Tool changing device, machining production line and control method

Abstract

The invention relates to the technical field of tool changing, and discloses a tool changing device, a machining production line and a control method.The tool changing device comprises a base, a mechanical arm and a tool changing gripper, the mechanical arm is connected with the base, and the tool changing gripper is connected with the mechanical arm. And the mechanical arm drives the tool changing gripper to grab the tool at the tool mounting position to realize disassembly, and the mechanical arm drives the tool changing gripper to grab the tool in the tool box and mount the tool to the tool mounting position. The tool changing device is used for tool changing of the machining mechanism, the tool changing device only needs to be used in cooperation with a common tool box, a complex tool magazine does not need to be arranged, the setting cost is saved, the machining mechanism does not need to be matched with actions, tool changing operation can be achieved, and the initial position of the machining mechanism is ensured.

Description

Technical Field

[0001] The present invention relates to the technical field of tool replacement, and in particular to a tool changing device, a processing production line and a control method. Background Art

[0002] CNC machine tools are automated processing machines controlled by numerical control programs. They are used to perform various processes on workpieces, such as turning, cutting, grinding and engraving. Nowadays, various mechanical parts have different shapes and the processing requirements are getting higher and higher. Therefore, different types of processing tools are needed during processing. Manual tool replacement is inefficient and does not conform to the concept of CNC automation. Therefore, automated tool magazines are now used for tool storage and automatic tool replacement.

[0003] To facilitate tool changing of CNC machine tools, the tool magazine is mostly set as a vertical tool magazine, and the tool is clamped in the tool magazine with a fixture. When changing tools, the processing mechanism approaches the tool magazine, and then performs positioning calibration, inserts the original tool into the tool magazine, and then releases the fixation with the tool. The processing mechanism then moves outward, and the vertical tool magazine rotates, so that the target tool moves to face the processing mechanism. At this time, the processing mechanism approaches the tool and calibrates the clamping part, and then clamps it. In the above-mentioned tool changing process, the processing mechanism needs to move and cooperate multiple times, and the tool magazine also needs to rotate to cooperate with the tool change, which results in the tool magazine being large in size and complex in structure, and requiring a specific tool magazine to be made separately, which is costly. Summary of the invention

[0004] In view of this, the present invention provides a tool changing device, a processing production line and a control method to solve the problem that in the existing tool changing process, the processing mechanism needs to move and cooperate multiple times, and the tool magazine also needs to rotate to cooperate with the tool change, resulting in the tool magazine being large in size and complex in structure, and a specific tool magazine needs to be separately manufactured, which is costly.

[0005] A first aspect of the present invention provides a tool changing device for replacing a tool at a tool mounting position of a processing mechanism, the tool changing device comprising a base, a robotic arm and a tool changing gripper, the robotic arm being connected to the base, and the tool changing gripper being connected to the robotic arm; based on the tool changing device receiving a tool changing signal, the robotic arm drives the tool changing gripper to grab the tool at the tool mounting position for disassembly, and the robotic arm drives the tool changing gripper to grab the tool in the tool box and install it to the tool mounting position.

[0006] Beneficial effect: The tool changing device of the present application is used to replace the tool in the tool mounting position of the processing mechanism. When the tool changing device receives the tool changing signal, the tool changing device starts to operate, and the tool changing device removes the tool in the tool mounting position. The tool changing device can also grab the tool in the tool box and install it to the tool mounting position, thereby realizing the replacement of the tool of the processing mechanism. By using the tool changing device of the present application to change the tool of the processing mechanism, it only needs to be used in conjunction with a general tool box. There is no need to set up a complicated tool library, saving setting costs. The processing mechanism does not need to cooperate in the action to realize the tool changing operation, thereby ensuring the initial position of the processing mechanism.

[0007] In some embodiments, the tool changing gripper includes a first gripper, a second gripper and a first connecting portion, the first gripper is used to grip the tool at the tool mounting position for disassembly, the second gripper is used to grip the tool in the tool box and install it to the tool mounting position, the first connecting portion can swing up and down relative to the robotic arm, and the first gripper and the second gripper are both arranged on the first connecting portion.

[0008] Beneficial effect: By setting the tool changing gripper to include a first gripper and a second gripper, when changing tools, the robotic arm first drives the second gripper to grab the tool in the tool box and move it to the processing mechanism, and then the robotic arm drives the first gripper to grab the tool at the tool installation position for disassembly, and the robotic arm then drives the second gripper to move to install the tool of the second gripper to the tool installation position, so that the processing mechanism can continue the processing operation, and the robotic arm then drives the first gripper to move to place the disassembled tool in the tool box. Therefore, by setting the cooperation of the first gripper and the second gripper to realize the disassembly and installation of the tool, the tool changing efficiency can be improved, the waiting time of the processing mechanism can be reduced, and the processing production efficiency can be improved. The set first connecting part can swing up and down relative to the robotic arm, thereby driving the first gripper and the second gripper connected to the first connecting part to swing up and down relative to the robotic arm, so that the first gripper and the second gripper can swing upward to be opposite to the tool installation position, which is convenient for the first gripper to grab the tool at the tool installation position for disassembly, and convenient for the second gripper to install the grabbed tool at the tool installation position.

[0009] In some embodiments, the first connecting portion includes a connecting wrist and a connecting seat, the connecting wrist and the robotic arm are hinged, the connecting wrist can swing up and down relative to the robotic arm, the connecting seat and the connecting wrist are rotatably connected, and the first gripper and the second gripper are respectively arranged on both sides of the connecting seat.

[0010] Beneficial effect: When the connecting wrist swings up and down relative to the robot arm, it drives the connecting seat to move together, thereby driving the first gripper and the second gripper connected to the connecting seat to swing up and down together, thereby realizing the position adjustment of the first gripper and the second gripper in the up and down directions. When the connecting seat rotates around its own center, it drives the first gripper and the second gripper to rotate around the center of the connecting seat, thereby realizing the adjustment of the circumferential position of the first gripper and the second gripper, making it convenient for the first gripper and the second gripper to cooperate with the tool mounting position respectively.

[0011] In some embodiments, the tool changing gripper also includes a first driving mechanism and / or a second driving mechanism, the first driving mechanism is transmission-connected to the connecting wrist, and the first driving mechanism is used to drive the connecting wrist to swing up and down relative to the robotic arm; the second driving mechanism is transmission-connected to the connecting seat, the first gripper and the second gripper, and the second driving mechanism can drive the connecting seat to rotate around its own center, and the second driving mechanism can also drive the first gripper and the second gripper to loosen and tighten.

[0012] Beneficial effect: When it is necessary to adjust the position of the first gripper and the second gripper in the up and down directions, the first drive mechanism drives the connecting wrist to swing up and down relative to the robot arm, thereby driving the connecting seat, the first gripper and the second gripper to swing up and down as a whole to achieve position adjustment. The second drive mechanism drives the connecting seat to rotate around its own center, thereby driving the first gripper and the second gripper to rotate circumferentially. When the first gripper and the second gripper need to be loosened or tightened, this can be achieved by driving the second drive mechanism, which is convenient for grasping or releasing the tool.

[0013] In some embodiments, the robotic arm includes a support base, a connecting arm, a second connecting part and an executing arm. The support base and the base are rotatably connected, the bottom of the connecting arm and the support base are hinged, the second connecting part and the top of the connecting arm are hinged, the second connecting part can swing up and down relative to the connecting arm, the executing arm is rotatably connected to the second connecting part, the executing arm can rotate around its own axis, and the tool changing gripper is connected to the executing arm.

[0014] Beneficial effect: Through the above-mentioned arrangement, when the support seat rotates relative to the base, it drives the connecting arm, the executing arm and the tool changing gripper to rotate relative to the base as a whole. When the second connecting part swings up and down relative to the connecting arm, it drives the executing arm and the tool changing gripper to swing up and down along the connecting arm. When the executing arm rotates around its own axis, it drives the tool changing gripper to rotate around the axis of the executing arm at the same time. Therefore, the mechanical arm of the present application has multiple degrees of freedom, which can realize the multi-directional operation of the tool changing gripper and improve the flexibility of the tool changing gripper.

[0015] In some embodiments, the robotic arm also includes a third driving mechanism, a fourth driving mechanism, a fifth driving mechanism and a sixth driving mechanism. The third driving mechanism is transmission-connected to the support seat, the fourth driving mechanism is transmission-connected to the connecting arm, the fifth driving mechanism is transmission-connected to the second connecting part, the fifth driving mechanism is used to drive the second connecting part and the executing arm to swing up and down relative to the connecting arm as a whole, the sixth driving mechanism is transmission-connected to the executing arm, and the sixth driving mechanism is used to drive the executing arm to rotate around its own axis.

[0016] Beneficial effects: The third driving mechanism drives the support seat to rotate, the fourth driving mechanism drives the connecting arm to swing relative to the support seat, the fifth driving mechanism drives the second connecting part to swing up and down relative to the connecting arm, and the sixth driving mechanism drives the execution arm to rotate around its own axis, thereby realizing independent movement of each structure.

[0017] The second aspect of the present invention provides a processing production line, including a tool box, a processing mechanism and a tool changing device of the present invention, wherein the tool box is used to store various types of tools, the processing mechanism has a tool mounting position, and the tool mounting position can selectively install a type of tool, the tool changing device can grab the tool in the tool mounting position for disassembly, and the tool changing device can also grab the tool in the tool box and install it to the tool mounting position.

[0018] Beneficial effect: Since the processing production line of the present invention includes the tool changing device of the present invention, it has the same technical effect as the tool changing device of the present invention, which will not be repeated here.

[0019] In some embodiments, the processing mechanism further includes a detection sensor, which is disposed at the tool installation position. Based on the detection sensor detecting that the tool is installed in place, the tool changing gripper of the tool changing device is controlled to release the tool.

[0020] Beneficial effect: The detection sensor further arranged can be used to detect whether the tool is installed in place. When the tool is installed in the tool installation position, the detection sensor is triggered, so that it can be determined that the tool has been installed in place, and then the tool changing gripper of the tool changing device is controlled to release the tool, thereby ensuring that the installation position of the tool is reliable.

[0021] A third aspect of the present invention provides a control method, which is used to control the tool changing device of the present invention, and the control method includes:

[0022] Get tool change signal;

[0023] The tool changing device is controlled to operate according to the tool changing signal, the robot arm drives the tool changing gripper to grab the tool at the tool installation position of the processing mechanism to realize disassembly, and the robot arm drives the tool changing gripper to grab the tool in the tool box and install it to the tool installation position.

[0024] Beneficial effect: Since the control method of the present application is used to control the tool changing device of the present invention, it has the same technical effect as the tool changing device and will not be described in detail here.

[0025] In some embodiments, after the step of obtaining the tool change signal, the following steps are included:

[0026] Obtaining tool information in the tool box;

[0027] The position of the tool to be replaced is determined according to the tool information in the tool box.

[0028] And / or, after the step of obtaining the tool change signal, the method further comprises:

[0029] calibrating an initial position of the tool changing device;

[0030] And / or, after the robot arm drives the tool changing gripper to grab the tool in the tool box and install it to the tool installation position, it includes:

[0031] Determine whether the tool is installed in place;

[0032] If yes, the robot arm drives the tool changing gripper to release the tool.

[0033] Beneficial effects: By acquiring the tool information in the tool box, the position of the tool to be replaced is determined according to the tool information in the tool box, and the tool changing device is controlled according to the determined tool position, thereby achieving accurate control of the tool changing device; before the tool changing device is actuated, the initial position of the tool changing device needs to be calibrated first, so that the tool changing device moves from the initial position each time it moves; after determining that the tool is installed in place, the robot arm is controlled to drive the tool changing gripper to release the tool, thereby achieving control of the tool installation accuracy and avoiding the situation where the tool changing gripper releases the tool before the tool is installed in place. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0035] Figure 1A front view of a tool changing device according to an embodiment of the present invention is shown;

[0036] Figure 2 A schematic diagram of the three-dimensional structure of a tool changing device according to an embodiment of the present invention is shown;

[0037] Figure 3 A partial structural schematic diagram of a tool changing device according to an embodiment of the present invention is shown;

[0038] Figure 4 A schematic diagram showing the structure of a tool changing device and a tool box according to an embodiment of the present invention is shown;

[0039] Figure 5 A schematic diagram showing the structure of a processing production line according to an embodiment of the present invention is shown;

[0040] Figure 6 A flow chart showing the overall steps of a control method according to an embodiment of the present invention is shown;

[0041] Figure 7 A detailed flowchart of a control method according to an embodiment of the present invention is shown;

[0042] Figure 8 A partial step flow chart of a control method according to an embodiment of the present invention is shown.

[0043] Description of reference numerals:

[0044] 1. Base;

[0045] 2. Robotic arm; 21. Support seat; 22. Connecting arm; 23. Executing arm; 24. Second connecting part; 25. Third driving mechanism; 26. Fourth driving mechanism; 27. Fifth driving mechanism; 28. Sixth driving mechanism;

[0046] 3. Tool changing gripper; 31. First gripper; 32. Second gripper; 33. First connecting portion; 331. Connecting wrist portion; 332. Connecting seat; 34. First driving mechanism; 35. Second driving mechanism;

[0047] 100. tool box; 101. tool;

[0048] 200, support platform;

[0049] 300. Processing mechanism; 301. Spindle; 302. Tool mounting position. DETAILED DESCRIPTION

[0050] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present invention.

[0051] In the description of the present invention, it should be noted that the terms "center", "up", "down", "left", "right", "vertical", "horizontal", "inside", "outside", etc. indicate directions or positional relationships based on the directions or positional relationships shown in the accompanying drawings. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction. Therefore, they cannot be understood as limitations on the present invention.

[0052] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0053] In addition, the technical features involved in the different embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0054] Combine the following Figures 1 to 8 , describing an embodiment of the present invention.

[0055] like Figures 1 to 3 as well as Figure 7 and Figure 8 As shown, according to an embodiment of the present invention, on the one hand, a tool changing device is disclosed, which is used to replace the tool 101 of the tool installation position 302 of the processing mechanism 300, and the tool changing device includes a base 1, a robotic arm 2 and a tool changing gripper 3, wherein the robotic arm 2 is connected to the base 1, and the tool changing gripper 3 is connected to the robotic arm 2. Based on the tool changing device receiving the tool changing signal, the robotic arm 2 drives the tool changing gripper 3 to grab the tool 101 of the tool installation position 302 for disassembly, and the robotic arm 2 drives the tool changing gripper 3 to grab the tool 101 in the tool box 100 and install it to the tool installation position 302.

[0056] The tool changing device of the present application is used to replace the tool 101 of the tool mounting position 302 of the processing mechanism 300. When the tool changing device receives the tool changing signal, the tool changing device starts to operate, and the tool changing device disassembles the tool 101 of the tool mounting position 302. The tool changing device can also grab the tool 101 in the tool box 100 and install it to the tool mounting position 302, thereby realizing the replacement of the tool 101 of the processing mechanism 300. By using the tool changing device of the present application to change the tool of the processing mechanism 300, it only needs to be used in conjunction with a general tool box 100, and there is no need to set up a complicated tool 101 library, saving setting costs. The processing mechanism 300 also does not need to cooperate in the action to realize the tool changing operation, thereby ensuring the initial position of the processing mechanism 300.

[0057] The base 1 is connected and fixed to the support platform 200 during use, so as to facilitate fixing the entire tool changing device on the support platform 200 and ensure its stability during use.

[0058] like Figure 1 and Figure 2 As shown, in some embodiments, the tool changing gripper 3 includes a first gripper 31 and a second gripper 32 , wherein the first gripper 31 is used to grip the tool 101 at the tool installation position 302 for disassembly, and the second gripper 32 is used to grip the tool 101 in the tool box 100 and install it to the tool installation position 302 .

[0059] By setting the tool changing gripper 3 to include a first gripper 31 and a second gripper 32, when changing the tool, the robot arm 2 first drives the second gripper 32 to grab the tool 101 in the tool box 100 and move it to the processing mechanism 300, and then the robot arm 2 drives the first gripper 31 to grab the tool 101 in the tool installation position 302 for disassembly, and the robot arm 2 then drives the second gripper 32 to move to install the tool 101 of the second gripper 32 to the tool installation position 302, so that the processing mechanism 300 can continue the processing operation, and the robot arm 2 then drives the first gripper 31 to move to place the disassembled tool 101 in the tool box 100. Therefore, by setting the first gripper 31 and the second gripper 32 to cooperate to realize the disassembly and installation of the tool 101, the tool changing efficiency can be improved, the waiting time of the processing mechanism 300 can be reduced, and the processing production efficiency can be improved.

[0060] It should be noted that if the same gripper is used to replace the tool 101, it is necessary to first control the gripper to remove the tool 101 on the processing mechanism 300 and place it in the tool box 100, and then control the gripper to grab the tool 101 in the tool box 100 and install it to the tool installation position 302. Only then can the processing mechanism 300 continue the processing operation, resulting in a longer waiting time for the processing mechanism 300. This problem does not exist in the present application.

[0061] Specifically, the first gripper 31 and the second gripper 32 have the same structure, and both include a plurality of ratchets, and the tool 101 is gripped by tightening the plurality of ratchets.

[0062] In terms of the shape, the pawl may be V-shaped, but is not limited thereto. For example, in other embodiments, the pawl may also be semicircular or other shapes.

[0063] It should be noted here that the handle end of the tool 101 is placed downward in the tool box 100, and the blade head of the tool 101 is facing upward. The first gripper 31 and the second gripper 32 grasp the blade head of the tool 101. During installation, the second gripper 32 sends the handle end of the tool 101 into the tool installation position 302 to install the tool 101, and the first gripper 31 inserts the handle end of the disassembled tool 101 into the tool box 100 to store the tool 101.

[0064] In order to facilitate the first gripper 31 and the second gripper 32 to grasp the tool 101, the present application can set a clamping groove on the outer wall of the tool 101. The first gripper 31 and the second gripper 32 are clamped in the clamping groove to clamp and fix the tool 101, thereby reducing the possibility of the tool 101 being loosened during movement.

[0065] It should be noted that when the first gripper 31 grasps the tool 101 at the tool mounting position 302 for disassembly, the first gripper 31 grasps the tool 101 at the tool mounting position 302, and then the processing mechanism 300 releases the tool 101, and the robot arm 2 drives the first gripper 31 to move the tool 101 out of the tool mounting position 302, thereby realizing the disassembly of the tool 101.

[0066] When the second gripper 32 grabs the tool 101 of the tool box 100 and installs it in the tool installation position 302 , the processing mechanism 300 locks the tool 101 , and the robot arm 2 drives the second gripper 32 to release the tool 101 , thereby achieving the installation of the tool 101 .

[0067] like Figure 2 and Figure 3 As shown, in some embodiments, the tool changing gripper 3 also includes a first connection portion 33 hinged to the robot arm 2, the first connection portion 33 can swing up and down relative to the robot arm 2, and the first gripper 31 and the second gripper 32 are both arranged on the first connection portion 33.

[0068] The first connecting portion 33 is configured to be able to swing up and down relative to the robot arm 2, thereby driving the first gripper 31 and the second gripper 32 connected to the first connecting portion 33 to swing up and down relative to the robot arm 2, so that the first gripper 31 and the second gripper 32 can swing upward to be opposite to the tool mounting position 302, making it convenient for the first gripper 31 to grab the tool 101 at the tool mounting position 302 for disassembly, and for the second gripper 32 to install the grabbed tool 101 at the tool mounting position 302.

[0069] In some embodiments, the first connecting portion 33 includes a connecting wrist 331 and a connecting seat 332, wherein the connecting wrist 331 and the robotic arm 2 are hinged, the connecting wrist 331 can swing up and down relative to the robotic arm 2, the connecting seat 332 and the connecting wrist 331 are rotatably connected, and the first gripper 31 and the second gripper 32 are respectively arranged on both sides of the connecting seat 332.

[0070] When the connecting wrist 331 swings up and down relative to the robot arm 2, it drives the connecting seat 332 to move together, thereby driving the first gripper 31 and the second gripper 32 connected to the connecting seat 332 to swing up and down together, thereby realizing the position adjustment of the first gripper 31 and the second gripper 32 in the up and down directions. When the connecting seat 332 rotates around its own center, it drives the first gripper 31 and the second gripper 32 to rotate around the center of the connecting seat 332, thereby realizing the adjustment of the circumferential position of the first gripper 31 and the second gripper 32, making it convenient for the first gripper 31 and the second gripper 32 to cooperate with the tool mounting position 302 respectively.

[0071] That is, when the second gripper 32 is needed to grip the tool 101 in the tool mounting position 302, the connecting seat 332 rotates around its own center to drive the second gripper 32 to rotate to the position below the tool mounting position 302. When the first gripper 31 is needed to install the tool 101 in the tool mounting position 302, the connecting seat 332 rotates around its own center to drive the first gripper 31 to rotate to the position below the tool mounting position 302.

[0072] In this embodiment, the line connecting the positions of the first gripper 31 and the second gripper 32 intersects and is perpendicular to the center line of the connecting seat 332. When the connecting seat 332 rotates around its own center to drive the first gripper 31 and the second gripper 32 to be alternately located below the tool mounting position 302, they can rotate 180° each time. Specifically, they can rotate 180° each time in the clockwise direction, or they can rotate 180° alternately in the clockwise and counterclockwise directions.

[0073] In terms of shape, the connecting seat 332 may be a ⊥-shaped seat, the top of the ⊥-shaped seat and the connecting wrist 331 are rotatably connected, and the first gripper 31 and the second gripper 32 are respectively disposed at the two ends of the bottom of the ⊥-shaped seat.

[0074] In some embodiments, the tool changing gripper 3 further includes a first driving mechanism 34 , which is transmission-connected to the connecting wrist 331 , and is used to drive the connecting wrist 331 to swing up and down relative to the robot arm 2 .

[0075] When the positions of the first gripper 31 and the second gripper 32 in the up and down directions need to be adjusted, the first driving mechanism 34 drives the connecting wrist 331 to swing up and down relative to the robot arm 2, thereby driving the connecting seat 332, the first gripper 31 and the second gripper 32 to swing up and down as a whole to achieve position adjustment.

[0076] In some embodiments, the tool changing gripper 3 also includes a second driving mechanism 35, which is transmission-connected to the connecting seat 332, the first gripper 31, and the second gripper 32. The second driving mechanism 35 can drive the connecting seat 332 to rotate around its own center, and the second driving mechanism 35 can also drive the first gripper 31 and the second gripper 32 to loosen and tighten.

[0077] A second driving mechanism 35 is further provided, and the second driving mechanism 35 can drive the connecting seat 332 to rotate around its own center, thereby driving the first gripper 31 and the second gripper 32 to rotate circumferentially. The second driving mechanism 35 is also transmission-connected to both the first gripper 31 and the second gripper 32. When the first gripper 31 and the second gripper 32 need to be loosened or tightened, it can be achieved by driving through the second driving mechanism 35, thereby facilitating the gripping or loosening of the tool 101.

[0078] It can be understood that the second driving mechanism 35 of the present application can not only drive the connecting seat 332 to rotate, but also drive the first gripper 31 and the second gripper 32 to achieve the gripping and releasing of the tool 101. Specifically, the second driving mechanism 35 can be controlled by the controller to perform corresponding operations.

[0079] like Figure 1 and Figure 2 As shown, in some embodiments, the robot arm 2 includes a support seat 21, a connecting arm 22, a second connecting portion 24 and an executing arm 23, wherein the support seat 21 and the base 1 are rotatably connected, the bottom of the connecting arm 22 is hinged to the support seat 21, the second connecting portion 24 and the top of the connecting arm 22 are hinged, the second connecting portion 24 can swing up and down relative to the connecting arm 22, the executing arm 23 is rotatably connected to the second connecting portion 24, the executing arm 23 can also rotate around its own axis, and the end of the executing arm 23 away from the connecting arm 22 is connected to the tool changing gripper 3.

[0080] Through the above-mentioned arrangement, when the support seat 21 rotates relative to the base 1, it drives the connecting arm 22, the executing arm 23 and the tool changing gripper 3 to rotate relative to the base 1 as a whole. When the second connecting part 24 swings up and down relative to the connecting arm 22, it drives the executing arm 23 and the tool changing gripper 3 to swing up and down along the connecting arm 22. When the executing arm 23 rotates around its own axis, it drives the tool changing gripper 3 to rotate around the axis of the executing arm 23 at the same time. Therefore, the robot arm 2 of the present application has multiple degrees of freedom, which can realize the multi-directional operation of the tool changing gripper 3 and improve the flexibility of the tool changing gripper 3.

[0081] Specifically, the center of the support seat 21 and the center of the base 1 are connected through a rotating shaft. The support seat 21 provides force support for the connecting arm 22, the actuator arm 23 and the tool changing gripper 3 as a whole. The connecting arm 22 is vertically arranged and perpendicular to the support seat 21. The connecting arm 22 can raise the operating height of the entire robotic arm 2. The actuator arm 23 is perpendicular to the connecting arm 22 in the initial position, and there is an acute angle between the actuator arm 23 and the connecting arm 22 during the action.

[0082] In some embodiments, the robotic arm 2 also includes a third driving mechanism 25, a fourth driving mechanism 26, a fifth driving mechanism 27 and a sixth driving mechanism 28. The third driving mechanism 25 is transmission-connected to the support seat 21, the fourth driving mechanism 26 is transmission-connected to the connecting arm 22, the fifth driving mechanism 27 is transmission-connected to the second connecting part 24, the fifth driving mechanism 27 is used to drive the second connecting part 24 and the executing arm 23 to swing up and down as a whole relative to the connecting arm 22, the sixth driving mechanism 28 is transmission-connected to the executing arm 23, and the sixth driving mechanism 28 is used to drive the executing arm 23 to rotate around its own axis.

[0083] The third driving mechanism 25 drives the support seat 21 to rotate, the fourth driving mechanism 26 drives the connecting arm 22 to swing relative to the support seat 21, the fifth driving mechanism 27 drives the second connecting part 24 to swing up and down relative to the connecting arm 22, and the sixth driving mechanism 28 drives the actuator arm 23 to rotate around its own axis, thereby realizing independent movement of each structure.

[0084] In this embodiment, the first drive mechanism 34, the second drive mechanism 35, the third drive mechanism 25, the fourth drive mechanism 26, the fifth drive mechanism 27 and the sixth drive mechanism 28 are all connected to the controller to control the operation of each drive mechanism through the controller to improve the degree of automation.

[0085] It should be noted that the transmission connection between the first drive mechanism 34 and the connecting wrist 331, the transmission connection between the second drive mechanism 35 and the connecting seat 332, the first gripper 31 and the second gripper 32, the transmission connection between the third drive mechanism 25 and the support seat 21, the transmission connection between the fourth drive mechanism 26 and the connecting arm 22, the transmission connection between the fifth drive mechanism 27 and the second connecting part 24, and the transmission connection between the sixth drive mechanism 28 and the actuator arm 23 are all existing technologies and will not be repeated in this embodiment.

[0086] Exemplarily, the first drive mechanism 34, the second drive mechanism 35, the third drive mechanism 25, the fourth drive mechanism 26, the fifth drive mechanism 27 and the sixth drive mechanism 28 can all be servo motors, reducers, couplings and other structures to achieve corresponding functions, but are not limited to this.

[0087] like Figure 7 and Figure 8 As shown, according to an embodiment of the present invention, on the other hand, a processing production line is disclosed, including a tool box 100, a processing mechanism 300 and a tool changing device of the present invention, wherein the tool box 100 is used to store various types of tools 101, the processing mechanism 300 has a tool mounting position 302, the tool mounting position 302 can selectively install a type of tool 101, the tool changing device can grab the tool 101 in the tool mounting position 302 for disassembly, and the tool changing device can also grab the tool 101 in the tool box 100 and install it to the tool mounting position 302.

[0088] Since the processing production line of the present invention includes the tool changing device of the present invention, it has the same technical effect as the tool changing device of the present invention, which will not be described in detail here.

[0089] The processing mechanism 300 may specifically be a CNC machine tool, but is not limited thereto.

[0090] Specifically, the processing mechanism 300 includes a spindle 301, and a tool mounting position 302 is arranged at the axis center of the spindle 301. The depth of the tool mounting position 302 is less than the length of the tool 101, so that when the tool 101 is installed in the tool mounting position 302, the tool head of the tool 101 is exposed to the outside to realize the processing operation.

[0091] Preferably, the tool box 100 can be fixed to the support platform 200, the tool changing device can also be fixed to the support platform 200 through the base 1, and the tool changing device can be arranged between the tool box 100 and the processing mechanism 300. In this way, the robot arm 2 can drive the tool changing gripper 3 to rotate to the tool box 100 or the processing mechanism 300 each time it rotates 180°, thereby facilitating the replacement operation of the tool 101.

[0092] In some embodiments, the processing mechanism 300 further includes a detection sensor, which is disposed at the tool installation position 302 . Based on the detection sensor detecting that the tool 101 is installed in place, the tool changing gripper 3 of the tool changing device is controlled to release the tool 101 .

[0093] The detection sensor further arranged can be used to detect whether the tool 101 is installed in place. When the tool 101 is installed to the tool installation position 302, the detection sensor is triggered, so that it can be determined that the tool 101 is installed in place, and then the tool changing gripper 3 of the tool changing device is controlled to release the tool 101, thereby ensuring that the installation position of the tool 101 is reliable.

[0094] Specifically, the detection sensor may be an infrared sensor, a contact sensor, etc., which may be configured according to specific needs and is not limited in this embodiment.

[0095] In order to facilitate the understanding of the tool changing device and processing production line of this application, Figure 1 To Attachment Figure 8 , its working process is introduced as follows:

[0096] When the processing mechanism 300 needs to replace the tool 101, the controller sends a tool change signal and controls the processing mechanism 300 to move to a specified position (which can be set as needed).

[0097] Determination of tool 101: The controller determines the model of tool 101 that needs to be replaced based on the processing requirements and the current state of tool 101. The controller obtains tool information in the tool box 100 and determines the position of the tool 101 that needs to be replaced based on the tool information in the tool box 100.

[0098] Initial position calibration of the tool changing device: When the tool changing device receives the tool changing signal, the controller determines whether the tool changing device is in the initial position. If so, it proceeds to the next step. If not, it controls the tool changing device to adjust to the initial position.

[0099] The tool changing device grabs the required tool 101: the controller controls the operation of the tool changing device according to the determined position information of the tool 101 to be replaced, the third driving mechanism 25 drives the support seat 21 to rotate forward relative to the base 1, thereby driving the connecting arm 22, the execution arm 23 and the tool changing gripper 3 to rotate forward relative to the base 1 as a whole to the top of the tool box 100, the connecting arm 22 and the execution arm 23 cooperate to adjust the second gripper 32 to the top of the required tool 101, the second gripper 32 is tightened to grasp the required tool 101, the connecting arm 22 and the execution arm 23 cooperate to move the required tool 101 out of the tool box 100, the third driving mechanism 25 drives the support seat 21 to rotate reversely relative to the base 1, thereby driving the connecting arm 22, the execution arm 23 and the tool changing gripper 3 to rotate reversely relative to the base 1 to the processing mechanism 300.

[0100] The tool changing device disassembles the tool 101 from the tool mounting position 302: the connecting arm 22 and the executing arm 23 cooperate to adjust the first gripper 31 to the bottom of the tool mounting position 302, the connecting wrist 331 swings upward to drive the first gripper 31 to flip upward to be opposite to the tool mounting position 302, and the first gripper 31 is controlled to grip the tool 101 from the tool mounting position 302. The processing mechanism 300 releases the tool 101 and controls the first gripper 31 to move the tool 101 out of the tool mounting position 302, thereby realizing the disassembly of the original tool 101.

[0101] The tool changing device installs the required tool 101 to the tool mounting position 302: the connecting seat 332 rotates 180° to interchange the position of the first gripper 31 and the position of the second gripper 32, so that the second gripper 32 is located below the tool mounting position 302, and the second gripper 32 is controlled to move to install the required tool 101 to the tool mounting position 302. When the detection sensor detects that the tool 101 has been installed in place, the processing mechanism 300 locks the installed tool 101, controls the second gripper 32 to move to release the tool 101, and realizes the installation of the required tool 101. The processing mechanism 300 can continue the processing operation.

[0102] The tool changing device places the disassembled tool 101 in the tool box 100 and updates the tool information in the tool box 100 .

[0103] like Figures 6 to 8 As shown, according to an embodiment of the present invention, on the other hand, a control method is disclosed, the control method is used to control the tool changing device of the present invention, and the control method includes:

[0104] Get tool change signal;

[0105] The tool changing device is controlled to operate according to the tool changing signal, the robot arm 2 drives the tool changing gripper 3 to grab the tool 101 at the tool installation position 302 of the processing mechanism 300 for disassembly, and the robot arm 2 drives the tool changing gripper 3 to grab the tool 101 in the tool box 100 and install it to the tool installation position 302.

[0106] Since the control method of the present application is used to control the tool changing device of the present invention, it has the same technical effect as the tool changing device, and this embodiment will not be described in detail here.

[0107] In some embodiments, after the step of obtaining the tool change signal, the following steps are included:

[0108] Obtaining tool information in the tool box 100;

[0109] The position of the tool 101 to be replaced is determined according to the tool information in the tool box 100 .

[0110] By acquiring the tool information in the tool box 100, the position of the tool 101 to be replaced is determined according to the tool information in the tool box 100, and the tool changing device is controlled according to the determined position of the tool 101, thereby achieving accurate control of the tool changing device.

[0111] Specifically, an information tag may be set at the position of each tool 101 in the tool box 100 , and the controller may determine the position of each tool 101 by acquiring the information tag at the position of each tool 101 , thereby controlling the tool changing device to operate.

[0112] In some embodiments, after the step of acquiring the tool change signal, the following steps are included:

[0113] Calibrate the initial position of the tool changer.

[0114] Before the tool changing device is actuated, the initial position of the tool changing device needs to be calibrated first, so that the tool changing device can be actuated from the initial position each time.

[0115] In some embodiments, calibrating an initial position of a tool changing device includes:

[0116] Determine whether the tool changing device is in the initial position;

[0117] If yes, proceed to the next step;

[0118] If not, control the tool changing device to adjust to the initial position.

[0119] Specifically, when it is determined that the tool changing device is in the initial position, the next step can be performed. When it is determined that the tool changing device is not in the initial position, the tool changing device is controlled to adjust to the initial position, thereby realizing calibration of the initial position of the tool changing device.

[0120] It should be noted that the initial position of the tool changing device can be set as needed, and this embodiment does not limit it.

[0121] After the robot arm 2 drives the tool changing gripper 3 to grab the tool 101 in the tool box 100 and install it in the tool installation position 302, it includes:

[0122] Determine whether the cutter 101 is installed in place;

[0123] If yes, the robot arm 2 drives the tool changing gripper 3 to release the tool 101 .

[0124] After determining that the tool 101 is installed in place, the robot arm 2 is controlled to drive the tool changing gripper 3 to loosen the tool 101, thereby achieving control of the installation accuracy of the tool 101 and avoiding the situation where the tool changing gripper 3 loosens the tool 101 before the tool 101 is installed in place.

[0125] In some embodiments, the tool changing gripper 3 includes a first gripper 31 and a second gripper 32; the tool changing device is controlled to operate according to the tool changing signal, the robot arm 2 drives the tool changing gripper 3 to grab the tool 101 of the tool installation position 302 of the processing mechanism 300 to realize disassembly, and the robot arm 2 drives the tool changing gripper 3 to grab the tool 101 in the tool box 100 and install it to the tool installation position 302, including:

[0126] The robot arm 2 drives the second gripper 32 to grab the tool 101 in the tool box 100;

[0127] The robot arm 2 drives the first gripper 31 to grab the tool 101 at the tool installation position 302 to realize disassembly;

[0128] The robot arm 2 drives the second gripper 32 to move so as to install the tool 101 of the second gripper 32 to the tool installation position 302 .

[0129] When changing the tool, the robot arm 2 first drives the second gripper 32 to grab the tool 101 in the tool box 100 and move it to the processing mechanism 300. Then the robot arm 2 drives the first gripper 31 to grab the tool 101 at the tool installation position 302 for disassembly. Then the robot arm 2 drives the second gripper 32 to install the tool 101 of the second gripper 32 to the tool installation position 302, thereby replacing the tool 101 of the processing mechanism 300.

[0130] After determining that the tool 101 is installed in place, the robot arm 2 drives the second gripper 32 to release the tool 101, which can ensure that the tool 101 is installed in place before controlling the robot arm 2 to drive the second gripper 32 to release the tool 101.

[0131] Although the embodiments of the present invention have been described in conjunction with the accompanying drawings, those skilled in the art may make various modifications and variations without departing from the spirit and scope of the present invention, and such modifications and variations are all within the scope defined by the present application.

Claims

1. A tool changing device for replacing a tool (101) of a tool installation position (302) of a processing mechanism (300), characterized in that: The tool changing device comprises: Base (1); A mechanical arm (2) connected to the base (1); A tool changing gripper (3) connected to the mechanical arm (2); Based on the tool changing device receiving the tool changing signal, the robot arm (2) drives the tool changing gripper (3) to grab the tool (101) at the tool installation position (302) for disassembly, and the robot arm (2) drives the tool changing gripper (3) to grab the tool (101) in the tool box (100) and install it to the tool installation position (302).

2. The tool changing device according to claim 1, characterized in that: The tool changing gripper (3) comprises: A first gripper (31) is used to grip the tool (101) at the tool installation position (302) to achieve disassembly; A second gripper (32) is used to grab the tool (101) in the tool box (100) and install it in the tool installation position (302); The first connection part (33) is capable of swinging up and down relative to the mechanical arm (2), and the first gripper (31) and the second gripper (32) are both arranged on the first connection part (33).

3. The tool changing device according to claim 2, characterized in that: The first connecting portion (33) comprises: A connecting wrist (331) is hinged to the mechanical arm (2), and the connecting wrist (331) can swing up and down relative to the mechanical arm (2); The connecting seat (332) is rotatably connected to the connecting wrist (331); the connecting seat (332) can rotate around its own center; the first gripper (31) and the second gripper (32) are respectively arranged on both sides of the connecting seat (332).

4. The tool changing device according to claim 3, characterized in that: The tool changing gripper (3) further comprises a first driving mechanism (34) and / or a second driving mechanism (35), wherein the first driving mechanism (34) is in transmission connection with the connecting wrist (331), the first driving mechanism (34) is used to drive the connecting wrist (331) to swing up and down relative to the robot arm (2), the second driving mechanism (35) is in transmission connection with the connecting seat (332), the first gripper (31) and the second gripper (32), the second driving mechanism (35) can drive the connecting seat (332) to rotate around its own center, and the second driving mechanism (35) can also drive the first gripper (31) and the second gripper (32) to loosen and tighten.

5. The tool changing device according to any one of claims 1 to 4, characterized in that: The mechanical arm (2) comprises: A support seat (21) rotatably connected to the base (1); A connecting arm (22), the bottom of the connecting arm (22) being hinged to the supporting seat (21); A second connecting portion (24) is hinged to the top of the connecting arm (22), and the second connecting portion (24) can swing up and down relative to the connecting arm (22); The execution arm (23) is rotatably connected to the second connection part (24); the execution arm (23) can rotate around its own axis; and the tool changing gripper (3) is connected to the execution arm (23).

6. The tool changing device according to claim 5, characterized in that: The robotic arm (2) further comprises: A third driving mechanism (25) is drivingly connected to the support base (21); a fourth driving mechanism (26) drivingly connected to the connecting arm (22); a fifth driving mechanism (27) which is in driving connection with the second connecting portion (24), and is used to drive the second connecting portion (24) and the actuator arm (23) to swing up and down as a whole relative to the connecting arm (22); The sixth driving mechanism (28) is in transmission connection with the execution arm (23), and the sixth driving mechanism (28) is used to drive the execution arm (23) to rotate around its own axis.

7. A processing production line, characterized in that: include: A tool box (100) for storing various types of tools (101); The processing mechanism (300) has a tool installation position (302), and the tool installation position (302) can selectively install a type of tool (101); The tool changing device described in any one of claims 1 to 6 is capable of grabbing the tool (101) in the tool mounting position (302) for disassembly, and the tool changing device is also capable of grabbing the tool (101) in the tool box (100) and installing it to the tool mounting position (302).

8. The processing line according to claim 7, characterized in that: The processing mechanism (300) further comprises a detection sensor, which is arranged at the tool installation position (302). Based on the detection sensor detecting that the tool (101) is installed in place, the tool changing gripper (3) of the tool changing device is controlled to release the tool (101).

9. A control method, characterized in that: The control method is used to control the tool changing device according to any one of claims 1 to 6, and the control method comprises: Get tool change signal; The tool changing device is controlled to operate according to the tool changing signal, the robot arm (2) drives the tool changing gripper (3) to grab the tool (101) at the tool installation position (302) of the processing mechanism (300) to realize disassembly, and the robot arm (2) drives the tool changing gripper (3) to grab the tool (101) in the tool box (100) and install it to the tool installation position (302).

10. The control method according to claim 9, characterized in that: After the step of obtaining the tool change signal, the following steps are included: Acquiring tool information in the tool box (100); Determining the position of the tool (101) to be replaced according to the tool information in the tool box (100); And / or, after the step of obtaining the tool change signal, the method further comprises: calibrating an initial position of the tool changing device; And / or, after the mechanical arm (2) drives the tool changing gripper (3) to grab the tool (101) in the tool box (100) and install it in the tool installation position (302), the method comprises: Determining whether the tool (101) is installed in place; If yes, the robot arm (2) drives the tool changing gripper (3) to release the tool (101).

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