Device for assisting debugging of gun changing disc of robot

Abstract

The utility model relates to the technical field of robot gun changing discs, and particularly discloses a device for assisting debugging of a robot gun changing disc, which comprises a connecting male disc and a gun changing disc mounted on a tool side, the connecting male disc comprises a first characteristic surface, and the first characteristic surface is provided with a positioning blind hole deviating from a central axis; the second feature surface is opposite to the first feature surface; the positioning connecting ring is arranged on the second characteristic surface, a first adjusting ball is arranged on the side surface of the positioning connecting ring, and a first magnetic group is arranged on the top surface of the positioning connecting ring; the connecting mother disc is mounted on the robot side gun changing disc and comprises a third feature surface, and the first feature surface is provided with a first positioning pin in butt joint with the positioning blind hole; the fourth characteristic face is provided with a connecting groove, a second magnetic attraction set is arranged at the bottom of the connecting groove, and a second adjusting ball is arranged on the inner side surface of the connecting groove, an operator can rapidly and accurately conduct butt joint installation with the gun changing disc conveniently, and meanwhile the correct butt joint angle can be found more easily, conveniently and accurately.

Description

Technical Field

[0001] This utility model relates to the field of robot gun changing disc technology, and in particular to a device for assisting in the debugging of robot gun changing discs. Background Technology

[0002] The Automatic Tool Changer (ATC) is a key component in industrial automation that enables robots to quickly switch end effectors (such as welding torches, grippers, and sensors). The ATC typically consists of a robot end (Masterside) and a tool end (Toolside). The robot end is mounted on the robot's forearm, while the tool end is mounted on the specific tool. The quick-change tool device can rapidly establish electrical, gas, and liquid communication between the robot and the tool.

[0003] Currently, after the relevant robot is installed, it is generally necessary to debug the tool changing plate, that is, to connect the robot end to different tool ends. In related technologies, there are additional auxiliary debugging tools, which are installed at both ends of the tool changing plate to help operators quickly debug and connect. However, the auxiliary debugging tools and the tool changing plate end lack positioning and adjustment structures, which makes it inconvenient for operators to quickly and accurately connect. At the same time, it is easy for the auxiliary debugging tools and the tool changing plate end to be installed at the wrong angle. Utility Model Content

[0004] The present invention aims to solve at least one or more technical problems existing in the prior art. To this end, the present invention proposes a welding spot welding auxiliary device compatible with multiple vehicle models.

[0005] In a first aspect, this application provides a device for assisting in the debugging of a robot's gun-changing disc, comprising:

[0006] A connection tray, installed on the tool-side tool changer tray, the connection tray comprising:

[0007] A first feature surface, wherein the first feature surface is provided with a positioning blind hole that is off-center from the central axis;

[0008] The second feature surface is disposed opposite to the first feature surface;

[0009] A positioning connecting ring is disposed on the second feature surface. A first adjusting ball is disposed on the side surface of the positioning connecting ring, and a first magnetic attraction group is disposed on the top surface of the positioning connecting ring.

[0010] A connection motherboard is installed on the robot's side tool changing panel, the connection motherboard comprising:

[0011] The third feature surface, the first feature surface is provided with a first positioning pin that mates with the positioning blind hole;

[0012] The fourth feature surface is provided with a connecting groove, the bottom of the connecting groove is provided with a second magnetic suction group and the inner surface is provided with a second adjusting ball.

[0013] In some possible embodiments, the first feature surface is provided with a recessed groove that is offset from the positioning blind hole, and a first buffer block is provided in the recessed groove.

[0014] In some possible implementations, the first buffer block protrudes from the first feature surface.

[0015] In some possible embodiments, the first adjusting ball is threadedly connected to the positioning connecting ring, and the first adjusting ball protrudes from the outer surface of the positioning connecting ring.

[0016] In some possible embodiments, the side surface of the positioning connecting ring is provided with a clearance through hole, which is used for adjusting the first adjusting ball.

[0017] In some possible embodiments, the second feature surface is provided with a plurality of positioning through holes surrounding the surface of the positioning connecting ring.

[0018] In some possible embodiments, the fourth feature surface is provided with a plurality of second locating pins surrounding the surface of the groove.

[0019] In some possible embodiments, the first magnetic assemblies consist of a plurality of spaced-apart magnets.

[0020] In some possible embodiments, each of the magnet blocks has a tapered hole on its surface.

[0021] In some possible embodiments, the edge of the fourth feature surface is provided with a second buffer block.

[0022] Compared with the prior art, the technical solutions provided in the embodiments of this application have at least the following beneficial effects:

[0023] 1) By setting a positioning through hole and a positioning connecting ring on the second feature surface of the male plate of the tool-side gun changing plate, and setting a first magnetic suction group on the positioning connecting ring, it is easy for the operator to quickly and accurately install the male plate on the tool-side gun changing plate. By setting a first adjusting ball and an avoidance through hole on the side surface of the positioning connecting ring, it is easy to adjust the connection between the male plate and the tool-side gun changing plate. By setting a connecting groove on the fourth feature surface of the female plate of the robot-side gun changing plate, and setting a second adjusting ball and a second magnetic suction group in the connecting groove, it is easy to quickly and accurately install the female plate on the robot-side gun changing plate, thereby ensuring the precise docking of the gun changing plates on both sides.

[0024] 2) By using the positioning blind hole off the central axis set on the first feature surface of the male plate of the tool-side gun changing plate to cooperate with the first positioning pin set on the third feature surface of the female plate of the gun changing plate of the robot-side, docking can be achieved more quickly and accurately during the debugging process. At the same time, it avoids the incorrect installation angle between the auxiliary debugging tool and the gun changing plate end.

[0025] Additional aspects and advantages of this invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0026] To more clearly illustrate the technical solutions of the embodiments of this utility model, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0027] Figure 1 This is a schematic diagram of a device for assisting in the debugging of a robot's gun-changing disc, according to an embodiment of this application.

[0028] Figure 2 This is a schematic diagram illustrating the connection structure of the male and female connectors according to an embodiment of this application.

[0029] Figure 3 This is a first-view structural diagram of the connection public disk according to an embodiment of this application;

[0030] Figure 4 This is a second-view structural diagram of the connection disk according to an embodiment of this application;

[0031] Figure 5 This is a first-view structural diagram of the connection master disk according to an embodiment of this application;

[0032] Figure 6 This is a second-view structural schematic diagram of the connection master disk according to an embodiment of this application;

[0033] Figure 7 This is a schematic diagram of the structure of the first adjusting ball according to an embodiment of this application;

[0034] Figure 8 This is a schematic diagram of the structure of a magnet block according to an embodiment of this application.

[0035] Figure label:

[0036] 100. Connecting disc; 110. First feature surface; 111. Positioning blind hole; 112. Recessed groove; 1121. First buffer block; 120. Second feature surface; 121. Positioning through hole; 130. Positioning connecting ring; 131. First adjusting ball; 132. Clearance through hole; 133. First magnetic suction group; 1331. Magnet block; 1332. Conical hole;

[0037] 200. Connecting mother plate; 210. Third feature surface; 211. First positioning pin; 220. Fourth feature surface; 221. Connecting groove; 222. Second adjusting ball; 223. Second magnetic suction group; 224. Second positioning pin; 225. Second buffer block. Detailed Implementation

[0038] The embodiments of this utility model are described in detail below. The embodiments described with reference to the accompanying drawings are exemplary. It should be understood that the specific embodiments described herein are merely for explaining this application and are not intended to limit this application.

[0039] It should be noted that when a component is said to be "fixed to" another component, it can be directly attached to the other component or there may be an intervening component. When a component is said to be "connected to" another component, it can be directly connected to the other component or there may be an intervening component.

[0040] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0041] Please see Figures 1 to 8 This embodiment provides a device for assisting in the debugging of a robot's tool changing disc. It should be noted that currently, after the relevant robot is installed, it is generally necessary to debug the tool changing disc, that is, to connect the robot end to different tool ends. The traditional debugging method is generally manually controlled, which makes it difficult to guarantee the accuracy of the docking between the robot end and different tool ends, resulting in low debugging efficiency. Furthermore, inaccurate docking may also cause damage to the robot end or the tool end. The device of this embodiment is used to assist in the debugging of the robot's tool changing disc by installing and connecting it to the tool changing discs on both sides. The device includes a male connecting disc 100 and a female connecting disc 200. The outer contour lines of the male connecting disc 100 and the female connecting disc 200 along the central axis can be the same. The male connecting disc 100 is used to install on the tool-side tool changing disc, and the female connecting disc 200 is used to install on the robot-side tool changing disc. The docking of the male connecting disc 100 and the female connecting disc 200 is achieved through the robot end.

[0042] In some embodiments, combined with Figure 3 As shown, the connecting male disk 100 includes a first feature surface 110 and a second feature surface 120. The first feature surface 110 is provided with a positioning blind hole 111 that is off-center from the central axis. The number of positioning blind holes 111 can be one. A recessed groove 112 is provided on the first feature surface 110, offset from the positioning blind hole 111. A first buffer block 1121 is provided in the recessed groove 112. The first buffer block 1121 is used for buffering the connection between the male disk 100 and the connecting female disk 200.

[0043] Optionally, the first buffer block 1121 can be made of an elastic material, such as rubber. The specific shape of the first buffer block 1121 can be selected according to actual needs and is not limited here. The number of the first buffer blocks 1121 can be two, three or four, which can be selected according to actual needs and is not limited here. However, it should be noted that one side surface of the first buffer block 1121 protrudes from the first feature surface 110. Only in this way can the buffering effect of connecting the male disk 100 and the female disk 200 be achieved.

[0044] In some embodiments, combined with Figure 4 As shown, a positioning connecting ring 130 is provided on the second feature surface 120. The positioning connecting ring 130 is shaped as a sleeve protruding from the second feature surface 120. A first adjusting ball 131 is provided on the side surface of the positioning connecting ring 130, and a first magnetic suction group 133 is provided on the top surface of the positioning connecting ring 130. The first adjusting ball 131 is threadedly connected to the positioning connecting ring 130, and the first adjusting ball 131 protrudes from the outer surface of the screw of the positioning connecting ring 130. An avoidance through hole 132 is provided on the side surface of the positioning connecting ring 130 for adjusting the first adjusting ball 131.

[0045] Optionally, the clearance through hole 132 is provided through the thickness direction of the positioning connecting ring 130. Each clearance through hole 132 has a corresponding first adjusting ball 131. The central axis of each clearance through hole 132 is collinear with the central axis of the corresponding first adjusting ball 131 and may intersect with the central axis of the positioning connecting ring 130.

[0046] In some embodiments, combined with Figure 5As shown, the connecting mother plate 200 is installed on the robot's side gun changing plate. The connecting mother plate 200 includes a third feature surface 210 and a fourth feature surface 220. The third feature surface 210 is provided with a first positioning pin 211 that mates with the positioning blind hole 111. The fourth feature surface 220 is provided with a connecting groove 221. The bottom of the connecting groove 221 is provided with a second magnetic suction group 223 and the inner surface is provided with a second adjusting ball 222. The second adjusting ball 222 is threadedly connected to the inner wall of the connecting groove 221. The fourth feature surface 220 is provided with a plurality of second positioning pins 224 around the surface of the groove 221 and a second buffer block 225 is provided at the edge of the surface of the fourth feature surface 220.

[0047] Optionally, the number of second positioning pins 224 can be three. The second positioning pins 224 are used for positioning connection with the robot side gun changing disc end. The second buffer block 225 is provided on the surface of the fourth feature surface 220. The second buffer block 225 can be made of elastic material and the number can be two. It is used for buffering when connecting the robot side gun changing disc end. The connecting groove 221 is provided for connection.

[0048] It should be noted that the structure of the second adjusting ball 222 can be the same as that of the first adjusting ball 131, and each magnet in the second magnetic group 223 can have the same structure as each magnet in the first magnetic group 133.

[0049] Please see Figure 7 The first adjusting ball 131 or the second adjusting ball 222 can be a screw structure with balls. The screw is threaded and fixed to the connecting female disc 200 or the connecting male disc 100. Taking the first adjusting ball 131 as an example, by setting the avoidance through hole 132, the additional adjusting tool is pressed against one end of the first adjusting ball 131 for adjustment, so as to adjust the position of the changing disc of the connecting male disc 100 and the tool end.

[0050] Please see Figure 8 For the magnet blocks of the first magnetic attraction group 133 and the second magnetic attraction group 223, their shape can be set as cylindrical. Taking the magnet block 1331 of the first magnetic attraction group 133 as an example, a tapered hole 1332 can be provided on one surface of the magnet block 1331. In this way, the first magnetic attraction group 133 facilitates the connection and positioning calibration of the public disk 100 and the tool-side gun changing disk.

[0051] The device in the above embodiment, by providing a positioning through hole 121 and a positioning connecting ring 130 on the second feature surface 120 of the connecting male plate 100 installed on the tool-side changing plate, and by providing a first magnetic suction group 133 on the positioning connecting ring 130, facilitates the operator to quickly and accurately install the connecting male plate 100 on the tool-side changing plate. By providing a first adjusting ball 131 and an avoidance through hole 132 on the side surface of the positioning connecting ring 130, it is convenient to adjust the connection between the connecting male plate 100 and the tool-side changing plate. By providing a connecting groove 221 on the fourth feature surface 220 of the connecting female plate 200 installed on the robot-side changing plate, and by providing a second adjusting ball 222 and a second magnetic suction group 223 in the connecting groove 221, it is convenient to quickly and accurately install the connecting female plate 200 on the robot-side changing plate, thereby ensuring the precise docking of the changing plates on both sides.

[0052] By using a positioning blind hole 111 off-center from the central axis provided on the first feature surface 110 of the tool-side gun-changing plate connecting male plate 100, and a first positioning pin 211 provided on the third feature surface 210 of the robot-side gun-changing plate connecting female plate 200, docking can be achieved more quickly and accurately during the debugging process. At the same time, it avoids incorrect installation angle between the auxiliary debugging tool and the gun-changing plate end.

[0053] In the description of this utility model, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., indicating the orientation or positional relationship are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this utility model and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation on the utility model.

[0054] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example.

[0055] Obviously, the described embodiments are only a part of the embodiments of this application, and not all of the embodiments. The reference to "embodiment" herein means that a specific feature, structure, or characteristic described in connection with an embodiment can be included in at least one embodiment of this application. The appearance of this phrase in various places in the specification does not necessarily indicate the same embodiment, nor is it an independent or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of this application without inventive effort are within the scope of protection of this application.

[0056] Although embodiments of the present invention have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the claims and their equivalents.

Claims

1. A device for assisting in the debugging of a robot's gun-changing disc, characterized in that, include: A connection disk (100) is installed on the tool-side tool changing disk. include: The first feature surface (110) is provided with a positioning blind hole (111) that is off-center from the central axis. The second feature surface (120) is disposed opposite to the first feature surface (110); A positioning connecting ring (130) is disposed on the second feature surface (120). A first adjusting ball (131) is disposed on the side surface of the positioning connecting ring (130), and a first magnetic suction group (133) is disposed on the top surface of the positioning connecting ring (130). A connecting mother plate (200) is installed on the robot's side gun changing plate. include: The third feature surface (210) is provided with a first positioning pin (211) that mates with the positioning blind hole (111). The fourth feature surface (220) is provided with a connecting groove (221), the bottom of the connecting groove (221) is provided with a second magnetic suction group (223) and the inner surface is provided with a second adjusting ball (222).

2. The device for assisting robot gun-changing disc adjustment according to claim 1, characterized in that, The first feature surface (110) is provided with a recessed groove (112) that is offset from the positioning blind hole (111), and a first buffer block (1121) is provided in the recessed groove (112).

3. The device for assisting robot gun-changing disc adjustment according to claim 2, characterized in that, The first buffer block (1121) protrudes from the first feature surface (110).

4. The device for assisting robot gun-changing disc adjustment according to claim 1, characterized in that, The first adjusting ball (131) is threadedly connected to the positioning connecting ring (130), and the first adjusting ball (131) protrudes from the outer surface of the positioning connecting ring (130).

5. The device for assisting robot gun-changing disc adjustment according to claim 4, characterized in that, The positioning connecting ring (130) has a clearance through hole (132) on its side surface, which is used for adjusting the first adjusting ball (131).

6. The device for assisting robot gun-changing disc adjustment according to claim 1, characterized in that, The second feature surface (120) is provided with a plurality of positioning through holes (121) surrounding the surface of the positioning connecting ring (130).

7. The device for assisting robot gun-changing disc adjustment according to claim 1, characterized in that, The fourth feature surface (220) is provided with a plurality of second positioning pins (224) surrounding the surface of the groove (221).

8. The device for assisting robot gun-changing disc adjustment according to claim 1, characterized in that, The first magnetic attraction group (133) consists of multiple spaced magnetic blocks.

9. The device for assisting in the debugging of a robot's gun-changing disc according to claim 8, characterized in that, Each of the magnet blocks has a tapered hole (1331) on its surface.

10. The device for assisting robot gun-changing disc adjustment according to claim 1, characterized in that, The fourth feature surface (220) has a second buffer block (225) at its surface edge.

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