Multi-degree-of-freedom tool changer robot and tool changing method thereof

Abstract

The application discloses a multi-freedom degree tool changing robot and a tool changing method thereof, and belongs to the technical field of tool changing robots. The multi-freedom degree tool changing robot comprises a supporting assembly, a position changing assembly, a clamping assembly and a reversing assembly. The supporting assembly comprises a plurality of supporting rods. The position changing assembly comprises a supporting shaft, and the plurality of supporting rods are arranged on the same supporting shaft. The clamping assembly is arranged on one side of the supporting assembly, and comprises oppositely arranged clamping jaws. The clamping jaws are driven to open and close to clamp tools. The clamping assembly can be driven to move relative to the supporting assembly. The reversing assembly is arranged on one side of the supporting assembly. The clamping assembly comprises a connecting shaft arranged on one side of the clamping jaws. During the movement of the clamping assembly towards the supporting assembly, the connecting shaft is driven by the reversing assembly to rotate the open and closed ends of the clamping jaws. The application can store a plurality of tools at the same time through the arrangement of the plurality of supporting rods, realizes continuous multi-group tool changing operation, and directly stores the changed tools on the supporting rods, thereby reducing the time for back and forth transfer of new and old tools and improving the tool changing efficiency.

Description

Technical Field

[0001] This application relates to the field of boring machine tool technology, and more specifically, to a multi-degree-of-freedom tool-changing robot and its tool-changing method. Background Technology

[0002] During the machining process of a boring machine, different tools may need to be changed. The traditional tool changing procedure involves the operator disassembling the tool and taking it to the tool storage area, and then taking the tool to be installed from the tool storage area and installing it in the machining center. This process is especially cumbersome for heavy tools such as boring tools.

[0003] The existing technology publication CN110666825B provides a multi-degree-of-freedom end effector for a tool-changing robot. This end effector uses a multi-degree-of-freedom adjustment platform to drive the gripper to rise, fall, and rotate, adjusting the gripper's position and angle to accommodate tool removal and replacement at different positions. The flexible end effector of the bolt tightening mechanism employs three sleeves arranged coaxially, with springs connecting adjacent sleeves to ensure coaxiality in a static state. This enables rapid positioning and quick engagement of bolts or nuts, achieving safe and efficient operation and improving work efficiency. The image acquisition mechanism uses a multi-degree-of-freedom adjustment platform and a rotation mechanism. The multi-degree-of-freedom adjustment platform drives the camera to swing and rise, while the rotation mechanism drives the camera to rotate circumferentially. This allows for adjustment of the camera's position and angle, facilitating rapid focusing. Combined with the motion of the tool-changing robot's end effector, this satisfies the need for multi-degree-of-freedom adjustment of the camera position, increasing the image acquisition range.

[0004] The existing technical solutions described above require that after each tool change, the tool must be moved to a storage location for removal before a new tool can be replaced, which increases the tool change time and results in low tool change efficiency. Summary of the Invention

[0005] The purpose of this application is to provide a multi-degree-of-freedom tool changing robot, which solves the technical problem in the prior art that the replaced tools have to be transported a long distance for storage due to the lack of storage space, resulting in low tool changing efficiency. The robot achieves the technical effect of rapid placement and switching of old and new tools, thereby improving tool changing efficiency.

[0006] One aspect of this application provides a multi-degree-of-freedom tool-changing robot, comprising:

[0007] The support assembly includes multiple sets of support rods, with each pair of support rods forming a support position for the tool;

[0008] The switching component includes a support shaft, and multiple sets of support rods are disposed on the same support shaft; in the working state, the support shaft is driven to rotate the support rods to switch different support positions;

[0009] A clamping assembly is disposed on one side of a support assembly. The clamping assembly includes opposing jaws that are driven to open and close to clamp the tool. The clamping assembly is also driven to move toward or away from the side where the support assembly is located.

[0010] A reversing component is disposed on one side of the support component; the clamping component includes a connecting shaft disposed on one side of the jaws. During the movement of the clamping component toward the support component, the connecting shaft is driven by the reversing component to rotate the opening and closing end of the jaws.

[0011] Preferably, a support platform is provided at the top of the support shaft, and a limit component is provided on the support platform in accordance with the support position;

[0012] The limiting component includes a limiting rod with an elastic element sleeved on its outer side. One end of the limiting rod slides through the support platform, allowing the limiting rod to limit the tool placed at the corresponding support position.

[0013] Preferably, a limit drive is provided on one side of the support shaft, and the limit drive can drive the limit rod to move to limit / release the limit on the tool;

[0014] The limit drive includes a linear module, the output end of which is oriented toward the corresponding limit rod, and a drive plate is fixedly installed at the output end of the linear module.

[0015] The top of the limiting rod extends out of the support platform and is connected to an auxiliary plate, and the driving plate is located below the auxiliary plate.

[0016] Preferably, a protective seat is fixedly provided on the outer side of the support shaft, and the protective seat has a tool inlet hole on the side facing the clamping assembly;

[0017] A limiting groove is provided on the inner side of the protective seat corresponding to the support rod, and the support rod can slide in the limiting groove when it is driven to rotate by the support shaft.

[0018] Preferably, the top end of the limiting rod protrudes from the support platform and is fixedly connected to an auxiliary rod;

[0019] The inner side of the protective seat is provided with an auxiliary groove corresponding to the auxiliary rod. When the support platform is driven by the support shaft, the auxiliary rod can slide in the corresponding auxiliary groove. During the sliding process, the auxiliary groove can drive the auxiliary rod to move towards the support rod side to limit the tool.

[0020] Preferably, two sets of support rods at the same support position are fixedly disposed on one side of a sliding block, and the sliding block is slidably embedded in the support shaft;

[0021] The sliding block drives the limit rod to move through the transmission channel opened on one side of the support shaft to limit the tool.

[0022] Preferably, the push rod at the bottom end of the sliding block extends into the transmission channel and is fixedly connected to the limit sealing plug;

[0023] The top end of the limiting rod slides into the transmission channel and is fixedly connected to a limiting sealing plug; the transmission channel between the two limiting sealing plugs is in a sealed state.

[0024] Preferably, the transmission channel between the two limiting sealing plugs is filled with hydraulic oil.

[0025] Preferably, the support assembly and the clamping assembly are configured on the same working platform;

[0026] A slider is rotatably mounted on one end of the connecting shaft, and a groove is provided at the top of the work platform. When the clamping assembly is driven to move toward / away from the support assembly, the slider is positioned in the groove.

[0027] The reversing assembly includes a reversing gear fixedly mounted on one end of the connecting shaft, and a reversing rack is arranged on one side of the slide groove. When the clamping assembly moves, the reversing gear meshes with the reversing rack, and the connecting shaft drives the gripper to rotate.

[0028] Another aspect of this application provides a tool changing method for a multi-degree-of-freedom tool-changing robot, including:

[0029] Place spare tools in tool support positions formed by multiple sets of support components, and leave at least one support position for holding replacement tools;

[0030] When changing tools, the clamping assembly clamps the replacement tool and moves toward the support assembly. During the movement, the reversing assembly drives the clamping assembly to rotate, so that the opening and closing ends of the jaws in the clamping assembly face the support assembly.

[0031] The gripper places the replacement tool in the designated support position;

[0032] The support shaft is driven to rotate the support rod, causing another tool to be loaded to rotate to the side where the gripper is located;

[0033] The grippers pick up the tool to be assembled and move it to the machining center for assembly.

[0034] One or more technical solutions provided in the embodiments of this application have at least the following technical effects or advantages:

[0035] (1) The technical solution of this application can realize the simultaneous storage of multiple sets of tools by setting up several support rods, realize continuous multiple sets of tool changing operations, and the replaced tools can be directly stored on the support rods, thereby reducing the time for transferring new and old tools back and forth and improving tool changing efficiency.

[0036] (2) In the technical solution of this application, the tool stored on the support rod is positioned by inserting the limiting component into the positioning hole of the tool. When the adjustment seat adjusts the tool changing angle, the tool can be stably fixed on the support rod, reducing the difficulty of subsequent tool picking and putting.

[0037] (3) In the process of the drive component moving the clamping component, the reversing gear and the reversing rack mesh and drive, which can realize the automatic reversing of the clamping tool, further reducing the difficulty of tool installation and storage.

[0038] (4) In the technical solution of this application, when the tool rotation is switched, when the auxiliary plate moves between the grating sensors, the grating sensors detect the auxiliary plate and the first motor stops, thereby achieving accurate positioning when the tool is switched. Attached Figure Description

[0039] Figure 1 This is a schematic diagram of the overall structure of the multi-degree-of-freedom tool-changing robot disclosed in an embodiment of this application;

[0040] Figure 2 This is a cross-sectional view of the multi-degree-of-freedom tool-changing robot disclosed in an embodiment of this application;

[0041] Figure 3 This is a schematic diagram of the transmission structure of the transfer component of the multi-degree-of-freedom tool-changing robot disclosed in an embodiment of this application;

[0042] Figure 4 This is a partial structural schematic diagram of the multi-degree-of-freedom tool-changing robot disclosed in an embodiment of this application;

[0043] Figure 5 This is a schematic diagram of the mounting position of the reversing rack of the multi-degree-of-freedom tool-changing robot disclosed in an embodiment of this application;

[0044] Figure 6 This is a schematic diagram of the limit drive structure of the multi-degree-of-freedom tool-changing robot disclosed in an embodiment of this application;

[0045] Figure 7 This is a schematic diagram of the connection structure between the clamping component and the drive component of the multi-degree-of-freedom tool-changing robot disclosed in an embodiment of this application;

[0046] Figure 8 This is a schematic diagram of the mounting position of the reversing rack of the multi-degree-of-freedom tool-changing robot disclosed in an embodiment of this application;

[0047] Figure 9 This is a schematic diagram of the clamping component transmission structure of the multi-degree-of-freedom tool-changing robot disclosed in an embodiment of this application;

[0048] Figure 10 This is a schematic diagram of the overall structure of a multi-degree-of-freedom tool-changing robot disclosed in another embodiment of this application;

[0049] Figure 11 This is a schematic diagram of the overall structure of a multi-degree-of-freedom tool-changing robot disclosed in another embodiment of this application;

[0050] Figure 12 This is a schematic diagram of the transmission channel of a multi-degree-of-freedom tool-changing robot disclosed in another embodiment of this application.

[0051] Explanation of the numbers in the diagram: 1. Adjustment seat; 11. Working platform; 12. Protective seat; 13. Tool inlet hole; 14. Slide groove; 15. Guide plate; 16. Guide groove; 17. Fixing frame; 18. Grating sensor; 19. Limiting groove;

[0052] 2. Transposition assembly; 21. Support shaft; 211. Block groove; 212. Transmission channel; 22. First motor; 23. Second gear; 24. Third gear; 25. Support platform; 26. Support plate;

[0053] 3. Support assembly; 31. Support rod; 32. Sliding block; 33. Limiting sealing plug;

[0054] 4. Limiting component; 41. Limiting rod; 42. Elastic element; 43. Auxiliary plate;

[0055] 5. Limit drive; 51. Telescopic cylinder; 52. Drive plate;

[0056] 6. Clamping assembly; 61. Support block; 62. Rotating shaft; 63. Gripper; 64. Fourth gear; 65. Second motor; 66. Connecting shaft; 67. Guide block; 68. Slider;

[0057] 7. Drive assembly; 71. Third motor; 72. Lead screw; 73. Adjustment bracket;

[0058] 8. Reversing assembly; 81. Reversing gear; 82. Reversing rack. Detailed Implementation

[0059] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the scope of protection of this application.

[0060] The following is for reference. Figures 1-12 This application describes a multi-degree-of-freedom tool-changing robot and its working method as described in embodiments.

[0061] Example 1

[0062] Reference Figures 1 to 5 This application discloses a multi-degree-of-freedom tool-changing robot, including an adjustment base 1. The adjustment base 1 has multiple degrees of freedom and is used to adjust the tool-changing angle. A shifting component 2 is connected to the adjustment base 1. A support component 3 is provided on the shifting component 2. The support component 3 includes multiple sets of support rods 31. Each pair of support rods forms a tool support position. Each support position can hold one tool. The support rods 31 support the concave side area of ​​the tool, thereby ensuring the stability of the support rods 31.

[0063] The shifting component 2 is equipped with several limiting components 4, which are used to position the tool by inserting into the positioning hole of the tool. The adjusting seat 1 is equipped with a limiting drive 5, which is used to control the limiting component 4 to disengage from the tool, thereby canceling the positioning of the tool. The adjusting seat 1 is slidably connected with a clamping component 6, which is used to clamp and fix the tool. The adjusting seat 1 is equipped with a drive component 7, the output end of which is connected to the clamping component 6 to drive the clamping component 6 to slide on the adjusting seat 1.

[0064] A reversing component 8 is also provided on one side of the support component. The reversing component includes a reversing gear 81 connected to one side of the clamping component. A reversing rack 82 is fixedly installed on the adjusting seat 1. The reversing gear 81 and the reversing rack 82 mesh and drive each other to adjust the direction of the clamping component 6.

[0065] In this embodiment, when installing or replacing a cutting tool, the angle of the clamping assembly 6 is adjusted by the adjusting seat 1 so that the clamping assembly 6 is aligned with the cutting tool to be removed. The movement of the clamping assembly 6 is controlled by the driving assembly 7, so that the clamping assembly 6 is inserted into the cutting tool and clamped. After clamping, the cutting tool moves towards the repositioning assembly 2 by the driving assembly 7. During the movement, the reversing gear 81 and the reversing rack 82 mesh and drive the transmission, thereby realizing the automatic rotation of the clamping assembly 6, thus reducing the difficulty of storing the cutting tool.

[0066] Before the drive assembly 7 drives the tool to insert into the support rod 31, the limit drive 5 drives the limit assembly 4 to move upward. The drive assembly 7 drives the tool to move onto the support rod 31. The limit drive 5 drives the limit assembly 4 to insert into the positioning hole of the tool to position the tool, thereby ensuring the stability of the tool after placement and avoiding the problem of tool instability caused by the spatial position adjustment of the adjustment seat 1.

[0067] The clamping component 6 opens and moves backward, the shifting component 2 rotates 90 degrees, and the new tool is switched to the clamping position. The drive component 7 drives the clamping component 6 to move back to the shifting component 2 and clamp the new tool. At the same time, the limit drive 5 drives the limit component 4 to move upward, so that the limit component 4 is disengaged from the corresponding tool. The drive component 7 drives the clamping component 6 and the new tool to move in the opposite direction (away from the shifting component 2), thereby realizing one tool change operation.

[0068] The multiple support rods 31 of this tool changing robot allow for the simultaneous storage of multiple sets of tools and enables continuous tool changing operations. The replaced tools can be directly stored on the support rods 31, thereby reducing the time spent transferring new and old tools back and forth and improving tool changing efficiency. The tools stored on the support rods 31 are positioned by the limit component 4 inserted into the tool positioning hole, effectively ensuring that the tool can be stably fixed on the support rods 31 when the adjustment seat 1 adjusts the tool changing angle, reducing the difficulty of subsequent tool retrieval and placement.

[0069] During the process of the drive component 7 moving the clamping component 6, the reversing gear 81 and the reversing rack 82 mesh and transmit power, which can realize the automatic reversal of the clamped tool, further reducing the difficulty of tool installation and storage.

[0070] It should be noted that among the several support positions formed by the several support rods 31, at least one support position is empty, ensuring that the first replaced tool has a place to be placed. The 180-degree rotation of the clamping assembly 6 can also be achieved by the drive motor. By connecting the clamping assembly 6 to the output shaft of the drive motor, when a reversal is required, the drive motor can drive the clamping assembly 6 to rotate 180 degrees.

[0071] The adjusting seat 1 includes a working platform 11, on which a protective seat 12 is fixedly installed to protect the stored cutting tools and prevent the tools from slipping out and causing safety accidents. The protective seat 12 has a tool inlet hole 13, which is used for storing and taking out the cutting tools on the support rod 31.

[0072] To further reduce the risk of deformation of the support rod 31 under stress, a limiting groove 19 is provided inside the protective seat 12. One end of the support rod 31 is inserted into the limiting groove 19 and moves within it. The limiting groove 19 effectively supports the support rod 31 and reduces the risk of bending deformation of the support rod 31.

[0073] The shifting assembly 2 includes a support shaft 21 and a first motor 22. The support shaft 21 is rotatably connected to the work platform 11 and is perpendicular to the upper surface of the work platform 11. The support shaft 21 is located inside the protective seat 12 and is coaxial with the protective seat 12. Several support rods 31 are fixedly installed on the support shaft 21. The first motor 22 is fixedly installed on the work platform 11. A second gear 23 is fixedly installed on the support shaft 21. A third gear 24 is fixedly connected to the output shaft of the first motor 22. The second gear 23 and the third gear 24 mesh and transmit power. The output shaft of the first motor 22 drives the third gear 24 to rotate, and through meshing transmission, drives the second gear 23, the support shaft 21, and the support rods 31 to rotate on the work platform 11, thereby realizing the switching of tools.

[0074] The limiting assembly 4 includes a limiting rod 41 and a support platform 25 fixedly mounted on the support shaft 21. The limiting rod 41 is slidably connected to the support platform 25. An elastic element 42 is fitted onto the limiting rod 41. One end of the elastic element 42 is fixedly connected to the limiting rod 41, and the other end is fixedly connected to the support platform 25. The limiting rod 41 passes through the support platform 25 and is inserted into the positioning hole of the tool placed on the support rod 31, thereby fixing the tool in the axial direction of the support rod 31. This effectively avoids the problem of the tool sliding on the support rod 31 due to the tilt of the work platform 11 when adjusting the working angle, thus ensuring the stability of the tool. The setting of the elastic element 42 can improve the stability of the limiting rod 41 inserted into the tool positioning hole and reduce the risk of the limiting rod 41 automatically falling off.

[0075] Reference Figure 6 The limit drive 5 includes a linear module. A fixing frame 17 is fixedly installed on the protective base 12. The linear module is fixedly installed on the fixing frame 17. The output shaft of the linear module is fixedly connected to a drive plate 52. An auxiliary plate 43 is fixedly installed on the limit rod 41, and the drive plate 52 is located directly below the auxiliary plate 43. When it is necessary to change the tool, in order to avoid the limit rod 41 interfering with the placement or removal of the tool, the output shaft of the linear module drives the drive plate 52 to move upward and push the auxiliary plate 43. The auxiliary plate 43 drives the limit rod 41 to move upward and disengage from the tool's positioning hole, thereby canceling the tool's positioning. At this time, operations such as tool gripping can be performed.

[0076] In this embodiment, the linear module is configured to move the drive plate 52 and the auxiliary plate through its linear motion, thereby achieving / releasing the tool positioning. Therefore, in actual operation, the linear module can be driven by a linear output device, such as a hydraulic push rod or an electric push rod, or the telescopic cylinder 51 shown in the illustrations of this application.

[0077] A grating sensor 18 is fixedly installed on the fixed frame 17. When the tool rotation is switched, when the auxiliary plate 43 moves between the grating sensor 18, the grating sensor 18 detects the auxiliary plate 43, and the first motor 22 stops, thereby achieving precise positioning during tool switching.

[0078] Reference Figures 7 to 9 The clamping assembly 6 includes a support block 61, on which two sets of rotating shafts 62 are rotatably connected. Grippers 63 are fixedly mounted at both ends of each rotating shaft 62. A fourth gear 64 is fixedly mounted on each rotating shaft 62, and the two rotating shafts 62 are driven by the meshing of the fourth gear 64. One rotating shaft 62 is connected and fixed to the output shaft of a second motor 65. When clamping a tool, the output shaft of the second motor 65 drives one rotating shaft 62 to rotate, which in turn drives the other rotating shaft 62 to rotate via the meshing of the fourth gear 64. This achieves the closing and opening of the grippers 63, effectively clamping the tool and reducing the difficulty of tool replacement.

[0079] A connecting shaft 66 is fixedly installed on the support block 61, a reversing gear 81 is fixedly installed on the connecting shaft 66, a guide block 67 is fixedly installed on the connecting shaft 66, a slider 68 is rotatably connected to the connecting shaft 66, a slide groove 14 is provided on the working platform 11, the slider 68 slides in the slide groove 14, several guide plates 15 are fixedly installed on both sides of the slide groove 14, a guide groove 16 is formed between two guide plates 15, the guide block 67 is inserted into the guide groove 16, and the reversing rack 82 is located between two guide grooves 16.

[0080] When the clamping assembly 6 moves from one guide groove 16 to another, the guide block 67 disengages from the guide groove 16 when the reversing gear 81 meshes with the reversing rack 82. As it continues to move, the reversing gear 81 meshes with the reversing rack 82, thereby enabling the support block 61 to drive the gripper 63 to rotate automatically by 180 degrees, achieving automatic switching of the gripping direction of the gripper 63. When the reversing gear 81 disengages from the reversing rack 82, the guide block 67 inserts into the corresponding guide groove 16, thereby achieving a second limit stop, ensuring the stability of the gripper 63's direction, and improving the accuracy of gripping.

[0081] The drive assembly 7 includes a third motor 71, which is fixedly mounted on the work platform 11. A lead screw 72 is fixedly connected to the output shaft of the third motor 71, and the lead screw 72 is rotatably connected to the work platform 11. An adjusting bracket 73 is threaded onto the lead screw 72 and slidably connected to the work platform 11. A connecting shaft 66 is rotatably connected to the adjusting bracket 73. The third motor 71 drives the lead screw 72 to rotate, and through threaded transmission, drives the adjusting bracket 73 to slide on the work platform 11, thereby driving the clamping assembly 6 and the cutting tool to move.

[0082] A support plate 26 is fixedly installed on the support shaft 21. After the tool is placed on the support rod 31, its bottom contacts the support plate 26. The support plate 26 effectively supports the tool and improves the stability of the tool placement.

[0083] The multi-degree-of-freedom tool-changing robot disclosed in this application adjusts the working angle of the work platform 11 according to the position of the tool to be replaced. The third motor 71 drives the lead screw 72 to rotate, and through the threaded transmission, the adjusting frame 73 slides on the work platform 11, driving the clamping assembly 6 to move to the tool to be removed.

[0084] Subsequently, the output shaft of the second motor 65 drives one rotating shaft 62 to rotate, which in turn drives another rotating shaft 62 to rotate through the meshing transmission of the fourth gear 64. This causes the gripper 63 to clamp the tool, and the drive assembly 7 drives the clamping assembly 6 and the tool to move towards the switching assembly 2. The guide block 67 disengages from the guide groove 16 and continues to move. During this movement, the reversing gear 81 meshes with the reversing rack 82, causing the support block 61 to automatically rotate the gripper 63 180 degrees, thus achieving automatic switching of the gripping direction of the gripper 63. When disengaging from the reversing rack 82, the guide block 67 inserts into the guide groove 16 on the corresponding side, thereby achieving a second limit and continuing to drive the clamping assembly 6 to move. At the same time, the output shaft of the telescopic cylinder 51 drives the driving plate 52 to move upward and push the auxiliary plate 43. The auxiliary plate 43 drives the limit rod 41 to move upward. The clamping assembly 6 places the tool on the support rod 31. The output shaft of the telescopic cylinder 51 drives the driving plate 52 to move downward. Under the action of the elastic element 42, the limit rod 41 is inserted into the positioning hole of the tool for positioning. The gripper 63 opens and moves backward.

[0085] The output shaft of the first motor 22 drives the third gear 24 to rotate, which in turn drives the second gear 23, the support shaft 21 and the support rod 31 to rotate on the work platform 11 through meshing transmission. The old tool and the new tool are rotated 90 degrees at the same time. The gripper 63 moves to the side of the switching component 2 again and clamps the new tool under the action of transmission. The output shaft of the telescopic cylinder 51 drives the driving plate 52 to move up and pushes the auxiliary plate 43. The auxiliary plate 43 drives the limit rod 41 to move up and disengage from the tool. The drive component 7 drives the clamping component 6 and the tool to move away from the switching component 2, thereby realizing one tool changing process.

[0086] Example 2

[0087] The difference between the technical solution of this embodiment and the technical solution of Embodiment 1 lies in the mechanism that drives the limit rod 41 to move.

[0088] In embodiment 1, the mechanism that drives the limit rod 41 to move is the limit drive 5. One end of the limit rod 41 passes through the support platform 25 and is fixedly connected to the auxiliary plate 43. The limit drive 5 includes a linear module (telescopic cylinder 51) and its driven plate 52. Through the cooperation of the driven plate 52 and the auxiliary plate 43, the limit rod 41 is driven to move toward / away from the tool, so as to realize / release the limit on the tool.

[0089] In this embodiment, reference Figure 10 A protective seat 12 is also provided on the outer side of the support shaft 21, and a tool inlet hole 13 is provided on the side of the protective seat 12 facing the clamping assembly 6. Similarly, a limit groove 19 is provided on the inner side of the protective seat 12 corresponding to the support rod 31. When the support rod 31 is driven to rotate by the support shaft 21, it can slide in the limit groove 19.

[0090] In addition, the top of the limiting rod 41 extends out of the support platform 25 and is fixedly connected to the auxiliary rod 44; the inner side of the protective seat 12 has an auxiliary groove 110 at the top of the limiting groove 19. When the support shaft 21 is driven to rotate, the support rod 31 slides in the corresponding limiting groove 19, and the auxiliary rod 44 slides in the corresponding auxiliary groove 110.

[0091] The auxiliary rod 44 slides into the auxiliary groove 110 from one side (entry side) of the inlet hole 13 and slides out of the auxiliary groove 110 from the other side (exit side) of the inlet hole 13; and when the auxiliary rod 44 slides in the auxiliary groove 110, it can move toward one side of the tool to limit the tool.

[0092] In one specific embodiment, the distance between the auxiliary groove 110 and the limiting groove 19 decreases from large to small on the entry side, causing the auxiliary groove 110 to drive the auxiliary rod 44 / limiting rod 41 to move toward the tool on the support rod 31 on the entry side.

[0093] Subsequently, the distance between the auxiliary groove 110 and the limiting groove 19 remains unchanged, and the limiting rod 41 always limits the tool. During this process, the elastic element 42 is compressed.

[0094] When the auxiliary rod 44 moves out of the auxiliary slot 110 from the sliding side, that is, when the tool corresponding to the auxiliary rod 44 needs to be removed from the support assembly 3, the elastic element 42 returns, causing the limit rod 41 / auxiliary rod 44 to move away from the tool again to release the restriction on the tool.

[0095] Example 3

[0096] The difference between this embodiment and the technical solutions of Embodiments 1 and 2 lies in the mechanism that drives the limiting rod 41 to move.

[0097] In Embodiments 1 and 2, the support rod 31 is fixedly mounted on the support shaft 21.

[0098] In this embodiment, reference Figure 11 and Figure 12 The support shaft 21 and the support platform 25 are integrally formed. Two sets of support rods 31 at the same support position are fixedly connected to the same sliding block 32. The sliding block 32 is slidably embedded in the support shaft 21. Specifically, a block groove 211 is opened on the support shaft 21, and the sliding block 32 is embedded in the block groove 211.

[0099] In this technical solution, when a cutting tool is placed on the two support rods 31 of a certain support position, the sliding block 32 corresponding to that support position slides downward along the corresponding block groove 211 until the bottom end of the cutting tool contacts the support plate 26. The sliding of the sliding block 32 can drive the limiting rod 41 to move through the transmission channel 212 opened on one side of the support shaft 21 to limit the cutting tool.

[0100] Specifically, the transmission channel 212 is positioned relative to the limiting rod 41. The transmission channel 212 extends from the support shaft 21 portion at the bottom of the sliding block 312 to the limiting rod 41 portion of the support platform 25. The push rod at the bottom of the sliding block 32 extends into the transmission channel 212 and is fixedly connected to the limiting sealing plug 33. The top end of the limiting rod 41 slides into the transmission channel 212 and is fixedly connected to the limiting sealing plug 33. The transmission channel 212 between the two limiting sealing plugs 33 is in a sealed state.

[0101] In the above technical solution, when a tool is placed on the two support rods 31 of a certain support position, the corresponding sliding block 32 moves along the corresponding block groove 211. During the movement, the sliding block 32 drives the corresponding end limit sealing plug 33 to move downward. Since the transmission channel 212 between the two limit sealing plugs 33 is in a sealed state, the limit sealing plug 33 connected to the limit rod 41 is driven to move the limit rod 41 toward the side where the tool is located to limit the tool.

[0102] In this technical solution, a protective seat 12 is also provided on the outer side of the support shaft 21, and the protective seat 12 has an inlet hole 13 on the side facing the clamping assembly 6. The inner side of the protective seat 12 is also provided with a limiting groove 19. The support rod 31 slides into the limiting groove 19 from one side (entry side) of the inlet hole 13 and slides out of the limiting groove 19 from the other side (sliding out side) of the inlet hole 13.

[0103] At this time, the height of entering the side limiting groove 19 corresponds to the height of the support rod 31 after it moves downward under the action of the tool, while the height of sliding out of the side limiting groove 19 corresponds to the height of the support rod 31 when no tool is placed on it.

[0104] In this technical solution, when the support rod 31 enters the limiting groove 19 from the entry side, the sliding block 32 is always located below the block groove 211, that is, the limiting rod 41 always restricts the tool.

[0105] When the tool needs to be removed, the support shaft 21 drives the support rod 31 corresponding to the tool to rotate toward the sliding side of the infeed hole 13. At this time, the limiting groove 19 gradually drives the support rod 31 to move upward, that is, the sliding block 32 gradually moves upward. At this time, the limiting sealing plug 33 on the side of the sliding block 32 moves downward. Since the two limiting sealing plugs 33 are in a sealed state, the limiting sealing plug 33 connected to the limiting rod 41 moves upward, and then the limiting rod 41 releases the limiting of the tool.

[0106] Based on this embodiment, a better solution is to fix a first electrode plate at the bottom end of the push rod, and to fix a second electrode plate opposite to the first electrode plate on one side of the block groove; wherein the first motor responds to the on / off state of the first electrode plate and the second electrode plate.

[0107] In this technical solution, when the clamping assembly places the tool on the top of the support rod, the sliding block 32 slides in the block groove 211 under the drive of the tool. The sliding block presses down to move the push rod. At this time, the first electrode plate at the bottom of the push rod moves toward the second electrode plate on one side of the block groove until the first electrode plate and the second electrode plate make contact and conduction.

[0108] Once the first electrode plate and the second electrode plate are connected, it indicates that the tool has been placed on the support rod. At this time, the first motor responds to this connection signal and drives the support shaft to rotate, causing the support rod holding the tool to rotate into the protective seat.

[0109] In the above technical solution, in order to ensure the transmission effect between the two limiting sealing plugs 33, the transmission channel 212 between the two limiting sealing plugs 33 is filled with hydraulic oil.

[0110] In the description of this application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and 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 of this application.

[0111] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0112] The above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application 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 of the technical features. Such modifications or substitutions will not cause the essence of the corresponding technical solutions to deviate from the protection scope of the technical solutions of the embodiments of this application.

Claims

1. A multi-degree-of-freedom tool-changing robot, characterized in that, include: The support assembly (3) includes multiple sets of support rods (31), with each pair of support rods (31) forming a support position for the tool; The switching component (2) includes a support shaft (21) and multiple sets of support rods (31) are arranged on the same support shaft (21); in the working state, the support shaft (21) is driven to rotate the support rods (31) to switch different support positions; The clamping assembly (6) is disposed on one side of the support assembly (3). The clamping assembly (6) includes opposing jaws (63), which are driven to open and close to clamp the tool. The clamping assembly (6) is driven to move toward or away from the side where the support assembly (3) is located. A reversing component (8) is disposed on one side of the support component (3); the clamping component (6) includes a connecting shaft (66) disposed on one side of the jaw (63). During the movement of the clamping component (6) toward the support component (3), the connecting shaft (66) is driven by the reversing component (8) to rotate the opening and closing end of the jaw (63). Among them, a support platform (25) is provided at the top of the support shaft (21), and a limit component (4) is provided on the support platform (25) in accordance with the support position; the limit component (4) includes a limit rod (41), one end of the limit rod (41) is slidably passed through the support platform (25) so that the limit rod (41) can limit the tool placed in the corresponding support position; Among them, two sets of support rods (31) at the same support position are fixedly set on one side of a sliding block (32), and the sliding block (32) is slidably embedded on the support shaft (21); the sliding block (32) drives the limiting rod (41) to move through the transmission channel (212) opened on one side of the support shaft (21) to limit the tool; The push rod at the bottom of the sliding block (32) extends into the transmission channel (212) and is fixedly connected to the limiting sealing plug (33); the top of the limiting rod (41) slides into the transmission channel (212) and is fixedly connected to the limiting sealing plug (33); the transmission channel (212) between the two limiting sealing plugs (33) is in a sealed state.

2. The multi-degree-of-freedom tool-changing robot as described in claim 1, characterized in that, A protective seat (12) is fixedly provided on the outside of the support shaft (21), and the protective seat (12) has a tool inlet hole (13) on the side facing the clamping assembly (6). A limiting groove (19) is provided on the inner side of the protective seat (12) corresponding to the support rod (31). When the support rod (31) is driven to rotate by the support shaft (21), it can slide in the limiting groove (19).

3. The multi-degree-of-freedom tool-changing robot as described in claim 1, characterized in that, The transmission channel (212) between the two limiting sealing plugs (33) is filled with hydraulic oil.

4. The multi-degree-of-freedom tool-changing robot as described in claim 1, characterized in that, The support component (3) and the clamping component (6) are configured on the same working platform (11); A slider (68) is rotatably mounted on one end of the connecting shaft (66), and a groove (14) is provided at the top of the working platform (11). When the clamping assembly (6) is driven to move toward / away from the support assembly (3), the slider (68) is positioned in the groove (14). The reversing assembly (8) includes a reversing gear (81) fixedly mounted on one end of the connecting shaft (66), and a reversing rack (82) is arranged on one side of the slide groove (14). When the clamping assembly (6) moves, the reversing gear (81) meshes with the reversing rack (82), and the connecting shaft (66) drives the gripper (63) to rotate.

5. The tool changing method of the multi-degree-of-freedom tool-changing robot according to claim 1, characterized in that, include: Place the spare tool in the tool support position formed by multiple sets of support components (3), and leave at least one support position for holding the replacement tool; When changing tools, the clamping assembly (6) clamps the replacement tool and moves toward the support assembly (3). During the movement, the reversing assembly (8) drives the clamping assembly (6) to rotate, so that the opening and closing end of the jaw (63) in the clamping assembly (6) faces the support assembly (3). The gripper (63) places the replacement tool in the reserved support position; The support shaft (21) is driven to rotate the support rod (31), causing another tool to be loaded to rotate to the side where the jaw (63) is located; The gripper (63) picks up the tool to be assembled and moves it to the machining center for assembly.

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