Cutter replacing device

Abstract

The utility model provides a tool changing device. The tool changing device comprises a rotating mechanism, a clamping mechanism and a tool changing mechanism. The rotating mechanism drives the cutter handle body to rotate; the clamping mechanism comprises a first transferring assembly, a buffering assembly and at least one clamping assembly, the first transferring assembly is connected with the at least one clamping assembly, so that the corresponding clamping assembly directly faces the cutter handle, the buffering assembly adjusts the position of the clamping assembly, the clamping assembly clamps the chuck, and therefore the rotating mechanism drives the cutter handle body to rotate relative to the chuck; the chuck locks or loosens the cutter; the tool changing mechanism comprises a second transferring assembly and a plurality of clamping jaws, each clamping jaw is used for clamping one tool, the second transferring assembly is connected with the multiple clamping jaws, the corresponding clamping jaws are made to move to the tool installing position of the tool handle, and the clamping jaws are used for taking out the tools in the tool handle or implanting the clamped to-be-installed tools into the tool handle. According to the tool replacing device, clamping of the needed tool can be completed, disassembling and assembling of the tool are achieved, and the automation rate and efficiency of tool clamping and replacing are improved.

Description

Technical Field

[0001] The present application relates to the technical field of mechanical processing, and in particular to a tool replacement device. Background Art

[0002] With the continuous improvement of processing technology, CNC machining centers are becoming more and more widely used due to their high processing precision, high production efficiency, strong processing adaptability and other advantages. They have been applied to various fields such as manufacturing, industry, and medical treatment. Due to the different workpieces being processed, it is necessary to replace CNC lathes with tools of different categories and different tool specifications and models.

[0003] In the process of tool replacement, the main operation method is manual operation. First, the staff loosens the chuck on the special fixture, takes out the tool to be replaced, and then manually puts the required model of tool into the tool holder and manually rotates the chuck to lock the tool. However, manual operation makes the tool replacement process complicated, difficult to operate, and low work efficiency. Utility Model Content

[0004] In view of this, it is necessary to provide a tool replacement device that can automatically disassemble, assemble and replace the tool on the tool handle.

[0005] In one embodiment of the present application, a tool replacement device is provided, which is used to replace the tool of a tool handle. The tool handle includes a tool handle body and a chuck installed on the tool handle body. The chuck is used to clamp the tool. The tool replacement device includes a rotating mechanism, a clamping mechanism and a tool changing mechanism. The rotating mechanism is used to fix the tool handle body and drive the tool handle body to rotate; the clamping mechanism is located on one side of the rotating mechanism, and the clamping mechanism includes a first transfer component, a buffer component and at least one clamping component. The first transfer component is connected to at least one clamping component and is used to drive at least one clamping component to move toward the rotating mechanism in a direction perpendicular to the axial direction of the rotation of the tool handle body so that the corresponding clamping component is facing the tool handle. The buffer component It is arranged above at least one clamping assembly and is used for elastically pressing the corresponding clamping assembly to adjust the position of the clamping assembly in a direction parallel to the axial direction of the rotation of the tool handle body, so that the clamping assembly clamps the chuck, thereby the rotating mechanism drives the tool handle body to rotate relative to the chuck, so that the chuck locks or releases the tool; the tool changing mechanism is located on the side of the rotating mechanism away from the clamping mechanism, the tool changing mechanism includes a second transfer assembly and a plurality of jaws, each jaw is used to clamp a tool, the second transfer assembly is connected to the plurality of jaws, and is used to drive the plurality of jaws to move, so that the corresponding jaws move to the tool installation position of the tool handle, and the jaws are used to take out the tool in the tool handle, or implant the clamped tool to be installed into the tool handle.

[0006] The tool replacement device mentioned above clamps the chuck by the clamping assembly, and when the rotating mechanism drives the tool handle body to rotate, the chuck and the tool handle body can rotate relative to each other, and the clamping assembly moves along the axial direction parallel to the rotation of the tool handle body under the drive of the first transfer assembly to make the chuck release the tool. At this time, the second transfer assembly can drive multiple jaws to move, so that the corresponding jaws move to the tool loading position to take out the tool released by the chuck, and the tool to be replaced can be disassembled, and the jaws holding the to-be-installed are aligned with the tool handle, and the tool to be installed is implanted into the tool handle. The tool handle body is driven to rotate again by the rotating mechanism, so that the chuck and the tool handle body can rotate relative to each other, and the clamping assembly moves along the axial direction parallel to the rotation of the tool handle body under the drive of the first transfer assembly to make the chuck lock the tool, and the clamping of the required tool can be completed, thereby realizing the replacement of the tool and improving the automation rate and efficiency of tool clamping and replacement.

[0007] In some embodiments, the first transfer assembly includes a translation module, a translation table, a first elastic member and a supporting platform. The translation module is used to drive the translation table to move in a direction perpendicular to the axial direction. The first elastic member is respectively connected to the supporting platform and the translation table, so that the supporting platform can move relative to the translation table in a direction parallel to the axial direction. The supporting platform is used to support the clamping assembly; the buffer assembly includes a pressing member and a first driving member. The pressing member is located on the side of the supporting platform facing away from the first elastic member. The first driving member is used to drive the pressing member to move in a direction parallel to the axial direction. The pressing member is used to apply force to the clamping assembly on the supporting platform toward the first elastic member, so that the clamping assembly moves in a direction parallel to the axial direction and compresses the first elastic member; the first elastic member is also used to apply force to the supporting platform toward the pressing member when the pressing member is detached from the clamping assembly, so that the clamping assembly is reset in a direction parallel to the axial direction to adjust the position of the clamping assembly in a direction parallel to the axial direction.

[0008] In some embodiments, the pressure piece includes an upper plate, a guide column, a lower plate and a cam connected in sequence, the upper plate and the lower plate are respectively arranged at both ends of the guide column, the cam is arranged on the side of the upper plate facing away from the lower plate, the buffer assembly also includes a bracket and a second elastic member, the position of the bracket is fixed, the guide column passes through the bracket axially, the second elastic member connects the bracket and the upper plate, the second elastic member is used to apply force to the upper plate toward the cam so that the cam contacts the upper plate, the lower plate is used to apply pressure to the clamping assembly, the first driving member is connected to the cam, and is used to drive the cam to rotate, and the cam is used to drive the upper plate to move so that the lower plate presses against the clamping assembly on the supporting platform.

[0009] In some embodiments, the clamping mechanism also includes a second driving member, each clamping assembly includes a first fixed member, a first movable member and two first clamping arms, the first fixed member is fixed to the first transfer assembly, the first movable member is slidably arranged on the first fixed member, the first fixed member is provided with a first rotating shaft, one end of the two first clamping arms is connected at an angle and rotatably connected to the first rotating shaft, two first sliding blocks are arranged on the first movable member, and the two first clamping arms are provided with first sliding grooves matching the corresponding first sliding blocks; the second driving member is used to drive the first movable member to move relative to the first fixed member, so that the first sliding block moves along the first sliding groove, so as to drive the two first clamping arms to rotate around the first rotating shaft to clamp the chuck.

[0010] In some embodiments, the clamping assembly has at least two, at least two clamping assemblies are spaced apart in a direction perpendicular to the axial direction, and the first transfer assembly drives at least two clamping assemblies to move simultaneously in a direction perpendicular to the axial direction, so that the first movable member of any clamping assembly is facing the second driving member, and the second driving member is used to apply force to the facing first movable member so that the two first clamping arms clamp the chuck; each clamping assembly also includes a third elastic member, the third elastic member is connected to the first fixed member and the first movable member, and the third elastic member is used to apply force to the first movable member toward the second driving member when the second driving member is disengaged from the first movable member so that the two first clamping arms release the chuck.

[0011] In some embodiments, the tool changing mechanism also includes a third driving member, each clamping jaw includes a second fixed member, a second movable member and two second clamping arms, the second fixed member is fixedly connected to the second transfer assembly, the second movable member is slidably arranged on the second fixed member, the second fixed member is spaced apart from two second rotating shafts, the two second clamping arms are rotatably connected to the corresponding second rotating shafts, the second movable member is provided with a second sliding block, one end of each second clamping arm is cross-arranged and provided with a second sliding groove matching the second sliding block; the third driving member is used to drive the second movable member to move relative to the second fixed member, so that the second sliding block moves along the two second sliding grooves, thereby driving the two second clamping arms to rotate around the corresponding second rotating shafts respectively to clamp or release the tool.

[0012] In some embodiments, multiple jaws are arranged at intervals in a direction perpendicular to the axial direction, and the second transfer assembly drives the multiple jaws to move simultaneously in a direction perpendicular to the axial direction, so that the second movable member of any jaw is facing the third driving member, and the third driving member is used to apply force to the second movable member of the opposite jaw, so that the two second clamping arms release the tool; each jaw also includes a fourth elastic member, and the fourth elastic member connects the two second clamping arms. When the third driving member is disengaged from the second movable member, the fourth elastic member is used to apply force to the two second clamping arms, so that the two second clamping arms clamp the tool.

[0013] In some embodiments, the rotating mechanism includes a rotating platform and a tool holder connected to the rotating platform. The rotating platform is used to drive the tool holder to rotate axially. The tool holder is provided with a protrusion for matching with the groove of the tool handle. The tool handle is inserted into the tool holder axially so that the tool handle and the tool holder are clamped through the groove and the protrusion.

[0014] In some embodiments, the tool changing device also includes an adjusting mechanism, which includes a push rod and a fourth driving member. The push rod is inserted into the rotating mechanism, and the fourth driving member is used to drive the push rod to move in a direction parallel to the axial direction, so that the push rod pushes the tool inserted into the tool handle, so that the tool moves relative to the tool handle.

[0015] In some embodiments, the tool replacement device also includes a detection mechanism, which includes a light source and a detection member. The light source and the detection member are arranged on opposite sides of the rotating mechanism. The light source is used to emit light toward the detection member so that the detection member detects the position of the tool relative to the tool handle. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a three-dimensional diagram of a tool changing device in one embodiment of the present application.

[0017] Figure 2 for Figure 1 A three-dimensional view of the tool changing device from another perspective.

[0018] Figure 3 for Figure 1 A three-dimensional diagram of the clamping mechanism.

[0019] Figure 4 for Figure 3 Exploded view of the clamping assembly.

[0020] Figure 5 for Figure 1 A three-dimensional diagram of the tool changing mechanism.

[0021] Figure 6 for Figure 5 Exploded view of the middle gripper jaw.

[0022] Figure 7 for Figure 1 A three-dimensional diagram of the rotating mechanism and the adjusting mechanism.

[0023] Main component symbols

[0024] Tool changing device 100

[0025] Rotating mechanism 10

[0026] Rotating platform 11

[0027] Tool holder 12

[0028] Bump 121

[0029] Clamping mechanism 20

[0030] Clamping assembly 21

[0031] The first fixing member 211

[0032] First shaft 2111

[0033] Guide groove 2112

[0034] First movable member 212

[0035] First slider 2121

[0036] First clamp arm 213

[0037] First chute 2131

[0038] The third elastic member 214

[0039] The first transfer assembly 22

[0040] Translation module 221

[0041] First rail 2211

[0042] Second rail 2212

[0043] Translation stage 222

[0044] The first elastic member 223

[0045] Carrying platform 224

[0046] Second driving member 23

[0047] Buffer component 24

[0048] Pressed Parts 241

[0049] Upper board 2411

[0050] Lower plate 2412

[0051] Guide column 2413

[0052] Cam2314

[0053] The first driving member 242

[0054] Bracket 243

[0055] The second elastic member 244

[0056] Tool changing mechanism 30

[0057] The second transfer assembly 31

[0058] The third guide rail 311

[0059] Fourth rail 312

[0060] Fifth rail 313

[0061] Gripper 32

[0062] The second fixing member 321

[0063] Second rotating shaft 3211

[0064] Mobile slot 3212

[0065] The second movable member 322

[0066] Second slider 3221

[0067] Second clamp arm 323

[0068] Second chute 3231

[0069] Fourth elastic member 324

[0070] The third driving member 33

[0071] Adjustment mechanism 40

[0072] Putter 41

[0073] Fourth driving member 42

[0074] Testing agency 50

[0075] Light source 51

[0076] Test piece 52

[0077] Support table 60

[0078] Table 61

[0079] Handle 200

[0080] Handle body 210

[0081] Groove 2101

[0082] Chuck 220

[0083] Tool 300 DETAILED DESCRIPTION

[0084] The technical solution of the present application will be described below in conjunction with the drawings in the implementation modes of the present application. Obviously, the described implementation modes are only part of the implementation modes of the present application, rather than all the implementation modes.

[0085] It should be noted that when a component is referred to as being "fixed to" another component, it may be directly on the other component or there may also be a component centered. When a component is considered to be "connected to" another component, it may be directly connected to the other component or there may also be a component centered. When a component is considered to be "set on" another component, it may be directly set on the other component or there may also be a component centered. The terms "vertical", "horizontal", "left", "right" and similar expressions used herein are for illustrative purposes only.

[0086] In addition, the terms "first", "second", "third", etc. are used for descriptive purposes only and should not be understood as indicating or implying relative importance. The term "perpendicular" is used to describe an ideal state between two components. In actual production or use, the two components may be approximately perpendicular to each other. The two components described as "perpendicular" may not be absolutely straight lines or planes, but may be roughly straight lines or planes. From a macroscopic perspective, if the overall extension direction is a straight line or a plane, the component can be considered to be "straight" or "plane".

[0087] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art to which this application belongs. The terms used herein in the specification of this application are only for the purpose of describing specific embodiments and are not intended to limit this application. The term "or / and" used herein includes any and all combinations of one or more of the related listed items.

[0088] Some embodiments of the present application are described in detail below in conjunction with the accompanying drawings. In the absence of conflict, the following embodiments and features in the embodiments can be combined with each other.

[0089] See also Figure 1 , Figure 2 as well as Figure 7 In one embodiment of the present application, a tool changing device 100 is provided, which is used to change a tool 300 of a tool handle 200. The tool handle 200 includes a tool handle body 210 and a chuck 220 mounted on the tool handle body 210, and the chuck 220 is used to clamp the tool 300. The tool changing device 100 can clamp the chuck 220, and rotate the tool handle body 210, so that the tool handle body 210 rotates relative to the chuck 220, so that the chuck 220 locks or releases the tool 300. When the chuck 220 releases the tool 300, the tool changing device 100 can remove the tool 300 to be replaced from the tool handle 200, and install the tool 300 of the required model into the tool handle 200. When the chuck 220 locks the tool 300, the tool 300 can be stably installed on the tool handle 200, thereby realizing the rapid replacement of the tool 300.

[0090] See also Figure 1 and Figure 2 In some embodiments, the tool changing device 100 includes a rotating mechanism 10, a clamping mechanism 20 and a tool changing mechanism 30. The rotating mechanism 10 is used to install the tool handle body 210 and drive the tool handle body 210 to rotate. The clamping mechanism 20 and the tool changing mechanism 30 are located on opposite sides of the rotating mechanism 10. The clamping mechanism 20 is used to clamp the chuck 220 so that the rotating mechanism 10 can drive the tool handle body 210 to rotate relative to the chuck 200. Therefore, the chuck 220 can lock or release the tool 300 in the tool handle 200 through the cooperation of the rotating mechanism 10 and the clamping mechanism 20. The tool changing mechanism 30 is used to take out the tool 300 that needs to be replaced, or to implant the required tool 300 into the tool handle 200.

[0091] In some embodiments, the axial direction of rotation of the tool handle body 210 relative to the chuck 220 is parallel to the Z axis, that is, the axial direction is parallel to the vertical direction.

[0092] See also Figure 7 In some embodiments, the rotating mechanism 10 includes a rotating platform 11 and a tool holder 12 connected to the rotating platform 11. The rotating platform 11 is used to drive the tool holder 12 to rotate axially. The tool holder 12 is used to install the tool handle 200, so that the rotating platform 11 drives the tool handle 200 to rotate axially through the tool holder 12. As an illustrative example, a cylindrical mounting portion is provided on the tool holder 12, and the tool handle 200 is connected to the tool holder 12 by inserting the cylindrical mounting portion.

[0093] In some embodiments, a groove 2101 is provided on the circumference of the knife handle 200, and a protrusion 121 is provided on the knife holder 12 for matching with the groove 2101 of the knife handle 200. The protrusion 121 is provided on the inner side wall of the mounting portion, and the extension direction of the protrusion 121 is parallel to the axial direction. Therefore, the protrusion 121 and the groove 2101 are aligned, and the knife handle 200 is inserted into the knife holder 12 along the axial direction, so that the protrusion 121 is inserted into the groove 2101, so that the knife handle 200 and the knife holder 12 are clamped through the groove 2101 and the protrusion 121, which can prevent the knife holder 12 and the knife handle 200 from rotating relative to each other when the rotating platform 11 drives the knife holder 12 to rotate. As an exemplary example, the number of protrusions 121 is two, and one protrusion 121 corresponds to one groove 2101.

[0094] See also Figures 1 to 3In some embodiments, the clamping mechanism 20 includes a first transfer component 22, a buffer component 24, and at least one clamping component 21. The first transfer component 22 is disposed below and connected to at least one clamping component 21. The first transfer component 22 is used to drive at least one clamping component 21 to move toward the rotating mechanism 10 along a direction perpendicular to the axial direction of the tool handle body 210 relative to the chuck 220 so that one of the corresponding clamping components 21 faces the tool handle 200 installed on the rotating mechanism 10. The clamping component 21 is used to clamp the chuck 220. The buffer assembly 24 is disposed above at least one clamping assembly 21, and is used to move in a direction parallel to the axial direction of the rotation of the tool handle body 210 relative to the chuck 220 to elastically press the corresponding clamping assembly 21, so as to adjust the position of the clamping assembly 21 in a direction parallel to the axial direction of the rotation of the tool handle body 210 relative to the chuck 220, so that the clamping assembly 21 clamps the chuck 220, so that the rotating mechanism 10 rotates with the tool handle body 210 relative to the chuck 220, so that the chuck 220 locks or releases the tool 300. Therefore, when the tool handle body 210 rotates relative to the chuck 220, the chuck 220 can rotate relative to the tool handle body 210 under the clamping action of the clamping mechanism 20, so as to lock or release the tool 300.

[0095] In some embodiments, the first transfer assembly 22 includes a translation module 221 and a translation table 222, the translation module 221 is used to drive the translation table 222 to move, the translation table 222 is connected to the translation module 221, and is used to install the clamping assembly 21, the translation module 221 includes a first guide rail 2211 and a second guide rail 2212 arranged perpendicularly to each other, the first guide rail 2211 and the second guide rail 2212 are used to drive the translation table 222 to move along two perpendicular horizontal directions, so that the translation table 222 drives the clamping assembly 21 to move along two perpendicular horizontal directions, so that the clamping assembly 21 can clamp the chuck 220, that is, the first guide rail 2211 is used to drive the translation table 222 to move in a direction parallel to the Y-axis, and the second guide rail 2212 is used to drive the translation table 222 to move in a direction parallel to the X-axis.

[0096] In some embodiments, the first transfer assembly 22 also includes a first elastic member 223 and a support platform 224. The first elastic member 223 connects the support platform 224 and the translation platform 222, so that the support platform 224 can move relative to the translation platform 222 in a direction parallel to the axial direction of the rotation of the tool handle body 210 relative to the chuck 220. The support platform 224 is used to support the clamping assembly 21, so that when the support platform 224 moves in a direction parallel to the axial direction, it can drive the clamping assembly 21 to move in a direction parallel to the axial direction.

[0097] In some embodiments, the buffer assembly 24 includes a pressing member 241 and a first driving member 242. The pressing member 241 is located on the side of the carrier 224 facing away from the first elastic member 223. The first driving member 242 is used to drive the pressing member 241 to move in a direction parallel to the axial direction. The pressing member 241 is used to apply force to the clamping assembly 21 on the carrier 224 toward the first elastic member 223, so that the clamping assembly 21 moves in a direction parallel to the axial direction to adjust the position of the clamping assembly 21 in the direction parallel to the axial direction. The first driving member 242 drives the pressing member 241 to move in a direction parallel to the axial direction, so that the pressing member 241 presses the clamping assembly 21 and elastically shortens the first elastic member 223, so as to drive the carrier 224 and the clamping assembly 21 to move downward in the vertical direction, thereby adjusting the height of the clamping assembly 21.

[0098] When the pressing piece 241 is driven by the first driving piece 242 to disengage from the clamping assembly 21, the pressing piece 241 stops applying force to the clamping assembly 21, and the first elastic piece 223 is used to apply force to the supporting platform 224 toward the pressing piece 241. The first elastic piece 223 elastically resets, so that the clamping assembly 21 is reset in a direction parallel to the axial direction, that is, the supporting platform 224 and the clamping assembly 21 move upward in the vertical direction, thereby adjusting the height of the clamping assembly 21.

[0099] See also Figure 3 By elastically extending or shortening the first elastic member 223 disposed between the carrier 224 and the translation stage 222, the carrier 224 can be moved close to or away from the translation stage 222 in a direction parallel to the axial direction. When the first elastic member 223 is elastically shortened, the carrier 224 moves close to the translation stage 222, and when the first elastic member 223 is elastically extended, the carrier 224 moves away from the translation stage 222. Since the first elastic member 223 may shake during the extension and shortening process, the carrier 224 is prone to shake during the movement. Therefore, a guide rod parallel to the axial direction is disposed between the translation stage 222 and the carrier 224 to guide the movement of the carrier 224.

[0100] In some embodiments, two guide rods are arranged between the translation platform 222 and the carrier platform 224, and the two guide rods are arranged on both sides of the clamping assembly 21. When the first elastic member 223 is extended and shortened, the carrier platform 224 moves along the guide rods, so that the movement of the carrier platform 224 is always parallel to the axial direction, which can effectively prevent the carrier platform 224 from shaking. As an exemplary example, the first elastic member 223 is a spring, and the first elastic member 223 is sleeved on the guide rod.

[0101] In some embodiments, the buffer assembly 24 further includes a bracket 243 and a second elastic member 244, and the position of the bracket 243 is fixed. The pressing member 241 includes an upper plate 2411, a guide post 2413, a lower plate 2412 and a cam 2414 connected in sequence, the upper plate 2411 and the lower plate 2412 are respectively arranged at the two ends of the guide post 2413, and the cam 2414 is arranged on the side of the upper plate 2411 facing away from the lower plate 2412. The guide post 2413 passes through the bracket 243 in the axial direction, and the second elastic member 244 connects the bracket 243 and the upper plate 2411. The second elastic member 244 is used to apply force to the upper plate 2411 toward the cam 2414, so that the cam 2414 contacts the upper plate 2411. The lower plate 2412 is used to apply pressure to the clamping assembly 21. The first driving member 242 is connected to the cam 2414. The first driving member 242 is used to drive the cam 2414 to rotate. The cam 2414 is used to press the upper plate 2411 to move in a direction parallel to the axial direction, so that the upper plate 2411 drives the lower plate 2412 to move toward the support platform 224 in a direction parallel to the axial direction through the guide column 2413, so that the lower plate 2412 presses the clamping assembly 21 on the support platform 224 to adjust the position of the clamping assembly 21 in a direction parallel to the axial direction, thereby realizing the adjustment of the height of the clamping assembly 21.

[0102] As an illustrative example, the second elastic member 244 makes the upper plate 2411 always have a tendency to move upward, so that the cam 2414 can always contact the upper plate 2411. The cam 2414 is driven to rotate by the first driving member 242. When the cam 2414 rotates to the low point to contact the upper plate 2411, the upper plate 2411 moves vertically downward, the second elastic member 244 elastically shortens, and the lower plate 2412 moves vertically downward to apply a downward force to the clamping assembly 21 on the bearing platform 224, so that the bearing platform 224 and the clamping assembly 21 move vertically downward; when the cam 2414 rotates to the high point to contact the upper plate 2411, the second elastic member 244 elastically extends, the upper plate 2411 moves vertically upward, and the lower plate 2412 moves vertically upward to separate from the clamping assembly 21 on the bearing platform 224. The bearing platform 224 and the clamping assembly 21 move vertically upward under the action of the first elastic member 223, thereby realizing the height adjustment of the clamping assembly 21.

[0103] Therefore, compared with the first driving member 242 driving the cam 2414 to directly drive the pressure member 241 up and down, the second elastic member 244 is provided to buffer the movement of the pressure member 241, thereby preventing the pressure member 241 from making rigid contact with the clamping assembly 21, and protecting the clamping assembly 21 to a certain extent.

[0104] See also Figure 3 and Figure 4In some embodiments, each clamping assembly 21 includes a first fixed member 211, a first movable member 212, and two first clamping arms 213. The first fixed member 211 is fixed to the first transfer assembly 22, and is specifically fixedly connected to the carrier 224 to facilitate the installation of the first movable member 212 and the first clamping arms 213. The two first clamping arms 213 are rotatably connected to the first fixed member 211, and the first movable member 212 is slidably connected to the first fixed member 211. The first movable member 212 is used to move relative to the first fixed member 211 to drive the two first clamping arms 213 to rotate relative to the first fixed member 211.

[0105] The clamping mechanism 20 also includes a second driving member 23, which is used to drive the first movable member 212 to move relative to the first fixed member 211. Specifically, a guide groove 2112 is provided on the first fixed member 211, and the second driving member 23 drives the first movable member 212 to move in the guide groove 2112 along a direction parallel to the X-axis.

[0106] The first fixing member 211 is provided with a first rotating shaft 2111 , and one end of the two first clamping arms 213 is connected at an angle and is rotatably connected to the first fixing member 211 through the first rotating shaft 2111 , so that the two first clamping arms 213 can rotate around the first rotating shaft 2111 to clamp or release the clamp 220 .

[0107] Each first clamping arm 213 is provided with a first slide groove 2131, and each first movable member 212 is provided with two first sliders 2121 matched with the corresponding first slide grooves 2131. The first sliders 2121 are arranged in the corresponding first slide grooves 2131, so that the first movable member 212 is connected with the two first clamping arms 213 through the first sliders 2121 and the first slide grooves 2131. Since a first angle is formed between the two first slide grooves 2131, when the second driving member 23 drives the first movable member 212 to move relative to the first fixed member 211, the first movable member 212 moves in a direction parallel to the X-axis, and the first slider 2121 moves along the first slide groove 2131, so that the two first clamping arms 213 are driven by the first sliders 2121 to rotate around the first rotating shaft 2111 to clamp or release the clamping head 220.

[0108] See also Figures 1 to 3In some embodiments, the clamping assembly 21 has at least two, and at least two clamping assemblies 21 are arranged at intervals in a direction perpendicular to the axial direction. At least two clamping assemblies 21 are in an open state under normal conditions to clamp the chuck 220 under the drive of the second driving member 23. The first transfer assembly 22 drives at least two clamping assemblies 21 to move simultaneously in a direction perpendicular to the axial direction, so that the first movable member 212 of any clamping assembly 21 is facing the second driving member 23, and the second driving member 23 is used to apply force to the facing first movable member 212, so that the first movable member 212 moves relative to the first fixed member 211 in a direction parallel to the X-axis, so that the two first clamping arms 213 rotate toward each other around the first rotating shaft 2111 to clamp the chuck 220. As an illustrative example, the clamping assembly 21 has two, and the two clamping assemblies 21 are arranged at intervals in a direction parallel to the Y-axis, so that the applicable clamping assembly 21 can be selected according to the chuck 220. The second driving member 23 is a fixedly installed cylinder, which is arranged opposite to the rotating mechanism 10. It drives the clamping assembly 21 to move in a direction parallel to the Y-axis through the first guide rail 2211, so that any clamping assembly 21 faces the second driving member 23, so that the second driving member 23 can push the first movable member 212 of the clamping assembly 21 facing it to move, so that the two first clamping arms 213 clamp the chuck 220.

[0109] Since at least two clamping assemblies 21 are selectively driven to work by a second driving member 23, the second driving member 23 is not fixedly connected to the clamping assembly 21, and the second driving member 23 can only drive the first clamping arm 213 to move in one direction, and cannot reset the first clamping arm 213. Therefore, each clamping assembly 21 further includes a third elastic member 214, and the two first clamping arms 213 are reset by the third elastic member 214, so that the two first clamping arms 213 release the clamping head 220.

[0110] In some embodiments, the third elastic member 214 is connected to the first fixed member 211 and the first movable member 212. When the second driving member 23 is disengaged from the first movable member 212, the third elastic member 214 is used to apply force to the first movable member 212 toward the second driving member 23, so that the two first clamping arms 213 rotate away from each other around the first rotating shaft 2111, and drive the first movable member 212 to move and reset in the guide groove 2122 in a direction parallel to the X-axis, so that the two first clamping arms 213 open to release the clamp 220.

[0111] Therefore, under the action of the second driving member 23 and the third elastic member 214 , the first movable member 212 of the clamping assembly 21 can move relative to the first fixed member 211 in a direction parallel to the X-axis, so that the two first clamping arms 213 clamp or release the clamping head 220 .

[0112] See also Figure 1 , Figure 2 as well as Figure 5In some embodiments, the tool changing mechanism 30 includes a second transfer component 31 and a plurality of clamps 32, each clamp 32 is used to clamp a tool 300, and the second transfer component 31 is connected to the plurality of clamps 32, and is used to drive the plurality of clamps 32 to move, so that a corresponding clamp 32 moves to the tool installation position of the tool handle 200, so that the corresponding clamp 32 takes out the tool 300 in the tool handle 200, or the tool 300 clamped by the corresponding clamp 32 is installed in the tool handle 200. Therefore, by driving the clamp 32 to move by the second transfer component 31, the tool 300 clamped by the clamp 32 can be freely dropped and implanted into the tool handle 200, and the tool 300 can be installed in the tool handle 200, so as to achieve the clamping of the tool 300. When the tool 300 in the tool holder 200 needs to be replaced, the second transfer assembly 31 can also drive the clamping jaw 32 to move so that the clamping jaw 32 clamps the tool 300 in the tool holder 200 to complete the disassembly and assembly of the tool 300, thereby improving the automation rate and efficiency of clamping and replacing the tool 300.

[0113] In some embodiments, the second transfer assembly 31 includes a third guide rail 311, a fourth guide rail 312, and a fifth guide rail 313. The third guide rail 311 is used to drive the clamping jaw 32 to move in a direction parallel to the X axis, the fourth guide rail 312 is used to drive the clamping jaw 32 to move in a direction parallel to the Y axis, and the fifth guide rail 313 is used to drive the clamping jaw 32 to move in a direction parallel to the Z axis. In addition, the fourth guide rail 312 is fixed to the table 61, the fifth guide rail 313 is fixedly connected to the fourth guide rail 312, and the third guide rail 311 is fixedly connected to the fourth guide rail 312.

[0114] See also Figure 5 and Figure 6 In some embodiments, each clamp 32 includes a second fixed member 321, a second movable member 322, and two second clamp arms 323. The second fixed member 321 is fixedly connected to the second transfer assembly 31, specifically fixed to the third guide rail 311, so as to facilitate the installation of the second movable member 322 and the second clamp arms 323. The two second clamp arms 323 are connected to the second movable member 322, and the two second clamp arms 323 are also rotatably connected to the second fixed member 321, the second movable member 322 is slidably connected to the second fixed member 321, and the second movable member 322 is used to move relative to the second fixed member 321 to drive the two second clamp arms 323 to rotate relative to the second fixed member 321.

[0115] The tool changing mechanism 30 further includes a third driving member 33, which is used to drive the second movable member 322 to move relative to the second fixed member 321. Specifically, a moving groove 3212 is provided on the second fixed member 321, and the third driving member 33 drives the second movable member 322 to move in the moving groove 3212 along a direction parallel to the X-axis.

[0116] The second fixing member 321 is provided with two second rotating shafts 3211 at intervals, and each second clamping arm 323 is rotatably connected to the second fixing member 321 via a second rotating shaft 3211 , so that the two second clamping arms 323 can rotate around the corresponding second rotating shaft 3211 to clamp or release the tool 300 .

[0117] One end of each second clamping arm 323 is cross-arranged, and one end of each second clamping arm 323 is provided with a second slide groove 3231, and the second movable member 322 is provided with a second slider 3221 matched with the second slide groove 3231, and the second slider 3221 is inserted into the two second slide grooves 3231, so that the second movable member 322 and the two second clamping arms 323 are connected through one second slider 3221 and two second slide grooves 3231. Since the second included angle is formed between the two second slide grooves 3231, when the third driving member 33 drives the second movable member 322 to move relative to the second fixed member 321, the second movable member 322 moves in a direction parallel to the X-axis, and one second slider 3221 moves along the two second slide grooves 3231, so that the two second clamping arms 323 are driven by one second slider 3221 to rotate around the corresponding second rotating shaft 3211 respectively to clamp or release the tool 300.

[0118] See also Figure 1 , Figure 2 , Figure 5 as well as Figure 6In some embodiments, the plurality of clamps 32 are spaced apart in a direction perpendicular to the axial direction. The plurality of clamps 32 are in a clamped state under normal conditions to clamp the tool 300. The second transfer assembly 31 drives the plurality of clamps 32 to move in a direction parallel to the X / Y / Z axis, so that the second movable member 322 of any clamp 32 is directly opposite to the third drive member 33. The third drive member 33 applies force to the second movable member 322 of the clamp 32 directly opposite to it, so that the second movable member 322 of the clamp 32 moves relative to the second fixed member 321 in a direction parallel to the X axis, so that the two second clamp arms 323 rotate away from each other around the corresponding second rotating shaft 3211 to release the tool 300. At this time, the plurality of clamps 32 are in an open state. As an illustrative example, the clamping jaws 32 have six, and the six clamping assemblies 21 are arranged at intervals along the direction parallel to the Y-axis. Each clamping jaw 32 can adapt to tools 300 of different models or sizes, so that the appropriate clamping jaw 32 can be selected according to actual conditions. Some of the clamping jaws 32 do not have tools 300 clamped on them, and the clamping jaws 32 without tools 300 clamped on them are used to remove the tools 300 that need to be replaced on the tool handle 200. The other clamping jaws 32 clamp the tools 300, and the clamping jaws 32 clamping the tools 300 are used to place the required tools 300 into the tool handle 200. The third driving member 33 is a fixed cylinder, which is arranged opposite to the rotating mechanism 10. The third guide rail 311, the fourth guide rail 312 and the fifth guide rail 313 cooperate to drive the clamping assembly 21 to move in a direction parallel to the X / Y / Z axis, so that any clamping jaw 32 faces the third driving member 33, so that the third driving member 33 can push the second movable member 322 facing it to move, so that the two second clamping arms 323 release the tool 300, and the tool 300 falls freely into the tool handle 200, thereby clamping the tool 300.

[0119] Since the third driving member 33 is used to selectively drive the plurality of clamping jaws 32 to work, the third driving member 33 is not fixedly connected to the clamping jaws 32, and the third driving member 33 can only drive the second clamping arms 323 to move in one direction, and cannot reset the second clamping arms 323. Therefore, each clamping jaw 32 further includes a fourth elastic member 324, and the second clamping arms 323 are reset by the fourth elastic member 324, so that the two second clamping arms 323 can clamp the tool 300 to be installed.

[0120] In some embodiments, the fourth elastic member 324 connects the two second clamping arms 323. When the third driving member 33 is disengaged from the second movable member 322, the fourth elastic member 324 is used to apply force to the two second clamping arms 323, so that the two second clamping arms 323 rotate toward each other around the corresponding second rotating shaft 3211, and drive the second movable member 322 to move and reset in the movable groove 3212 in a direction parallel to the X-axis, so that the two second clamping arms 323 clamp the tool 300.

[0121] Therefore, under the action of the third driving member 33 and the fourth elastic member 324 , the second movable member 322 of the clamp 32 can move relative to the second fixed member 321 in a direction parallel to the X-axis, so that the two second clamp arms 323 clamp or release the tool 300 .

[0122] See also Figure 7 In some embodiments, the tool replacement device 100 also includes an adjusting mechanism 40, which includes a push rod 41 and a fourth driving member 42. The push rod 41 is arranged parallel to the axial direction and penetrates the rotating mechanism 10. The fourth driving member 42 is used to drive the push rod 41 to move in a direction parallel to the axial direction, so that the push rod 41 pushes the tool 300 connected to the tool handle 200, so that the tool 300 moves relative to the tool handle 200, thereby adjusting the extension amount of the tool 300.

[0123] In some embodiments, in order to facilitate the installation of the rotating mechanism 10, the clamping mechanism 20, the tool changing mechanism 30 and the adjusting mechanism 40, the tool changing device 100 also includes a support table 60, the support table 60 has a table top 61, the rotating mechanism 10, the clamping mechanism 20 and the tool changing mechanism 30 are all arranged on the table top 61, the adjusting mechanism 40 is arranged with its back to the table top 61, and acts on the rotating mechanism 10 arranged on the table top 61 to adjust the extension amount of the tool 300 relative to the tool handle 200.

[0124] See also Figure 1 and Figure 2 In some embodiments, the tool changing device 100 further includes a detection mechanism 50, which includes a light source 51 and a detection member 52. The light source 51 and the detection member 52 are arranged on opposite sides of the rotating mechanism 10, and both the light source 51 and the detection member 52 are arranged directly opposite the rotating mechanism 10. The light source 51 is used to emit light toward the detection member 52, so that the detection member 52 detects the position of the tool 300 relative to the tool handle 200 to obtain the extension and runout of the tool 300. In some embodiments, the detection member 52 can be a camera, and the extension and runout of the tool 300 installed in the tool handle 200 are measured by the camera.

[0125] When replacing the tool 300 of the tool holder 200 using the tool changing device 100:

[0126] First, align the groove 2101 on the circumference of the tool handle 200 with the protrusion 121 on the tool holder 12 , and insert the tool handle body 210 into the cylindrical mounting portion at the center of the tool holder 12 , so that the tool handle 200 is plugged into the tool holder 12 .

[0127] Secondly, the clamping mechanism 20 works, so that the clamping assembly 21 moves in the horizontal direction under the drive of the translation module 221, and the clamping assembly 21 moves vertically downward under the elastic pressure of the buffer assembly 24, so that the clamping assembly 21 is aligned with the chuck 220; the two first clamping arms 213 in the clamping assembly 21 rotate toward each other around the first rotating shaft 2111 under the drive of the second driving member 23 to clamp the chuck 220.

[0128] Again, the rotating mechanism 10 works, so that the rotating platform 11 drives the tool handle body 210 to rotate axially relative to the chuck 220. At the same time, under the action of the first driving member 242, the first elastic member 223 and the buffering member 24, the clamping member 21 gradually moves upward so that the chuck 220 can release the tool 300. The tool changing mechanism 30 works, so that the clamping jaw 32 is driven by the second transfer member 31 to align with the tool 300. The two second clamping arms 323 in the clamping jaw 32 rotate around the corresponding second rotating shaft 3211 respectively under the drive of the third driving member 33, so that the clamping jaw 32 clamps the tool 300 released by the chuck 220; the multiple clamping jaws 32 move under the drive of the second transfer member 31, so that the clamping jaw 32 that clamps the tool 300 released by the chuck 220 can remove the tool 300 installed on the chuck 220. 0, to realize the disassembly of the tool 300; the other clamping jaw 32 that clamps the tool 300 to be installed on the chuck 220 corresponds to the chuck 220, and the clamping jaw 32 releases the tool 300 to allow the tool 300 to fall freely and be implanted into the tool handle 200; after adjusting the extension amount of the tool 300 relative to the tool handle 200 through the adjustment mechanism 40, the rotating mechanism 10 works to make the tool holder body 210 rotate relative to the chuck 220, so that the chuck 220 clamps the tool 300, and the tool 300 is clamped. Finally, the extension amount and the runout amount of the tool 300 are measured by the detection mechanism 50. If the measurement is qualified, the installation is completed and the tool handle 200 is taken out. If the measurement is unqualified, the tool 300 needs to be reinstalled.

[0129] Such a tool replacement device 100 can fully automatically disassemble and install the tool 300, and can also measure whether the tool 300 is qualified, thereby improving the automation rate and efficiency of the clamping and replacement of the tool 300.

[0130] In addition, those skilled in the art should recognize that the above embodiments are only used to illustrate the present application and are not intended to be limiting of the present application. As long as they are within the spirit and scope of the present application, appropriate changes and modifications to the above embodiments are within the scope of the present application.

Claims

1. A tool replacement device for replacing a tool in a tool handle, wherein the tool handle comprises a tool handle body and a chuck mounted on the tool handle body, wherein the chuck is used to clamp the tool, and wherein: The tool changing device comprises: A rotating mechanism, used for fixing the handle body and driving the handle body to rotate; a clamping mechanism, located at one side of the rotating mechanism, the clamping mechanism comprising a first transfer assembly, a buffer assembly and at least one clamping assembly, the first transfer assembly being connected to at least one of the clamping assemblies and being used to drive at least one of the clamping assemblies to move toward the rotating mechanism in a direction perpendicular to the axial direction of rotation of the tool handle body, so that the corresponding clamping assembly is directly opposite to the tool handle, the buffer assembly being disposed above at least one of the clamping assemblies and being used to elastically press the corresponding clamping assembly to adjust the position of the clamping assembly in a direction parallel to the axial direction of rotation of the tool handle body, so that the clamping assembly clamps the chuck, thereby allowing the rotating mechanism to drive the tool handle body to rotate relative to the chuck, so that the chuck locks or releases the tool; and The tool changing mechanism is located on the side of the rotating mechanism away from the clamping mechanism. The tool changing mechanism includes a second transfer assembly and a plurality of clamps. Each of the clamps is used to clamp a tool. The second transfer assembly connects the plurality of clamps and is used to drive the plurality of clamps to move so that the corresponding clamps move to the tool installation position of the tool handle. The clamps are used to take out the tool from the tool handle or implant the clamped tool to be installed into the tool handle.

2. The tool changing device according to claim 1, characterized in that: The first transfer assembly includes a translation module, a translation platform, a first elastic member and a supporting platform, the translation module is used to drive the translation platform to move in a direction perpendicular to the axial direction, the first elastic member is respectively connected to the supporting platform and the translation platform, so that the supporting platform can move relative to the translation platform in a direction parallel to the axial direction, and the supporting platform is used to support the clamping assembly; the buffer assembly includes a pressing member and a first driving member, the pressing member is located on the side of the supporting platform facing away from the first elastic member, the first driving member is used to drive the pressing member to move in a direction parallel to the axial direction, the pressing member is used to apply force to the clamping assembly on the supporting platform toward the first elastic member, so that the clamping assembly moves in a direction parallel to the axial direction and compresses the first elastic member; the first elastic member is also used to apply force to the supporting platform toward the pressing member when the pressing member is separated from the clamping assembly, so that the clamping assembly is reset in a direction parallel to the axial direction to adjust the position of the clamping assembly in the direction parallel to the axial direction.

3. The tool changing device according to claim 2, characterized in that: The pressing member includes an upper plate, a guide column, a lower plate and a cam connected in sequence, the upper plate and the lower plate are respectively arranged at two ends of the guide column, the cam is arranged on the side of the upper plate facing away from the lower plate, the buffer assembly also includes a bracket and a second elastic member, the position of the bracket is fixed, the guide column passes through the bracket along the axial direction, the second elastic member connects the bracket and the upper plate, the second elastic member is used to apply force to the upper plate toward the cam so that the cam contacts the upper plate, the lower plate is used to apply pressure to the clamping assembly, the first driving member is connected to the cam, and is used to drive the cam to rotate, and the cam is used to drive the upper plate to move so that the lower plate presses against the clamping assembly on the supporting platform.

4. The tool changing device according to claim 1, characterized in that: The clamping mechanism also includes a second driving member, each of the clamping components includes a first fixed member, a first movable member and two first clamping arms, the first fixed member is fixed to the first transfer component, the first movable member is slidably arranged on the first fixed member, the first fixed member is provided with a first rotating shaft, one end of the two first clamping arms is connected at an angle and rotatably connected to the first rotating shaft, the first movable member is provided with two first sliding blocks, and the two first clamping arms are provided with first sliding grooves matched with the corresponding first sliding blocks; The second driving member is used to drive the first movable member to move relative to the first fixed member, so that the first sliding block moves along the first sliding groove, thereby driving the two first clamping arms to rotate around the first rotating shaft to clamp the clamping head.

5. The tool changing device according to claim 4, characterized in that: The clamping assembly comprises at least two, and the at least two clamping assemblies are spaced apart in a direction perpendicular to the axial direction. The first transfer assembly drives at least two clamping assemblies to move simultaneously in a direction perpendicular to the axial direction, so that the first movable member of any one of the clamping assemblies faces the second driving member, and the second driving member is used to apply force to the first movable member facing the first movable member, so that the two first clamping arms clamp the clamping head; Each of the clamping assemblies further includes a third elastic member, which is connected to the first fixed member and the first movable member. The third elastic member is used to apply force to the first movable member toward the second driving member when the second driving member is disengaged from the first movable member, so that the two first clamping arms release the clamping head.

6. The tool changing device according to claim 1, characterized in that: The tool changing mechanism also includes a third driving member, each of the clamping jaws includes a second fixed member, a second movable member and two second clamping arms, the second fixed member is fixedly connected to the second transfer assembly, the second movable member is slidably arranged on the second fixed member, the second fixed member is provided with two second rotating shafts at intervals, the two second clamping arms are rotatably connected to the corresponding second rotating shafts, the second movable member is provided with a second sliding block, and one end of each of the second clamping arms is cross-arranged and provided with a second sliding groove matched with the second sliding block; The third driving member is used to drive the second movable member to move relative to the second fixed member, so that the second sliding block moves along the two second sliding grooves, thereby driving the two second clamping arms to rotate around the corresponding second rotating shafts respectively to clamp or release the tool.

7. The tool changing device according to claim 6, characterized in that: The plurality of clamping jaws are arranged at intervals in a direction perpendicular to the axial direction, and the second transfer assembly drives the plurality of clamping jaws to move simultaneously in a direction perpendicular to the axial direction, so that the second movable member of any one of the clamping jaws faces the third driving member, and the third driving member is used to apply force to the second movable member of the facing clamping jaw, so that the two second clamping arms release the tool; Each of the clamping jaws further comprises a fourth elastic member, wherein the fourth elastic member connects the two second clamping arms, and when the third driving member is disengaged from the second movable member, the fourth elastic member is used to apply force to the two second clamping arms so that the two second clamping arms clamp the tool.

8. The tool changing device according to claim 1, characterized in that: The rotating mechanism includes a rotating platform and a tool holder connected to the rotating platform, the rotating platform is used to drive the tool holder to rotate in the axial direction, the tool holder is provided with a protrusion for matching with the groove of the tool handle, the tool handle is inserted into the tool holder along the axial direction, so that the tool handle and the tool holder are clamped through the groove and the protrusion.

9. The tool changing device according to claim 1, characterized in that: The tool replacement device also includes an adjustment mechanism, which includes a push rod and a fourth driving member. The push rod is inserted into the rotating mechanism, and the fourth driving member is used to drive the push rod to move in a direction parallel to the axial direction, so that the push rod pushes the tool inserted into the tool handle, so that the tool moves relative to the tool handle.

10. The tool changing device according to claim 1, characterized in that: The tool replacement device also includes a detection mechanism, which includes a light source and a detection member. The light source and the detection member are arranged on opposite sides of the rotating mechanism. The light source is used to emit light toward the detection member so that the detection member detects the position of the tool relative to the tool handle.

Images