Automatic tool changing system linked with six-axis multi-joint robot

Abstract

The utility model discloses an automatic tool changing system linked to a six-axis multi-joint robot, and more specifically, discloses an automatic tool changing system linked to a six-axis multi-joint robot, which can use a plurality of props that can perform various forms of actions for disassembling a waste display with a single multi-joint arm, and comprises: an indexing rotary motor; a rotary indexing table, which can be rotated by means of the indexing rotary motor, and the upper surface of which is provided with a plurality of cylinder-type clamping members that perform clamping actions by means of air pressure; a plurality of props, each of which is fixed in position on the rotary indexing table by one of the plurality of cylinder-type clamping members in a manner of having a different z-coordinate value, and each of which comprises a tool chuck unit located at the upper end and formed with a pneumatic pipeline connection unit, and a clamping member chuck unit located at the lower side of the tool chuck unit and capable of loading and unloading by means of the cylinder-type clamping member; and a tool clamp.

Description

Technical Field

[0001] The utility model discloses an automatic tool changing system linked to a six-axis multi-joint robot, and more specifically, discloses an automatic tool changing system linked to a six-axis multi-joint robot, which can use a plurality of props capable of performing various forms of actions for disassembling waste displays with a single multi-joint arm. Background Art

[0002] The Auto Tool Changing system is a machine tool system that automatically changes tools. It can reduce the problems that occur when changing tools through computer numerical control, so it is used in operations with many operating steps.

[0003] This automatic tool changing system is mainly used in CNC and MCT. The existing automatic tool changing system only changes the tool that cuts by rotating and can only perform a single movement. It cannot perform multiple actions such as vacuum action and clamping action of the fixture.

[0004] Moreover, although the turret-type automatic tool changing system has the advantage of fast tool changing speed, the clamping problem will reduce the clamping capacity between the clamp and the tool. Therefore, the pneumatic chuck is installed on the spindle used to transmit the processing power and only the tools that meet the specifications are used when loading the pneumatic chuck, which requires additional parts, thereby increasing a lot of costs. Utility Model Content

[0005] The utility model aims to provide an automatic tool changing system which can use a plurality of props which can perform various forms of actions of dismantling waste displays with a single multi-joint arm and is linked with a six-axis multi-joint robot.

[0006] In order to solve the above-mentioned problem, an embodiment of the utility model discloses an automatic tool changing system (Auto Tool Changing system), comprising: an indexing rotary motor; a rotary indexing table, which can be rotated by means of the indexing rotary motor, and the upper surface of which is provided with a plurality of cylinder-type clamping members that use air pressure to perform clamping actions; a plurality of props, each of which is fixed in position on the rotary indexing table by one of the plurality of cylinder-type clamping members in a manner of having a different z-coordinate value, each of which includes a tool chuck unit located at the upper end and forming a pneumatic pipeline connection unit and a clamping member chuck unit located on the lower side of the tool chuck unit and capable of being loaded and unloaded by means of the cylinder-type clamping member; and a tool holder, comprising: a clamping cylinder unit, located on the lower side of the multi-joint robot arm; and a clamping unit, located on the lower side of the clamping cylinder unit, which relies on the force transmitted by the clamping cylinder unit and the tool of the corresponding prop The chuck unit is tightly combined, including a four-way pneumatic pipeline port, and the air pressure supplied through the four-way pneumatic pipeline port is used to control the movement of one of the multiple props; if the automatic tool changing system uses one of the multiple props, the tool holder is moved to the preset x-coordinate and y-coordinate on the rotary indexing table side through a preset entry (in) path by an external multi-joint robot without being affected by the type of prop, and the rotary indexing table is driven to rotate by the indexing rotary motor so that the corresponding prop moves to the position corresponding to the preset x-coordinate and y-coordinate, and then the tool holder moves up and down according to the preset z-coordinate of the corresponding prop, and the clamping unit and the multiple props are tightly combined by the action of the clamp cylinder unit.

[0007] In some embodiments of the utility model, the tool chuck unit includes: a front frame, a through hole is formed in the center; a rear frame is separated from the front frame according to a preset distance, and a through hole is formed in the center; and a pair of side frames are located between the front frame and the rear frame, and have an inclined protrusion formed by the outer side surface being inclined from the upper side to the center side; the clamping unit includes: a pair of clamping body, having a clamping inclined groove formed by bending the lower end portion inward and having a whole shape; and, the tool chuck air pressure pipeline port is located at the pair of clamp bodies and can be connected to each of the four-way air pressure pipeline ports of the six-axis multi-joint robot; if the tool clamp is combined with one of the multiple props, the pair of clamp bodies are combined with the pair of side frames on the outside so that the inclined protrusion and the inclined groove of the clamp can engage with each other.

[0008] In some embodiments of the present invention, the tool holder may include: a connecting portion, located on the lower side of the multi-joint robot arm; a placement plate, located on the lower side of the connecting portion; a clamp cylinder unit, located on the lower side of the placement plate, driving the action of grabbing or placing the plurality of props; and a clamp unit, the upper side of which is fixed to the clamp cylinder unit and has four air pressure line ports formed on the side.

[0009] In some embodiments of the present invention, the four-way air pressure pipeline ports include: a blowing pipeline port for applying air pressure from the outside direction to the inside direction, a suction pipeline port for applying air pressure from the inside direction to the outside direction, a clamping part opening pipeline port for applying air pressure from the outside direction to the inside direction, and a clamping part closing pipeline port for applying air pressure from the outside direction to the inside direction. The blowing pipeline port, the suction pipeline port, the clamping part opening pipeline port, and the clamping part closing pipeline port can be connected to the tool chuck unit and apply air pressure to several prop sides reciprocatingly so that the prop body can rotate, vacuum and clamp.

[0010] In some embodiments of the present invention, the placement plate includes: a plate body having an overall rectangular shape; a visual component placement portion formed through one end of the plate body, on which a camera for identifying a display of a disassembled object is placed; and a laser component placement portion formed through the other end of the plate body, on which an operating laser component is placed.

[0011] In some embodiments of the present invention, the plurality of props may include a vacuum clamp, which includes: a first tool chuck unit, which is combined with a tool holder of a multi-joint robot arm; a first air pressure pipeline connection unit, which is formed on the side of the first tool chuck unit and is connected to each of the four-way air pressure pipeline ports to transmit air pressure to the prop side; a first clamping piece chuck unit, which is combined with the cylinder-type clamping piece; and a first tool body, which performs a vacuum action from the lower side to the upper side by virtue of the air pressure transmitted by the first air pressure pipeline connection unit.

[0012] According to one embodiment of the present invention, an automatic tool changing system is provided that can use a plurality of props capable of performing various forms of actions for disassembling waste displays with a single multi-jointed arm.

[0013] According to one embodiment of the utility model, when selecting a prop, the rotary indexing table is rotated, the position of the fastening connection with the multi-joint robot arm is fixed, and only the fastening height (z coordinate) of each prop is set differently, thereby greatly reducing the repetitive precision error caused by the robot transfer control.

[0014] According to one embodiment of the utility model, the air pressure of the clamp cylinder unit and the indexing cylinder is set to be lower than the fixing torque of the multi-joint robot arm and the fixing torque of the rotary indexing table, thereby preventing the fastening parts of the tool clamp and the tool from being damaged during fastening.

[0015] According to an embodiment of the present invention, when the tool holder is fastened to the tool, the inclined surfaces abut against each other, so as long as the tolerance is kept within a proper range, the tool holder can be clamped without damaging the structure.

[0016] According to an embodiment of the present invention, when the cylinder-type clamp is fastened to the tool, the inclined surfaces abut against each other, so as long as the tolerance is kept within a proper range, the clamp can be performed without damaging the structure. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 An automatic tool changing system according to an embodiment of the present invention is schematically shown.

[0018] Figure 2 A tool holder according to an embodiment of the present invention is schematically shown.

[0019] Figure 3 The state of combining a tool holder and a tool according to an embodiment of the utility model is schematically shown.

[0020] Figure 4 A rotary indexing table according to an embodiment of the present invention is schematically shown.

[0021] Figure 5 The state of the rotary indexing table and the prop in one embodiment of the utility model is schematically shown.

[0022] Figure 6 A vacuum clamp according to an embodiment of the present invention is schematically shown.

[0023] Figure 7 A pneumatic driver according to an embodiment of the present invention is schematically shown.

[0024] Figure 8 The grinding tool according to one embodiment of the present invention is schematically shown.

[0025] Fig. 9 A two-claw clamp according to an embodiment of the present invention is schematically shown.

[0026] Fig.10 A three-jaw flexible clamp according to an embodiment of the present invention is schematically shown.

[0027] (Explanation of Reference Numerals)

[0028] 1: Automatic tool changing system

[0029] 1000: Multi-joint robotic arm

[0030] 1100: Joint unit

[0031] 1110: First joint 1120: Second joint

[0032] 1200: Tool holder

[0033] 1210: Connecting part 1220: Mounting plate

[0034] 1221: Plate 1222: Visual component placement

[0035] 1223: Laser Components Placement Department

[0036] 1230: Gripper cylinder unit 1231: Gripper cylinder body

[0037] 1232: Clamp cylinder rod 1233: Clamp cylinder plate

[0038] 1240: Clamping unit 1241: Clamping device body

[0039] 1241-1: Clamp inclined groove 1242: Blowing line port

[0040] 1243: Suction line port 1244: Clamp open line port

[0041] 1245: Clamp to close pipeline port

[0042] 2000: Rotary indexing table

[0043] 2100: Indexing plate 2200: Bottom plate

[0044] 2300: Indexing cylinder 2400: Connecting plate

[0045] 2500: Cylinder type clamp 2510: Clamp body

[0046] 2511: first protruding end 2512: second protruding end

[0047] 2513: Clamping piece inclined protrusion

[0048] 3000:Props

[0049] 3100: Vacuum clamp

[0050] 3110: First tool chuck unit 3111: First front frame

[0051] 3112: First rear frame 3113: First side frame

[0052] 3113-1: First inclined protrusion

[0053] 3120: First air pressure line connection unit 3121: First tool suction line port

[0054] 3130: First clamping member chuck unit 3131: First chuck body

[0055] 3131-1: First tool inclined groove

[0056] 3140: First tool body

[0057] 3200: Pneumatic actuator

[0058] 3210: Second tool chuck unit 3211: Second front frame

[0059] 3212: Second rear frame 3213: Second side frame

[0060] 3213-1: Second inclined protrusion

[0061] 3220: Second air pressure line connection unit

[0062] 3221: Second tool air blowing line port 3222: Second tool holder opening line port

[0063] 3223: Second tool holder closing pipeline port

[0064] 3230: Rotary operation unit 3231: Operation cylinder

[0065] 3232: Operation panel

[0066] 3240: Frame connection part 3250: Second clamping member clamp unit

[0067] 3251: Second chuck body 3251-1: Second tool inclined groove

[0068] 3260: Second tool body 3261: Button

[0069] 3300: Abrasives

[0070] 3310: Third tool chuck unit 3311: Third front frame

[0071] 3312: Third rear frame 3313: Third side frame

[0072] 3313-1: Third inclined protrusion

[0073] 3320: Third air pressure line connection unit

[0074] 3330: Third clamping member chuck unit 3331: Third chuck body

[0075] 3400: Two-jaw clamp

[0076] 3410: Fourth tool chuck unit 3411: Fourth front frame

[0077] 3412: Fourth rear frame 3413: Fourth side frame

[0078] 3413-1: Fourth inclined protrusion

[0079] 3420: Fourth air pressure line connection unit

[0080] 3430: Fourth clamping piece chuck unit

[0081] 3440: Fourth tool body

[0082] 3500: Three-jaw flexible clamp

[0083] 3510: Fifth tool chuck unit 3511: Fifth front frame

[0084] 3512: Fifth rear frame 3513: Fifth side frame

[0085] 3513-1: Fifth inclined protrusion

[0086] 3520: Fifth air pressure line connection unit

[0087] 3530: Fifth clamping piece chuck unit

[0088] 3540: Fifth tool body 3541: Tool cylinder

[0089] 4000: Indexing rotary motor

[0090] 5000: Bracket DETAILED DESCRIPTION

[0091] Various embodiments and / or aspects are disclosed below in conjunction with the accompanying drawings. In the following description, for the purpose of explanation, a plurality of specific details are disclosed in order to facilitate an overall understanding of one or more aspects. However, a person having general knowledge in the technical field of the present utility model should know that these aspects can be implemented even without the plurality of specific details. The subsequent records and drawings will describe in detail a plurality of specific exemplary aspects of one or more aspects. However, these aspects are merely illustrative, and a portion of the various methods in the principles of the various aspects can be utilized, and the description described is intended to encompass these aspects and their equivalents.

[0092] Moreover, various aspects and features will be disclosed in terms of systems that may include a plurality of devices, a plurality of parts, and / or a plurality of modules, etc. However, it should also be understood that various systems may further include a plurality of devices, a plurality of parts, and / or a plurality of modules, and / or may not include the plurality of devices, a plurality of parts, a plurality of modules, etc. mentioned in conjunction with the drawings.

[0093] Any aspect or design described in the terms "embodiment", "example", "mode", "illustration" and the like used in this specification may not be interpreted as being superior or more beneficial than other aspects or designs. The terms "unit", "part", "module", "system", "interface" and the like used below generally refer to computer-related entities, for example, hardware, a combination of hardware and software, or software.

[0094] Furthermore, the terms “include” and / or “comprising” indicate the presence of the features and / or components, but should be interpreted as not excluding the presence or addition of one or more other features, components and / or groups thereof.

[0095] Furthermore, terms containing ordinal numbers such as first and second may be used to describe various components, but the components shall not be limited to the terms. The purpose of using the terms is only to distinguish one component from other components. For example, the first component may be named the second component without departing from the scope of the claims of the present invention, and similarly, the second component may be named the first component. The term "and / or" includes a combination of multiple related recorded items or a certain item among multiple related recorded items.

[0096] Moreover, in the multiple embodiments of the present invention, unless otherwise defined, all terms used herein, including technical or scientific terms, have the same meaning as those generally understood by those with general knowledge in the technical field to which the present invention belongs. For example, terms defined in general dictionaries may be interpreted as having the same meaning as those in the context of the relevant technical text, and shall not be interpreted abnormally or excessively unless clearly defined in the embodiments of the present invention.

[0097] Automatic tool changing system 1

[0098] Figure 1 An automatic tool changing system 1 according to an embodiment of the present invention is schematically shown.

[0099] like Figure 1As shown, the automatic tool changing system 1 replaces the prop 3000 in the following manner, that is, the indexing rotary motor 4000, the rotary indexing table 2000 and the plurality of props 3000 are sequentially located on the upper surface of the bracket 5000, and according to the work content, one of the plurality of props 3000 is fastened to the tool holder 1200 at the end of the multi-joint robot located outside.

[0100] Preferably, the automatic tool changing (Auto Tool Changing) system of one embodiment of the utility model may include: an indexing rotary motor 4000; a rotary indexing table 2000, which can be rotated by means of the indexing rotary motor 4000, and the upper surface of which is provided with a plurality of cylinder-type clamping members 2500 that use air pressure to perform clamping actions; a plurality of props 3000, each of which is fixed in position on the rotary indexing table 2000 by one of the plurality of cylinder-type clamping members 2500 in a manner having a different z-coordinate value, each including a tool chuck unit located at the upper end and formed with a pneumatic pipeline connection unit and a tool chuck unit located at the lower side of the tool chuck unit and A clamping chuck unit capable of loading and unloading by means of the cylinder-type clamping part 2500; and a tool clamp 1200, comprising: a clamping cylinder unit 1230, located on the lower side of the multi-joint robot 1000; and a clamping unit 1240, located on the lower side of the clamping cylinder unit 1230, fastened to the tool chuck unit of the corresponding prop 3000 by means of the force transmitted by the clamping cylinder unit 1230, comprising a four-way pneumatic pipeline port, and utilizing the pneumatic pressure supplied through the four-way pneumatic pipeline port to control the movement of one of the plurality of props 3000.

[0101] The plurality of props 3000 include a vacuum clamp 3100 , a pneumatic driver 3200 , a grinder 3300 , a two-jaw clamp 3400 , and a three-jaw flexible clamp 3500 .

[0102] The vacuum clamp 3100 , the two-jaw clamp 3400 , and the three-jaw flexible clamp 3500 perform a vacuum action, the pneumatic driver 3200 , the grinder 3300 , and the three-jaw flexible clamp 3500 perform a rotation action, and the two-jaw clamp 3400 and the three-jaw flexible clamp 3500 perform a clamping action.

[0103] That is, unlike the existing automatic tool changing system 1 which can only perform a single motion of cutting by means of a rotation action, the automatic tool changing system 1 according to one embodiment of the present invention can perform rotation, vacuum and clamping actions in a single system.

[0104] Preferably, the present invention can provide an automatic tool changing system 1 that can use a single multi-jointed arm to use a variety of props that can perform various forms of actions for disassembling waste displays.

[0105] If the automatic tool changing system 1 of one embodiment of the utility model uses one of the plurality of props 3000, the tool holder 1200 is moved to the preset x-coordinate and y-coordinate on the side of the rotary indexing table 2000 through a preset entry (in) path by means of an external multi-joint robot without being affected by the type of the prop 3000. The rotary indexing table 2000 is driven to rotate by the indexing rotary motor 4000 so that the corresponding prop 3000 moves to the position corresponding to the preset x-coordinate and y-coordinate. Thereafter, the tool holder 1200 moves up and down according to the preset z-coordinate of the corresponding prop 3000, and the clamping unit 1240 and the plurality of props 3000 can be fastened together by means of the action of the clamping cylinder unit 1230.

[0106] When the existing automatic tool changing system 1 uses multiple props 3000 to execute a process, additional settings need to be made according to each prop 3000. The configuration described above is different from this. No matter which prop 3000 is used to execute which process, only the z-axis value is used variably to achieve more stable and accurate operation.

[0107] That is, due to the above configuration, when the prop 3000 is selected, the rotary indexing table 2000 is rotated to fix the position of the fastening connection with the multi-joint robot arm 1000, and only the fastening connection height (z coordinate) of each prop 3000 is set differently, thereby greatly reducing the repetitive precision error caused by the robot transfer control.

[0108] Figure 2 A tool holder 1200 according to an embodiment of the present invention is schematically shown.

[0109] The tool holder 1200 corresponds to the following component, which is located at the end of the external multi-joint robot and allows the multi-joint robot arm 1000 and one of the plurality of tools 3000 on the rotary indexing table 2000 to be fastened together.

[0110] The tool holder 1200 of one embodiment of the utility model may include: a holder cylinder unit 1230, located on the lower side of the multi-joint robot arm 1000; and a clamping unit 1240, located on the lower side of the holder cylinder unit 1230, which is fastened to the tool chuck unit of the corresponding prop 3000 by means of the force transmitted by the holder cylinder unit 1230, and includes a four-way pneumatic pipeline port, and utilizes the pneumatic pressure supplied through the four-way pneumatic pipeline port to control the action of one of the multiple props 3000.

[0111] Preferably, the tool holder 1200 may include: a connecting portion, located on the lower side of the multi-joint robot arm 1000; a placement plate (1220), located on the lower side of the connecting portion; a clamp cylinder unit 1230, located on the lower side of the placement plate (1220), driving the action of grasping or placing the plurality of props 3000; and a clamping unit 1240, the upper side of which is fixed to the clamp cylinder unit 1230 and has four air pressure line ports formed on the side.

[0112] In the described configuration, the four-way air pressure pipeline ports may include a blowing pipeline port 1242 for applying air pressure from the outside direction to the inside direction, a suction pipeline port 1243 for applying air pressure from the inside direction to the outside direction, a clamping part opening pipeline port 1244 for applying air pressure from the outside direction to the inside direction, and a clamping part closing pipeline port 1245 for applying air pressure from the outside direction to the inside direction.

[0113] The blowing line port 1242, the suction line port 1243, the clamping piece opening line port 1244 and the clamping piece closing line port 1245 are connected to the tool chuck unit and apply air pressure to the plurality of props 3000 sides so that the prop 3000 body can perform rotation, vacuum and clamping actions.

[0114] That is, the clamping unit 1240 in the tool holder 1200 is fastened to the prop 3000 by means of the force from the clamping cylinder unit 1230, and the movement of the fastened prop 3000 is controlled by the air pressure supplied through the four-way air pressure line port located in the clamping unit 1240, so that a variety of props that perform various types of actions can be used in a single system.

[0115] On the other hand, the placement plate (1220) of one embodiment of the utility model may include: a plate body (1221) having an overall rectangular shape; a visual component placement portion 1222 formed through one end of the plate body (1221), on which a camera for identifying the display of the disassembled object is placed; and a laser component placement portion 1223 formed through the other end of the plate body (1221), on which a laser component for operation is placed.

[0116] Preferably, a camera independent of a camera for recognizing the display of the dismantling object is disposed in the visual component disposing portion 1222 , and the camera recognizes the display of the dismantling object from the perspective of the multi-joint robot arm 1000 .

[0117] Preferably, the laser component placement portion 1223 is provided with a laser component that can perform cutting actions, engraving actions, etc. during display disassembly operations.

[0118] Figure 3The schematic diagram shows a state where a tool holder 1200 and a tool 3000 according to an embodiment of the present invention are combined.

[0119] The tool chuck unit of one embodiment of the utility model comprises: a front frame, a through hole is formed in the center; a rear frame is separated from the front frame at a preset distance, a through hole is formed in the center; and a pair of side frames are located between the front frame and the rear frame, and have an inclined protrusion formed by the outer side surface being inclined from the upper side to the center side; the clamping unit 1240 may include: a pair of clamping body 1241, having a clamping inclined groove 1241-1 formed by bending the lower end portion inward and having an overall shape; and, the tool chuck air pressure line port, located in the pair of clamp body 1241 and can be connected to each of the four-way air pressure line ports of the six-axis multi-articular robot.

[0120] When the tool holder 1200 is combined with one of the plurality of tools, the tool holder 1200 can be combined in a form in which the inclined groove 1241-1 formed on the holder body 1241 of the clamping unit 1240 and the inclined protrusion formed on the side frame of the tool chuck unit are engaged with each other.

[0121] For example, Figure 3 As shown, when the tool holder 1200 and the vacuum clamp 3100 are combined, the inclined groove portion 1241-1 of the holder formed on the holder body 1241 of the clamping unit 1240 and the first inclined protrusion 3113-1 formed on the first side frame 3113 of the first tool chuck unit 3110 of the vacuum clamp 3100 can be combined in a mutually meshing form.

[0122] Preferably, when the tool holder 1200 is combined with one of the plurality of tools, the pair of holder bodies 1241 are combined with the pair of side frames on the outside so that the inclined protrusion and the holder inclined groove 1241 - 1 can engage with each other.

[0123] At this time, preferably, the inclined protrusion and the holder inclined groove portion 1241 - 1 have shapes in which the inclined surfaces thereof correspond to each other.

[0124] The structure as described above is a structure that can respond to errors caused by repetitive precision errors caused by robot transfer control when the automatic tool changing system 1 replaces the prop 3000. It is a structure that can prevent damage to the prop 3000 and the tool holder 1200 if the position of the prop 3000 is within a preset error range.

[0125] That is, as described above, when the tool holder 1200 and the tool 3000 are fastened together, the inclined surfaces are in contact with each other, so as long as they are kept within an appropriate tolerance, they can be clamped without damaging the structure.

[0126] Moreover, preferably, the tool holder 1200 sets the force transmitted by the holder cylinder unit 1230 to the clamping unit 1240 to be lower than the fixed torque of the multi-joint robot 1000 and the fixed torque of the rotary indexing table 2000 .

[0127] That is, as described above, the air pressure of the clamp cylinder unit 1230 is set to be lower than the fixing torque of the multi-joint robot 1000 and the fixing torque of the rotary indexing table 2000 to prevent the fastening parts of the tool clamp 1200 and the tool 3000 from being damaged during fastening.

[0128] Figure 4 A rotary indexing table 2000 according to an embodiment of the present invention is schematically shown.

[0129] like Figure 4 As shown, the rotary indexing table 2000 may include: a indexing plate 2100; a bottom plate portion 2200, located on the upper surface of the indexing plate 2100; an indexing cylinder 2300, located on the upper surface of the bottom plate portion 2200, providing a force for clamping; a connecting plate 2400, located on the outer side of the indexing cylinder 2300, transmitting the force for clamping; and a cylinder-type clamping member 2500, which is fastened to the clamping member chuck unit of the prop 3000 by means of the force transmitted by the indexing cylinder 2300 through the connecting plate 2400.

[0130] The cylinder-type clamp 2500 can be fastened to the clamp chuck unit of the tool 3000 through the clamp inclined protrusion 2513 formed on the end side opposite to the indexing cylinder 2300. This point will be described in detail in the following figures.

[0131] Figure 5 The schematic diagram shows a state in which a rotary indexing table 2000 and a tool 3000 are combined according to an embodiment of the present invention.

[0132] The clamping member chuck unit of one embodiment of the utility model includes a chuck body, and the two ends of the chuck body are formed with tool inclined grooves in a triangular shape. The cylinder-type clamp 2500 may include: a pair of clamping member bodies 2510, which are formed in the shape of a rod extending in a direction parallel to the upper surface of the rotary indexing table 2000; a first protruding end 2511, and each end of the pair of clamping member bodies 2510 protrudes inwardly; a second protruding end 2512, which is separated from the first protruding end 2511 by a preset distance, protrudes inwardly and has a shape corresponding to the first protruding end 2511; and a clamping member inclined protrusion 2513, which is formed between the first protruding end 2511 and the second protruding end 2512 and protrudes inwardly in a triangular shape.

[0133] When the cylinder-type clamp 2500 is combined with one of the plurality of tools, the clamp inclined protrusion 2513 of the cylinder-type clamp 2500 and the tool inclined groove formed on the clamp body of the clamp clamp unit can be combined in a mutually meshing manner.

[0134] For example, Figure 5 As shown, when the cylinder-type clamp 2500 and the pneumatic driver 3200 are combined, the clamp inclined protrusion 2513 of the cylinder-type clamp 2500 and the second tool inclined groove 3251-1 formed on the second clamp body 3251 of the second clamp chuck unit 3250 of the pneumatic driver 3200 can be combined in a mutually meshing form.

[0135] Preferably, when the cylinder-type clamp 2500 is combined with one of the plurality of tools, the pair of clamp bodies 2510 are combined with the chuck body on the outside and the tool inclined groove and the clamp inclined protrusion 2513 can mesh with each other.

[0136] At this time, preferably, the inclined protrusion 2513 of the clamping member and the inclined groove of the tool have shapes in which the inclined surfaces thereof correspond to each other.

[0137] The structure described above is a structure that can respond to errors caused by repetitive precision errors caused by robot transfer control when the automatic tool changing system 1 replaces the prop 3000. It is equivalent to the following structure, which can prevent damage to the prop 3000 and the cylinder-type clamp 2500 when the position of the prop 3000 is within a preset error range.

[0138] That is, as described above, when the floor cylinder type clamp 2500 and the tool 3000 are fastened together, the inclined surfaces are in contact with each other, so as long as the tolerance is kept within a proper range, the clamping can be performed without damaging the structure.

[0139] Moreover, preferably, the cylinder-type clamp 2500 sets the force transmitted from the indexing cylinder 2300 to the cylinder-type clamp 2500 to be lower than the fixed torque of the multi-joint robot 1000 and the fixed torque of the rotary indexing table 2000 .

[0140] That is, as described above, the air pressure of the indexing cylinder 2300 is set to be lower than the fixing torque of the multi-joint robot 1000 and the fixing torque of the rotary indexing table 2000 to prevent the fastening parts of the tool holder 1200 and the tool 3000 from being damaged during fastening.

[0141] Figure 6 A vacuum clamp 3100 according to one embodiment of the present invention is schematically shown.

[0142] The plurality of props 3000 of one embodiment of the utility model may include a vacuum fixture 3100, which includes: a first tool chuck unit 3110, which is combined with the tool holder 1200 of the multi-joint robot 1000; a first air pressure pipeline connection unit 3120, which is formed on the side of the first tool chuck unit 3110 and is connected to each of the four-way air pressure pipeline ports to transmit air pressure to the prop 3000 side; a first clamping member chuck unit 3130, which is combined with the cylinder-type clamping member 2500; and a first tool body 3140, which performs a vacuum action from the lower side to the upper side by virtue of the air pressure transmitted by the first air pressure pipeline connection unit 3120.

[0143] The first air pressure line connection unit 3120 is equivalent to a component that receives air pressure through the suction line port 1243 of the four air pressure line ports of the tool holder 1200 so that the vacuum clamp 3100 can perform a suction action.

[0144] Although Figure 6 Although not shown in the figure, preferably, the first tool suction line port 3121 of the first air pressure pipeline connection unit 3120 in the vacuum clamp 3100 is connected to the suction line port 1243 by means of an additional pipeline. Preferably, the first tool suction line port 3121 is connected to a plurality of tubes by means of the additional pipeline. The plurality of tubes branch off from the first chuck body 3131 of the first clamping member chuck unit 3130 and are accommodated in the inner side of a plurality of through holes formed on the first chuck body 3131 to form the first tool body 3140.

[0145] The suction operation of the vacuum chuck 3100 can be performed as follows, that is, after the lower ends of the plurality of tubes of the first tool body 3140 are brought into contact with the disassembly target display or a part of the disassembly target display, the suction operation can be performed by using the air pressure supplied through the additional pipeline that passes through the suction line port 1243, the first tool suction line port 3121, and the plurality of through holes formed in the first chuck body 3131 in sequence. At this time, preferably, the air pressure is the air pressure from the inside to the outside, so that the air pressure is increased from the inside to the outside. Figure 6 As a reference, it is equivalent to the air pressure from the bottom to the top.

[0146] Furthermore, when the vacuum chuck 3100 is combined with the tool holder 1200 , the first inclined protrusion 3113 - 1 formed on the first side frame 3113 of the first tool chuck unit 3110 and the holder inclined groove 1241 - 1 of the tool holder 1200 can be combined in a mutually meshed state.

[0147] Furthermore, when the vacuum clamp 3100 is combined with the cylinder type clamp 2500, the first tool inclined groove 3131-1 formed on the first clamp body 3131 of the first clamp clamp unit 3130 and the clamp inclined protrusion 2513 of the cylinder type clamp 2500 can be combined in a mutually meshing form.

[0148] Figure 7 A pneumatic driver 3200 according to one embodiment of the present invention is schematically shown.

[0149] The plurality of props 3000 of one embodiment of the utility model may include a pneumatic driver 3200, which includes: a second tool chuck unit 3210, which is combined with the tool holder 1200 of the multi-joint robot 1000; a second air pressure pipeline connection unit 3220, which is formed on the side of the second tool chuck unit 3210 and is connected to each of the four-way air pressure pipeline ports to transmit air pressure to the prop 3000 side; a rotation operation unit 3230, which is located on the side of the second tool chuck unit 3210, and a part of which contacts the prop 3000 to adjust the rotation direction; a frame connection part 3240, which is located on the lower side of the second tool chuck unit 3210; a second clamping member chuck unit 3250, which is located on the lower side of the frame connection part 3240 and is combined with the cylinder type clamp 2500; and a second tool body 3260, which rotates by the air pressure transmitted by the second air pressure pipeline connection unit 3220.

[0150] The second air pressure pipeline connection unit 3220 is equivalent to the following component, that is, a component that receives air pressure through the blowing pipeline port 1242 among the four air pressure pipeline ports of the tool clamp 1200 to perform a rotation action, and determines the rotation direction after receiving air pressure through the clamping part opening pipeline port 1244 and the clamping part closing pipeline port 1245 respectively.

[0151] Although Figure 7 Not shown in the figure, but preferably, the second tool blowing line port 3221 of the second air pressure pipeline connection unit 3220 in the pneumatic drive 3200 is connected to the blowing line port 1242 by means of an additional pipeline, and preferably, the second tool blowing line port 3221 is connected to the second tool body 3260 of the second clamping chuck unit 3250 by means of the additional pipeline.

[0152] Moreover, the rotation direction of the pneumatic drive 3200 when performing a rotational action is as follows: when the second tool clamp open pipeline port 3222 of the second air pressure pipeline connection unit 3220 is connected to the clamp open pipeline port 1244 by means of an additional pipeline, the air pressure is supplied, which is equivalent to a forward direction; when the second tool clamp closed pipeline port of the second air pressure pipeline connection unit 3220 is connected to the clamp closed pipeline port 1245 by means of an additional pipeline, the air pressure is supplied, which is equivalent to a reverse direction.

[0153] Although Figure 7 Although not shown in the figure, the rotational action of the pneumatic driver 3200 can be performed as follows: after the driver bit located at the lower end of the second tool body 3260 abuts against the disassembly object display, it can be performed by relying on the air pressure supplied by the additional pipeline connecting the blowing line port 1242 and the second tool blowing line port 3221. The rotational direction during the rotational action can be determined according to the port to which the pipeline supplying air pressure is connected as described above. Figure 7 Although not shown in the figure, the button member provided on the second tool body 3260 can rotate in the forward direction when in contact with the rotation operation unit 3230 , and can rotate in the reverse direction when not in contact with the rotation operation unit 3230 .

[0154] Furthermore, when the pneumatic driver 3200 is combined with the tool holder 1200, the second inclined protrusion (3213-1) formed on the second side frame 3213 of the second tool chuck unit 3210 and the holder inclined groove 1241-1 of the tool holder 1200 can be combined in a mutually meshing form.

[0155] Moreover, when the pneumatic driver 3200 is combined with the cylinder type clamp 2500, the second tool inclined groove 3251-1 formed on the second clamp body 3251 of the second clamp clamp unit 3250 and the clamp inclined protrusion 2513 of the cylinder type clamp 2500 can be combined in a mutually meshing form.

[0156] Figure 8 A grinding tool 3300 according to an embodiment of the present invention is schematically shown.

[0157] The plurality of props 3000 of one embodiment of the utility model may include a mold 3300, which includes: a third tool chuck unit 3310, which is combined with the tool holder 1200 of the multi-joint robot 1000; a third air pressure pipeline connection unit 3320, which is formed on the side of the third tool chuck unit 3310 and is connected to each of the four-way air pressure pipeline ports to transmit air pressure to the prop 3000 side; and a third clamping member chuck unit 3330, which is combined with the cylinder type clamp 2500.

[0158] The third air pressure pipeline connection unit 3320 is equivalent to a component that receives air pressure through one of the four air pressure pipeline ports of the tool holder 1200 to enable the mold 3300 to perform an action.

[0159] Although Figure 8 Not shown in the figure, but preferably, one port in the third air pressure pipeline connection unit 3320 of the mold 3300 is connected to one of the four air pressure pipeline ports via an additional pipeline. Preferably, one port in the third air pressure pipeline connection unit 3320 is connected to the third tool body (not shown) fixed by the third clamping member chuck unit 3330 via the additional pipeline.

[0160] The action of the mold 3300 can be performed as follows: after the third tool body (not shown) abuts against the disassembly object display, it is performed by relying on the air pressure supplied by an additional pipeline connecting one of the four air pressure pipeline ports and one of the third air pressure pipeline connection units 3320.

[0161] Furthermore, when the mold 3300 is combined with the tool holder 1200 , the third inclined protrusion 3313 - 1 formed on the third side frame 3313 of the third tool chuck unit 3310 and the holder inclined groove 1241 - 1 of the tool holder 1200 can be combined in a mutually meshed state.

[0162] Moreover, when the mold 3300 is combined with the cylinder-type clamp 2500, the third tool inclined groove 3331-1 formed on the third clamp body 3331 of the third clamp clamp unit 3330 and the clamp inclined protrusion 2513 of the cylinder-type clamp 2500 can be combined in a mutually meshing form.

[0163] Fig. 9 A two-jaw clamp 3400 according to one embodiment of the present invention is schematically shown.

[0164] The plurality of props 3000 of one embodiment of the utility model may include a two-jaw fixture 3400, which includes: a fourth tool chuck unit 3410, which is combined with the tool holder 1200 of the multi-joint robot 1000; a fourth air pressure pipeline connection unit 3420, which is formed on the side of the fourth tool chuck unit 3410 and is connected to each of the four-way air pressure pipeline ports to transmit air pressure to the prop 3000 side; a fourth clamping member chuck unit 3430, which is combined with the cylinder-type clamping member 2500; and a fourth tool body 3440, which performs a clamping action by means of the air pressure transmitted by the fourth air pressure pipeline connection unit 3420.

[0165] The fourth air pressure line connection unit 3420 is equivalent to a component that receives air pressure through a part of the four air pressure line ports of the tool holder 1200 to allow the two-claw clamp 3400 to perform a clamping action.

[0166] Although Fig. 9 Not shown in the figure, but preferably, a portion of the ports of the fourth air pressure pipeline connection unit 3420 of the two-jaw clamp 3400 are connected to a portion of the four-way air pressure pipeline ports by means of additional pipelines. Preferably, a portion of the ports of the fourth air pressure pipeline connection unit 3420 are connected to the fourth tool body 3440.

[0167] The clamping action of the two-jaw clamp 3400 can be performed as follows: after the end of the fourth tool body 3440 abuts against the disassembly object display or a component of the disassembly object display, it is performed by supplying air pressure through additional pipelines that sequentially connect a portion of the four-way air pressure pipeline ports and a portion of the ports in the fourth air pressure pipeline connection unit 3420.

[0168] Furthermore, when the two-claw clamp 3400 is combined with the tool holder 1200, the fourth inclined protrusion 3413-1 formed on the fourth side frame 3413 of the fourth tool chuck unit 3410 and the holder inclined groove 1241-1 of the tool holder 1200 can be combined in a mutually meshed state.

[0169] Moreover, when the two-jaw clamp 3400 is combined with the cylinder-type clamp 2500, the fourth tool inclined groove 3431-1 formed on the fourth clamp body 3431 of the fourth clamp chuck unit 3430 and the clamp inclined protrusion 2513 of the cylinder-type clamp 2500 can be combined in a mutually meshing form.

[0170] Fig.10 A three-jaw flexible clamp 3500 according to an embodiment of the present invention is schematically shown.

[0171] The multiple props 3000 of one embodiment of the utility model may include a three-jaw flexible clamp 3500, which includes: a fifth tool chuck unit 3510, which is combined with the tool clamp 1200 of the multi-joint robot 1000; a fifth air pressure pipeline connection unit 3520, which is formed on the side of the fifth tool chuck unit 3510 and is connected to each of the four-way air pressure pipeline ports to transmit air pressure to the prop 3000 side; a fifth clamping member chuck unit 3530, which is combined with the cylinder-type clamp 2500; and a fifth tool body 3540, which performs clamping and rotating actions by means of the air pressure transmitted by the fifth air pressure pipeline connection unit 3520.

[0172] The fifth air pressure pipeline connection unit 3520 is equivalent to a component that receives air pressure through a part of the four-way air pressure pipeline ports of the tool holder 1200 to allow the three-jaw flexible clamp 3500 to perform clamping and rotating actions.

[0173] Although Fig.10 Not shown in the figure, but preferably, a part of the ports of the fourth pneumatic pipeline connection unit 3420 of the three-jaw flexible clamp 3500 are connected to a part of the four-way pneumatic pipeline ports by means of additional pipelines, and preferably, a part of the ports of the fifth pneumatic pipeline connection unit 3520 are connected to the upper port (not shown) of the tool cylinder 3541 in the fifth tool body 3540 and the lower port (not shown) of the tool cylinder 3541.

[0174] The clamping action of the three-jaw flexible clamp 3500 can be performed as follows: after the end of the fifth tool body 3540 abuts against the disassembly object display or a component of the disassembly object display, it is performed by supplying air pressure through additional pipelines that sequentially connect a portion of the four-way air pressure pipeline ports and a portion of the ports in the fourth air pressure pipeline connection unit 3420.

[0175] Although Fig.10 Although not shown in the figure, regarding the rotational movement of the three-jaw flexible clamp 3500, since the tool cylinder 3541 can move up and down by means of an additional connecting rod, the three-jaw area located at the lower side of the tool cylinder can rotate.

[0176] Furthermore, when the three-jaw flexible clamp 3500 is combined with the tool holder 1200, the fifth inclined protrusion 3513-1 formed on the fifth side frame 3513 of the fifth tool chuck unit 3510 and the holder inclined groove 1241-1 of the tool holder 1200 can be combined in a mutually meshing form.

[0177] Moreover, when the three-jaw flexible clamp 3500 is combined with the cylinder type clamp 2500, the fifth tool inclined groove 3531-1 formed on the fifth clamp body 3531 of the fifth clamp clamp unit 3530 and the clamp inclined protrusion 2513 of the cylinder type clamp 2500 can be combined in a mutually meshing form.

[0178] According to one embodiment of the present invention, an automatic tool changing system is provided that can use a plurality of props capable of performing various forms of actions for disassembling waste displays with a single multi-jointed arm.

[0179] According to one embodiment of the utility model, when selecting a prop, the rotary indexing table is rotated, the position of the fastening connection with the multi-joint robot arm is fixed, and only the fastening height (z coordinate) of each prop is set differently, thereby greatly reducing the repetitive precision error caused by the robot transfer control.

[0180] According to one embodiment of the utility model, the air pressure of the clamp cylinder unit and the indexing cylinder is set to be lower than the fixing torque of the multi-joint robot arm and the fixing torque of the rotary indexing table, thereby preventing the fastening parts of the tool clamp and the tool from being damaged during fastening.

[0181] According to an embodiment of the present invention, when the tool holder is fastened to the tool, the inclined surfaces abut against each other, so as long as the tolerance is kept within a proper range, the tool holder can be clamped without damaging the structure.

[0182] According to an embodiment of the present invention, when the cylinder-type clamp is fastened to the tool, the inclined surfaces abut against each other, so as long as the tolerance is kept within a proper range, the clamp can be performed without damaging the structure.

[0183] As mentioned above, although the invention is described through limited embodiments and drawings, a person with ordinary knowledge in the art can make various modifications and variations from the described contents. For example, the described techniques can be performed in a different order from the described methods, and / or the described systems, structures, devices, circuits and other elements can be combined or combined in a different form from the described methods, or replaced or substituted by other elements or equivalents, and appropriate results can also be achieved.

[0184] Therefore, other plural implementations, other plural embodiments, and equivalents thereof are all within the scope of the claims.

Claims

1. An automatic tool changing system, characterized in that: include: Indexing rotary motor; A rotary indexing table, which can be rotated by the indexing rotary motor, and has a plurality of cylinder-type clamping members on its upper surface for performing clamping actions using air pressure; a plurality of tools, each of which is fixed in position by one of the plurality of cylinder-type clamps in a manner having a different z-coordinate value on the rotary indexing table, each of which includes a tool chuck unit located at an upper end and formed with a pneumatic pipeline connection unit and a clamp chuck unit located at a lower side of the tool chuck unit and capable of being loaded and unloaded by means of the cylinder-type clamp; and, The tool holder comprises: a holder cylinder unit, located at the lower side of the multi-joint robot arm; and a clamping unit, located at the lower side of the holder cylinder unit, which is fastened and combined with the tool chuck unit of the corresponding tool by means of the force transmitted by the holder cylinder unit, and comprises a four-way air pressure pipeline port, and uses the air pressure supplied through the four-way air pressure pipeline port to control the action of one of the plurality of tools; If the automatic tool changing system uses one of the multiple props, the tool holder is moved to the preset x-coordinate and y-coordinate on the rotary indexing table side through a preset entry path by an external multi-joint robot without being affected by the type of prop. The rotary indexing table is driven to rotate by the indexing rotary motor so that the corresponding prop moves to the position corresponding to the preset x-coordinate and y-coordinate. Thereafter, the tool holder moves up and down according to the preset z-coordinate of the corresponding prop, and the clamping unit and the multiple props are fastened together by the action of the clamping cylinder unit.

2. The automatic tool changing system according to claim 1, characterized in that: The tool chuck unit comprises: A front frame having a through hole formed in the center thereof; a rear frame, separated from the front frame by a preset distance, and having a through hole formed in the center; and, A pair of side frames, located between the front frame and the rear frame, having inclined protrusions formed so that the outer side surfaces are inclined from the upper side to the center side; The clamping unit comprises: A pair of clamp bodies, having a clamp inclined groove formed by bending the lower end inwards and having a shape; and, a tool chuck air pressure line port, located on the pair of clamp bodies and connected to each of the four air pressure line ports; When the tool holder is coupled to any one of the plurality of tools, the pair of holder bodies are coupled to the pair of side frames on the outside so that the inclined protrusions and the holder inclined grooves are engaged with each other.

3. The automatic tool changing system according to claim 1, characterized in that: The tool holder comprises: A connecting portion, located at the lower side of the multi-joint mechanical arm; A placement plate, located at the lower side of the connecting portion; A gripper cylinder unit, located at the lower side of the placement plate, drives the action of grabbing or placing the plurality of props; and, The clamping unit is fixed on the clamping cylinder unit at its upper side and has the four-way air pressure pipeline ports formed on its side.

4. The automatic tool changing system according to claim 3, characterized in that: The four-way air pressure pipeline ports include a blowing pipeline port for applying air pressure from the outside to the inside, a suction pipeline port for applying air pressure from the inside to the outside, a clamping piece opening pipeline port for applying air pressure from the outside to the inside, and a clamping piece closing pipeline port for applying air pressure from the outside to the inside. The blowing pipeline port, the suction pipeline port, the clamping piece opening pipeline port and the clamping piece closing pipeline port are connected to the tool chuck unit and apply air pressure to the tool side to enable the tool body to rotate, vacuum and clamp.

5. The automatic tool changing system according to claim 3, characterized in that: The placement plate comprises: The plate body has an overall rectangular shape; a visual component placement portion formed through one end of the plate body, on which a camera for identifying a display of a dismantled object is placed; and, The laser component placement portion is formed to penetrate the other end of the plate body, and the working laser component is placed thereon.

6. The automatic tool changing system according to claim 1, characterized in that: The plurality of props include a vacuum clamp, the vacuum clamp comprising: The first tool chuck unit is combined with the tool holder of the multi-joint robot arm; the first air pressure pipeline connection unit is formed on the side of the first tool chuck unit and is connected to each of the four air pressure pipeline ports to transmit air pressure to the prop side; the first clamping part chuck unit is combined with the cylinder type clamping part; and the first tool body performs a vacuum action from the lower side to the upper side by the air pressure transmitted by the first air pressure pipeline connection unit.

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