CN219445093U

CN219445093U - Tool library

Info

Publication number: CN219445093U
Application number: CN202221169439.3U
Authority: CN
Inventors: 赵仕勤; 胡爱军
Original assignee: Shanghai Lingxian Robotics Technology Co ltd
Current assignee: Shanghai Lingxian Robotics Technology Co ltd
Priority date: 2022-03-17
Filing date: 2022-05-16
Publication date: 2023-08-01
Anticipated expiration: 2032-05-16
Also published as: CN115246116B; CN115246116A

Abstract

The utility model discloses a replaceable tool for a robot and a tool library, wherein the replaceable tool comprises a tool, the tool comprises a functional end and an operating handle which are connected front and back, a replaceable butt joint part is arranged on the operating handle, and the tool is detachably butt-jointed with the robot through the replaceable butt joint part. According to the utility model, the butt joint is arranged on the tool to be in butt joint with the robot, so that the structure is simple, the cost is low, the tool at the tail end of the robot can be freely replaced, the quick-connection unlocking device is of a pure mechanical structure, an additional electric power source is not required to be configured, and the use cost of the replaceable tool is reduced; the matched tool library can be used for storing replaceable tools and can assist in realizing automatic replacement of different tools by the robot.

Description

Tool library

Technical Field

The utility model belongs to the field of industrial automation, and particularly relates to a replaceable tool for a robot and a tool library.

Background

Robots are modern important industrial automation equipment, one robot is often used in various working environments, the tasks to be executed are also various, the shapes and the sizes of the working objects are different, and the task requirements can not be met far by using only a single end tool. In order to improve the use efficiency of the robot, the tool end and the robot end of the quick-change device are usually arranged at the tail end tool and the tail end of the robot respectively, and the robot can be used for changing different tools according to the needs, so that the use efficiency of the robot is greatly improved. Most of the main quick-change devices in the market at present are hydraulic and pneumatic devices, and when the quick-change device is used, additional pneumatic or hydraulic motor and other power sources are needed, so that the use cost is increased. The problems of complex structure and high use cost of the existing quick-change tool library are to be solved.

Disclosure of Invention

In view of the above, the present utility model is to provide a replaceable tool and a tool library for a robot, so as to solve the drawbacks of the prior art.

In order to achieve the above object, the present utility model is achieved by the following technical solutions:

the utility model provides a removable dress instrument for robot, includes the instrument, the instrument includes the functional end and the operation handle of front and back connection, be equipped with on the operation handle and trade dress interfacing part, the instrument passes through trade dress interfacing part and the dismantlement formula butt joint of robot.

The robot is provided with a replaceable tool, and the replaceable butt joint piece is arranged at the tail end of the operating handle.

The replaceable tool for the robot is characterized in that the replaceable butt joint part comprises a butt joint head and a connecting seat which are sequentially connected, the butt joint head is used for being detachably connected with the robot, and the connecting seat is used for being connected with the tail end of the operating handle.

The replaceable tool for the robot is characterized in that a threaded hole is formed in the end face, connected with the tail end of the operating handle, of the connecting seat.

The replaceable tool for the robot, wherein the replaceable butt joint part further comprises a positioning table, and the butt joint and the connecting seat are respectively arranged on the top surface and the bottom surface of the positioning table.

The replaceable tool for the robot is characterized in that the positioning table is a cylinder or a polygonal cylinder.

The robot is provided with a replaceable tool, and a plurality of positioning rabbets are uniformly arranged on the side face of the positioning table.

The replaceable tool for the robot is characterized in that the replaceable butt joint part is an extension section of the operating handle and external threads distributed on the extension section.

The replaceable tool for the robot comprises an extension section of the operating handle and an internal thread sleeve arranged on the extension section.

The replaceable tool for the robot is characterized in that the replaceable butt joint part is an extension section of the operating handle and one or more protrusions distributed on the extension section.

The replaceable tool for the robot, wherein the replaceable butt joint part is an extension section of the operating handle and one or more grooves distributed in the extension section.

The replaceable tool for the robot is characterized in that the replaceable butt joint part is an extension section of the operating handle and friction surfaces distributed on the extension section.

On the other hand, a tool warehouse is provided, which comprises a hollow cabinet body, wherein the top of the hollow cabinet body is provided with a plurality of tool temporary storage positions with insertion openings, the insertion openings are communicated with the hollow inside of the hollow cabinet body, and tools in the replaceable tools for robots are vertically hung on the tool temporary storage positions after extending into the insertion openings from top to bottom.

The temporary tool storage position comprises a storage rack bottom plate and one insertion port and two parallel U-shaped storage ports which are arranged on the storage rack bottom plate, the U-shaped openings of the two U-shaped storage ports face towards and are communicated with the insertion port at the same time, and the arc section of the U-shaped storage port is provided with an installation groove matched with the positioning table.

And the tool library is provided with a guide pin matched with the positioning spigot in the mounting groove.

The tool warehouse is characterized in that the arc section of the U-shaped storage opening is provided with a step surface, the mounting groove forms a lower step of the step surface, the surface of an upper step of the step surface is provided with a pressing sleeve, and the upper surface of the pressing sleeve is flush with the bottom plate of the storage rack.

The tool magazine is characterized in that a quick-connection unlocking device is detachably arranged on the temporary tool storage position, and the quick-connection unlocking device is matched with the U-shaped storage opening in shape.

The technical scheme of the utility model has the beneficial effects that:

according to the utility model, the butt joint is arranged on the tool to be in butt joint with the robot, so that the structure is simple, the cost is low, the tool at the tail end of the robot can be freely replaced, the quick-connection unlocking device is of a pure mechanical structure, an additional electric power source is not required to be configured, and the use cost of the replaceable tool is reduced; the matched tool library can be used for storing replaceable tools and can assist in realizing automatic replacement of different tools by the robot.

Drawings

In order to further explain the above objects, structural features and effects of the present utility model, the present utility model will be described in detail with reference to the accompanying drawings.

FIG. 1 is a schematic view of a box spanner with tool changing for a robot according to the preferred embodiment of the present utility model;

FIG. 2 is a schematic view of an open wrench with a replaceable tool for a robot according to a preferred embodiment of the present utility model;

FIG. 3 is a schematic view of a screwdriver with a replaceable tool for a robot according to the preferred embodiment of the present utility model;

FIG. 4 is a schematic view showing another structure of a screwdriver with a replaceable tool for a robot according to the preferred embodiment of the present utility model;

FIG. 5 is a schematic view showing the structure of a sleeve of a replaceable tool for a robot according to the preferred embodiment of the present utility model;

FIG. 6 is a schematic view of an inner hexagonal wrench for a robot tool according to the preferred embodiment of the present utility model;

FIG. 7 is a schematic view of a robot tool-interchangeable cape head according to the preferred embodiment of the present utility model;

FIG. 8 is a schematic view of a vise with a replaceable tool for a robot in accordance with a preferred embodiment of the present utility model;

FIG. 9 is a schematic view showing a structure of a jaw of a replaceable tool for a robot according to the preferred embodiment of the present utility model;

FIG. 10 is a schematic view showing another jaw structure of the exchangeable tool for robot according to the preferred embodiment of the present utility model;

FIG. 11 is a schematic view of a first preferred embodiment of the replacement interface of the present utility model;

FIG. 12 is a schematic view of a second preferred embodiment of the refill adaptor of the present utility model;

FIG. 13 is a schematic view of a third preferred embodiment of the replacement interface of the present utility model;

FIG. 14 is a schematic view of a fourth preferred embodiment of the refill adaptor of the present utility model;

FIG. 15 is a schematic view of a fifth preferred embodiment of the present utility model;

FIG. 16 is a schematic view of a sixth preferred embodiment of the present utility model;

FIG. 17 is a schematic view of a tool library according to the preferred embodiment of the present utility model;

FIG. 18 is a schematic view of a bottom plate structure of a storage rack according to a preferred embodiment of the present utility model;

FIG. 19 is an enlarged view of a portion of area A of FIG. 18;

FIG. 20 is a schematic view showing a state in which tools are stored in a tool magazine according to the preferred embodiment of the present utility model;

in the figure: 1. a tool; 1-1, a functional end; 1-2, an operation handle; 3. changing the butt joint part; 3-1, butt joint; 3-2, connecting seats; 3-3, positioning table; 3-4, positioning the spigot; 3-5, extension section; 3-6, external threads; 3-7, an internal thread sleeve; 3-8, protruding; 3-9, grooves; 4. a hollow cabinet body; 5. a temporary tool storage location; 5-1, an insertion port; 5-2, a storage rack bottom plate; 5-3, a U-shaped storage opening; 5-4, a mounting groove; 5-5, guiding pin; 5-6, compacting the sleeve; 6. and the unlocking device is connected quickly.

Detailed Description

The utility model is further described below with reference to the drawings and specific examples, which are not intended to be limiting.

Referring to fig. 1 to 10, the exchangeable tool for robot of the present utility model includes a tool 1, the tool 1 includes a functional end 1-1 and an operation handle 1-2 connected back and forth, and the functional end 1-1 may be any functional part of the tool for operating food or other tools (e.g., a screwdriver bit, a wrench head, etc.). The operation handle 1-2 is provided with a replacement butt joint part 3, and the tool 1 is detachably butt-jointed with the robot through the replacement butt joint part 3. The reloading butt joint part 3 is used for butt joint of the robot and the placing tool, and generally, each reloading tool only comprises one reloading butt joint part 3, as shown in figures 1 to 7; in particular, the partially exchangeable tool comprises two identical exchangeable abutments 3, as shown in fig. 8 to 10. In the preferred embodiment, the refill adaptor 3 is provided at the end of the handle 1-2.

With respect to the preferred embodiment of the refill docking member 3, referring to fig. 11, in the first preferred embodiment, the refill docking member 3 includes a docking head 3-1 and a connection base 3-2 connected in sequence, the docking head 3-1 being for detachable docking with the robot, the connection base 3-2 being for connection with the end of the operation handle 1-2. It should be understood that the connection base 3-2 and the operation handle 1-2 are fixedly connected, and can be directly integrated instead of being detachably connected by bolts.

In general, the end surface of the connecting seat 3-2 connected with the tail end of the operating handle 1-2 is provided with a threaded hole, one end of the operating handle 1-2 is connected with the functional end 1-1, the other end is provided with a bolt hole, and the connecting seat is fixedly connected with the replacement butt joint part 3 through a bolt, but the utility model is not limited to the threaded hole.

The abutment 3-1 is a part of a quick-release and abutment coupling, the other part of which (not covered by the utility model) is provided as an end interface for the robot, by means of which the robot can be abutted and replaced with a tool to be replaced.

With continued reference to fig. 11, the replacement butt-joint part 3 further includes a positioning table 3-3, and the butt-joint head 3-1 and the connecting seat 3-2 are respectively disposed on the top surface and the bottom surface of the positioning table 3-3, where the positioning table 3-3 mainly plays roles in positioning, compressing and guiding.

Typically, the positioning stage 3-3 is a cylinder or a polygonal column, but the present utility model is not limited thereto.

Further, the side surface of the positioning table 3-3 is uniformly provided with a plurality of positioning rabbets 3-4, preferably, 4 positioning rabbets 3-4 are uniformly arranged around the positioning table 3-3.

Referring to fig. 12, in a second preferred embodiment of the replacement docking member 3, the replacement docking member 3 is an extension section 3-5 of the operation handle 1-2 and external threads 3-6 distributed on the extension section 3-5, and can be engaged with internal threads of the robot end to achieve docking.

Referring to fig. 13, in a third preferred embodiment of the replacement docking member 3, the replacement docking member 3 is an extension section 3-5 of the operation handle 1-2 and an internal thread bush 3-7 provided on the extension section 3-5, and can be engaged with an external thread of the robot end to achieve docking.

Referring to fig. 14, in a fourth preferred embodiment of the replacement docking member 3, the replacement docking member 3 is an extension section 3-5 of the operation handle 1-2 and one or more protrusions 3-8 distributed on the extension section 3-5, and can be engaged with a groove at the end of the robot to achieve the docking.

Referring to fig. 15, in a fifth preferred embodiment of the replacement docking member 3, the replacement docking member 3 is an extension section 3-5 of the operation handle 1-2 and one or more grooves 3-9 distributed in the extension section 3-5, and can be engaged with a protrusion at the end of the robot to achieve docking.

Referring to fig. 16, in a sixth preferred embodiment of the replacement docking member 3, the replacement docking member 3 is an extension section 3-5 of the operation handle 1-2 and a friction surface 3-10 distributed on the extension section 3-5, and can be docked with the robot by friction force.

It should be understood that while the present utility model has been discussed with respect to the preferred embodiment of the refill docking member 3, the present utility model is not limited to the six specific embodiments described above.

The utility model also provides a tool magazine, referring to fig. 17 to 20, the tool magazine comprises a hollow cabinet body 4, a plurality of tool temporary storage positions 5 with insertion openings 5-1 are arranged at the top of the hollow cabinet body 4, the insertion openings 5-1 are communicated with the hollow interior of the hollow cabinet body 4, and the tools 1 in the replaceable tools for the robot are vertically hung on the tool temporary storage positions 5 after extending into the insertion openings 5-1 from top to bottom.

Specifically, with continued reference to the drawings, the temporary tool storage position 5 includes a storage rack bottom plate 5-2, one insertion opening 5-1 formed in the storage rack bottom plate 5-2, and two parallel arranged U-shaped storage openings 5-3, and the storage rack bottom plate 5-2 is preferably a rectangular plate, and the periphery of the storage rack bottom plate 5-2 is provided with bolt mounting holes, and is detachably connected to the top of the hollow cabinet body 4 by bolts or the like.

Referring to fig. 20, in the preferred embodiment, the U-shaped storage openings 5-3 are arranged in pairs of two, the paired U-shaped storage openings 5-3 are arranged side by side in parallel, the insertion openings 5-1 are arranged on the front side of each pair of U-shaped storage openings 5-3, and the U-shaped openings of the two U-shaped storage openings 5-3 face and communicate with the insertion openings 5-1 at the same time. The replaceable tools placed in each U-shaped storage opening 5-3 are preset, the size of the insertion opening 5-1 is designed according to the outline dimension of the placed tools, and the tools can freely enter and exit the U-shaped storage opening 5-3 through the insertion opening 5-1.

The arc section of the U-shaped storage opening 5-3 is provided with a mounting groove 5-4 which is matched with the positioning table 3-3 of the replacement butt joint part 3.

Further, a guide pin 5-5 matched with the positioning spigot 3-4 is arranged in the mounting groove 5-4, and the positioning spigot 3-4 is matched with the guide pin 5-5 to position the replaceable tool. Preferably, the upper surface of the mounting groove 5-4 is provided with a positioning pin hole at the left and right, a part of the lower part of the guide pin 5-5 is installed in the positioning pin hole in an interference manner, and the head part of the guide pin 5-5 is conical.

With continued reference to fig. 20, the arc section of the U-shaped storage opening 5-3 has a step surface, the installation groove 5-4 forms a lower step of the step surface, the surface of the upper step of the step surface is provided with a compression sleeve 5-6, and the upper surface of the compression sleeve 5-6 is flush with the storage rack bottom plate 5-2. The compression sleeve 5-6 is preferably an annular plastic sleeve with an opening and is fixedly arranged on the upper step surface of the step surface through bolts. The pressing sleeve 5-6 provides a certain holding force for the exchangeable tool by pressing the edge of the positioning table 3-3, so that the exchangeable tool is kept in the tool storage position, and the exchangeable tool is prevented from being displaced or deflected.

The temporary tool storage position 5 is detachably provided with a quick-connection unlocking device 6, and the quick-connection unlocking device 6 is matched with the U-shaped storage opening 5-3 in shape. Each storage position is provided with a quick-connection unlocking device 6, the quick-connection unlocking devices 6 are provided with bolt mounting holes, and the quick-connection unlocking devices 6 are detachably mounted on the storage rack bottom plate 5-2 through bolts. The quick-connection unlocking device 6 can unlock a lock catch on the quick-connection at the tail end of the robot, so that the robot can be abutted and detached with the replaceable tool. The quick-connection unlocking device 6 is of a pure mechanical structure, and no additional power source is needed.

The foregoing is merely illustrative of the preferred embodiments of the present utility model and is not intended to limit the embodiments and scope of the present utility model, and it should be appreciated by those skilled in the art that equivalent substitutions and obvious variations may be made using the description and illustrations of the present utility model, and are intended to be included in the scope of the present utility model.

Claims

1. The utility model provides a tool magazine, its characterized in that includes the cavity cabinet body, the top of cavity cabinet body (4) is equipped with a plurality of instrument temporary storage position (5) that have inserted hole (5-1), inserted hole (5-1) intercommunication the cavity inside of cavity cabinet body (4), the tool is adorned with interchangeable to the robot includes instrument (1), instrument (1) are including front and back connected function end (1-1) and handle (1-2), be equipped with on handle (1-2) and adorn butt joint piece (3) again, instrument (1) are through adorn butt joint piece (3) and the dismantlement of robot again, instrument (1) stretch into from top to bottom insert behind inserted hole (5-1) vertical hang in on instrument temporary storage position (5).

2. Tool magazine according to claim 1, characterized in that the temporary tool storage position (5) comprises a storage rack base plate (5-2) and one insertion opening (5-1) and two parallel arranged U-shaped storage openings (5-3) which are arranged on the storage rack base plate (5-2), wherein the U-shaped openings of the two U-shaped storage openings (5-3) simultaneously face and are communicated with the insertion opening (5-1), and the arc section of the U-shaped storage opening (5-3) is provided with a mounting groove (5-4).

3. A tool magazine according to claim 2, characterized in that the mounting groove (5-4) is provided with guide pins (5-5).

4. A tool magazine as claimed in claim 2, characterized in that the circular arc section of the U-shaped storage opening (5-3) has a stepped surface, the mounting groove (5-4) forms a lower step of the stepped surface, the surface of the upper step of the stepped surface is provided with a pressing sleeve (5-6), and the upper surface of the pressing sleeve (5-6) is flush with the storage rack bottom plate (5-2).

5. A tool magazine according to claim 2, characterized in that the temporary tool storage location (5) is detachably provided with a quick-connect release (6), the quick-connect release (6) being adapted to the shape of the U-shaped storage opening (5-3).