A safety control module for robot quick change

Abstract

The present invention discloses a safety control module for robot quick change, belonging to the field of robot quick change technology, comprising a controller, a solenoid valve, and a control valve block; the front face of the control valve block is provided with a quick change disc locking hole, a quick change disc unlocking hole, and a quick change disc mounting hole; the solenoid valve is mounted on the rear face of the control valve block, and the controller and the solenoid valve are connected via a signal line; the control valve block is provided with a channel running through both ends of the control valve block, the channel is divided into a first valve chamber and a second valve chamber by a piston rod arranged in the middle thereof, the first valve chamber and the second valve chamber are both provided with a valve core assembly, the valve core having a self-locking function of gas cut-off and pressure maintenance, the air inlet end of the first valve chamber being connected to the first air outlet of the solenoid valve, the air outlet end being connected to the quick change disc unlocking hole, the air inlet end of the second valve chamber being connected to the second air outlet of the solenoid valve, and the air outlet end of the second valve chamber being connected to the quick change disc locking hole. The present invention integrates air pressure detection, gas cut-off and pressure maintenance, and air path switching functions to achieve automatic locking / unlocking functions.

Description

Technical Field

[0001] The present invention relates to the technical field of robot quick change, and in particular to a safety control module for robot quick change. Background Art

[0002] Robotic quick-change plates are widely used in automated production lines, for robot end-effector replacement, and for fixture switching. Their core function is to enable rapid, precise, and reliable connection and disconnection between two connected components, such as a robot flange and tool, or a fixed base and a movable fixture. Quick-change plates typically rely on pneumatic actuation combined with a mechanical locking mechanism for locking and unlocking.

[0003] A key risk for pneumatic quick-change plates is air supply failure or sudden pressure drop. When this occurs, the locking mechanism loses its power, causing the attached load tool, workpiece, or fixture to unexpectedly fall out. This can have serious consequences: equipment damage, product failure, production interruption, and even serious safety incidents. Existing technologies lack a highly integrated, automatically triggered, and intervention-free solution. Summary of the Invention

[0004] The purpose of the present invention is to overcome the deficiencies of the prior art. The present invention provides a safety control module for robot quick change, which solves the problem of the locking mechanism losing its locking force due to accidental air outage or pressure loss of the robot quick change disc.

[0005] The objective of the present invention is achieved through the following technical solutions: a safety control module for robot quick change, comprising a controller, a solenoid valve and a control valve block; the front end face of the control valve block is provided with a quick-change disc locking hole, a quick-change disc unlocking hole and a quick-change disc mounting hole for realizing the installation of the quick-change disc and the on-off / switching of the air path; the solenoid valve is installed on the rear end face of the control valve block, the solenoid valve is a three-way solenoid valve with one air inlet and two air outlets, the controller and the solenoid valve are connected by a signal line; a channel is provided in the control valve block that passes through both ends of the control valve block, a piston rod is slidably connected in the middle of the channel, and the piston rod divides the channel into a first valve chamber and a second valve chamber, so The first valve cavity and the second valve cavity are both provided with a valve core assembly, and the valve core assembly includes a valve plug, a spring, a valve core and a sealing ring. The valve plug blocks the end of the channel, one end of the spring rests on the inner side of the valve plug, and the other end rests on the valve core. The end of the valve core away from the spring rests on the end of the sealing ring under the action of the spring, the sealing ring is connected to the air inlet end of the valve cavity, and the valve plug is connected to the air outlet end of the valve cavity; the air inlet end of the first valve cavity is connected to the first air outlet port of the solenoid valve, the air outlet end of the first valve cavity is connected to the unlocking hole of the quick-change disk, the air inlet end of the second valve cavity is connected to the second air outlet port of the solenoid valve, and the air outlet end of the second valve cavity is connected to the locking hole of the quick-change disk.

[0006] Preferably, the sealing ring is cylindrical, and the end of the sealing ring close to the piston rests on the inner wall of the channel. The outer wall close to the valve core end is sealed with the inner wall of the channel through an O-ring, and a plurality of first air holes are opened on the outer periphery of the sealing ring.

[0007] Preferably, the valve plug includes a plug and a tube body connected to the plug, the spring is arranged inside the tube body, the valve core is slidably connected to the tube body, a plurality of second air holes are opened on the side wall of the tube body, and the outer wall of the tube body close to the end of the plug is sealed by an O-ring and the inner wall of the channel.

[0008] Preferably, the valve core is a hexagonal cylindrical structure. This structure can reduce the friction between the valve core and the valve plug tube body, preventing it from getting stuck.

[0009] Preferably, a spring groove is provided on the end of the valve core facing the valve plug, and the end of the spring rests in the spring groove; a groove is provided on the end face of the valve core close to the sealing ring, and a sealing gasket is installed in the groove, and the sealing gasket is an elastic material, and the elastic material includes one of rubber, resin, and plastic.

[0010] Preferably, the rear end face of the control valve block is provided with a main air circuit air inlet hole, a first air inlet hole, a second air inlet hole and an air outlet hole, and the main air circuit air inlet hole is connected to the air outlet hole through the internal passage of the control valve block; the solenoid valve air inlet hole is connected to the air outlet hole, the first air outlet of the solenoid valve is connected to the first air inlet hole, the second air outlet hole and the second air inlet hole are connected, the air inlet end of the first valve cavity is connected to the first air inlet hole through the internal passage of the control valve block, the air outlet end of the first valve cavity is connected to the quick-change disk unlocking hole through the internal passage of the control valve block, the air inlet end of the second valve cavity is connected to the second air inlet hole through the internal passage of the control valve block, and the air outlet end of the second valve cavity is connected to the quick-change disk locking hole through the internal passage of the control valve block.

[0011] Preferably, a pressure switch hole is further provided on the rear end surface of the control valve block. The pressure switch hole is communicated with the air outlet through a passage provided inside the control valve block. A pressure switch is connected to the pressure switch hole.

[0012] Preferably, a protective cover is further installed at the rear end of the control valve block, and the protective cover is arranged outside the solenoid valve and the pressure switch.

[0013] Preferably, the piston rod comprises a first push rod, a piston body and a second push rod, the first push rod and the second push rod are respectively arranged on both sides of the piston body, and the outer periphery of the piston body is sealed by an O-ring and the inner wall of the channel.

[0014] Preferably, the controller is a PLC or an MCU, and the controller sends control instructions to control the solenoid valve to perform corresponding operations.

[0015] The beneficial effects of the present invention are as follows:

[0016] This invention proposes a safety control module for robot quick-change systems that integrates air pressure detection, air cutoff and pressure maintenance, and air path switching into a compact, integrated unit. External connections only require a main air source and control signal lines, resulting in a rationally designed and highly integrated structure.

[0017] 2. When the gas is cut off or the pressure is lost, the key action is triggered directly, quickly and automatically, activating the built-in mechanical self-locking mechanism to achieve pressure-maintaining isolation of the locked closed cavity. This action realizes mechanical / pneumatic linkage through the integrated gas-cut-off and pressure-maintaining structure.

[0018] 3. With long-term locking and safe automatic unlocking functions: It provides permanent pressure-maintaining isolation through rigid mechanical self-locking, ensuring the safety of long-term gas outages and minor leaks in extreme situations; after the gas supply is restored, it can automatically release the mechanical self-locking and resume normal operation functions without the need for additional manual unlocking steps. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 Schematic diagram of the structure of a safety control module for robot quick changer according to an embodiment of the present invention.

[0020] Figure 2 This is a schematic structural diagram of a control valve block from the front end perspective according to an embodiment of the present invention.

[0021] Figure 3 This is a structural schematic diagram of the control valve block from the rear end perspective of an embodiment of the present invention.

[0022] Figure 4 This is a cross-sectional view of the control valve block in normal operation according to an embodiment of the present invention.

[0023] Figure 5 This is an exploded view of a valve core assembly according to an embodiment of the present invention.

[0024] Figure 6 This is a cross-sectional view of the control valve block during pressure maintaining operation according to an embodiment of the present invention.

[0025] In the figure, 1. protective cover; 2. pressure switch; 3. solenoid valve; 4. control valve block; 41. quick-change disk locking hole; 42. quick-change disk unlocking hole; 43. quick-change disk mounting hole; 44. main air inlet hole; 45. first air inlet hole; 46. second air inlet hole; 47. air outlet hole; 48. pressure switch hole; 5. piston rod; 51. first push rod; 52. piston body; 53. second push rod; 6. first valve chamber; 7. second valve chamber; 8. valve plug; 81. plug; 82. tube body; 821. second air hole; 9. spring; 10. valve core; 101. groove; 11. sealing ring; 111. first air hole; 12. O-ring; 13. sealing gasket. DETAILED DESCRIPTION

[0026] The technical solution of the present invention will be further described below with reference to the accompanying drawings and through specific embodiments. The accompanying drawings are for illustrative purposes only and are schematic, not actual, representations. They should not be construed as limiting the present invention. To better illustrate the embodiments of the present invention, some components in the accompanying drawings may be omitted, enlarged, or reduced in size, and do not represent the dimensions of actual products. It is understandable to those skilled in the art that some well-known structures and their descriptions may be omitted from the accompanying drawings.

[0027] like Figure 1 As shown, the present invention provides a safety control module for a robot quick changer, comprising a controller, a protective cover 1, a pressure switch 2, a solenoid valve 3, and a control valve block 4. The protective cover 1 is positioned at the rear end of the control valve block 4. The pressure switch 2 and the solenoid valve 3 are both mounted on the rear end face of the control valve block 4 and located within the protective cover 1. The controller and solenoid valve 3 are connected by a signal line, and the controller controls the solenoid valve 3. In this embodiment, the solenoid valve 3 is a three-way solenoid valve 3 with one air inlet and two air outlets. The controller can be a PLC or an MCU, and outputs electrical signals to control the solenoid valve 3 to perform actions such as opening and closing the air circuit.

[0028] Combine Figure 2-4Specifically, the front face of the control valve block 4 is provided with a quick-change disk locking hole 41, a quick-change disk unlocking hole 42, and a quick-change disk mounting hole 43, which are used to install the quick-change disk and enable / disable the air circuit. The rear face of the control valve block 4 is provided with a main air circuit air inlet 44, a first air inlet 45, a second air inlet 46, an air outlet 47, and a pressure switch hole 48. The main air circuit air inlet 44 is connected to the air outlet 47 through an internal passage of the control valve block 4, and the pressure switch hole 48 is connected to the air outlet 47 through an internal passage of the control valve block 4. The pressure switch 2 is connected to the pressure switch hole 48. A channel is provided inside the control valve block 4, which runs through the left and right sides of the control valve block 4. A piston rod 5 is slidably connected in the middle of the channel, which divides the channel into a first valve chamber 6 and a second valve chamber 7. The first valve chamber 6 and the second valve chamber 7 are both provided with a valve core 10 assembly. The valve core 10 assembly includes a valve plug 8, a spring 9, a valve core 10, and a sealing ring 11. The valve plug 8 blocks the end of the channel. One end of the spring 9 rests against the inside of the valve plug 8, and the other end rests against the valve core 10. The end of the valve core 10 away from the spring 9 rests against the end of the sealing ring 11 under the action of the spring 9. The sealing ring 11 is connected to the air inlet of the valve cavity, and the valve plug 8 is connected to the air outlet of the valve cavity. The air inlet of the solenoid valve 3 is connected to the air outlet 47, the first air outlet of the solenoid valve 3 is connected to the first air inlet 45, and the second air outlet is connected to the second air inlet 46. The air inlet of the first valve cavity 6 is connected to the first air inlet 45 through the internal passage of the control valve block 4, thereby connecting to the first air outlet of the solenoid valve 3. The air outlet of the first valve cavity 6 is connected to the quick-change disc unlocking hole 42 through the internal passage of the control valve block 4. The air inlet of the second valve chamber 7 communicates with the second air inlet hole 46 through the internal passage of the control valve block 4, thereby connecting to the second air outlet of the solenoid valve 3. The air outlet of the second valve chamber 7 communicates with the quick-change disk locking hole 41 through the internal passage of the control valve block 4. It should be noted that the outer rings of the quick-change disk locking hole 41 and the quick-change disk unlocking hole 42 are both provided with sealing ring grooves, and sealing rings are installed in the sealing ring grooves to provide a sealing effect.

[0029] Figure 5An exploded view shows the combined state of the valve core 10 assembly and the piston. Specifically, the sealing ring 11 is cylindrical, with the end of the sealing ring 11 near the piston resting against the inner wall of the channel. The outer wall near the end of the valve core 10 is sealed to the inner wall of the channel via an O-ring 12. The outer periphery of the sealing ring 11 is provided with a plurality of first air holes 111. The valve plug 8 includes a plug 81 and a tube 82 connected to the plug 81. The spring 9 is disposed within the tube 82. The valve core 10 is slidably connected within the tube 82. The side wall of the tube 82 is provided with a plurality of second air holes 821. The outer wall of the tube 82 near the end of the plug 81 is sealed to the inner wall of the channel via an O-ring 12. The valve core 10 is a hexagonal cylindrical structure. A spring groove is provided on the end of the valve core 10 facing the valve plug, and the end of the spring 9 rests in the spring groove. A groove 101 is provided on the end surface of the valve core 10 near the sealing ring 11, and a sealing gasket 13 is installed in the groove 101. The sealing gasket 13 is made of an elastic material, and the elastic material can be any one of rubber, resin, and plastic, and is preferably made of rubber.

[0030] The piston rod 5 includes a first push rod 51, a piston body 52 and a second push rod 53. The first push rod 51 and the second push rod 53 are respectively arranged on both sides of the piston body 52. ​​The outer periphery of the piston body 52 is sealed by an O-ring 12 and the inner wall of the channel.

[0031] The following is the working principle of the present invention:

[0032] Reference Figure 4 During normal operation, when the quick-change disc needs to be unlocked, solenoid valve 3 controls the connection between its air inlet and first air outlet. Air pressure from the external main air source flows from main air inlet 44 through the internal passage of control valve block 4 to air outlet 47. It then enters the air inlet of solenoid valve 3 and is output from the first air outlet of solenoid valve 3 to the first air inlet 45 of control valve block 4. It then follows the internal passage of control valve block 4 into the air inlet end of first valve chamber 6, where sealing ring 11 is located. It then enters the sealing ring 11 through the first air hole 111 on its side wall, pushing valve core 10 toward valve plug 8, overcoming the force of spring 9. At this point, valve core 10 and sealing ring 11 separate, and air pressure from the interior of sealing ring 11 enters tube 82 of valve plug 8. It then flows out through the second air hole 821 on its side wall and into the air outlet end of first valve chamber 6, thus connecting the air inlet and air outlet ends of first valve chamber 6. Air pressure then flows through the passage inside the control valve block 4, connecting the outlet of the first valve chamber 6 and the quick-change disc unlocking hole 42, to the quick-change disc unlocking hole 42, thereby opening the unlocking air path. Simultaneously, the piston, under the action of the air pressure, moves toward the second valve chamber 7, pushing the valve core 10 therein toward the corresponding valve plug 8, thereby opening the locking air path and discharging the air inside the quick-change disc locking chamber.

[0033] Similarly, when the quick-change disc needs to be locked, solenoid valve 3 controls the connection between its air inlet and second air outlet. Air pressure from the external main air source flows from the main air inlet 44 through the internal passage of control valve block 4 to the air outlet 47. It then enters the air inlet of solenoid valve 3 and is output from the second air outlet of solenoid valve 3 to the second air inlet 46 on control valve block 4. It then follows the internal passage of control valve block 4 into the air inlet end of second valve chamber 7, where sealing ring 11 is located. It then enters the sealing ring 11 through the first air hole 111 on its side wall, pushing valve core 10 toward valve plug 8, overcoming the force of spring 9. At this point, valve core 10 and sealing ring 11 separate, and air pressure from the interior of sealing ring 11 enters the tube 82 of valve plug 8. It then flows out through the second air hole 821 on its side wall and into the air outlet end of second valve chamber 7, thus connecting the air inlet and air outlet ends of second valve chamber 7. Air pressure then flows through the passage inside the control valve block 4, connecting the outlet of the second valve chamber 7 and the quick-change disc locking hole 41, to the quick-change disc locking hole 41, thereby opening the locking air path. Simultaneously, the piston, under the action of the air pressure, moves toward the first valve chamber 6, pushing the valve core 10 therein toward the corresponding valve plug 8, thereby opening the unlocking air path and discharging the air inside the quick-change disc unlocking chamber.

[0034] Reference Figure 6 When an abnormality occurs, such as a loss of main air supply or a loss of pressure in the first valve chamber 6, the second valve chamber 7, or the solenoid valve 3, the air pressure in the two valve chambers decreases, and the elastic force of spring 9 pushes the corresponding valve core 10 toward the corresponding sealing ring 11, causing the sealing gasket 13 at the end of the valve core 10 to come into close contact with the sealing ring 11 to achieve a seal, thereby disconnecting the air inlet and outlet of the first valve chamber 6 and the second valve chamber 7. At this time, the piston returns to the middle of the channel, achieving simultaneous blocking of the locking and loosening air paths, completing the pressure maintenance and isolation of the valve chambers. After the air supply is restored, the control module automatically resumes normal operation.

[0035] The above are only preferred specific embodiments of the present invention, but the scope of protection of the present invention is not limited thereto. Any technician familiar with this technical field, within the technical scope disclosed by the present invention, who makes equivalent replacements or changes based on the technical solutions and inventive concepts of the present invention, should be covered by the scope of protection of the present invention.

Claims

1. A safety control module for robot quick change, characterized in that: The invention comprises a controller, a solenoid valve (3) and a control valve block (4); the front end surface of the control valve block (4) is provided with a quick-change disk locking hole (41), a quick-change disk unlocking hole (42) and a quick-change disk mounting hole (43), which are used to realize the installation of the quick-change disk and the opening and closing and / or switching of the gas path; the solenoid valve (3) is installed on the rear end surface of the control valve block (4); the solenoid valve (3) is a three-way solenoid valve (3) with one air inlet and two air outlets; the controller and the solenoid valve (3) are connected through a signal line; a channel is provided in the control valve block (4) to pass through both ends of the control valve block (4); a piston rod (5) is slidably connected in the middle of the channel, and the piston The rod (5) divides the channel into a first valve chamber (6) and a second valve chamber (7). The first valve chamber (6) and the second valve chamber (7) are both provided with a valve core (10) assembly. The valve core (10) assembly includes a valve plug (8), a spring (9), a valve core (10) and a sealing ring (11). The valve plug (8) blocks the end of the channel. One end of the spring (9) abuts against the inner side of the valve plug (8), and the other end abuts against the valve core (10). The end of the valve core (10) away from the spring (9) abuts against the end of the sealing ring (11) under the action of the spring (9). The sealing ring (11) is connected to the air inlet end of the valve chamber, and the valve plug (8) is connected to the air outlet end of the valve chamber. The first valve chamber (6) is connected to the first air outlet of the electromagnetic valve (3), the first valve chamber (6) is connected to the quick-change disc unlocking hole (42), the second valve chamber (7) is connected to the second air outlet of the electromagnetic valve (3), the second valve chamber (7) is connected to the quick-change disc locking hole (41), the rear end surface of the control valve block (4) is provided with a main air inlet hole (44), a first air inlet hole (45), a second air inlet hole (46) and an air outlet hole (47), the main air inlet hole (44) is connected to the air outlet hole (47) through the internal passage of the control valve block (4); the electromagnetic valve ( 3) The air inlet is connected to the air outlet (47), the first air outlet of the solenoid valve (3) is connected to the first air inlet (45), the second air outlet is connected to the second air inlet (46), the air inlet end of the first valve chamber (6) is connected to the first air inlet (45) through the internal passage of the control valve block (4), the air outlet end of the first valve chamber (6) is connected to the quick-change disk unlocking hole (42) through the internal passage of the control valve block (4), the air inlet end of the second valve chamber (7) is connected to the second air inlet (46) through the internal passage of the control valve block (4), and the air outlet end of the second valve chamber (7) is connected to the quick-change disk locking hole (41) through the internal passage of the control valve block (4).

2. A safety control module for robot quick change according to claim 1, characterized in that: The sealing ring (11) is cylindrical, and the end of the sealing ring (11) close to the piston abuts against the inner wall of the channel. The outer wall close to the end of the valve core (10) is sealed with the inner wall of the channel through an O-ring (12). A plurality of first air holes (111) are opened on the outer periphery of the sealing ring (11).

3. A safety control module for robot quick change according to claim 1 or 2, characterized in that: The valve plug (8) includes a plug (81) and a tube (82) connected to the plug (81), the spring (9) is arranged inside the tube (82), the valve core (10) is slidably connected in the tube (82), a plurality of second air holes (821) are opened on the side wall of the tube (82), and the outer wall of the tube (82) near one end of the plug (81) is sealed with the inner wall of the channel through an O-ring (12).

4. A safety control module for robot quick change according to claim 1 or 2, characterized in that: The valve core is a hexagonal cylindrical structure.

5. A safety control module for robot quick change according to claim 4, characterized in that: The valve core (10) is provided with a spring groove at one end thereof facing the valve plug, and the end of the spring (9) abuts against the spring groove; a groove (101) is provided on the end surface of the valve core (10) close to the sealing ring (11), and a sealing gasket (13) is installed in the groove (101), and the sealing gasket (13) is made of an elastic material, and the elastic material includes one of rubber, resin, and plastic.

6. A safety control module for robot quick change according to claim 1 or 2, characterized in that: The rear end surface of the control valve block (4) is further provided with a pressure switch hole (48), the pressure switch hole (48) being connected to the air outlet hole (47) via a passage provided inside the control valve block (4), and the pressure switch (2) being connected to the pressure switch hole (48).

7. The safety control module for robot quick change according to claim 6, characterized in that: A protective cover (1) is also installed at the rear end of the control valve block (4), and the protective cover (1) is arranged outside the solenoid valve (3) and the pressure switch (2).

8. A safety control module for robot quick change according to claim 1 or 2, characterized in that: The piston rod (5) comprises a first push rod (51), a piston body (52) and a second push rod (53). The first push rod (51) and the second push rod (53) are respectively arranged on both sides of the piston body (52). The outer periphery of the piston body (52) is sealed by an O-ring (12) and the inner wall of the channel.

9. A safety control module for robot quick change according to claim 1 or 2, characterized in that: The controller is a PLC or an MCU, and the controller sends a control instruction to control the solenoid valve (3) to perform a corresponding operation.

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