Pneumatic manipulator module capable of being loaded on machine tool spindle

Abstract

The utility model discloses a pneumatic manipulator module capable of being loaded on a machine tool spindle. The pneumatic manipulator module comprises a modified cutter handle, a universal connecting plate and a pneumatic clamping jaw which are sequentially connected in a threaded mode from top to bottom. A handle air inlet hole penetrating through the modified cutter handle is formed in the modified cutter handle, the universal connecting plate comprises a universal connecting plate body, a sunken handle end containing groove is formed in the top of the universal connecting plate body, and the bottom of the modified cutter handle extends into the handle end containing groove; a plate air inlet communicated with the handle air inlet is formed in the bottom of the handle end accommodating groove; the top of the pneumatic clamping jaw comprises a pneumatic jaw A port and a pneumatic jaw B port. Compared with the prior art, the automatic feeding and discharging device can be integrally installed on a machine tool spindle, the pneumatic clamping jaw is driven to be opened and closed through a pressure gas circuit in the spindle, the machine tool spindle drives the pneumatic clamping jaw to move, feeding and discharging of materials are achieved, a feeding and discharging robot does not need to be additionally arranged, and the equipment cost and the equipment occupied space are greatly saved.

Description

Technical Field

[0001] The utility model belongs to the technical field of grasping and clamping, and particularly relates to a pneumatic manipulator module that can be loaded on a machine tool spindle. Background Technique

[0002] In the field of automated numerical control machining technology, a numerical control machine tool includes: a spindle, an automatic tool changer, and a tool magazine. The tool magazine includes tool sleeves and various tools installed on the tool sleeves. When the tool magazine of the machine tool changes tools, the automatic tool changer removes the required tool from the tool sleeve of the tool magazine and installs it on the spindle. The spindle drives the tool to act to achieve the machining of the workpiece. In order to realize the automatic loading and unloading of the workpiece, a separate loading and unloading robot needs to be equipped. The loading and unloading robot includes a robot main body and an end effector (such as a pneumatic gripper) installed on the end of the robot main body. The pneumatic gripper can open and close to grip the workpiece, and the robot main body is used to carry the pneumatic gripper to move to realize the transfer of the position of the pneumatic gripper and achieve the loading and unloading of the workpiece.

[0003] The disadvantages of the prior art are that, in order to realize the loading and unloading of the workpiece, a separate loading and unloading robot needs to be equipped, the equipment cost is relatively high, and the loading and unloading robot needs to occupy a certain space and is not applicable in scenarios where the space is insufficient.

[0004] Therefore, it is necessary to provide a new pneumatic manipulator module that can be loaded on a machine tool spindle to solve the above technical problems. Summary of the Invention

[0005] (I) Technical Problems to be Solved

[0006] Based on this, the utility model provides a pneumatic manipulator module that can be loaded on a machine tool spindle to solve the technical problems of high cost and space occupation existing in the prior art that a separate loading and unloading robot needs to be equipped to load the pneumatic gripper.

[0007] (II) Technical Solutions

[0008] To solve the above technical problems, the present utility model proposes a pneumatic manipulator module that can be loaded on a machine tool spindle, including: a modified tool holder, a general connecting plate, and a pneumatic gripper that are threadedly connected in sequence from top to bottom; a shank air inlet hole penetrating through the modified tool holder is provided on the upper part of the modified tool holder. The general connecting plate includes a general connecting plate body. A recessed shank end receiving groove is provided at the top of the general connecting plate body. The bottom of the modified tool holder extends into the shank end receiving groove. A plate air inlet hole communicating with the shank air inlet hole is provided at the bottom of the shank end receiving groove. The top of the pneumatic gripper includes a gripper A port and a gripper B port. The top of the general connecting plate body is further respectively provided with: a state one air driving port, a state two air driving port, a state one passive air passing port, and a state two passive air passing port. The state one air driving port and the state two air driving port are respectively communicated with the plate air inlet hole. A vent port communicating with the atmosphere is further provided on the general connecting plate. The state one passive air passing port and the state two passive air passing port are respectively communicated with the vent port. The pneumatic manipulator module that can be loaded on a machine tool spindle includes a first state and a second state. When the pneumatic manipulator module that can be loaded on a machine tool spindle is in the first state, the gripper B port is communicated with the state one air driving port, and the gripper A port is communicated with the state one passive air passing port. When the pneumatic manipulator module that can be loaded on a machine tool spindle is in the second state, the gripper A port is communicated with the state two air driving port, and the gripper B port is communicated with the state two passive air passing port.

[0009] Preferably, a right one air flow channel and a right two air flow channel respectively communicated with the plate air inlet hole are further provided inside the general connecting plate body. The outlet of the right one air flow channel is the state one air driving port. The outlet of the right two air flow channel is the state two air driving port. A left one air flow channel and a left two air flow channel respectively communicated with the vent port are further provided inside the general connecting plate body. The outlet of the left one air flow channel is the state one passive air passing port. The outlet of the left two air flow channel is the state two passive air passing port. The state one air driving port, the state two air driving port, the state two passive air passing port, and the state one passive air passing port together form a rectangle centered on the plate air inlet hole.

[0010] Preferably, the general connecting plate body is integrally rectangular, and the outer periphery of the general connecting plate body is flush with the outer periphery of the pneumatic gripper. A convex block is provided on one side surface of the general connecting plate body. The vent port is located on the lower surface of the convex block, and an exhaust path filter is further provided on the vent port.

[0011] Preferably, a plurality of shank threaded connection holes surrounding the shank air inlet hole are further provided at the bottom of the modified tool shank, and a shank positioning hole is further provided on one side of the shank air inlet hole; a plate positioning hole and a plurality of first plate connection holes surrounding the plate air inlet hole are further provided at the bottom of the shank end receiving groove, and the pneumatic manipulator module capable of being loaded on the machine tool spindle further includes a positioning pin with two ends respectively extending into the plate positioning hole and the shank positioning hole; the modified tool shank and the general connecting plate are connected by a first screw, and the first screw penetrates through the first plate connection hole and extends into the shank threaded connection hole.

[0012] Preferably, the plate air inlet hole is arranged directly below the shank air inlet hole, the number of the shank threaded connection holes is four, and the four shank threaded connection holes are evenly arranged around the shank air inlet hole, and a first plate connection hole is correspondingly arranged directly below each shank threaded connection hole; the number of the plate positioning holes is two, and the number of the shank positioning holes is one. On the bottom surface of the shank end receiving groove, the distances from the two plate positioning holes to the plate air inlet hole are equal respectively. The line connecting the center of one plate positioning hole and the center of the plate air inlet hole is L1, and the line connecting the center of the other plate positioning hole and the center of the plate air inlet hole is L2, and L1 is perpendicular to L2.

[0013] Preferably, the plate air inlet hole is arranged directly below the shank air inlet hole, the number of the shank threaded connection holes is four, and the four shank threaded connection holes are evenly arranged around the shank air inlet hole, and a first plate connection hole is correspondingly arranged directly below each shank threaded connection hole; the number of the shank positioning holes is two, and the number of the plate positioning holes is one. On the bottom surface of the modified tool shank, the distances from the two shank positioning holes to the shank air inlet hole are equal respectively. The line connecting the center of one shank positioning hole and the center of the shank air inlet hole is L3, and the line connecting the center of the other shank positioning hole and the center of the shank air inlet hole is L4, and L3 is perpendicular to L4.

[0014] Preferably, the overall outer contour of the modified tool shank is cylindrical, and the shank end receiving groove is circular and matches the shape of the bottom of the modified tool shank; the cross section of the positioning pin is kidney-shaped, and the shank positioning hole and the plate positioning hole respectively match the shape of the positioning pin.

[0015] Preferably, a seal ring receiving groove is further provided at the bottom of the shank end receiving groove, and the seal ring receiving groove also surrounds the outer peripheral edge of the plate air inlet hole, and an O-ring is arranged in the seal ring receiving groove.

[0016] Preferably, a second plate connecting hole is respectively provided at the four corners of the universal connecting plate body, and a claw threaded connecting hole is provided at the top of the pneumatic clamp facing each of the second plate connecting holes. The universal connecting plate and the pneumatic clamp are connected by a second screw, and the second screw passes through the second plate connecting hole and extends into the claw threaded connecting hole.

[0017] Preferably, the pneumatic clamp also includes: a spring, a push rod and at least two chucks, and the pneumatic clamp is of a normally closed type or a normally open type; when the pneumatic clamp is of a normally closed type, the chuck of the pneumatic clamp is in a closed state under the action of the elastic force of the spring, and is switched to an open state after the pressure gas is introduced into the air inlet hole of the handle; when the pneumatic clamp is of a normally open type, the chuck of the pneumatic clamp is in an open state under the action of the elastic force of the spring, and is switched to a closed state after the pressure gas is introduced into the air inlet hole of the handle.

[0018] (III) Beneficial effects

[0019] Compared with the prior art, the utility model can be installed as a whole on the main shaft of the machine tool, and the pressure air circuit in the main shaft is used to drive the pneumatic clamp to open and close. The main shaft of the machine tool drives the pneumatic clamp to move, so as to realize the loading and unloading of materials. There is no need to equip another loading and unloading robot, which greatly saves the equipment cost and the space occupied by the equipment. In addition, the utility model can also be installed as a whole on the tool magazine and the tool sleeve. As a part of the tool magazine, the automatic tool changing device of the machine tool realizes the switching of the tool sleeve and the main shaft position. It is easy to use, conducive to the pre-set CNC machining program, and can realize the fully automatic operation of material loading, material processing, and material unloading. Personnel are required to be on duty to load and unload materials or a specially configured loading and unloading robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the technical solutions of the embodiments of the utility model, the drawings required for describing the embodiments are 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 creative work.

[0021] Figure 1 It is a three-dimensional schematic diagram of the overall structure of the utility model;

[0022] Figure 2 It is a cross-sectional schematic diagram of the utility model;

[0023] Figure 3 An exploded view of one direction of the utility model;

[0024] Figure 4 This is an exploded view of the utility model from another direction;

[0025] Figure 5 In the present utility model: a three-dimensional schematic diagram of a general connecting plate;

[0026] Figure 6 In the present utility model: a top view schematic diagram of a general connecting plate.

[0027] Explanation of reference numerals in the drawings:

[0028] 1. Modified tool holder; 2. General connecting plate; 3. Pneumatic gripper; 4. Exhaust path filter; 5. Locating pin; 6. First screw; 7. O-ring seal; 8. Connected by a second screw; 9. Plug

[0029] 11. Shank intake hole; 12. Shank threaded connection hole; 13. Shank locating hole

[0030] 21. General connecting plate body; 22. Protrusion

[0031] 01. Shank end receiving groove; 02. Plate intake hole; 03. State one air driving port; 04. State two air driving port; 05. State one passive air passing port; 06. State two passive air passing port; 07. Right one air flow channel; 08. Right two air flow channel; 09. Left one air flow channel; 010. Left two air flow channel; 011. Plate locating hole; 012. First plate connection hole; 013. Seal receiving groove; 014. Second plate connection hole

[0032] 31. Gripper A port; 32. Gripper B port; 33. Claw threaded connection hole; 34. Spring; 35. Push rod; 36. Chuck

[0033] 221. Atmosphere vent port. Detailed implementation manners

[0034] In order to make the above objects, features and advantages of the present utility model more obvious and understandable, the following will describe in detail the specific implementation manners of the present utility model with reference to the accompanying drawings. Many specific details are set forth in the following description in order to fully understand the present utility model. However, the present utility model can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without departing from the connotation of the present utility model. Therefore, the present utility model is not limited by the specific implementations disclosed below.

[0035] The following will further describe with reference to the attached Figure 1-6 a pneumatic manipulator module that can be mounted on a machine tool spindle of the present utility model.

[0036] The utility model discloses a pneumatic manipulator module that can be loaded on a machine tool spindle, which includes the following components threadedly connected in sequence from top to bottom: a modified tool holder 1, a universal connecting plate 2, and a pneumatic gripper 3; the modified tool holder 1 has a shank air inlet hole 11 penetrating through it. The universal connecting plate 2 includes a universal connecting plate main body 21. A recessed shank end receiving groove 01 is provided at the top of the universal connecting plate main body 21, and the bottom of the modified tool holder 1 extends into the shank end receiving groove 01; a plate air inlet hole 02 communicating with the shank air inlet hole 11 is provided at the bottom of the shank end receiving groove 01; the top of the pneumatic gripper 3 includes a gripper A port 31 and a gripper B port 32; on the top of the universal connecting plate main body 21, there are also respectively provided: a state one air driving port 03, a state two air driving port 04, a state one passive air passing port 05, and a state two passive air passing port 06; the state one air driving port 03 and the state two air driving port 04 are respectively communicated with the plate air inlet hole 02; a vent to the atmosphere port 221 communicating with the atmosphere is also provided on the universal connecting plate 2, and the state one passive air passing port 05 and the state two passive air passing port 06 are respectively communicated with the vent to the atmosphere port 221; the pneumatic manipulator module that can be loaded on a machine tool spindle includes a first state and a second state; when the pneumatic manipulator module that can be loaded on a machine tool spindle is in the first state, the gripper B port 32 is communicated with the state one air driving port 03, and the gripper A port 31 is communicated with the state one passive air passing port 05; when the pneumatic manipulator module that can be loaded on a machine tool spindle is in the second state, the gripper A port 31 is communicated with the state two air driving port 04, and the gripper B port 32 is communicated with the state two passive air passing port 06.

[0037] In this embodiment, the overall structure of the modified tool holder 1 is the same as the shape of the tool shank of the tool magazine of the existing machining center, that is, a flange and other structures for clamping by the automatic tool changer are provided at the top of the modified tool holder 1, which can be installed on the tool sleeve of the tool magazine, and the top of the modified tool holder 1 can be inserted into the machine tool spindle and connected to the spindle. The difference between the modified tool holder 1 in this embodiment and the tool shank of the tool magazine of the existing machining center is that a shank air inlet hole 11 is added. There is a pressure gas output air path in the center of the existing machine tool spindle. When the modified tool holder 1 is connected to the machine tool spindle, the pressure gas in the spindle can be conducted to the pneumatic gripper 3 through the universal connecting plate 2, serving as the driving air source for the action of the pneumatic gripper 3. The universal connecting plate 2 is used to connect the modified tool holder 1 and the pneumatic gripper 3, and the universal connecting plate 2 is also used to transfer the pressure gas passing through the modified tool holder 1 to the pneumatic gripper 3, and the pneumatic gripper 3 is driven to open or close by this pressure gas.

[0038] The universal connecting plate 2 of the utility model has universality, that is, it can be connected to a normally open pneumatic gripper 3 or a normally closed pneumatic gripper 3. During specific implementation, the installation angle of the universal connecting plate 2 is adjusted according to needs, so that the pneumatic manipulator module that can be loaded on the machine tool spindle is in the first state or the second state. The first state or the second state is: two states before and after the overall rotation of the modified tool holder 1 and the universal connecting plate 2 by 180°.

[0039] For example, when the pneumatic gripper 3 is normally open, the pneumatic manipulator module that can be loaded on the machine tool spindle is in the first state, and the pressure gas from the spindle enters the air gripper B port 32 through the handle air inlet 11, the plate air inlet 02, and the state one air drive port 03, driving the pneumatic gripper 3 to close, and the gas discharged from the pneumatic gripper 3 passes through the air gripper A port 31 and the state one passive air port 05, and then is discharged into the atmosphere through the air vent 221. When the pneumatic gripper 3 is normally closed, the pneumatic manipulator module that can be loaded on the machine tool spindle is in the second state, and the pressure gas from the spindle enters the air gripper A port 31 through the handle air inlet 11, the plate air inlet 02, and the state two air drive port 04, driving the pneumatic gripper 3 to open, and the gas discharged from the pneumatic gripper 3 passes through the air gripper B port 32 and the state two passive air port 06, and then is discharged into the atmosphere through the air vent 221.

[0040] By adopting this embodiment, in addition to being able to load the tool and drive the tool to move, the machine tool spindle can also load the pneumatic clamp 3. The driving power of the pneumatic clamp 3 comes from the pressure gas circuit in the spindle. There is no need to introduce additional pressure gas to drive the pneumatic clamp 3. The pneumatic clamp 3 opens and closes to clamp and release the material (the workpiece to be processed), and the machine tool spindle drives the pneumatic clamp 3 to move to realize the loading and unloading of materials.

[0041] When in use, the pneumatic manipulator module that can be loaded on the machine tool spindle of this embodiment is installed on the tool sleeve at the appropriate position of the tool magazine, and the position change is realized by the automatic tool changing device of the machine tool. When the workpiece needs to be processed, the appropriate tool is selected from the tool magazine, and the automatic tool changing device replaces the tool to the machine tool spindle. When loading or unloading is required, the tool in the spindle is first put back into the tool magazine, and then the pneumatic manipulator module that can be loaded on the machine tool spindle of this embodiment is taken out from the tool magazine and installed on the spindle. The pneumatic manipulator module that can be loaded on the machine tool spindle of this embodiment is carried by the machine tool spindle to realize loading and unloading of materials, without the need for a separate loading and unloading robot, which greatly saves equipment costs and space occupied by equipment.

[0042] According to a specific implementation of the utility model, the universal connecting plate body 21 is further provided with a right first airflow channel 07 and a right second airflow channel 08 respectively connected to the plate air inlet hole 02, the outlet of the right first airflow channel 07 is the state one air drive port 03; the outlet of the right second airflow channel 08 is the state two air drive port 04; the universal connecting plate body 21 is further provided with a left first airflow channel 09 and a left second airflow channel 010 respectively connected to the air vent 221, the outlet of the left first airflow channel 09 is the state one passive air port 05, and the outlet of the left second airflow channel 010 is the state two passive air port 06; the state one air drive port 03, the state two air drive port 04, the state two passive air port 06 and the state one passive air port 05 together form a rectangle with the plate air inlet hole 02 as the center.

[0043] When the pneumatic manipulator module of the utility model that can be loaded on the machine tool spindle switches between the first state and the second state, the universal connecting plate 2 needs to rotate 180° with the plate air inlet 02 as the rotation center. In this embodiment, the state one air drive port 03, the state two air drive port 04, the state two passive air port 06 and the state one passive air port 05 together form a rectangle with the plate air inlet 02 as the center. By adopting this structure, it can be ensured that the universal connecting plate 2 is located at the position of 0° and 180°, the air gripper B port 32 can be exactly connected with the state one air drive port 03 or the state two passive air port 06, and the air gripper A port 31 can be exactly connected with the state one passive air port 05 or the state two air drive port 04. And the structure of this embodiment can ensure that the air path length of the pressure gas is equal in the first state and the second state, ensuring the consistency of the performance parameters in the two states.

[0044] According to the specific implementation of the utility model, the universal connecting plate body 21 is rectangular as a whole, and the outer periphery of the universal connecting plate body 21 is flush with the outer periphery of the pneumatic clamp 3; a side surface of the universal connecting plate body 21 is provided with a raised bump 22, and the air vent 221 is located on the lower surface of the bump 22, and the air vent 221 is also provided with an exhaust path filter 4.

[0045] In this embodiment, the universal connecting plate body 21 is aligned with the pneumatic clamping jaws 3 up and down, which is conducive to full utilization of space and compact structure, and can effectively reduce the overall volume of the pneumatic manipulator module of the utility model that can be loaded on the machine tool spindle.

[0046] The raised bump 22 is added to form a vent hole, which facilitates the downward setting of the vent hole. Since the application environment of the pneumatic manipulator module that can be loaded on the spindle of a machine tool is a machine tool, and there are cutting fluids / chips when the machine tool is in use, after the vent hole is set downward, it can effectively prevent the cutting fluids / chips from entering the internal air path of the pneumatic clamp 3 through the vent hole, and can effectively protect the pneumatic clamp 3 from long-term normal use.

[0047] The exhaust path filter 4 is an existing directly purchased part. The exhaust path filter 4 is also called a filter element silencer or a silencer. The whole is in the shape of a joint with a filter hole structure. It has two functions. On the one hand, the filter hole structure ensures the smooth passage of airflow while further preventing external impurities from entering the internal air path of the pneumatic clamp 3 through the air holes. On the other hand, the micro-perforations of the exhaust path filter 4 hinder the propagation of sound, thereby achieving the purpose of reducing noise.

[0048] According to the specific embodiments of the present utility model, a plurality of shank threaded connection holes 12 are further provided at the bottom of the modified tool shank 1, which are arranged around the shank air inlet hole 11. A shank positioning hole 13 is further provided on one side of the shank air inlet hole 11; a plate positioning hole 011 and a plurality of first plate connection holes 012 arranged around the plate air inlet hole 02 are further provided at the bottom of the shank end receiving groove 01. The pneumatic manipulator module capable of being loaded into the machine tool spindle further includes a positioning pin 5 with two ends respectively extending into the plate positioning hole 011 and the shank positioning hole 13; the modified tool shank 1 and the general connecting plate 2 are connected by a first screw 6, and the first screw 6 passes through the first plate connection hole 012 and extends into the shank threaded connection hole 12.

[0049] In this embodiment, the positioning pin 5 is used to ensure the upper and lower alignment installation of the modified tool shank 1 and the general connection. The connection structure (shank threaded connection hole 12) of the modified tool shank 1 and the general connecting plate 2 is arranged at the bottom of the modified tool shank 1, and the first plate connection hole 012 is arranged directly below the shank threaded connection hole 12. During installation, the first screw 6 is installed from bottom to top, which can quickly realize the fixed connection of the modified tool shank 1 and the general connecting plate 2, and no additional volume is added after the first screw 6 is installed, which is beneficial to further improving the compactness of the structure.

[0050] According to the specific embodiments of the present utility model, the plate air inlet hole 02 is arranged directly below the shank air inlet hole 11. The number of the shank threaded connection holes 12 is four, and the four shank threaded connection holes 12 are evenly arranged around the shank air inlet hole 11. A first plate connection hole 012 is correspondingly arranged directly below each shank threaded connection hole 12; the number of the plate positioning holes 011 is two, and the number of the shank positioning holes 13 is one. On the bottom surface of the shank end receiving groove 01, the distances from the two plate positioning holes 011 to the plate air inlet hole 02 are equal. The connection line between the center of one plate positioning hole 011 and the center of the plate air inlet hole 02 is L1, and the connection line between the center of the other plate positioning hole 011 and the center of the plate air inlet hole 02 is L2, and L1 is perpendicular to L2.

[0051] According to the specific embodiments of the present utility model, the plate air inlet hole 02 is arranged directly below the shank air inlet hole 11. The number of the shank threaded connection holes 12 is four, and the four shank threaded connection holes 12 are evenly arranged around the shank air inlet hole 11. A first plate connection hole 012 is correspondingly arranged directly below each shank threaded connection hole 12; the number of the shank positioning holes 13 is two, and the number of the plate positioning holes 011 is one. On the bottom surface of the modified tool shank 1, the distances from the two shank positioning holes 13 to the shank air inlet hole 11 are equal. The connection line between the center of one shank positioning hole 13 and the center of the shank air inlet hole 11 is L3, and the connection line between the center of the other shank positioning hole 13 and the center of the shank air inlet hole 11 is L4, and L3 is perpendicular to L4.

[0052] In the above embodiments, the number and positions of the shank threaded connection holes 12 and the first plate connection holes 012 are set such that the rotation angle increases in units of 90°, providing conditions for the rotary pneumatic gripper 3. The number of the positioning pins 5 is always 1. The pneumatic manipulator module that can be loaded on the machine tool spindle includes a first rotary mounting structure and a second rotary mounting structure.

[0053] The first rotary mounting structure is the case where the number of the plate positioning holes 011 in the above embodiments is two. Since there is enough space on the connecting plate to form the plate positioning holes 011, the overall strength of the connecting plate can be ensured. Therefore, this method is a preferred embodiment.

[0054] The second rotary mounting structure is the case where the number of the shank positioning holes 13 in the above embodiments is two. Whether the first rotary mounting structure or the second rotary mounting structure is adopted.

[0055] By connecting the positioning pin 5 to different plate positioning holes 011 or shank positioning holes 13, the pneumatic gripper 3 can have two mounting states. In the two mounting states, the angle of the pneumatic gripper 3 differs by 90°. Finally, the pneumatic gripper 3 can be opened and closed along the X direction or along the Y direction to meet the material clamping requirements in different scenarios. During specific use, it can be selected according to the requirements of the opening and closing direction of the gripper, greatly improving the use flexibility of the pneumatic manipulator module of the present invention that can be loaded on the machine tool spindle.

[0056] According to the specific embodiments of the present invention, the overall outer contour of the modified tool shank 1 is cylindrical, and the shank end receiving groove 01 is circular and matches the bottom shape of the modified tool shank 1; the cross-section of the positioning pin 5 is waist-shaped, and the shank positioning holes 13 and the plate positioning holes 011 respectively match the shape of the positioning pin 5.

[0057] In this embodiment, the overall outer contour of the modified tool shank 1 is cylindrical. Therefore, when installed by rotating 90°, it can still ensure that the lower part of the modified tool shank 1 is exactly clamped in the shank end receiving groove 01, improving the connection stability between the two.

[0058] The positioning pin 5 and the pin holes cooperating with the positioning pin 5 are both of waist-shaped structures, which can prevent relative rotation between the modified tool shank 1 and the general connecting plate 2 after the positioning pin 5 is inserted, facilitating further improvement of the positioning accuracy and ensuring accurate alignment up and down.

[0059] According to the specific embodiments of the present invention, a seal ring receiving groove 013 is further provided at the bottom of the shank end receiving groove 01. The seal ring receiving groove 013 also surrounds the outer peripheral edge of the plate air inlet hole 02, and an O-ring 7 is provided in the seal ring receiving groove 013.

[0060] In this embodiment, an O-ring seal 7 is provided on the joint surface of the modified tool holder 1 and the universal connecting plate 2 to ensure the sealing performance of the communication between the handle air inlet hole 11 and the plate air inlet hole 02.

[0061] According to the specific embodiment of the present utility model, a second plate connection hole 014 is respectively provided at the four corners of the universal connecting plate body 21. At the position of the top of the pneumatic gripper 3 facing each second plate connection hole 014, a claw threaded connection hole 33 is provided. The universal connecting plate 2 and the pneumatic gripper 3 are connected by a second screw 8, and the second screw passes through the second plate connection hole 014 and extends into the claw threaded connection hole 33.

[0062] According to the specific embodiment of the present utility model, the pneumatic gripper 3 further includes a spring 34, a push rod 35 and at least two chucks 36. The pneumatic gripper 3 is of normally closed type or normally open type; when the pneumatic gripper 3 is of normally closed type, the chucks 36 of the pneumatic gripper 3 are in a closed state under the action of the elastic force of the spring 34 and are switched to an open state after introducing pressurized gas into the handle air inlet hole 11; when the pneumatic gripper 3 is of normally open type, the chucks 36 of the pneumatic gripper 3 are in an open state under the action of the elastic force of the spring 34 and are switched to a closed state after introducing pressurized gas into the handle air inlet hole 11.

[0063] It should be noted that when forming the internal air passage of the universal connecting plate 2, there will be a process port that needs to be blocked by a plug 9 subsequently. The pneumatic gripper 3 can also be an existing air gripper product that can be directly purchased externally, which is of normally open or normally closed type, and this product also needs to have the air gripper A port 31 and the air gripper B port 32 as described above.

[0064] In the description 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, an electrical connection, a direct connection, or an indirect connection through an intermediate medium; it can be the communication inside two components, or a "transmission connection", that is, a power connection is carried out by various suitable methods such as belt drive, gear drive or sprocket drive. For those of ordinary skill in the art, the specific meanings of the above terms in the present utility model can be understood according to specific situations.

Claims

1. A pneumatic manipulator module capable of being mounted on a machine tool spindle, characterized in that: It includes: a modified tool handle, a universal connecting plate and a pneumatic clamping jaw which are threadedly connected in sequence from top to bottom; the modified tool handle has a handle air inlet hole running through it, the universal connecting plate includes a universal connecting plate body, the top of the universal connecting plate body is provided with a recessed handle end receiving groove, the bottom of the modified tool handle extends into the handle end receiving groove; the bottom of the handle end receiving groove is provided with a plate air inlet hole connected to the handle air inlet hole; the top of the pneumatic clamping jaw includes an air claw A port and an air claw B port; the top of the universal connecting plate body is also respectively provided with: a state one air drive port, a state two air drive port, a state one passive air port and a state two passive air port; the state one air drive port and the state two air drive port are respectively connected to the plate The air inlet is connected; the universal connecting plate is also provided with a ventilation port connected to the atmosphere, and the state one passive air port and the state two passive air port are respectively connected to the ventilation port; the pneumatic manipulator module that can be loaded on the machine tool spindle includes a first state and a second state; when the pneumatic manipulator module that can be loaded on the machine tool spindle is in the first state, the air gripper B port is connected to the state one air drive port, and the air gripper A port is connected to the state one passive air port; when the pneumatic manipulator module that can be loaded on the machine tool spindle is in the second state, the air gripper A port is connected to the state two air drive port, and the air gripper B port is connected to the state two passive air port.

2. The pneumatic manipulator module that can be mounted on a machine tool spindle according to claim 1, characterized in that: The universal connecting plate body is further provided with a right first airflow channel and a right second airflow channel respectively connected to the plate air inlet, the outlet of the right first airflow channel is the state one air drive port; the outlet of the right second airflow channel is the state two air drive port; the universal connecting plate body is further provided with a left first airflow channel and a left second airflow channel respectively connected to the ventilation air port, the outlet of the left first airflow channel is the state one passive air port, and the outlet of the left second airflow channel is the state two passive air port; the state one air drive port, the state two air drive port, the state two passive air port and the state one passive air port together form a rectangle with the plate air inlet as the center.

3. The pneumatic manipulator module that can be mounted on a machine tool spindle according to claim 2, characterized in that: The universal connecting plate body is rectangular as a whole, and the outer periphery of the universal connecting plate body is flush with the outer periphery of the pneumatic clamp; a raised block is provided on one side of the universal connecting plate body, the vent is located on the lower surface of the block, and the vent is also provided with an exhaust path filter.

4. The pneumatic manipulator module that can be mounted on a machine tool spindle according to claim 3, characterized in that: The bottom of the modified tool handle is also provided with a plurality of handle threaded connection holes arranged around the handle air inlet hole, and a handle positioning hole is also provided on one side of the handle air inlet hole; the bottom of the handle end receiving groove is also provided with a plate positioning hole and a plurality of first plate connection holes arranged around the plate air inlet hole, and the pneumatic manipulator module that can be loaded on the machine tool spindle also includes positioning pins with two ends extending into the plate positioning hole and the handle positioning hole respectively; the modified tool handle and the universal connecting plate are connected by a first screw, and the first screw passes through the first plate connection hole and extends into the handle threaded connection hole.

5. The pneumatic manipulator module that can be mounted on a machine tool spindle according to claim 4, characterized in that: The plate air inlet hole is arranged directly below the handle air inlet hole, the number of the handle threaded connection holes is four, and the four handle threaded connection holes are evenly arranged around the handle air inlet hole, and a first plate connection hole is correspondingly provided directly below each of the handle threaded connection holes; the number of the plate positioning holes is two, and the number of the handle positioning hole is one, and on the bottom surface of the handle end receiving groove, the two plate positioning holes are equidistant from the plate air inlet hole, the line connecting the center of one plate positioning hole and the center of the plate air inlet hole is L1, and the line connecting the center of the other plate positioning hole and the center of the plate air inlet hole is L2, and L1 is perpendicular to L2.

6. The pneumatic manipulator module that can be mounted on a machine tool spindle according to claim 4, characterized in that: The plate air inlet hole is arranged directly below the handle air inlet hole, the number of the handle threaded connection holes is four, and the four handle threaded connection holes are evenly arranged around the handle air inlet hole, and a first plate connection hole is correspondingly provided directly below each handle threaded connection hole; the number of the handle positioning holes is two, and the number of the plate positioning hole is one. On the bottom surface of the modified knife handle, the two handle positioning holes are equidistant from the handle air inlet hole, the line connecting the center of one handle positioning hole and the center of the handle air inlet hole is L3, and the line connecting the center of the other handle positioning hole and the center of the handle air inlet hole is L4, and L3 is perpendicular to L4.

7. The pneumatic manipulator module that can be mounted on a machine tool spindle according to claim 5 or 6, characterized in that: The outer contour of the modified knife handle is cylindrical as a whole, and the receiving groove at the handle end is circular to match the bottom shape of the modified knife handle; the cross-section of the locating pin is waist-shaped, and the handle locating hole and the plate locating hole are respectively matched with the shape of the locating pin.

8. The pneumatic manipulator module that can be mounted on a machine tool spindle according to claim 7, characterized in that: A sealing ring receiving groove is also provided at the bottom of the handle end receiving groove, and the sealing ring receiving groove is also arranged around the outer peripheral edge of the plate air inlet hole, and an O-type sealing ring is provided in the sealing ring receiving groove.

9. The pneumatic manipulator module that can be mounted on a machine tool spindle according to claim 8, characterized in that: A second plate connecting hole is respectively provided at the four corners of the universal connecting plate body, and a claw threaded connecting hole is provided at the top of the pneumatic clamp facing each of the second plate connecting holes. The universal connecting plate and the pneumatic clamp are connected by a second screw, and the second screw passes through the second plate connecting hole and extends into the claw threaded connecting hole.

10. The pneumatic manipulator module capable of being mounted on a machine tool spindle according to any one of claims 1 to 6, characterized in that: The pneumatic clamp also includes: a spring, a push rod and at least two chucks, and the pneumatic clamp is of a normally closed type or a normally open type; when the pneumatic clamp is of a normally closed type, the chuck of the pneumatic clamp is in a closed state under the action of the elastic force of the spring, and is switched to an open state after the pressure gas is introduced into the air inlet hole of the handle; when the pneumatic clamp is of a normally open type, the chuck of the pneumatic clamp is in an open state under the action of the elastic force of the spring, and is switched to a closed state after the pressure gas is introduced into the air inlet hole of the handle.

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