CN212286834U

CN212286834U - Terminal electronic tool changing system of robot

Info

Publication number: CN212286834U
Application number: CN202020916576.3U
Authority: CN
Inventors: 李峭棘; 苏云峰
Original assignee: Dalian Kunda Automation Co ltd
Current assignee: Dalian Kunda Automation Co ltd
Priority date: 2020-05-27
Filing date: 2020-05-27
Publication date: 2021-01-05
Anticipated expiration: 2030-05-27

Abstract

The utility model discloses a terminal electronic tool changing system of robot, including the robot arm, the end of robot arm is provided with the terminal flange of robot, the terminal flange of robot passes through bolted mounting and connects the ring flange, connect the ring flange and install on electric actuator, the support is installed to electric actuator's rear end face, install location camera and light source on the support, the handle of a knife holding ring is installed to electric actuator's lower terminal surface, install cutter chip reader on the handle of a knife holding ring, electric actuator is last to be provided with handle of a knife clamping jaw A and handle of a knife clamping jaw B, handle of a knife clamping jaw A and handle of a knife clamping jaw B all install on electric actuator through the mechanism that opens and shuts. The utility model discloses a terminal electronic tool changing system of robot uses electric control to realize the accurate centre gripping to the handle of a knife, to the occasion of non-compressed air source such as similar automatic handling car, and this terminal electronic tool changing system of robot has realized the accurate positioning and the clamp of handle of a knife tightly, provides the possibility for the change of robot handle of a knife.

Description

Terminal electronic tool changing system of robot

Technical Field

The utility model relates to a machining center lathe tool magazine changes technical field, specifically is terminal electronic tool changing system of robot.

Background

The tool changing form that the present handle of a knife used to HSK100A is pneumatic tool changing, is applicable to the occasion that has compressed air source, and in the occasion that does not have compressed air source, current product can't realize the tool changing between HSK100A type handle of a knife and the lathe tool magazine, consequently, the terminal electronic tool changing system of urgent need robot solves above-mentioned problem.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a terminal electronic tool changing system of robot uses electric control to realize the accurate centre gripping to the handle of a knife, to the occasion of non-compressed air source such as similar automatic handling car, and this terminal electronic tool changing system of robot has realized that the accurate positioning to the handle of a knife and clamp tightly, provides the possibility for the change of robot handle of a knife, can solve the problem among the prior art.

In order to achieve the above object, the utility model provides a following technical scheme: the tail end of the robot arm is provided with a robot tail end connecting flange, the robot tail end connecting flange is provided with a connecting flange disc through a bolt, the connecting flange disc is installed on an electric actuator, a support is installed on the rear end face of the electric actuator, a positioning camera and a light source are installed on the support, a handle positioning ring is installed on the lower end face of the electric actuator, a cutter chip reader is installed on the handle positioning ring, a handle clamping jaw A and a handle clamping jaw B are arranged on the electric actuator, and the handle clamping jaw A and the handle clamping jaw B are both installed on the electric actuator through an opening and closing mechanism;

the mechanism that opens and shuts includes driving motor, lead screw A, lead screw B, connecting plate, the motion piece A that opens and shuts and the motion piece B that opens and shuts, driving motor installs on electric actuator's outer wall, driving motor's output shaft passes through the shaft coupling and installs lead screw A, lead screw A's the other end passes through the bearing and installs on the connecting plate, the connecting plate is installed on electric actuator's inner wall, still install lead screw B on the connecting plate, lead screw B's the other end passes through the bearing and installs on electric actuator's inner wall, lead screw A and lead screw B be threaded connection respectively and open and shut motion piece A and the motion piece B that opens and shuts, the motion piece A that opens and shuts all wears out electric actuator and extends to electric actuator's the outside.

Preferably, the screw threads of the screw mandrel A and the screw mandrel B are opposite in direction.

Preferably, handle of a knife clamping jaw A and handle of a knife clamping jaw B are installed respectively on motion A and the motion B that opens and shuts that open and shut, and handle of a knife clamping jaw A and handle of a knife clamping jaw B press from both sides and get the handle of a knife.

Preferably, the electric actuator is provided with a strip-shaped groove for the movement of the opening and closing movement block A and the opening and closing movement block B, and the handle clamping jaw A and the handle clamping jaw B move in the strip-shaped groove through the movement of the opening and closing movement block A and the opening and closing movement block B.

Compared with the prior art, the beneficial effects of the utility model are as follows:

the utility model discloses a robot end electric tool changing system, after the robot confirms the position of handle of a knife through location camera and light source, the robot arm drives handle holding ring motion and makes handle holding ring card go into the draw-in groove of handle of a knife, simultaneously cutter chip reader reads the cutter information, after judging that the cutter information is unanimous with the target information, driving motor drive lead screw A and lead screw B rotate, lead screw A and lead screw B drive the motion of opening and shutting motion piece A and the motion of opening and shutting motion piece B in opposite directions and make handle of a knife clamping jaw A and handle of a knife clamping jaw B press from both sides and get the handle of a knife, finally the robot accomplishes the target position of handle of a knife and places the handle of a knife, handle of a knife placing process is vice versa, can realize the accurate centre gripping to the handle of a knife using electric control, for the occasion that no compressed air source such as similar automatic handling, provides possibility for the change of the robot tool holder.

Drawings

Fig. 1 is a schematic view of a robot end electric tool changing system of the present invention;

fig. 2 is a schematic view of the clamping state of the electric tool changing system of the present invention;

fig. 3 is a schematic view of the electric tool changer system according to the present invention in an open state;

fig. 4 is a schematic partial cross-sectional view of the clamping state of the electric tool changer system of the present invention;

fig. 5 is a schematic partial sectional view of the open state of the electric tool changer system of the present invention.

In the figure: 1. a robot arm; 2. the tail end of the robot is connected with a flange; 3. connecting a flange plate; 4. an electric actuator; 41. a strip-shaped groove; 5. a support; 51. positioning a camera and a light source; 6. a handle positioning ring; 61. a cutter chip reader; 7. a knife handle clamping jaw A; 8. an opening and closing mechanism; 81. a drive motor; 82. a screw mandrel A; 83. a screw mandrel B; 84. a connecting plate; 85. an opening and closing motion block A; 86. an opening and closing motion block B; 9. a knife handle clamping jaw B; 10. a knife handle.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.

Referring to fig. 1-3, a robot tail end electric tool changing system includes a robot arm 1, a robot tail end connecting flange 2 is arranged at the tail end of the robot arm 1, a connecting flange disc 3 is mounted on the robot tail end connecting flange 2 through bolts, the connecting flange disc 3 is mounted on an electric actuator 4, a support 5 is mounted on the rear end face of the electric actuator 4, a positioning camera and a light source 51 are mounted on the support 5, a handle positioning ring 6 is mounted on the lower end face of the electric actuator 4, a tool chip reader 61 is mounted on the handle positioning ring 6, a handle clamping jaw a7 and a handle clamping jaw B9 are arranged on the electric actuator 4, a handle clamping jaw a7 and a handle clamping jaw B9 are respectively mounted on an opening and closing movement block a85 and an opening and closing movement block B86, a handle clamping jaw a7 and a handle clamping jaw B9 clamp a handle 10, after the position of the handle 10 is determined by, robot arm 1 drives handle of a knife holding ring 6 and moves and makes handle of a knife holding ring 6 block in the draw-in groove of handle of a knife 10, cutter chip reader 61 reads cutter information simultaneously, judge that cutter information is unanimous with the target information after, driving motor 81 drives lead screw A82 and lead screw B83 rotatory, lead screw A82 and lead screw B83 drive the motion block A85 that opens and shuts and open and move block B86 and move in opposite directions at rotatory in-process and then make handle of a knife clamping jaw A7 and handle of a knife clamping jaw B9 press from both sides and get handle of a knife 10, robot accomplishes handle of a knife 10 target position and places at last, handle of a knife 10 places the process otherwise, handle of a knife clamping jaw A7 and handle of a knife clamping jaw B9.

Referring to fig. 4-5, the opening and closing mechanism 8 includes a driving motor 81, a lead screw a82, a lead screw B83, a connecting plate 84, an opening and closing motion block a85 and an opening and closing motion block B86, after the robot determines the position of the handle 10 through a positioning camera and a light source 51, the robot arm 1 drives the handle positioning ring 6 to move and enables the handle positioning ring 6 to be clamped into a clamping groove of the handle 10, meanwhile, the tool chip reader 61 reads tool information, after the tool information is judged to be consistent with target information, the driving motor 81 drives the lead screw a82 and the lead screw B83 to rotate, the lead screw a82 and the lead screw B83 drive the opening and closing motion block a85 and the opening and closing motion block B86 to move oppositely in the rotating process, so that the handle clamping jaw a7 and the handle clamping jaw B9 clamp the handle 10, finally, the robot completes target position placement of the handle 10, otherwise, accurate clamping of the handle 10 can be realized by using electric control, for the similar automatic, the tail end electric tool changing system of the robot realizes accurate positioning and clamping of the tool holder 10 and provides possibility for replacement of the tool holder 10 of the robot, a driving motor 81 is installed on the outer wall of an electric actuator 4, an output shaft of the driving motor 81 is provided with a screw rod A82 through a coupling, the other end of the screw rod A82 is installed on a connecting plate 84 through a bearing, the connecting plate 84 is installed on the inner wall of the electric actuator 4, a screw rod B83 is also installed on the connecting plate 84, the other end of the screw rod B83 is installed on the inner wall of the electric actuator 4 through a bearing, the screw directions of the screw rod A82 and the screw rod B83 are opposite, the driving motor 81 can drive the screw rod A82 and the screw rod B83 to rotate in a positive rotation direction, the screw rod A82 and the screw rod B83 drive an opening and closing movement block A85 and an opening and closing movement block B86 to move oppositely in a process of rotation, so that the tool holder clamping jaw A7 and, screw rod A82 and screw rod B83 drive movement block A85 and movement block B86 that opens and shuts at rotatory in-process and reverse motion and then make handle of a knife clamping jaw A7 and handle of a knife clamping jaw B9 keep away from and do not press from both sides and get handle of a knife 10 again, screw rod A82 and screw rod B83 threaded connection have movement block A85 and movement block B86 that opens and shuts respectively, movement block A85 and movement block B86 that opens and shuts all wear out electric actuator 4 and extend to the outside of electric actuator 4, electric actuator 4 is last to be provided with the bar groove 41 that supplies movement block A85 and movement block B86 that opens and shuts, handle of a knife clamping jaw A7 and clamping jaw handle B9 move in bar groove 41 through movement block A85 and movement block B86 that opens and shuts.

The working principle is as follows: after the robot determines the position of the knife handle 10 through the positioning camera and the light source 51, the robot arm 1 drives the knife handle positioning ring 6 to move and enables the knife handle positioning ring 6 to be clamped into the clamping groove of the knife handle 10, meanwhile, the cutter chip reader 61 reads cutter information, after the cutter information is judged to be consistent with target information, the driving motor 81 drives the screw rod A82 and the screw rod B83 to rotate, the screw rod A82 and the screw rod B83 drive the opening and closing movement block A85 and the opening and closing movement block B86 to move oppositely in the rotating process so as to enable the knife handle clamping jaw A7 and the knife handle clamping jaw B9 to clamp the knife handle 10, finally, the robot completes the target position placement of the knife handle 10, and the placement.

To sum up, the utility model discloses a terminal electronic tool changing system of robot, after the robot confirmed the position of handle of a knife 10 through location camera and light source 51, robot arm 1 drove handle of a knife holding ring 6 motion and made handle of a knife holding ring 6 card go into the draw-in groove of handle of a knife 10, cutter chip reader 61 reads the cutter information simultaneously, judge that the cutter information is unanimous with the target information after, driving motor 81 drives lead screw A82 and lead screw B83 and rotates, lead screw A82 and lead screw B83 drive the motion of opening and shutting motion piece A85 and opening and shutting motion piece B86 opposite directions in rotatory process and make handle of a knife clamping jaw A7 and handle of a knife clamping jaw B9 clamp get handle of a knife 10, last robot accomplishes the target position of handle of a knife 10 and places, otherwise, the accurate centre gripping to handle of a knife 10 can be realized to using electric control, to the occasion of no compression such as similar automatic carrier, this terminal air source electric system of robot has realized the accurate, providing the possibility for the robotic tool shank 10 to be replaced.

It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims

1. Terminal electronic tool changing system of robot, including robot arm (1), its characterized in that: the robot comprises a robot arm (1), and is characterized in that a robot end connecting flange (2) is arranged at the end of the robot arm (1), a connecting flange (3) is installed on the robot end connecting flange (2) through bolts, the connecting flange (3) is installed on an electric actuator (4), a support (5) is installed on the rear end face of the electric actuator (4), a positioning camera and a light source (51) are installed on the support (5), a handle positioning ring (6) is installed on the lower end face of the electric actuator (4), a cutter chip reader (61) is installed on the handle positioning ring (6), a handle clamping jaw A (7) and a handle clamping jaw B (9) are arranged on the electric actuator (4), and the handle clamping jaw A (7) and the handle clamping jaw B (9) are installed on the electric actuator (4) through an opening and closing mechanism (8);

the opening and closing mechanism (8) comprises a driving motor (81), a screw rod A (82), a screw rod B (83), a connecting plate (84), an opening and closing motion block A (85) and an opening and closing motion block B (86), the driving motor (81) is installed on the outer wall of the electric actuator (4), an output shaft of the driving motor (81) is provided with the screw rod A (82) through a coupler, the other end of the screw rod A (82) is installed on the connecting plate (84) through a bearing, the connecting plate (84) is installed on the inner wall of the electric actuator (4), the connecting plate (84) is further provided with the screw rod B (83), the other end of the screw rod B (83) is installed on the inner wall of the electric actuator (4) through a bearing, and the screw rod A (82) and the screw rod B (83) are respectively in threaded connection with the opening and closing motion block A (85) and the opening and, the opening and closing motion block A (85) and the opening and closing motion block B (86) penetrate through the electric actuator (4) and extend to the outer side of the electric actuator (4).

2. The robotic end power tool changing system of claim 1, wherein: the screw thread directions of the screw rod A (82) and the screw rod B (83) are opposite.

3. The robotic end power tool changing system of claim 1, wherein: handle of a knife clamping jaw A (7) and handle of a knife clamping jaw B (9) are installed respectively on motion A (85) and the motion B (86) that open and shut, and handle of a knife (10) is got to handle of a knife clamping jaw A (7) and handle of a knife clamping jaw B (9) clamp.

4. The robotic end power tool changing system of claim 1, wherein: the electric actuator (4) is provided with a strip-shaped groove (41) for the movement of the opening and closing movement block A (85) and the opening and closing movement block B (86), and the handle clamping jaw A (7) and the handle clamping jaw B (9) move in the strip-shaped groove (41) through the opening and closing movement block A (85) and the opening and closing movement block B (86).