Knife handle dismounting device and knife handle dismounting method

Abstract

The invention discloses a cutter handle dismounting device and a cutter handle dismounting method. The device comprises an upper chuck, a lower chuck, a quick release screw rod component, a sliding block, a labor-saving handle, a pressing ejector rod, a reset spring and a force guide pin, the lower chuck and the upper chuck are matched to form a U-shaped clamping structure; the quick-release screw rod component is used for locking the upper chuck and the lower chuck to a hoop part of the mechanical arm; the sliding block is arranged on the upper clamping head in a sliding mode and used for assisting in locking of the quick-release screw rod component. The tail end of the labor-saving handle is connected with a sliding block, and a pressing ejector rod is arranged in the middle of the labor-saving handle. The force guide pin is arranged on the upper chuck in a manner of moving up and down, and is positioned right below the pressing ejector rod; and the reset spring is sleeved on the force guiding pin. The U-shaped clamping structure is rapidly installed on the mechanical arm, the labor-saving handle is used for driving the force guiding pin to press the hoop downwards, the hoop is opened to take out the knife handle, the beneficial effects of being novel in structure, easy and convenient to operate and rapid to disassemble are achieved, and the troubleshooting efficiency is remarkably improved.

Description

Technical Field

[0001] This invention relates to the field of machining technology, and more specifically, to a tool holder removal device and a tool holder disassembly method. Background Technology

[0002] Machining centers are highly automated machining equipment widely used in modern manufacturing. To enable multi-process machining in a single setup, machining centers are typically equipped with a tool magazine and an Automatic Tool Changer (ATC). One of the core components of an ATC is the robotic tool changer, which is responsible for grabbing and exchanging tools between the spindle and the tool magazine. In actual production, the robotic tool changer uses a clamping structure at its front end to grab the tool holder, completing the loading and unloading of the tool.

[0003] However, during long-term use, due to uneven force on the contact surface between the tool holder and the clamp, corrosion of the contact area caused by cutting fluid intrusion, wear on the tool holder surface, or obstruction by foreign objects, the tool changing robot arm frequently experiences a "lock-up" fault when executing tool changing commands. "Lock-up" means that the clamp cannot release properly after clamping the tool holder, leaving the tool holder firmly stuck in the robot arm, causing the tool changing action to be interrupted. At this time, the machine tool control system detects the abnormality, issues a tool changing fault alarm, and stops the machine. The tool holder is stuck in the robot arm, unable to be loaded into the spindle or returned to the tool magazine.

[0004] When the aforementioned malfunctions occur, the traditional solution is usually to contact specialized equipment maintenance personnel. This involves disassembling relevant components of the robotic arm, such as the clamp's pivot, spring mechanism, or drive unit, to remove the stuck tool holder. After removing the tool holder, the disassembled components are then reassembled one by one onto the robotic arm, and the system is readjusted and the alarm is deactivated. This entire process is not only time-consuming and labor-intensive, often taking several hours or even longer, but it also significantly reduces the machine tool's effective operating time, causing production stoppages and economic losses. Especially in workshops with continuous production, each unplanned downtime means a huge loss of production capacity.

[0005] Therefore, there is an urgent need for a rapid auxiliary device that can eliminate the lock-up fault without disassembling the robotic arm. Summary of the Invention

[0006] This invention provides a tool holder removal device and a tool holder disassembly method to solve the problems of long downtime, low efficiency, and high cost caused by the need for manual disassembly of the robotic arm structure when the robotic arm clamp "locks up" in the prior art.

[0007] To achieve the above objectives, the present invention provides a tool holder unloading device, comprising: an upper chuck; a lower chuck, which cooperates with the upper chuck to form a U-shaped clamping structure; a quick-release screw rod component for locking and fixing the upper and lower chucks to the outside of the clamp of a robotic arm; a slider slidably disposed on the upper chuck; a force-saving handle, the end of which is connected to the slider; a downward pressure rod disposed at the middle position of the force-saving handle; a guide pin movably disposed on the upper chuck and located directly below the downward pressure rod; and a return spring sleeved on the guide pin for providing elastic force for the guide pin to return to its original position; wherein, when the force-saving handle is pressed down, the downward pressure rod pushes the guide pin to move vertically to push the clamp to loosen the tool holder.

[0008] Optionally, the upper clamp is a long strip structure, and a slider moving groove is formed on its upper end face along the length direction. The slider is embedded in the slider moving groove and can slide along it.

[0009] Optionally, the upper clamp is further provided with a stepped mounting hole, which is a through hole structure with the upper diameter being larger than the lower diameter; the reset spring and the guide pin are installed in the stepped mounting hole, and the lower end of the guide pin extends out of the lower surface of the upper clamp.

[0010] Optionally, the upper end of the guide pin is provided with a limiting flange, and the reset spring is sleeved around the guide pin and locked between the step surface of the step mounting hole and the limiting flange.

[0011] Optionally, the quick-release screw rod component includes a screw and an eccentric handle; the screw passes through corresponding mounting through holes opened on the upper and lower chucks, and the eccentric handle is located at the head end of the screw and is used to turn the eccentric handle to lock the screw to the upper and lower chucks.

[0012] Optionally, the connection between the effort-saving handle and the slider is a hinged connection, and the effort-saving handle can swing up and down around the hinge axis.

[0013] Optionally, the lower chuck has an L-shaped structure, including a vertically connected vertical plate and a horizontal plate. The vertical plate is used to cooperate with the upper chuck, and the horizontal plate is used to contact the lower surface of the robotic arm's clamp when clamping. The lower surface of the upper chuck is parallel to the upper surface of the horizontal plate of the lower chuck.

[0014] Optionally, after the guide pin moves vertically, it presses down on one end of the clamp, and the other end of the clamp grips the tool handle.

[0015] On the other hand, the present invention provides a method for disassembling a tool holder using the above-mentioned tool holder removal device. The method includes the following steps: S1, installing the upper and lower chucks to the clamping part of the robotic arm, so that the clamping part is located between the upper and lower chucks; S2, adjusting the quick-release screw rod component so that the gap between the upper and lower chucks is greater than or equal to a first preset distance to accommodate the clamping part; S3, sliding the slider to the side of the quick-release screw rod component, and the slider is located between the lower end protrusion of the eccentric handle of the quick-release screw rod component and the upper chuck, so that the contact surface gap between the upper and lower chucks and the clamping part is reduced to a second preset distance, locking the quick-release screw rod component so that the upper and lower chucks are tightly fitted with the clamping part; S4, pressing down. S5. Press the force-saving handle, which drives the downward pressing rod to move downward. The downward pressing rod pushes the guide pin to move downward against the elastic force of the return spring. The lower end of the guide pin presses against one end of the clamp, causing the other end of the clamp to gradually open, thereby releasing the locked tool handle; S6. Manually remove the tool handle; S7. Release the force-saving handle, and the return spring pushes the guide pin upward to reset, and the clamp resets; S8. Move the eccentric handle of the quick-release screw rod component upward to separate the upper and lower chucks, creating a gap of the second preset distance; S9. Slide the slider to a position away from the quick-release screw rod component; S10. Lift the upper chuck upward to increase the separation gap between the upper and lower chucks to the first preset distance, and remove the entire tool handle removal device from the robotic arm.

[0016] The beneficial effects of this invention are: This invention discloses a tool holder removal device and a tool holder disassembly method. The device includes: an upper chuck, a lower chuck, a quick-release screw rod component, a slider, a force-saving handle, a downward pressure rod, a guide pin, and a return spring. When a machine tool experiences a malfunction where the tool holder is stuck in the robotic arm and cannot be removed, the operator can quickly install the device of this invention onto the clamping part of the robotic arm. A simple downward pressure operation with the force-saving handle will open the clamp, allowing for easy removal of the tool holder. This device has a novel structure, enabling quick installation and locking into the robotic arm of the machine tool tool changing system for tool holder removal. After removal, the tool holder can be quickly removed from the robotic arm, making the operation simple and efficient, significantly improving troubleshooting efficiency. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the structure of a tool unloading device provided in an embodiment of the present invention; Figure 2 This is a side view of the tool unloading handle device and the robotic arm provided in an embodiment of the present invention; Figure 3 This is a perspective view of the unloading handle device and the robotic arm provided in an embodiment of the present invention.

[0018] Symbol explanation: Upper chuck-1, lower chuck-2, quick-release screw rod component-3, slider-4, step mounting hole-5, labor-saving handle-6, downward pressing rod-7, slider moving groove-8, return spring-9, force guiding pin-10, robotic arm-11, clamp-12, tool holder-13. Detailed Implementation

[0019] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this invention, and not all of them. Based on the embodiments of this invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this invention.

[0020] Figure 1 This is a schematic diagram of the structure of a tool unloading handle 13 device provided in an embodiment of the present invention; Figure 2 This is a side view of the unloading handle 13 device and the robotic arm 11 provided in an embodiment of the present invention; Figure 3 This is a perspective view of the unloading handle 13 device and the robotic arm 11 provided in an embodiment of the present invention. Figures 1-3 As shown, the tool unloader 13 device includes: Upper chuck 1; The lower chuck 2, together with the upper chuck 1, forms a U-shaped clamping structure; The quick-release screw rod component 3 is used to lock and fix the upper chuck 1 and the lower chuck 2 to the outside of the clamp 12 of the robotic arm 11; The slider 4 is slidably mounted on the upper clamp 1; The effort-saving handle 6 has its end connected to the slider 4; The downward pressure rod 7 is located at the middle of the force-saving handle 6; The guide pin 10 is movably mounted on the upper clamp 1 and is located directly below the lower pressure rod 7; A return spring 9 is sleeved on the guide pin 10 and is used to provide the elastic force for the guide pin 10 to return to its original position. When the force-saving handle 6 is pressed down, the downward pressing rod 7 pushes the guide pin 10 to move vertically, thereby pushing the clamp 12 to loosen the handle 13.

[0021] Specifically, the lower chuck 2 has an L-shaped structure, consisting of a vertically connected vertical plate and a horizontal plate. The vertical plate is used to cooperate with the upper chuck 1; the horizontal plate is used to contact the lower surface of the clamp 12 of the robotic arm 11 during clamping, providing a stable support surface; the lower surface of the upper chuck 1 is arranged parallel to the upper surface of the horizontal plate of the lower chuck 2.

[0022] The upper clamp 1 is a long strip structure, arranged parallel to the vertical plate of the lower clamp 2, and the two together form a U-shaped clamping space with an opening to one side. A slider moving groove 8 is formed along the length of the upper end face of the upper clamp 1, and the slider 4 is embedded in the slider moving groove 8 and can slide along it. The cross-sectional shape of the slider moving groove 8 is preferably T-shaped or dovetail-shaped. This design prevents the slider 4 from coming out of the groove during sliding, ensuring the reliability of the connection.

[0023] In an optional embodiment, the upper chuck 1 is further provided with a stepped mounting hole 5, which is a through hole structure with an upper diameter larger than a lower diameter; the reset spring 9 and the guide pin 10 are installed in the stepped mounting hole 5, and the lower end of the guide pin 10 extends out of the lower surface of the upper chuck 1.

[0024] The quick-release screw rod component 3 is positioned between the upper collet 1 and the lower collet 2 to adjust and lock the relative distance between them. Specifically, the quick-release screw rod component 3 includes a screw and an eccentric handle. The upper collet 1 and lower collet 2 have corresponding mounting through holes through which the screw passes, and the eccentric handle is located at the head end of the screw. When the eccentric handle is turned, the eccentric wheel structure of the eccentric handle causes the screw to tighten axially, thereby reducing the distance between the upper collet 1 and the lower collet 2 and generating a strong clamping force. This quick-release structure enables rapid clamping and release without the need for tools, making operation convenient.

[0025] The slider 4 is slidably fitted into the slider movement groove 8 of the upper chuck 1. The main function of the slider 4 is to assist the quick-release screw rod component 3 in locking the upper chuck 1 and the lower chuck 2. When the slider 4 slides to a specific position, next to the quick-release screw rod component 3, it can fill the gap between the upper chuck 1 and the quick-release screw rod component 3, thus providing positioning and preventing loosening. In order to fix the position of the slider 4 after adjustment, a positioning mechanism, such as a locking screw, can also be provided on the slider 4 to lock the slider 4 at any position in the slider movement groove 8.

[0026] The end of the effort-saving handle 6 is connected to the slider 4, preferably by a hinged connection, allowing the effort-saving handle 6 to swing up and down around the hinge axis. A downward pressing rod 7 is located in the middle of the effort-saving handle 6. This downward pressing rod 7 is preferably an adjustable-length threaded rod, whose extension length can be adjusted by rotation to adapt to different device specifications and operational requirements. The lower end of the downward pressing rod 7 is directly opposite the upper end of the guide pin 10.

[0027] The guide pin 10 is movably disposed within the stepped mounting hole 5 of the upper clamp 1, and is located directly below the lower pressure rod 7. The upper end of the guide pin 10 has a limiting flange, the diameter of which is larger than the lower diameter of the stepped mounting hole 5 but smaller than the upper diameter. A return spring 9 is sleeved around the guide pin 10 and engaged between the stepped surface of the stepped mounting hole 5 and the limiting flange of the guide pin 10. In its natural state, the return spring 9 is slightly compressed, and its elastic force pushes the guide pin 10 downwards. However, due to the limiting effect between the limiting flange and the stepped surface, the length of the lower end of the guide pin 10 extending beyond the lower surface of the upper clamp 1 is limited. When the guide pin 10 is subjected to downward pressure from the lower pressure rod 7, it can overcome the elastic force of the return spring 9 and continue to move downwards; when the external force is released, the return spring 9 pushes the guide pin 10 upwards to return to its original position.

[0028] Furthermore, after the guide pin 10 moves vertically, it presses down on one end of the clamp 12, and the other end of the clamp 12 grips the handle 13 tightly.

[0029] To improve the stability and reliability of the contact between the device and the robotic arm 11, the lower surface of the upper chuck 1 and the upper surface of the horizontal plate of the lower chuck 2 (i.e., the inner surface that contacts the clamp 12 of the robotic arm 11) can be provided with anti-slip textures, such as knurling or horizontal lines, or anti-slip pads, such as rubber pads or copper pads, can be embedded. This can increase friction and prevent the device from sliding during use.

[0030] This invention needs to be used in conjunction with the robotic arm 11 and tool holder 13 of a machining center. Its core working principle is as follows: When the machining center's tool-changing robotic arm 11 malfunctions and seizes, the tool holder 13 becomes stuck in the clamp 12 of the robotic arm 11. At this time, the tool holder removal device of this invention is installed onto the clamp 12 of the robotic arm 11. Through the coordinated action of the quick-release screw rod component 3 and the slider 4, the upper chuck 1 and lower chuck 2 are fixed to the clamp 12 as a single unit, thus obtaining a stable support foundation. Then, the operator presses down on the force-saving handle 6, amplifying the manual force using the lever principle, and transmitting the amplified force to the guide pin 10 through the downward pressing rod 7. Under pressure, the guide pin 10 moves downward, directly acting on the clamp 12 of the robotic arm 11 (i.e., acting on the end of the clamp 12 away from the tool holder 13), forcing the clamp 12 to overcome its own clamping force and slightly open. After the clamp 12 opens, the clamping force between it and the tool holder 13 disappears, and the operator can easily remove the tool holder 13 manually. After the handle 13 is removed, the effort-saving handle 6 is released, and the return spring 9 pushes the guide pin 10 back to its original position. The clamp 12 also returns to its original position under its own elasticity. Finally, by operating the quick-release screw rod component 3 and the slider 4, the tool handle 13 removal device of the present invention is removed from the robotic arm 11, and the whole process is completed.

[0031] The present invention also provides a method for disassembling the knife handle 13, the method comprising: S1. Install the upper chuck 1 and the lower chuck 2 onto the clamp 12 of the robotic arm 11, so that the clamp 12 is located between the upper chuck 1 and the lower chuck 2. The operator takes the tool remover handle 13 from the toolbox and first checks whether all parts of the device are intact, whether the eccentric handle of the quick-release screw rod component 3 is flexible, and whether the slider 4 can slide smoothly in the slider movement groove 8. After confirming that everything is correct, the upper chuck 1 and the lower chuck 2 are aligned with the clamp 12 of the robotic arm 11, so that the clamp 12 is located in the U-shaped clamping structure between the upper chuck 1 and the lower chuck 2. At this time, the quick-release screw rod component 3 is in the loosened state, and the initial gap between the upper chuck 1 and the lower chuck 2 is relatively large. S2, Adjust the quick-release screw rod component 3 so that the gap between the upper chuck 1 and the lower chuck 2 is greater than or equal to the first preset distance to accommodate the clamp 12; The operator adjusts the nut of the quick-release screw rod component 3 (the nut is located around the eccentric wheel) so that the gap between the upper chuck 1 and the lower chuck 2 is greater than or equal to the first preset distance. In an optional embodiment, the first preset distance is set to 12mm. Since the thickness of the clamp 12 is about 10mm, the 12mm gap is sufficient to accommodate the clamp 12. This gap value is determined based on the size of the clamp 12 of a common machining center robotic arm 11, which ensures that the device can be easily inserted without being too large and causing insufficient subsequent clamping stroke. S3, slide the slider 4 to the side of the quick-release screw rod component 3, and the slider 4 is located between the lower end protrusion of the eccentric handle of the quick-release screw rod component 3 and the upper chuck 1, so that the gap between the contact surfaces of the upper chuck 1, the lower chuck 2 and the clamp 12 is reduced to the second preset distance, and the quick-release screw rod component 3 is locked so that the upper chuck 1 and the lower chuck 2 are tightly fitted with the clamp 12; After the device is inserted into the clamp 12, the operator manually pushes the slider 4, allowing it to slide within the slider movement groove 8. When it reaches the quick-release screw rod component 3, the slider 4 is stopped. The contact surfaces of the upper and lower chucks 1 and 2 with the clamp 12 are observed; the gap is now reduced to approximately 1-2 mm. This small gap ensures sufficient clamping force when the quick-release screw rod component 3 is tightened. Next, the operator forcefully pulls down the eccentric handle of the quick-release screw rod component 3. As the eccentric handle rotates, the screw axially tightens, further reducing the distance between the upper and lower chucks 1 and 2 until they are tightly fitted against the surface of the clamp 12. At this point, the entire device is securely fixed to the robotic arm 11, and there is no looseness when the device is shaken by hand. The slider 4 plays a crucial role in this process: after tightening, it acts as a support point, preventing the upper chuck 1 from deflecting under force.

[0032] S4. Press down the force-saving handle 6. The force-saving handle 6 drives the downward pressing rod 7 to move downward. The downward pressing rod 7 pushes the guide pin 10 to overcome the elastic force of the return spring 9 and move downward. The lower end of the guide pin 10 presses against one end of the clamp 12, so that the other end of the clamp 12 gradually opens to release the locked handle 13. After the device is fixed, the operator holds the long handle of the force-saving handle 6 with their right hand and applies downward pressure steadily. The force-saving handle 6 rotates downward around its hinge axis with the slider 4, and the downward pressure rod 7 installed in the middle of the handle moves downward accordingly, pressing against the upper end of the guide pin 10. Since the design lever arm ratio (the ratio of the total length of the handle to the distance from the downward pressure rod 7 to the hinge point) of the force-saving handle 6 is approximately 4:1, the 10 kg force applied by the operator is amplified into a downward pressure of approximately 40 kg at the downward pressure rod 7. This amplified pressure is transmitted to the guide pin 10 through the downward pressure rod 7. The guide pin 10 overcomes the elastic force of the return spring 9, extends downward from the lower surface of the upper clamp 1, and directly presses against one end (i.e., the movable end) of the clamp 12. As the downward pressure continues to increase, the movable end of the clamp 12 is gradually pressed down, and the opening of the clamp 12 slowly opens.

[0033] S5. Manually remove the knife handle 13; When the clamp 12 is opened sufficiently, the friction between the handle 13 and the clamp 12 disappears. The operator's left hand can then easily pull the previously jammed handle 13 out of the clamp 12. Inspection of the surface of the handle 13 reveals slight rust, which is the cause of the jamming.

[0034] S6. Loosen the force-saving handle 6, the return spring 9 pushes the guide pin 10 upward to reset, and the clamp 12 resets; After the tool holder 13 is removed, the operator slowly releases the force-saving handle 6. Under the elastic force of the return spring 9, the guide pin 10 moves upward and returns to its initial position. At the same time, the clamp 12 also automatically resets under its own elastic force, returning to the clamping state. Although the tool changing action of the robotic arm 11 has not yet been completed, the fault point has been eliminated.

[0035] S7. Pull the eccentric handle of the quick-release screw rod component 3 upward to separate the upper clamp 1 from the lower clamp 2, creating a gap of the second preset distance; The operator pulls up the eccentric handle of the quick-release screw rod component 3, releasing the axial clamping force of the screw. A small gap of about 1-2mm is created between the upper chuck 1 and the lower chuck 2, and the clamping force between the device and the clamping clamp 12 disappears.

[0036] S8. Slide slider 4 to a position away from quick-release screw rod component 3; The operator manually pushes slider 4, causing it to slide away from quick-release screw rod component 3 within slider movement groove 8. When slider 4 reaches the far end of slider movement groove 8, upper chuck 1 gains greater upward movement space. This is because slider 4, originally located next to quick-release screw rod component 3, occupies part of the upper chuck 1's movement space; removing it allows upper chuck 1 to be raised to a greater height.

[0037] S9. Lift the upper chuck 1 upwards to increase the separation gap between the upper chuck 1 and the lower chuck 2 to the first preset distance, and remove the entire unloading handle 13 device from the robotic arm 11.

[0038] The operator manually lifts the upper chuck 1 upwards, increasing the separation gap between the upper chuck 1 and the lower chuck 2 to approximately 12mm. This gap is sufficient to allow the device to detach from the clamp 12 of the robotic arm 11. Gently shake the device to remove it from the robotic arm 11. This completes the troubleshooting process.

[0039] The entire operation, from removing the device to completing disassembly, took approximately 3 minutes. Compared to the traditional 2-3 hour repair time, this represents an efficiency improvement of dozens of times. Operators require no specialized skills; simple training is sufficient. Normal production can be resumed immediately after the machine tool malfunction is resolved, avoiding losses from prolonged downtime.

[0040] In summary, the tool holder 13 removal device and disassembly method provided by this invention effectively solve the problem of rapid disassembly after the machining center robotic arm 11 locks the tool holder 13 through the synergistic action of the ingenious U-shaped clamping structure, quick-release screw rod component 3, slider 4, force-saving handle 6, and guide pin 10. This device has significant advantages such as novel structure, simple operation, rapid disassembly, strong applicability, safety and reliability, and low cost.

[0041] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A tool unloading device, characterized in that, include: Upper clamp; The lower chuck, in conjunction with the upper chuck, forms a U-shaped clamping structure; The quick-release screw rod component is used to lock and fix the upper and lower chucks to the outside of the robotic arm's clamp; A slider is slidably mounted on the upper clamp; A labor-saving handle, the end of which is connected to the slider; The downward pressure rod is located at the middle of the force-saving handle; The guide pin is movable up and down on the upper clamp and is located directly below the lower pressure rod; A return spring is sleeved on the guide pin to provide elastic force for the guide pin to return to its original position. When the force-saving handle is pressed down, the downward pressing rod pushes the guide pin to move vertically, thereby pushing the clamp to loosen the handle.

2. The apparatus according to claim 1, characterized in that: The upper clamp is a long strip structure, and a slider moving groove is opened on its upper end face along the length direction. The slider is embedded in the slider moving groove and can slide along it.

3. The apparatus according to claim 1, characterized in that: The upper clamp is also provided with a stepped mounting hole, which is a through hole structure with the upper hole diameter being larger than the lower hole diameter; the reset spring and the guide pin are installed in the stepped mounting hole, and the lower end of the guide pin extends out of the lower surface of the upper clamp.

4. The apparatus according to claim 3, characterized in that: The upper end of the guide pin is provided with a limiting flange, and the reset spring is sleeved around the guide pin and locked between the step surface of the step mounting hole and the limiting flange.

5. The apparatus according to claim 1, characterized in that: The quick-release screw rod component includes a screw rod and an eccentric handle; the screw rod passes through corresponding mounting through holes opened on the upper and lower chucks, and the eccentric handle is located at the head end of the screw rod and is used to turn the eccentric handle to lock the screw rod to the upper and lower chucks.

6. The apparatus according to claim 1, characterized in that: The connection between the effort-saving handle and the slider is a hinge connection, and the effort-saving handle can swing up and down around the hinge axis.

7. The apparatus according to claim 1, characterized in that: The lower chuck has an L-shaped structure, including a vertically connected vertical plate and a horizontal plate. The vertical plate is used to cooperate with the upper chuck, and the horizontal plate is used to contact the lower surface of the robotic arm's clamp when clamping. The lower surface of the upper chuck is parallel to the upper surface of the horizontal plate of the lower chuck.

8. The apparatus according to claim 1, characterized in that: After the guide pin moves vertically, it presses down on one end of the clamp, and the other end of the clamp grips the handle tightly.

9. A method for disassembling a tool holder using the tool holder removal device according to any one of claims 1-8, characterized in that, Includes the following steps: S1. Install the upper and lower chucks onto the clamping part of the robotic arm, so that the clamping part is located between the upper and lower chucks; S2. Adjust the quick-release screw rod component so that the gap between the upper and lower chucks is greater than or equal to the first preset distance to accommodate the clamping part; S3. Slide the slider to the side of the quick-release screw rod component, and the slider is located between the lower end protrusion of the eccentric handle of the quick-release screw rod component and the upper chuck, so that the gap between the contact surfaces of the upper and lower chucks and the clamping part is reduced to the second preset distance, and lock the quick-release screw rod component so that the upper and lower chucks are tightly fitted with the clamping part; S4. Press down on the force-saving handle. The force-saving handle drives the downward pressing rod to move downward. The downward pressing rod pushes the guide pin to move downward against the elastic force of the return spring. The lower end of the guide pin presses against one end of the clamp, causing the other end of the clamp to gradually open, so as to release the clamped handle. S5. Manually remove the tool holder; S6. Release the force-saving handle, the return spring pushes the guide pin upward to reset, and the clamp resets; S7. Pull the eccentric handle of the quick-release screw rod component upward to separate the upper and lower clamps, creating a gap of the second preset distance; S8. Slide the slider away from the quick-release screw rod component; S9. Lift the upper chuck upwards to increase the separation gap between the upper and lower chucks to the first preset distance, and remove the entire tool unloader device from the robotic arm.

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