A tool magazine for a robot and a method for storing and accessing tools by a robot

Abstract

The present invention discloses a tool magazine for a robot, comprising: a mounting frame and a plurality of tool clamp structures, wherein the tool clamp structures are mounted on the mounting frame, the tool clamp structures are used to mount tools, and at least one first guide portion is provided on the radially outer side of the tools; the tool clamp structure comprises: a clamp body and at least one second guide portion, one end of the clamp body extends outward to form two support portions, the second guide portion is mounted on the support portion, the first guide portion and the second guide portion match to guide the vertical movement of the tool, the tool can be movably inserted between the two support portions and rest against a support surface from top to bottom, the support surface being formed on the support portion and / or the second guide portion. Through the application of the present invention, a tool magazine structure suitable for a robot to automatically store and retrieve tools is provided, which avoids fatigue damage to the robot during the process of storing tools. The entire storage process is simple, efficient and low-cost, which reduces the time for automatic tool change, improves processing efficiency, and has a low failure rate in the tool magazine.

Description

Technical Field

[0001] The present invention relates to the technical field of automated production, and in particular to a tool library for a robot and a method for storing and accessing tools by the robot. Background Art

[0002] In the field of automated industrial production, robots are often used in conjunction with corresponding automatic tool change magazines to provide automatic storage and tool changing functions to improve automated production efficiency. Currently, there are many types of tool magazines on the market, and the more common ones include disc-type magazines, chain-type magazines, conical-type magazines, and linear-type magazines.

[0003] However, from the perspective of tool fixing methods, common tool magazines all use a clamping force to clamp the tool. However, when the robot's spindle is storing and retrieving tools, when the tool holder is retrieved from the tool magazine, it will be affected by the tool magazine structure itself, and an axial offset will be generated along the robot's spindle. This makes the internal structure of the robot's spindle susceptible to fatigue damage when storing and retrieving tools. In addition, existing tool magazines are often more complex in structure, more expensive, and have cumbersome operation processes and are prone to failure. Summary of the Invention

[0004] In view of this, in order to solve the above problems, the present invention aims to provide a tool magazine for a robot, comprising: a mounting frame and a plurality of tool holder structures, wherein the plurality of tool holder structures are mounted on the mounting frame, the tool holder structures are used to mount tools, and at least one first guide portion is provided on the radial outer side of the tools;

[0005] In which, the tool clamp structure includes: a clamping body and at least one second guide part, one end of the clamping body extends outward to form two support parts, the second guide part is installed on the support part, the first guide part and the second guide part match to guide the vertical movement of the tool, the tool can be movably extended between the two support parts and rest against a support surface from top to bottom, and the support surface is formed on the support part and / or the second guide part.

[0006] In another preferred embodiment, the number of the first guide parts is two, the number of the second guide parts is two, and the two first guide parts are matched with the two second guide parts respectively.

[0007] In another preferred embodiment, the first guide portion is a keyway structure, and the second guide portion is a positioning key structure, and the positioning key structure can be slidably extended into the keyway structure.

[0008] In another preferred embodiment, the second guide portion is provided on the support surface, and the horizontal height of the upper end of the second guide portion is greater than the horizontal height of the support surface.

[0009] In another preferred embodiment, a receiving opening is formed between the ends of the two supporting parts.

[0010] In another preferred embodiment, it further comprises: a dust removal mechanism, wherein the dust removal mechanism is arranged on the mounting bracket, and the dust removal mechanism is provided with a plurality of nozzles, and the nozzles are used to blow compressed air toward the tool.

[0011] In another preferred embodiment, the present invention further comprises: a broken knife detection mechanism, wherein the broken knife detection mechanism is arranged on the mounting frame, and the broken knife detection mechanism is used to detect whether the knife is damaged.

[0012] In another preferred embodiment, it further comprises: a plurality of position detection mechanisms, wherein the plurality of position detection mechanisms are all arranged on the mounting frame, and each of the position detection mechanisms is used to detect the position of one of the tools.

[0013] In another preferred embodiment, the position detection mechanism includes an upper proximity switch and a lower proximity switch, wherein the upper proximity switch is disposed near the upper portion of the clamping body, and the lower proximity switch is disposed near the lower portion of the clamping body.

[0014] The present invention also aims to provide a method for storing and accessing tools by a robot, comprising the tool magazine for a robot as described in any one of the above, and further comprising: a robot, the robot having at least one clamping end, the clamping end being used to store and access the tool;

[0015] When the robot performs a tool storage action, the clamping end clamps the tool and moves horizontally to enter between the two support parts until the first guide part and the second guide part are aligned. The clamping end moves downward a safe distance, and then the clamping end releases the tool, and the tool falls freely onto the support surface.

[0016] When the robot performs a tool-picking action, the clamping end clamps the tool and moves upward until the first guide portion and the second guide portion are completely separated, and the clamping end clamps the tool and moves horizontally until the tool is separated from between the two support portions.

[0017] Due to the adoption of the above-mentioned technical solution, the present invention has the following positive effects compared with the prior art: through the application of the present invention, a tool magazine structure suitable for robots to automatically store and retrieve tools is provided, which avoids fatigue damage to the robot during the storage of tools. The entire storage process is simple, efficient and low-cost, which reduces the time for automatic tool change, improves processing efficiency, and has a low failure rate in the tool magazine. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1This is an overall schematic diagram of a tool library for a robot according to the present invention;

[0019] Figure 2 This is a partial schematic diagram of a tool magazine for a robot according to the present invention.

[0020] In the attached figure:

[0021] 1. Mounting frame; 2. Tool clamp structure; 3. First guide portion; 4. Clamp body; 5. Second guide portion; 6. Support portion; 7. Receiving port; 8. Dust removal mechanism; 9. Broken tool detection mechanism; 10. Position detection mechanism; 11. Upper proximity switch; 12. Lower proximity switch; 13. Liquid collection box; 14. Tool. DETAILED DESCRIPTION

[0022] The present invention will be further described below with reference to the accompanying drawings and specific embodiments, but they are not intended to limit the present invention.

[0023] like Figure 1 and Figure 2 As shown, a preferred embodiment of a tool magazine for a robot is shown, comprising: a mounting frame 1 and a plurality of tool clamp structures 2, wherein the plurality of tool clamp structures 2 are mounted on the mounting frame 1, the tool clamp structure 2 is used to mount a tool 14, and at least one first guide portion 3 is provided on the radial outer side of the tool 14; wherein, the tool clamp structure 2 comprises: a clamp body 4 and at least one second guide portion 5, one end of the clamp body 4 extends outward to form two support portions 6, the second guide portion 5 is mounted on the support portion 6, the first guide portion 3 and the second guide portion 5 are matched to guide the vertical movement of the tool 14, the tool 14 is movably extended between the two support portions 6 and rests on a support surface from top to bottom, and the support surface is formed on the support portion 6 and / or the second guide portion 5. Furthermore, the mounting frame 1 provides an installation base for each tool holder structure 2. When storing and accessing the tool 14, the first guide portion 3 and the second guide portion 5 are arranged so that the tool 14 is guided in the vertical direction when it is installed on the tool holder structure 2. Therefore, when storing the tool 14, the tool 14 only needs to be passed from one side in the horizontal direction through the robot between the two support portions 6. After the tool 14 is clamped, the tool 14 can fall freely until it rests on the support surface, thereby avoiding unnecessary fatigue damage to the spindle part of the clamping end of the robot.

[0024] Furthermore, as a preferred embodiment, a plurality of tool holder structures 2 are arranged in a double-row array on both sides of the upper end of the mounting frame 1 .

[0025] Furthermore, as a preferred embodiment, the number of the first guide parts 3 is two, and the two first guide parts 3 are respectively arranged on both sides of the tool 14; the number of the second guide parts 5 is two, and the two second guide parts 5 are respectively installed on the inner sides of the two support parts 6, and the two first guide parts 3 are respectively matched with the two second guide parts 5.

[0026] Furthermore, as a preferred embodiment, the first guide portion 3 is a keyway structure, and the second guide portion 5 is a positioning key structure, and the positioning key structure can be slidably extended into the keyway structure.

[0027] Furthermore, as a preferred embodiment, the two second guide portions 5 on the same clamping body 4 are arranged in radial symmetry with respect to the tool 14 mounted thereon.

[0028] Furthermore, as a preferred embodiment, the two second guide portions 5 on the same clamping body 4 are arranged to protrude inwardly in the radial direction of the tool 14 .

[0029] Furthermore, as a preferred embodiment, the two second guide portions 5 on the same clamping body 4 have different lengths along the aforementioned radial direction. Specifically, the corresponding two keyway structures and positioning key structures have different lengths and / or widths, so that the two different keyway structures corresponding to the tool 14 and the two positioning key structures on the clamping body 4 match one-to-one. Due to this one-to-one matching relationship, the tool 14 can be prevented from being installed in the wrong direction during a tool change.

[0030] Furthermore, as a preferred embodiment, the second guide portion 5 is provided on the support surface, and the horizontal height of the upper end of the second guide portion 5 is greater than the horizontal height of the support surface.

[0031] Furthermore, as a preferred embodiment, the two first guide portions 3 of the cutter 14 are concave relative to the outer side surface of the cutter 14 .

[0032] Furthermore, as a preferred embodiment, a receiving opening 7 is formed between the ends of the two supporting portions 6. Furthermore, the lower portion of the tool 14 can be moved closer to or farther away from between the two supporting portions 6 of the tool holder structure 2 in a horizontal direction.

[0033] Furthermore, as a preferred embodiment, the two support portions 6 are arranged in parallel.

[0034] Furthermore, as a preferred embodiment, a stepped structure is formed on the inner side of the support portion 6, the stepped structure having a higher first surface and a lower second surface, the second surface being arranged relative to the first surface close to the axis of the tool 14, and the above-mentioned support surface is preferably formed on the second surface.

[0035] Furthermore, as a preferred embodiment, the second guide portion 5 is embedded in the first surface, and the second guide portion 5 is extended and protruded along the second surface. When the tool 14 moves from top to bottom, the first guide portion 3 is slidably fitted on the outside of the second guide portion 5. The outside of the tool 14 has a downward contact surface, and the contact surface can be movably pressed against the support surface.

[0036] Furthermore, as a preferred embodiment, the support surface can also be directly formed on the upper end surface of the second guide portion 5, and the first guide portion 3 has an inner top surface, and when the tool 14 moves from top to bottom, the inner top surface can be operably pressed against the upper end surface.

[0037] The above descriptions are merely preferred embodiments of the present invention and are not intended to limit the implementation and protection scope of the present invention.

[0038] The present invention also has the following implementation modes based on the above:

[0039] In a further embodiment of the present invention, a dust removal mechanism 8 is further included. The dust removal mechanism 8 is disposed on the mounting frame 1 and is provided with a plurality of nozzles for blowing compressed air toward the tool 14. Furthermore, the compressed air blown by the dust removal mechanism 8 cleans the tool 14, especially the upper handle portion of the tool 14, thereby facilitating accurate gripping of the robot's gripping end.

[0040] In a further embodiment of the present invention, the present invention further includes a broken blade detection mechanism 9, which is disposed on the mounting frame 1 and is used to detect whether the cutting tool 14 is damaged. Furthermore, the broken blade detection mechanism 9 includes at least one upwardly extending contact switch, with the trigger end of the contact switch facing upward. When it is necessary to determine whether the cutting tool 14 is damaged, the robot can clamp the cutting tool 14 directly above the contact switch and make contact with the contact switch at a controllable distance, thereby determining whether the lower end of the cutting tool 14 is damaged.

[0041] In a further embodiment of the present invention, the present invention further comprises: a plurality of position detection mechanisms 10, each of which is disposed on the mounting frame 1, and each of which is configured to detect the position of a tool 14. Furthermore, each of the position detection mechanisms 10 is disposed adjacent to a clamping body 4, and each of the position detection mechanisms 10 is configured to detect whether a tool 14 is present at a corresponding clamping body 4.

[0042] In a further embodiment of the present invention, the position detection mechanism 10 includes an upper proximity switch 11 and a lower proximity switch 12 . The upper proximity switch 11 is disposed above the clamping body 4 , and the lower proximity switch 12 is disposed below the clamping body 4 .

[0043] In a further embodiment of the present invention, the upper proximity switch 11 and the lower proximity switch 12 can be installed on the mounting frame 1 through an L-shaped bracket, and a waist-shaped hole is provided on the L-shaped bracket, and the upper proximity switch 11 and the lower proximity switch 12 can be installed on the waist-shaped hole so as to be adjusted up and down.

[0044] In a further embodiment of the present invention, a liquid collecting box 13 is further included. The liquid collecting box 13 is disposed in the middle of the mounting frame 1 and is disposed directly below the cutting tool 14 mounted on the tool holder structure 2. Furthermore, the provision of the liquid collecting box 13 facilitates the collection of dirt that falls from the tool holder structure 2 and the cutting tool 14.

[0045] The present invention shows a preferred embodiment of a method for a robot to access a tool 14 , including any one of the above-mentioned robot tool magazines, and further comprising: a robot, the robot having at least one clamping end, the clamping end being used to access the tool 14 .

[0046] When the robot performs the tool storage action, it first moves the tool 14 close to the horizontal front of the tool holder structure 2 through the clamping end, and adjusts the tool 14 to a vertical state. Then, the clamping end clamps the tool 14 and moves it horizontally and enters between the two support parts 6 until the first guide part 3 and the second guide part 5 are aligned. The clamping end moves downward a safe distance, and then the clamping end releases the tool 14, and the tool 14 falls freely onto the support surface.

[0047] In a further embodiment of the present invention, the safety distance at least allows the tool 14 to fall onto the support surface stably and without significant impact under the influence of its own weight.

[0048] In a further embodiment of the present invention, the safety distance can at least allow a certain contact fit to be formed between the first guide portion 3 and the second guide portion 5 .

[0049] In a further embodiment of the present invention, when the tool 14 is in a vertical state, it has at least an upper part with a large diameter and a lower part with a small diameter, the outer diameter of the lower part is smaller than the distance between the two support parts 6, and the outer diameter of the upper part is larger than the distance between the two support parts 6.

[0050] In a further embodiment of the present invention, a first guide portion 3 is provided on the lower side of the upper portion.

[0051] When the robot performs a tool-picking action, the outer diameter of the upper portion is smaller than the distance between the two first surfaces of the same tool holder structure 2 .

[0052] When the robot performs the tool-picking action, the clamping end holds the tool 14 and moves upward until the first guide portion 3 and the second guide portion 5 are completely separated, and the clamping end holds the tool 14 and moves horizontally until the tool 14 is separated from between the two support portions 6 .

[0053] The above description is only a preferred embodiment of the present invention and does not limit the implementation mode and protection scope of the present invention. For those skilled in the art, it should be aware that all solutions obtained by equivalent substitutions and obvious changes made using the description and illustrations of the present invention should be included in the protection scope of the present invention.

Claims

1. A tool magazine for a robot, characterized in that: include: A mounting frame and a plurality of tool holder structures, wherein the plurality of tool holder structures are mounted on the mounting frame, the tool holder structures are used to mount a tool, and at least one first guide portion is provided on a radially outer side of the tool; The tool holder structure includes: a clamping body and at least one second guide portion, one end of the clamping body extends outward to form two support portions, the second guide portion is mounted on the support portion, the first guide portion and the second guide portion match to guide the vertical movement of the tool, the tool is movably inserted between the two support portions and rests on a support surface from top to bottom, the support surface is formed on the support portion and / or the second guide portion; The first guide portion is a keyway structure, the second guide portion is a positioning key structure, the positioning key structure can be slidably extended into the keyway structure, the second guide portion is arranged on the support surface, and the horizontal height of the upper end of the second guide portion is greater than the horizontal height of the support surface.

2. The tool magazine for robots according to claim 1, characterized in that: The number of the first guide parts is two, the number of the second guide parts is two, and the two first guide parts are matched with the two second guide parts respectively.

3. The tool magazine for a robot according to claim 1, characterized in that: A receiving opening is formed between the ends of the two supporting parts.

4. The tool magazine for a robot according to claim 1, characterized in that: Also includes: A dust removal mechanism is provided on the mounting frame and is provided with a plurality of nozzles for blowing compressed air toward the tool.

5. The tool magazine for a robot according to claim 1, wherein: Also includes: A broken knife detection mechanism is provided on the mounting frame and is used to detect whether the knife is damaged.

6. The tool magazine for a robot according to claim 1, characterized in that: Also includes: A plurality of position detection mechanisms are provided on the mounting frame, and each of the position detection mechanisms is used to detect the position of a tool.

7. The tool magazine for a robot according to claim 6, characterized in that: The position detection mechanism includes an upper proximity switch and a lower proximity switch. The upper proximity switch is arranged near the upper side of the clamping body, and the lower proximity switch is arranged near the lower side of the clamping body.

8. A method for storing and accessing tools by a robot, comprising the tool magazine for a robot according to any one of claims 1 to 7, characterized in that: Also includes: A robot having at least one clamping end for storing and accessing the tool; When the robot performs a tool storage action, the clamping end clamps the tool and moves horizontally to enter between the two support parts until the first guide part and the second guide part are aligned. The clamping end moves downward a safe distance, and then the clamping end releases the tool, and the tool falls freely onto the support surface. When the robot performs a tool-picking action, the clamping end clamps the tool and moves upward until the first guide portion and the second guide portion are completely separated, and the clamping end clamps the tool and moves horizontally until the tool is separated from between the two support portions.

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