Tool switching device

Abstract

The embodiment of the invention relates to a tool switching device. The tool switching device includes: a body including an opening configured to receive a tool and defining a centerline; a plurality of jaws disposed about the opening, each jaw configured to rotate about a respective pivot fixedly coupled to the body and including: a first protrusion disposed adjacent to the opening and extending toward the opening, and a second protrusion disposed adjacent to the opening and extending toward the opening; the second protrusion is arranged on the side opposite to the first protrusion with respect to the pivot. And a leaf spring fixedly coupled at one end to the body and at the other end to the second protrusion, the jaw configured to rotate in a first rotational direction about the pivot shaft under actuation applied by the tool to allow the first protrusion to move away from the centerline of the opening to receive the tool and bias the leaf spring. According to example embodiments, loading and unloading of tools may be performed automatically and conveniently by a robot without the use of any external power source.

Description

Technical Field

[0001] Example embodiments of the present disclosure relate generally to the field of machining industry, and more particularly to a quick-change tool switching device used in machining of an industrial robot. Background Art

[0002] Most machining processes in the machining industry require material removal. Milling, turning, boring, drilling and grinding all require contact between the tool and the workpiece to be machined, and such contact will cause problems with tool fixing, wear and replacement. As the tool is used, it will wear and it is necessary to replace the used tool. Currently, there are many kinds of tool fixing and replacement methods on the market. However, most of these methods are manually operated, which affects the cycle time. Summary of the invention

[0003] Example embodiments of the present disclosure generally provide a tool switching apparatus.

[0004] In one aspect, a tool switching device is provided. The tool switching device includes: a body including an opening configured to receive a tool and defining a centerline; a plurality of jaws disposed about the opening, each jaw configured to rotate about a corresponding pivot fixedly coupled to the body and including: a first protrusion disposed adjacent to the opening and extending toward the opening; and a second protrusion disposed on a side opposite to the first protrusion with respect to the pivot; and a flap spring fixedly coupled to the body at one end and coupled to the second protrusion at the other end, the jaw configured to rotate about the pivot in a first rotational direction under actuation applied by the tool to allow the first protrusion to move away from the centerline of the opening, thereby receiving the tool and biasing the flap spring.

[0005] According to example embodiments, loading and unloading of tools may be automatically and conveniently performed by a robot without using any external power source.

[0006] In some example embodiments, the jaw is further configured to rotate about the pivot in a second rotational direction opposite to the first rotational direction under the force of the leaf spring to allow the first protrusion to move toward a centerline of the opening to clamp the tool.

[0007] In some example embodiments, the tool switching device further includes a collar that is disposed outwardly from the jaws and is configured to be stopped by the unloading base; when the jaw moves parallel to the centerline, the second protrusion is actuated by the collar to cause the jaw to rotate about the corresponding pivot in the first rotational direction, thereby allowing the first protrusion to move away from the centerline of the opening to release the tool.

[0008] In some example embodiments, the tool switching device further includes a pushing member disposed in the first groove above the opening and configured to push the tool and drive the tool to fall from the tool switching device into the unloading base.

[0009] In some example embodiments, the jaw includes a third protrusion extending away from a centerline of the opening, the third protrusion including a protrusion surface inclined at an angle less than a predetermined threshold relative to the centerline of the opening.

[0010] In some example embodiments, the tool switching device further includes: a groove disposed in the main body and extending in a direction that is not parallel to the centerline of the opening; and a ball plunger disposed in the groove, the ball of the ball plunger being configured to be compressed by the outer surface of the tool and pop out into the groove of the tool when the ball disengages from the outer surface.

[0011] In some example embodiments, the third protrusion is perpendicular to a centerline of the opening.

[0012] In some example embodiments, the plurality of jaws are equally spaced around the opening. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] The above and other objects, features and advantages of the exemplary embodiments disclosed herein will become more understandable through the following detailed description with reference to the accompanying drawings, in which several exemplary embodiments disclosed herein are illustrated in an exemplary and non-limiting manner, in which:

[0014] Figure 1 illustrates a perspective view of a tool switching device together with two bases according to an example embodiment of the present disclosure;

[0015] Figure 2 The diagram shows Figure 1 An example cross-sectional view of the tool switching device and base shown in;

[0016] Figure 3 illustrates a perspective view of a tool switching device according to an example embodiment of the present disclosure;

[0017] Figure 4 The diagram shows Figure 3 An example cross-sectional view of a tool switching device shown in;

[0018] Figure 5 illustrates a perspective view of a clamping jaw according to an example embodiment of the present disclosure;

[0019] FIG. 6A to FIG. 6D illustrates example steps of loading a tool onto a tool changing device according to an example embodiment of the present disclosure;

[0020] 7A to 7D illustrates example steps of unloading a tool from a tool changing device according to an example embodiment of the present disclosure; and

[0021] Figure 8 An enlarged view of a clamping jaw according to an example embodiment of the present disclosure is illustrated.

[0022] Throughout the drawings, the same or similar reference numerals refer to the same or similar elements. DETAILED DESCRIPTION

[0023] The principle of the present disclosure will now be described with reference to some example embodiments. It will be understood that these embodiments are described only for illustrative purposes and to help those skilled in the art understand and implement the present disclosure, without implying any limitation on the scope of the present disclosure. The disclosure described herein can be implemented in a variety of ways different from the ways described below.

[0024] In the following description and claims, unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which the present disclosure belongs.

[0025] References in this disclosure to "one embodiment," "an embodiment," "an example embodiment," etc., indicate that the described embodiment may include a particular feature, structure, or characteristic, but not every embodiment necessarily includes the particular feature, structure, or characteristic. In addition, such phrases do not necessarily refer to the same embodiment. Further, when a particular feature, structure, or characteristic is described in conjunction with an embodiment, it should be claimed that, whether or not explicitly described, it is within the knowledge of those skilled in the art to apply such feature, structure, or characteristic in conjunction with other embodiments.

[0026] It should be understood that although the terms "first" and "second" etc. can be used to describe various elements in this article, these elements should not be limited by these terms. These terms are only used to distinguish one element from another element. For example, without departing from the scope of this example embodiment, the first element can be referred to as the second element, and similarly, the second element can be referred to as the first element. As used herein, the term "and / or" includes any and all combinations of one or more of the listed items.

[0027] The terms used herein are for the purpose of describing specific embodiments only and are not intended to limit the present example embodiments. As used herein, the singular forms "a", "an", and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms "comprises", "comprising", "has", "having", "includes", and / or "including" when used herein indicate the presence of stated features, elements, and / or parts, etc., but do not exclude the presence or addition of one or more other features, elements, parts, and / or combinations thereof.

[0028] As described above, there are many kinds of tool fixing and replacing methods in the market. Among these conventional methods, some of them require manual replacement of tool heads, which cannot be perfectly applied to automatic equipment. Some of them should be pre-installed in the tool handle and must be matched with the tool handle, which has high cost, large overall size, and cannot be used in limited space or small-scale processing occasions.

[0029] At least to solve the problems existing in the conventional method, the present disclosure proposes a solution to achieve rapid tool replacement without external power supply. In addition, the tool switching device can be adapted to tools of different brands and models, and can be used by modifying the assembly installation structure, which enables the end customer to achieve the functions of batch loading, automatic replacement, and automatic unloading of equipment consumable tools.

[0030] The following will be based on Figures 1 to 8 The exemplary embodiments are described in more detail. Figure 1 to Figure 2 ,in Figure 1 A perspective view of a tool switching device 1 together with two bases according to an example embodiment of the present disclosure is illustrated, and Figure 2 The diagram shows Figure 1 An example cross-sectional view of the tool changing device 1 and the base is shown in FIG.

[0031] like Figure 1 As shown in FIG. 1 , two bases are shown, such as a loading base 3 and an unloading base 4. The loading base 3 is used to accommodate a new tool 2 to be installed on the tool changing device 1, and the unloading base 4 is used to receive the used and replaced tool 2. The tool changing device 1 can be mounted to a robot (not shown) and manipulated by the robot. For example, Figure 1As shown in the figure, the shaft 40 can extend from the body 10 of the tool switching device 1 and can be grasped by the robot. By the control of the robot, the tool switching device 1 can be actuated to any desired position. For example, the tool switching device 1 can be grasped by the robot via the shaft 40 to move within the loading base 3 to allow a new tool 2 in the loading base 3 to be installed on the tool switching device 1. In some example embodiments, the tool 2 can be a grinding head. It will be understood that other types of tools 2 are also possible. The tool 2 mounted to the tool switching device 1 can be used to perform a predetermined task. For example, if the tool 2 is a grinding head, the tool can be used to polish a workpiece. After completing the predetermined task, the tool 2 should be replaced according to its degree of wear. In this case, the tool switching device 1 can also be grasped by the robot to move to the vicinity of the unloading base 4, thereby releasing the used tool 2.

[0032] According to the present disclosure, the tool 2 can be conveniently loaded and unloaded, and there is no need to rely on an external power source to replace the tool 2.

[0033] The following will refer to Figure 3 6 to 6, the details of the tool switching device 1 are described in more detail, wherein Figure 3 illustrates a perspective view of a tool switching device 1 according to an example embodiment of the present disclosure; and Figure 4 The diagram shows Figure 3 An example cross-sectional view of the tool switching device 1 is shown in FIG.

[0034] like Figure 3 and Figure 4 As shown, the tool switching device 1 generally includes a main body 10 and a plurality of jaws 20. The main body 10 includes an opening 12 in the middle thereof, and the opening 12 is configured to receive the tool 2. In the illustrated embodiment, three jaws 20 are included, and the three jaws are arranged around the opening 12. It should be understood that the number of jaws 20 is merely an example and does not imply any limitation on the scope of the present disclosure. Depending on various circumstances, the tool switching device 1 may include two, four, five or more jaws 20. In further exemplary embodiments, the jaws 20 may be distributed equidistantly around the opening 12.

[0035] Figure 5 A perspective view of a clamping jaw 20 according to an exemplary embodiment of the present disclosure is shown. Figure 5 As shown in FIG. 1 , the clamping jaw 20 is configured to rotate around a corresponding pivot 14 fixedly coupled to the main body 10 of the tool switching device 1. The clamping jaw 20 includes a first protrusion 21 and a second protrusion 22. The first protrusion 21 is disposed adjacent to the opening 12 and extends toward the opening 12; and the second protrusion 22 is disposed on the opposite side of the first protrusion 21 with respect to the pivot 14.

[0036] Return to reference Figure 3and Figure 4 The tool switching device 1 further includes a leaf spring 16 , one end of which is fixedly coupled to the main body 10 , and the other end of which is coupled to the second protrusion 22 of the clamping jaw 20 .

[0037] FIG. 6A to FIG. 6D Exemplary steps of loading a tool 2 onto a tool changing device 1 according to an exemplary embodiment of the present disclosure are illustrated.

[0038] like Fig. 6A As shown in FIG. 1 , the loading base 3 is fixed to the platform 5 with screws 50. The new tool 2 is arranged in the space formed by the loading base 3. In the illustrated embodiment, the loading base 3 may be in the form of a cylinder. The tool 2 may include a vertically extending shaft 90. Fig. 6A As shown in the figure, the shaft 90 may include a circular protrusion 92. The tool switching device 1 can be grasped by the robot to move downward in the axial direction A. When the jaw 20 in the tool switching device 1 moves downward, the first protrusion 21 of the jaw 20 begins to contact the circular protrusion 92 of the tool 2. Since the tool 2 is mounted on the loading base 3, the tool 2 can no longer move in the axial direction A, which causes the first protrusion 21 to be compressed by the first inclined surface of the circular protrusion 92 to allow the jaw 20 to rotate in the first rotation direction R1 around the pivot 14. As a result, as shown in FIG. Figure 6B As shown in FIG. 1 , the first protrusion 21 moves away from the center line C of the opening 12, and the opening 12 becomes larger to receive the tool 2 accordingly. Moreover, during the rotation of the clamping member 20 around the pivot 14 in the first rotation direction R1, returning to the reference Figure 4 , the second protrusion 22 will bias the leaf spring 16 .

[0039] refer to Figure 6C , as the tool changing device 1 continues to move downward in the axial direction A, the first protrusion 21 will move and begin to contact the second inclined surface of the circular protrusion 92. As a result, the compressive force of the leaf spring 16 will cause the leaf spring 16 to reset so that the clamping jaws rotate about the pivot 14 in the second rotational direction R2 opposite to the first rotational direction R1. This allows the first protrusion 21 to move toward the center line C of the opening 12 to clamp the tool 2. In this way, the tool 2 is loaded onto the tool changing device 1.

[0040] refer to Fig.6D , after the tool 2 has been successfully loaded onto the tool changer 1 ; the robot starts to move the tool changer 1 upward in the axial direction B. Thus, the tool 2 can be removed from the loading base 3 and firmly clamped by the tool changer 1 .

[0041] 7A to 7D Exemplary steps of unloading a tool 2 from a tool changing device 1 according to an exemplary embodiment of the present disclosure are illustrated.

[0042] like Fig. 7A As shown in the figure, the unloading base 4 is provided for receiving the used tool 2 to be replaced. It is now empty. When the tool switching device 1 moves downward in the axial direction A, the tool switching device 1 and the tool 2 clamped by the tool switching device 1 approach the unloading base 4. Fig. 7A As shown in FIG. 2 , the tool changing device 1 may further include a collar 30 disposed outwardly from the clamping jaw 20 .

[0043] refer to Figure 7B When the collar 30 begins to contact the unloading base 4, it will be stopped by the unloading base 4 because the unloading base 4 is fixed on the platform 5. Even if the collar 30 does not move downward any more, the jaw 20 and the tool 2 clamped by the jaw 20 can still move downward in the axial direction A until the second protrusion 22 of the jaw 20 begins to contact the collar 30.

[0044] Continue to refer Figure 7C The interaction between the second protrusion 22 of the jaw 20 and the collar 30 drives the jaw 20 to rotate about the pivot 14 in the first rotation direction R1 so as to allow the first protrusion 21 to move away from the centerline C of the opening 12. As a result, the jaw 20 can climb up the circular protrusion 92, which causes the opening 12 to become larger to unload the tool 2 from the tool changing device 1.

[0045] refer to Fig.7D As the tool changing device 1 continues to move downward in the axial direction A, the clamping jaws 20 may move across the circular protrusion 92. The tool 2 may fall to the unloading base 4 due to gravity.

[0046] In some example embodiments, Figure 7C As shown in the figure, the tool changing device 1 may include a pushing member 13. The pushing member 13 may be positioned in a first groove 17 arranged above the opening 12. The pushing member 13 may be used to push the tool 2 and drive the tool 2 to fall from the tool changing device 1 into the unloading base 4. In this way, it can be ensured that the tool 2 will be successfully unloaded from the tool changing device 1. The pushing member 13 may be implemented as a ball plunger. In this way, in addition to gravity, the tool 2 can also fall to the unloading base 4 with the help of a ball plunger.

[0047] After the tool 2 has been detached from the tool changer 1 , the robot can drive the tool changer 1 upwards in the axial direction B. The opening 12 is now empty and the tool changer 1 can be loaded with another new tool 2 .

[0048] According to an exemplary embodiment of the present disclosure, loading and unloading of the tool 2 may be performed by a robot without using any external power source.

[0049] When the tool 2 is used for operation, since it usually needs to rotate at a very high speed, the tool 2 needs to be firmly clamped by the tool changing device 1, otherwise the tool 2 can be separated from the tool changing device 1 at a very high rotation speed, which may cause serious damage to equipment and personnel. In order to solve this potential risk, a locking mechanism is proposed and reference is made to Figure 8 Describing the locking mechanism, the figure illustrates an enlarged view of the jaw 20 according to an example embodiment of the present disclosure.

[0050] In the illustrated embodiment, the jaw 20 may include a third protrusion 23 that extends away from the centerline C of the opening 12. As shown, the third protrusion 23 may include a protruding surface 24 that is inclined at an angle α relative to the centerline C of the opening 12. The angle α may be set to be very small, such as less than a predetermined threshold. In some example embodiments, the angle α may be 5 degrees. It will be understood that this is for illustration only and does not imply any limitation on the scope of the subject matter described herein, and other angles are also possible for the angle α. When the tool 2 is used for operation, the collar 30 will be subjected to the axial force Fa applied by the spring 52 of the tool switching device 1. In the illustrated embodiment, since the angle α is small, the axial force Fa will be converted into a relatively large radial force Fr. Therefore, during the operation of the tool 2, the tool 2 can be firmly clamped by the jaw 20.

[0051] In some example embodiments, Figure 2 and Figure 8 As shown in , the tool switching device 1 may further include a second groove 18 extending in the main body 10 and in a direction that is not parallel to the center line C of the opening 12. In a further exemplary embodiment, the third protrusion 23 may be perpendicular to the center line C of the opening 12. The ball plunger 15 may be disposed in the second groove 18. The ball plunger 15 may include a ball 19 that may be compressed by the outer surface of the tool 2. The tool 2 may include a groove 3 that may allow the ball 19 to bounce under elastic force. In this way, the ball 19 may be accurately positioned in the groove 3 of the tool 2. Therefore, the relative circumferential position between the tool 2 and the tool switching device 1 can be determined. Through these embodiments, the tool 2 can be firmly fixed relative to the tool switching device 1 to ensure safety when the tool 2 rotates at a high speed for the desired task.

[0052] Compared with the conventional method, the tool switching device 1 can be adapted to different processing tools according to different use situations, and is small in size and light in weight. In addition, the loading and unloading of the tool 2 can be performed by a robot without external power.

[0053] Although the subject matter is described in specific language of structural features and / or methodological actions, it should be understood that the subject matter defined in the appended claims is not necessarily limited to the specific features or actions described above. Rather, the specific features and actions described above are disclosed as example forms of implementing the claims.

Claims

1. A tool switching device (1), comprising: a body (10) comprising an opening (12) configured to receive a tool (2) and defining a centerline (C); A plurality of jaws (20) are disposed around the opening (12), each jaw (20) being configured to rotate about a respective pivot (14) fixedly coupled to the body (10) and comprising: a first protrusion (21) disposed adjacent to the opening (12) and extending toward the opening (12); and a second protrusion (22) disposed on a side opposite to the first protrusion (21) with respect to the pivot (14); and a leaf spring (16) fixedly coupled to the body (10) at one end and coupled to the second protrusion (22) at the other end, The clamping jaw (20) is configured to rotate in a first rotational direction (R1) about the pivot (14) under actuation applied by the tool (2) to allow the first protrusion (21) to move away from the centerline (C) of the opening (12), thereby receiving the tool (2) and biasing the leaf spring (16).

2. The tool switching device (1) according to claim 1, wherein: The clamping jaw (20) is further configured to rotate around the pivot (14) in a second rotational direction (R2) opposite to the first rotational direction (R1) under the force of the leaf spring (16) to allow the first protrusion (21) to move toward the center line (C) of the opening (12) to clamp the tool (2).

3. The tool switching device (1) according to claim 1, further comprising: a collar (30) disposed outwardly from the jaws (20) and configured to be stopped by an unloading base (4); When the clamping jaw (20) moves parallel to the center line (C), the second protrusion (22) is actuated by the collar (30) to cause the clamping jaw (20) to rotate in the first rotation direction (R1) around the corresponding pivot (14), thereby allowing the first protrusion (21) to move away from the center line (C) of the opening (12) to release the tool (2).

4. The tool switching device (1) according to claim 3, further comprising: A pushing component (13) is arranged in a first groove (17) above the opening (12) and is configured to push the tool (2) and drive the tool (2) to fall from the tool changing device (1) into the unloading base (4).

5. The tool switching device (1) according to claim 3, wherein: The clamping jaw (20) includes a third protrusion (23) extending away from the center line (C) of the opening (12), and the third protrusion (23) includes a protrusion surface (24) inclined at an angle (α) less than a predetermined threshold relative to the center line (C) of the opening (12).

6. The tool switching device (1) according to claim 1, further comprising: a groove (18) disposed in the body (10) and extending in a direction not parallel to the centerline (C) of the opening (12); as well as A ball plunger (15) is disposed in the groove (18), wherein the ball (19) of the ball plunger (15) is configured to be compressed by the outer surface (90) of the tool (2) and to pop out into the groove (9) of the tool (2) when the ball (19) is detached from the outer surface (90).

7. The tool switching device (1) according to claim 3, wherein: The third protrusion (23) is perpendicular to the center line (C) of the opening (12).

8. The tool switching device (1) according to claim 1, wherein: The plurality of clamping jaws (20) are equidistantly distributed around the opening (12).

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