Small batch automatic continuous feeding control method for multi-model tool shank

Abstract

The application provides a small-batch automatic continuous feeding control method for multi-model tool shanks, the tool shanks have multiple specifications and models, the tool shanks comprise a first clamping end face, a second clamping end face and a flange between the two end faces, and the flange is a clamping position of a mechanical hand; a computer central control system adjusts a walking route of the tool shanks on the basis of a reference walking route according to specification parameters of different tool shanks, prevents machine collision during feeding, ensures the accuracy of tool shank feeding, and installs the tool shanks in a clamp of a machining machine tool, and a set of feeding system solves the automatic feeding problem of hundreds of product models.

Description

A method for automated continuous feeding control of small batches of multi-model tool holders Technical Field

[0001] This invention relates to the field of machining technology, and in particular to a method for automated continuous feeding control of small batches of multi-model tool holders. Background Technology

[0002] Existing automated loading and unloading production lines can use robotic arms to replace manual labor in loading and unloading workpieces on machine tools, reducing the labor intensity of workers and improving work efficiency; however, if the workpieces being processed have many specifications and models but few in number, automated loading and unloading will be limited.

[0003] The tool holders we need to process are tools, serving as connectors between machine spindles, cutting tools, and other accessory tools. The main standards include BT, SK, BBT, and HSK spindle standards, each with multiple models. For example, BT and SK are simple and popular spindle tool holder connection standards, with models such as BT30, BT40, BT50, and SK30, which are commonly used in the mold industry and high-speed engraving machines. The BT30 model alone has nearly 50 different sizes, and other models are similar. For the loading and unloading of small batches of multi-model tool holders, a crucial technical problem to solve is how the robotic arm can accurately grip tool holders of different specifications and adjust its travel path according to changes in tool dimensions to accurately place the tool in the machine tool's clamping position. Summary of the Invention

[0004] To address the aforementioned technical problems, this invention provides a method for automated continuous feeding control of small batches of multiple tool holder models.

[0005] The specific technical solution is as follows:

[0006] A method for small-batch automated continuous feeding control of multiple types of tool holders, wherein the equipment included in the automatic feeding control method of tool holders includes a circulating hopper, a robotic arm, a machine tool, and a computer central control system;

[0007] The tool holder includes a first clamping end face, a second clamping end face, and a flange located between the two end faces. The flange is the clamping part of the robot arm. The distance from the second clamping end face to the lower end face of the flange is h1, the distance from the first clamping end face to the lower end face of the flange is h2, and the total height of the tool holder is H=h1+h2. The diameter of the flange is D.

[0008] In the computer central control system, tool holders are divided into different series according to international industry standards, and multiple product series input modules are set up, such as: BT series, SK series, BBT series, HSK series.

[0009] Each product series input module has multiple product model selection modules. For example, the BT series has BT30, BT40, BT45, and BT50 models.

[0010] The product model selection module contains both fixed and variable parameter information. There are multiple products of different sizes within the same model, but the structural dimensions of the section from the second clamping end face to the flange are identical for products of the same model. Specifically, the distance from the second clamping end face to the lower flange end face is h1, and the flange diameter D remains constant. These identical dimensions constitute the fixed parameter information, which has been entered into the corresponding product model selection module. The difference within the same model lies in the section from the flange to the first clamping end face, specifically the distance h2 from the first clamping end face to the lower flange end face. This variation results in a change in the total tool holder height H = h1 + h2, and the variable parameter information includes the total tool holder height H.

[0011] After the above information is set, materials can be loaded. The specific loading process includes the following steps:

[0012] Step 1: Place the tool holder to be processed on the station of the circulating material hopper;

[0013] Step 2: Based on the specifications of the tool holders placed at each station in the circulating material hopper, edit the tool holders at each station in the central computer control system. First, select the corresponding series, and then select the appropriate model under the series. Fixed parameter information will be automatically extracted. The variable parameter information, the total height H of the tool holder, needs to be entered into the product model selection module.

[0014] Step 3: Start the feeding system and the robot arm begins feeding; the gripper at the front end of the robot arm holds the flange of the tool handle for loading and unloading. First, the robot arm reads the parameters of the tool handle to be gripped and selects the appropriate gripper according to the value of the flange diameter D.

[0015] Step 4: The gripper holds the flange of the tool holder. Based on the specifications of the tool holder, its travel path is determined. The tool holder is installed in the fixture of the machining tool. The first gripping end face is the fixed end of the machine tool fixture, and the second gripping end face is the fixed end of the machine tool center. When the robot arm fixes the tool holder onto the machine tool fixture, it first installs the first gripping end face onto the machine tool fixture. The drive mechanism on the machine tool drives the center mechanism to move to the second gripping end face of the tool holder, pressing against the second gripping end face, and fixing the tool holder between the fixture and the center.

[0016] Preferably, the circulating hopper includes a turntable, and a drive device for driving the turntable to rotate is provided under the turntable. Multiple workstations are equally spaced around the outer circumference of the turntable. In order to accommodate different types of tool holders, quick-change female plates are installed on the workstations. The corresponding quick-change female plate is replaced according to the type of tool holder to ensure that the tool holder is placed vertically and fixed, with the first clamping end face on top and the second clamping end face on the bottom, so that the flange of the tool holder is at the same height.

[0017] Preferably, a gripper placement rack is provided next to the robot arm, with several grippers provided according to the range of flange diameter D that can be gripped. The grippers are placed on the gripper placement rack, which makes it convenient for the robot arm to change the grippers automatically.

[0018] Preferably, a basic travel path function is set for the robot arm, with the clamping center point of the machine tool fixed end fixture as the coordinate origin, and the axis connecting the clamping center point and the center as the X-axis. The central computer control system adjusts the travel path according to the H and h1 values ​​of the gripped tool holder. If the H-h1 value is greater than the basic travel path X-axis, the robot arm will be positioned accordingly. 基 The coordinate values ​​will then be used to adjust the robotic arm's path towards the top (H-h1-X). 基 Displacement distance; if the H-h1 value is less than the basic travel path X 基 The coordinate values ​​will then be used to adjust the robot's travel path towards the machine tool's fixed end fixture | H-h1-X 基 | Displacement distance;

[0019] Preferably, the robot arm is given an offset compensation value ΔL, that is, when the tool holder held by the robot arm coincides with the X-axis, the distance between the first clamping end face and the fixed end of the machine tool fixture is ΔL, which prevents collision during loading. Then the robot arm moves laterally ΔL towards the fixed end of the machine tool fixture, and the fixed end of the machine tool fixture clamps the tool holder.

[0020] Preferably, the gripper includes a first gripper and a second gripper. While the first gripper clamps the tool holder for feeding, the second gripper removes the machined tool holder from the machine tool to make room for the first gripper to feed. Feeding and unloading are done simultaneously, reducing the need for a dedicated unloading process for the robotic arm.

[0021] Preferably, in step two, if there is no corresponding model for the tool holder in the series, a new model can be added and the corresponding parameters can be entered.

[0022] The technical advantage of this invention is that a single feeding system can solve the problem of automated feeding of hundreds of product models. Currently, due to the large number of tool holder product models and sizes, existing technologies cannot solve the problem of automated feeding and clamping of all products with a single feeding device. As a result, the production of small batches of tool holders with multiple sizes has always been in a manual operation state of manual feeding and clamping, which seriously restricts the promotion and application of automated and intelligent production technologies in small processing and manufacturing enterprises.

[0023] Existing technologies also use visual recognition, which involves recognizing photos of the workpiece to clamp it, and then using a vision system to calculate and adjust the walking path. However, these technologies are costly and require high maintenance, making them unacceptable for small and medium-sized enterprises. This invention adjusts the robot's walking path by adjusting the size and specifications of the tool holder, significantly reducing equipment and maintenance costs. Attached Figure Description

[0024] Figure 1 is a schematic diagram of the structure of different knife handles in this invention;

[0025] Figure 2 is a schematic diagram of the structure of the device included in this invention;

[0026] Figure 3 is a schematic diagram of the structure of the circulating silo in this invention;

[0027] Figure 4 is a schematic diagram of the quick-change mother plate and the tool holder in this invention;

[0028] Figure 5 is a schematic diagram of the machine tool clamping shank in this invention;

[0029] Figure 6 is a schematic diagram of the hand gripper frame in this invention;

[0030] In the diagram, 1. Circulating hopper, 11. Turntable, 12. Station, 13. Quick-change master disc, 2. Robotic arm, 3. Machine tool, 31. Fixture, 311. Mounting center point, 32. Center, 4. Grip holder, 5. Grip, 51. First gripper, 52. Second gripper, 100. Tool holder, 101. First clamping end face, 102. Second clamping end face, 103. Flange. Detailed Implementation

[0031] The core of this invention is to provide a small-batch automated continuous feeding control method for multiple types of tool holders, enabling automated loading and unloading in the processing of small batches of multiple types of tool holders.

[0032] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. 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. The present invention will be further described below with reference to specific figures 1-6.

[0033] A method for automated continuous feeding control of small batches of multi-model toolholders is proposed. In a central computer control system, toolholders are divided into different series according to international industry standards. Multiple product series input modules are set up, including: BT series, SK series, BBT series, and HSK series. Under each product series input module, multiple product model selection modules are set up, for example, BT30, BT40, BT45, and BT50 models are set under the BT series. Fixed parameter information of known models is entered into the system. After the system information is set up, feeding can begin.

[0034] Referring to Figure 1-2, the material loading steps are explained as follows:

[0035] Step 1: Install the tool holder 100 to be processed on the station of the circulating material bin 1;

[0036] Step 2: Edit the specifications of the tool holders at each station in the circulating material bin 1. First, select the corresponding series in the system, and then select the appropriate model under the BT series. If the tool holder at the station is a BT30 model, select the series as BT series and the model as BT30 model. Input the total height H of the tool holder from the variable parameter information into the product model selection module. The system will automatically calculate h2=H-h1.

[0037] Step 3: Start the robot arm 2 to start loading. The gripper 5 at the front end of the robot arm 2 grips the flange 103 of the tool handle for loading and unloading. First, the robot arm 2 reads the parameters of the tool handle to be gripped. According to the value of the flange diameter D, the appropriate gripper is replaced on the gripper placement frame.

[0038] Step 4: After the gripper holds the tool holder 100, the loading path is determined according to the specifications of the tool holder 100. The tool holder is installed in the fixture of the machine tool 3. The first gripping end face 101 is the fixed end of the machine tool fixture 31, and the second gripping end face 102 is the fixed end of the machine tool center 32. When the robot fixes the tool holder to the machine tool fixture, the first gripping end face 101 is first installed on the machine tool fixture 31. The drive mechanism on the machine tool drives the center 32 mechanism to move to the second gripping end face 102 of the tool holder, and presses against the second gripping end face 102 to fix the tool holder 100 between the fixture 31 and the center 32.

[0039] Preferably, as shown in Figures 3-4, the circulating hopper 1 includes a turntable 11, and a drive device for driving the turntable to rotate is provided under the turntable 11. Multiple workstations 12 are equally spaced along the outer circumference of the turntable 11. Quick-change female discs 13 are installed on the workstations. The corresponding quick-change female disc is replaced according to the model of the tool holder. The quick-change female disc ensures that the tool holder is placed vertically and fixed, with the first clamping end face 101 on top and the second clamping end face 102 on the bottom, so that the flange 103 of the tool holder is at the same height.

[0040] Preferably, as shown in Figure 2, a gripper placement rack 4 is provided next to the robot 2, and several grippers 5 are provided according to the range of flange diameter D that can be gripped. The grippers are placed on the gripper placement rack, which makes it convenient for the robot to change the grippers by itself.

[0041] Preferably, a basic travel path function is set for the robot arm. Referring to Figure 5, the clamping center point 311 of the machine tool fixture 31 is taken as the origin, and the axis connecting the clamping center point and the center point 32 is taken as the X-axis. The central computer control system determines its travel path based on the H and h1 values ​​of the gripped tool holder. If the H-h1 value is greater than the basic travel path X-axis, the robot arm will be positioned accordingly. 基 The coordinate values ​​will then be used to adjust the robotic arm's path towards the top (H-h1-X). 基 Displacement distance; if the H-h1 value is less than the basic travel path X 基 The coordinate values ​​will then be used to adjust the robot's travel path towards the machine tool's fixed end fixture | H-h1-X 基 | Displacement distance;

[0042] Preferably, referring to Figure 5, the robot arm is given an offset compensation value ΔL, that is, when the tool holder held by the robot arm coincides with the X-axis, the distance between the first clamping end face and the fixed end of the machine tool fixture is ΔL, which prevents collision during loading. Then the robot arm moves laterally ΔL towards the fixed end of the machine tool fixture, and the fixed end of the machine tool fixture clamps the tool holder.

[0043] Preferably, as shown in FIG6, the gripper 5 includes a first gripper 51 and a second gripper 52. While the first gripper 51 is gripping the tool handle 100 for loading, the second gripper 52 removes the machined tool handle from the machine tool to make room for the first gripper to load the tool. Loading and unloading are done at the same time, reducing the process of the robot arm unloading the tool.

[0044] Preferably, in step two, if there is no corresponding model for the tool holder in the series, a new model can be added and the corresponding parameters can be entered.

[0045] It should be noted that, in this specification, the terms "comprising," "including," or any other variations thereof are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0046] The above description of the disclosed embodiments enables those skilled in the art to make or use the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Therefore, the invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A method for automated continuous feeding control of small batches of multi-model tool holders, characterized in that: The automatic tool holder feeding control method includes a circulating hopper, a robotic arm, a machine tool, and a computer central control system. The tool holder comprises a first clamping end face, a second clamping end face, and a flange located between the two end faces; the flange is the clamping part of the robotic arm. The distance from the second clamping end face to the lower end face of the flange is h1, the distance from the first clamping end face to the lower end face of the flange is h2, the total height of the tool holder is H = h1 + h2, and the diameter of the flange is D. In the computer central control system, the tool holders are divided into different series according to international industry standards, with multiple product series input modules. Each product series input module has multiple product model selection options. The product model selection module contains fixed parameter information and variable parameter information. For the same model, there are multiple products of different sizes. The structural dimensions of the section from the second clamping end face to the flange are completely identical for tool holders of the same model; that is, the distance from the second clamping end face to the lower end face of the flange is h1, and the flange diameter D remains constant. The specifications of the same part are fixed parameter information and have been entered into the corresponding product model selection module. The difference between tool holders of the same model is the section from the flange to the first clamping end face; that is, the distance from the first clamping end face to the lower end face of the flange, h2, varies. Therefore, the total height of the tool holder H = h1 + h2.

2. Changes: The change parameter information includes the total height H of the tool holder. After setting the above information, loading is performed, specifically including the following steps: Step 1: Place the tool holder to be processed on the station of the circulating material hopper; Step 2: According to the specifications of the tool holders placed on each station in the circulating material hopper, edit the tool holders on each station in the computer central control system. First, select the corresponding series, then select the appropriate model under the series. Fixed parameter information will be automatically extracted. The change parameter information, the total height H of the tool holder, needs to be entered into the product model selection module; Step 3: Start the loading system, and the robot arm begins loading; the front end of the robot arm... The gripper holds the flange of the tool holder for loading and unloading. First, the robot selects a suitable gripper based on the diameter D of the flange of the tool holder to be gripped. Step four: The gripper holds the flange of the tool holder and determines its travel path according to the specifications of the tool holder. The tool holder is installed in the fixture of the machining tool. The first gripping end face is the fixed end of the machine tool fixture, and the second gripping end face is the fixed end of the machine tool center. When the robot fixes the tool holder to the machine tool fixture, it first installs the first gripping end face onto the machine tool fixture. The drive mechanism on the machine tool drives the center mechanism to move to the second gripping end face of the tool holder, pressing against the second gripping end face, and fixing the tool holder between the fixture and the center.

2. The method for small-batch automated continuous feeding control of multiple tool holder models according to claim 1, characterized in that: The circulating hopper includes a turntable, and a drive device is installed under the turntable to drive the turntable to rotate. Multiple workstations are evenly spaced around the outer circumference of the turntable. In order to accommodate different types of tool holders, quick-change female plates are installed on the workstations. The corresponding quick-change female plate is replaced according to the type of tool holder to ensure that the tool holder is placed vertically and fixed, with the first clamping end face on top and the second clamping end face on the bottom, so that the flange of the tool holder is at the same height.

3. The method for small-batch automated continuous feeding control of multiple tool holder models according to claim 1, characterized in that: A gripper placement rack is set up next to the robotic arm. Several grippers are set up according to the flange diameter D range that can be clamped. The grippers are placed on the gripper placement rack, which makes it convenient for the robotic arm to change the grippers by itself.

4. The method for small-batch automated continuous feeding control of multiple tool holder models according to claim 1, characterized in that: A basic travel path function is set for the robotic arm, with the clamping center point of the machine tool's fixed end fixture as the coordinate origin and the axis connecting the clamping center point and the center as the X-axis. The central computer control system adjusts the travel path based on the H and h1 values ​​of the gripped tool holder. If the H-h1 value is greater than the basic travel path X-axis, the robotic arm will be controlled accordingly. 基 The coordinate values ​​will then be used to adjust the robotic arm's path towards the top edge (H-h1-X). 基 Displacement distance; if the H-h1 value is less than the basic travel path X 基 The coordinate values ​​will then be used to adjust the robot's travel path towards the machine tool's fixed end fixture | H-h1-X 基 | Displacement distance.

5. The method for small-batch automated continuous feeding control of multiple tool holder models according to claim 1, characterized in that: A compensation value ΔL is given to the robot arm for offset. When the tool holder held by the robot arm coincides with the X-axis, the distance between the first clamping end face and the fixed end of the machine tool fixture is ΔL, which prevents collisions during loading. Then the robot arm moves laterally by ΔL towards the fixed end of the machine tool fixture, and the fixed end of the machine tool fixture clamps the tool holder.

6. The method for small-batch automated continuous feeding control of multiple tool holder models according to claim 1, characterized in that: The gripper includes a first gripper and a second gripper. While the first gripper clamps the tool holder for feeding, the second gripper removes the machined tool holder from the machine tool to make room for the first gripper to feed the tool. Feeding and unloading are done simultaneously, reducing the unloading process of the robotic arm.

7. The method for small-batch automated continuous feeding control of multiple tool holder models according to claim 1, characterized in that: In step two above, if there is no corresponding model for the tool holder in the series, add a new model and enter the corresponding parameters.

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