HSK Tool Holder Automatic Gripping Manipulator and Gripping Method

Abstract

The present invention relates to an automatic grasping manipulator for HSK tool holders and a clamping method, which includes a robotic arm, a pull rod, an elastic clamping jaw and a linear motion driving device; the pull rod, the elastic clamping jaw and the linear motion driving device are installed in the inner cavity of the robotic arm; one end of the pull rod is connected to a linear motion driving component, the elastic clamping jaw is sleeved on the pull rod, and the other end of the pull rod has a spreading head for radially opening the elastic clamping jaw. A sensor, an induction piece and a spring are installed on the robotic arm. There is an opening on the outer wall of the robotic arm. The induction piece is installed in the opening. One end of the induction piece extends into the inner cavity of the robotic arm, and the other end of the induction piece extends to the outside of the robotic arm; the sensor is installed outside the robotic arm for sensing the induction piece, and the sensor is a proximity switch or a linear displacement sensor. In this application, the linear driving device drives the elastic clamping jaw to open and close, realizing the clamping and loosening of the tool holder; through the detection device, the in-place detection and angular detection of the tool holder are realized, which is convenient and worry-free to use.

Description

Technical Field

[0001] The present invention relates to the technical field of automatic tool taking, and particularly relates to an automatic grasping manipulator for an HSK tool holder and a clamping method. Background Art

[0002] High-speed cutting machining has become an important part of mechanical machining manufacturing technology. The HSK tool holder is the tool holder for high-speed cutting application tools.

[0003] A machine tool involves many types and models of tools, so the machine tool is equipped with a machine tool tool magazine. However, the machine tool tool magazine cannot meet all production requirements, so it is usually necessary to take tools from a stereoscopic tool magazine to the machine tool tool magazine. At present, tools are manually taken from the stereoscopic tool magazine to the machine tool tool magazine, with low automation and a waste of manpower. Summary of the Invention

[0004] This application provides an automatic grasping manipulator for an HSK tool holder and a clamping method to solve the above problems.

[0005] This application is achieved through the following technical solutions:

[0006] The automatic grasping manipulator for an HSK tool holder includes a robotic arm, a pull rod, an elastic gripper, and a linear motion driving device;

[0007] The pull rod, the elastic gripper, and the linear motion driving device are installed in the inner cavity of the robotic arm, and one end of the inner cavity is open; the linear motion driving component is installed at the end far from the open end of the inner cavity;

[0008] One end of the pull rod is connected to the output end of the linear motion driving component, the elastic gripper is sleeved on the pull rod, and the other end of the pull rod has a spreading head for radially expanding the elastic gripper.

[0009] Optionally, the outer wall of the spreading head has a first outer conical surface, and the elastic gripper has a first inner conical surface matching the first outer conical surface.

[0010] Optionally, the inner hole of the HSK tool holder has a second inner conical surface, and the outer wall of the elastic gripper has a second outer conical surface adapted to the second inner conical surface.

[0011] Optionally, the linear motion driving device is a linear motor or a hydraulic cylinder.

[0012] Particularly, the linear motion driving device is a cylinder.

[0013] Optionally, a sensor, an induction sheet, and a spring are installed on the robotic arm, and the telescopic direction of the spring is parallel to the moving direction of the pull rod;

[0014] The outer wall of the mechanical arm has an opening, the opening passes through the inner cavity of the mechanical arm, the induction sheet is installed in the opening, one end of the induction sheet extends into the inner cavity of the mechanical arm, and the other end of the induction sheet extends to the outside of the mechanical arm;

[0015] An axial slide groove is provided in the mechanical arm, a spring and a slider are installed in the axial slide groove, one end of the slider is connected to the sensing sheet, the slider is located between the spring and the sensing sheet, and the spring is connected to the slider or not connected;

[0016] The sensor is installed outside the robot arm to sense the sensing sheet, and the sensor is a proximity switch or a linear displacement sensor.

[0017] Optionally, the sensor is a linear displacement sensor that can continuously detect the position of the sensing piece.

[0018] Optionally, there are two sensors, and the two sensors are staggered in the moving direction of the sensing sheet.

[0019] In the above-mentioned HSK tool handle automatic grasping manipulator gripping method, the robot drives the mechanical arm to insert into the HSK tool handle, so that one end of the HSK tool handle is inserted into the inner cavity of the mechanical arm;

[0020] The linear motion drive device moves, driving the pull rod and the support head to move synchronously. The conical surface of the support head opens the elastic clamping claw radially to grasp the HSK tool handle;

[0021] The linear motion drive device is activated, driving the pull rod and the support head to move synchronously in the opposite direction. The elastic clamping claw closes under its own elastic force, thereby releasing the HSK tool handle.

[0022] Optionally, when the notch of the HSK tool handle is in a correct orientation, during the process of the robotic arm grasping the HSK tool handle, one end of the sensing piece located in the robotic arm slides into the notch, and as the HSK tool handle is grasped, the HSK tool handle pushes the sensing piece to move a first distance, and the first distance is greater than or equal to 0;

[0023] When the notch of the HSK tool handle is located in other incorrect directions, during the process of the robotic arm grasping the HSK tool handle, the HSK tool handle pushes the sensing sheet to move a second distance, and the second distance is greater than the first distance. The position change of the sensing sheet is detected by one or two sensors to realize the in-place detection and / or angular detection of the HSK tool handle. The sensor is a proximity switch or a linear displacement sensor.

[0024] Compared with the prior art, this application has the following beneficial effects:

[0025] 1. The present invention drives the elastic clamping claw to open and close through a linear drive device to achieve the clamping and loosening of the tool handle. It is easy to use, has a high degree of automation, and is conducive to reducing labor costs;

[0026] 2. The detection device is provided in this application, realizing the in-place detection and angular detection of the tool holder. Brief Description of the Drawings

[0027] The drawings described herein are used to provide a further understanding of the embodiments of this application, form a part of this application, and do not constitute a limitation to the embodiments of the present invention.

[0028] Figure 1 It is a cross-sectional view when the HSK tool holder automatic grasping manipulator in Embodiment 1 grasps the HSK tool holder;

[0029] Figure 2 It is a schematic structural diagram of the elastic jaw in Embodiment 1;

[0030] Figure 3 It is a schematic diagram when the HSK tool holder automatic grasping manipulator in Embodiment 2 is facing the HSK tool holder;

[0031] Figure 4 It is a 3D view of the HSK tool holder automatic grasping manipulator in Embodiment 2;

[0032] Figure 5 It is a schematic diagram when the HSK tool holder automatic grasping manipulator in Embodiment 2 grasps the HSK tool holder;

[0033] Figure 6 It is a top view when the HSK tool holder automatic grasping manipulator in Embodiment 3 grasps the HSK tool holder;

[0034] Figure 7 It is a cross-sectional view when the HSK tool holder automatic grasping manipulator in Embodiment 3 grasps the HSK tool holder;

[0035] Figure 8 It is a schematic diagram when the HSK tool holder automatic grasping manipulator in Embodiment 4 grasps the HSK tool holder;

[0036] Figure 9 It is Figure 8 a partial enlarged view of A in Detailed Embodiments

[0037] To make the objectives, technical solutions, and advantages of this application clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments. Obviously, the described embodiments are some, but not all, of the embodiments of the present invention. Usually, the components of the embodiments of the present invention described and illustrated herein can be arranged and designed in various different configurations.

[0038] Accordingly, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely represents selected embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the scope of protection of the present invention.

[0039] It should be noted that, without conflict, the embodiments in the present invention and the features in the embodiments may be combined with each other. It should be noted that the various embodiments in this specification are described in a progressive manner, with each embodiment focusing on the differences from other embodiments. For the same or similar parts among the various embodiments, reference may be made to each other.

[0040] It should be noted that like reference numerals and letters denote like items in the following drawings. Therefore, once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings.

[0041] In the description of the present invention, it should be noted that the orientation or positional relationship indicated by the terms "upper", "lower", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings, or the orientation or positional relationship in which the product of the invention is usually placed during use, or the orientation or positional relationship commonly understood by those skilled in the art. 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 of the present invention.

[0042] In the description of the present invention, it should also be noted that unless otherwise clearly specified and defined, the terms "arranged", "installed", "connected", "coupled" 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 elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention may be understood according to specific circumstances.

[0043] Embodiment 1

[0044] As Figure 1 、 Figure 2 shown, the HSK toolholder automatic grasping manipulator disclosed in this embodiment includes a robotic arm 1, a pull rod 11, an elastic gripper 12, and a linear motion driving device 13.

[0045] The drawbar 11, the elastic jaws 12 and the linear motion drive device 13 are installed in the inner cavity of the robotic arm 1. One end of the inner cavity is open for the HSK tool shank 10 to be inserted. One end of the drawbar 11 is connected to the output end of the linear motion drive component 13. The elastic jaws 12 are sleeved on the drawbar 11. The other end of the drawbar 11 has a spreading head 14 for radially expanding the elastic jaws 12.

[0046] Optionally, the outer wall of the spreading head 14 has a first outer conical surface 141, and the elastic jaws 12 have a first inner conical surface 121 that matches the first outer conical surface 141.

[0047] Optionally, the inner hole of the HSK tool shank 10 has a second inner conical surface 101, and the outer wall of the elastic jaws 12 has a second outer conical surface 122 that fits the second inner conical surface 101.

[0048] It should be noted that the linear motion drive device 13 can be a linear motor or a hydraulic cylinder, and the hydraulic cylinder can be an oil cylinder or an air cylinder.

[0049] The grasping principle of this embodiment: The robot moves to the stereoscopic garage, and the robot drives the robotic arm 1 to insert into the HSK tool shank 10 in the stereoscopic garage, so that one end of the HSK tool shank 10 is inserted into the inner cavity of the robotic arm 1;

[0050] Subsequently, the linear motion drive device 13 acts to drive the drawbar 11 and the spreading head 14 to move synchronously to the left. The first outer conical surface 141 of the spreading head 14 radially expands the elastic jaws 12. At the same time, the second outer conical surface 122 of the elastic jaws 12 acts on the second inner conical surface 101 of the inner hole of the HSK tool shank 10, thereby realizing the grasping of the HSK tool shank 10;

[0051] When the robot moves to the machine tool, the linear motion drive device 13 acts to drive the drawbar 11 and the spreading head 14 to move synchronously to the right. The elastic jaws 12 close under the action of their own elastic force, thereby releasing the HSK tool shank 10.

[0052] Embodiment 2

[0053] As Figure 3 shown, since there is a notch 102 on the HSK tool shank 10, when loading the tool into the tool magazine of the machine tool, this notch 102 needs to be installed in the correct position, otherwise it cannot be installed. Also, because the tools in the stereoscopic tool magazine are placed manually, it is impossible to ensure that the notches 102 of the HSK tool shanks 10 in the stereoscopic tool magazine are all in the correct direction. And even if the notch 102 is not facing the correct direction, the HSK tool shank automatic grasping manipulator in Embodiment 1 can still normally grasp the HSK tool shank 10. When this HSK tool shank 10 with an inaccurate notch orientation is grasped to the machine tool, it cannot be installed in the machine tool magazine. Therefore, in this embodiment, a sensor detection device is added on the basis of Embodiment 1, specifically as follows:

[0054] AsFigures 3 - 5 As shown in the figure, a first sensor 2, an induction sheet 3 and a spring 4 are installed on the robotic arm 1. The telescopic direction of the spring 4 is parallel to the moving direction of the pull rod 11. There is an opening 31 on the outer wall of the robotic arm 1, and the opening 31 penetrates through the inner cavity of the robotic arm 1. The induction sheet 3 is installed in the opening 31, and the induction sheet 3 can compress the spring 4 by sliding axially along the opening 31. The axial direction here refers to the moving direction of the pull rod 11.

[0055] Optionally, an axial chute is provided in the robotic arm 1, and the spring 4 and the slider 32 are installed in the axial chute. One end of the slider 32 is connected to the induction sheet 3, the slider 32 is located between the spring 4 and the induction sheet 3, and the spring 4 is connected or not connected to the slider 32.

[0056] One end of the induction sheet 3 extends into the inner cavity of the robotic arm 1, the other end of the induction sheet 3 extends to the outside of the robotic arm 1, the first sensor 2 is installed outside the robotic arm 1, and the sensing end of the first sensor 2 faces the induction sheet 3.

[0057] It should be noted that the width of the induction sheet 3 should be less than the width of the notch 102.

[0058] As Figure 3 、 Figure 5 shown in the figure, when the notch 102 is in the correct orientation, when the robotic arm 1 grabs the HSK tool holder 10, the end of the induction sheet 3 located inside the robotic arm 1 can slide into the notch 102 smoothly. As the HSK tool holder 10 is tightened, the HSK tool holder 10 pushes the induction sheet 3 to move axially by a first distance, and the first distance is greater than or equal to 0.

[0059] When the notch 102 rotates to other incorrect directions, when the robotic arm 1 grabs the HSK tool holder 10, the end of the HSK tool holder 10 will push the induction sheet 3 to move leftward by a second distance, and the second distance is greater than the first distance. At this time, the first sensor 2 senses the position change of the induction sheet 3, indicating that the direction of the HSK tool holder 10 is wrong, thereby detecting that the notch 102 is not in the correct angular orientation.

[0060] In specific applications, an alarm and shutdown device can be configured. When it is detected that the direction of the HSK tool holder 10 is wrong, an alarm and shutdown will be carried out, and manual intervention can be performed to remove the HSK tool holder 10.

[0061] Optionally, the first sensor 2 can be a proximity switch or a linear displacement sensor.

[0062] If the first sensor 2 selects a linear displacement sensor that can continuously detect the position of the sensing piece 3, the in-place position of the sensing piece 3 can also be detected by the first sensor 2, thereby determining whether the HSK tool holder 10 is firmly grasped. The detection principle is as follows: When the notch 102 is in the correct orientation, when the robotic arm 1 grasps the HSK tool holder 10, one end of the sensing piece 3 located inside the robotic arm 1 can slide into the notch 102 along the trend and is pushed leftward by the HSK tool holder 10; when the robotic arm 1 firmly grasps the HSK tool holder 10, the sensing piece 3 is also pushed to the first position and compresses the spring 4. At this time, the first sensor 2 senses the moving distance of the sensing piece 3. By comparing with the preset value, it can be known that the HSK tool holder 10 is firmly grasped;

[0063] When the notch 102 turns to other incorrect directions, when the robotic arm 1 grasps the HSK tool holder 10, the end of the HSK tool holder 10 will push the sensing piece 3 to move to the second position and compress the spring 4. The second position is farther than the first position. At this time, the first sensor 2 senses the moving distance of the sensing piece 3 and compares it with the preset value, indicating that the direction of the HSK tool holder 10 is wrong, thereby detecting that the notch 102 is not in the correct angular direction.

[0064] Embodiment 3

[0065] In this embodiment, an in-place detection device is added on the basis of Embodiment 1, specifically as follows:

[0066] As Figure 6 、 Figure 7 shown, a second sensor 5, a sensing piece 3 and a spring 4 are installed on the robotic arm 1. The spring 4 can expand and contract axially. Here, the axial direction refers to the direction parallel to the axis of the pull rod 11.

[0067] There is an opening 31 on the outer wall of the robotic arm 1. The opening 31 penetrates the inner cavity of the robotic arm 1. The sensing piece 3 is installed in the opening 31. Sliding the sensing piece 3 axially along the opening 31 can compress the spring 4.

[0068] Optionally, an axial chute is provided in the robotic arm 1. The spring 4 and the slider 32 are installed in the axial chute. One end of the slider 32 is connected to the sensing piece 3. The slider 32 is located between the spring 4 and the sensing piece 3. The spring 4 is connected or not connected to the slider 32.

[0069] One end of the sensing piece 3 extends into the inner cavity of the robotic arm 1, and the other end of the sensing piece 3 extends to the outside of the robotic arm 1. The second sensor 5 is installed outside the robotic arm 1 and is located at the opening 31.

[0070] It is worth noting that the width of the sensing piece 3 should be less than the width of the notch 102.

[0071] Under the action of the spring 4, the induction sheet 3 is located at the initial position on the right side; when the robot arm 1 grabs the HSK tool handle 10, the end of the induction sheet 3 located in the robot arm 1 can slide into the notch 102 and be pushed to the left by the HSK tool handle 10;

[0072] When the robot arm 1 grasps the HSK tool handle 10, the sensing piece 3 is also pushed to the left in-position position. At this time, the second sensor 5 senses that the sensing piece 3 moves to the in-position position, indicating that the HSK tool handle 10 is grasped.

[0073] Optionally, the second sensor 5 may be a proximity switch or a linear displacement sensor.

[0074] If the second sensor 5 is a linear displacement sensor that can continuously detect the position of the sensing piece 3, the second sensor 5 can also detect whether the notch 102 is in the correct angular direction. The detection principle is: when the notch 102 is in the correct direction, when the robot arm 1 grabs the HSK tool handle 10, the end of the sensing piece 3 located in the robot arm 1 can slide into the notch 102 and be pushed to the left by the HSK tool handle 10; when the robot arm 1 grabs the HSK tool handle 10, the sensing piece 3 is also pushed to the first position and compresses the spring 4. At this time, the second sensor 5 senses the moving distance of the sensing piece 3. By comparing it with the preset value, it can be known that the HSK tool handle 10 is grasped;

[0075] When the notch 102 turns to other incorrect directions, when the robot arm 1 grabs the HSK tool handle 10, the end of the HSK tool handle 10 will push the sensing piece 3 to move to the second position and compress the spring 4. The second position is farther than the first position. At this time, the second sensor 5 senses the moving distance of the sensing piece 3 and compares it with the preset value, indicating that the direction of the HSK tool handle 10 is wrong, thereby detecting that the notch 102 is not in the correct angular direction.

[0076] Example 4

[0077] If the first sensor 2 in the second embodiment cannot continuously detect the displacement of the sensing sheet 3, then this embodiment adds a sensor for in-position detection on the basis of the second embodiment. Figure 8 , Figure 9 As shown, the second sensor 5 is installed outside the robot arm 1, and the first sensor 2 and the second sensor 5 are staggered in the moving direction of the sensor sheet 3.

[0078] Optionally, the second sensor 5 may be a proximity switch or a linear displacement sensor.

[0079] Working principle of this embodiment: Under the action of spring 4, the induction sheet 3 is located at the initial position on the right side;

[0080] When the notch 102 is in the correct orientation, when the robot arm 1 grabs the HSK tool handle 10, the end of the sensing piece 3 located in the robot arm 1 can slide into the notch 102 and be pushed to the left by the HSK tool handle 10; when the robot arm 1 grabs the HSK tool handle 10, the sensing piece 3 is also pushed to the middle position. At this time, the second sensor 5 senses that the sensing piece 3 moves and remains in the middle position, indicating that the HSK tool handle 10 is grabbed;

[0081] When the notch 102 turns to other incorrect directions, when the robot arm 1 grabs the HSK tool handle 10, the end of the HSK tool handle 10 will push the sensing plate 3 to move to the right to the maximum position on the left. At this time, the first sensor 2 senses the position change of the sensing plate 3, indicating that the direction of the HSK tool handle 10 is wrong, thereby detecting that the notch 102 is not in the correct angle.

[0082] The present invention uses a linear drive device to drive the elastic clamping claw to open and close, thereby clamping and loosening the tool handle; through the detection device, the tool handle is detected in place and angularly, which is convenient and worry-free to use. The present invention is particularly suitable for grabbing tool handles in a three-dimensional tool magazine to load tools in a machine tool magazine.

[0083] The above specific implementation methods further illustrate the purpose, technical solutions and beneficial effects of the present application in detail. It should be understood that the above are only specific implementation methods of the present invention and are not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. HSK toolholder automatic grasping manipulator, Characterized in that: It includes a robotic arm, a pull rod, an elastic jaw and a linear motion driving device; The pull rod, the elastic jaw and the linear motion driving device are installed in the inner cavity of the robotic arm, and one end of the inner cavity is open; the linear motion driving component is installed at the end far from the open end of the inner cavity; One end of the pull rod is connected to the output end of the linear motion driving component, the elastic jaw is sleeved on the pull rod, and the other end of the pull rod has a spreading head for radially expanding the elastic jaw; The outer wall of the spreading head has a first outer conical surface, and the elastic jaw has a first inner conical surface matching the first outer conical surface. The linear motion driving device is a linear motor, a hydraulic cylinder or a pneumatic cylinder; The HSK toolholder has a notch. A sensor, an induction piece and a spring are installed on the robotic arm, and the telescopic direction of the spring is parallel to the moving direction of the pull rod; There is an opening on the outer wall of the robotic arm, the opening penetrates the inner cavity of the robotic arm, the induction piece is installed in the opening, one end of the induction piece extends into the inner cavity of the robotic arm, and the other end of the induction piece extends to the outside of the robotic arm; An axial chute is provided in the robotic arm, the spring and the slider are installed in the axial chute, one end of the slider is connected to the induction piece, the slider is located between the spring and the induction piece, and the spring is connected or not connected to the slider; The sensor is installed outside the robotic arm for sensing the induction piece, and the sensor is a proximity switch or a linear displacement sensor.

2. The HSK toolholder automatic grasping manipulator according to claim 1, Characterized in that: The inner hole of the HSK toolholder has a second inner conical surface, and the outer wall of the elastic jaw has a second outer conical surface adapted to the second inner conical surface.

3. The HSK toolholder automatic grasping manipulator according to claim 1, Characterized in that: The sensor is a linear displacement sensor that can continuously detect the position of the induction piece.

4. The HSK toolholder automatic grasping manipulator according to claim 1, Characterized in that: There are two sensors, and the two sensors are arranged staggeredly in the moving direction of the induction piece.

5. The clamping method of the HSK toolholder automatic grasping manipulator according to any one of claims 1-4, Characterized in that: The robot drives the robotic arm to insert into the HSK toolholder, so that one end of the HSK toolholder is inserted into the inner cavity of the robotic arm; The linear motion driving device acts to drive the pull rod and the spreading head to move synchronously. The conical surface of the spreading head radially expands the elastic jaw to tightly grasp the HSK toolholder; The linear motion driving device acts to drive the pull rod and the spreading head to move synchronously in the reverse direction, and the elastic jaw closes under its own elastic force to release the HSK toolholder.

6. The clamping method according to claim 5, Characterized in that: When the notch of the HSK tool holder is in the correct orientation, during the process of the robotic arm grasping the HSK tool holder, the end of the sensing piece located inside the robotic arm slides into the notch smoothly. As the HSK tool holder is tightened, the HSK tool holder pushes the sensing piece to move a first distance, and the first distance is greater than or equal to 0. When the notch of the HSK tool holder is in other incorrect directions, during the process of the robotic arm grasping the HSK tool holder, the HSK tool holder pushes the sensing piece to move a second distance, and the second distance is greater than the first distance. The position change of the sensing piece is detected by one or two sensors to achieve the in-place detection and / or angular detection of the HSK tool holder, and the sensors are proximity switches or linear displacement sensors.

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