A tool changing robot

Abstract

The present application relates to a kind of knife preparation manipulator, including base, rotating motor, support frame, linear moving device and manipulator arm, rotating motor is installed on base, support frame is installed on the output end of rotating motor, can be rotated under the drive of rotating motor;Linear moving device is installed on support frame, can be moved up and down relative to support frame;Manipulator arm is installed on linear moving device, one side can be moved up and down with linear moving device, one side can be rotated with support frame;The end of manipulator arm can hold handle.This application can move ahead the tool in tool magazine to the designated knife preparation position, does not occupy processing time, also does not need to change tool magazine size and function, can effectively improve tool changing efficiency.

Description

Technical Field

[0001] This invention belongs to the field of CNC machine tool tool magazine changing, and specifically relates to a tool preparation robot. Background Technology

[0002] As the requirements for machine tool processing efficiency continue to increase, higher demands are also placed on the efficiency of machine tool tool changing. However, due to the increasingly complex structure of machine tools, the placement of tool magazines within the machine tool is severely restricted. To avoid interference, tool magazines are arranged far from the machine tool spindle and machining area, increasing the difficulty of tool changing. Simply improving the size and function of the tool changing device will not only make its structure more and more complex, but will also make its tool changing efficiency lower and lower. Summary of the Invention

[0003] The purpose of this invention is to overcome the shortcomings of the prior art and provide a tool-preparing robot structure that can move the tools in the tool magazine to the designated tool-preparing position in advance without occupying processing time or changing the size and function of the tool magazine, thereby effectively improving tool changing efficiency.

[0004] To solve the above-mentioned technical problems, the present invention is achieved through the following technical solution: a tool preparation robot, comprising a base, a rotary motor, a support frame, a linear motion device, and a robotic arm. The rotary motor is mounted on the base, and the support frame is mounted on the output end of the rotary motor and can rotate under the drive of the rotary motor. The linear motion device is mounted on the support frame and can move up and down relative to the support frame. The robotic arm is mounted on the linear motion device and can move up and down with the linear motion device and rotate together with the support frame. The end of the robotic arm can grip the tool handle.

[0005] The aforementioned tool preparation robot includes a linear movement device comprising a sliding support block, a linear guide rail, a slider, and a cylinder. The linear guide rail is fixed to a support frame, and the slider acts on the linear guide rail. The sliding support block is fixedly connected to the slider on one side and to the cylinder on the other, and can move up and down along the linear guide rail under the action of the cylinder. The cylinder is mounted on the support frame.

[0006] The aforementioned tool preparation robot arm includes an arm body, a gripper, and a gripper shaft. The arm body is provided with a tool slot and a gripper slot, and a gripper is provided in the gripper slot. The gripper has an L-shaped structure with a shaft hole at the bend. The gripper shaft is located in the shaft hole and is fixedly connected to the arm body. The gripper grips or releases the tool holder in the tool slot by rotating around the gripper shaft.

[0007] The aforementioned robotic arm for preparing a knife also includes a claw spring. The claw spring is a compression structure and is located between the arm body and the claw, which can push the claw to grip the knife handle.

[0008] In the aforementioned robotic arm for preparing a knife, the gripper is provided with an elongated limiting hole, and a limiting pin is provided inside the limiting hole, which is fixed to the arm body.

[0009] In the aforementioned tool preparation robot, the gripper is equipped with a bolt bearing, and when the gripper grips the tool handle, the bolt bearing and the tool handle make rolling contact.

[0010] The aforementioned tool preparation robot has a tool angle positioning device on the chuck, including a ball groove, a ball spring, and a directional ball. The ball groove is formed on the chuck, and the ball spring and directional ball are disposed in the ball groove. The directional ball is pushed outward by the ball spring and can cooperate with the angle positioning groove on the tool holder.

[0011] The aforementioned tool preparation robot arm is further equipped with a safety locking device, including a safety hole and a safety pin. The safety hole is located on the arm body, and the safety pin is installed in the safety hole and can slide up and down along the safety hole. The safety pin is a stepped shaft structure, including a large round shaft and a small round shaft. When the large round shaft moves to the same height as the chuck, it can restrict the rotation of the chuck and lock the chuck.

[0012] In the aforementioned tool preparation robot, a top pin spring is also provided inside the safety hole. The top pin spring is a compression structure and is located below the safety top pin. It can push the safety top pin upward to maintain the locking state between the large circular shaft and the chuck.

[0013] The aforementioned tool preparation robot can release the locking state between the large cylindrical shaft and the chuck by pressing down the safety top pin.

[0014] Compared with existing technologies, the advantages of this invention are as follows: This invention employs a motion structure with two degrees of freedom—rotation and movement—which can transfer the tool from the tool magazine to the tool standby position, realizing the tool standby function. This process does not occupy machine tool processing time, effectively saving machine tool changing time and improving machine tool processing efficiency. By adjusting the position and size of the tool standby robot, the tool magazine can be arranged at any angle and position within a certain range of the machine tool, separating the tool magazine from the machine tool spindle and machining area, avoiding interference between the tool magazine and the machine tool, and making the arrangement of the tool magazine within the machine tool more flexible. The robot arm structure that can safely transport tools not only prevents the tool from being thrown out of the chuck but also performs angular positioning of the tool. It is simple in structure and safe and reliable. Attached Figure Description

[0015] Figure 1 This is a schematic diagram of the overall structure provided in an embodiment of the present invention.

[0016] Figure 2 This is a schematic diagram of the robotic arm structure provided in an embodiment of the present invention.

[0017] Figure 3 This is a cross-sectional view of the robotic arm structure provided in an embodiment of the present invention.

[0018] Figure 4 This is a schematic diagram of the locking state of the safety top pin and the chuck provided in an embodiment of the present invention.

[0019] Figure 5 This is a schematic diagram of the safety pin and the chuck being released, provided in an embodiment of the present invention.

[0020] Figure 6 This is a schematic diagram of the angle positioning structure provided in an embodiment of the present invention. Detailed Implementation

[0021] The present invention will now be described in further detail with reference to the accompanying drawings and specific embodiments. The following examples are for illustrative purposes only and should not be construed as limiting the scope of the invention.

[0022] In the description of the embodiments of the present invention, it should be noted that, unless otherwise explicitly specified and limited, the term "connection" should be interpreted broadly. For example, it can refer to a fixed connection, a detachable connection, or an integral connection; it can be a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in the embodiments of the present invention based on the specific circumstances.

[0023] like Figure 1 As shown in the figure, an embodiment of the present invention provides a tool preparation robot, including a base 1, a rotary motor 2, a support frame 3, a cylinder 4, a linear guide rail 5, a slider 6, a sliding support block 7, and a robotic arm 8. The base 1 can be installed on a tool magazine or a machine tool to support the entire tool preparation robot device. The rotary motor 2 is installed on the base 1, and the support frame 3 is installed at the output end of the rotary motor 2, and can rotate under the drive of the rotary motor 2. The cylinder 4 and the linear guide rail 5 are both installed on the support frame 3. The slider 6 acts on the linear guide rail, and the sliding support block 7 is fixedly connected to the slider 6 on one hand and connected to the cylinder 4 on the other hand, and can move up and down along the linear guide rail 5 under the action of the cylinder 4. The robotic arm 8 is installed on the sliding support block 7, and can move up and down with the sliding support block 7 on one hand and rotate together with the support frame 3 on the other hand; the end of the robotic arm 8 can grip the tool handle.

[0024] Combination Figure 2 and Figure 3As shown, the robotic arm 8 includes an arm body 801, a jaw 802, a jaw pivot 803, a jaw spring 804, a limit pin 805, and a bolt bearing 806. The arm body 801 has a tool slot and a jaw slot on each side. The tool slot has a V-shaped protrusion for holding a tool handle. The jaw 802 is housed within the jaw slot. The jaw 802 has an L-shaped structure with a pivot hole at the bend. The jaw pivot 803 passes through this hole and is fixedly connected to the arm body 801, allowing the jaw 802 to rotate around the pivot 803, thus gripping and releasing the tool handle. Corresponding to the middle of the long L-shaped side of the jaw 802, the arm body 801 has two spring holes, each housing a jaw spring 804. The jaw spring 804 is in a compressed state, applying a pushing force to the jaw 802 to grip the tool handle. Meanwhile, a long, narrow limiting hole is provided on the chuck 802 near the chuck spring 804. A limiting pin 805 passes through the limiting hole and is fixed to the arm body 801. The relative movement between the limiting hole and the limiting pin 805 restricts the rotation range of the chuck 802, preventing the chuck 802 from rotating too much and causing the spring force of the chuck spring 804 to fail. A bolt bearing 806 is also installed at the end of the L-shaped short side of the chuck 802. When the tool holder moves in and out of the chuck 802, it can roll against the tool holder, thereby reducing wear between the chuck 802 and the tool holder.

[0025] Combination Figures 3 to 5 As shown, a safety pin 807 is also provided at the tail end of the L-shaped long side of the chuck 802. The safety pin 807 is installed in the safety hole opened in the arm body 801 and can slide up and down along the safety hole. The safety pin 807 has a stepped shaft structure, with a small round shaft with a smaller diameter at the top and a large round shaft with a larger diameter at the bottom. When the small round shaft is at the same height as the chuck 802, the chuck 802 can rotate freely. When the large round shaft is at the same height as the chuck 802, it can restrict the counterclockwise rotation of the chuck. A top pin spring 808 is installed below the safety top pin 807. The top pin spring 808 is installed in the safety hole in a compressed state, and always provides an upward thrust to the safety top pin 807, so that the large circular shaft of the safety top pin 807 is at the same height as the chuck 802 at the upper end of the safety hole, thereby restricting the counterclockwise rotation of the chuck. This ensures that the chuck 802 always holds the tool holder tightly, achieving tool holder locking and preventing the tool holder from falling off during the movement of the tool preparation robot. When it is necessary to release the tool holder, external force can be applied to press down the safety top pin 807, pushing the large circular shaft into the safety hole, so that the small circular shaft is at the same height as the chuck 802. The safety top pin 807 no longer restricts the rotation of the chuck 802, and the tool holder can be disengaged from the chuck 802.

[0026] like Figure 6As shown, to achieve angle positioning of the tool holder, the end of the chuck 802 is provided with a ball groove. A ball spring 810 and a directional ball 809 are installed in the ball groove. When the ball spring 810 is compressed, it can push the directional ball 809 outwards from the ball groove. The opening of the ball groove is conical to prevent the directional ball 809 from falling out. When the tool holder is inserted into the tool slot, the directional ball 809 can engage with the corresponding angle positioning groove of the tool holder to prevent the tool holder from rotating during transportation. This structure is applicable even if the direction of the tool holder keyway is not perpendicular to the radius of rotation when the robot arm rotates to grip the tool. Therefore, when this tool preparation robot arm is placed on a machine tool, the direction of the tool holder keyway does not need to be considered, allowing for more flexible placement.

[0027] When executing the tool preparation command, the robotic arm 8, driven by the rotary motor 2 and the cylinder 4, moves to the tool magazine retrieval position. As the robotic arm 8 moves upward and contacts the external limiting structure, the safety pin 807 is pressed down, allowing the chuck 802 to open and allow the tool handle to enter. The robotic arm 8 rotates to grasp the tool handle to be prepared and then moves downward to pull the handle out of the tool magazine. At this time, as the robotic arm 8 moves downward, the safety pin 807 rises under the action of the pin spring 808, thereby locking the chuck 802 and locking the tool handle. The robotic arm 8, driven by the rotary motor 2, moves to the tool preparation position, and then moves upward under the action of the cylinder 4, inserting the tool handle into the tool holder. Simultaneously, as the robotic arm 8 moves upward, the safety pin 807 is pressed down again by the external limiting structure. The robotic arm 8 rotates in the opposite direction at a certain angle, allowing the tool handle to disengage from the chuck 802, thus completing one tool preparation process. After the machine tool's tool changing robot completes the tool change, the above actions are reversed to transfer the removed tool holder back into the tool magazine.

[0028] Although the present invention has been described in detail above, it is not limited thereto, and those skilled in the art can make various modifications based on the principles of the present invention. Therefore, all modifications made in accordance with the principles of the present invention should be understood to fall within the protection scope of the present invention.

Claims

1. A robotic arm for preparing knives, characterized in that, It includes a base, a rotary motor, a support frame, a linear motion device, and a robotic arm. The rotary motor is mounted on the base, and the support frame is mounted on the output end of the rotary motor, which can rotate under the drive of the rotary motor. The linear motion device is mounted on the support frame and can move up and down relative to the support frame. The robotic arm is mounted on the linear motion device and can move up and down with the linear motion device and rotate together with the support frame. The end of the robotic arm can hold a tool handle. The robotic arm includes an arm body, a gripper, and a gripper pivot. The arm body is provided with a tool slot and a gripper slot, and a gripper is installed in the gripper slot. The gripper has an L-shaped structure with a pivot hole at the bend. The gripper pivot is installed in the pivot hole and is fixedly connected to the arm body. The gripper grips or releases the tool holder in the tool slot by rotating around the gripper pivot. The arm body is also equipped with a safety locking device, including a safety hole and a safety pin. The safety hole is located on the arm body, and the safety pin is installed in the safety hole and can slide up and down along the safety hole. The safety pin is a stepped shaft structure, including a large round shaft and a small round shaft. When the large round shaft moves to the same height as the chuck, it can restrict the rotation of the chuck and lock the chuck. A pin spring is also installed in the safety hole. The pin spring is a compression structure and is located below the safety pin. It can push the safety pin upward to keep the large round shaft and the chuck locked.

2. The tool preparation robot according to claim 1, characterized in that, The linear motion device includes a sliding support block, a linear guide rail, a slider, and a cylinder. The linear guide rail is fixed to the support frame, and the slider acts on the linear guide rail. The sliding support block is fixedly connected to the slider on one side and to the cylinder on the other side, and can move up and down along the linear guide rail under the action of the cylinder. The cylinder is mounted on the support frame.

3. The tool preparation robot according to claim 2, characterized in that, The robotic arm also includes a claw spring, which is a compression structure and is located between the arm body and the claw, and can push the claw to grip the handle tightly.

4. The tool preparation robot according to claim 3, characterized in that, The claw is provided with an elongated limiting hole, and a limiting pin is provided in the limiting hole, which is fixed to the arm body.

5. A tool preparation robot according to claim 4, characterized in that, The chuck is equipped with a bolt bearing, and when the chuck grips the tool holder, the bolt bearing and the tool holder make rolling contact.

6. A tool preparation robot according to claim 5, characterized in that, The chuck is equipped with a tool angle positioning device, including a ball groove, a ball spring, and a directional ball. The ball groove is formed on the chuck, and the ball spring and the directional ball are disposed in the ball groove. The directional ball is pushed outward by the ball spring and can cooperate with the angle positioning groove on the tool holder.

7. A tool preparation robot according to claim 6, characterized in that, Pressing down on the safety pin releases the locking state between the large shaft and the chuck.

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