Automatic tool changing dual spindle

Abstract

This invention relates to the field of automated high-power grinding technology and discloses an automatic tool-changing dual-spindle system, comprising two sets of tool clamping modules and two sets of pneumatic tool changing modules, as well as a three-axis bevel gear transmission mechanism for driving the rotation of the two sets of tool clamping modules. It achieves automatic clamping, automatic tool changing, and automatic cleaning of dust from the collets for both sets of tools. The two sets of tool clamping modules are respectively installed at both ends of the three-axis bevel gear transmission mechanism. Each tool clamping module includes a housing, collets, an intermediate shaft, a coupling, an end cover, a spring, and a rotating cylinder. This automatic tool-changing dual-spindle system can simultaneously drive the rotation of two sets of tool clamping modules through the three-axis bevel gear transmission mechanism for automated grinding. Furthermore, the two sets of pneumatic tool changing modules achieve automatic clamping, automatic tool changing, and automatic cleaning of dust from the collets for both spindles, improving the working efficiency of high-power automated grinding and polishing robots.

Description

Technical Field

[0001] This invention relates to the field of automated high-power grinding technology, specifically to an automatic tool-changing dual-spindle system. Background Technology

[0002] When using industrial robots for automated grinding, they need to work continuously for long periods of time and require automatic replacement of worn consumables.

[0003] In existing high-power automated grinding and polishing processes using robots, most spindles do not consider the need for consumable replacement, requiring manual replacement or the installation of simple, rudimentary tool-changing mechanisms. In these cases, manual tool changing interrupts the grinding process and increases additional labor costs; adding a tool-changing mechanism increases the robot's load and results in a larger, more complex structure, increasing the failure rate and the number of nodes in the robot's motion trajectory. Furthermore, when a force-controlled floating device is added, the additional tool-changing mechanism affects the accuracy of the contact force between the grinding tool and the workpiece.

[0004] Automatic tool changer spindles are mainly used to work with robots to complete automated grinding work. They can work for a long time and achieve the function of automatic tool changing between dual spindles. Summary of the Invention

[0005] (a) Technical problems to be solved

[0006] To address the shortcomings of existing technologies, this invention provides an automatic tool-changing dual-spindle system, which has the advantages of realizing automatic tool changing between dual spindles and improving the working efficiency of high-power automatic grinding and polishing robots.

[0007] (II) Technical Solution

[0008] To achieve the above objectives, the present invention provides the following technical solution:

[0009] An automatic tool-changing dual spindle includes two sets of tool clamping modules and two sets of pneumatic tool changing modules, as well as a three-axis bevel gear transmission mechanism that drives the two sets of tool clamping modules to rotate; it realizes the functions of automatic clamping, automatic tool changing, and automatic cleaning of dust from the collet.

[0010] Two sets of the aforementioned tool clamping modules are respectively installed at both ends of the three-axis bevel gear transmission mechanism; the tool clamping module includes a housing, a collet, an intermediate shaft, a coupling, an end cap, a spring, and a rotating cylinder; the rotating cylinder is rotatably disposed inside the housing, and the interior of the rotating cylinder has a mounting cavity, with the spring sleeved on the outside of the intermediate shaft and together housed within the mounting cavity; the upper end of the collet is connected to the end of the intermediate shaft; the lower end of the collet extends from the lower port of the rotating cylinder; the lower end of the collet has a slot for clamping the tool;

[0011] The pneumatic tool changer module includes piston one, sealing ring one, wear-resistant ring, cylinder one, sealing ring two, sealing ring three, flat sealing ring, piston two, and cylinder two; wherein piston one, sealing ring one, and wear-resistant ring form a piston assembly; piston two and sealing ring three form a piston assembly; cylinder one and flat sealing ring form a lower cylinder sealing assembly; cylinder two and flat sealing ring form an upper cylinder sealing assembly; and an air inlet B is provided on the side wall of the outer shell.

[0012] The three-axis bevel gear transmission mechanism includes a three-way base, with two sets of tool clamping modules respectively installed at both ends of the three-way base. The three-way base has a through shaft inside, with the two ends of the through shaft connected to the intermediate shafts of the two sets of tool clamping modules respectively. Coaxial bevel gears are symmetrically arranged on the upper and lower parts of the outer side wall of the through shaft. A drive bevel gear is provided on the side wall of the three-way base, and the drive bevel gear meshes with the two coaxial bevel gears. A motor mounting plate is provided on the outer wall of the three-way base, and a motor is mounted on the motor mounting plate. The output shaft of the motor is connected to the drive bevel gear.

[0013] In use, the motor rotates to drive the active bevel gear, which in turn drives two coaxial bevel gears to rotate simultaneously, thereby driving the through shaft to rotate. The through shaft, in turn, drives the two intermediate shafts to rotate, causing the two tool clamping modules to rotate.

[0014] Preferably, an end cap is provided at the lower port of the outer casing, and a dustproof ring is provided between the end cap and the outer wall of the rotating cylinder.

[0015] Preferably, two bearings are provided between the lower part of the outer shell and the rotating drum, and a bearing is provided at the upper part, with a bearing spacer between the two bearings.

[0016] Preferably, the lower part of the side wall of the outer shell is provided with a gas channel A, the bearing spacer is provided with a vent hole, and the collet is also provided with a vent hole. The gas channel A, the vent hole on the bearing spacer, and the vent hole on the collet are interconnected. When cleaning dust, gas is introduced into the gas channel A to realize the automatic dust cleaning function of the collet.

[0017] Preferably, the slot of the collet is tapered and the lower end diameter of the collet is larger than the lower end inner diameter of the rotating drum.

[0018] Preferably, a wear-resistant plate is provided between the lower surface of the coupling and the upper surface of the intermediate shaft shoulder to prevent excessive wear between the coupling and the intermediate shaft.

[0019] Preferably, a guide pin is installed on the piston, the guide pin moves up and down in the guide sleeve, and the guide sleeve is installed in the outer shell to guide the cylinder piston and ensure smooth piston operation.

[0020] (III) Beneficial Effects

[0021] Compared with the prior art, the present invention provides an automatic tool-changing dual-spindle system, which has the following advantages:

[0022] 1. This automatic tool-changing dual spindle can simultaneously drive two sets of tool clamping modules to rotate through a three-axis bevel gear transmission mechanism for automated grinding. Furthermore, through two sets of pneumatic tool changing modules, it realizes automatic clamping, automatic tool changing, and automatic cleaning of dust from the collet, thereby improving the working efficiency of the robot's high-power automatic grinding and polishing. Attached Figure Description

[0023] Figure 1 This is a schematic diagram of the structure of the present invention;

[0024] Figure 2 This is a schematic diagram of the structure of the collet in this invention;

[0025] Figure 3 This is a schematic diagram of the tool clamping module and the pneumatic tool changing module in this invention;

[0026] Figure 4 This is a side view of the tool clamping module and the pneumatic tool changing module in this invention.

[0027] In the diagram: 1. Outer shell; 2. Collet; 3. Intermediate shaft; 4. Coupling; 5. Dustproof ring; 6. End cover; 7. Bearing 1; 8. Bearing spacer; 9. Spring; 10. Rotary drum; 11. Bearing 2; 12. Wear-resistant plate; 13. Piston 1; 14. Sealing ring 1; 15. Wear-resistant ring; 16. Cylinder 1; 17. Sealing ring 2; 18. Sealing ring 3; 19. Flat sealing ring; 20. Piston 2; 21. Cylinder 2; 22. Coaxial bevel gear; 23. Through shaft; 24. Motor mounting plate; 25. Three-way base; 26. Drive bevel gear. Detailed Implementation

[0028] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention.

[0029] Please see Figure 1-4 An automatic tool-changing dual-spindle system includes two sets of tool clamping modules and two sets of pneumatic tool changing modules, as well as a three-axis bevel gear transmission mechanism that drives the two sets of tool clamping modules to rotate; it realizes the functions of automatic clamping, automatic tool changing, and automatic cleaning of dust from the collet 2;

[0030] Two tool clamping modules are respectively installed at both ends of the three-axis bevel gear transmission mechanism; the tool clamping module includes a housing 1, a collet 2, an intermediate shaft 3, a coupling 4, an end cap 6, a spring 9, and a rotating cylinder 10; the rotating cylinder 10 is rotatably disposed inside the housing 1, and the interior of the rotating cylinder 10 has a mounting cavity, and the spring 9 is sleeved on the outside of the intermediate shaft 3 and together they are placed in the mounting cavity; the upper end of the collet 2 is connected to the end of the intermediate shaft 3; the lower end of the collet 2 extends from the lower port of the rotating cylinder 10; the lower end of the collet 2 has a slot for clamping the tool;

[0031] Each tool clamping module is equipped with a pneumatic tool changing module, which includes piston 13, sealing ring 14, wear-resistant ring 15, cylinder 16, sealing ring 17, sealing ring 18, flat sealing ring 19, piston 20, and cylinder 21. Piston 13, sealing ring 14, and wear-resistant ring 15 form a piston assembly; piston 20 and sealing ring 18 form a piston assembly; cylinder 16 and flat sealing ring 19 form a lower cylinder sealing assembly; cylinder 21 and flat sealing ring 19 form an upper cylinder sealing assembly; and an air inlet B is provided on the side wall of the outer shell 1.

[0032] The three-axis bevel gear transmission mechanism includes a three-way base 25, with two sets of tool clamping modules installed at both ends of the three-way base 25. The interior of the three-way base 25 is provided with a through shaft 23, and the two ends of the through shaft 23 are respectively connected to the intermediate shafts 3 of the two sets of tool clamping modules. Coaxial bevel gears 22 are symmetrically provided on the upper and lower parts of the outer side wall of the through shaft 23. A drive bevel gear 26 is provided on the side wall of the three-way base 25. The drive bevel gear 26 meshes with the two coaxial bevel gears 22. A motor mounting plate 24 is provided on the outer wall of the three-way base 25. A motor is mounted on the motor mounting plate 24, and the output shaft of the motor is connected to the drive bevel gear 26.

[0033] In this embodiment, the motor rotates to drive the active bevel gear 26 to rotate, which in turn drives the two coaxial bevel gears 22 to rotate simultaneously, thereby driving the through shaft 23 to rotate. The through shaft 23 then drives the two intermediate shafts 3 to rotate, causing the two tool clamping modules to rotate.

[0034] During tool changing, compressed air is introduced through air inlet B between cylinder 16 and piston 13, and between cylinder 21 and piston 20. This causes piston 13 and piston 20 to press down simultaneously onto the shoulder of intermediate shaft 3. Under pressure, intermediate shaft 3 depresses spring 9, causing collet 2 to descend. The slotted cone of collet 2 opens, and the tool in collet 2 is released and falls. The tool is then moved to the tool holder by the robot's automatic tool changer spindle. The desired tool is selected, collet 2 is fitted with the selected tool holder, the cylinder is depressurized, spring 9 rebounds, and collet 2 is pulled up to tighten and clamp the tool, thus realizing automatic tool changing of the spindle.

[0035] An end cap 6 is provided at the lower port of the outer casing 1, and a dustproof ring 5 is provided between the end cap 6 and the outer wall of the rotating cylinder 10.

[0036] Two bearings 7 are provided between the lower part of the outer shell 1 and the rotating drum 10, and a bearing 11 is provided at the upper part. A bearing spacer 8 is provided between the two bearings 7.

[0037] The lower side wall of the outer casing 1 is provided with a gas channel A, the bearing spacer 8 is provided with a vent hole, and the collet 2 is also provided with a vent hole. The gas channel A, the vent hole on the bearing spacer 8, and the vent hole on the collet 2 are interconnected. When cleaning dust, gas is introduced into the gas channel A to realize the automatic dust cleaning function of the collet 2.

[0038] The slot of the collet 2 is cone-shaped and the lower end diameter of the collet 2 is larger than the lower end inner diameter of the rotating drum 10.

[0039] A wear-resistant plate 12 is provided between the lower surface of the coupling 4 and the upper surface of the shoulder of the intermediate shaft 3 to prevent excessive wear between the coupling 4 and the intermediate shaft 3.

[0040] A guide pin is installed on piston 13. The guide pin moves up and down in the guide sleeve. The guide sleeve is installed in the outer shell 1 to guide the cylinder piston and ensure smooth piston operation.

[0041] This automatic tool-changing dual-spindle system can simultaneously drive two sets of tool clamping modules to rotate via a three-axis bevel gear transmission mechanism for automated grinding. Furthermore, through two sets of pneumatic tool-changing modules, it achieves automatic clamping, automatic tool changing, and automatic cleaning of dust from the collet, thereby improving the working efficiency of the robot's high-power automatic grinding and polishing.

Claims

1. An automatic tool-changing dual-spindle system, characterized in that: It includes two sets of tool clamping modules and two sets of pneumatic tool changing modules, as well as a three-axis bevel gear transmission mechanism that drives the two sets of tool clamping modules to rotate; to realize the functions of automatic clamping, automatic changing, and automatic cleaning of dust from the collet (2) of the two sets of tools. Two sets of the aforementioned tool clamping modules are respectively installed at both ends of the three-axis bevel gear transmission mechanism; the tool clamping module includes a housing (1), a collet (2), an intermediate shaft (3), a coupling (4), an end cap (6), a spring (9), and a rotating cylinder (10); the rotating cylinder (10) is rotatably disposed inside the housing (1), the rotating cylinder (10) has an installation cavity inside, and the spring (9) is sleeved on the outside of the intermediate shaft (3) and placed together in the installation cavity; the upper end of the collet (2) is connected to the end of the intermediate shaft (3); the lower end of the collet (2) extends from the lower port of the rotating cylinder (10); the lower end of the collet (2) has a slot for clamping the tool; Each of the aforementioned tool clamping modules is equipped with a pneumatic tool changing module, which includes piston one (13), sealing ring one (14), wear-resistant ring (15), cylinder one (16), sealing ring two (17), sealing ring three (18), flat sealing ring (19), piston two (20), and cylinder two (21); wherein piston one (13), sealing ring one (14), and wear-resistant ring (15) form a piston assembly; piston two (20) and sealing ring three (18) form a piston assembly; cylinder one (16) and flat sealing ring (19) form a lower cylinder sealing assembly; cylinder two (21) and flat sealing ring (19) form an upper cylinder sealing assembly; an air inlet B is provided on the side wall of the outer shell (1); The three-axis bevel gear transmission mechanism includes a three-way base (25), two sets of tool clamping modules are respectively installed at both ends of the three-way base (25), the interior of the three-way base (25) is provided with a through shaft (23), the two ends of the through shaft (23) are respectively connected to the intermediate shaft (3) of the two sets of tool clamping modules; and the upper and lower parts of the outer side wall of the through shaft (23) are symmetrically provided with coaxial bevel gears (22), the side wall of the three-way base (25) is provided with a drive bevel gear (26), the drive bevel gear (26) meshes with the two coaxial bevel gears (22), the outer wall of the three-way base (25) is provided with a motor mounting plate (24), the motor mounting plate (24) is installed with a motor, and the output shaft of the motor is connected to the drive bevel gear (26).

2. The automatic tool-changing dual-spindle system according to claim 1, characterized in that: An end cap (6) is provided at the lower port of the outer shell (1), and a dustproof ring (5) is provided between the end cap (6) and the outer wall of the rotating cylinder (10).

3. The automatic tool-changing dual-spindle system according to claim 2, characterized in that: Two bearings (7) are provided between the lower part of the outer shell (1) and the rotating drum (10), and a bearing (11) is provided at the upper part. A bearing spacer (8) is provided between the two bearings (7).

4. The automatic tool-changing dual spindle according to claim 3, characterized in that: The lower side wall of the outer shell (1) is provided with a gas channel A, the bearing spacer (8) is provided with a vent hole, and the collet (2) is also provided with a vent hole. The gas channel A, the vent hole on the bearing spacer (8) and the vent hole on the collet (2) are interconnected. When cleaning dust, gas is introduced into the gas channel A to realize the automatic dust cleaning function of the collet (2).

5. The automatic tool-changing dual spindle according to claim 4, characterized in that: The slot of the collet (2) is cone-shaped and the lower end diameter of the collet (2) is larger than the lower end inner diameter of the rotating cylinder (10).

6. The automatic tool-changing dual spindle according to claim 5, characterized in that: A wear-resistant plate (12) is provided between the lower surface of the coupling (4) and the upper surface of the shoulder of the intermediate shaft (3).

7. The automatic tool-changing dual spindle according to claim 6, characterized in that: A guide pin is installed on the piston (13). The guide pin moves up and down in the guide sleeve, which is installed in the outer shell (1) to guide the cylinder piston and ensure smooth piston operation.

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