CN208483869U - It is a kind of for the quick change of robot tool and the device of safety detection - Google Patents
It is a kind of for the quick change of robot tool and the device of safety detection Download PDFInfo
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- CN208483869U CN208483869U CN201821010399.1U CN201821010399U CN208483869U CN 208483869 U CN208483869 U CN 208483869U CN 201821010399 U CN201821010399 U CN 201821010399U CN 208483869 U CN208483869 U CN 208483869U
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Abstract
The utility model relates to a kind of robot end's tool fast replacing devices, more particularly to the device of a kind of quick change for robot tool and safety detection, it include robot side master ontology and tool shelf ontology, state-detection component and robot side locking device are provided on the robot side master ontology, tool side locking device is provided on the tool shelf ontology, robot side locking device is matched with tool side locking device, it is provided with pressure on the tool shelf ontology and disengages hole, is additionally provided with auxiliary clamp component in the robot side master main body.The utility model has the beneficial effects that being able to detect the positioning states of robot side master ontology and tool shelf ontology by state-detection component; can be avoided the phenomenon that tool shelf ontology and robot side master ontology can not be detached under the conditions of accident by forcing to disengage hole, and by safeguard protection component can proactive tool disk ontology fall off from robot side master ontology.
Description
Technical field
The utility model relates to a kind of robot end's tool fast replacing devices, and in particular to a kind of for robot tool
The device of quick change and safety detection.
Background technique
Currently, end can only carry kit at work for robot, need just to need to use machine when multiple tools
People's fast replacing device replaces different tools, and demand of the different tools to the energy is also different, needs robot accurate
It quickly connects and switches different tools, while being supplied to the various energy demands of tool, such as water source supply, air supply etc..It is existing
Nowadays robot is quickly connecting and is switching in different tool operations, and robot fast replacing device, which is primarily present, to be lacked to machine
Device or structure that device human agent and tool body are locked, locking and locating effect are poor, lack and prevent tool body slave
The shortcomings that safety guard or structure for falling off on device human agent, at the same there is also lack detection positioning states sensor with
And the disadvantages of tool body and robot body can not be detached under the conditions of accident, so that robot quick-change system operation stability
Difference also greatly reduces working efficiency.
Utility model content
The technical problem to be solved by the present invention is to provide a kind of quick change for robot tool and safety detections
Device.
In order to solve the above technical problems, the utility model adopts the following technical solutions:
The utility model it is a kind of for the quick change of robot tool and the device of safety detection, include robot side master
Disk ontology and tool shelf ontology are provided with state-detection component on the robot side master ontology and robot side chain tightly fill
It sets, tool side locking device, robot side locking device and tool side locking device is provided on the tool shelf ontology
It matches, the robot side master ontology locking is assemblied on tool shelf ontology, is provided with pressure on the tool shelf ontology
Hole is disengaged, is additionally provided with auxiliary clamp component on the robot side master ontology.
Preferably, robot side locking device includes the limit steel ball that robot side master body bottom portion is arranged in,
Locking dimple is provided on the tool side locking device, the limit steel ball card is on locking dimple.
Preferably, the locking dimple includes the locking slot locking projection seat circular arc and matching with limit steel ball.
Preferably, robot side locking device further includes having lock cam and the work to drive lock cam mobile
Plug, the piston are equipped with piston reaction magnetic ring, and the axis of the axis and piston reaction magnetic ring of the piston coincides.
Preferably, the state-detection component includes controller and the test section that is detected to the state to piston
Part, the controller and detection part are arranged on robot side master ontology.
Preferably, the detection part includes to clamp sensor and unclamp sensor, and the piston reaction magnetic ring clamps
Sensor and release sensor are electrically connected with controller.
Preferably, the auxiliary clamp component includes auxiliary clamp spring, and the auxiliary clamp spring is fixed with piston
It connects, spring cushion block is provided on the lock cam, the spring cushion block is equipped with to limit auxiliary clamp spring
The limiting slot of position.
Preferably, it is provided on the robot side master ontology to prevent tool shelf ontology to be detached from robot side master
The safeguard protection component of ontology, safeguard protection component include locking projection seat.
Using the utility model have it is following the utility model has the advantages that
(1) it is equipped with state-detection component, state-detection component includes controller and detection part；Piston reaction magnetic ring and
Detection part is electrically connected with controller, to detect the positioning states of robot side master ontology and tool shelf ontology.
(2) it is equipped with and forces to disengage hole, disengagement hole is forced to can be avoided tool shelf ontology and robot side under the conditions of accident
The phenomenon that master ontology can not be detached from.
(3) be equipped with safeguard protection component, can proactive tool disk ontology fall off from robot side master ontology so that machine
Device people's end-of-arm tooling quick-change system operation stability preferably and greatly improves work efficiency, and the apparatus structure it is relatively simple,
Cost is relatively low.
(4) master side locking device and tool side locking device, master side locking device and tool side locking device are equipped with
Match when can be realized work between robot side master ontology and tool shelf ontology locking and locating effect.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the robot side master ontology of the utility model；
Fig. 2 is the structural schematic diagram of the tool side tool shelf ontology of the utility model；
Description of symbols:
Robot side master ontology 1, piston 2, piston reaction magnetic ring 3, spring cushion block 4, limit steel ball 5, lock cam 6,
Sensor 7 is unclamped, sensor 8 is clamped, auxiliary clamp spring 9 locks projection seat 10, and tool shelf ontology 11 locks projection seat circular arc 12,
It forces to disengage hole 13, locking slot 14.
Specific embodiment
The following will be combined with the drawings in the embodiments of the present invention, carries out the technical scheme in the embodiment of the utility model
It clearly and completely describes, it is clear that the embodiments are a part of the embodiments of the present invention, rather than whole implementation
Example.Based on the embodiments of the present invention, those of ordinary skill in the art are obtained without making creative work
The every other embodiment obtained, fall within the protection scope of the utility model.
As depicted in figs. 1 and 2, a kind of for the quick change of robot tool and the device of safety detection, it include robot
Side master ontology 1 and tool shelf ontology 11 are provided with state-detection component and robot side on the robot side master ontology 1
Locking device is provided with tool side locking device, robot side locking device and tool side on the tool shelf ontology 11
Locking device matches, and the locking of robot side master ontology 1 is assemblied on tool shelf ontology 11, the tool shelf ontology 11
On be provided with pressure and disengage hole 13, auxiliary clamp component is additionally provided on the robot side master ontology 1, state-detection component is used
In the positioning states of detection robot side master ontology 1 and tool shelf ontology 11, disengagement hole 13 is forced to can be avoided in unexpected item
The phenomenon that tool shelf ontology 11 and robot side master ontology 1 can not be detached under part, safeguard protection component being capable of proactive tool disk
Ontology 11 falls off from robot side master ontology 1, so that robot end's tool quick-change system operation stability is preferably and big
It improves work efficiency greatly, master side locking device and tool side locking device match when can be realized work to robot side
Locking and locating effect between master ontology 1 and tool shelf ontology 11.
Robot side locking device includes the limit steel ball 5 that 1 bottom of robot side master ontology is arranged in, the work
Locking dimple is provided on tool side locking device, 5 inlay card of limit steel ball pushes lock cam 6 downward on locking dimple
Movement simultaneously ejects limit steel ball 5 outward, and locking slot 14 can be slipped under the guiding of locking projection seat circular arc 12 by limiting steel ball 5
It is interior, 5 inlay card of steel ball is limited in locking slot 14 and robot side master ontology 1 can be locked to assembly in side tool shelf ontology
On 11.
The locking dimple includes the locking slot 14 locking projection seat circular arc 12 and matching with limit steel ball 5, is locked convex
Seat circular arc 12 is that limit steel ball 5 plays guiding role, and limit steel ball 5 can be slipped under the guiding of locking projection seat circular arc 12
In locking slot 14,5 inlay card of steel ball is limited in locking slot 14 and robot side master ontology 1 can be locked to assembly in side work
Have on disk ontology 11.
Robot side locking device further includes having lock cam 6 and the piston 2 to drive lock cam 6 mobile,
The piston 2 is equipped with piston reaction magnetic ring 3, and the axis of the axis and piston reaction magnetic ring 3 of the piston 2 coincides, piston
Reaction magnetic ring 3 can issue electric signal to controller, enable the controller to transmit electricity to clamping sensor 8 or release sensor 7
Signal.
The state-detection component includes controller and the detection part that is detected to the state to piston 2, institute
It states controller and detection part is arranged on robot side master ontology 1, controller and detection part are electrically connected for examining
Survey the positioning states of robot side master ontology 1 and tool shelf ontology 11.
The detection part includes to clamp sensor 8 and unclamp sensor 7, and the piston reaction magnetic ring 3 clamps sensing
Device 8 and release sensor 7 are electrically connected with controller, and piston reaction magnetic ring 3 can issue electric signal to controller, are clamped and are passed
Sensor 8 can transmit electric signal to robot controller after receiving the signal of controller, and robot can be clamped at this time
Work, piston reaction magnetic ring 3 can issue electric signal to controller, and unclamping can be right after sensor 7 receive the signal of controller
Robot controller transmits electric signal, and robot can carry out release work at this time, clamps sensor 8 and unclamps sensor 7
For detecting the positioning states of robot side master ontology 1 Yu tool shelf ontology 11.
The auxiliary clamp component includes auxiliary clamp spring 9, and the auxiliary clamp spring 9 is fixedly connected with piston 2,
Spring cushion block 4 is provided on the lock cam 6, the spring cushion block 4 is equipped with to limit to auxiliary clamp spring 9
Limiting slot, after 1 locking tool disk ontology 11 of robot side master ontology, piston 2 is moved down into locking state, assists simultaneously
9 contact spring cushion block 4 of fastening spring pushes locking convex as stopped gas supply, and limit steel ball 5 can be skidded off from locking slot 14.
It is provided on the robot side master ontology 1 to prevent tool shelf ontology 11 to be detached from robot side master ontology
1 safeguard protection component, safeguard protection component includes locking projection seat 10, due to locking the presence of projection seat 10, so that limit steel
Pearl 5 is limited in sliding in locking slot 14, but limit steel ball 5 does not slip away and locks dimple, effectively prevents tool shelf ontology
The generation of 11 safety accidents to fall off from robot side master ontology 1.
Working principle of the utility model is: after 1 locking tool disk ontology 11 of robot side master ontology, piston 2 is to moving down
Locking state, while 9 contact spring cushion block 4 of auxiliary clamp spring are moved, lock cam 6 is pushed to move down and steel ball will be limited
5 ejections outward, limit steel ball 5 can be slipped in locking slot 14 under the guiding of locking projection seat circular arc 12, limit 5 inlay card of steel ball
In locking slot 14 and robot side master ontology 1 can be locked to assembly on side tool shelf ontology 11, clamp sensor 8
It senses piston reaction magnetic ring 3, clamps sensor 8 and receive after the signal of piston reaction magnetic ring 3 feedback to robot controller, this
When the machine talent can be acted；When robot side master ontology 1 leaves the locking groove of tool shelf ontology 11, piston 2 is opened
Beginning moves up, and auxiliary clamp spring 9 leaves spring cushion block 4, and lock cam 6 moves up and limit steel ball 5 is driven to exit lock
Tight slot 14, piston reaction magnetic ring 3 issue electric signal to controller, and controller, which can pass to electric signal, unclamps sensor 7, pine
Electric signal can be issued to robot controller by opening sensor 7, and robot can work at this time.
It should be appreciated that exemplary embodiment as described herein is illustrative and be not restrictive.Although being retouched in conjunction with attached drawing
The one or more embodiments for having stated the utility model, it should be understood by one skilled in the art that not departing from by appended
In the case where the spirit and scope of the utility model defined by claim, the change of various forms and details can be made.
Claims (8)
1. a kind of for the quick change of robot tool and the device of safety detection, it is characterised in that: include robot side master
Ontology (1) and tool shelf ontology (11) are provided with state-detection component and robot side on the robot side master ontology (1)
Locking device is provided with tool side locking device, robot side locking device and tool on the tool shelf ontology (11)
Side locking device matches, and robot side master ontology (1) locking is assemblied on tool shelf ontology (11), the tool shelf
It is provided with pressure on ontology (11) and disengages hole (13), is additionally provided with auxiliary clamp component on the robot side master ontology (1).
2. according to claim 1 for the quick change of robot tool and the device of safety detection, it is characterised in that: described
Robot side locking device includes limit steel ball (5) of the setting in robot side master ontology (1) bottom, the tool side locking
Locking dimple is provided on device, limit steel ball (5) inlay card is on locking dimple.
3. according to claim 2 for the quick change of robot tool and the device of safety detection, it is characterised in that: described
Locking dimple includes the locking slot (14) locking projection seat circular arc (12) and matching with limit steel ball (5).
4. according to claim 2 for the quick change of robot tool and the device of safety detection, it is characterised in that: described
Robot side locking device further includes having lock cam (6) and the piston (2) to drive lock cam (6) mobile, the work
It fills in (2) and is equipped with piston reaction magnetic ring (3), the axis of the axis and piston reaction magnetic ring (3) of the piston (2) coincides.
5. according to claim 4 for the quick change of robot tool and the device of safety detection, it is characterised in that: described
State-detection component includes controller and the detection part that is detected to the state to piston (2), the controller and
Detection part is arranged on robot side master ontology (1).
6. according to claim 5 for the quick change of robot tool and the device of safety detection, it is characterised in that: described
Detection part includes to clamp sensor (8) and unclamp sensor (7), and the piston reaction magnetic ring (3) clamps sensor (8)
It is electrically connected with controller with sensor (7) are unclamped.
7. according to claim 4 for the quick change of robot tool and the device of safety detection, it is characterised in that: described
Auxiliary clamp component includes auxiliary clamp spring (9), and the auxiliary clamp spring (9) is fixedly connected with piston (2), the lock
It is provided with spring cushion block (4) on tight cam (6), the spring cushion block (4) is equipped with to limit auxiliary clamp spring (9)
The limiting slot of position.
8. according to claim 1 for the quick change of robot tool and the device of safety detection, it is characterised in that: described
The peace to prevent tool shelf ontology (11) to be detached from robot side master ontology (1) is provided on robot side master ontology (1)
All risk insurance protecting assembly, safeguard protection component include locking projection seat (10).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821010399.1U CN208483869U (en) | 2018-06-28 | 2018-06-28 | It is a kind of for the quick change of robot tool and the device of safety detection |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821010399.1U CN208483869U (en) | 2018-06-28 | 2018-06-28 | It is a kind of for the quick change of robot tool and the device of safety detection |
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| CN208483869U true CN208483869U (en) | 2019-02-12 |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110253628A (en) * | 2019-06-10 | 2019-09-20 | 重庆智能机器人研究院 | A kind of robot end's tool fast replacing device |
| CN111571640A (en) * | 2020-06-24 | 2020-08-25 | 斯瑞而(江苏)智能技术有限公司 | Quick-change principle and device capable of never falling off |
| WO2020241914A1 (en) * | 2019-05-28 | 2020-12-03 | 엘지전자 주식회사 | Master and slave of robot tool changing system |
| CN113370250A (en) * | 2021-07-02 | 2021-09-10 | 郑州领航机器人有限公司 | Locking stress part of tool quick-change device and processing technology thereof |
-
2018
- 2018-06-28 CN CN201821010399.1U patent/CN208483869U/en active Active
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2020241914A1 (en) * | 2019-05-28 | 2020-12-03 | 엘지전자 주식회사 | Master and slave of robot tool changing system |
| US11235455B2 (en) | 2019-05-28 | 2022-02-01 | Lg Electronics Inc. | Master and slave of robot tool changing system |
| CN110253628A (en) * | 2019-06-10 | 2019-09-20 | 重庆智能机器人研究院 | A kind of robot end's tool fast replacing device |
| CN110253628B (en) * | 2019-06-10 | 2024-04-05 | 重庆智能机器人研究院 | Robot end tool quick change device |
| CN111571640A (en) * | 2020-06-24 | 2020-08-25 | 斯瑞而(江苏)智能技术有限公司 | Quick-change principle and device capable of never falling off |
| CN113370250A (en) * | 2021-07-02 | 2021-09-10 | 郑州领航机器人有限公司 | Locking stress part of tool quick-change device and processing technology thereof |
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