Tool magazine transfer system and AGV intelligent vehicle

Abstract

The utility model relates to the technical field of industrial robots, in particular to a tool magazine transfer system and an AGV intelligent vehicle. The tool magazine transfer system comprises a clamping device and a cutter head assembly. The clamping device comprises a clamping jaw driving piece and a clamping jaw structure. The clamping jaw structure comprises a jaw body and a positioning piece, and the positioning piece is arranged on the inner side of the jaw body in a protruding mode. The clamping jaw driving part is used for driving the at least two sets of clamping jaw structures to move in the direction close to or away from each other at the same time. A positioning groove is formed in the outer side wall of the cutterhead assembly and used for being matched with the positioning piece in a clamped mode. According to the clamping device, the positioning piece is arranged in the clamping jaw structure, when the clamping jaw driving piece clamps the cutterhead assembly, the positioning piece can be matched with the positioning groove in the cutterhead assembly so as to fix the cutterhead assembly, and compared with a traditional AGV intelligent vehicle, pre-positioning is achieved through matching of the positioning piece and the positioning groove; the clamping jaw structure is effectively prevented from slipping and even falling off after grabbing the cutter head assembly.

Description

Technical Field

[0001] The utility model relates to the technical field of industrial robots, in particular to a tool magazine transfer system and an AGV intelligent vehicle. Background Art

[0002] In existing smart drilling workshops, a technical solution of mounting a six-axis robot on an AGV smart car is usually used to assist the equipment in processing. For example, a gripper mechanism is installed on the six-axis manipulator of the AGV smart car to grab the tool disc to realize the automatic tool changing function of the processing equipment.

[0003] In the prior art AGV smart vehicle, when the clamp is used to grab the cutter disc, since the clamp is in rigid contact with the cutter disc, slipping is likely to occur, causing the cutter disc to deviate or fall when the clamp is used to grab the cutter disc. Utility Model Content

[0004] The utility model provides a tool magazine transfer system and an AGV intelligent vehicle, which are used to solve the problem of limited clamping accuracy of the AGV intelligent vehicle in the existing intelligent drilling room workshop.

[0005] The utility model provides a tool magazine transfer system, comprising:

[0006] A clamping device, comprising a clamping jaw driving member and a clamping jaw structure, wherein the clamping jaw structure comprises a jaw body and a positioning member, wherein the jaw body is connected to the clamping jaw driving member, and the positioning member is convexly arranged on the clamping side of the jaw body; wherein the number of the clamping jaw structures is at least two, and the clamping jaw driving member is used to drive at least two groups of the clamping jaw structures to move towards or away from each other at the same time;

[0007] The cutter disc assembly has an outer wall provided with a positioning groove, and the positioning piece is used to be plugged into the positioning groove.

[0008] According to one embodiment of the utility model, the cutter disc assembly is also provided with a hanging groove, which is arranged on the outer wall of the cutter disc assembly and connected to the positioning groove; the claw body includes a hanging part and a connecting frame, the connecting frame is respectively connected to the hanging part and the clamping claw driving member, the positioning member is connected to the hanging part and / or the connecting frame, and the hanging groove is used to accommodate the hanging part.

[0009] According to an embodiment of the utility model, a mounting groove is provided on the inner side of the hanging portion, and the positioning member is at least partially disposed in the mounting groove.

[0010] According to an embodiment of the present invention, the positioning member gradually narrows in a direction away from the claw body, and a side of the positioning member away from the claw body is used to cooperate with the positioning groove.

[0011] According to one embodiment of the utility model, the cutter disc assembly includes a cutter disc connecting plate and a cutter disc, the positioning groove is arranged on the cutter disc connecting plate, the cutter disc connecting plate is used to connect with the clamping claw structure, the cutter disc connecting plate is movably connected to the cutter disc connecting plate and the cutter disc connecting plate is supported by the bottom of the cutter disc connecting plate.

[0012] According to one embodiment of the utility model,

[0013] The cutter disc is provided with a guide groove, and the cutter disc connecting plate is provided with a guide protrusion, and the guide protrusion is slidably matched with the guide groove.

[0014] According to an embodiment of the utility model, the cutter disc assembly further comprises a spring locating pin, wherein the spring locating pin is connected to the cutter disc connecting plate, and the spring locating pin is used to abut against an outer wall of the cutter disc.

[0015] According to an embodiment of the utility model, a positioning hole is opened on the outer wall of the cutter disc, and the cutter disc assembly also includes a positioning screw, which is detachably connected to the cutter disc connecting plate and is used to be plugged into and matched with the positioning hole.

[0016] According to an embodiment of the utility model, the clamping device further includes an image sensor component, the image sensor component is connected to the clamping jaw driving component, and the image sensor component is used to obtain an image signal of the tool disc assembly.

[0017] According to one embodiment of the utility model, the clamping device also includes a height measuring sensor, which is connected to the clamping jaw driving member and is used to obtain a distance signal between the tool disc assembly and the height measuring sensor; and / or the clamping jaw driving member is a parallel electric clamp.

[0018] The utility model also provides an AGV smart car, comprising:

[0019] Mobile devices; and

[0020] As described in any one of the above tool magazine transfer systems, the tool magazine transfer system is installed on the moving device and is used to drive the tool magazine transfer system to move.

[0021] Implementing the embodiments of the utility model has the following beneficial effects:

[0022] In the clamping device of the present embodiment, a positioning piece is provided in the clamping claw structure. When the clamping claw driving member clamps the cutter disc assembly, the positioning piece can cooperate with the positioning groove in the cutter disc assembly to fix the cutter disc assembly. Compared with the traditional AGV smart vehicle, pre-positioning is achieved by cooperating between the positioning piece and the positioning groove, which effectively avoids the clamping claw structure from slipping or even falling after grasping the cutter disc assembly, and the stability of clamping is improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the embodiments of the utility model or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0024] in:

[0025] Figure 1 is a three-dimensional view of a clamping device in an embodiment of the utility model;

[0026] Figure 2 It is a structural schematic diagram of a clamping device in an embodiment of the utility model;

[0027] Figure 3 yes Figure 2 A magnified view of part A in the middle;

[0028] Reference numerals:

[0029] 10. Gripping device; 100. Gripping jaw driving member; 200. Gripping jaw structure; 210. Gripping jaw body; 211. Hanging portion; 212. Mounting slot; 213. Connecting frame; 220. Positioning member; 300. Cutter disc assembly; 310. Cutter disc connecting plate; 311. Positioning slot; 312. Hanging slot; 313. Guide protrusion; 320. Cutter disc; 321. Guide slot; 322. Positioning hole; 330. Spring positioning pin; 340. Positioning screw; 400. Image sensing assembly; 410. Visual camera; 420. Light source; 500. Height sensor; 20. Cutting tool. DETAILED DESCRIPTION

[0030] In order to make the purpose, technical solution and advantages of the utility model clearer, the technical solution of the utility model will be described clearly and completely in conjunction with the drawings in the utility model. Obviously, the described embodiments are part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0031] See also Figures 1 to 3As shown, an embodiment of the utility model provides a tool magazine transfer system, which includes a clamping device 10 and a tool disc assembly 300; the clamping device 10 includes a jaw driving member 100, a jaw structure 200 and a tool disc assembly 300; the jaw structure 200 includes a jaw body 210 and a positioning member 220, the jaw body 210 is connected to the jaw driving member 100, and the positioning member 220 is protruding from the clamping side of the jaw body 210; wherein the number of the jaw structures 200 is at least two groups, and the jaw driving member 100 is used to drive at least two groups of jaw structures 200 to move towards or away from each other at the same time; a positioning groove 311 is opened on the outer wall of the tool disc assembly 300, and the positioning groove 311 is used to engage with the positioning member 220.

[0032] In the clamping device 10 of the present embodiment, by setting a positioning member 220 in the clamping jaw structure 200, when the clamping jaw driving member 100 clamps the cutter disc assembly 300, the positioning member 220 can cooperate with the positioning groove 311 in the cutter disc assembly 300 to limit the cutter disc assembly 300; through the mortise and tenon mechanism between the positioning member 220 and the positioning groove 311, the offset between the cutter disc assembly 300 and the clamping jaw structure 200 can be avoided, and the clamping accuracy and stability are improved.

[0033] It should be noted that when the clamping drive 100 is used to drive multiple clamping structures 200 to move in a direction close to each other to achieve the clamping function, the clamping side of the claw body 210 refers to the inner side of the claw body 210, that is, the side facing the blade disc assembly 300; in some embodiments, when the clamping drive 100 is used to drive multiple clamping structures 200 to move in a direction away from each other at the same time to achieve the grasping function, in this embodiment, the clamping structure 200 can abut against the blade disc assembly 300 through the outside, and the grasping function can also be achieved by applying outward force. At this time, the clamping side of the claw body 210 is located on the outside of the claw body 210, which is not a sole limitation here.

[0034] Specifically, see Figure 2 and Figure 3 As shown, the cutter disc assembly 300 is also provided with a hanging groove 312, which is arranged on the outer wall of the cutter disc assembly 300 and connected to the positioning groove 311; the claw body 210 includes a hanging portion 211 and a connecting frame 213, the connecting frame 213 is respectively connected to the hanging portion 211 and the clamping claw driving member 100, the installation groove 212 is arranged on the inner side of the hanging portion 211, the positioning member 220 is connected to the hanging portion 211 and / or the connecting frame 213, and the hanging groove 312 is used to accommodate the hanging portion 211.

[0035] In this embodiment, the hanging portion 211 is connected to the clamping claw driving member 100 through the connecting frame 213. The hanging portion 211 and the connecting frame 213 are preferably combined in a detachable connection manner such as screws, pins, magnetism, and snap-on connection to facilitate the assembly of the claw body 210. When the hanging portion 211 is worn, the hanging portion 211 can be easily replaced without replacing the entire claw body 210, thereby reducing the cost of use. In addition, the hanging portion 211 and / or the connecting frame 213 of corresponding size can be selected according to the size of the blade assembly 300, so that the clamping claw structure 200 can be suitable for blade assemblies 300 of different sizes.

[0036] Furthermore, a mounting groove 212 is provided on the inner side of the hanging portion 211 , and the positioning member 220 is at least partially disposed in the mounting groove 212 .

[0037] Thus, when the clamp driving member 100 drives the clamp structure 200 to clamp the cutter disc assembly 300, the hanging portion 211 of the clamp structure 200 can be accommodated in the hanging groove 312, and the positioning member 220 can be engaged with the positioning groove 311 of the cutter disc assembly 300, thereby making the combined structure of the hanging portion 211 and the cutter disc assembly 300 more compact.

[0038] Furthermore, the positioning member 220 gradually narrows in a direction away from the claw body 210 , and a side of the positioning member 220 away from the claw body 210 is used to cooperate with the positioning groove 311 .

[0039] According to the configuration, when the positioning member 220 cooperates with the positioning groove 311, since the positioning member 220 gradually narrows in the direction away from the claw body 210, when the front end of the positioning member 220 contacts the inner wall of the positioning groove 311, the outer wall of the positioning member 220 can slide relative to the positioning groove 311, so as to guide and position the cutter disc assembly 300 under the driving action of the clamping claw driving member 100, and finally make the positioning member 220 and the positioning groove 311 tightly fit and fixed. At the same time, since the hanging part 211 is hung on the side of the cutter disc assembly 300 away from the clamping claw driving member 100, the cutter disc assembly 300 and the clamping claw structure 200 can be fixed, so that the cutter disc assembly 300 can remain stable during the subsequent moving process.

[0040] Of course, in some embodiments, the cross-section of the positioning groove 311 may also be a trapezoidal opening or an arc-shaped opening. Specifically, at least one of the positioning groove 311 and the positioning member 220 may be arranged in a trapezoidal or arc-shaped manner, so that when the positioning member 220 cooperates with the positioning groove 311, a driving force can be generated through the relative sliding between the two, so that the positioning member 220 can position the blade disc assembly 300.

[0041] Further, see Figure 2As shown, at least one positioning groove 311 can be provided on the cutter disc assembly 300. When the number of the positioning groove 311 is one, the clamping structure 200 can only position one side of the cutter disc assembly 300, and the other side of the cutter disc assembly 300 is clamped and positioned by cooperating with another clamping structure 200. In a preferred embodiment, at least two positioning grooves 311 can be provided on the cutter disc assembly 300, and two of the positioning grooves 311 are respectively located on opposite sides of the cutter disc assembly 300, and the above two positioning grooves correspond one by one to two positioning members 220 in the clamping structure 200. At this time, when the clamping drive 100 drives the clamping structure 200 to clamp the cutter disc assembly 300, the opposite sides of the cutter disc assembly 300 can be clamped, and the fixing accuracy of the cutter disc assembly 300 can be improved by sliding and clamping between the positioning member 220 and the positioning groove 311.

[0042] like Figure 2 In the illustrated embodiment, four positioning grooves 311 are provided on the blade disc assembly 300, and the four positioning grooves 311 are grouped into two and symmetrically arranged on opposite sides of the blade disc assembly 300. There are two groups of jaw structures 200, and two positioning members 220 are provided in each of the two groups of jaw structures 200, that is, a total of four positioning members 220 are respectively matched with the four positioning grooves 311. In this way, when the jaw driving member 100 drives the two groups of jaw structures 200 to move toward the blade disc assembly 300 and clamp the blade disc assembly 300, two groups of positioning members 220 and positioning grooves 311 cooperate with each other on opposite sides of the blade disc assembly 300. On the premise of ensuring the clamping force of the jaw structure 200 on the positioning member 220, the clamping accuracy of the jaw structure 200 on the blade disc assembly 300 can be further improved. Of course, in some embodiments, the number of the clamping structures 200 may be four or more. By providing a plurality of clamping structures 200 in cooperation with the clamping driving member 100, the contact area between the clamping structure 200 and the blade disc assembly 300 can be further increased to improve the clamping stability and positioning accuracy of the blade disc assembly 300.

[0043] Specifically, the cutter disc assembly 300 includes a cutter disc connecting plate 310 and a cutter disc 320. The positioning groove 311 is provided on the cutter disc connecting plate 310. The cutter disc connecting plate 310 is used to connect with the clamping structure 200. The cutter disc 320 is movably connected to the cutter disc connecting plate 310 and the cutter disc connecting plate 310 is supported on the bottom of the cutter disc 320.

[0044] When the clamping device 10 of this embodiment is used in an intelligent drilling workshop, the cutter disc 320 can be used to support the tool 20, and the cutter disc connecting plate 310 can be adapted to different cutter discs 320. At the same time, one or more cutter discs 320 can be placed on each cutter disc connecting plate 310, and the number of cutter discs 320 is determined specifically according to the number of tool feeding requirements on the cutter disc assembly 300; the cutter disc connecting plate 310 and the cutter disc 320 are combined by adopting a movable connection method. When the cutter disc 320 is placed on the cutter disc connecting plate 310, the cutter disc connecting plate 310 can be fixed at a preset position, and then the cutter disc 320 can be moved to the cutter disc connecting plate 310 in sequence by devices such as electric cylinders, air cylinders, and robotic arms, so as to facilitate the combination between the cutter disc connecting plate 310 and the cutter disc 320. Cutter discs 320 with different placement sizes can also be installed according to different application requirements, so as to carry tools 20 of different models on one cutter disc connecting plate 310.

[0045] Furthermore, the clamping device 10 of this embodiment includes at least one of the following technical solutions:

[0046] In one embodiment, the cutter disc 320 is provided with a guide groove 321 , and the cutter disc connecting plate 310 is provided with a guide protrusion 313 , and the guide protrusion 313 is slidably matched with the guide groove 321 .

[0047] By providing a guide groove 321 on the side of the cutter disc 320, when the cutter disc 320 moves relative to the cutter disc connecting plate 310, the guide groove 321 and the guide protrusion 313 can cooperate to guide the movement of the cutter disc 320, such as Figure 2 and Figure 3 As shown, the cutter disc 320 can be restricted to move only along the extension direction of the guide protrusion 313, and will not be accidentally separated from the cutter disc connecting plate 310 in a direction perpendicular to the cutter disc connecting plate 310, with a simple structure and a stable connection.

[0048] In one embodiment, the cutter disc assembly 300 further includes a spring positioning pin 330 , which is connected to the cutter disc connecting plate 310 , and the spring positioning pin 330 is used to abut against an outer wall of the cutter disc 320 .

[0049] Thus, when the cutter disc 320 is connected to the cutter disc connecting plate 310, the spring positioning pin 330 can abut against the outer wall of the cutter disc 320 under the elastic action, so as to fix the cutter disc 320 on the cutter disc connecting plate 310 through the elastic force, so as to facilitate the placement and disassembly of the cutter disc 320; Figure 3 As shown, when the spring positioning pin 330 is applied to the above embodiment, the spring positioning pin 330 can cooperate with the guide groove 321, and the cutter disc 320 can be positioned by the cooperation of the spring positioning pin 330 and the guide groove 321.

[0050] In some embodiments, a positioning hole 322 is opened on the outer wall of the blade disc 320 , and the blade disc assembly 300 also includes a positioning screw 340 , which is detachably connected to the blade disc connecting plate 310 and is used to be plugged into and matched with the positioning hole 322 .

[0051] When using the clamping device 10 of this embodiment, after the cutter disc 320 is placed on the cutter disc connecting plate 310, the positioning screw 340 can be adjusted to be inserted into the positioning hole 322 of the cutter disc 320, thereby fastening the cutter disc connecting plate 310 and the cutter disc 320. In this way, when the clamping claw structure 200 clamps the cutter disc assembly 300 and drives the cutter disc assembly 300 to move, the cutter disc 320 can ensure a stable connection with the cutter disc connecting plate 310 to avoid accidental separation.

[0052] Of course, when the positioning screw 340 of this embodiment is applied to the above embodiment, since the blade disc 320 and the blade disc connecting plate 310 can be positioned in a direction perpendicular to the blade disc connecting plate 310 through the guide protrusion 313 and the guide groove 321, the two can be positioned in the length direction of the guide groove 321 through the cooperation of the positioning screw 340 and the positioning hole 322, thereby further improving the connection firmness between the blade disc 320 and the blade disc connecting plate 310.

[0053] Further, see Figure 1 and Figure 2 As shown, the clamping device 10 further includes an image sensor assembly 400 , which is connected to the clamping jaw driving member 100 and is used to obtain an image signal of the cutter disc assembly 300 .

[0054] In this embodiment, the shooting position of the image sensor component 400 faces the cutter head component 300. The image sensor component 400 can be used to obtain the image signal of the cutter head component 300 and transmit it to the control module of the clamping device 10. The control module judges the placement state of the cutter head component 300 according to the preset program, including but not limited to the placement state of the tool 20 and the placement state of the cutter head 320. Specifically, the control module can be, but not limited to, various PLCs (Programmable Logic Controllers, full name Programmable Logic Control), STM32 (STM32 microcontroller, a 32-bit microcontroller with ARM Cortex-M core), single-chip microcomputer, FPGA (Field Programmable Gate Array, full name Field Programmable Gate Array), ARM (ARM processor, full name Advanced RISC Machi ne), etc.

[0055] Specifically, the image sensing assembly 400 includes a visual camera 410 and a light source 420. The light source 420 is disposed between the visual camera 410 and the cutter head assembly 300 and is used to illuminate the cutter head assembly 300. The visual camera 410 is used to obtain an image signal of the carrier assembly. Thus, the light source 420 can be used to illuminate the cutter head assembly 300 so that the visual camera 410 can collect light to improve the shooting clarity of the image sensing assembly 400.

[0056] In a preferred embodiment, the light source 420 is a ring-shaped light source 420 , and the light source 420 is coaxially disposed with the lens of the visual camera 410 .

[0057] In this configuration, the shooting light path of the visual camera 410 is arranged in the hollow part of the annular light source 420. At this time, the light source 420 can surround the shooting light path of the visual camera 410 to illuminate the cutter head assembly 300, thereby improving the illumination uniformity of the light source 420, thereby improving the shooting clarity of the image sensor assembly 400. At the same time, the combined structure of the visual camera 410 and the light source 420 is compact, which effectively reduces the occupied space of the clamping device 10.

[0058] Furthermore, the clamping device 10 also includes a height sensor 500, which is connected to the jaw drive 100, and the height sensor 500 is used to obtain a distance signal between the tool disc assembly 300 and the height sensor 500; and / or the jaw drive 100 is a parallel electric jaw.

[0059] In this embodiment, by setting a height measuring sensor 500 on one side of the clamping jaw driving member 100, the clamping device 10 can obtain the distance signal between the clamping jaw driving member 100 and the tool disc assembly 300 through the height measuring sensor 500 during operation and feed it back to the control module to calculate the descending height of the clamping jaw driving member 100, so as to avoid collision between the clamping device 10 and the tool 20; at the same time, according to the position of the positioning member 220 set on the clamping jaw structure 200 and the relative distance between the tool disc assembly 300, the distance between the tool disc assembly 300 and the height measuring sensor 500 when the positioning member 220 and the positioning groove 311 achieve precise fit can be calculated to ensure the clamping accuracy of the clamping jaw structure 200 when clamping the tool disc assembly 300.

[0060] The utility model also provides an AGV smart vehicle, which includes a mobile device and a clamping device 10 in any one of the above embodiments, wherein the mobile device is used to drive the clamping device 10 to move to a preset workstation; a cutter head assembly 300 of the clamping device 10 is used to carry materials, and a tool magazine transfer system is installed on the mobile device and is used to drive the tool magazine transfer system to move. When the AGV smart vehicle is used in a smart drilling workshop, the cutter head assembly 300 can be used to carry a tool 20.

[0061] It can be understood that, in the AGV smart car of the present embodiment, by setting the clamping device 10 in any one of the above embodiments, the clamping device 10 sets a positioning member 220 in the clamping claw structure 200. When the clamping claw driving member 100 clamps the cutter disc assembly 300, the positioning member 220 can cooperate with the positioning groove 311 in the cutter disc assembly 300 to fix the cutter disc assembly 300; the price of the existing six-axis dedicated circular electric claw is 2-4 times that of the ordinary square electric claw. Compared with the traditional AGV smart car, the clamping device 10 of the present scheme does not need to use the six-axis dedicated circular parallel electric claw to clamp and fix the cutter disc assembly 300, and the manufacturing cost is reduced; at the same time, it can also avoid the offset between the cutter disc assembly 300 and the clamping claw structure 200, and the clamping accuracy and stability are improved, thereby improving the accuracy of the AGV smart car in conveying the tool 20.

[0062] In the description of the embodiments of the present utility model, it should be noted that the terms "center", "longitudinal", "lateral", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the embodiments of the present utility model and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the embodiments of the present utility model. In addition, the terms "first", "second", and "third" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance.

[0063] In the description of the embodiments of the present utility model, it should be noted that, unless otherwise clearly specified and limited, the terms "connected" and "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium. For ordinary technicians in this field, the specific meanings of the above terms in the embodiments of the present utility model can be understood according to specific circumstances.

[0064] In the embodiments of the present invention, unless otherwise clearly specified and limited, the first feature being "above" or "below" the second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, the first feature being "above", "above" and "above" the second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. The first feature being "below", "below" and "below" the second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0065] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the utility model embodiment. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0066] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the utility model, rather than to limit it. Although the utility model has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the utility model.

Claims

1. A tool magazine transfer system, characterized in that: include: A clamping device, comprising a clamping jaw driving member and a clamping jaw structure, wherein the clamping jaw structure comprises a jaw body and a positioning member, wherein the jaw body is connected to the clamping jaw driving member, and the positioning member is convexly arranged on the clamping side of the jaw body; wherein the number of the clamping jaw structures is at least two, and the clamping jaw driving member is used to drive at least two groups of the clamping jaw structures to move towards or away from each other at the same time; The cutter disc assembly has an outer wall provided with a positioning groove, and the positioning piece is used to be plugged into the positioning groove.

2. The tool magazine transfer system according to claim 1, characterized in that: The cutter disc assembly is also provided with a hanging groove, which is arranged on the outer wall of the cutter disc assembly and connected to the positioning groove; the claw body includes a hanging part and a connecting frame, the connecting frame is respectively connected to the hanging part and the clamping claw driving member, the positioning member is connected to the hanging part and / or the connecting frame, and the hanging groove is used to accommodate the hanging part.

3. The tool magazine transfer system according to claim 2, characterized in that: An installation groove is provided on the inner side of the hanging portion, and the positioning member is at least partially arranged in the installation groove.

4. The tool magazine transfer system according to claim 1, characterized in that: The positioning member gradually narrows in a direction away from the claw body, and a side of the positioning member away from the claw body is used to cooperate with the positioning groove.

5. The tool magazine transfer system according to claim 1, characterized in that: The cutter disc assembly includes a cutter disc connecting plate and a cutter disc, the positioning groove is arranged on the cutter disc connecting plate, the cutter disc connecting plate is used to connect with the clamping claw structure, the cutter disc is movably connected to the cutter disc connecting plate and the cutter disc connecting plate is supported by the bottom of the cutter disc.

6. The tool magazine transfer system according to claim 5, characterized in that: The cutter disc is provided with a guide groove, and the cutter disc connecting plate is provided with a guide protrusion, and the guide protrusion is slidably matched with the guide groove.

7. The tool magazine transfer system according to claim 5, characterized in that: The cutter disc assembly also includes a spring locating pin, which is connected to the cutter disc connecting plate and is used to abut against an outer wall of the cutter disc.

8. The tool magazine transfer system according to claim 5, characterized in that: The outer wall of the cutter disc is provided with a positioning hole, and the cutter disc assembly further comprises a positioning screw, which is detachably connected to the cutter disc connecting plate and is used for plugging and matching with the positioning hole.

9. The tool magazine transfer system according to claim 1, characterized in that: The clamping device also includes an image sensor component, which is connected to the clamping claw driving component and is used to obtain an image signal of the tool disc component.

10. The tool magazine transfer system according to any one of claims 1 to 9, characterized in that: The clamping device also includes a height sensor, which is connected to the clamping jaw driving member and is used to obtain a distance signal between the tool disc assembly and the height sensor; and / or the clamping jaw driving member is a parallel electric jaw.

11. An AGV smart car, characterized in that: include: Mobile devices; as well as The tool magazine transfer system as described in any one of claims 1-10, wherein the tool magazine transfer system is installed on the moving device and is used to drive the tool magazine transfer system to move.

Images