CN101863036A - Robot tool exchanging device driven by air pressure - Google Patents
Robot tool exchanging device driven by air pressure Download PDFInfo
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- CN101863036A CN101863036A CN201010165829A CN201010165829A CN101863036A CN 101863036 A CN101863036 A CN 101863036A CN 201010165829 A CN201010165829 A CN 201010165829A CN 201010165829 A CN201010165829 A CN 201010165829A CN 101863036 A CN101863036 A CN 101863036A
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Abstract
The invention discloses a robot tool exchanging device driven by air pressure, which is used for automatically exchanging end tools by a robot, belonging to the field of automatic machinery. The technical scheme in the invention provides a robot side module and tools side module, wherein the robot side module comprises a shell, a robot side connecting plate, a valve core, a cam, an upper limit loop, a spring, a lower limit loop, a spring cover plate, a cam retraction compressed air interface, a cam extension compressed air interface, a countersunk bolt and a valve core piston. The compressed air drives the valve core of the robot side module to move downwards, the cam retracts, and the robot side module and the tool side module can be separated; and the compressed air is utilized to drive the valve core of the robot side module to move upwards, the cam extends, and the robot side module and the tool side module are locked by the cam, thereby firmly connecting the robot end with the tool. The invention can realize reliable and convenient connection between the robot end and the tool, and has the advantages of simple control mode, self-locking function and high safety.
Description
Technical field
The present invention relates to a kind of robot exchange tool, especially a kind of robot tool exchanging device driven by air pressure.
Background technology
The part that the industrial robot modern manufacturing industry is indispensable.In fields such as integrated circuit manufacturing, automobile welding, automobile assembling, the effect that the positive play more and more of robot is important.
In the robot application field, adopting general relatively robot to finish different tasks is the feasible method that reduces cost.For example, making manufacture field, a robot can be used to finish different operations such as cutting, polishing, welding.In these applications, need a kind of robot exchange tool device so that robot can cooperate with different instruments, thereby finish different operations.The part that robot exchange tool device is connected with the robot end is called " robot side form piece ", and the part that combines with instrument is called " tool side module ".When robot side form piece and tool side module interconnect and lock, robot side form piece and tool side module are just finished mutual coupling process, and instrument just is fixed to robots arm's end.
According to retrieval to prior art, find: the patent of Shanghai Communications University's application " manipulator fixture and instrument exchanging decice in cutting and the scoring equipment " (patent No.: ZL02151074.1) adopt manipulator to grasp cutting torch and line torch, versatility is not strong, only satisfy the device people shipbuilding section is carried out plasma cutting and the needs of ruling, and security is not enough, in case system's accident power-off, the unexpected relieving instrument of manipulator meeting endangers.The patent " exchanging interface device of automatization tool " of Second Artillery Force equipment research institute the 4th research institute application (patent No.: ZL200710097421.0) both needed to vacuumize regain spring pin with logical compressed air so that stiff end separates with tool ends end, system architecture and control method relative complex.
Safety is the focus of robot application.When power supply or source of the gas cut off, robot tool exchanging device is fastening means securely still.The control of robot exchange tool can obtain controlling easily automatically by the robot control software.The control instruction that the robot control software sends coupling or separates, control robot switch.Yet out of control in order to prevent software, accident power-off, source of the gas accident lose etc. when situation takes place and produce harm, and harm takes place, safe operation to avoid to need a kind of robot exchange exchange tool with safety interlock function of design.
Summary of the invention
The objective of the invention is, invent a kind of air pressure driven machine people switch, can the robot end realize simple to operate, safe and reliable instrument function of exchange.
The technical scheme of technical solution problem of the present invention is: a kind of air pressure driven machine people switch comprises robot side form piece and tool side module.
Described robot side form piece comprises that housing, robot side connecting plate, spool, cam, upper limit circle, spring, lower limit circle, spring bumper cover, cam are regained the compressed air interface, cam stretches out compressed air interface, dormant bolt, valve core piston.
Air pressure driven machine people switch adopts the cam of robot side form piece to connect with the mode of the flange locking of tool side module, and the plane, housing bottom of robot side form piece and the intracavity bottom plane of tool side module are as locating surface.The spool that promotes robot side form piece by compressed air down moves, and cam is regained, and robot side form piece and tool side module can be separated; The spool that promotes robot side form piece by compressed air moves upward, and cam stretches out, and robot side form piece and tool side module be by camlock, reaches the purpose that robot end and instrument firmly connect.
Because the application of technique scheme, the present invention compared with prior art have following having a few and effect:
1, security is good, if the switch compressed gas source suddenly disappears suddenly, still is in the extreme higher position at the elastic reaction bottom spool of spring, and cam can guarantee to be connected reliably with flange, and the danger that switch can not separate shows good self-locking property.
2, control mode is simple, and the compressed-air actuated inflated condition of two air inlets by control robot side form piece can be realized separating and connection of robot side form piece and tool side module.
3, pollution-free, adopt air pressure to drive the motion of spool, produce without any polluting.
4, easy-maintaining and maintenance, the parts of robot side form piece can be dismantled easily, do not need the special assembling instrument.
5, versatility is good, as long as at tool side module different types of instrument that is fixedly connected, robot end's robot side form piece just can link by setting tool side form piece and different types of instrument.
Description of drawings
Fig. 1 is a robot of the present invention side form piece.
Fig. 2 is a tool side module of the present invention.
Among the figure:
1, housing; 2, robot side connecting plate; 3, spool; 4, cam; 5, upper limit circle; 6, spring; 7, lower limit circle; 8, spring bumper cover; 9, cam is regained the compressed air interface; 10, cam stretches out the compressed air interface; 11, dormant bolt; 12, valve core piston; 13, tool side module.
The specific embodiment
Below in conjunction with drawings and Examples technical scheme of the present invention is further described.
As shown in Figure 1, robot of the present invention side form piece is mainly regained compressed air interface 9, cam by housing 1, robot side connecting plate 2, spool 3, cam 4, upper limit circle 5, spring 6, lower limit circle 7, spring bumper cover 8, cam and is stretched out compressed air interface 10, dormant bolt 11, valve core piston 12 and form.Cover spring bumper cover 8 on housing 1 intracavity bottom support spring 6, the spring 6, spring bumper cover 8 supports spool 3, valve core piston 12 bottoms contact with spool 3 tops, circular upper limit circle 5 is fixed on valve core piston 12 tops, robot side connecting plate 2 usefulness dormant bolts 11 are fixing with housing 1, lower limit circle 7 is placed on housing 1 bottom, and cam 4 is fixed on the housing 1 with rotary way.At the epicoele of housing 1 cam being installed regains compressed air interface 9, at the cavity of resorption of housing cam is installed and is stretched out compressed air interface 10.Valve core piston upper surface and upper limit circle are fixedly connected, and valve core piston lower surface and spring bumper cover are fixedly connected.
When the robot end need separate with instrument, by regain compressed air interface 9 injecting compressed airs to cam, the through hole that compressed air can see through upper limit circle 5 arrives upper limit circle inside, the upper space of valve core piston 12 is filled compressed air, the top that acts on valve core piston 12 produces downward pressure, under pressure promotes, spool 3 moves downward, groove on the spool 3 drives cam 4, cam 4 rotates to the centerline direction near spool 3, when spring bumper cover 8 contacts with lower limit circle 7, cam 4 motions stop.The movement travel of the levelling valve core 3 by lower limit circle 7 appropriately is set, when spool 3 stopped to move downward, cam 4 outer rims were concordant with housing 1 outer surface just, and at this moment, tool side module 13 can be smoothly separated with robot side form piece.
Along circumferentially even 3 cams 4 that distribute of housing, each cam is 120 degree at interval.Match with the flange of tool side module 13 by 3 cams, increased the stability and the reliability of locking.
When the robot end need connect with instrument, by stretch out compressed air interface 10 injecting compressed airs to cam, simultaneously, cam was regained 9 pressure releases of compressed air interface.The lower space of valve core piston 12 is filled compressed air, the bottom generation that compressed air acts on valve core piston 12 upwards pressure, under pressure promotes, spool 3 moves upward, groove on the spool 3 drives cam 4, cam 4 is to rotating away from the centerline direction of spool 3, and when spring bumper cover 8 contacts with upper limit circle 5, cam 4 moves and stops.The movement travel of the levelling valve core 3 by upper limit circle 5 appropriately is set, when spool 3 stops to move upward, cam 4 outer rims just with the flange firm locking of tool side module 13, at this moment, tool side module 13 and robot side form piece realization close-coupled.
When because accidental cause, cam stretches out the unexpected pressure release in compressed air interface 10 places, causes the lower space of valve core piston 12 to lose compressed air.This moment is because design aspect, and when the upper limit circle 5 that spring 6 is fixed on upper surface when 12 promotions of valve body piston contacted with robot side connecting plate 2, spring 6 still was in confined state.Spool 3 is in can not mobile status, so cam 4 can not rotate, thus the safe operation of the system of assurance.
Robot side form piece leaves the through hole more than 3 or 3, and robot end and robot side form piece just can be realized being fixedly connected of robot end and robot side form piece by the bolt of through hole.
As shown in Figure 2, there is flange in tool side module 13 of the present invention, and the flange by tool side module 13 is locked mutually with the cam 4 of robot side form piece, just can realize connecting of robot end and instrument.
The tool side module leaves the through hole more than 3 or 3, and instrument and tool side module are by bolt being fixedly connected with regard to energy implementation tool side and instrument of through hole.
It should be noted that at last: the above only is the preferred embodiments of the present invention, be not limited to the present invention, although the present invention is had been described in detail with reference to previous embodiment, for a person skilled in the art, it still can be made amendment to the technical scheme that aforementioned each embodiment put down in writing, and perhaps part technical characterictic wherein is equal to replacement.Within the spirit and principles in the present invention all, any modification of being done, be equal to replacement, improvement etc., all should be included within protection scope of the present invention.
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Claims (10)
1. robot tool exchanging device driven by air pressure, comprise robot side form piece and tool side module, wherein robot side form piece comprises housing, the robot side connecting plate, spool, cam, upper limit circle, spring, the lower limit circle, spring bumper cover, cam is regained the compressed air interface, cam stretches out the compressed air interface, dormant bolt, it is characterized in that, the housing bottom support spring, cover spring bumper cover on the spring, spring bumper cover supports spool, the valve core piston bottom contacts with the spool top, circular upper limit circle is fixed on valve core piston top, the robot side connecting plate is fixed with dormant bolt and housing, the lower limit circle is placed on the housing bottom, cam is fixed on the housing with rotary way, at the epicoele of housing cam is installed and is regained the compressed air interface, at the cavity of resorption of housing cam is installed and is stretched out the compressed air interface.
2. robot tool exchanging device driven by air pressure according to claim 1 is characterized in that, the robot side connecting plate is circular, and the through hole more than 3 or 3 of distributing around the robot side connecting plate is to be connected by bolt with the robot end.
3. robot tool exchanging device driven by air pressure according to claim 1 is characterized in that upper limit circle is circular, and the through hole more than 1 or 1 is arranged in the side, and compressed air can see through through hole and arrive annulus inside.
4. robot tool exchanging device driven by air pressure according to claim 1 is characterized in that upper limit circle is connected with valve core piston, and the center of circle of upper limit circle overlaps with the center of circle of valve core piston.
5. robot tool exchanging device driven by air pressure according to claim 1 is characterized in that, spring bumper cover is to fixedly connected with valve core piston.
6. robot tool exchanging device driven by air pressure according to claim 1, it is characterized in that, two ends and spring bumper cover and housing bottom are in contact condition always about the spring, the upper limit circle that promotes to be fixed on upper surface when the valve body piston is when the robot side connecting plate contacts, and spring still is in confined state.
7. robot tool exchanging device driven by air pressure according to claim 1 is characterized in that, upper limit circle is when the robot side connecting plate contacts, and cam stretches out and closely cooperates with the flange of tool side module, realizes locking function.
8. robot tool exchanging device driven by air pressure according to claim 1 is characterized in that, when the lower limit circle contacted with spring bumper cover, cam withdrawal and cam outer rim were concordant with housing outer surface.
9. robot tool exchanging device driven by air pressure according to claim 1 is characterized in that, the spool bottom has a circle groove, and groove drives stretching out of cam and regains.
10. robot tool exchanging device driven by air pressure according to claim 1 is characterized in that, the fixing cam number of lower housing portion is 3, around being distributed in housing every 120 even angle of spending.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201010165829A CN101863036A (en) | 2010-05-09 | 2010-05-09 | Robot tool exchanging device driven by air pressure |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201010165829A CN101863036A (en) | 2010-05-09 | 2010-05-09 | Robot tool exchanging device driven by air pressure |
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| CN101863036A true CN101863036A (en) | 2010-10-20 |
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| CN201010165829A Pending CN101863036A (en) | 2010-05-09 | 2010-05-09 | Robot tool exchanging device driven by air pressure |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105945950A (en) * | 2016-06-03 | 2016-09-21 | 广东伊雪松机器人设备有限公司 | Fixture capable of facilitating carrying of workpieces, palletizing robot and operation method of palletizing robot |
| CN107253206A (en) * | 2017-08-03 | 2017-10-17 | 长春理工大学 | The pliers spot welding head electrode cap milling of industrial robot fixed resistance is with changing system |
| CN107486867A (en) * | 2017-10-12 | 2017-12-19 | 长沙展朔轩兴信息科技有限公司 | Robot tool exchanging device driven by air pressure |
| CN114654486A (en) * | 2022-04-26 | 2022-06-24 | 墨影科技(南京)有限公司 | Quick-change device for tail end of electric drive mechanical arm and control method thereof |
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| JP2008221393A (en) * | 2007-03-13 | 2008-09-25 | Nitta Ind Corp | Automatic tool changer |
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| CN2058875U (en) * | 1989-07-11 | 1990-07-04 | 王科社 | Robot mechanical hand automatic changing device |
| CN1191167A (en) * | 1996-12-02 | 1998-08-26 | 3R***国际有限公司 | Tension system |
| JP2000127072A (en) * | 1999-11-29 | 2000-05-09 | Nitta Ind Corp | Automatic tool changer |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105945950A (en) * | 2016-06-03 | 2016-09-21 | 广东伊雪松机器人设备有限公司 | Fixture capable of facilitating carrying of workpieces, palletizing robot and operation method of palletizing robot |
| CN107253206A (en) * | 2017-08-03 | 2017-10-17 | 长春理工大学 | The pliers spot welding head electrode cap milling of industrial robot fixed resistance is with changing system |
| CN107486867A (en) * | 2017-10-12 | 2017-12-19 | 长沙展朔轩兴信息科技有限公司 | Robot tool exchanging device driven by air pressure |
| CN114654486A (en) * | 2022-04-26 | 2022-06-24 | 墨影科技(南京)有限公司 | Quick-change device for tail end of electric drive mechanical arm and control method thereof |
| CN114654486B (en) * | 2022-04-26 | 2022-12-20 | 墨影科技(南京)有限公司 | Quick-change device for tail end of electric drive mechanical arm and control method thereof |
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Application publication date: 20101020 |