Automatic tool changing device for grinding robot

Abstract

The invention relates to an automatic tool changing device for a grinding robot. The device comprises an electromagnet, an outer cover, a tool changing shaft, a clamping part and a locking part, wherein the locking part comprises locking pieces, an iron post, a stopper, a spring and a four-bar mechanism; the clamping part comprises long connecting rods, mechanical claws and a support; the upper part of the iron post extends out of the stopper, the lower part of the iron post is arranged in the stopper; and the iron post can slide up and down in the stopper; the electromagnet is arranged abovethe iron post; the support is arranged in the outer cover, an access hole is arranged in the center of the top of the support, and the diameter of the access hole is smaller than the maximum distancebetween the outer edges of the two locking pieces in a natural state and is greater than the maximum distance between the outer edges of the two locking pieces after compression; the long connecting rods are uniformly hinged in the circumferential direction of the support, each long connecting rod penetrates out of the outer cover and is connected to the mechanical claw, and the tail end of each mechanical claw is always arranged in the outer cover and slides along the outer cover in a radial reciprocating manner. The installation and replacement processes of the tool changing shaft are simpleand completely rely on pure mechanical motion, and the reliability is high.

Description

technical field [0001] The invention belongs to the technical field of machining and manufacturing, and in particular relates to an automatic tool changing device for a grinding robot. Background technique [0002] At present, in the grinding process, the grinding wheel is generally directly fixed on the grinding spindle of the grinding robot, and the grinding wheel is mainly replaced manually. During grinding, the abrasive particles on the grinding surface of the grinding wheel will rub against the workpiece violently, and the abrasive debris generated by the grinding will splash, and then a large amount of dust will appear. Therefore, the environment in the workshop is harsh, and manual tool change will endanger the health of workers; The grinding process of bulky and relatively complex free-form surfaces (such as wind turbine blades) is very complicated. Different grinding wheels are required for grinding surfaces with different curvatures. Therefore, frequent tool change...

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Problems solved by technology

[0003] The document with the application number 201911016614.8 discloses an automatic grinding wheel replacement device and its industrial robot, including a spare grinding wheel transfer device and a replacement device; Tighten the nut; the process of changing the grinding wheel is complex and time-consuming

[0004] The document with the application number of 201820218919.1 discloses a mechanism for the robot to quickly replace the grinding wheel. The mechanism realizes the locking of the rotating shaft and the grinding wheel fixing device through the cooperation of balls and corresponding grooves; Large centrifugal force causes the ball to move centrifugally and escape from the groove, so the mechanism has low reliability and poor stability

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