Tool changing robot tool transport device and tool feeding method

Abstract

This application relates to the field of tunnel boring machine (TBM) technology, particularly to a cutter-carrying device and method for a cutter-changing robot. The device includes a cutter-changing robot, a cutter-carrying channel located below the robot's track, and a cutter-changing chamber located at the front end of the channel. A transport component and a cutter-removing component are located within the channel. A replacement chamber is symmetrically arranged on the end face of the replacement chamber. Cutting tools are placed on the inner wall of the replacement chamber, and the replacement chamber is rotatable on its end face. A cylinder is installed within the replacement chamber to drive the replacement chamber to move towards the cutter-changing robot. When the replacement chamber approaches the lower part of the cutter-changing robot, the grippers on the robot grasp the cutting tool and complete the replacement. Through the cooperation of the cutter-changing robot with the channel, chamber, and transport component, and utilizing a drive motor, slide, electric cylinder, and lifting mechanism, automated cutter changing is achieved. This process is highly efficient and fast, significantly reducing equipment downtime. The cutter-removing component ensures tool stability through double locking.

Description

Technical Field

[0001] This application relates to the field of tunnel boring machine technology, and in particular to the cutter transport device and cutter delivery method of the cutter changer robot. Background Technology

[0002] In the field of modern machining, efficient, precise and stable tool changing and transport systems are crucial for improving production efficiency and ensuring machining quality. Traditional tool changing processes often rely on manual operation or simple mechanical structures, which are inefficient and prone to errors.

[0003] In existing technologies, although some tool transport devices have improved tool transport efficiency through structures such as circular tracks, none of them have achieved coordinated cooperation with tool changing robots. As a result, the tool transport and replacement process still requires manual intervention or complex secondary positioning, which makes it difficult to meet the demand for efficient tool changing.

[0004] Patent CN111271073A discloses a circular track tool-carrying device and method based on a tool-changing robot, solving the problem of low tool-carrying efficiency during robot tool changing in existing technologies. The invention includes a circular track fixed inside the robot cabin, with a tool-carrying device mounted on the track for hoisting a hoisting cutter. The tool-carrying device moves along the circular track via a transmission mechanism. The transmission mechanism includes a drive device and a transmission device; the transmission device is connected to both the drive device and the tool-carrying device, and the drive device drives the tool-carrying device to move along the circular track via the transmission device.

[0005] However, this technical solution still has some technical problems: although the solution realizes automatic tool transportation through a circular track, it does not solve the problem of dynamic cooperation between the tool transport device and the tool changing robot. In practical applications, the transfer of the tool from the transport device to the tool changing robot still requires manual assistance or additional positioning mechanisms, resulting in a lengthy tool changing process and extended equipment downtime, which fails to fully leverage the advantages of automated tool changing. Summary of the Invention

[0006] In view of the problems existing in the prior art, this application is hereby filed.

[0007] To solve the above-mentioned technical problems, this application provides the following technical solution: a tool changing robot tool transport device, which includes a tool changing robot, a tool transport channel located at the lower part of the tool changing robot track, and a tool changing chamber located at the front end of the tool transport channel;

[0008] A transport assembly is provided on the inner wall of the tool transport channel. The transport assembly includes an annular guide rail fixed to the inner wall of the tool transport channel. A transport component is provided on the end face of the annular guide rail. The transport component transports the tool and sends it to the tool changing chamber. The tool changing chamber is used to complete the tool replacement.

[0009] The tool changing chamber is located at the bottom of the tool changing robot, and a replacement chamber is symmetrically arranged on the end face of the tool changing chamber. The replacement chamber is used to place the tool and can rotate on the end face of the tool changing chamber. A cylinder is arranged inside the replacement chamber and the cylinder is used to drive the replacement chamber to rise and fall in the tool changing chamber.

[0010] The cutting tool is transported to the replacement chamber in the tool transport channel. At this time, the grippers on the outer wall of the tool changing robot disassemble the cutting tool and place it into the replacement chamber below. The replacement chamber rotates 180° on the end face of the tool changing chamber and lifts the replacement chamber containing the new cutting tool upward to the set position. The grippers on the outer wall of the tool changing robot grab the cutting tool and complete the replacement.

[0011] It also includes a knife-retracting assembly, which includes a mounting platform installed on the inner wall of the knife transport channel. The mounting platform has a mounting slot at its end for placing the knife. The inner wall of the mounting platform is provided with a first locking component and a second locking component. The first locking component is provided with a lifting plate, and the lifting plate is driven by the knife to initially fix the knife. When the knife is completely placed on the mounting platform, the lifting plate drives the second locking component to fix the first locking component.

[0012] As a preferred embodiment of the tool-changing robot tool-carrying device described in this application, the transport component includes a drive motor for driving the conveyor chain on the inner wall of the annular guide rail to move. A slide is provided on the outer wall of the annular guide rail and the slide is connected to the conveyor chain for movement. An electric cylinder is provided at the end of the slide and a lifting hand is provided at the end of the electric cylinder. The lifting hand is used to grab the tool and cooperate with the electric cylinder to change the height of the tool on the inner wall of the tool-carrying channel and complete the transport.

[0013] As a preferred embodiment of the tool-changing robot tool-carrying device described in this application, the first locking component includes a locking plate, which is disposed on the inner wall of the accommodating cavity opened in the inner wall of the mounting platform. The inner wall of the accommodating cavity is provided with a slide rail. A rack is provided at the end of the locking plate, and a slide rail is opened on the outer wall of the rack. The slide rail cooperates with the slide rail and drives the locking plate to move inside the accommodating cavity. A notch is opened on the end face of the locking plate. When the two sides of the locking plates slide towards each other, the tool is fixed through the notch.

[0014] As a preferred embodiment of the tool-changing robot tool-carrying device described in this application, the rack end is provided with a half gear and the half gear meshes with the rack, the outer wall of the half gear is hinged with a connecting plate, the outer wall of the connecting plate is connected with a moving plate and the end face of the moving plate is provided with a lifting plate, the end of the lifting plate extends to the outer wall of the placement groove and cooperates with the placement plate fixed to the end face of the placement groove to place the tool.

[0015] As a preferred embodiment of the tool-changing robot tool-carrying device described in this application, a connecting post is provided at the end axis of the lifting plate, and a locking post is provided at the end of the connecting post and extends into the interior of the second locking component and cooperates with it.

[0016] As a preferred embodiment of the tool-changing robot tool-carrying device described in this application, the second locking component includes a mounting platform, the inner wall of which has a cavity and a locking element is provided inside the cavity. The locking element includes a base located at the end of the cavity, a column is provided at the center of the base axis and a first elastic element is sleeved on the outer wall of the column, and a pressing sleeve is sleeved on the outer wall of the column, with the end of the pressing sleeve abutting against the end of the locking column.

[0017] As a preferred embodiment of the tool-changing robot tool-carrying device described in this application, wherein: a moving sleeve is sleeved on the outer wall of the pressing sleeve and a partition ring is also provided on the outer wall of the moving sleeve, the outer wall of the partition ring is attached to the inner wall of the cavity, a ring plate is provided on the outer wall of the moving sleeve and the ring plate is attached to the end of the partition ring, and a second elastic element is provided at the end of the ring plate, the second elastic element being sleeved on the outer wall of the pressing sleeve for pushing the moving sleeve.

[0018] As a preferred embodiment of the tool-changing robot tool-carrying device described in this application, the end of the moving sleeve is provided with a ball and the outer wall of the end of the moving sleeve is provided with a locking ring. The inner wall of the locking ring is provided with a locking cavity. When the locking pin enters the inner wall of the moving sleeve, it squeezes the ball so that it falls into the locking cavity.

[0019] The inner wall of the mounting platform is provided with an oil delivery channel and the end of the oil delivery channel extends to the inner wall of the cavity. The port of the oil delivery channel is attached to the outer wall of the fixing sleeve at the end of the partition ring. The fixing sleeve is fixed to the inner wall of the cavity. The end of the partition ring is provided with a third elastic element and the third elastic element is sleeved on the outer wall of the second elastic element.

[0020] A tool feeding method, which is based on the tool changing robot tool transport device described above, includes: the transport component grabbing the tool from the placement table in the tool transport channel and transporting it to the replacement chamber at the end of the tool changing chamber through the transport component on the annular guide rail;

[0021] The grippers on the outer wall of the tool changing robot remove the old tool and place it into the replacement chamber. After the replacement chamber descends and retracts, the tool changing chamber rotates 180° to raise the replacement chamber containing the new tool and bring it close to the tool changing robot. The cylinder pushes the replacement chamber to rise, and the grippers at the end of the tool changing robot grab the new tool and replace it.

[0022] The old cutting tool returns to the tool transport channel via the transport component, and the transport component moves the new cutting tool from the mounting table to the tool changing chamber for reuse according to instructions;

[0023] During the tool transport process, the electric cylinder drives the lifting arm to adjust the tool height, and the drive motor drives the slide table to move along the annular guide rail to achieve horizontal transport of the tool; the placement platform initially fixes the tool through the locking plate notch of the first locking component, and after the tool is fully placed, the second locking component is triggered to complete the secondary locking.

[0024] The beneficial effects of this application are as follows: This application utilizes a tool-changing robot in conjunction with a tool transport channel, a tool-changing chamber, and transport components. Employing a drive motor, slide table, electric cylinder, and lifting arm, it achieves automated tool changing, which is highly efficient and fast, significantly reducing equipment downtime. The tool-changing assembly ensures tool stability through double locking. When the tool is placed in the mounting slot, the first locking component initially fixes it using the notch of the locking plate to prevent tool rotation; after complete placement, the second locking component is triggered by the lifting plate for secondary fixation, reducing the risk of misoperation and ensuring tool transport safety. Furthermore, the mounting table array distributed in the tool transport channel can store tools of different sizes to meet the needs of diverse work scenarios, facilitating quick and easy selection of suitable tools and improving work flexibility and adaptability. Attached Figure Description

[0025] To more clearly illustrate the technical solutions of the embodiments of this application, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0026] Figure 1 This is a schematic diagram of the overall structure of the tool-carrying device of the tool-changing robot in this application;

[0027] Figure 2 This is a schematic diagram of the overall structure of the transport component in this application;

[0028] Figure 3 This is a schematic diagram of the overall structure of the spring-loaded blade assembly in this application;

[0029] Figure 4 This is a schematic diagram of the internal structure of the mounting platform in this application;

[0030] Figure 5 for Figure 4 Enlarged structural diagram at point A;

[0031] Figure 6 This is a side sectional view of the mounting platform in this application;

[0032] Figure 7 This is a schematic diagram of the oil transport channel in this application;

[0033] Figure 8 for Figure 7 Enlarged schematic diagram of the structure at point B.

[0034] Reference numerals: 100, Tool changing robot; 101, Tool transport channel; 102, Tool changing chamber; 200, Transport component; 201, Circular guide rail; 202, Drive motor; 203, Slide table; 204, Electric cylinder; 205, Lifting arm;

[0035] 300. Spring-loaded assembly; 301. Mounting platform; 3011. Mounting groove; 3012. Mounting plate; 3013. Limiting groove; 3014. Receiving cavity; 3015. Slide rail; 302. Locking plate; 3021. Notch; 3022. Rack; 3023. Slide path; 303. Half gear; 3031. Connecting plate; 304. Moving plate; 3041. Lifting plate; 3042. Connecting column; 3043. Locking column;

[0036] 400, Mounting platform; 401, Cavity; 402, Oil supply channel; 403, Connecting nozzle; 501, Base; 5011, Column; 5012, First elastic element; 502, Pressing sleeve; 503, Moving sleeve; 5031, Ring plate; 5032, Ball; 5033, Second elastic element; 504, Separating ring; 5041, Third elastic element; 5042, Fixing sleeve; 5043, Locking ring; 5044, Locking cavity. Detailed Implementation

[0037] To make the above-mentioned objectives, features and advantages of this application more apparent and understandable, the specific embodiments of this application will be described in detail below with reference to the accompanying drawings.

[0038] Many specific details are set forth in the following description in order to provide a full understanding of this application. However, this application may also be implemented in other ways different from those described herein. Those skilled in the art can make similar extensions without departing from the spirit of this application. Therefore, this application is not limited to the specific embodiments disclosed below.

[0039] Secondly, the term "an embodiment" or "embodiment" as used herein refers to a specific feature, structure, or characteristic that may be included in at least one implementation of this application. The phrase "in one embodiment" appearing in different places in this specification does not necessarily refer to the same embodiment, nor is it a single or selective embodiment that excludes other embodiments.

[0040] Example 1

[0041] This is the first embodiment of the present application, which provides a tool-carrying device for a tool-changing robot.

[0042] Specifically, refer to Figure 1 and Figure 2 It includes a tool changing robot 100, a tool transport channel 101 located at the end of the tool changing robot 100, and a tool changing chamber 102 located on the outer wall of the tool transport channel 101;

[0043] A transport assembly 200 is provided on the inner wall of the tool transport channel 101. The transport assembly 200 includes an annular guide rail 201 fixed on the inner wall of the tool transport channel 101. A transport component is provided on the end face of the annular guide rail 201. The transport component transports the tool to the tool changing chamber 102, and the tool changing chamber 102 completes the tool replacement.

[0044] The tool transport channel 101 and the tool changing chamber 102 are located below the tool changing robot 100. The annular guide rail 201 is fixed inside the tool transport channel 101. The transport components on the surface of the annular guide rail 201 move to drive the tool at the bottom to move, and transport the tool to the tool changing chamber 102.

[0045] The tool changing chamber 102 is rotatable below the tool changing robot 100, and has two replacement chambers on its surface. When the tool is placed into the replacement chamber on one side by the transport component, the tool changing robot 100 will place the old tool into the replacement chamber on the other side. Then, the tool changing chamber 102 rotates, rotating the new tool to the area below the robotic arm of the tool changing robot 100. At the same time, the replacement chamber is raised to approach the robotic arm of the tool changing robot 100 by the action of the bottom cylinder. Meanwhile, the old tool that has been replaced is rotated to the other side in the replacement chamber on the surface of the tool changing chamber 102, and then removed by the subsequent transport component.

[0046] Preferably, the transport component includes a drive motor 202 for driving the conveyor chain on the inner wall of the annular guide rail 201 to move. The outer wall of the annular guide rail 201 is provided with a slide 203 and the slide 203 is connected to the conveyor chain for movement. An electric cylinder 204 is provided at the end of the slide 203 and a lifting hand 205 is provided at the end of the electric cylinder 204. The lifting hand 205 is used to grab the tool and cooperate with the electric cylinder 204 to change the height of the tool on the inner wall of the tool transport channel 101 and complete the transport.

[0047] The drive motor 202 drives the conveyor chain to circulate on the inner wall of the annular guide rail 201. The slide table 203 rotates on the surface of the annular guide rail 201 due to the influence of the conveyor chain. The slide table 203 is divided into front and rear sections. The lower surface of the slide table 203 is connected to the electric cylinder 204, and the bottom of the electric cylinder 204 is also equipped with a lifting hand 205. The height of the lifting hand 205 inside the tool transport channel 101 is adjusted by the electric cylinder 204.

[0048] The transport component moves on the surface of the annular guide rail 201. When a new tool needs to be replaced, the slide table 203 moves on the surface of the annular guide rail 201. When it reaches the new tool of the specified size, the electric cylinder 204 pushes the lifting hand 205 at the bottom to lift the new tool downward. Then, the electric cylinder 204 drives the lifting hand 205 to return to its original position and continue to move forward, placing the new tool into the replacement chamber above the tool changing chamber 102. At the same time, the lifting hand 205 at the rear will take the old tool that has been replaced out of the replacement chamber and transport it.

[0049] Example 2

[0050] This is a second embodiment of the present application, which provides a tool-carrying device for a tool-changing robot.

[0051] Specifically, refer to Figures 3-6 The tool-changing robot's tool-carrying device also includes a tool-retracting assembly 300. The tool-retracting assembly 300 includes a mounting platform 301 installed on the inner wall of the tool-carrying channel 101. The mounting platform 301 has a mounting groove 3011 at its end for placing the tool. The inner wall of the mounting platform 301 is provided with a first locking component and a second locking component. The first locking component is provided with a lifting plate 3041, and the lifting plate 3041 is driven by the tool to initially fix the tool. When the tool is completely placed on the mounting platform 301, the lifting plate 3041 drives the second locking component to fix the first locking component. The risk of misoperation is reduced by the double locking method.

[0052] The mounting platform 301 array has multiple mounting slots 3011 placed inside the tool transport channel 101. The mounting slots 3011 on the surface are used to place new tools. Each mounting platform 301 can hold tools of different sizes as replacement options. The first locking component and the second locking component inside the mounting platform 301 cooperate with each other. The first locking component is mainly used to fix the tool. The tool moves down along the limiting slots 3013 opened on both sides of the inner wall of the mounting platform 301 and enters the mounting slot 3011. When the tool is placed into the mounting slot 3011, the tool is fixed. At the same time as the tool is fixed, the lifting plate 3041 will trigger the second locking component, which restricts the first locking component, making the tool removal and placement process more stable and controllable, and avoiding the risk of misoperation.

[0053] Preferred, refer to Figure 5The first locking component includes a locking plate 302, which is disposed on the inner wall of the receiving cavity 3014 opened in the inner wall of the mounting platform 301. The inner wall of the receiving cavity 3014 is provided with a slide rail 3015. The end of the locking plate 302 is provided with a rack 3022, and the outer wall of the rack 3022 is provided with a slide rail 3023. The slide rail 3023 cooperates with the slide rail 3015 and drives the locking plate 302 to move inside the receiving cavity 3014. The end face of the locking plate 302 is provided with a notch 3021. When the two locking plates 302 slide towards each other, the tool is fixed through the notch 3021.

[0054] The locking plates 302 are symmetrically arranged inside the accommodating cavity 3014. The notches 3021 on the surface of the locking plates 302 are similar in shape to the spindles on both sides of the tool. When the locking plates 302 on both sides fix the tool, the notches 3021 on the surface can restrict the tool and prevent it from rotating inside the mounting table 301.

[0055] The locking plate 302 and the rack 3022 are an integral unit. The sliding engagement between the slide rail 3023 on the surface of the rack 3022 and the slide rail 3015 on the inner wall of the accommodating cavity 3014 allows the locking plate 302 to slide horizontally inside the accommodating cavity 3014.

[0056] Reference Figures 3-5 The rack 3022 has a half gear 303 at its end, and the half gear 303 meshes with the rack 3022. The outer wall of the half gear 303 is hinged to a connecting plate 3031. The outer wall of the connecting plate 3031 is connected to a moving plate 304, and the end face of the moving plate 304 is provided with a lifting plate 3041. The end of the lifting plate 3041 extends to the outer wall of the mounting groove 3011 and cooperates with the mounting plate 3012 fixed to the end face of the mounting groove 3011 to place the tool.

[0057] The half gear 303 is fixed below the rack 3022 and meshes with the rack 3022. The rotation of the half gear 303 drives the rack 3022 to move horizontally within the accommodating cavity 3014.

[0058] The outer wall of the half gear 303 is hinged with a connecting plate 3031. The other end of the connecting plate 3031 is hinged to the surface of the moving plate 304. The moving plates 304 are respectively installed on both sides of the mounting groove 3011. The two moving plates 304 are connected into a whole by the middle lifting plate 3041. At the same time, the top position of the lifting plate 3041 extends out from the surface of the mounting groove 3011 in the initial state. When the mounting table 301 starts to place the tool, the lifting plate 3041 moves downward by the pressure of the tool, thereby driving the moving plates 304 on both sides downward.

[0059] When the moving plate 304 moves down, the connecting plate 3031 on the surface pulls the half gear 303 to rotate around the axis. The rotation of the half gear 303 drives the rack 3022 to move, thereby fixing the tool through the locking plate 302.

[0060] Reference Figures 6-8 Preferably, a connecting post 3042 is provided at the end axis of the lifting plate 3041, and a locking post 3043 is provided at the end of the connecting post 3042 and extends into the interior of the second locking component and cooperates with it.

[0061] Among them, when the lifting plate 3041 is pressed down, the top of the connecting column 3042 fixed at the axis of the bottom surface of the lifting plate 3041 moves down to the inside of the second locking component until the tool is placed inside the mounting groove 3011. At this time, the tool stops on the mounting plate 3012 on the upper surface of the mounting groove 3011. The mounting plate 3012 is symmetrically arranged on both sides of the lifting plate 3041. The mounting plate 3012 limits the placement of the tool, so that the tool stops pressing down. At the same time, the spindle height of the tool is level with the notch 3021.

[0062] In summary, during use, the mounting platforms 301 are arranged in an array inside the tool transport channel 101, and their surface mounting grooves 3011 are used to place new tools. Each mounting platform 301 can be equipped with tools of different sizes. In the initial state, the top of the lifting plate 3041 extends from the surface of the mounting groove 3011, and the locking plate 302 is located on both sides inside the receiving cavity 3014, in a position where the tool has not yet been locked.

[0063] When the cutting tool is placed in the mounting slot 3011, the cutting tool presses against the lifting plate 3041, causing it to move downwards. The lifting plate 3041 then drives the two side moving plates 304 to move downwards simultaneously.

[0064] When the moving plate 304 moves downward, it pulls the half gear 303 to rotate around the axis through the connecting plates 3031 hinged on both sides. Since the half gear 303 meshes with the rack 3022, the rotating half gear 303 drives the rack 3022 to move horizontally within the accommodating cavity 3014. The locking plate 302 and the rack 3022 are integrated, and the locking plate 302 slides within the accommodating cavity 3014 through the slide rail 3023 and the slide rail 3015. Therefore, when the rack 3022 moves, the two locking plates 302 slide inward towards each other. The shape of the notch 3021 on the end face of the locking plate 302 is similar to that of the main shafts on both sides of the tool. When the locking plates 302 slide towards each other, the notch 3021 locks the main shafts on both sides of the tool, initially fixing the tool and preventing the tool from rotating within the mounting table 301.

[0065] During the downward movement of the lifting plate 3041 under pressure, the connecting post 3042 fixed at the center of its bottom surface moves downward accordingly. When the tool is fully placed on the mounting table 301 and stops on the mounting plate 3012, the height of the tool spindle is level with the notch 3021. At this time, the locking post 3043 at the end of the connecting post 3042 extends into the interior of the second locking component and cooperates with it to complete the fixation of the first locking component, thereby achieving double locking of the tool. This reduces the risk of the tool accidentally falling or shifting due to misoperation during placement and removal, and ensures the safety and stability of the tool handling process.

[0066] Example 3

[0067] This is the third embodiment of the present application, which is implemented based on the previous embodiment.

[0068] Specifically, refer to Figures 6-8 The second locking component includes a mounting platform 400. The inner wall of the mounting platform 400 has a cavity 401 and a locking component is provided inside the cavity 401. The locking component includes a base 501 located at the end of the cavity 401. A column 5011 is provided at the axis of the base 501 and a first elastic element 5012 is sleeved on the outer wall of the column 5011. A pressing sleeve 502 is sleeved on the outer wall of the column 5011 and the end of the pressing sleeve 502 abuts against the end of the locking post 3043.

[0069] The mounting platform 400 is located at the bottom of the mounting platform 301, and the base 501 is located at the center of the bottom of the mounting platform 400. The upright column 5011 on the surface cooperates with the first elastic element 5012 to push the external pressing sleeve 502 upward. Before the lifting plate 3041 moves down, the pressing sleeve 502 is pushed by the first elastic element 5012 and is located at a higher position above the upright column 5011.

[0070] When the connecting post 3042 moves down with the lifting plate 3041, the bottom locking post 3043 abuts against the top of the pressing sleeve 502, causing the pressing sleeve 502 to move downward and squeeze the first elastic member 5012 to compress and deform it.

[0071] Preferred, refer to Figure 8 The outer wall of the pressing sleeve 502 is fitted with a moving sleeve 503, and the outer wall of the moving sleeve 503 is also provided with a separating ring 504. The outer wall of the separating ring 504 is attached to the inner wall of the cavity 401. The outer wall of the moving sleeve 503 is provided with a ring piece 5031, and the ring piece 5031 is attached to the end of the separating ring 504. The end of the ring piece 5031 is provided with a second elastic element 5033. The second elastic element 5033 is fitted on the outer wall of the pressing sleeve 502 to push the moving sleeve 503.

[0072] The partition ring 504 is disposed inside the cavity 401 and its outer wall is close to the inner wall of the cavity 401. The moving sleeve 503 is located at the axis of the partition ring 504 and is sleeved on the outer wall of the pressing sleeve 502. A ring plate 5031 is disposed on the outer side of the bottom of the moving sleeve 503 and fits against the surface of the inner wall of the partition ring 504. At the same time, a second elastic element 5033 is disposed at the bottom of the ring plate 5031 to push the moving sleeve 503 upward. Meanwhile, the ring plate 5031 is tightly attached to the inner surface of the partition ring 504, which also causes the moving sleeve 503 to push the partition ring 504 upward.

[0073] The end of the moving sleeve 503 is provided with a ball 5032 and the outer wall of the end of the moving sleeve 503 is provided with a locking ring 5043. The inner wall of the locking ring 5043 is provided with a locking cavity 5044. When the locking pin 3043 enters the inner wall of the moving sleeve 503, it squeezes the ball 5032 so that it falls into the locking cavity 5044.

[0074] The locking ring 5043 is sleeved on the outside of the top end of the moving sleeve 503. The locking cavity 5044 inside the locking ring 5043 provides a space for the ball 5032 at the top of the moving sleeve 503 to move outward when it is squeezed.

[0075] Preferably, the inner wall of the mounting platform 400 is provided with an oil delivery channel 402 and the end of the oil delivery channel 402 extends to the inner wall of the cavity 401. The port of the oil delivery channel 402 is attached to the outer wall of the fixing sleeve 5042 at the end of the partition ring 504. The fixing sleeve 5042 is fixed to the inner wall of the cavity 401. The end of the partition ring 504 is provided with a third elastic element 5041 and the third elastic element 5041 is sleeved on the outer wall of the second elastic element 5033.

[0076] The oil delivery channel 402 is located on the inner wall of the mounting platform 301 and the installation platform 400. It is connected to the hydraulic system through the connector 403 to deliver hydraulic oil into the cavity 401. The fixing sleeve 5042 is fixed to the top of the cavity 401. The locking ring 5043 is limited by the connecting ring on the inner wall of the fixing sleeve 5042, so that it is fixed at the top position inside the installation platform 400. The third elastic element 5041 at the bottom of the separating ring 504 is used to push the separating ring 504, so that it moves upward without being affected by the pressure of the hydraulic system.

[0077] In summary, during use, in the initial state, the hydraulic system connected to the connecting nozzle 403 does not supply hydraulic oil to the interior of the cavity 401 through the oil supply channel 402. At this time, inside the cavity 401, under the influence of the first elastic element 5012, the second elastic element 5033 and the third elastic element 5041, the pressing sleeve 502, the moving sleeve 503 and the separating ring 504 are all located at a higher position inside the cavity 401. At this time, the top of the moving sleeve 503 is located at the center of the locking cavity 5044 inside the locking ring 5043, and the ball 5032 at the top of the moving sleeve 503 can move inside the locking cavity 5044.

[0078] When the cutting tool is placed in the placement slot 3011, the lifting plate 3041 is squeezed and moves downward, causing the bottom connecting column 3042 and locking column 3043 to move downward together. The locking column 3043 enters the locking ring 5043 and passes through the locking cavity 5044 to continue downward. During this process, the protrusion on the outer wall of the locking column 3043 abuts against the ball 5032, causing it to move towards the locking cavity 5044. After the protrusion passes, the ball 5032 returns to its original position. At the same time, the bottom of the locking column 3043 squeezes against the pressing sleeve 502, causing it to press down on the first elastic element 5012.

[0079] After the cutting tool is placed inside the mounting slot 3011, the protrusion on the outer wall of the locking pin 3043 is located below the ball 5032. At this time, the hydraulic system supplies hydraulic oil into the oil supply channel 402 through the connecting nozzle 403 and finally into the cavity 401. Figure 8 As shown, since the upper and lower sides of the partition ring 504 are sealed to the inner wall of the cavity 401 and the inner wall of the fixed sleeve 5042 respectively, the hydraulic oil is only above the cavity 401 and the partition ring 504. By injecting hydraulic oil, the partition ring 504 is lowered. When the partition ring 504 moves down, the ring plate 5031 drives the moving sleeve 503 to move down synchronously. The ball 5032 at the top of the moving sleeve 503 moves down in the locking cavity 5044 as the moving sleeve 503 moves down. The ball 5032 is affected by the inner wall of the locking cavity 5044 and moves inward, thus clamping itself on the protrusion on the surface of the locking post 3043, locking and fixing the locking post 3043, thereby fixing the lifting plate 3041.

[0080] Example 4

[0081] This is the fourth embodiment of the present application, which provides a tool feeding method, including:

[0082] The transport component 200 uses the transport parts on the annular guide rail 201 to grab the cutting tool from the mounting table 301 in the tool transport channel 101 and transport it to the replacement chamber at the end of the tool changing chamber 102;

[0083] The grippers on the outer wall of the tool changing robot 100 remove the old tool and place it into the replacement chamber. After the replacement chamber descends and retracts, the tool changing chamber 102 rotates 180° to raise the replacement chamber containing the new tool and bring it close to the tool changing robot 100. The cylinder pushes the replacement chamber to rise, and the grippers at the end of the tool changing robot 100 grab the new tool and replace it.

[0084] The old cutting tool returns to the tool transport channel 101 via the transport component, and the transport assembly 200 transfers the new cutting tool from the mounting table 301 to the tool changing chamber 102 for reuse according to the instructions;

[0085] During the tool transport process, the electric cylinder 204 drives the lifting hand 205 to adjust the tool height, and the drive motor 202 drives the slide table 203 to move along the annular guide rail 201 to realize the horizontal transport of the tool; the placement table 301 initially fixes the tool through the notch 3021 of the locking plate 302 of the first locking component, and after the tool is fully placed, the second locking component is triggered to complete the secondary locking.

[0086] It should be noted that the above embodiments are only used to illustrate the technical solutions of this application and are not intended to limit it. Although this application has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of this application without departing from the spirit and scope of the technical solutions of this application, and all such modifications and substitutions should be covered within the scope of the claims of this application.

Claims

1. A tool-carrying device for a tool-changing robot, characterized in that, include: Tool changing robot (100), tool transport channel (101) located at the lower part of the track of the tool changing robot (100) and tool changing chamber (102) located at the front end of the tool transport channel (101). A transport assembly (200) is provided on the inner wall of the tool transport channel (101). The transport assembly (200) includes an annular guide rail (201) fixed on the inner wall of the tool transport channel (101). A transport component is provided on the end face of the annular guide rail (201). The tool is transported through the transport component and sent to the tool changing chamber (102). The tool is changed through the tool changing chamber (102). The tool changing chamber (102) is located at the lower part of the tool changing robot (100) and the tool changing chamber (102) is symmetrically provided with a replacement chamber on its end face. The replacement chamber is used to place the tool and the replacement chamber can rotate on the end face of the tool changing chamber (102). A cylinder is provided in the replacement chamber and the cylinder is used to drive the replacement chamber to rise and fall in the tool changing chamber (102). The cutting tool is transported to the replacement chamber in the cutting tool channel (101). At this time, the gripper on the outer wall of the tool changing robot (100) disassembles the cutting tool and puts it into the replacement chamber below. The replacement chamber rotates 180° on the end face of the tool changing chamber (102) and lifts the replacement chamber containing the new cutting tool to the set position. The gripper on the outer wall of the tool changing robot (100) grabs the cutting tool and completes the replacement. The blade ejector assembly (300) includes a mounting platform (301) installed on the inner wall of the blade conveying channel (101). The mounting platform (301) has a mounting groove (3011) at one end for placing the knife. The inner wall of the mounting platform (301) is provided with a first locking component and a second locking component. The first locking component is provided with a lifting plate (3041). The lifting plate (3041) is affected by the knife and drives the first locking component to initially fix the knife. When the knife is completely placed on the mounting platform (301), the lifting plate (3041) drives the second locking component to fix the first locking component. The transport component includes a drive motor (202) for driving the conveyor chain on the inner wall of the annular guide rail (201) to move. The outer wall of the annular guide rail (201) is provided with a slide (203) and the slide (203) is connected to the conveyor chain for movement. The end of the slide (203) is provided with an electric cylinder (204) and the end of the electric cylinder (204) is provided with a lifting hand (205). The lifting hand (205) is used to grab the tool and cooperate with the electric cylinder (204) to change the height of the tool in the tool transport channel (101) and transport it. The first locking component includes a locking plate (302), which is disposed on the inner wall of the receiving cavity (3014) opened in the inner wall of the mounting platform (301). The inner wall of the receiving cavity (3014) is provided with a slide rail (3015). The end of the locking plate (302) is provided with a rack (3022) and the outer wall of the rack (3022) is provided with a slide rail (3023). The slide rail (3023) cooperates with the slide rail (3015) and drives the locking plate (302) to move inside the receiving cavity (3014). The end face of the locking plate (302) is provided with a notch (3021). When the two locking plates (302) slide towards each other, the tool is fixed through the notch (3021).

2. The tool-carrying device for the tool-changing robot as described in claim 1, characterized in that: The rack (3022) is provided with a half gear (303) at its end and the half gear (303) meshes with the rack (3022). A connecting plate (3031) is hinged to the outer wall of the half gear (303). A moving plate (304) is connected to the outer wall of the connecting plate (3031) and a lifting plate (3041) is provided on the end face of the moving plate (304). The end of the lifting plate (3041) extends to the outer wall of the mounting groove (3011) and cooperates with the mounting plate (3012) fixed to the end face of the mounting groove (3011) to place the tool.

3. The tool-carrying device for the tool-changing robot as described in claim 1, characterized in that: A connecting post (3042) is provided at the center of the end of the lifting plate (3041), and a locking post (3043) is provided at the end of the connecting post (3042) and extends into the interior of the second locking component and cooperates with it.

4. The tool-carrying device for the tool-changing robot as described in claim 2, characterized in that: The second locking component includes a mounting platform (400), the inner wall of which is provided with a cavity (401) and a locking element is provided inside the cavity (401). The locking element includes a base (501) located at the end of the cavity (401), a column (5011) is provided at the axis of the base (501), and a first elastic element (5012) is sleeved on the outer wall of the column (5011). A pressing sleeve (502) is sleeved on the outer wall of the column (5011), and the end of the pressing sleeve (502) abuts against the end of the locking post (3043).

5. The tool-carrying device for the tool-changing robot as described in claim 4, characterized in that: The outer wall of the pressing sleeve (502) is fitted with a moving sleeve (503), and the outer wall of the moving sleeve (503) is also provided with a separating ring (504). The outer wall of the separating ring (504) is attached to the inner wall of the cavity (401). The outer wall of the moving sleeve (503) is provided with a ring piece (5031), and the ring piece (5031) is attached to the end of the separating ring (504). The end of the ring piece (5031) is provided with a second elastic element (5033). The second elastic element (5033) is fitted on the outer wall of the pressing sleeve (502) to push the moving sleeve (503).

6. The tool-carrying device for the tool-changing robot as described in claim 5, characterized in that: The end of the moving sleeve (503) is provided with a ball (5032) and the outer wall of the end of the moving sleeve (503) is provided with a locking ring (5043). The inner wall of the locking ring (5043) is provided with a locking cavity (5044). When the locking pin (3043) enters the inner wall of the moving sleeve (503), it squeezes the ball (5032) so that it falls into the locking cavity (5044). The inner wall of the mounting platform (400) is provided with an oil delivery channel (402) and the end of the oil delivery channel (402) extends to the inner wall of the cavity (401). The port of the oil delivery channel (402) is attached to the outer wall of the fixing sleeve (5042) at the end of the partition ring (504). The fixing sleeve (5042) is fixed to the inner wall of the cavity (401). The end of the partition ring (504) is provided with a third elastic element (5041) and the third elastic element (5041) is sleeved on the outer wall of the second elastic element (5033).

7. A tool feeding method, implemented based on the tool-changing robot tool transport device as described in any one of claims 1 to 6, characterized in that, include: The transport assembly (200) uses a transport component on the annular guide rail (201) to grab the cutting tool from the mounting platform (301) in the tool transport channel (101) and transport it to the replacement chamber at the end of the tool changing chamber (102); The grippers on the outer wall of the tool changing robot (100) remove the old tool and place it into the replacement chamber. After the replacement chamber descends and retracts, the tool changing chamber (102) rotates 180° to raise the replacement chamber containing the new tool and bring it close to the tool changing robot (100). The cylinder pushes the replacement chamber to rise, and the grippers at the end of the tool changing robot (100) grab the new tool and replace it. The old cutting tool returns to the tool transport channel (101) via the transport component, and the transport assembly (200) moves the new cutting tool from the mounting table (301) to the tool changing chamber (102) for recycling according to the instructions; During the tool transport process, the electric cylinder (204) drives the lifting hand (205) to adjust the tool height, and the drive motor (202) drives the slide (203) to move along the ring guide rail (201) to realize the horizontal transport of the tool; the placement platform (301) initially fixes the tool through the notch (3021) of the locking plate (302) of the first locking component, and after the tool is fully placed, the second locking component is triggered to complete the secondary locking.

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