Tool changer and robot system

Abstract

A tool changer (1) and a robot system (2) are provided. The tool changer comprises a disc (10) comprising a plurality of changer stations (11), wherein each changer station (11) is adapted to accommodate at most one tool (12) to enable an industrial robot (2) to place a used tool (12') to an empty changer station (11) without a tool or to remove a tool (12) from one of the changer stations (11) having one tool (12); and a motor (20) coupled to the disc (10) and configured to drive movement of the disc (10) to change the positions of the changer stations (11), wherein the motor (20) is coupled to the industrial robot (2) such that the movement of the disc (10) is controlled in relation to the actions of the industrial robot (2). By integrating the servo flexible disc with the industrial robot to the same controller system, high precision and fast response can be achieved.

Description

Technical Field

[0001] The exemplary embodiments disclosed herein generally relate to the machining industry, and more specifically, to a tool changing device and a robot system for an industrial robot. Background Technology

[0002] In the field of automated machining, due to the requirements of machining processes, seamless switching between multiple different tools on the spindle is often necessary. The most primitive method is manual tool changing, but this significantly reduces operational efficiency. Several automatic tool changing solutions exist on the market, but none achieve ideal results. How to achieve more flexible and convenient tool changing operations for mechanical equipment is a major challenge for designers. Summary of the Invention

[0003] In general, exemplary embodiments of this disclosure provide a tool switching device for an industrial robot and a corresponding robot system.

[0004] In a first aspect, a tool changing device for an industrial robot is provided. The tool changing device includes: a disk comprising a plurality of changing stations, each changing station being adapted to accommodate at most one tool, such that the industrial robot can place a used tool to an empty changing station without a tool, or remove a tool from one of the plurality of changing stations having one tool; and a motor coupled to the disk and configured to drive the disk to move, thereby changing the positions of the plurality of changing stations, wherein the motor is coupled to the industrial robot such that the movement of the disk is controlled in relation to the actions of the industrial robot.

[0005] According to exemplary embodiments of this disclosure, by integrating a servo flexible disk with an industrial robot into the same controller system, high-precision and fast-response operation results can be achieved.

[0006] In some exemplary embodiments, multiple switching stations are circumferentially distributed around the center of the disk, and the disk is configured to be driven by a motor to rotate around the center of the disk.

[0007] In some exemplary embodiments, each of the plurality of switching stations includes: a clamping member configured to clamp a corresponding tool; and a stop fixedly disposed on a disc at a position radially inward of the clamping member, wherein the distance between the stop and the center of the disc is determined based on the length of the corresponding tool.

[0008] In some exemplary embodiments, each of the multiple switching stations further includes an RFID tag that enables the industrial robot to read and write information about the model of the corresponding tool.

[0009] In some exemplary embodiments, the switching station accommodating the target tool is horizontally positioned at the disc, such that the target tool is horizontally positioned.

[0010] In some exemplary embodiments, the tool switching device further includes a protective element configured to protect the disc from external objects and includes an opening adjacent to the switching station that houses the target tool, thereby exposing the target tool to the industrial robot.

[0011] In a second aspect, a robot system is provided. The robot system includes an industrial robot, the industrial robot including an arm configured to hold a tool; and a tool switching device according to the first aspect, the tool switching device being positioned adjacent to the industrial robot and configured to enable the industrial robot to switch a used tool to a target tool.

[0012] In some exemplary embodiments, the robot system also includes a window configured to allow an operator to change the cutting tools on the disc.

[0013] In some exemplary embodiments, the window is equipped with a safety sensor, and the tool switching device includes a safety circuit coupled to the safety sensor, such that when the safety sensor detects the presence of an operator, the safety circuit of the tool switching device is switched to an OFF state to prevent disc movement. Attached Figure Description

[0014] The above and other objects, features, and advantages of exemplary embodiments of the present disclosure will be more readily understood after reading the following detailed description in conjunction with the accompanying drawings. Several embodiments of the present disclosure are illustrated in the drawings in an exemplary and non-limiting manner, wherein:

[0015] Figure 1 This is a three-dimensional schematic diagram of an industrial robot in an exemplary embodiment of the present disclosure;

[0016] Figure 2 This is a perspective view of a tool switching device in an exemplary embodiment of the present disclosure;

[0017] Figure 3 for Figure 2 The diagram shown is a three-dimensional representation of the tool switching device after the protective components have been removed, clearly illustrating the internal structure of the device.

[0018] Figure 4 for Figure 3 The front view of the disk shown; and

[0019] Figure 5 for Figure 2 A three-dimensional schematic diagram of the back of the tool switching device shown.

[0020] In the accompanying drawings, the same or similar reference numerals refer to the same or similar components. Detailed Implementation

[0021] The principles of this disclosure will now be explained with reference to several exemplary embodiments. It should be understood that the following embodiments are for illustrative purposes only, to help those skilled in the art understand and implement this disclosure, and are not intended to limit the scope of protection of this disclosure in any way. The disclosure described herein may be implemented in various forms other than those described below.

[0022] 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 this disclosure pertains.

[0023] The terms "an embodiment," "embodiment," and "exemplary embodiment" used in this document refer to an embodiment that includes a specific structure, feature, or component, but not all embodiments must include that specific structure, feature, or component. Furthermore, the above descriptions do not necessarily refer to the same embodiment. In addition, when a specific structure, feature, or component is described in conjunction with an embodiment, those skilled in the art will understand that the structure, feature, or component can be adapted to other embodiments, whether or not explicitly stated.

[0024] It should be understood that although terms such as "first" and "second" may be used herein to describe various components, the scope of the components should not be limited by such terms. These terms are only used to distinguish different components. For example, a first component may be referred to as a second component, and similarly, a second component may be referred to as a first component, without departing from the scope of protection of the exemplary embodiments. The term "and / or" as used herein includes any and all combinations of one or more of the listed elements.

[0025] The terminology used herein is for describing particular embodiments only and is not intended to limit the scope of protection of the exemplary embodiments. In this document, the singular forms “a” and “the” also have plural meanings unless the context clearly indicates otherwise. It should also be understood that the terms “comprising,” “including,” and “having” as used herein define the presence of the said features, components, and / or assemblies, but do not exclude the addition of one or more other features, components, assemblies, and / or combinations thereof.

[0026] As mentioned earlier, various tool changing solutions exist on the market. Among the existing conventional solutions, one type is specifically designed for computer numerical control (CNC) machining centers. In this solution, upon receiving a tool changing command, the automatic tool changing mechanism of the CNC machining center immediately stops rotating and precisely moves to the tool changing station to unload the old tool. Simultaneously, the new tool moves with the tool magazine to the tool changing position and is released. The automatic gripper simultaneously clamps the old and new tools. After the tool changing table rotates to its position, the old and new tools are respectively moved to the empty positions of the spindle and tool magazine. After the spindle completes tool clamping, it returns to its original machining position, and the entire tool changing process is completed.

[0027] In general, conventional tool changing solutions are complex, require a large footprint, and necessitate dedicated tool changing points. Therefore, this approach offers limited flexibility and imposes stringent requirements on robot accessibility. The entire system requires an external programmable logic controller (PLC) to manage the tool changing mechanism and interact with the multi-axis industrial robot controller via logic signals. Due to the cumbersome control architecture and high equipment costs, traditional tool magazines are unsuitable for the active spindle machining scenarios of multi-axis industrial robots.

[0028] To address at least some of the shortcomings of existing technologies, this disclosure proposes a novel tool changing scheme. By adding a single-axis servo flexible disk to achieve tool changing, the problems of large footprint, limited flexibility, complex control logic, and high investment costs associated with traditional tool changing devices can be solved. Furthermore, integrating the servo flexible disk with the industrial robot into the same controller system enables highly flexible and precise operation while shortening production cycle time.

[0029] The following will combine Figures 1 to 5 A detailed description of the exemplary embodiments will be provided first. See also: Figure 1 , Figure 1 An industrial robot 2 is shown in an exemplary embodiment of this disclosure. The industrial robot 2 can perform various tasks, such as milling and grinding, using a cutting tool 12' at the end of its robotic arm 3. The type of task performed by the industrial robot 2 is not limited.

[0030] See Figure 2 , Figure 2 This illustration shows a tool switching device 1 according to an exemplary embodiment of the present disclosure. The tool switching device 1 can be placed on the ground and is within the working range of the industrial robot 2. Figure 1 The used cutting tool 12' can be moved by the robotic arm 3 to the cutting tool switching device 1 to be replaced with a new cutting tool. The cutting tool switching operation procedure will be described in detail below.

[0031] like Figure 2 As shown, the tool switching device 1 may include a protective component 30, which is used to protect internal components and prevent damage from external objects.

[0032] Figure 3 for Figure 2 The three-dimensional schematic diagram of the tool switching device 1, omitting the protective component 30, is shown to clearly demonstrate the internal details of the tool switching device 1. For example... Figure 3 As shown, the tool changing device 1 for the industrial robot 2 includes a disk 10 and a motor 20 coupled to the disk 10. The disk 10 includes multiple changing stations 11, each of which can accommodate at most one tool 12. In other words, some changing stations 11 do not accommodate tools and can serve as empty changing stations, allowing the industrial robot 2 to place used tools 12'. Some changing stations 11 accommodate new tools 12, which can be switched and used by the industrial robot 2. The motor 20 is used to drive the disk 10 to move. In the illustrated embodiment, the disk 10 is a circular disk, and the motor 20 can drive the disk 10 to rotate around its own center. The motor 20 is coupled to the industrial robot 2, so that the movement of the disk 10 is controlled in relation to the movement of the industrial robot 2.

[0033] According to an exemplary embodiment of this disclosure, the tool changing device 1 is designed for the machining process design of a multi-axis industrial robot 2. The motor 20 built into the tool changing device 1 can be directly controlled by the control cabinet of the industrial robot 2, and the rotation of the disk 10 is synchronized with the movement of the industrial robot 2. In this way, the movements of the industrial robot 2 and the tool changing device 1 can be coordinated and managed within the same controller, which effectively reduces communication latency and improves production cycle efficiency. Furthermore, through the rotation of the motor 20, the tool 12 can be precisely rotated to a specified angle, thereby triggering the industrial robot 2 to place the used tool 12' and pick up a new tool to complete the switching action.

[0034] Figure 4 for Figure 3 The diagram shows a front view of the disk 10. In the illustrated embodiment, the disk includes eight switching stations 11. These switching stations 11 are evenly distributed circumferentially around the center O of the disk 10. In the illustrated embodiment, these switching stations 11 are spaced 45 degrees apart from each other. It should be understood that this arrangement is merely an example and is not intended to limit the scope of protection of the technical solutions described herein. The specific number of switching stations 11 and the included angle between adjacent stations are not limited by this embodiment. In some other exemplary embodiments, the switching stations 11 may be non-uniformly distributed around the center O.

[0035] See again Figure 3 Each switching station 11 includes a clamping member 111 and a stop 112. The clamping member 111 is used to clamp the corresponding tool 12. The stop 112 is fixedly mounted on the disk 10 and located radially inside the clamping member 111. The distance between the stop 112 and the center O of the disk is determined based on the length of the corresponding tool 12. Figure 4As can be seen, the distance between the stop 112 and the center O can be different for different switching stations 11. In this way, only the correct tool 12 can be placed in the corresponding switching station 11. If the operator wants to place a longer tool in the switching station, the tool tip will abut against the stop 112, indicating to the operator that the tool is too long, so that the operator realizes that the tool being placed is incorrect. If the operator wants to place a shorter tool in the switching station, the tool tip will be too far away from the stop 112, indicating to the operator that the tool is too short, so that the operator realizes that the tool being placed is incorrect. Through this error-proof design, this exemplary embodiment can ensure that the tool 12 is placed in the correct switching station 11.

[0036] In some exemplary embodiments, the size of the switching station 11 can be customized according to user needs. This design enables the disc 10 to accommodate various sizes of cutting tools 12, adapting to a wider range of machining scenarios.

[0037] Figure 5 for Figure 2 A three-dimensional schematic diagram of the back of the tool switching device 1 is shown. (Combined with...) Figure 2 and Figure 5 The protective component 30 includes an opening 32 adjacent to the switching station 11 that accommodates the target tool 12, thereby exposing the target tool 12 to the industrial robot 2. In this way, the industrial robot 2 can easily pass through the opening 32 to perform tool switching operations.

[0038] The tool 12 switching operation process is described below. When it is necessary to change the tool 12' used on the robot 2, since the motor 20 configured in the tool switching device 1 is directly controlled by the control cabinet of the industrial robot 2, the tool switching device 1 can synchronously perform actions. First, the tool switching device 1 can know when the used tool 12' needs to be switched. Then, the motor 20 drives the disk 10 to rotate, rotating the empty switching station 11 without a tool to the target station next to the opening 32. In this way, the empty switching station 11 is exposed to the industrial robot 2. The industrial robot 2 controls the robotic arm 3, which, by clamping the tool 111 of the empty switching station 11, inserts the used tool 12' into the empty switching station 11.

[0039] Subsequently, motor 20 drives disk 10 to rotate to another position, in which another switching station 11, containing the new tool 12, can be rotated to the target station next to opening 32. In this way, switching station 11 is exposed to industrial robot 2. Industrial robot 2 controls robotic arm 3 so that robotic arm 3 can remove the new tool 12 from switching station 11 by removing the new tool from the gripper 111 of switching station 11. Afterward, industrial robot 2 moves out of the device area and proceeds to the processing area to continue machining operations.

[0040] In some exemplary embodiments, each switching station 11 also includes an RFID tag (not shown) for the industrial robot 2 to read and write information about the model of the corresponding tool. During tool switching, the controller of the industrial robot 2 reads the information in the RFID tag to determine whether the tool 12 to be switched is the correct tool. If incorrect, the controller does not perform the tool switching action until the disk 10 rotates to the correct position where the correct tool 12 is placed next to the opening 32. After the tool switching process is completed, the information of the tool 12 can be entered into a database for subsequent use.

[0041] According to an exemplary embodiment of this disclosure, by using an RFID tag and a stop 112, dual protection can be achieved, thereby ensuring that the correct type of cutting tool 12 can be placed in the corresponding switching station 11.

[0042] In a second aspect, this disclosure provides a robot system. The robot system includes an industrial robot 2 and the tool switching device 1 described above. The industrial robot 2 includes an arm for holding a tool 12. The tool switching device 1 is located beside the industrial robot 2 and enables the industrial robot 2 to switch the tool 12 to a target tool 12.

[0043] In some exemplary embodiments, the robot system also includes a window through which an operator can switch the cutting tools 12 on the control panel 10. According to exemplary embodiments of this disclosure, an operator can manually switch the cutting tools 12 outside the workstation without interrupting the operation of the industrial robot 2.

[0044] In some exemplary embodiments, the window is equipped with a safety sensor, and the tool switching device 1 includes a safety circuit coupled to the safety sensor, such that when the safety sensor detects the presence of an operator, the safety circuit of the tool switching device 1 changes to an OFF state to prevent the disc 10 from moving. In this way, the personal safety of the operator can be ensured.

[0045] like Figure 5 As shown, the switching station 11, which accommodates the target tool 12, is horizontally positioned on the disk 10, so that the target tool 12 is placed horizontally. In this way, when switching to a used tool 12', machining debris attached to the used tool 12' will not fall onto the switching station. Therefore, it is possible to avoid errors in machining dimensions caused by falling debris.

[0046] Compared to existing conventional solutions, the tool changing device 1 described in this disclosure fully leverages the inherent advantages of the industrial robot 2 in terms of flexibility, adaptability, and economy. Furthermore, the application of a servo flexible disk eliminates the need for additional components such as frequency converters and programmable logic controllers (PLCs), reducing user equipment investment costs and improving production efficiency. High-precision, fast-response tool changing operations can be achieved without the need for additional frequency converters and PLCs.

[0047] In addition, the entire tool changing device 1 has a simple structure and reliable operation, requiring no additional components such as a dedicated tool changing robot, cylinders, solenoid valves, or various sensors. This design effectively reduces the equipment failure rate, lowers enterprise equipment investment costs, simplifies equipment maintenance processes, and improves maintenance convenience.

[0048] Although this document has described the technical solution in conjunction with specific descriptions of structural features and / or operational steps, it should be understood that the subject of protection defined by the claims is not necessarily limited to the specific structures and operational steps described above. Rather, the specific structures and operational steps described above are disclosed only as exemplary embodiments for implementing the technical solution of the claims.

Claims

1. A tool changing device (1) for an industrial robot (2), comprising: A tray (10) comprising a plurality of switching stations (11), each of the plurality of switching stations (11) being adapted to accommodate at most one tool (12) so that the industrial robot (2) can place a used tool (12') to an empty switching station (11) without a tool, or remove a tool (12) from one of the plurality of switching stations (11) having a tool (12); and A motor (20) is coupled to the disk (10) and configured to drive the disk (10) to move in order to change the position of the plurality of switching stations (11), wherein the motor (20) is coupled to the industrial robot (2) such that the movement of the disk (10) is controlled in association with the movement of the industrial robot (2).

2. The tool switching device (1) according to claim 1, wherein the plurality of switching stations (11) are circumferentially distributed around the center (O) of the disk (10), and wherein the disk (10) is configured to be driven by the motor (20) to rotate around the center (O) of the disk.

3. The tool switching device (1) according to claim 2, wherein each of the plurality of switching stations (11) comprises: Clamping member (111), the clamping member (111) is configured to clamp the corresponding cutting tool (12); as well as A stop (112) is fixedly disposed on the disk (10) at a position radially inside the clamping member (111), wherein the distance between the stop (112) and the center (O) of the disk (10) is determined based on the length of the corresponding tool (12).

4. The tool switching device (1) according to any one of claims 1 to 3, wherein each of the plurality of switching stations (11) further comprises: An RFID tag enables the industrial robot (2) to read and write information about the model of the corresponding cutting tool.

5. The tool switching device (1) according to any one of claims 1 to 4, wherein the switching station (11) accommodating the target tool (12) is horizontally disposed at the disk (10), such that the target tool (12) is horizontally disposed.

6. The tool switching device (1) according to any one of claims 1 to 5, further comprising a protective member (30), wherein the protective member (30) is configured to protect the disc (10) from external objects and comprises: An opening (32) is provided adjacent to the switching station (11) that houses the target tool (12), thereby exposing the target tool (12) to the industrial robot (2).

7. A robotic system, comprising: An industrial robot (2) includes an arm configured to hold a cutting tool (12); as well as According to any one of claims 1 to 6, the tool switching device (1) is arranged adjacent to the industrial robot (2) and is configured such that the industrial robot (2) can switch the used tool (12') to the target tool (12).

8. The robot system of claim 7 further includes a window configured to allow an operator to change the tool (12) on the disk (10).

9. The robot system according to claim 8, wherein the window is equipped with a safety sensor, and wherein the tool switching device (1) includes a safety loop coupled to the safety sensor, such that when the safety sensor detects the presence of the operator, the safety loop of the tool switching device (1) is changed to an OFF state to prevent the disk (10) from moving.

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