Automatic tool changing manipulator

Abstract

The utility model provides an automatic tool changing mechanical arm which comprises a clamping base, a clamping air cylinder and a telescopic air cylinder. The clamping base is used for installing the automatic tool changing mechanical arm. The automatic tool changing mechanical arm is installed on the standard shaft through the clamping base. The clamping air cylinder is located on one side of the clamping base and comprises a spring clamp used for clamping a cutter. The telescopic air cylinder is connected with the clamping base, the output end of the telescopic air cylinder is connected with the clamping air cylinder, and the telescopic air cylinder drives the clamping air cylinder to move up and down. According to the automatic tool changing manipulator, automatic movement of the clamping air cylinder and the telescopic air cylinder is achieved through air pressure driving, clamping of an opening tool at the bottom end of the spring clamp belongs to surface contact, the tool is clamped more stably, and the problem that the tool falls off due to uneven clamping is solved. And meanwhile, the taper sleeve piston and the double-acting air cavity are matched, so that the clamping force can be accurately controlled, and the clamping stability and reliability are further improved.

Description

Technical Field

[0001] The utility model relates to the field of machine tool equipment, in particular to an automatic tool changing manipulator. Background Art

[0002] The automatic tool changing function of CNC machine tools is realized through a pre-set program, including the tool changing fixture switching, tool calibration and other processes, so that the machine can automatically complete the tool changing operation.

[0003] Traditional tool changing fixtures are mostly of the clamping claw structure. When the clamping claw grasps the tool, there is only point contact, and the force of clamping the tool is uneven, which makes the tool easy to fall. In addition, the clamping claw structure requires more operating steps and time in the process of grasping tools of different types. For example, the clamping force of the clamping claw needs to be adjusted manually, which is inconvenient to use.

[0004] Therefore, it is necessary to provide an automatic tool changing manipulator to solve the above technical problems. Utility Model Content

[0005] The utility model provides an automatic tool changing manipulator to solve the problem in the prior art that the clamping claws in the process of grabbing the tool only have point contact, the force of clamping the tool is uneven, and the tool is easily dropped.

[0006] In order to solve the above technical problems, the technical solution of the utility model is: an automatic tool changing manipulator, which comprises:

[0007] A clamping seat, used for installing the automatic tool changing manipulator;

[0008] A clamping cylinder, located at one side of the clamping seat, the clamping cylinder comprising a spring clamp for clamping a tool; and

[0009] A telescopic cylinder is connected to the clamping seat, an output end of the telescopic cylinder is connected to the clamping cylinder, and the telescopic cylinder drives the clamping cylinder to move up and down;

[0010] The clamping cylinder comprises:

[0011] A cylinder body, wherein an active cavity is arranged in the cylinder body, and a first air hole is arranged on one side of the cylinder body, wherein the first air hole is connected to an air source;

[0012] A spring clip connected to the cylinder body, wherein the bottom end of the spring clip is provided with an opening for clamping a tool;

[0013] The cone sleeve piston is a cylindrical structure, the cone sleeve piston is sleeved on the outside of the spring clip, and the cone sleeve piston is slidably arranged in the active chamber;

[0014] A double-acting air cavity is formed between the outer side of the cone sleeve piston and the inner wall of the active cavity. The double-acting air cavity is connected to the first air hole. The double-acting air cavity drives the cone sleeve piston to move up and down. The cone sleeve piston moves relative to the spring clip, thereby driving the opening of the spring clip to open and close.

[0015] In the utility model, a first thread groove is arranged at the top of the cylinder body, a first connecting column is arranged at the top of the spring clip, the first connecting column has an internal thread, and the first connecting column is threadedly connected to the first thread groove.

[0016] In the utility model, the spring clip comprises:

[0017] The first connecting column is located at the top end of the spring clip, and the first connecting column is connected to the cylinder body;

[0018] A first extension column, located in the middle of the spring clip, the first extension column passing through the bottom end of the cylinder body; and

[0019] A locking tongue is located at the bottom of the spring clip. There are at least two locking tongues, and at least two locking tongues are arranged in a circular array along the axial direction of the spring clip. An axial gap is provided between adjacent locking tongues, and an opening for clamping a tool is formed between several locking tongues.

[0020] In the utility model, the cross-sectional diameter of the first extension column is larger than the cross-sectional diameter of the first connection column, a limiting groove is arranged at the bottom end of the cylinder cover, the limiting groove is communicated with the first threaded groove, and the top end of the first extension column is plugged into the limiting groove.

[0021] In the utility model, the movable cavity includes a first movable portion and a second movable portion, the second movable portion is located below the first movable portion, and the cross-sectional diameter of the first movable portion is larger than that of the second movable portion;

[0022] The cone sleeve piston comprises:

[0023] A movable end, located at the top of the cone sleeve piston, and the movable end is slidably connected to the first movable part;

[0024] An extension end, located at the bottom end of the cone sleeve piston, and the extension end is slidably connected to the second movable part;

[0025] Wherein, the cross-sectional diameter of the movable end is larger than the cross-sectional diameter of the extended end.

[0026] In the utility model, a first guiding inclined surface is arranged inside the movable end, and the inner diameter of the movable end gradually increases on the side away from the extending end.

[0027] In the utility model, a second guiding inclined surface is arranged on the inner side of the bottom end of the extending end, and the inner diameter of the extending end away from the movable end gradually increases.

[0028] In the utility model, the cylinder body comprises:

[0029] The cylinder body is a cylindrical structure with openings at both ends, the top of the cone sleeve piston is slidably connected to the cylinder body, the bottom of the cone sleeve piston passes through the bottom end of the cylinder body and extends, and the first air hole is located on one side of the cylinder body; and

[0030] The cylinder cover is connected to the top of the cylinder body and is used to close the cylinder body. A first through groove is arranged at the center of the cylinder cover, the bottom end of the first through groove has an internal thread, and the top end of the spring clip is threadedly connected to the bottom end of the first through groove.

[0031] The automatic tool changing manipulator in the utility model also includes a sealing ring, the cylinder head is plugged into the top end of the cylinder body, a second sealing ring is arranged on the outside of the cylinder head, the sealing ring is embedded in the second sealing ring, and the second sealing ring seals and connects the cylinder head and the cylinder body.

[0032] The automatic tool changing manipulator in the utility model further comprises an O-ring, a first sealing groove is arranged on the outer side of the top of the cone sleeve piston, and the O-ring is embedded in the first sealing groove.

[0033] Compared with the prior art, the utility model has the following beneficial effects: the automatic tool changing manipulator of the utility model realizes the automatic movement of the clamping cylinder and the telescopic cylinder through air pressure drive, and the clamping of the opening tool at the bottom of the spring clamp belongs to surface contact, which makes the clamping tool more stable and avoids the problem of tool falling due to uneven clamping. At the same time, the cooperation of the cone sleeve piston and the double-acting air cavity enables the clamping force to be accurately controlled, further improving the stability and reliability of the clamping.

[0034] In addition, due to the design of air pressure drive and taper sleeve piston extrusion drive spring clamp, the automatic tool changing robot can adapt to tools of different sizes and types. Only by adjusting the air pressure can the opening size of the spring clamp be controlled, which facilitates the clamping and replacement of different tools. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] In order to more clearly illustrate the embodiments of the utility model or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments. The drawings described below are only drawings corresponding to some embodiments of the utility model.

[0036] Figure 1 The figure is a schematic diagram of the use status of the preferred embodiment of the automatic tool changing manipulator of the utility model.

[0037] Figure 2 The cross section of the preferred embodiment of the automatic tool changing manipulator of the utility model is Figure 1 .

[0038] Figure 3 The cross section of the preferred embodiment of the automatic tool changing manipulator of the utility model is Figure 2 .

[0039] 1. Clamping seat; 12. Telescopic cylinder; 13. Clamping cylinder; 131. Active cavity; 132. Cylinder body; 1321. Cylinder body; 1322. First air hole; 133. Cylinder head; 1331. Second sealing groove; 1332. Limiting groove; 134. Sealing ring; 14. Spring clip; 141. First connecting column; 142. First extension column; 143. Lock tongue; 1431. Axial gap; 15. Taper sleeve piston; 151. Active end; 1511. First sealing groove; 1512. First guide ramp; 152. Extension end; 1521. Second guide ramp; 16. O-ring; 17. Breathable gasket; 18. Standard shaft. DETAILED DESCRIPTION

[0040] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments of the utility model, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the utility model.

[0041] In the figures, structurally similar elements are denoted by the same reference numerals.

[0042] The words "first", "second" and the like in the terminology of the present invention are used for descriptive purposes only and should not be understood as indicating or implying relative importance, and should not be construed as limiting the order of precedence.

[0043] Please refer to Figure 1 , Figure 2 and Figure 3 ,in, Figure 1 The figure is a schematic diagram of the use status of the preferred embodiment of the automatic tool changing manipulator of the utility model. Figure 2 The cross section of the preferred embodiment of the automatic tool changing manipulator of the utility model is Figure 1 . Figure 3 The cross section of the preferred embodiment of the automatic tool changing manipulator of the utility model is Figure 2 .

[0044] The following is a preferred embodiment of an automatic tool changing manipulator provided by the utility model that can solve the above technical problems.

[0045] The preferred embodiment of the automatic tool changing manipulator provided by the utility model is: an automatic tool changing manipulator, which includes a clamping seat 11, a clamping cylinder 13 and a telescopic cylinder 12; the clamping seat 11 is used to install the automatic tool changing manipulator, and the automatic tool changing manipulator in this embodiment is installed on a standard shaft 18 through the clamping seat 11; the clamping cylinder 13 is located on one side of the clamping seat 11, and the clamping cylinder 13 includes a spring clamp 14 for clamping a tool; the telescopic cylinder 12 is connected to the clamping seat 11, and the output end of the telescopic cylinder 12 is connected to the clamping cylinder 13, and the telescopic cylinder 12 drives the clamping cylinder 13 to move up and down.

[0046] Among them, the clamping cylinder 13 includes a cylinder body 132, a spring clamp 14 and a cone sleeve piston 15; an active chamber 131 is arranged in the cylinder body 132, and a first air hole 1322 is arranged on one side of the cylinder body 132, and the first air hole 1322 is connected to the air source; the spring clamp 14 is connected to the cylinder body 132, and an opening for clamping the tool is arranged at the bottom end of the spring clamp 14; the cone sleeve piston 15 is a cylindrical structure, the cone sleeve piston 15 is sleeved on the outside of the spring clamp 14, and the cone sleeve piston 15 is slidably arranged in the active chamber 131.

[0047] A double-acting air cavity is formed between the outer side of the cone sleeve piston 15 and the inner wall of the active cavity 131, and the double-acting air cavity is connected to the first air hole 1322. The double-acting air cavity drives the cone sleeve piston 15 to move up and down. The cone sleeve piston 15 moves relative to the spring clip 14, and the cone sleeve piston 15 drives the opening of the spring clip 14 to open and close, thereby clamping or releasing the tool.

[0048] The utility model realizes the automatic clamping and releasing of the tool through the coordinated work of the telescopic cylinder 12 and the clamping cylinder 13, greatly reduces manual intervention, and improves the level of production automation. The design of the cone sleeve piston 15 and the double-acting air chamber makes the movement of the clamping cylinder 13 more stable and reliable. The clamping of the spring clamp 14 and the tool is in surface contact, which ensures that a stable clamping force can be provided when clamping the tool to prevent the tool from falling off or shaking during the processing; the design structure of the entire manipulator is compact, occupies a small space, and is easy to install and layout on the processing equipment. In addition, due to the design of air pressure drive and cone sleeve piston 15 extrusion drive spring clamp 14, the automatic tool changing manipulator can adapt to tools of different sizes and types. Only by adjusting the air pressure, the opening size of the spring clamp can be controlled, which is convenient for clamping and replacing different tools.

[0049] The structure of the spring clip 14 in this embodiment is described as follows:

[0050] Combination Figure 2 and Figure 3In this embodiment, a first thread groove is provided at the top of the cylinder body 132, and a first connecting column 141 is provided at the top of the spring clip 14. The first connecting column 141 has an internal thread, and the first connecting column 141 is threadedly connected to the first thread groove. The cylinder body 132 and the spring clip 14 are threadedly connected to facilitate the assembly of the manipulator structure.

[0051] In this embodiment, the outer diameter of the bottom end of the spring clamp 14 gradually increases to adapt to tools of different sizes. When clamping tools of different sizes, the opening of the spring clamp 14 can be adaptively adjusted according to the size of the tool, thereby improving the versatility of the manipulator.

[0052] In this embodiment, the spring clip 14 includes a first connecting column 141, a first extension column 142 and a locking tongue 143; the first connecting column 141 is located at the top of the spring clip 14, and the first connecting column 141 is connected to the cylinder body 132; the first extension column 142 is located in the middle of the spring clip 14, and the first extension column 142 passes through the bottom of the cylinder body 132; the locking tongue 143 is located at the bottom of the spring clip 14, and at least two locking tongues 143 are provided, and at least two locking tongues 143 are arranged in a circular array along the axial direction of the spring clip 14, and an axial gap 1431 is provided between adjacent locking tongues 143, and an opening for clamping a tool is formed between several locking tongues 143. Due to the design of the axial gap 1431 between the locking tongues 143, the spring clip 14 can adapt to tools of different sizes; when clamping tools of different sizes, the circular arrangement of multiple locking tongues 143 makes the clamping more stable, reducing the risk of the tool falling off or shaking.

[0053] In this embodiment, the cross-sectional diameter of the first extension column 142 is larger than the cross-sectional diameter of the first connecting column 141, and a limiting groove 1332 is provided at the bottom end of the cylinder cover 133. The limiting groove 1332 is connected to the first threaded groove, and the top end of the first extension column 142 is plugged into the limiting groove 1332, thereby improving the stability of the connection between the spring clip 14 and the cylinder body 132.

[0054] The structure of the cone sleeve piston 15 in this embodiment is described as follows:

[0055] Combination Figure 2 and Figure 3 In this embodiment, the active cavity 131 includes a first active portion and a second active portion. The second active portion is located below the first active portion, and the cross-sectional diameter of the first active portion is greater than that of the second active portion.

[0056] The cone sleeve piston 15 includes a movable end 151 and an extension end 152. The movable end 151 is located at the top of the cone sleeve piston 15 and is slidably connected to the first movable part; the extension end 152 is located at the bottom of the cone sleeve piston 15 and is slidably connected to the second movable part; wherein the cross-sectional diameter of the movable end 151 is greater than the cross-sectional diameter of the extension end 152. The two-stage design of the movable chamber 131 (the first movable part and the second movable part) and the corresponding structure of the cone sleeve piston 15 (the movable end 151 and the extension end 152) provide a stable motion guide for the cone sleeve piston 15. This structure makes the cone sleeve piston 15 more stable during the up and down movement, reduces unnecessary shaking, and thus improves the clamping accuracy and stability.

[0057] In this embodiment, a first guiding inclined surface 1512 is disposed inside the movable end 151 , and the inner diameter of the movable end 151 away from the extending end 152 gradually increases, so as to facilitate the assembly of the spring clip 14 and the tapered sleeve piston 15 .

[0058] In this embodiment, a second guiding inclined surface 1521 is provided inside the bottom end of the extension end 152, and the inner diameter of the extension end 152 gradually increases on the side away from the movable end 151. The second guiding inclined surface 1521 provides a guiding function for the spring clip 14 to enter the cone sleeve piston 15. When the spring clip 14 is inserted, the design of the inclined surface enables the spring clip 14 to enter the clamping position of the cone sleeve piston 15 more smoothly along a predetermined path.

[0059] The automatic tool changing manipulator in this embodiment further includes an O-ring 16. A first sealing groove 1511 is provided on the outer side of the top of the tapered sleeve piston 15, and the O-ring 16 is embedded in the first sealing groove 1511. The O-ring 16 is used for the sliding self-centering of the tapered sleeve piston 15. The O-ring 16 enables the tapered sleeve piston 15 to be more accurately kept at the center position during the sliding process. The tapered sleeve piston 15 can automatically adjust its position during the sliding process to achieve a centering state.

[0060] The automatic tool changing manipulator in this embodiment further includes a breathable gasket 17, which is disposed in the first movable part and is located below the movable end 151. The breathable gasket 17 can serve as a buffer layer between the movable end 151 of the cone sleeve piston 15 and the first movable part to reduce the impact between the two, thereby ensuring the stability of the cone sleeve piston 15 during the activity.

[0061] The structure of the cylinder block 132 in this embodiment is described as follows:

[0062] Combination Figure 2 and Figure 3The cylinder body 132 includes a cylinder body 1321 and a cylinder head 133. The cylinder body 1321 is a cylindrical structure. The top of the cone sleeve piston 15 is slidably connected to the cylinder body 1321. The bottom of the cone sleeve piston 15 passes through the bottom end of the cylinder body 1321 and extends. The first air hole 1322 is located on one side of the cylinder body 1321. The cylinder head 133 is connected to the top of the cylinder body 1321. The cylinder head 133 is used to close the cylinder body 1321. A first through groove is provided at the center of the cylinder head 133. The bottom end of the first through groove has an internal thread. The top of the spring clip 14 is threadedly connected to the bottom of the first through groove at the center of the cylinder head 133, which is convenient for the installation and removal of the spring clip 14. When the spring clip 14 needs to be repaired or replaced, it can be operated quickly.

[0063] The automatic tool changing robot also includes a sealing ring 134. The cylinder head 133 is plugged into the top of the cylinder body 132. A second sealing groove 1331 is provided on the outer side of the cylinder head 133. The sealing ring 134 is embedded in the second sealing groove 1331. The second sealing ring 134 seals and connects the cylinder head 133 and the cylinder body 132. By embedding the sealing ring 134 in the second sealing groove 1331, the leakage of gas or liquid can be minimized and the sealing of the cylinder can be improved.

[0064] Installation steps of this utility model:

[0065] 1. Prepare the clamping seat 11, the clamping cylinder 13, the telescopic cylinder 12, the sealing ring 134, the O-ring 16, and the breathable gasket 17.

[0066] 2. Install the clamping seat 11: Fix the clamping seat 11 on the standard shaft 18.

[0067] 3. Install the telescopic cylinder 12 and fix the telescopic cylinder 12 on the clamping seat 11.

[0068] 4. Assemble the clamping cylinder 13.

[0069] 1. Thread the first connecting column 141 of the spring clip 14 into the cylinder cover 133 of the cylinder body 132 .

[0070] 2. The cone sleeve piston 15 is sleeved on the outside of the spring clip 14, and its movable end 151 is ensured to be slidably connected to the first movable part, and the extension end 152 is slidably connected to the second movable part.

[0071] 3. Insert the O-ring 16 into the first sealing groove 1511 on the outer side of the top of the tapered sleeve piston 15.

[0072] 4. A breathable gasket 17 is provided in the first movable portion and placed below the movable end 151 .

[0073] 5. Place the cone sleeve piston 15 into the cylinder body 132.

[0074] 6. Connect the cylinder cover 133 to the top of the cylinder body 1321 and use the sealing ring 134 to ensure the sealing.

[0075] 5. Connect the output end of the telescopic cylinder 12 to the clamping cylinder 13, and ensure that it can drive the clamping cylinder 13 to move up and down.

[0076] Working principle:

[0077] When the air source enters the double-acting air chamber through the first air hole 1322, the air pressure will drive the cone sleeve piston 15 to move up and down in the active chamber 131. The cone sleeve piston 15 moves up and down relative to the spring clamp 14, thereby driving the opening of the spring clamp 14 to open and close. Specifically, when the cone sleeve piston 15 rises, the opening of the spring clamp 14 will open to release the tool; when the cone sleeve piston 15 descends, the opening of the spring clamp 14 will close to clamp the tool.

[0078] The telescopic cylinder 12 drives the clamping cylinder 13 to move up and down through its output end, thereby achieving the grasping and placement of the tool.

[0079] This completes the working process of the automatic tool changing manipulator of this preferred embodiment.

[0080] In summary, although the present invention has been disclosed as above in terms of preferred embodiments, the above preferred embodiments are not intended to limit the present invention. A person skilled in the art may make various changes and modifications without departing from the spirit and scope of the present invention. Therefore, the scope of protection of the present invention shall be based on the scope defined in the claims.

Claims

1. An automatic tool changing manipulator, characterized in that: include: A clamping seat, used for installing the automatic tool changing manipulator; A clamping cylinder, located at one side of the clamping seat, the clamping cylinder comprising a spring clamp for clamping a tool; as well as A telescopic cylinder is connected to the clamping seat, an output end of the telescopic cylinder is connected to the clamping cylinder, and the telescopic cylinder drives the clamping cylinder to move up and down; The clamping cylinder comprises: A cylinder body, wherein an active cavity is arranged in the cylinder body, and a first air hole is arranged on one side of the cylinder body, wherein the first air hole is connected to an air source; A spring clip connected to the cylinder body, wherein the bottom end of the spring clip is provided with an opening for clamping a tool; The cone sleeve piston is a cylindrical structure, the cone sleeve piston is sleeved on the outside of the spring clip, and the cone sleeve piston is slidably arranged in the active chamber; A double-acting air cavity is formed between the outer side of the cone sleeve piston and the inner wall of the active cavity. The double-acting air cavity is connected to the first air hole. The double-acting air cavity drives the cone sleeve piston to move up and down. The cone sleeve piston moves relative to the spring clip, thereby driving the opening of the spring clip to open and close.

2. The automatic tool changing manipulator according to claim 1, characterized in that: The top end of the cylinder body is provided with a first thread groove, the top end of the spring clip is provided with a first connecting column, the first connecting column has an internal thread, and the first connecting column is threadedly connected to the first thread groove.

3. The automatic tool changing manipulator according to claim 2, characterized in that: The spring clip comprises: The first connecting column is located at the top end of the spring clip, and the first connecting column is connected to the cylinder body; A first extension column, located in the middle of the spring clip, the first extension column passing through the bottom end of the cylinder body; and A locking tongue is located at the bottom of the spring clip. There are at least two locking tongues, and at least two locking tongues are arranged in a circular array along the axial direction of the spring clip. An axial gap is provided between adjacent locking tongues, and an opening for clamping a tool is formed between several locking tongues.

4. The automatic tool changing manipulator according to claim 3, characterized in that: The cylinder body comprises: The cylinder body is a cylindrical structure with openings at both ends, the top of the cone sleeve piston is slidably connected to the cylinder body, the bottom of the cone sleeve piston passes through the bottom end of the cylinder body and extends, and the first air hole is located on one side of the cylinder body; and A cylinder cover connected to the top of the cylinder body, the cylinder cover is used to close the cylinder body, a first through groove is provided at the center of the cylinder cover, the bottom end of the first through groove has an internal thread, and the top end of the spring clip is threadedly connected to the bottom of the first through groove; The cross-sectional diameter of the first extension column is larger than the cross-sectional diameter of the first connection column. A limiting groove is provided at the bottom end of the cylinder cover. The limiting groove is communicated with the first thread groove. The top end of the first extension column is plugged into the limiting groove.

5. The automatic tool changing manipulator according to claim 1, characterized in that: The movable cavity comprises a first movable portion and a second movable portion, the second movable portion is located below the first movable portion, and the cross-sectional diameter of the first movable portion is larger than that of the second movable portion; The cone sleeve piston comprises: A movable end, located at the top of the cone sleeve piston, and the movable end is slidably connected to the first movable part; An extension end, located at the bottom end of the cone sleeve piston, and the extension end is slidably connected to the second movable part; Wherein, the cross-sectional diameter of the movable end is larger than the cross-sectional diameter of the extended end.

6. The automatic tool changing manipulator according to claim 5, characterized in that: A first guiding inclined surface is arranged inside the movable end, and the inner diameter of the movable end gradually increases on a side away from the extending end.

7. The automatic tool changing manipulator according to claim 5, characterized in that: A second guiding inclined surface is arranged inside the bottom end of the extending end, and the inner diameter of the extending end gradually increases on the side away from the movable end.

8. The automatic tool changing manipulator according to claim 4, characterized in that: It also includes a sealing ring. The cylinder head is plugged into the top end of the cylinder body. A second sealing ring is arranged on the outer side of the cylinder head. The sealing ring is embedded in the second sealing ring. The second sealing ring seals and connects the cylinder head and the cylinder body.

9. The automatic tool changing manipulator according to claim 1, characterized in that: It also includes an O-ring. A first sealing groove is arranged on the outer side of the top of the cone sleeve piston, and the O-ring is embedded in the first sealing groove.

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