Replacing device and method for replacing tool by using same

Abstract

The invention relates to a replacement device and a method for replacing tools by using the same, and belongs to the technical field of industrial automation and intelligent manufacturing. An annular plate is arranged on the side, close to the rotary table replacement side, of the shell; the tool placement positions are arranged on the rotary table at intervals in the circumferential direction of the rotary table, the tool placement positions directly face the grooves formed in the annular plate, and each tool placement position comprises a placement groove formed in the outer wall of the rotary table; the lower baffle is arranged on the inner wall of the placing groove; the upper baffle plate is positioned in the placing groove and is positioned above the lower baffle plate; the spring set is arranged between the upper baffle and the annular plate and connected with the upper baffle and the annular plate. Compared with the prior art, multiple tools are carried, and the tools at the working end of the mechanical arm can be rapidly replaced.

Description

Technical Field

[0001] The present invention relates to the technical field of industrial automation and intelligent manufacturing, and particularly relates to a replacement device and a method for tool replacement using the same. Background Art

[0002] With the wide application of robotic arm technology in industrial production, robotic arms often need to use different front-end tools during operation. However, most robotic arms have only a few working ends at the working end. For robotic arms mounted on special equipment to perform long-distance work, additional motion requirements often arise due to the need to replace devices.

[0003] In the prior art, there are few devices for replacing the front-end replacement device for such work. The existing technologies mainly focus on the replacement of sleeves or machine tool cutters. For example, a sleeve automatic replacement device for a robot end effector in Chinese Patent Authorization No.: CN114346660A is mainly used for the replacement of sleeves. The internal structure of the cavity limits the types of tools and is not applicable to other replaceable tools. Summary of the Invention

[0004] The purpose of the present invention is to provide a replacement device and a method for tool replacement using the same to overcome at least one of the defects existing in the above-mentioned prior art. This device can carry multiple tools and can quickly replace the tools at the working end of the robotic arm.

[0005] The purpose of the present invention can be achieved through the following technical solutions:

[0006] One of the purposes of the present invention lies in a replacement device, comprising:

[0007] A turntable;

[0008] A housing provided outside the turntable, and an annular plate is provided on the side of the housing near the replacement side of the turntable;

[0009] A plurality of tool placement positions arranged at intervals along the circumferential direction of the turntable on the turntable, the tool placement positions are opposite to the grooves provided on the annular plate, and the tool placement positions include:

[0010] A placement groove provided on the outer wall of the turntable;

[0011] A lower baffle provided on the inner wall of the placement groove;

[0012] An upper baffle located in the placement groove and above the lower baffle;

[0013] A spring group provided between the upper baffle and the annular plate and connecting the two.

[0014] Further, the device further includes a driving mechanism, which includes a driving motor, a driving wheel provided at the output end of the driving motor, and a driven wheel provided below the turntable and meshed with the driving wheel.

[0015] Further, the driven wheel and the turntable are coaxially arranged.

[0016] Further, the lower baffle includes a plurality of sub-baffles spaced on the inner wall of the placement groove, and the plurality of sub-baffles are on the same horizontal plane and enclose to form a limiting structure.

[0017] Further, the included angle between the side of the sub-baffle facing away from the upper baffle and the horizontal plane is denoted as α, and 0 < α ≤ 10°.

[0018] Further, the upper baffle is an annular structure with a notch to facilitate accommodating the tool rod body extending from the side.

[0019] Further, the spring group includes a plurality of springs arranged at intervals.

[0020] Further, the upper baffle and the lower baffle are coaxially arranged.

[0021] Further, one side of the outer shell has a notch to facilitate the tool to be inserted into the tool placement position from the side.

[0022] The second object of the present invention is a tool replacement method, which is based on the above-mentioned device. The tool includes a tool body and a positioning block provided on the tool body. The replacement method includes the following steps:

[0023] S1. Align the empty tool placement position with the notch on the outer shell, and insert the tool to be replaced at the working end of the robotic arm from the side through the notch. At this time, ensure that the positioning block is below the lower baffle, and the tool body is within the upper baffle and the lower baffle;

[0024] S2. Move the tool upward by the robotic arm. Under the action of the force on the inclined surface, the lower baffle gradually contracts into the groove wall of the placement groove until the positioning block completely passes the lower baffle. At this time, the lower baffle resets and forms a limit for the positioning block together with the upper baffle;

[0025] S3. Move the robotic arm downward, disconnect the connection end of the robotic arm working end from the tool, and rotate the turntable to align the tool placement position for placing the tool to be installed with the notch on the outer shell;

[0026] S4. Move the robotic arm upward, connect the connection end of the robotic arm working end to the tool, and continue to move the robotic arm upward until the installed tool can be taken out from the notch on the outer shell.

[0027] Compared with the prior art, the present invention has the following advantages:

[0028] (1) The present invention can carry multiple tools and can quickly replace the tools at the working end of the robotic arm.

[0029] (2) The implementation method of loading and unloading in the present invention is simple but practical, and the loading and unloading is faster. The manual and automatic modes can be adjusted according to the actual working environment and requirements during the loading and unloading process.

[0030] (3) The structure of the present invention is simple. Only a motor is needed when switching the tool positions, and it is not easy to malfunction. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 is a top view of the replacement device in the present invention;

[0032] Figure 2 is a bottom view of the replacement device in the present invention;

[0033] Figure 3 is a cross-sectional view of the replacement device in the present invention;

[0034] Figure 4 is a partial view of the tool placement position of the replacement device in the present invention;

[0035] Figure 5 is a schematic diagram of the tool in the present invention;

[0036] Figure 6 is an assembly relationship diagram of the tool placement position and the tool in the present invention;

[0037] The reference numerals in the figures are shown as follows: 1 - outer shell; 2 - placement groove; 3 - upper baffle; 4 - lower baffle; 5 - tool; 51 - tool body; 52 - positioning block; 53 - connecting block; 6 - spring group; 7 - driving mechanism; 71 - driving motor; 72 - driving wheel; 73 - driven wheel; 8 - turntable; 9 - annular plate. DETAILED DESCRIPTION OF THE INVENTION

[0038] The present invention will be described in detail below with reference to the drawings and specific embodiments. This embodiment is implemented on the premise of the technical solution of the present invention, and the detailed implementation method and specific operation process are given, but the protection scope of the present invention is not limited to the following embodiments.

[0039] In the description of the present invention, it should be noted that the orientation or positional relationship indicated by the terms "upper", "lower", "vertical", "horizontal", "inner", "outer", etc. is the orientation or positional relationship determined based on the ground and the flight direction of the unmanned aerial vehicle in actual life. It is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation to the present invention.

[0040] All the data shown in the description and drawings of the present invention, such as "the number of tool positions", "the number of upper baffles", "the number of lower baffles", "the number of springs", etc., are only one form of manifestation of the present invention, and thus cannot be construed as a limitation on the present invention.

[0041] In the description of the present invention, it should be noted that unless otherwise clearly specified and defined, the terms "installation", "connection", and "coupling" should be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or an integral connection; it may be a mechanical connection or an electrical connection; it may be directly connected or indirectly connected through an intermediate medium, and it may be the communication inside two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0042] In the following embodiments or examples, unless otherwise specified, the functional components or structures indicate that they are all conventional components or conventional structures adopted by those skilled in the art to achieve the corresponding functions.

[0043] The following combines the attached Figure 1-6 , and the present invention is further described through embodiments. These embodiments are only used to illustrate the present invention and do not limit the protection scope of the present invention. The described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments.

[0044] As Figures 1-6 shown, in order to facilitate carrying multiple tools and quickly replacing the tools at the working end of the robotic arm, this embodiment provides a replacement device, including a turntable 8 and a housing 1; the housing 1 is arranged outside the turntable 8, and an annular plate 9 is provided on the replacement side of the housing 1 near the turntable 8;

[0045] A plurality of tool placement positions are circumferentially spaced along the turntable 8 on the turntable 8. The tool placement positions are directly opposite to the grooves provided on the annular plate 9. The tool placement positions include a placement groove 2, a lower baffle 4, an upper baffle 3, and a spring group 6. The placement groove 2 is provided on the outer wall of the turntable 8, the lower baffle 4 is provided on the inner wall of the placement groove 2, the upper baffle 3 is located in the placement groove 2 and above the lower baffle 4, and the spring group 6 is provided between the upper baffle 3 and the annular plate 9 and is used to connect the upper baffle 3 and the annular plate 9, so that the upper baffle 3 can slide in the placement groove 2.

[0046] Specifically, the lower baffle 4 and the upper baffle 3 in the placement groove 2 form a tool storage space. When the tool 5 enters, it provides a storage space for the positioning block 52 of the tool 5 and drives the tool 5 to move up and down in the housing. Moreover, when the positioning block 52 passes over the lower baffle 4 embedded in the groove wall of the placement groove 2 and enters the storage space, the upper baffle 3 abuts against the positioning block 52 under the action of the spring group 6, so that the upper baffle 3 forms a limit for the positioning block 52.

[0047] In some embodiments, the device further includes a driving mechanism. The driving mechanism includes a driving motor 71, a driving wheel 72 provided at the output end of the driving motor 71, and a driven wheel 73 provided below the turntable 8 and meshed with the driving wheel 72. Through its unique rotation characteristics, it realizes the fixed-angle rotation of the placement groove 2 and the housing 1, that is, within each rotation of the motor, the tool positions of the placement groove 2 are aligned with the loading and unloading ports of the housing 1, completing the switching of the tool positions corresponding to the loading and unloading ports in the device.

[0048] In some embodiments, the driven wheel 73 and the turntable 8 are coaxially arranged.

[0049] In some embodiments, the lower baffle 4 includes a plurality of sub-baffles spaced apart on the inner wall of the placement groove 2. The plurality of sub-baffles are on the same horizontal plane and enclose to form a limiting structure.

[0050] In some embodiments, the angle between the side of the sub-baffle facing away from the upper baffle 3 and the horizontal plane is denoted as α, where 0 < α ≤ 10°. When the tool 5 extends upward from below into the tool placement position, the sub-baffle will gradually contract into the groove wall under the action of the inclined plane until the outermost edge of the center coincides with the groove wall, and the tool 5 can enter the tool placement position.

[0051] In some embodiments, the upper baffle 3 is an annular structure with a notch to facilitate accommodating the tool rod body extending from the side.

[0052] In some embodiments, the spring group 6 includes a plurality of springs arranged at intervals.

[0053] In some embodiments, the upper baffle 3 and the lower baffle 4 are coaxially arranged.

[0054] In some embodiments, one side of the housing 1 has a notch to facilitate the tool to be placed into the tool placement position from the side.

[0055] This embodiment also provides a tool replacement method. The replacement method is based on the device described above. The tool 5 includes a tool body 51 and a positioning block 52 provided on the tool body 51. The replacement method includes the following steps:

[0056] S1. Place the vacant tool placement position facing the notch on the housing 1, and insert the tool to be replaced at the working end of the robotic arm from the side through the notch. At this time, ensure that the positioning block 52 is below the lower baffle 4, and the tool body 51 is within the upper baffle 3 and the lower baffle 4;

[0057] S2. Move the tool upward by the robotic arm. Under the action of the force on the inclined surface, the lower baffle 4 gradually contracts into the wall of the placement groove 2 until the positioning block 52 completely passes through the lower baffle 4. At this time, the lower baffle 4 resets and forms a limit for the positioning block 52 together with the upper baffle 3;

[0058] S3. Move the robotic arm downward, disconnect the connection between the working end of the robotic arm and the connection end of the tool 5, and rotate the turntable 8 to align the tool placement position for placing the tool 5 to be installed with the notch on the housing 1;

[0059] S4. Move the robotic arm upward, connect the working end of the robotic arm to the connection end of the tool 5, and continue to move the robotic arm upward until the installed tool 5 can be taken out from the notch on the housing 1.

[0060] Specifically, place the device provided in this embodiment beside the industrial robot, and add the replaceable tools required for this work to the tool positions in advance.

[0061] When the industrial robot needs to replace the front-end tool after completing the current work, the driving mechanism 7 is activated to rotate the placement groove 2 relative to the housing 1, and an empty tool position is rotated to align with the notch provided on the housing 1, and this notch is the loading and unloading port.

[0062] The robotic arm inserts the tool into the loading and unloading port from the side. At this time, ensure that the positioning block 52 is placed below the loading and unloading port of the housing 1.

[0063] When the tool 5 is inserted into the empty tool position from bottom to top, the lower baffle 4 gradually contracts into the wall of the placement groove 2 under the action of the force on the inclined surface until it does not block the entry of the tool 5. At this time, the tool 5 can enter the tool position. When the positioning block 52 on the tool 5 completely passes through the lower baffle 4, the lower baffle 4 will pop out from the wall under the action of the spring group 6 and form a limit for the tool 5.

[0064] Move the robotic arm downward to disconnect the connection between the working end of the robotic arm and the connection part of the tool 5 (in this embodiment, the connection between the working end of the robotic arm and the tool 5 is similar to the connection method of a socket screwdriver. Specifically, the working end of the robotic arm is provided with a socket, and the connection end of the tool 5 is a square connection block 53. The connection between the two is achieved by inserting the connection block 53 into the socket). At this time, the upper baffle 3 presses downward on the upper surface of the positioning block of the tool 5 under the elastic force of the spring group 6. At the same time, the lower surface of the positioning block 52 of the tool 5 is in close contact with the upper surface of the lower baffle 4. Therefore, the tool 5 is vertically limited in the tool position.

[0065] Meanwhile, the arc of the upper baffle 3 and the arc at the center of the lower baffle 4 and the housing 1 position the tool in the tool position.

[0066] The drive mechanism 7 is activated. The motor 71 rotates to drive the driving wheel 72 to rotate, and then it is transmitted to the driven wheel 73 to complete a fixed-angle rotation. The placement groove 2 rotates relative to the housing 1 under the drive of the driven wheel 73, and rotates the tool position where the required tool 5 is located to the loading and unloading port.

[0067] The robotic arm vertically extends the front connection port from below the loading and unloading port of the housing 1. When it touches the connection part of the tool 5, it slowly rotates the connection port until they are aligned at the connection part and the connection is successful.

[0068] At this time, continue to extend the working end of the robotic arm upward. When the upward force on the positioning block 52 of the tool 5 is greater than the downward force exerted by the spring group 6 at the upper baffle 3, the positioning block 52 will push the upper baffle 3 upward, and the spring group 6 contracts until the upper surface of the upper baffle 3 fits with the upper cover of the placement groove 2. At this time, the tool 5 can be taken out from the loading and unloading port on the side surface of the housing 1. The robotic arm can then continue the next step of work.

[0069] Repeat the above steps to complete the replacement of the tool at the working end of the robotic arm each time.

[0070] The above is only a preferred embodiment of the present invention, and it is not a limitation of the present invention in other forms. Any person skilled in the art may use the disclosed technical content to make changes or modifications into equivalent embodiments with equivalent changes. However, any simple modification, equivalent change, and modification made to the above embodiments based on the technical essence of the present invention without departing from the technical solution content of the present invention still fall within the protection scope of the technical solution of the present invention.

Claims

1. A replacement device, characterized in that, Comprising: A turntable (8); A housing (1) arranged outside the turntable (8), and an annular plate (9) is provided on the housing (1) near the replacement side of the turntable (8); A plurality of tool placement positions arranged at intervals along the circumference of the turntable (8) on the turntable (8), the tool placement positions are directly opposite to the grooves provided on the annular plate (9), and the tool placement positions include: A placement groove (2) provided on the outer wall of the turntable (8); A lower baffle (4) provided on the inner wall of the groove of the placement groove (2); An upper baffle (3) located in the groove of the placement groove (2) and above the lower baffle (4); A spring group (6) provided between the upper baffle (3) and the annular plate (9) and connecting the two.

2. The replacement device according to claim 1, characterized in that, The device further includes a driving mechanism, and the driving mechanism includes a driving motor (71), a driving wheel (72) provided at the output end of the driving motor (71), and a driven wheel (73) provided below the turntable (8) and meshed with the driving wheel (72).

3. The replacement device according to claim 2, characterized in that, The driven wheel (73) and the turntable (8) are coaxially arranged.

4. The replacement device according to claim 1, wherein The lower baffle (4) includes a plurality of sub-baffles arranged at intervals on the inner wall of the placement groove (2), and the plurality of sub-baffles are on the same horizontal plane and enclose a limiting structure.

5. The replacement device according to claim 4, characterized in that, The angle between the side surface of the sub-baffle facing away from the upper baffle (3) and the horizontal plane is denoted as α, and 0 < α ≤ 10°.

6. The replacement device according to claim 1, characterized in that, The upper baffle (3) is a ring-shaped structure with a notch to facilitate accommodating the tool shank extending from the side.

7. The replacement device according to claim 1, characterized in that, The spring group (6) includes a plurality of springs arranged at intervals.

8. The replacement device according to claim 1, wherein The upper baffle (3) and the lower baffle (4) are coaxially arranged.

9. The replacement device according to claim 1, characterized in that, One side of the housing (1) has a notch to facilitate the tool to be inserted into the tool placement position from the side.

10. A tool replacement method, characterized in that, This replacement method is based on the device according to any one of claims 1-9. The tool (5) includes a tool body (51) and a positioning block (52) provided on the tool body (51). This replacement method includes the following steps: S1. Align the empty tool placement position with the notch on the housing (1), and insert the tool to be replaced at the working end of the robotic arm from the side through the notch. At this time, ensure that the positioning block (52) is below the lower baffle (4), and the tool body (51) is inside the upper baffle (3) and the lower baffle (4); S2. Move the tool upward by the robotic arm. Under the action of the force on the inclined surface, the lower baffle (4) gradually contracts towards the inner wall of the groove of the placement groove (2) until the positioning block (52) completely passes the lower baffle (4). At this time, the lower baffle (4) resets and forms a limit for the positioning block (52) together with the upper baffle (3); S3. Move the robotic arm downward, disconnect the connection end of the working end of the robotic arm from the tool (5), and rotate the turntable (8) to align the tool placement position with the tool (5) to be installed with the notch on the housing (1); S4. Move the robotic arm upward, connect the connection end of the working end of the robotic arm to the tool (5), and continue to move the robotic arm upward until the installed tool (5) can be taken out from the notch on the housing (1).

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