A gripper structure for tool change of a machine tool

Abstract

The present application provides a kind of gripper structure for changing tool of machine tool, including robot end connecting flange, floating mechanism and electric executor;The floating mechanism includes flange mounting plate, limit seat, mounting seat, jaw connecting flange, spring and ball head plunger;The outer wall of the jaw connecting flange is provided with sliding groove, the lower portion of the mounting seat is provided with mounting hole, the ball head plunger passes through the mounting hole on the mounting seat and extends into the sliding groove;The limit seat is located in the mounting seat and the top is clamped in the clamping groove provided in the inner wall of the mounting seat, and the lower portion is embedded in the inside of the jaw connecting flange;The spring is installed between the limit seat and the jaw connecting flange;The electric executor is provided with two opening and closing movement blocks on the side, and one tool shank jaw is respectively installed on each opening and closing movement block.The setting of the floating mechanism of the present application greatly improves the safety of the grabbing process, and can better adapt to different working environments.

Description

Technical Field

[0001] This invention relates to the field of machine tool tool changing technology, and more particularly to a gripper structure for changing tools on a machine tool. Background Technology

[0002] Currently, the most common tool changing method is pneumatic tool changing, which has no buffer function and is suitable for occasions with a compressed air source. It has high requirements for the equipment installation area, and the compressed air pipeline is more complicated and costly. In occasions without a compressed air source or with limited equipment installation space, it is impossible to change tools between the tool holder and the machine tool magazine. In addition, pneumatic tool changing requires high positioning accuracy and has a low accuracy gripping rate. Summary of the Invention

[0003] In view of the technical problems existing in the prior art, a gripper structure for changing tools on machine tools is provided.

[0004] The technical means employed in this invention are as follows:

[0005] A gripper structure for changing tools on a machine tool includes a robot-end connecting flange, a floating mechanism, and an electric actuator;

[0006] The floating mechanism includes a flange mounting plate, a limiting seat, a mounting base, a gripper connecting flange, a spring, and a ball-head plunger. The robot end connecting flange is fixedly mounted above the flange mounting plate. The limiting seat, the mounting base, and the spring are all located between the flange mounting plate and the gripper connecting flange. The top of the mounting base is fixedly connected to the flange mounting plate, and the lower part is sleeved on the outside of the gripper connecting flange. The outer wall of the gripper connecting flange has a sliding groove in the vertical direction. The lower part of the mounting base has a mounting hole. The ball-head plunger passes through the mounting hole on the mounting base and extends into the sliding groove, with the ball head end of the ball-head plunger abutting the side wall of the sliding groove. The limiting seat is located inside the mounting base, and its top is engaged in a slot provided on the inner wall of the mounting base. Its lower part is embedded inside the gripper connecting flange. The spring is installed between the limiting seat and the gripper connecting flange.

[0007] The electric actuator is fixedly installed below the gripper connecting flange; two opening and closing motion blocks are provided on the side of the electric actuator, and a tool holder gripper is installed on each of the opening and closing motion blocks. The two tool holder grippers arranged opposite each other are used to grip the tool holder to be gripped.

[0008] Furthermore, the electric actuator is a LEHFK-RC model electric actuator.

[0009] Furthermore, a guide groove is provided at the lower part of the mounting base in the vertical direction, and a guide key is provided in the guide groove for installation on the outer wall of the clamp connecting flange.

[0010] Furthermore, an oil-free bushing is installed between the limiting seat and the clamp connecting flange.

[0011] Furthermore, spring mounting grooves are respectively provided at the bottom of the limiting seat and inside the clamp connecting flange, and the two ends of the spring are respectively installed in the spring mounting grooves of the limiting seat and the clamp connecting flange.

[0012] Furthermore, each of the aforementioned handle grippers is provided with a handle positioning ring, which matches a groove on the side of the handle to be gripped.

[0013] Furthermore, a tool chip reader is also installed on the electric actuator.

[0014] Compared with the prior art, the present invention has the following advantages:

[0015] The gripper structure provided by this invention for changing tools on machine tools can grip the tool holder in situations where there is no compressed air source, such as in automated guided vehicles. At the same time, the floating mechanism greatly improves the safety of the gripping process and can better adapt to different working environments.

[0016] Based on the above reasons, this invention can be widely promoted in the field of machine tool tool changing. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 This is a schematic diagram of the gripper structure described in this invention.

[0019] Figure 2 This is a schematic diagram of the gripper structure in the gripping state described in this invention.

[0020] Figure 3 This is a cross-sectional view of the floating mechanism described in this invention.

[0021] Figure 4 This is a cross-sectional view of the floating mechanism described in this invention.

[0022] In the diagram: 1. Robot end connecting flange; 2. Floating mechanism; 21. Flange mounting plate; 22. Limit seat; 23. Mounting seat; 24. Sliding groove; 25. Gripper connecting flange; 26. Oil-free bushing; 27. Spring; 28. Ball plunger; 29. ​​Guide key; 3. Positioning camera and light source; 4. Electric actuator; 5. Tool chip reader; 6. Positioning tool ring; 7. Tool holder gripper; 8. Robot arm; 9. Tool holder. Detailed Implementation

[0023] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The following description of at least one exemplary embodiment is merely illustrative and is in no way intended to limit the present invention or its application or use. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0024] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the scope of exemplary embodiments according to the invention. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0025] Unless otherwise specifically stated, the relative arrangement, numerical expressions, and values ​​of the components and steps described in these embodiments do not limit the scope of the invention. It should also be understood that, for ease of description, the dimensions of the various parts shown in the drawings are not drawn to actual scale. Techniques, methods, and devices known to those skilled in the art may not be discussed in detail, but where appropriate, such techniques, methods, and devices should be considered part of the specification. In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not as limitations. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar reference numerals and letters in the following figures denote similar items; therefore, once an item is defined in one figure, it need not be further discussed in subsequent figures.

[0026] In the description of this invention, it should be understood that the orientation or positional relationship indicated by directional terms such as "front, back, up, down, left, right", "horizontal, vertical, horizontal" and "top, bottom" is generally based on the orientation or positional relationship shown in the accompanying drawings, and is only for the convenience of describing this invention and simplifying the description. Unless otherwise stated, these directional terms do not 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 scope of protection of this invention. The directional terms "inner" and "outer" refer to the inner and outer contours relative to the outline of each component itself.

[0027] For ease of description, spatial relative terms such as "above," "over," "on the upper surface of," "above," etc., are used herein to describe the spatial positional relationship of a device or feature as shown in the figures to other devices or features. It should be understood that spatial relative terms are intended to encompass different orientations in use or operation besides the orientation of the device as described in the figures. For example, if the device in the figures is inverted, a device described as "above" or "above" other devices or structures would subsequently be positioned as "below" or "under" other devices or structures. Thus, the exemplary term "above" can include both "above" and "below." The device may also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatial relative descriptions used herein will be interpreted accordingly.

[0028] Furthermore, it should be noted that the use of terms such as "first" and "second" to define components is merely for the purpose of distinguishing the corresponding components. Unless otherwise stated, the above terms have no special meaning and therefore should not be construed as limiting the scope of protection of this invention.

[0029] Example 1

[0030] like Figure 1-4 As shown, the present invention provides a gripper structure for changing tools on a machine tool, including a robot end connecting flange 1, a floating mechanism 2, and an electric actuator 4;

[0031] The gripper structure is connected to the robot arm 8 via the robot end connecting flange 1;

[0032] The floating mechanism 2 includes a flange mounting plate 21, a limit seat 22, a mounting seat 23, a gripper connecting flange 25, a spring 27, and a ball plunger 28;

[0033] The robot end connecting flange 1 is fixedly installed above the flange mounting plate 21;

[0034] The limiting seat 22, the mounting seat 23 and the spring 27 are all located between the flange mounting plate 21 and the clamp connecting flange 25;

[0035] The top of the mounting base 23 is fixedly connected to the flange mounting plate 21, and the lower part is sleeved on the outside of the clamp connecting flange 25;

[0036] The outer side wall of the clamp connecting flange 25 is provided with a sliding groove 24 in the vertical direction. The mounting base 23 has a mounting hole at the bottom. The ball plunger 28 passes through the mounting hole on the mounting base 23 and extends into the sliding groove 24. The ball end of the ball plunger 28 reaches the side wall of the sliding groove 24.

[0037] The limiting seat 22 is located inside the mounting seat 23 and its top is engaged in the slot provided on the inner wall of the mounting seat 23, while its lower part is embedded inside the claw connecting flange 25.

[0038] The spring 27 is installed between the limiting seat 22 and the gripper connecting flange 25; in the initial state where the gripper structure is not gripping the knife handle 9 to be gripped, the spring 27 is in a compressed state;

[0039] The mounting base 23 can slide up and down along the sliding groove 24 via the ball plunger 28. The ball plunger 28 also restricts the mounting base 23 from moving left and right, allowing it to move up and down only. Combined with the tension and contraction of the spring 27 between the limiting seat 22 and the gripper connecting flange 25, the gripper structure can float up and down.

[0040] The electric actuator 4 is fixedly installed below the gripper connecting flange 25; two opening and closing motion blocks are provided on the side of the electric actuator 4, and the electric actuator 4 can control the two opening and closing motion blocks to move relative to each other or in opposite directions. Each opening and closing motion block is equipped with a knife handle gripper 7, and the two knife handle grippers 7 arranged opposite to each other are used to grip the knife handle 9 to be gripped.

[0041] Furthermore, the robot end connecting flange 1 is a six-axis flange.

[0042] Furthermore, the electric actuator 4 is a LEHF40K2-40-R3C5181 model electric actuator.

[0043] Furthermore, the lower part of the mounting base 23 is provided with a guide groove in the vertical direction, and a guide key 29 is provided in the guide groove and installed on the outer wall of the jaw connecting flange 25. Through the cooperation of the guide groove and the guide key 29, the rotation of the mounting base 23 can be restricted, so that it can only move up and down along the guide groove.

[0044] Furthermore, an oil-free bushing 25 is installed between the limiting seat 22 and the gripper connecting flange 25 to reduce the friction between the limiting seat 22 and the gripper connecting flange 25 during the floating process and prevent wear.

[0045] Furthermore, spring mounting grooves are respectively provided at the bottom of the limiting seat 22 and inside the gripper connecting flange 25, and the two ends of the spring 27 are respectively installed in the spring mounting grooves of the limiting seat 22 and the gripper connecting flange 25.

[0046] Furthermore, each of the handle grippers 7 is provided with a handle positioning ring 6, which matches the slot on the side of the handle 9 to be gripped. When the handle gripper 7 grips the handle to be gripped, the handle positioning ring 6 can be embedded in the slot, so that the gripper structure can better clamp the handle 9 to be gripped.

[0047] Furthermore, a tool chip reader 5 is also installed on the electric actuator 4 to read the tool holder information carried by the chip on the tool holder 9 to be gripped.

[0048] Furthermore, the tool chip reader 5 adopts the SG-HR-I1-RS485 model reader / writer.

[0049] When changing tools on a machine tool, the gripper structure provided by the present invention can be used to grip the tool holder. In use, the gripper structure can be connected to the robot arm 8 through the robot end connecting flange 1, and the robot arm can be controlled to move the gripper structure to the position of the tool holder 9 to be gripped. The robot is a mature existing technology and will not be described in detail here.

[0050] Then, the electric actuator 4 is activated, causing the two opening and closing motion blocks to move relative to each other, driving the two handle grippers 7 to clamp the handle to be gripped. At the same time, the handle positioning ring 6 on the handle gripper 7 can be inserted into the slot on the side of the handle to clamp the handle, completing the gripping of the handle. During the gripping process, if the handle gripper 7 is impacted, the floating mechanism 2 can play a role in buffering and protection, greatly improving safety while achieving gripping. Specifically, when the handle gripper 7 is impacted, the electric actuator 4 is subjected to an upward or downward impact force. Through the buffering effect of the spring 27 between the limit seat 22 and the gripper connecting flange 25, and the sliding of the mounting seat 23 along the sliding groove 24 via the ball plunger 28, the floating mechanism 2 can float up and down.

[0051] Example 2

[0052] The gripper structure provided in this embodiment can also be equipped with a positioning camera and a light source 3 that can acquire the position information of the tool handle to be gripped by taking pictures, based on the embodiment 1. The positioning camera and the light source 3 are mounted on the electric actuator 4 by a bracket.

[0053] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit them. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A gripper structure for changing tools on a machine tool, characterized in that, This includes the robot end connection flange, floating mechanism, and electric actuator; The floating mechanism includes a flange mounting plate, a limiting seat, a mounting base, a gripper connecting flange, a spring, and a ball-head plunger; the robot end connecting flange is fixedly mounted above the flange mounting plate; the limiting seat, the mounting base, and the spring are all located between the flange mounting plate and the gripper connecting flange; the top of the mounting base is fixedly connected to the flange mounting plate, and the lower part is sleeved on the outside of the gripper connecting flange; the outer wall of the gripper connecting flange is provided with a sliding groove in the vertical direction; the lower part of the mounting base is provided with a mounting hole, and the ball-head plunger passes through the mounting hole on the mounting base and extends into the sliding groove, with the ball head end of the ball-head plunger abutting the side wall of the sliding groove; The mounting base can slide up and down along the sliding groove via the ball plunger. The ball plunger also restricts the mounting base from moving left and right, allowing only up and down movement. The limiting seat is located inside the mounting base, with its top engaged in a slot on the inner wall of the mounting base and its lower part embedded inside the clamping flange. The spring is installed between the limiting seat and the clamping flange. The lower part of the mounting base has a guide groove in the vertical direction, and a guide key installed on the outer wall of the clamping flange is provided in the guide groove. Through the cooperation of the guide groove and the guide key, the rotation of the mounting base can be restricted, allowing the mounting base to move up and down only along the guide groove. The electric actuator is fixedly installed below the gripper connecting flange; two opening and closing motion blocks are provided on the side of the electric actuator, and a tool holder gripper is installed on each of the opening and closing motion blocks. The two tool holder grippers arranged opposite each other are used to grip the tool holder to be gripped.

2. The gripper structure for changing tools on a machine tool according to claim 1, characterized in that, The electric actuator is a LEHFK-RC model electric actuator.

3. The gripper structure for changing tools on a machine tool according to claim 1, characterized in that, An oil-free bushing is installed between the limiting seat and the clamp connecting flange.

4. The gripper structure for changing tools on a machine tool according to claim 1, characterized in that, The bottom of the limiting seat and the inside of the clamp connecting flange are respectively provided with spring mounting grooves, and the two ends of the spring are respectively fixedly installed in the spring mounting grooves of the limiting seat and the clamp connecting flange.

5. The gripper structure for changing tools on a machine tool according to claim 1, characterized in that, Each of the aforementioned handle grippers is provided with a handle positioning ring, which matches a groove on the side of the handle to be gripped.

6. The gripper structure for changing tools on a machine tool according to claim 1, characterized in that, A tool chip reader is also installed on the electric actuator.

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