CN215433763U - Suspension device applied to parking of robot tail end tool - Google Patents
Suspension device applied to parking of robot tail end tool Download PDFInfo
- Publication number
- CN215433763U CN215433763U CN202121884266.9U CN202121884266U CN215433763U CN 215433763 U CN215433763 U CN 215433763U CN 202121884266 U CN202121884266 U CN 202121884266U CN 215433763 U CN215433763 U CN 215433763U
- Authority
- CN
- China
- Prior art keywords
- hook
- parking
- base
- tool
- suspension device
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 239000000725 suspension Substances 0.000 title claims abstract description 25
- 238000009434 installation Methods 0.000 claims abstract description 6
- 230000007246 mechanism Effects 0.000 claims description 17
- 238000000034 method Methods 0.000 description 12
- 230000008569 process Effects 0.000 description 9
- 230000000694 effects Effects 0.000 description 4
- 230000009471 action Effects 0.000 description 3
- 230000008859 change Effects 0.000 description 3
- 230000007547 defect Effects 0.000 description 2
- 238000000151 deposition Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000000149 penetrating effect Effects 0.000 description 1
- 230000001960 triggered effect Effects 0.000 description 1
Images
Landscapes
- Vehicle Step Arrangements And Article Storage (AREA)
Abstract
The utility model relates to the technical field of industrial robot application, and discloses a suspension device applied to robot end tool parking, which comprises: a hook mounting seat; the parking side hook is detachably fixed on one side of the hook mounting seat and comprises a base, a positioning pin is arranged on one side, far away from the hook mounting seat, of the base, and a hook guide pin is fixed in the base and extends to the upper side of the base; the tool side hook is detachably connected with the quick-change device, a hook hanging hole matched with the hook guide pin is formed in the surface of the tool side hook, and a positioning groove matched with the positioning pin is formed in the bottom of the tool side hook. The positioning mode of the suspension device is simple, and the debugging efficiency of field installation personnel is greatly improved.
Description
Technical Field
The utility model relates to the technical field of industrial robot application, in particular to a suspension device applied to robot end tool parking.
Background
In the field of industrial robot applications, there is a parking device for robot end tool storage; the robot can be conveniently and rapidly and accurately switched among different tools in work, so that the requirements of working conditions are met. In the application process of the parking station device, the robot finds that the tool is not easy to position and easy to collide when the robot exists in the parking device; secondly, when grabbing the instrument from parking device, the card pause easily appears in the instrument, leads to wearing and tearing aggravation, reduces parking device life and reduces.
The existing tool parking device has the following defects:
1) the existing suspension equipment of the parking device has a complex structure and high maintenance and replacement cost.
2) The tool is difficult to position in the parking process, is easy to collide, and is not beneficial to automatic debugging;
3) in the process of grabbing and parking the tool, the tool is easy to jam, hold back and other faults, and equipment tools are damaged or safety accidents are caused.
Aiming at the technical problem of the existing parking device in the current stage, a novel suspension device for parking a tool at the tail end of a robot is designed and applied to the tool parking device.
SUMMERY OF THE UTILITY MODEL
The utility model aims to overcome the defects of the prior art and provides a suspension device applied to the parking of a tool at the tail end of a robot
The utility model is realized by the following technical scheme:
a suspension device for robotic end tool parking, comprising:
a hook mounting seat;
the parking side hook is detachably fixed on one side of the hook mounting seat and comprises a base, a positioning pin is arranged on one side, far away from the hook mounting seat, of the base, and a hook guide pin is fixed in the base and extends to the upper side of the base;
the tool side hook is detachably connected with the quick-change device, a hook hanging hole matched with the hook guide pin is formed in the surface of the tool side hook, and a positioning groove matched with the positioning pin is formed in the bottom of the tool side hook.
Among the above-mentioned technical scheme, instrument side couple is connected with the quick change device, and the terminal instrument of robot is installed on the quick change device, when needs park the process to the terminal instrument of robot, adopts robot (or manipulator) to be close to the side couple of parking with instrument side couple for the couple hangs the hole and places on the couple uide pin, and the couple uide pin leads instrument side couple, then instrument side couple is automatic to be moved down until constant head tank and locating pin contact, thereby accomplish depositing of terminal instrument of robot.
The utility model is further provided with: the suspension device further comprises a stand column of the parking station, a floating mechanism is fixed at the upper end of the stand column of the parking station, and the hook mounting seat is fixed at the upper end of the floating mechanism.
Among the above-mentioned technical scheme, the setting of the post of standing of parking has played a high support, and floating machanism's setting can provide flexible compensation function when the terminal instrument of robot is quick plug.
The utility model is further arranged such that the hanger mounting comprises:
the base is detachably fixed on the hook mounting surface;
the cable groove is arranged on the hook mounting surface and is used for allowing a cable of the proximity switch to pass through;
the hook mounting seat is connected with the floating mechanism through the through holes, and the threaded holes are used for mounting the dustproof mechanism.
Among the above-mentioned technical scheme, the proximity switch of being convenient for of setting up of cable groove walks the line for overall structure is compacter, and the setting of through-hole is convenient for be connected couple mount pad with the relocation mechanism, and the setting of screw hole can follow-up dustproof mechanism of installing additional, can play certain dustproof effect, reduces the influence of dust pollution to the terminal instrument of robot.
The utility model is further provided with: the base is further provided with a first inclined surface on one side far away from the hook mounting seat, and the first inclined surface is positioned above the positioning pin; the tool side hook is of an L-shaped structure and comprises a vertical edge and a horizontal edge, the hook hanging hole is formed in the horizontal edge, the positioning groove is formed in the bottom of the vertical edge, and the quick-change device is fixed on one side, far away from the base, of the vertical edge; and a second inclined plane is further arranged at the lower part of one side of the vertical edge close to the base, and the first inclined plane is adapted to the second inclined plane.
Among the above-mentioned technical scheme, the cooperation setting on first inclined plane and second inclined plane can play the guide effect between instrument side couple and the base, is convenient for park, support and the snatching of terminal instrument of robot.
The utility model is further provided with: the upper surface of base has still seted up an installation groove, proximity switch is fixed in the installation groove.
Among the above-mentioned technical scheme, proximity switch's setting can play one and open the effect of stopping, and is more intelligent.
The utility model discloses a suspension device applied to parking of a tool at the tail end of a robot, which is compared with the prior art:
1) the positioning mode of the suspension device is simple, and the debugging efficiency of field installation personnel is greatly improved;
2) the robot is not easy to clamp and grab tools, so that the safety and reliability of use are ensured;
3) the design that the hook guide pin, the positioning pin and the first inclined plane are matched with the second inclined plane can play a good guiding and positioning role, and is more accurate;
4) the cooperation of first inclined plane and second inclined plane makes the instrument break away from the time easier.
Drawings
Fig. 1 is a schematic view of the overall structure of the present invention.
FIG. 2 is a schematic view of the overall structure of the hanger mount, parking side hanger and tool side hanger of the present invention.
Fig. 3 is a schematic structural view of the hook mounting seat of the present invention.
FIG. 4 is a schematic structural view of the parking side hook of the present invention.
Fig. 5 is a schematic structural view of a tool side hook according to the present invention.
Fig. 6 is a schematic view of the suspension device of the present invention.
Fig. 7 is a schematic diagram of the suspension device of the present invention.
The corresponding part names indicated by the numbers and letters in the drawings:
wherein: 10. a hook mounting seat; 10a, a hook mounting surface; 10b, a cable groove; 10c, positioning the mounting surface; 10c1, vias; 10c2, threaded hole; 20. a parking side hook; 20a, a base; 20b, positioning pins; 20c, a hook guide pin; 20d, a proximity switch; 20e, a first inclined plane; 20f, mounting grooves; 30. a tool side hook; 30a, a hook hanging hole; 30b, positioning grooves; 30c, vertical edges; 30d, horizontal side; 30e, a second inclined plane; 40. a quick-change device; 50. a stand column of a parking station; 60. a floating mechanism.
Detailed Description
The technical scheme of the utility model is further explained by the specific implementation mode in combination with the attached drawings.
Wherein the showings are for the purpose of illustration only and are shown by way of illustration only and not in actual form, and are not to be construed as limiting the present patent; to better illustrate the embodiments of the present invention, some parts of the drawings may be omitted, enlarged or reduced, and do not represent the size of an actual product; it will be understood by those skilled in the art that certain well-known structures in the drawings and descriptions thereof may be omitted.
The same or similar reference numerals in the drawings of the embodiments of the present invention correspond to the same or similar components; in the description of the present invention, it should be understood that if the terms "upper", "lower", "left", "right", "inner", "outer", etc. are used for indicating the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, it is only for convenience of description and simplification of description, but it is not indicated or implied that the referred device or element must have a specific orientation, be constructed in a specific orientation and be operated, and therefore, the terms describing the positional relationship in the drawings are only used for illustrative purposes and are not to be construed as limitations of the present patent, and the specific meanings of the terms may be understood by those skilled in the art according to specific situations.
Referring to fig. 1 to 7, a suspension apparatus for robot end tool parking includes: a hook mounting base 10; a parking side hook 20 detachably fixed to one side of the hook mounting seat 10, the parking side hook 20 including a base 20a, the base 20a being provided with a positioning pin 20b at a side away from the hook mounting seat 10, and a hook guide pin 20c fixed in the base 20a and extending above the base 20 a; the tool side hook 30 is detachably connected with the quick-change device 40, a hook hanging hole 30a matched with the hook guide pin 20c is formed in the surface of the tool side hook 30, and a positioning groove 30b matched with the positioning pin 20b is formed in the bottom of the tool side hook 30. Wherein, the base 20a and the hook mounting base 10 are detachably connected through a bolt, and the tool-side hook 30 and the quick-change device 40 are also detachably connected through a bolt, and it should be noted that the quick-change device 40 in the present technical solution belongs to the prior art, and those skilled in the art can select and use the device according to actual needs.
Referring to fig. 1, the suspension device further includes a parking station column 50, a floating mechanism 60 is fixed at the upper end of the parking station column 50, and the hook mounting seat 10 is fixed at the upper end of the floating mechanism 60. The parking station column 50 plays a supporting role, so that the hook mounting seat 10 can be located at a certain height, which is convenient for parking a tool at the end of the robot, and it is noted that the floating mechanism 60 is a prior art, and redundant description is not repeated herein, and reference may be made to patent document "CN 201821622162.9" for the floating mechanism 60.
Referring to fig. 3, the hanger mounting base 10 includes: the base 20a is detachably fixed on the hook mounting surface 10 a; the cable groove 10b is arranged on the hook mounting surface 10a and is used for allowing a cable of the proximity switch 20d to pass through; the hook mounting base 10 is provided with a positioning mounting surface 10c, the surface of the positioning mounting surface 10c is provided with a plurality of through holes 10c1 and threaded holes 10c2 in a penetrating mode, the through holes 10c1 are used for connecting the hook mounting base 10 with the floating mechanism 60, and the threaded holes 10c2 are used for mounting a dustproof mechanism. The hook mounting surface 10a is used for mounting the base 20a, and the cable groove 10b is used for allowing a cable to pass through, as shown in fig. 1 in detail.
Referring to fig. 4, the base 20a is further provided with a first inclined surface 20e at a side away from the hook mounting seat 10, and the first inclined surface 20e is located above the positioning pin 20 b; referring to fig. 5, the tool-side hook 30 is of an L-shaped structure, the tool-side hook 30 includes a vertical side 30c and a horizontal side 30d, the hook hanging hole 30a is disposed on the horizontal side 30d, the positioning slot 30b is disposed at the bottom of the vertical side 30c, and the quick-change device 40 is fixed on a side of the vertical side 30c away from the base 20 a; as shown in fig. 6 and 7 in detail, the vertical edge 30c is further provided with a second inclined surface 30e at a lower portion of a side close to the base 20a, and the first inclined surface 20e is adapted to the second inclined surface 30 e. The first inclined surface 20e and the second inclined surface 30e form a positioning inclined surface, which can play a guiding role to prevent the tool-side hook 20 from deviating during the moving process.
Referring to fig. 1 and 4, the upper surface of the base 20a is further provided with a mounting groove 20f, and a proximity switch 20d is fixed in the mounting groove 20 f.
This technical scheme's theory of operation, when the terminal instrument of depositing through quick change device of robot:
A. the robot (or the manipulator) drives the tool at the tail end of the robot to be close to the parking side hook 20, a hook hanging hole 30a on the tool side hook 30 is in contact fit with a hook guide pin 20c, and the hook guide pin 20c performs a guiding function on the tool side hook 30 and limits the movement of the tool side hook 30X, Y;
B. after the tool side hook 30 moves downwards to a certain position, the positioning groove 30b on the tool side hook 30 is matched with the positioning pin 20b, so that the tool side hook 30 is prevented from rotating around the X axis in the downward movement process;
C. as the tool-side hook 30 continues to move downward, the second inclined surface 30e of the tool-side hook 30 contacts the first inclined surface 20e of the base 20a, restricting the Z-direction movement of the tool-side hook 30 and restricting the rotation about the Y-axis and the Z-axis; the tool side hook 30 is not moved down at this time; the proximity switch 20d is triggered to give a signal that the tool is stored in place and the signal is fed back to the robot or other control device.
When the robot (or the manipulator) grabs the tool from the suspension device, the robot drives the tool to move upwards, the second inclined plane 20e on the tool side hook 30 can be quickly separated from the first inclined plane 20e on the base 20a, and only the hook guide pin 20c has a guide effect on the tool side hook 30; therefore, the robot can grasp the tool more quickly and smoothly.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and equivalent alternatives or modifications according to the technical solution of the present invention and the inventive concept thereof should be covered by the scope of the present invention.
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. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
Claims (7)
1. A suspension device for robotic end tool parking, comprising:
a hook mounting seat (10);
the parking side hook (20) is detachably fixed on one side of the hook mounting seat (10), the parking side hook (20) comprises a base (20a), a positioning pin (20b) is arranged on one side, far away from the hook mounting seat (10), of the base (20a), and a hook guide pin (20c) is fixed in the base (20a) and extends to the upper side of the base (20 a);
the tool side hook (30) is detachably connected with the quick-change device (40), a hook hanging hole (30a) matched with the hook guide pin (20c) is formed in the surface of the tool side hook (30), and a positioning groove (30b) matched with the positioning pin (20b) is formed in the bottom of the tool side hook (30).
2. The suspension device for robotic end tool parking of claim 1 wherein: the suspension device further comprises a stand column (50) of the parking station, a floating mechanism (60) is fixed at the upper end of the stand column (50) of the parking station, and the hook mounting seat (10) is fixed at the upper end of the floating mechanism (60).
3. Suspension device for robotic end tool parking according to claim 2, wherein the hanger mounting (10) comprises:
a hook mounting surface (10a), the base (20a) being detachably fixed to the hook mounting surface (10 a);
the cable groove (10b) is arranged on the hook mounting surface (10a) and is used for allowing a cable of the proximity switch (20d) to pass through;
the hook mounting seat comprises a positioning mounting surface (10c), wherein a plurality of through holes (10c1) and threaded holes (10c2) penetrate through the surface of the positioning mounting surface (10c), the through holes (10c1) are used for connecting the hook mounting seat (10) with the floating mechanism (60), and the threaded holes (10c2) are used for mounting a dustproof mechanism.
4. A suspension device for robotic end tool parking as claimed in claim 3 wherein: the base (20a) is further provided with a first inclined surface (20e) on one side far away from the hook mounting seat (10), and the first inclined surface (20e) is located above the positioning pin (20 b).
5. A suspension device for robotic end tool parking as claimed in claim 3 wherein: the upper surface of the base (20a) is further provided with an installation groove (20f), and a proximity switch (20d) is fixed in the installation groove (20 f).
6. The suspension device for robotic end tool parking of claim 4 wherein: the tool side hook (30) is of an L-shaped structure, the tool side hook (30) comprises a vertical edge (30c) and a horizontal edge (30d), a hook hanging hole (30a) is formed in the horizontal edge (30d), the positioning groove (30b) is formed in the bottom of the vertical edge (30c), and the quick-change device (40) is fixed on one side, far away from the base (20a), of the vertical edge (30 c).
7. The suspension device for robotic end tool parking of claim 6 wherein: the lower part of one side, close to the base (20a), of the vertical edge (30c) is further provided with a second inclined surface (30e), and the first inclined surface (20e) is matched with the second inclined surface (30 e).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121884266.9U CN215433763U (en) | 2021-08-12 | 2021-08-12 | Suspension device applied to parking of robot tail end tool |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121884266.9U CN215433763U (en) | 2021-08-12 | 2021-08-12 | Suspension device applied to parking of robot tail end tool |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN215433763U true CN215433763U (en) | 2022-01-07 |
Family
ID=79693713
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202121884266.9U Active CN215433763U (en) | 2021-08-12 | 2021-08-12 | Suspension device applied to parking of robot tail end tool |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN215433763U (en) |
-
2021
- 2021-08-12 CN CN202121884266.9U patent/CN215433763U/en active Active
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110715976A (en) | Slide rail type automatic wire rope feeding and discharging detection device | |
| CN102040163B (en) | Hoisting limit switch and lifting device | |
| KR101834141B1 (en) | Jig interchange worktable for assembling and inspecting | |
| US20090206225A1 (en) | Machine tool and pallet standby station | |
| CN215433763U (en) | Suspension device applied to parking of robot tail end tool | |
| CN115121962B (en) | Automatic laser marking equipment | |
| KR101287341B1 (en) | A frame unit with usability and safety device for movable welding robot | |
| CN221140214U (en) | Device for transplanting cylinder cover of automobile engine | |
| CN207495491U (en) | A kind of floating installation for manipulator | |
| CN217385776U (en) | Quick pull type probe replacing mechanism | |
| CN213210359U (en) | Testing arrangement of printed circuit board that protecting effect is good | |
| JP3180902B2 (en) | Abnormal electrode detection method and abnormal electrode detection system in electrolytic smelting | |
| CN216190485U (en) | Fixing device of single sliding contact line of construction elevator | |
| CN212158530U (en) | Intelligent aperture detector | |
| CN219512335U (en) | State detector for limiter group of movable arm type tower crane multiplying power conversion system | |
| CN211939381U (en) | Tapping device suitable for notch hole | |
| CN212095480U (en) | Supporting six spacing type unloading equipment on robot | |
| CN108421930A (en) | A kind of steel wire rope automatic punch articulated mounting | |
| CN218665076U (en) | Tower machine dolly stroke demarcation pilot lamp device | |
| JP2000351140A (en) | Detachment guide mechanism and detachment guide method for plasticizing unit of vertical injection molding machine | |
| CN205847734U (en) | Automatic stopper removing machine | |
| CN218088446U (en) | Pressure monitoring device for elevator | |
| CN218534622U (en) | Adjustable robot grabbing bracket for machining inner plate assembly of left front door of excavator | |
| JPS6236791B2 (en) | ||
| CN221290264U (en) | Sliding cantilever structure of machining center |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |