Series-parallel robot follow-up tool changing system and tool changing method thereof

Abstract

The invention relates to the field of machining equipment, in particular to a series-parallel robot follow-up tool changing system and a tool changing method thereof.The series-parallel robot follow-up tool changing system comprises an equipment gantry base, a tool changing base is arranged on the equipment gantry base, and a mechanical arm module and a tool base are arranged on the tool changing base in a sliding mode; a tool clamping module is arranged at one end of the mechanical arm module, the mechanical arm module and the tool base slide to the tool changing position above machining equipment on the tool changing base, and the mechanical arm module controls the tool clamping module to move between the tool base and the machining equipment. And tool replacement operation is carried out. The tool changing base is movably arranged above the multiple linkage robots, the tool changing system with the tool changing mechanical arm module and the tool magazine is arranged in a follow-up mode through the transmission mechanism, the tool changing time is saved, and the machining efficiency is improved; when the multiple robots operate in parallel, the tool changing system operates among the multiple robots, and the setting cost of the tool changing system is saved.

Description

Technical Field

[0001] The invention relates to the field of mechanical processing equipment, in particular to a serial-parallel robot follow-up tool changing system and a tool changing method thereof. Background Art

[0002] During the processing of the machine, the main tool needs to be replaced according to the usage of the tool or the type of processing required. The machine tool magazine is used to accommodate the tools. The tool changing robot arm is equipped with a clamp to remove the tool on the tool seat and replace it with the tool taken out from the tool magazine. This tool changing method requires the tool changing robot arm to move between the tool magazine and the tool seat position of the processing equipment that performs the processing action. In order to correspond to the tool changing position, the tool seat needs to suspend processing, run to the tool changing position, and wait for the tool changing action to be completed before entering the processing position. This takes a long time for the processing equipment and affects the machine utilization rate. In addition, this method is only suitable for tool changing of a single processing equipment, not for the operation of multiple parallel processing equipment, and does not have the scalability of processing equipment. Summary of the invention

[0003] In view of the deficiencies in the prior art, the present invention provides a serial-parallel robot follow-up tool changing system, comprising an equipment gantry, a tool changing base being arranged on the equipment gantry, a robotic arm module and a tool seat being slidably arranged on the tool changing base, a tool clamping module being arranged at one end of the robotic arm module, the robotic arm module and the tool seat sliding on the tool changing base to a tool changing position above a processing equipment, the robotic arm module controlling the tool clamping module to move between the tool seat and the processing equipment to perform a tool replacement operation.

[0004] Preferably, the tool changing base includes a positioning plate, a guide rail and a driving rack, the positioning plate is fixedly arranged at the lower part of the tool changing base, and the tool changing base is fixed to the top of the equipment gantry through the positioning plate.

[0005] Preferably, the guide rail is arranged on the side wall of the tool changing base, the upper and lower guide rails are slidably matched with the robotic arm module and the tool seat, the driving rack is arranged on the side wall of the tool changing base, the driving rack is arranged parallel to the guide rail, and the driving rack is transmission-matched with the robotic arm module and the tool seat.

[0006] Preferably, a cable drag chain is also provided on the tool changing base, and the cable drag chain is used to protect the connection cables between the tool changing base and the robot arm module.

[0007] Preferably, the robotic arm module is fixed on a driving seat, the driving seat cooperates with the guide rail, the driving seat is provided with a driving motor, and the driving motor cooperates with the driving rack through a gear so that the driving seat can achieve horizontal movement on the guide rail.

[0008] Preferably, the robotic arm module includes a robotic arm base, a first arm, a second arm and a third arm. The bottom of the robotic arm base is fixedly mounted on the driving seat. The bottom of the first arm is transmitted to the robotic arm base, the tail of the second arm is hingedly connected to the first arm through a transmission connection, the front of the second arm is hingedly connected to the tail of the third arm through a transmission connection, and the front end of the third arm is rotatably connected to the tool clamping module.

[0009] Preferably, the tool clamping module comprises an adjustment head and a clamping claw, and the adjustment head is rotatably arranged at one end of the robotic arm module away from the robotic arm base.

[0010] Preferably, the clamping claw comprises a main clamping claw and an auxiliary clamping claw.

[0011] Preferably, the guide rail and the drive rack are arranged on one side or both sides of the tool changing base, so that several groups of tool changing modules are arranged in parallel corresponding to the guide rail and the drive rack, and the corresponding serial and parallel robots are followed to change tools simultaneously.

[0012] The tool changing method of the serial-parallel robot follow-up tool changing system includes: S1. Drive the robot arm module so that the auxiliary gripper claw grabs the tool to be replaced in the tool holder; S2. Obtain the corresponding robot tool position and calculate the preset position of the drive seat; S3. Move the drive seat along the guide rail to a preset position; S4. Drive the robot arm module to move the tool clamping module to the robot tool; S5. The main gripper grips the tool to be removed from the robot; S6. Rotate the adjustment head so that the tool to be replaced moves to the tool fixture of the robot; S7. Adjust the movement of the robot arm module to place the removed tool to be removed into the tool holder to complete the tool changing operation; S8. The operating drive seat moves along the guide rail to the initial standby position or the preset position of the next tool-changing robot.

[0013] Compared with the prior art, the beneficial effects of this solution are: by movably setting a tool changing base above multiple linked robots, the tool changing system with a tool changing robot arm module and a tool magazine is set up with a transmission mechanism, which saves the tool changing time required for the robot to reset when changing tools and improves processing efficiency; when multiple groups of robots operate in parallel, the tool changing system operates between multiple robots, saving the cost of setting up the tool changing system. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be discussed below. Obviously, the technical solutions described in conjunction with the drawings are only some embodiments of the present invention. For ordinary technicians in this field, other embodiments and their drawings can be obtained based on the embodiments shown in these drawings without paying creative work.

[0015] Figure 1 The present invention is a schematic diagram of the overall structure of a serial-parallel robot follow-up tool changing system and a tool changing method thereof.

[0016] Figure 2 The present invention is a schematic diagram of a non-processing machine state of a serial-parallel robot follow-up tool changing system and a tool changing method thereof.

[0017] Figure 3 The utility model is a stereoscopic schematic diagram of a serial-parallel robot follow-up tool changing system and a tool changing method thereof of the present invention.

[0018] Figure 4 The present invention discloses a series-parallel robot follow-up tool changing system and a tool changing method thereof, and a side view of the follow-up tool changing system.

[0019] Figure 5 The utility model discloses a top view of a serial-parallel robot follow-up tool changing system and a tool changing method thereof.

[0020] Figure 6 The present invention discloses a mechanical arm retracted state diagram of a serial-parallel robot follow-up tool changing system and a tool changing method thereof.

[0021] Figure 7 The present invention discloses a robot arm operation state diagram of a serial-parallel robot follow-up tool changing system and a tool changing method thereof.

[0022] Figure 8 The present invention is a top view of the operation state of a mechanical arm of a serial-parallel robot follow-up tool changing system and a tool changing method thereof.

[0023] In the figure: 1- tool changing base, 11- positioning plate, 12- guide rail, 13- driving rack, 14- cable drag chain, 2- driving seat, 21- driving motor, 3- tool seat, 31- tool slot, 4- mechanical arm base, 41- first arm, 42- second arm, 43- third arm, 5- adjusting head, 51- main clamping claw, 52- auxiliary clamping claw, 6- equipment gantry, 7- processing equipment. DETAILED DESCRIPTION

[0024] The following will clearly and completely describe the technical solutions of various embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments described in the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0025] An embodiment of the present invention provides a serial-parallel robot follow-up tool changing system. In this embodiment, the follow-up tool changing system is applied to industrial production lines to facilitate the automation of product processing. The follow-up tool changing system realizes automatic operation through control equipment. The relevant control principles and implementation methods are existing technologies that can be known by ordinary technicians in this field according to corresponding scenarios, and will not be described in detail here. Figures 1 to 8 As shown, a tool changing base 1 is arranged on the equipment gantry 6, a robot arm module and a tool seat 3 are slidably arranged on the tool changing base 1, a tool clamping module is arranged at one end of the robot arm module, the robot arm module and the tool seat 3 slide on the tool changing base 1 to the tool changing position above the processing equipment 7, and the robot arm module controls the tool clamping module to move between the tool seat 3 and the processing equipment 7 to perform tool replacement operations.

[0026] The tool changing base 1 includes a positioning plate 11, a guide rail 12 and a driving rack 13. The positioning plate 11 is fixedly arranged at the lower part of the tool changing base 1, and the tool changing base 1 is fixed to the top of the equipment gantry 6 through the positioning plate 11. The guide rail 12 is arranged on the side wall of the tool changing base 1, and the upper and lower guide rails 12 are slidably matched with the robot arm module and the tool seat 3. The driving rack 13 is arranged on the side wall of the tool changing base 1, and the driving rack 13 is arranged parallel to the guide rail 12, and the driving rack 13 is in transmission cooperation with the robot arm module and the tool seat 3. A cable drag chain 14 is also arranged on the tool changing base 1, and the cable drag chain 14 is used to protect the connecting cables of the tool changing base 1 and the robot arm module.

[0027] The robot module is fixed on the drive seat 2, the drive seat 2 cooperates with the guide rail 12, and the drive seat 2 is provided with a drive motor 21, and the drive motor 21 cooperates with the drive rack 13 through a gear to enable the drive seat 2 to achieve horizontal movement on the guide rail 12. The tool seat 3 is provided with a plurality of tool slots 31 for placing tools that are not in use temporarily.

[0028] The robotic arm module includes a robotic arm base 4, a first arm 41, a second arm 42 and a third arm 43. The bottom of the robotic arm base 4 is fixedly mounted on the drive seat 2. The bottom of the first arm 41 is transmission-connected to the robotic arm base 4. The tail of the second arm 42 is transmission-connected to the first arm 41 to form a hinge. The front of the second arm 42 is transmission-connected to the tail of the third arm 43 to form a hinge. The front end of the third arm 43 is rotationally connected to the tool clamping module.

[0029] The tool clamping module comprises an adjustment head 5 and a clamping claw. The adjustment head 5 is rotatably arranged at one end of the robot arm module away from the robot arm base 4 . The clamping claw comprises a main clamping claw 51 and an auxiliary clamping claw 52 .

[0030] The guide rail 12 and the driving rack 13 are arranged on one side or both sides of the tool changing base 1 according to the requirements, so as to realize the setting of single or multiple tool changing modules, and achieve the follow-up tool changing effect for multiple serial and parallel robots.

[0031] The tool changing method and steps based on the above follow-up tool changing system include: S1. driving the robot module so that the auxiliary clamping claw 52 clamps the tool to be replaced in the tool holder 3; S2. Obtain the corresponding robot tool position and calculate the preset position of the drive seat 2; S3. Move the drive seat 2 along the guide rail 12 to a preset position; S4. driving the robot arm module to move the tool holding module to the robot tool; S5. The main clamping claw 51 clamps the tool to be removed on the robot; S6. Rotate the adjustment head 5 so that the tool to be replaced moves to the tool fixture of the robot; S7. Adjust the robot arm module to move and place the removed tool to be removed into the tool holder 3 to complete the tool changing operation; S8. Run the drive seat 2 along the guide rail 12 to an initial standby position or a preset position of the next tool-changing robot.

[0032] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the present invention can be implemented in other specific forms without departing from the spirit or essential features of the present invention. Therefore, the embodiments should be considered exemplary and non-restrictive from any point of view. The scope of the present invention is defined by the appended claims rather than the above description, and it is intended that all changes falling within the meaning and scope of the equivalent elements of the claims be included in the present invention. Any reference numeral in a claim should not be considered as limiting the claim to which it relates.

[0033] In addition, it should be understood that although the present specification is described according to implementation modes, not every implementation mode contains only one independent technical solution. This description of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment may also be appropriately combined to form other implementation modes that can be understood by those skilled in the art.

Claims

1. A serial-parallel robot follow-up tool changing system, including a gantry seat, characterized in that: The equipment gantry is provided with a tool changing base, and a mechanical arm module and a tool seat are slidably provided on the tool changing base. A tool clamping module is provided at one end of the mechanical arm module. The robot arm module and the tool holder slide on the tool changing base to the tool changing position above the processing equipment. The mechanical arm module controls the tool clamping module to move between the tool seat and the processing equipment to perform tool replacement operations.

2. The serial-parallel robot follow-up tool changing system according to claim 1 is characterized in that: The tool changing base comprises a positioning plate, a guide rail and a driving rack. The positioning plate is fixedly arranged at the lower part of the tool changing base. The tool changing base is fixed to the top of the equipment gantry seat through the positioning plate.

3. The serial-parallel robot follow-up tool changing system according to claim 2 is characterized in that: The guide rail is arranged on the side wall of the tool changing base, and the upper and lower guide rails are slidably matched with the robotic arm module and the tool seat. The driving rack is arranged on the side wall of the tool changing base, and the driving rack is arranged parallel to the guide rail. The driving rack is transmission-matched with the robotic arm module and the tool seat.

4. The serial-parallel robot follow-up tool changing system according to claim 1, characterized in that: The tool changing base is also provided with a cable drag chain, and the cable drag chain is used to protect the connecting cables of the tool changing base and the robot arm module.

5. The serial-parallel robot follow-up tool changing system according to claim 3 is characterized in that: The robotic arm module is fixed on a driving seat, the driving seat cooperates with the guide rail, the driving seat is provided with a driving motor, and the driving motor cooperates with the driving rack through a gear so that the driving seat can achieve horizontal movement on the guide rail.

6. The serial-parallel robot follow-up tool changing system according to claim 5, characterized in that: The robotic arm module includes a robotic arm base, a first arm, a second arm and a third arm. The bottom of the robotic arm base is fixedly mounted on the driving seat. The bottom of the first arm is transmitted to the robotic arm base, the tail of the second arm is connected to the first arm by transmission to form a hinge, the front of the second arm is connected to the tail of the third arm by transmission to form a hinge, and the front end of the third arm is rotatably connected to the tool clamping module.

7. The serial-parallel robot follow-up tool changing system according to claim 6, characterized in that: The tool clamping module comprises an adjusting head and a clamping claw, and the adjusting head is rotatably arranged at one end of the mechanical arm module away from the mechanical arm base.

8. The serial-parallel robot follow-up tool changing system according to claim 7, characterized in that: The clamping claws include a main clamping claw and an auxiliary clamping claw.

9. The serial-parallel robot follow-up tool changing system according to claim 2, characterized in that: The guide rail and the driving rack are arranged on one side or both sides of the tool changing base, so that several groups of tool changing modules are arranged in parallel corresponding to the guide rail and the driving rack, and the corresponding serial and parallel robots are followed to change tools at the same time.

10. The tool changing method of the serial-parallel robot follow-up tool changing system according to any one of claims 1 to 9, characterized in that: The tool changing steps include: S1. Drive the robot arm module so that the auxiliary gripper claw grabs the tool to be replaced in the tool holder; S2. Obtain the corresponding robot tool position and calculate the preset position of the drive seat; S3. Move the drive seat along the guide rail to a preset position; S4. Drive the robot arm module to move the tool clamping module to the robot tool; S5. The main gripper grips the tool to be removed from the robot; S6. Rotate the adjustment head so that the tool to be replaced moves to the tool fixture of the robot; S7. Adjust the movement of the robot arm module to place the removed tool to be removed into the tool holder to complete the tool changing operation; S8. The operating drive seat moves along the guide rail to the initial standby position or the preset position of the next tool-changing robot.

Images