of controlling the tool rotary table to rotate through the operator is suitable for daily tool maintenance and debugging before production.
It is understood that equivalent alterations and modifications can be made by those skilled in the art according to the technical solution of the present invention and the inventive concept thereof, and all such alterations and modifications are intended to fall within the scope of the appended claims.
Claims (9)
1. The industrial robot tool library is characterized by comprising a control cabinet, a control system, a tool turntable, a connecting assembly, a dividing device and a power system; the control system, the dividing device and the power system are respectively arranged in the control cabinet, the dividing device is in transmission connection with the power system, the top of the connecting component is fixedly connected with a tool turntable, the bottom of the connecting component is fixedly connected with the dividing device, and the power system is connected with the control system; and a quick connection tool is placed on each station of the tool turntable.
2. An industrial robot tool magazine according to claim 1, characterized in that the power system comprises a motor and a motor connection frame, the motor is fixedly connected with the motor connection frame, the motor connection frame is fixedly arranged in the control cabinet, and the motor is connected to the control system.
3. The industrial robot tool magazine as claimed in claim 1, wherein the connecting assembly comprises a connecting shaft and a bearing cover plate, the bearing cover plate is detachably arranged on the control cabinet, the connecting shaft is rotatably arranged on the bearing cover plate, the upper end of the connecting shaft is connected with the tool rotary table, and the bottom end of the connecting shaft is connected with the indexing device.
4. The industrial robot tool magazine according to claim 2, wherein the indexing device comprises an indexing turntable and indexing tooth extractors, the indexing tooth extractors are in transmission connection with a motor, the indexing tooth extractors are rotatably arranged at the bottom of the indexing turntable, and a plurality of inner tooth socket clamping positions matched with the indexing tooth extractors are formed at the bottom of the indexing turntable.
5. The industrial robot tool magazine of claim 1, further comprising a turntable shield removably mounted to the top surface of the top plate of the control cabinet, the turntable shield defining a first opening.
6. The industrial robot tool library according to claim 5, further comprising a turntable shield connecting frame, wherein the turntable shield connecting frame is provided with a positioning clamp for positioning a turntable shield, the turntable shield connecting frame is provided with a second opening having the same size as the first opening, and the turntable shield connecting frame is detachably arranged on the upper surface of the top plate of the control cabinet.
7. The industrial robot tool magazine as claimed in claim 1, wherein a movable universal wheel is fixedly arranged at the bottom of the control cabinet, and a locking device for locking the movable universal wheel is arranged between the movable universal wheel and the control cabinet.
8. An industrial robot tool magazine according to claim 1, characterized in that the tool carousel is a 6-position tool carousel.
9. An industrial robot tool magazine according to claim 1, further comprising manipulators detachably arranged on an outer surface of the control cabinet, said manipulators being connected to the control system.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920853698.XU CN210081771U (en) | 2019-06-06 | 2019-06-06 | Industrial robot tool magazine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920853698.XU CN210081771U (en) | 2019-06-06 | 2019-06-06 | Industrial robot tool magazine |
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| Publication Number | Publication Date |
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| CN210081771U true CN210081771U (en) | 2020-02-18 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201920853698.XU Active CN210081771U (en) | 2019-06-06 | 2019-06-06 | Industrial robot tool magazine |
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| CN (1) | CN210081771U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110065086A (en) * | 2019-06-06 | 2019-07-30 | 佛山职业技术学院 | A kind of industrial robot tool storage room |
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2019
- 2019-06-06 CN CN201920853698.XU patent/CN210081771U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110065086A (en) * | 2019-06-06 | 2019-07-30 | 佛山职业技术学院 | A kind of industrial robot tool storage room |
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