Tool changing composite robot

Abstract

The utility model relates to the technical field of industrial equipment, and discloses a tool changing composite robot. The tool changing composite robot comprises an AGV (Automatic Guided Vehicle), a mechanical arm and a tool rest; the first end of the mechanical arm is connected to the AGV, the second end of the mechanical arm is connected with a first clamping jaw air cylinder and a second clamping jaw air cylinder, the first clamping jaw air cylinder is used for clamping a first cutter, the second clamping jaw air cylinder is used for clamping a carrying disc, a second cutter is placed in the carrying disc, and the size of the second cutter is smaller than that of the first cutter. The first cutter is in a regular shape, and the second cutter is of a special-shaped structure. The tool rest is installed on the AGV and located on one side of the mechanical arm, the tool rest comprises multiple layers of containing plates, the first tools and the second tools are placed on the containing plates respectively, every two adjacent layers of containing plates are arranged in a staggered mode in a stepped structure mode, and therefore the tools on every two adjacent layers of containing plates are placed in a staggered mode. The tool changing composite robot is good in universality and applicability, and interference on tool clamping can be well avoided.

Description

Technical Field

[0001] The utility model relates to the technical field of industrial equipment, in particular to a tool-changing compound robot. Background Art

[0002] CNC machining center is the abbreviation of computer numerical control machine tool, which is an automated machine tool controlled by a program. During the continuous processing of workpieces, it is necessary to replace the tools through a tool changing compound robot. After each process is completed, the tool changing compound robot automatically replaces the new tool used in the next process to the spindle of the corresponding CNC machining center, so as to realize the automatic replacement of tools between multiple CNC machining centers.

[0003] At present, the tool holders in the tool-changing compound robot are arranged in an array along the up and down directions, that is, the upper structure and the lower structure of the tool holder are aligned, which easily interferes with the clamping of the tool; moreover, the gripper cylinder in the tool-changing compound robot can only clamp tools with regular shapes and large sizes, but cannot clamp tools with irregular shapes or small sizes, and its versatility and applicability are poor.

[0004] Therefore, there is an urgent need for a tool-changing composite robot that can solve the above problems. Utility Model Content

[0005] The purpose of the utility model is to propose a tool-changing composite robot, which can clamp a second tool with an irregular shape or a small size, has good versatility and applicability, and can stagger the tools on two adjacent layers of placement plates to better avoid interference with the clamping of the tools.

[0006] To achieve this purpose, the utility model adopts the following technical solutions:

[0007] Tool changing compound robot, including:

[0008] AGV transport vehicle;

[0009] A mechanical arm, wherein the first end of the mechanical arm is connected to the AGV transport vehicle, and the second end of the mechanical arm is respectively connected to a first clamping cylinder and a second clamping cylinder, wherein the first clamping cylinder is used to clamp a first tool, and the second clamping cylinder is used to clamp a carrier, wherein a second tool is placed in the carrier, and the size of the second tool is smaller than that of the first tool, the first tool is of a regular shape, and the second tool is of a special-shaped structure;

[0010] The tool holder is installed on the AGV transport vehicle and is located on one side of the robotic arm. The tool holder includes multiple layers of placement plates. The first tool and the second tool are placed on each layer of the placement plates respectively. The placement plates on two adjacent layers are staggered in a step structure so that the tools on the placement plates on two adjacent layers are staggered.

[0011] As an optional solution, the placement plate is respectively provided with through holes and limiting columns, and a plurality of limiting columns are respectively provided on the outer periphery of the through holes. When one end of the tool is inserted into the through hole, the outer peripheral surface of the tool abuts against each of the limiting columns, and the carrier gap is located above the placement plate.

[0012] As an optional solution, the tool holder further includes:

[0013] The frame is fixedly arranged on the AGV transport vehicle, the opposite ends of the placement plate are respectively connected to the two inner wall surfaces of the frame, and a receiving space is formed in the frame to accommodate the part of the tool passing through the through hole.

[0014] As an optional solution, a limiting protrusion is further provided on the placement plate, and the limiting protrusion is located on one side of the through hole. When one end of the tool is inserted into the through hole, the limiting protrusion can be snapped into the slot on the tool.

[0015] As an optional solution, the installation position of the limiting protrusion on the placement plate is adjustable.

[0016] As an optional solution, the limiting protrusion includes:

[0017] A mounting body, detachably mounted on the placement plate;

[0018] The limiting body is convexly arranged on one side of the mounting body close to the through hole. When the limiting body is clamped into the clamping slot, the top end surface of the limiting body abuts against the inner top wall surface of the clamping slot.

[0019] As an optional solution, the limiting body is provided with two guiding inclined surfaces which are arranged opposite to each other, and the two guiding inclined surfaces gradually approach the center of the limiting body.

[0020] As an optional solution, a plurality of circumferentially arranged first protective baffles are provided on the fixed end of the second clamping jaw cylinder, and the second tool clamped by the second clamping jaw cylinder is located on the inner side of each of the first protective baffles.

[0021] As an optional solution, two second protective baffles are arranged opposite to each other on the fixed end of the first clamping jaw cylinder, and the first tool clamped by the first clamping jaw cylinder is located between the two second protective baffles.

[0022] As an optional solution, the second end of the robotic arm is rotatably connected to a first mounting plate, the first mounting plate is rotatably connected to a second mounting plate and a third mounting plate, and the first gripper cylinder and the second gripper cylinder are respectively mounted to the second mounting plate and the third mounting plate.

[0023] As an optional solution, the tool-changing compound robot further includes:

[0024] A level detector is provided at the front and rear opposite ends of the AGV transport vehicle in the direction of travel of the AGV transport vehicle, one of which is used to detect the level value of the front end of the AGV transport vehicle, and the other is used to detect the level value of the rear end of the AGV transport vehicle, so as to obtain the inclination angle of the AGV transport vehicle on the slope.

[0025] As an optional solution, the AGV transport vehicle includes:

[0026] Transport vehicle body;

[0027] Support feet and rollers: the bottom end surface of the transport vehicle body is movably provided with a plurality of support feet and a plurality of rollers, and the support feet can be extended relative to the rollers to support the transport vehicle body.

[0028] As an optional solution, the AGV transport vehicle also includes:

[0029] A driving member, a fixed end of which is arranged on the transport vehicle body;

[0030] The connecting rod structure, the two driving ends of the driving member arranged opposite to each other are rotatably connected to the two connecting rod structures respectively, and one connecting rod structure is respectively connected to the two supporting feet.

[0031] The beneficial effects of the utility model are:

[0032] By setting up an AGV transport vehicle and a robotic arm, when a CNC machining center needs to replace a tool, the AGV transport vehicle carrying the robotic arm and the tool holder is first moved to the CNC machining center as a whole, and then the tool to be replaced is removed by the robotic arm and the first clamp or the second clamp on the second end of the robotic arm, and the new tool is grabbed from the placement plate of the tool holder and installed on the workstation of the CNC machining center, thereby realizing automatic tool replacement between multiple CNC machining centers; because the first clamp cylinder and the second clamp cylinder are respectively connected to the second end of the robotic arm, the first clamp cylinder is used to clamp a first tool with a larger size and a regular shape, and the second ... It is used for clamping a carrier plate, in which a second tool of smaller size or special-shaped structure is placed, so that the tool-changing compound robot can not only clamp the first tool of regular shape and larger size, but also can clamp the second tool of irregular shape or smaller size, so that the versatility and applicability of the entire tool-changing compound robot are better; and the two adjacent layers of placement plates in the tool holder are staggered in a step structure, that is, the adjacent upper layer placement plates and lower layer placement plates in the tool holder are staggered, so that the tools on the two adjacent layers of placement plates are staggered, thereby better avoiding interference with the clamping of the tool, so that the robot arm can take the tool on the tool holder more smoothly. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 This is a structural schematic diagram of the tool-changing compound robot provided by the utility model;

[0034] Figure 2 yes Figure 1 A schematic diagram of the local enlarged structure at point A in the middle;

[0035] Figure 3 It is a schematic diagram of the structure connected at the second end of the mechanical arm provided by the utility model;

[0036] Figure 4 It is a structural schematic diagram of the AGV transport vehicle (excluding the upper part) provided by the utility model.

[0037] Reference numerals:

[0038] 10-AGV transport vehicle; 11-transport vehicle body; 12-roller; 13-support foot; 14-connecting rod structure; 15-driving member;

[0039] 20-mechanical arm; 21-first end; 22-second end; 24-second gripper cylinder; 25-first mounting plate; 26-second mounting plate; 27-third mounting plate; 28-first protective baffle; 29-second protective baffle;

[0040] 30-tool; 31-first tool; 32-second tool; 321-carrier;

[0041] 40-tool holder; 41-frame; 411-accommodating space; 42-placing plate; 421-through hole; 422-mounting hole; 43-limiting protrusion; 431-mounting body; 432-limiting body; 4321-guide slope. DETAILED DESCRIPTION

[0042] In order to make the technical problems solved by the present invention, the technical solutions adopted and the technical effects achieved more clearly, the technical solutions of the present invention are further explained below with reference to the accompanying drawings and through specific implementation methods.

[0043] In the description of the present invention, unless otherwise clearly specified and limited, the terms "connected", "connected", and "fixed" 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 or an electrical connection; 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 present invention can be understood according to specific circumstances.

[0044] In the present utility model, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may include that the first and second features are in direct contact, or may include that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, a first feature being "above", "above" and "above" a second feature includes that the first feature is directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. A first feature being "below", "below" and "below" a second feature includes that the first feature is directly below and obliquely below the second feature, or simply indicates that the first feature is lower in level than the second feature.

[0045] In the description of this embodiment, the terms "upper", "lower", "left", "right" and other directions or positional relationships are based on the directions or positional relationships shown in the drawings, and are only for the convenience of description and simplification of operation, rather than indicating or implying that the structure or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore cannot be understood as a limitation of the present invention. In addition, the terms "first" and "second" are only used to distinguish in the description and have no special meaning.

[0046] In this embodiment, a tool-changing compound robot is proposed. The tool-changing compound robot can realize automatic replacement of tools between multiple CNC machining centers, saving time and labor, and having high tool changing efficiency; and the tool-changing compound robot can be used for clamping tools of small size or irregular shape, and has good versatility and applicability; at the same time, the tool-changing compound robot can also ensure smoothness when taking out tools without interference.

[0047] Specifically, Figures 1 to 3 As shown, the tool-changing composite robot includes an AGV transport vehicle 10, a mechanical arm 20 and a tool holder 40; wherein the first end 21 of the mechanical arm 20 is fixedly connected to the AGV transport vehicle 10, and the second end 22 of the mechanical arm 20 is respectively connected to a first clamping cylinder and a second clamping cylinder 24, the first clamping cylinder is used to clamp a first tool 31, and the second clamping cylinder 24 is used to clamp a carrier 321, in which a second tool 32 is placed, and the carrier 321 is a carrier of the second tool 32, and the size of the second tool 32 The size of the tool 31 is smaller than that of the first tool 31, the first tool 31 is of a regular shape, and the second tool 32 is of a special-shaped structure; the tool holder 40 is fixedly installed on the AGV transport vehicle 10 and is located on one side of the robot arm 20, and the tool holder 40 includes a multi-layer placement plate 42, and the first tool 31 and the second tool 32 are placed on each layer of the placement plate 42 respectively, so as to facilitate grabbing the first tool 31 or the second tool 32 for replacement; and the two adjacent layers of the placement plates 42 are staggered in a step structure, so that the tools 30 on the two adjacent layers of the placement plates 42 are staggered.

[0048] By setting up the AGV transport vehicle 10 and the robot arm 20, when the CNC machining center needs to replace the tool 30, the AGV transport vehicle 10 is first moved to the CNC machining center with the robot arm 20 and the tool holder 40 as a whole, and then the tool 30 that needs to be replaced is removed by the robot arm 20 and the first clamp or the second clamp on the second end 22 of the robot arm 20, and the new tool 30 is grabbed from the placement plate 42 of the tool holder 40 and installed on the workstation of the CNC machining center, thereby realizing the automatic replacement of the tool 30 between multiple CNC machining centers. In this embodiment, the robot arm 20 is a six-axis robot arm with high flexibility. Among them, the full name of the AGV transport vehicle 10 is Automated Guided Vehicle, that is, an automatic guided transport vehicle. The working principle of the AGV transport vehicle 10 is not described in detail here, and reference can be made to the common automatic guided transport vehicles in the prior art.

[0049] Compared with the prior art, the tool-changing composite robot in this embodiment is provided with a second gripper cylinder 24 at the second end 22 of the robot arm 20, and the structural setting of the tool holder 40 is changed; by connecting the first gripper cylinder and the second gripper cylinder 24 to the second end 22 of the robot arm 20, respectively, the first gripper cylinder is used to grip the first tool 31 with a larger size and a regular shape, and the second gripper cylinder 24 is used to grip the carrier 321, in which the second tool 32 with a smaller size or a special-shaped structure is placed, so that the tool-changing composite robot can not only grip the first tool 31 with a regular shape and a regular shape, but also ... It can not only clamp the first tool 31 with a larger size, but also clamp the second tool 32 with an irregular shape or a smaller size, so that the versatility and applicability of the entire tool-changing composite robot are better; and, the two adjacent layers of placement plates 42 in the tool holder 40 are staggered in a step structure, that is, the adjacent upper placement plates 42 and the lower placement plates 42 in the tool holder 40 are staggered, so that the tools 30 on the two adjacent layers of placement plates 42 are staggered, thereby better avoiding interference with the clamping of the tool 30, so that the robot arm 20 can take the tool 30 on the tool holder 40 more smoothly.

[0050] It is worth mentioning that Figure 1 and Figure 3 The specific structure of the first clamping jaw cylinder is not shown. Figure 1 and Figure 3 The structure in the figure is only a simple clamping illustration of the clamping effect of the first tool 31. In the actual clamping process, the first tool 31 is clamped by the first clamping jaw cylinder.

[0051] Specifically, Figure 1 and Figure 2 As shown, a through hole 421 and a limiting column (not shown in the figure) are respectively provided on the placement plate 42, and a plurality of limiting columns are provided on the outer circumference of the through hole 421. When one end of the tool 30 is inserted into the through hole 421, the outer circumferential surface of the tool 30 abuts against each limiting column, so that the tool 30 can be circumferentially limited by each limiting column to prevent the tool 30 from shaking circumferentially in the through hole 421. Among them, a mounting hole 422 is also provided on the placement plate 42, and the limiting column is installed in the mounting hole 422.

[0052] It is worth noting that if Figure 1 As shown, when one end of the second tool 32 is inserted into the through hole 421, the gap between the carrier plate 321 on the outside of the second tool 32 is located above the placement plate 42, so as to avoid interference between the carrier plate 321 and the placement plate 42, thereby ensuring a better limiting effect on the tool 30.

[0053] It is worth noting that the first tool 31 and the second tool 32 are actually the tools 30 required by the CNC machining center. The tools 30 are only distinguished by different names according to their size and shape. Figure 1 As shown, the number of the first tool 31 and the number of the second tool 32 include multiple, and the multiple first tools 31 and the multiple second tools 32 are respectively placed in the through holes 421 of each placement plate 42, and the structure of each first tool 31 can be exactly the same or different, and the structure of each second tool 32 can be exactly the same or different.

[0054] Furthermore, if Figure 1 As shown, the tool holder 40 also includes a frame 41, which is fixedly arranged on the AGV transport vehicle 10, and the opposite ends of the placement plate 42 are respectively connected to the two inner wall surfaces of the frame 41, and an accommodating space 411 is formed in the frame 41 to accommodate the part of the tool 30 passing through the through hole 421, that is, the interior of the frame 41 is hollow, so as to avoid the frame 41 from interfering with the part of the tool 30 passing through the through hole 421.

[0055] Specifically, Figure 1 and Figure 2 As shown, a limiting protrusion 43 is also provided on the placement plate 42, and the limiting protrusion 43 is located on one side of the through hole 421. When one end of the tool 30 is inserted into the through hole 421, the limiting protrusion 43 can be snapped into the slot on the tool 30, so that the limiting protrusion 43 can limit the rotation of the tool 30 in the through hole 421.

[0056] By providing the limiting columns and limiting protrusions 43 that cooperate with each other, the tool 30 can be relatively stably limited in the through hole 421 to ensure the stability of the placement position and placement angle of the tool 30 on the placement plate 42, which is conducive to the first clamping jaw cylinder or the second clamping jaw cylinder 24 to accurately grasp the tool 30 on the placement plate 42. In this embodiment, four circumferentially arranged limiting columns and two relatively arranged limiting protrusions 43 are respectively provided on the placement plate 42 to ensure a good limiting effect on the tool 30.

[0057] Furthermore, the installation position of the limiting protrusion 43 on the placement plate 42 is adjustable, so that the limiting protrusion 43 can be adjusted according to the position of the slot of the tool 30, ensuring that the limiting protrusion 43 can be snapped into tools 30 of different sizes; and the shape of the limiting protrusion 43 matches the shape of the slot of the tool 30, so that the limiting protrusion 43 can be snapped into tools 30 of different shapes; thereby making the tool holder 40 and the entire tool-changing composite robot more versatile and applicable. In this embodiment, the limiting protrusion 43 is adjustably mounted on the placement plate 42 by connecting bolts.

[0058] It is worth mentioning that the limit column has a certain elasticity, so that the limit column can also adapt to tools 30 of different sizes and shapes, thereby ensuring that the limit column and the limit protrusion 43 can be used in conjunction with each other, that is, avoiding the problem that the limit column will interfere with the tool 30 after the position of the limit protrusion 43 is adjusted, and then ensuring that after the position of the limit protrusion 43 is adjusted, due to the elastic effect of the limit column, the tool 30 can still be limited to the inner side of each limit column.

[0059] Specifically, if Figure 2 As shown, the limiting protrusion 43 includes a mounting body 431 and a limiting body 432; wherein the mounting body 431 is detachably mounted on the placement plate 42 by the above-mentioned connecting bolts; the limiting body 432 is convexly arranged on one side of the mounting body 431 close to the through hole 421, and when one end of the tool 30 is inserted into the through hole 421, the limiting body 432 in the limiting protrusion 43 is directly clamped into the slot, and at this time, the top surface of the limiting body 432 abuts against the inner top wall surface of the slot, so that the limiting body 432 can abut against the tool 30 to block the tool 30, thereby limiting the tool 30 from continuing to move downward in the through hole 421, thereby ensuring a better limiting effect on the tool 30 in the through hole 421. In this embodiment, the mounting body 431 and the limiting body 432 are an integrally formed structure.

[0060] It is worth mentioning that when the tool 30 is inserted into the through hole 421 with interference fit, the tool 30 can be limited in the through hole 421 by the interference fit, that is, at this time, the through hole 421 itself has a limiting and blocking effect on the tool 30, thereby limiting the up and down movement of the tool 30 in the through hole 421, further ensuring a better limiting effect on the tool 30 in the through hole 421.

[0061] Furthermore, if Figure 2 As shown, two relatively arranged guide slopes 4321 are provided on the limiting body 432, and the two guide slopes 4321 gradually approach the center of the limiting body 432; when the limiting body 432 is snapped into the slot, the guide slopes 4321 can provide a guiding effect for the limiting body 432 to enter the slot, so that the limiting body 432 can be snapped into the slot more easily.

[0062] Specifically, Figure 1 and Figure 3As shown, the second end 22 of the robot arm 20 is rotatably connected to the first mounting plate 25, and the second mounting plate 26 and the third mounting plate 27 are rotatably connected to the first mounting plate 25, respectively. The first clamping cylinder and the second clamping cylinder 24 are respectively mounted to the second mounting plate 26 and the third mounting plate 27, so that the first clamping cylinder and the second clamping cylinder 24 can be rotated relative to the robot arm 20 as a whole, or can be rotated relative to the robot arm 20 separately, so that the first clamping cylinder and the second clamping cylinder 24 can be rotated to a suitable grasping position, so as to accurately and directly grasp the tool 30 on the tool holder 40. The rotation of the first clamping cylinder and the second clamping cylinder 24 relative to the robot arm 20 can be achieved by rotating the cylinder.

[0063] Furthermore, if Figure 1 and Figure 3 As shown, a plurality of circumferentially arranged first protective baffles 28 are provided on the fixed end of the second clamping jaw cylinder 24, and the second tool 32 clamped by the second clamping jaw cylinder 24 is located on the inner side of each first protective baffle 28, so that the first protective baffle 28 can provide protection for the second tool 32, avoiding damage to the second tool 32 clamped by the second clamping jaw cylinder 24 by the external environment, thereby better protecting the second tool 32.

[0064] Specifically, correspondingly, Figure 1 and Figure 3 As shown, two second protective baffles 29 are relatively arranged on the fixed end of the first clamping cylinder, and the first tool 31 clamped on the first clamping cylinder is located between the two second protective baffles 29, so that the second protective baffles 29 can provide protection for the first tool 31, avoiding damage to the first tool 31 clamped on the first clamping cylinder by the external environment, thereby better protecting the first tool 31.

[0065] Furthermore, the tool-changing compound robot also includes a level detector (not shown in the figure). In the direction of travel of the AGV transport vehicle 10, a level detector is respectively provided at the front and rear opposite ends of the AGV transport vehicle 10; during the climbing process of the AGV transport vehicle 10, one of the level detectors can detect the level value of the front end of the AGV transport vehicle 10, and the other level detector can detect the level value of the rear end of the AGV transport vehicle 10, and then the inclination angle of the AGV transport vehicle 10 on the slope is calculated by detecting the two level values ​​obtained, so that the mechanical arm 20 can adaptively adjust the grasping parameters according to the inclination angle of the AGV transport vehicle 10 on the slope, thereby facilitating the mechanical arm 20 to accurately grasp the tool 30 or the carrier 321 on the tool holder 40, and ensuring the grasping accuracy of the mechanical arm 20 on the slope. Among them, the level detector can be specifically a level meter or a laser locator.

[0066] Specifically, in this embodiment, the level detector is a laser locator, which emits a laser beam to a reference object (such as a wall) to obtain the level value of the front end or rear end of the AGV transport vehicle 10 through the relative projection relationship between the laser beam and the reference object; and the laser beam is projected on the reference object to form a surface, which is compared with the prior art in which the laser beam is projected on the reference object to form a point, thereby increasing the projection area of ​​the laser beam on the reference object, so as to avoid the situation in which a hole is provided on the reference object and the laser beam directly passes through the hole and cannot be projected on the plane of the reference object, thereby ensuring the accurate projection of the laser beam on the reference object and further ensuring the reliability of the detection.

[0067] Furthermore, if Figure 1 and Figure 4 As shown, the AGV transport vehicle 10 includes a transport vehicle body 11, and a plurality of support legs 13 and a plurality of rollers 12 movably arranged on the bottom end surface of the transport vehicle body 11. The rolling of each roller 12 can drive the movement of the transport vehicle body 11 and the entire AGV transport vehicle 10; when the AGV transport vehicle 10 moves to a preset position, the support legs 13 can extend downward relative to the rollers 12 along the height direction of the transport vehicle body 11, so that the transport vehicle body 11 is supported by each support leg 13 at this time, and the rollers 12 are off the ground, thereby ensuring the support stability and reliability of the support legs 13 for the transport vehicle body 11. Among them, the rollers 12 can specifically be universal wheels. Among them, the height direction of the transport vehicle body 11 is specifically Figure 1 The vertical direction in .

[0068] Specifically, if Figure 4 As shown, the AGV transport vehicle 10 also includes a driving member 15 and two oppositely arranged connecting rod structures 14; wherein the fixed end of the driving member 15 is arranged on the transport vehicle body 11, and the two oppositely arranged driving ends of the driving member 15 are respectively connected to the two connecting rod structures 14, and one connecting rod structure 14 is respectively connected to two of the above-mentioned supporting feet 13; the driving member 15 is used to drive the connecting rod structure 14 to move, so that the connecting rod structure 14 drives the two supporting feet 13 thereon to extend downward along the height direction of the transport vehicle body 11, so that the bottom end surface of the supporting foot 13 is lower than the bottom end surface of the roller 12, so that the transport vehicle body 11 can be supported by the four supporting feet 13 at the same time. In this embodiment, the driving member 15 can specifically be a linear cylinder.

[0069] By setting a driving member 15 to drive two connecting rod structures 14 at the same time, on the one hand, it can save costs and reduce the installation space, making the structure of the entire AGV transport vehicle 10 simple and compact; on the other hand, it can ensure that the four support legs 13 are extended relative to the roller 12 at the same time, ensuring the simultaneity of the extension movement of the four support legs 13, so that the four support legs 13 can simultaneously support the transport vehicle body 11, ensuring the timeliness and simultaneity of the support. Among them, the connecting rod structure 14 can adopt the common connecting rod structure in the prior art, as long as the driving of the driving member 15 is converted into the extension movement of the support legs 13 through the connecting rod structure 14, and the specific structure of the connecting rod structure 14 is not limited here.

[0070] It is worth noting that if Figure 4 As shown, in the traveling direction of the AGV transport vehicle 10, two connecting rod structures 14 are respectively arranged on opposite sides of the transport vehicle body 11, which can be conducive to the reasonable layout of the connecting rod structure 14 on the transport vehicle body 11, ensuring the compactness of the structure of the entire AGV transport vehicle 10, and at the same time avoiding interference between the connecting rod structure 14 and the rollers 12 or other connecting structures on the transport vehicle body 11.

[0071] Furthermore, one end of the connecting rod structure 14 that is not connected to the supporting foot 13 is rotatably connected to the driving end of the driving member 15, so that the connecting rod structure 14 can rotate around the axis of the driving end of the driving member 15, thereby driving the two supporting feet 13 on the connecting rod structure 14 to rotate, so as to adjust the angles between the two supporting feet 13 on the connecting rod structure 14 and the horizontal plane.

[0072] Specifically, when the AGV transport vehicle 10 moves to an inclined slope, that is, it is no longer a horizontal ground, due to the weight of the transport vehicle body 11 and the structure arranged thereon, and the inclined abutment interaction between the support feet 13 and the inclined slope, the support feet 13 can automatically rotate relative to the transport vehicle body 11, so that the support feet 13 can abut and fit against the inclined slope, so that the transport vehicle body 11 can be supported on the inclined slope by the four support feet 13 at the same time, ensuring the support stability and reliability of the entire AGV transport vehicle 10 on the inclined slope, and thus enabling the entire tool changing compound robot to adapt to the working conditions of the inclined slope, and having good applicability and versatility.

[0073] It is worth noting that the rotation angle of the connecting rod structure 14 relative to the driving end of the driving member 15 is small, so there will be no interference between the connecting rod structure 14 and the transport vehicle body 11 in the process of driving the supporting foot 13 to rotate, and it can also avoid the connection between the connecting rod structure 14 and the driving end of the driving member 15 that is easily damaged due to excessive rotation angle.

[0074] Furthermore, the rollers 12 can rotate relative to the transport vehicle body 11 so that the rollers 12 can rotate and fit with the inclined slope, so that the transport vehicle body 11 can be rotated and supported on the inclined slope by four rollers 12 at the same time, ensuring the movement stability and reliability of the entire AGV transport vehicle 10 on the inclined slope, thereby enabling the entire tool-changing compound robot to adapt to the working conditions of the inclined slope, and having better applicability and versatility. The rotation of the rollers 12 on the inclined slope is similar to the rotation of the support legs 13 on the inclined slope, and the above description of the rotation of the support legs 13 can be referred to.

[0075] The specific working process of the tool-changing composite robot in this embodiment is as follows, and the ground is a horizontal plane:

[0076] First, the AGV transport vehicle 10 drives the robot arm 20 and the tool holder 40 to move to the tool magazine as a whole, so as to take out the first tool 31 and the second tool 32 required from the tool magazine, and place the first tool 31 and the second tool 32 in the through holes 421 of each placement plate 42, respectively, and limit the tool 30 through the limiting column and the limiting protrusion 43 on the periphery of the through hole 421, so as to ensure the stability and reliability of the placement of the tool 30 on the placement plate 42. Among them, multiple first tools 31 and multiple second tools 32 can be placed on one placement plate 42.

[0077] Then, the AGV transport vehicle 10 drives the robot arm 20 and the tool holder 40 to move as a whole to the CNC machining center where the tool 30 needs to be replaced, and the first clamping cylinder or the second clamping cylinder 24 on the robot arm 20 clamps the tool 30 that needs to be replaced in the CNC machining center; then the first clamping cylinder or the second clamping cylinder 24 clamps the corresponding new tool 30 on the tool holder 40 and installs it to the CNC machining center, thereby completing the automatic replacement of the tool 30 of the CNC machining center, saving time and effort, and the efficiency of replacing the tool 30 is high.

[0078] The tool-changing compound robot in this embodiment, by arranging the first clamping cylinder and the second clamping cylinder 24 on the robot arm 20, can not only clamp the first tool 31 of regular shape and larger size, but also can clamp the second tool 32 of irregular shape or smaller size, so that the versatility and applicability of the entire tool-changing compound robot are better; and, the two adjacent layers of placement plates 42 in the tool holder 40 are staggered in a step structure, so that the tools 30 on the two adjacent layers of placement plates 42 are staggered, thereby better avoiding interference with the clamping of the tool 30; at the same time, the placement plates 42 are provided with limit columns and limit protrusions 43 that cooperate with each other, which can stably limit the tool 30 on the placement plates 42, thereby ensuring the accuracy of the first clamping cylinder or the second clamping cylinder 24 in clamping the tool 30.

[0079] The above contents are only preferred embodiments of the present invention. For ordinary technicians in this field, according to the concept of the present invention, there will be changes in the specific implementation methods and application scopes. The contents of this specification should not be understood as limiting the present invention.

Claims

1. A tool-changing compound robot, characterized in that: include: AGV transport vehicle (10); A mechanical arm (20), wherein a first end (21) of the mechanical arm (20) is connected to the AGV transport vehicle (10), and a second end (22) of the mechanical arm (20) is respectively connected to a first clamping cylinder and a second clamping cylinder (24), wherein the first clamping cylinder is used to clamp a first tool (31), and the second clamping cylinder (24) is used to clamp a carrier (321), wherein a second tool (32) is placed in the carrier (321), and the size of the second tool (32) is smaller than the size of the first tool (31), the first tool (31) is of a regular shape, and the second tool (32) is of a special-shaped structure; A tool holder (40) is installed on the AGV transport vehicle (10) and is located on one side of the robotic arm (20). The tool holder (40) includes multiple layers of placement plates (42). The first tool (31) and the second tool (32) are placed on each layer of the placement plates (42), respectively. Two adjacent layers of the placement plates (42) are staggered in a stepped structure so that the tools (30) on the two adjacent layers of the placement plates (42) are staggered.

2. The tool-changing compound robot according to claim 1, characterized in that: The placement plate (42) is provided with a through hole (421) and a limiting column, and a plurality of the limiting columns are arranged around the outer periphery of the through hole (421). When one end of the tool (30) is inserted into the through hole (421), the outer peripheral surface of the tool (30) abuts against each of the limiting columns, and the gap of the carrier plate (321) is located above the placement plate (42).

3. The tool-changing compound robot according to claim 2, characterized in that: The tool holder (40) further comprises: A frame (41) is fixedly arranged on the AGV transport vehicle (10), and the opposite ends of the placement plate (42) are respectively connected to the two inner wall surfaces of the frame (41), and a receiving space (411) is formed in the frame (41) to accommodate the part of the tool (30) passing through the through hole (421).

4. The tool-changing compound robot according to claim 2, characterized in that: The placement plate (42) is also provided with a limiting protrusion (43), and the limiting protrusion (43) is located on one side of the through hole (421). When one end of the tool (30) is inserted into the through hole (421), the limiting protrusion (43) can be snapped into the slot on the tool (30).

5. The tool-changing compound robot according to claim 4, characterized in that: The installation position of the limiting protrusion (43) on the placement plate (42) is adjustable.

6. The tool-changing compound robot according to claim 4, characterized in that: The limiting protrusion (43) comprises: A mounting body (431) detachably mounted on the placement plate (42); The limiting body (432) is protrudingly arranged on one side of the mounting body (431) close to the through hole (421); when the limiting body (432) is snapped into the slot, the top end surface of the limiting body (432) abuts against the inner top wall surface of the slot.

7. The tool-changing compound robot according to claim 6, characterized in that: The limiting body (432) is provided with two guiding inclined surfaces (4321) arranged opposite to each other, and the two guiding inclined surfaces (4321) gradually approach the center of the limiting body (432).

8. The tool-changing compound robot according to any one of claims 1 to 7, characterized in that: A plurality of circumferentially arranged first protective baffles (28) are provided on the fixed end of the second clamping jaw cylinder (24), and the second tool (32) clamped by the second clamping jaw cylinder (24) is located on the inner side of each of the first protective baffles (28).

9. The tool-changing compound robot according to any one of claims 1 to 7, characterized in that: Two second protective baffles (29) are arranged opposite to each other on the fixed end of the first clamping jaw cylinder, and the first tool (31) clamped by the first clamping jaw cylinder is located between the two second protective baffles (29).

10. The tool-changing compound robot according to any one of claims 1 to 7, characterized in that: The second end (22) of the robot arm (20) is rotatably connected to a first mounting plate (25), and the first mounting plate (25) is rotatably connected to a second mounting plate (26) and a third mounting plate (27), respectively, and the first gripper cylinder and the second gripper cylinder (24) are respectively mounted to the second mounting plate (26) and the third mounting plate (27).

11. The tool-changing compound robot according to any one of claims 1 to 7, characterized in that: The tool-changing composite robot also includes: A level detector is provided at the front and rear opposite ends of the AGV transport vehicle (10) in the direction of travel of the AGV transport vehicle (10), one of the level detectors being used to detect the level value of the front end of the AGV transport vehicle (10), and the other level detector being used to detect the level value of the rear end of the AGV transport vehicle (10), so as to obtain the inclination angle of the AGV transport vehicle (10) on the slope.

12. The tool-changing compound robot according to any one of claims 1 to 7, characterized in that: The AGV transport vehicle (10) comprises: Transport vehicle body (11); Support legs (13) and rollers (12); the bottom end surface of the transport vehicle body (11) is movably provided with a plurality of the support legs (13) and a plurality of the rollers (12); the support legs (13) can be extended relative to the rollers (12) to support the transport vehicle body (11).

13. The tool-changing composite robot according to claim 12, characterized in that: The AGV transport vehicle (10) further comprises: A driving member (15), a fixed end of which is arranged on the transport vehicle body (11); The connecting rod structure (14) is characterized in that two driving ends of the driving member (15) are arranged opposite to each other and are rotatably connected to two connecting rod structures (14), and one connecting rod structure (14) is respectively connected to two supporting legs (13).

Images