Mechanical tool replacement system

Abstract

The utility model discloses a mechanical tool replacement system which comprises a mechanical side component extending along a longitudinal RSP axis and a ball perpendicular to the RSP axis along a ball axis in a radial through hole of a shell. A clamping sleeve surrounds the housing and moves along the RSP axis between a forward end position and a rearward end position. And the reset spring enables the clamping sleeve to return to the front end position of the clamping sleeve. The mechanical tool replacement system further comprises a cylindrical main body. The machine tool replacement system also includes a docking station with two arms extending along a docking axis from a docking position in which the TSP can be docked. The docking station and the TSP comprise guide means for preventing rotation of the TSP relative to the docking station and for preventing displacement of the TSP relative to the docking station along a TSP axis. The cylindrical distal end portion of the TSP includes at least one additional cylindrical outer centering surface. Therefore, the utility model provides the mechanical tool replacement system which has the advantages of few parts, compact structure and strong rigidity.

Description

Technical Field

[0001] This application relates to a mechanical tool (cutter) replacement system. Background Art

[0002] The existing patent CN-A-115805451 discloses a mechanical side component including balls and a clamping sleeve, a tool side component designed to be locked by the balls in the RSP, and a docking station having an inclined surface designed to cooperate with the clamping sleeve to lock or unlock the TSP into the RSP.

[0003] Such a mechanical tool replacement device extends too long along the longitudinal axis.

[0004] The object of the present utility model is to propose a mechanical tool replacement system with a small number of components, very compact and rigid along the longitudinal axis. Summary of the Invention

[0005] The mechanical tool changing system according to the present utility model includes a mechanical side component, which extends along a longitudinal RSP axis and has a housing with an internal receiving volume. A ball moves radially through a through-hole in the housing between a locked position and a released position along a ball axis perpendicular to the RSP axis. In the locked position, the ball protrudes into the interior of the receiving volume, and in the released position, the ball does not protrude into the interior of the receiving volume. A clamping sleeve surrounds the housing and moves along the RSP axis between a front end position and a rear end position. In the front end position, it holds the ball in the locked position, and in the rear end position, it allows the ball to be in the released position; a return spring that returns the clamping sleeve to its front end position. The mechanical tool changing system further includes a tool side component, which has a cylinder extending along a TSP axis. The cylinder has a distal portion designed to be received in the receiving volume of the housing and has a circumferential groove designed to cooperate with the ball for locking the TSP and the RSP together when the ball is in the locked position. The mechanical tool changing system further includes a docking station, which has two arms extending along a docking axis starting from a docking position. In the docking position, the TSP can be docked therebetween. At least one inclined surface extending on the arm and parallel to the docking axis, and the inclined surface is designed to cooperate with the clamping sleeve and place it at its distal portion when the proximal portion of the TSP is fully received in the receiving volume of the housing and the TSP is in its docking position. The inclined surface is also designed to move the TSP to its front end position when the RSP moves along the docking axis from the docking position of the TSP to the position where the TSP is locked to the RSP. The docking station and the TSP include means for preventing the TSP from rotating relative to the docking station about the guiding means and preventing the TSP from translating along the TSP axis relative to the docking station. The cylindrical distal portion of the TSP includes at least one additional cylindrical outer centering surface that cooperates with the cylindrical inner surface of the housing at a certain distance from the circumferential groove on the RSP side.

[0006] According to another aspect of the present utility model, the TSP and the cylindrical distal portion of the TSP include at least two centering pins with cylindrical outer centering surfaces that protrude along the TSP axis from the groove and cooperate with the cylindrical inner surface.

[0007] According to another aspect of the present utility model, the cylindrical distal portion of the TSP includes an additional cylindrical outer centering surface that cooperates with the cylindrical inner surface of the receiving volume of the housing at a certain distance from the circumferential groove.

[0008] According to another aspect of the present utility model, the docking station includes inclined surfaces on each arm for simultaneously cooperating with the clamping sleeve.

[0009] According to another aspect of the present utility model, the inclined plane includes an entrance portion, a release portion, and a docking portion; in this entrance portion, the guiding device of the docking station and the TSP cooperate to prevent the TSP from rotating relative to the docking station and to prevent the TSP from moving along the TSP axis relative to the docking station, and the clamping sleeve is located at its front-end position. The release portion is designed to cooperate with the clamping sleeve so as to move the clamping sleeve from its front-end position to its distal position, and the docking portion is designed to cooperate with the clamping sleeve so as to keep the clamping sleeve at its distal portion.

[0010] According to another aspect of the present utility model, the guiding device for preventing the TSP from rotating relative to the docking station and for preventing the TSP from rotating along the TSP axis relative to the docking station is a relative groove in the proximal portion of the TSP body, and the relative groove and the symmetric guiding edges inside the two facing arms form an entrance angle between 0 and 10 degrees, preferably 4 degrees, to avoid jamming of the TSP during docking.

[0011] According to another aspect of the present utility model, the mouth of the clamping sleeve includes a cylindrical first surface opening on a front surface perpendicular to the RSP axis, followed by a conical transition surface transitioning to a conical locking surface connected to a cylindrical second surface. And wherein the mechanical tool changing system is designed such that when the clamping sleeve is located at its front-end position, the ball and the clamping sleeve cooperate, and when the clamping sleeve is located at its distal position, the ball faces the cylindrical first surface radially, and wherein when the TSP is located at the docking position, the distance between the ball axis and the transition surface is between 0.5 and 3 mm, preferably between 1.5 and 2 mm. Description of the Drawings

[0012] The present utility model will be described in detail in conjunction with Figure 1-7 an exemplary preferred embodiment and in conjunction with Figure 8 and 9 a second embodiment. However, these embodiments are not intended to limit the scope of the present utility model in any way.

[0013] Figure 1 A 3D view of the mechanical tool changing system according to the present utility model is shown;

[0014] Figure 2 Shown is Figure 1 a side view of a partial cross-section of the TSP and RSP of the mechanical tool changing system in the locked position;

[0015] Figure 3 Shown is Figure 1 a side view of a partial cross-section of the RSP of the mechanical tool changing system. In this figure, the TSP and RSP are in the unlocked state and are kept at a certain distance;

[0016] Figure 4 Shows a Figure 1 side view of a partial cross-section of the RSP of a machine tool changing system. In this figure, the TSP and the RSP are paired but not locked;

[0017] Figure 5 Shows a Figure 1 side view of a partial cross-section of the RSP of a machine tool changing system. In this figure, the TSP and the RSP are paired and partially locked;

[0018] Figure 6 front view of the docking station;

[0019] Figure 7 Shows a Figure 1 3D view of the TSP of a machine tool changing system;

[0020] Figure 8 cross-sectional view of the TSP and RSP parts of a second embodiment of a machine tool changing system;

[0021] Figure 9 3D view of the TSP and RSP parts of a second embodiment of a machine tool changing system. DETAILED DESCRIPTION

[0022] Figure 1 Shows a machine tool changing system 1 according to a first embodiment. The RSP 20 is fixed to the end 10 of the robotic arm and locked to the TSP 30. The tool 50 is fixed to the TSP 30 by screws 32. The docking (station) 40 is also fixed to the docking station bracket 60, where other docking stations dock the TSPs with different tools.

[0023] Figure 2 is a side view of a partial cross-section of the RSP and TSP in the locked position. The RSP has a cylindrical hollow housing 21 that extends along the RSP axis X20 and has an internal receiving volume V21 and a plurality of radial through-holes 210 that extend along a ball axis R22 perpendicular to the RSP axis X20. The housing 21 is fixed to the end 10 of the robotic arm by screws 26. The balls 22 are installed in the radial through-holes 210.

[0024] The cover plate 25 is installed around the housing 21 and fixed by an elastic ring 27.

[0025] The clamping (locking) sleeve 23 has a cylindrical hollow body slidably mounted around the housing 21. The mouth 230 of the clamping sleeve 23 includes a cylindrical first surface 2302 opening on a front surface 2301 perpendicular to the RSP axis X20, followed by a conical transition surface 2303 transitioning to a conical locking surface 2304 connecting to a cylindrical second surface 2305, and when the RSP and the TSP are locked together as Figure 2 shown, the ball 22 projects into the receiving volume V21 and cooperates with the locking surface 2304 on one side and with the circumferential groove 3100 of the body 31 of the TSP 30 on the other side. The clamping sleeve 23 is in Figure 2 its front end position.

[0026] A compression return spring 24 is mounted around the housing 21 and presses against the inner axial surface of the cover plate 25 on one side and against the inner axial surface of the clamping sleeve 23 on the other side. The return spring returns the clamping sleeve 23 to its front end position.

[0027] Figure 7 The TSP 30 is shown including a cylindrical body 31 extending along the TSP axis X30. The distal portion 310 of the body is designed to be received in the receiving volume V21 of the housing 21 and has a circumferential groove 3100 for cooperating with the ball 22 to lock the TSP 30 and the RSP 20 as Figure 2 shown. The tool 50 is fixed to the body 31 by a screw 32. The tool 50 is a roller. The distal portion 310 of the TSP 30 includes an additional cylindrical outer centering surface 3101 that cooperates with the cylindrical inner surface 2101 of the receiving volume V21 of the housing 21 at a distance from the circumferential groove 3100. The centering surface 3101 is located on the RSP side with respect to the circumferential groove 3100. Thus, the centering of the TSP starts before the circumferential surface 3100 faces the ball 22 and the torque applied to the tool around any ball axis R22 between the ball 22 and the centering surface 3101 is reduced.

[0028] Referring to Figure 6Describe the docking station. The docking station 40 includes two arms 41 and 42, which extend along the docking axis Z40 and define a slot. The docking station 40 fixes the TSP30 at the docking position at the end of the slot between the two arms. The opposite grooves 3150 and 3155 of the proximal part 315 of the main body 31 of the TSP30 cooperate with the two facing internal symmetrical guiding edges 4150 and 4155 of the arms. The guiding grooves 3150 and 3155 form guiding means for preventing the TSP30 from rotating relative to the docking station 40 and for preventing the TSP30 from translating relative to the docking station 40 along the TSP axis X30. The two facing internal symmetrical guiding edges 4150 and 4155 of the arms form an entry angle alpha between 0 and 10 degrees, preferably 4 degrees, to avoid jamming of the TSP30 in the docking station 40.

[0029] The arms 41 and 42 of the docking station 40 have inclined surfaces 410 and 420 that extend parallel to the docking axis Z40 and change direction towards the RSP20. They are designed to cooperate with the clamping sleeve 23 and place it in its rear end position when the distal part 310 of the TSP30 is fully received in the receiving volume V21 of the housing 21 and the TSP30 is in its docking position, and to let the clamping sleeve 23 go to its front end position when the RSP20 moves away from the docking position of the TSP along the docking axis Z40.

[0030] The inclined surfaces 410 and 420 respectively include entry portions 4101 and 4201, in which the guiding means of the docking station 40 and the TSP cooperate to prevent the TSP30 from rotating relative to the docking station 40 and to prevent the TSP30 from translating relative to the docking station 40 along the TSP axis, and the clamping sleeve 23 is in its front end position.

[0031] The inclined surfaces 410 and 420 also respectively include a release portion 4102 and 4202, which are designed to cooperate with the clamping sleeve 23 to move the clamping sleeve 23 from its front end portion to its rear end portion when the RSP20 moves along the docking axis to the docking position.

[0032] The inclined surfaces 410 and 420 also respectively include a docking portion 4103 and 4203, which are designed to cooperate with the clamping sleeve 23 to keep the clamping sleeve 23 in its rear end position.

[0033] Figure 3 The first step of the machine tool changing system 1 for connecting the TSP30 to the RSP20 is shown. The robotic arm moves the RSP20 to a position where the TSP axis X30 and the RSP axis X20 are aligned and the RSP20 is away from the TSP30. The clamping sleeve 23 is in its front end position.

[0034] Figure 4 The mechanical tool changing system 1 in the second step of connecting the TSP30 to the RSP20 is shown. The robotic arm moves the RSP20 along the TSP axis X30. The clamping sleeve 23 contacts the docking portions 4103 and 4203 of the inclined surfaces 410 and 420 and is driven to its rear end position. The ball 22 is released and the distal portion 310 of the TSP can enter the receiving volume V21 of the housing 21 of the RSP20. When the clamping sleeve 23 is in its rear end position, the ball 22 faces the cylindrical first surface 2302 radially, and the distance d between the ball axis R22 and the transition surface 2303 is between 0.5 and 3 mm, preferably between 1.5 and 2 mm.

[0035] Figure 5 The mechanical tool changing system 1 in the third step of connecting the TSP30 to the RSP20 is shown. The robotic arm moves the RSP20 away from the docking position along the docking axis Z40. The clamping sleeve 23 contacts the release portions 4102 and 4202 of the inclined surfaces 410 and 420 and is driven to its front end position by the return spring 24. The ball 22 is gradually locked by the clamping sleeve 23 in the circumferential groove 3100 of the distal portion 310 of the TSP30.

[0036] Figure 2 The TSP30 and the RSP20 in the fourth step of connecting the TSP30 to the RSP20 are shown. The robotic arm moves the RSP20 away from the docking position 40 along the docking axis X40. The clamping sleeve 23 is in its front end position. The ball 22 is completely locked by the clamping sleeve 23 in the circumferential groove 3100 of the distal portion 310 of the TSP30.

[0037] In order to disengage the TSP30 from the RSP20, the robotic arm must move the RSP20 so as to successfully execute the fourth, third, second, and first steps of connecting the TSP30 to the RSP20.

[0038] Figure 8 and Figure 9 The TSP 300 and the RSP 200 of the second embodiment of the mechanical tool changing system are shown. The difference from the first embodiment is that the TSP300 and the TSP200 accommodate each internal complementary connection device, in which the cylindrical distal portion 310 of the TSP300 includes at least two centering pins 320 and 330 with cylindrical external centering surfaces 3201 and 3301, which project from the circumferential groove 3100 along the TSP axis X30 and cooperate with the cylindrical internal surfaces 2102 and 2103 of the housing.

[0039] The TSP connector includes a central carrier 301 that is fixed in a through hole of the body 31 of the TSP 300. The central carrier 301 supports a compressed air duct 510, a signal electrical connector 520, and an electrical power connector 530. Two cylindrical centering pins 320 and 330 are fixed in two holes of the body 31 that are diametrically opposed. The centering pins 330 and 320 project from a circumferential groove 3100 along the TSP axis X30 on the RSP200 side.

[0040] The RSP connector includes a central complementary carrier 201 that is installed in a through hole of the housing 21 of the RSP 200. The central carrier 301 supports complementary compressed air ducts 515, complementary signal electrical connectors 525, and complementary electrical power connectors 535. The housing 21 includes two holes 325 and 335 with cylindrical inner surfaces 2102 and 2103. The centering pins 330 and 320 mate with the holes 335 and 325 of the two cylindrical inner surfaces 2102 and 2103. Thus, TSP centering begins before the circumferential groove 3100 faces the balls 22 and begins before the complementary connection means mate. In addition, the torque applied to the tool about any ball axis R22 between the balls 22 and the two cylindrical inner surfaces 2102 and 2103 is reduced.

Claims

1. A machine tool changing system (1), characterized in that: include: A mechanical side component (20, 200) extending along a longitudinal RSP axis (X20) and comprising a housing (21) having an internal receiving volume (V21); a ball (22) moving in a radial through hole (210) of the housing (21) along a ball axis (R22) perpendicular to the RSP axis (X20) between a locking position and a release position, wherein the ball (22) protrudes into the receiving volume (V21) and wherein the ball (22) is moved in a radial through hole (210) of the housing (21) along a ball axis (R22) perpendicular to the RSP axis (X20). the ball (22) does not protrude into the receiving volume (V21); a clamping sleeve (23) surrounding the housing (21) and moving along the RSP axis (X20) between a front position and a rear position, wherein the clamping sleeve (23) holds the ball (22) in the locking position and the rear position allows the ball (22) to be located in the release position; a return spring (24) for returning the clamping sleeve (23) to the front position; a tool side component (30, 300) comprising a cylindrical body (31) having a distal portion (310) designed to be received in the receiving volume (V21) of the housing (21) and having a circumferential groove (3100) designed to cooperate with the ball (22) to lock the TSP (30) and the RSP (20) together when the ball (22) is in the locked position; A docking station (40) comprising two arms (41, 42) extending from a docking position along a docking axis (Z40), between which the TSP (30) can be docked, at least one inclined surface (410, 420) extending parallel to the docking axis (Z40) on the arms (41, 42), the inclined surface (410, 420) being designed to cooperate with the clamping sleeve (23), and when the proximal portion of the TSP (315) placing the clamping sleeve (23) in its rear end position when the TSP (30) is fully received in the receiving volume (V21) of the housing (21) and the TSP (30) is in its parking position; and moving the clamping sleeve (23) to its front end position when the RSP (20) is moved along the parking axis (Z40) from the parking position of the TSP (30) to a position in which the TSP (30) is locked into the RSP (20); The mechanical tool changing system (1) is characterized in that: The docking station (40) and the TSP (30) include guide means to prevent the TSP (30) from rotating relative to the docking station (40) and to prevent the TSP (30) from translating relative to the docking station (40) along an axis (X30) of the TSP; The cylindrical distal portion (310) of the TSP (30) comprises at least one additional cylindrical outer centering surface (3101, 3201, 3301) cooperating with the cylindrical inner surface (2101, 2102, 2103) of the housing (21) at a distance from the circumferential groove (3100) on the RSP side.

2. The machine tool changing system (1) according to claim 1, characterized in that: The cylindrical distal portion (310) of the TSP (30) comprises at least two centering pins (320, 330), the centering pins (320, 330) having cylindrical outer centering surfaces (3201, 3301), the cylindrical outer centering surfaces (3201, 3301) protruding from the groove (3100) along the TSP axis (X30) and cooperating with the cylindrical inner surfaces (2102, 2103) of the housing (21).

3. The machine tool changing system (1) according to claim 1, characterized in that: The cylindrical distal portion (310) of the TSP (30) comprises an additional cylindrical outer centering surface (3101) cooperating with the cylindrical inner surface (2101) of the receiving volume (V21) of the housing (21) at a distance from the circumferential groove (3100).

4. The machine tool changing system (1) according to claim 2 or 3, characterized in that: The docking station (40) comprises a ramp (410, 420) on each arm (41, 42) for cooperating simultaneously with the clamping sleeve (23).

5. The machine tool changing system (1) according to claim 2 or 3, characterized in that: The inclined surfaces (410, 420) include: an entry portion (4101, 4201) in which the guide means of the docking station and the TSP cooperate to prevent rotation of one relative to the other and translation of one relative to the other along the TSP axis and in which the clamping sleeve (23) is maintained in its front end position; a release portion (4102, 4202), the release portion (4102, 4202) being designed to cooperate with the clamping sleeve (23) to move it from its front end position to its rear end position; A rest portion (4103, 4203), the rest portion (4103, 4203) being designed to cooperate with the clamping sleeve (23) so that the clamping sleeve (23) is maintained in its rear end position.

6. The machine tool changing system (1) according to claim 2, characterized in that The guiding means for preventing the TSP (30) from rotating relative to the docking station (40) and preventing the TSP (30) from translating relative to the docking station (40) along the TSP axis (X30) are opposing grooves (3150, 3155) of the proximal portion (315) of the body (31) of the TSP (30), the opposing grooves (3150, 3155) forming an approach angle alpha between 0 and 10 degrees with two facing inner symmetrical guiding edges (4150, 4155) of the arm.

7. The machine tool changing system (1) according to claim 6, characterized in that The entry angle alpha is 4 degrees to avoid the TSP (30) from getting stuck in the dock (40).

8. The machine tool changing system (1) according to claim 2 or 3, characterized in that: The mouth (230) of the clamping sleeve (23) comprises a cylindrical first surface (2302) open on the front face (2301) perpendicular to the RSP axis (X20), followed by a conical transition surface (2303) transitioning to a conical locking surface (2304) connected to a cylindrical second surface (2305), and wherein the mechanical tool changing system (1) is designed so that when the clamping sleeve (23) is in its front end position, the ball (22) and the clamping sleeve (23) cooperate and when the clamping sleeve (23) is in its rear end position, the ball (22) radially faces the cylindrical first surface (2302), and wherein when the TSP (30) is in the rest position, the distance between the ball axis (R22) and the transition surface (2303) is between 0.5 and 3 mm.

9. The machine tool changing system (1) according to claim 8, characterized in that The distance between the ball shaft (R22) and the transition surface (2303) is between 1.5 and 2 mm.

10. The machine tool changing system (1) according to claim 2 or 3, characterized in that: The TSP (300) and the RSP (200) accommodate each internal complementary connection means.

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