Automatic tool changing device of low-voltage micro-arc robot

Abstract

The utility model discloses an automatic tool changing device of a low-voltage micro-arc robot. The automatic tool changing device mainly comprises a mechanical arm main shaft tool clamping device, a rotary tool changer device and a tool handle tool. A first base and a second base are arranged, a rotating shaft is rotationally connected to the middle of the upper surface of the first base through a bearing, a rotating disc is arranged at the top end of the rotating shaft, and a rotation driving mechanism used for driving the rotating shaft to rotate is arranged on the first base. A plurality of inserting holes distributed in a circumferential array mode are formed in the edge of the upper surface of the rotating disc, and a low-voltage micro-arc cutter is inserted into each inserting hole. The upper surface of the second base is rotationally connected with a mechanical arm, and the end of the mechanical arm is provided with an upper electric spindle for grabbing a tool. The whole process is high in automation degree, and the low-voltage micro-arc machining efficiency is greatly improved.

Description

Technical Field

[0001] The utility model belongs to the technical field of industrial equipment, and in particular relates to an automatic tool changing device for a low-voltage micro-arc robot. Background Art

[0002] As a special processing technology, low-voltage micro-arc has been widely used in national key fields such as aerospace and nuclear industry because of its advantages of high efficiency and low cost in processing superhard materials such as nickel-based alloys and titanium alloys. At present, short arc mainly relies on CNC machine tools for parts processing. However, CNC machine tools cannot meet the processing needs of large / heavy parts due to the limitations of spatial position. Therefore, short arc technology is integrated with the robotic arm to form a low-voltage micro-arc processing robot equipment to cope with the processing needs and environment in complex and multi-scenario situations. The existing low-voltage micro-arc processing robot tool magazine is a fixed structure. When the processing process needs to replace a certain tool, the tool at this position cannot automatically rotate to the robotic arm to automatically pick up the tool. The tool needs to be replaced manually. At the same time, the linkage flexibility between the robotic arm spindle and the tool is poor, and the degree of automation is low, which affects the processing efficiency. Utility Model Content

[0003] The utility model aims to provide a low-voltage micro-arc robot automatic tool changing device to solve the technical problem of the inability to automatically change tools proposed in the background technology.

[0004] To achieve the above-mentioned purpose, the specific technical scheme of the utility model is as follows: a low-voltage micro-arc robot automatic tool changing device, comprising a first base and a second base, the middle part of the upper surface of the first base is rotatably connected to a rotating shaft through a bearing, a turntable is arranged at the top of the rotating shaft, and a rotating drive mechanism for driving the rotating shaft to rotate is arranged on the first base, a plurality of sockets distributed in a circular array are arranged at the edge of the upper surface of the turntable, and a tool is inserted in each of the sockets, and a mechanical arm is rotatably connected to the upper surface of the second base, and an upper electric spindle for grabbing the tool is arranged at the end of the mechanical arm, and a cylinder is arranged at the top of the upper electric spindle, and the piston rod end of the cylinder extends to the inner cavity of the upper electric spindle and is provided with a pull rod for lifting the tool.

[0005] Preferably, the rotation drive mechanism includes a stepper motor, which is installed on the upper surface of the first base, and the shaft of the stepper motor is connected to a small gear, and a large gear rotatably connected to the small gear is sleeved on the rotating shaft, and the large gear and the small gear are meshed with each other.

[0006] Preferably, the low-voltage micro-arc tool comprises a tool handle and a tool electrode arranged at the bottom of the tool handle, the upper surface of the tool handle is provided with a conical head, the top of the conical head is provided with a push rod, and the top of the push rod is provided with a pull pin.

[0007] Preferably, the side wall of the pull rod is provided with four slots distributed in a circular array, a steel ball is installed in each of the slots, the top inner cavity of the pull rod is provided with a slot body for accommodating the pull nail, and the surface of the steel ball protrudes from the inner surface and outer surface of the pull rod respectively.

[0008] Preferably, a groove is provided at the bottom of the main shaft, a conical groove matching the size of the conical head is provided at the top of the groove, a limiting groove matching the outer diameter of the pull rod is provided above the conical groove, a accommodating cavity with a diameter larger than the limiting groove is provided at the top of the limiting groove, and a flaring groove is provided between the limiting groove and the conical groove.

[0009] Preferably, a butterfly spring is sleeved on the piston rod of the cylinder, and the butterfly spring is located in the accommodating cavity.

[0010] The utility model provides a low-voltage micro-arc robot automatic tool changing device with the following advantages:

[0011] When performing discharge machining, the utility model facilitates the rotation of the tool magazine turntable through the cooperation between the turntable, the rotary drive mechanism and the rotating shaft, so that when the process personnel need a low-voltage micro-arc tool, the tool can be rotated to the corresponding position through a preset program, so that the socket equipped with the corresponding low-voltage micro-arc tool is rotated to the position directly below the upper electric spindle, which is conducive to the robot arm to quickly pick up the tool. It has the function of rapid linkage with the robot arm spindle, and through the cooperation between the upper electric spindle and the tool, it is convenient to quickly pick up and put the tool. At the same time, the tool handle cooperates with the conical surface of the upper electric spindle, and the contact resistance value is lower, which better meets the needs of the short arc process. The whole process has a high degree of automation, which greatly improves the working efficiency of the low-voltage micro-arc. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] In order to more clearly illustrate the technical solution of the implementation mode of the utility model, the drawings required for use in the implementation mode will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the utility model and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other relevant drawings can be obtained based on these drawings without paying creative work.

[0013] Figure 1 It is a schematic diagram of the overall structure of the utility model;

[0014] Figure 2 for Figure 1 Front view of

[0015] Figure 3 This is a schematic diagram of the structure of the turntable in the utility model;

[0016] Figure 4This is a connection diagram of the upper electric spindle and the low-voltage micro-arc tool in the utility model;

[0017] Figure 5 This is a schematic diagram of the structure of the inner cavity of the upper electric spindle in the utility model;

[0018] Explanation of the marks in the figure: 1. First base; 2. Turntable; 3. Rotary drive mechanism; 4. Tool; 5. Second base; 6. Robot arm; 7. Power-on spindle; 8. Stepper motor; 9. Small gear; 10. Large gear; 11. Rotating shaft; 12. Socket; 13. Tool handle; 14. Tool electrode; 15. Conical head; 16. Push rod; 17. Pull pin; 18. Cylinder; 19. Pull rod; 20. Butterfly spring; 21. Steel ball; 22. Groove; 23. Conical groove; 24. Expanding groove; 25. Limiting groove; 26. Accommodating chamber; 27. Air pump. DETAILED DESCRIPTION

[0019] In the following, only some exemplary embodiments are briefly described. As those skilled in the art will appreciate, the described embodiments may be modified in various ways without departing from the spirit or scope of the embodiments of the present invention. Therefore, the drawings and descriptions are considered to be exemplary and non-restrictive in nature.

[0020] In the description of the embodiments of the present invention, it should be understood that the terms "length", "vertical", "horizontal", "top", "bottom", etc. indicating the orientation or positional relationship are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing the embodiments of the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the embodiments of the present invention.

[0021] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the embodiments of the present utility model, the meaning of "multiple" is two or more, unless otherwise clearly and specifically defined.

[0022] In the embodiments of the present utility model, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection, an electrical connection, or a communication; it can be a direct connection, or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the embodiments of the present utility model can be understood according to specific circumstances.

[0023] The disclosure below provides many different embodiments or examples for realizing different structures of the embodiments of the present utility model. In order to simplify the disclosure of the embodiments of the present utility model, the components and settings of specific examples are described below. Of course, they are only examples, and the purpose is not to limit the embodiments of the present utility model. In addition, the embodiments of the present utility model can repeat reference numbers and / or reference letters in different examples, and this repetition is for the purpose of simplification and clarity, and does not itself indicate the relationship between the various embodiments and / or settings discussed.

[0024] In order to better understand the purpose, structure and function of the utility model, the following is a further detailed description of a robot automatic tool changing device of the utility model in conjunction with the accompanying drawings.

[0025] like Figure 1-5 As shown, a low-voltage micro-arc robot automatic tool changing device of the utility model comprises a first base 1 and a second base 5, a rotating shaft 11 is rotatably connected to the middle part of the upper surface of the first base 1 through a bearing, a turntable 2 is arranged on the top of the rotating shaft 11, and a rotating driving mechanism 3 for driving the rotating shaft 11 to rotate is arranged on the first base 1, and the rotating driving mechanism 3 comprises a stepping motor 8, the stepping motor 8 is mounted on the upper surface of the first base 1, and a small gear 9 is connected to the shaft of the stepping motor 8, a large gear 10 rotatably connected to the small gear 9 is sleeved on the rotating shaft 11, and the large gear 10 It meshes with the small gear 9. By starting the stepper motor 8, the small gear 9 can drive the large gear 10 to rotate, thereby the large gear 10 drives the rotating shaft 11 to rotate, thereby the rotating shaft 11 drives the turntable 2 to rotate. When performing electrical discharge machining, when the process personnel need a low-voltage micro-arc tool, they can rotate the low-voltage micro-arc tool magazine to the corresponding position according to the program, so that the socket 12 equipped with the corresponding low-voltage micro-arc tool 4 is rotated to the bottom of the upper electric spindle 7, which is conducive to the robot arm 6 to quickly take the low-voltage micro-arc tool 4, with a high degree of automation and improved low-voltage micro-arc machining efficiency.

[0026] A plurality of sockets 12 distributed in a circular array are provided at the edge of the upper surface of the turntable 2, and a low-voltage micro-arc tool 4 is inserted in each socket 12. A robotic arm 6 is rotatably connected to the upper surface of the second base 5, and an upper electric spindle 7 for grabbing the tool 4 is provided at the end of the robotic arm 6. A cylinder 18 is provided at the top of the upper electric spindle 7. The piston rod end of the cylinder 18 extends to the inner cavity of the upper electric spindle 7 and is provided with a pull rod 19 for lifting the tool 4. The low-voltage micro-arc tool 4 includes a tool handle 13 and a tool electrode 14 arranged at the bottom of the tool handle 13. A conical head 15 is arranged on the upper surface of the tool handle 13, a push rod 16 is arranged at the top of the push rod 16, a pull pin 17 is arranged at the top of the push rod 16, and four card slots distributed in a circumferential array are arranged on the side wall of the pull rod 19, each of which is equipped with a steel ball 21. The inner cavity at the top of the pull rod 19 is provided with a groove body for accommodating the pull pin 17, and the surface of the steel ball 21 protrudes from the inner surface and the outer surface of the pull rod 19 respectively. The bottom of the upper electric spindle 7 is provided with a groove 22 The top of the groove 22 is provided with a conical groove 23 that matches the size of the conical head 15, and a limiting groove 25 that matches the outer diameter of the pull rod 19 is provided above the conical groove 23. The top of the limiting groove 25 is provided with a receiving cavity 26 whose diameter is larger than the limiting groove 25, and an expanding groove 24 is provided between the limiting groove 25 and the conical groove 23. A butterfly spring 20 is sleeved on the piston rod of the cylinder 18, and the butterfly spring 20 is in the receiving cavity 26. When taking the low-pressure micro-arc tool 4, the cylinder 18 is started, so that the piston rod pushes the pull rod 19 downward, and when the bottom of the pull rod 19 is at When the steel balls 21 are at the expansion groove 24, the four steel balls 21 will move away from each other, and then the upper electric spindle 7 is moved downward by the mechanical arm 6, so that the conical head 15 and the tool handle 13 are inserted into the conical groove 23 and the groove 22 of the upper electric spindle 7, and then the cylinder 18 is started, so that the piston rod pulls the pull rod 19 to move upward, and when the steel balls 21 are moved to the limit groove 25, the four steel balls 21 are squeezed by the inner wall of the limit groove 25, so that the four steel balls 21 are at the bottom of the pull nail 17, and under the action of the butterfly spring 20, the low-pressure micro The arc tool 4 is tightly connected to the upper power spindle 7, and no relative sliding occurs. Finally, the low-voltage micro-arc tool 4 can be taken out by starting the robotic arm 6. When putting down the tool, start the cylinder 18 so that the piston rod pushes the pull rod 19 downward. When the steel balls 21 are moved to the expansion groove 24, the four steel balls 21 will move away. At this time, the four steel balls 21 will be separated from the bottom of the pull pin 17. Then start the robotic arm 6 to lift the upper power spindle 7, so that the upper power spindle 7 can be separated from the low-voltage micro-arc tool 4. The whole process is automated, which greatly improves work efficiency.

[0027] It is understood that the present invention is described by some embodiments, and those skilled in the art are aware that various changes or equivalent substitutions may be made to these features and embodiments without departing from the spirit and scope of the present invention. In addition, under the teachings of the present invention, these features and embodiments may be modified to adapt to specific circumstances and materials without departing from the spirit and scope of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed herein, and all embodiments falling within the scope of the claims of this application are within the scope of protection of the present invention.

Claims

1. A low-voltage micro-arc robot automatic tool changing device, characterized in that: The invention comprises a first base (1) and a second base (5), wherein a rotating shaft (11) is rotatably connected to the middle portion of the upper surface of the first base (1) via a bearing, a rotating disk (2) is arranged at the top end of the rotating shaft (11), and a rotating drive mechanism (3) for driving the rotating shaft (11) to rotate is arranged on the first base (1), a plurality of sockets (12) distributed in a circular array are arranged at the edge of the upper surface of the rotating disk (2), a low-voltage micro-arc tool (4) is inserted into each of the sockets (12), and a mechanical arm (6) is rotatably connected to the upper surface of the second base (5), an upper electric spindle (7) for grabbing the low-voltage micro-arc tool (4) is arranged at the end of the mechanical arm (6), a cylinder (18) is arranged at the top end of the upper electric spindle (7), a piston rod end of the cylinder (18) extends to the inner cavity of the upper electric spindle (7) and is provided with a pull rod (19) for lifting the low-voltage micro-arc tool (4).

2. The low-voltage micro-arc robot automatic tool changing device according to claim 1, characterized in that: The rotary drive mechanism (3) comprises a stepper motor (8), the stepper motor (8) being mounted on the upper surface of the first base (1), and the shaft of the stepper motor (8) being connected to a pinion gear (9), the rotating shaft (11) being sleeved with a large gear (10) rotatably connected to the pinion gear (9), and the large gear (10) and the pinion gear (9) being meshed with each other.

3. The low-voltage micro-arc robot automatic tool changing device according to claim 1, characterized in that: The low-voltage micro-arc tool (4) comprises a tool handle (13) and a tool electrode (14) arranged at the bottom of the tool handle (13); a conical head (15) is arranged on the upper surface of the tool handle (13); a top end of the conical head (15) is arranged with a push rod (16); and a pull pin (17) is arranged at the top end of the push rod (16).

4. The low-voltage micro-arc robot automatic tool changing device according to claim 3 is characterized in that: The side wall of the pull rod (19) is provided with four slots distributed in a circular array, each of which is provided with a steel ball (21), the top inner cavity of the pull rod (19) is provided with a slot body for accommodating the pull nail (17), and the surface of the steel ball (21) protrudes from the inner surface and the outer surface of the pull rod (19).

5. The low-voltage micro-arc robot automatic tool changing device according to claim 1, characterized in that: A groove (22) is provided at the bottom of the upper electric spindle (7), a conical groove (23) matching the size of the conical head (15) is provided at the top of the groove (22), a limiting groove (25) matching the outer diameter of the pull rod (19) is provided above the conical groove (23), a receiving cavity (26) having a diameter larger than the limiting groove (25) is provided at the top of the limiting groove (25), and a flaring groove (24) is provided between the limiting groove (25) and the conical groove (23).

6. The low-voltage micro-arc robot automatic tool changing device according to claim 5, characterized in that: A butterfly spring (20) is sleeved on the piston rod of the cylinder (18), and the butterfly spring (20) is located in the accommodating chamber (26).

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