Composite robot automatic tool changing equipment

Abstract

The utility model relates to the technical field of automatic tool changing devices, in particular to composite robot automatic tool changing equipment which comprises at least one machining device and further comprises a movable tool changing device and a production control device. The movable tool changing device comprises a navigation transportation mechanism, and the navigation transportation mechanism is provided with a clamping mechanism, a tool storage position mechanism and a visual inspection mechanism; the clamping mechanism comprises a mechanical arm, and the mechanical arm is provided with a clamping fixing frame and a clamping jaw arranged on the clamping fixing frame; the tool storage mechanism comprises a storage vertical frame and a tool tray arranged on the storage vertical frame, and the tool tray is provided with a plurality of machining tools. The visual inspection mechanism comprises a camera arranged on the clamping jaw. The movable tool changing device moves to the machining device through the navigation conveying mechanism, then the clamping mechanism takes the corresponding machining tool from the tool tray on the storage position vertical frame through a clamping jaw of the mechanical arm and replaces the corresponding machining tool to the machining device, the visual detection mechanism conducts real-time detection, the machining efficiency is improved, and the operation risk is reduced.

Description

Technical Field

[0001] The present application relates to the technical field of automatic tool changing devices, and particularly to an automatic tool changing device for a composite robot. Background Art

[0002] When a machining device such as a drilling and tapping device processes parts, in order to meet various different machining requirements, the tool needs to be frequently changed. However, in a conventional drilling and tapping device, manual tool changing is required, that is, manually installing the tool that meets the machining requirements onto the drilling and tapping device. The manual tool changing method has low efficiency on the one hand. On the other hand, when the tool changing frequency is high, manual tool changing is prone to errors, resulting in part scrapping, and there are certain safety hazards. Utility Model Content

[0003] In order to improve the problems of low efficiency, errors, and safety hazards existing in manual tool changing in related technologies, the present utility model provides an automatic tool changing device for a composite robot.

[0004] An automatic tool changing device for a composite robot includes at least one processing device, and further includes a mobile tool changing device and a production control device; the mobile tool changing device includes a navigation and transportation mechanism, and the navigation and transportation mechanism is provided with a clamping mechanism, a tool storage position mechanism, and a vision detection mechanism; the clamping mechanism includes a robotic arm, and the robotic arm is provided with a clamping and fixing frame and clamping jaws arranged on the clamping and fixing frame; the tool storage position mechanism includes a storage vertical frame and a tool tray arranged on the storage vertical frame, and the tool tray is provided with a number of processing tools; the vision detection mechanism includes a camera arranged on the clamping jaws.

[0005] Further, the clamping and fixing frame has a clamping end and a replacement end, the clamping end and the replacement end have an included angle, and the clamping end and the replacement end are both provided with the clamping jaws; the camera is arranged between the clamping end and the replacement end; the clamping jaws are provided with induction sensors.

[0006] Further, the storage vertical frame is provided with a number of adapted mounting holes along its height, and the tool tray is detachably connected to the storage vertical frame through the adapted mounting holes.

[0007] Further, the tool tray is horizontally arranged, and a number of adapted notches are arranged along the length direction of the tool tray, and the processing tools are inserted and limited in the adapted notches.

[0008] Further, the tool storage position mechanism further includes a storage sensor, and the storage sensor includes a photoelectric sensor arranged on one side of the adapted notch, and the storage sensor faces the adapted notch.

[0009] Further, the tool tray is coated with a protective coating.

[0010] Furthermore, the tool changing device further includes a tool changing detection mechanism, and the tool changing detection mechanism includes a safety radar disposed on the robotic arm.

[0011] Furthermore, the processing device includes a processing mechanism, the processing mechanism is provided with a tool magazine mechanism and a processing control mechanism, the tool magazine mechanism includes a main frame slidably connected to the processing mechanism and a tool magazine rotatably connected to the main frame, the tool magazine has a plurality of tool storage slots for installing the processing tools, and a magnetic sensing member for detecting the processing tools is disposed in the tool storage slots.

[0012] Furthermore, the tool magazine mechanism further includes a tool detection assembly disposed on the processing mechanism, and the tool detection assembly includes a tool magazine sensing member for detecting the processing tools and a tool aligner for assisting the processing tools to perform tool alignment.

[0013] Furthermore, the processing control mechanism includes a processor, a memory and a communication interface electrically connected to the processing mechanism and the tool magazine mechanism.

[0014] The utility model has the following advantages:

[0015] 1. For an automatic tool changing device of a composite robot of the utility model, by providing a processing device and a tool changing device, when the processing device needs to change tools, the tool changing device moves to the processing device through the navigation and transportation mechanism, and then the clamping mechanism takes the corresponding processing tool from the tool tray on the storage rack through the clamping jaw of the robotic arm and replaces it with the processing device. During this process, the visual detection mechanism performs real-time detection on the taken tool and the replaced tool, so as to ensure the accuracy of tool changing. Through the automatic tool changing device, automatic tool changing can be realized by one tool changing device corresponding to multiple processing devices, which can reduce manual intervention, improve processing efficiency, reduce safety risks brought by manual operation, and improve the utilization rate of tools at the same time.

[0016] 2. For an automatic tool changing device of a composite robot of the utility model, by providing a magnetic sensing member in the tool magazine, a tool magazine sensing member in the processing mechanism and a storage position sensing member in the tool tray, multiple sensing members are used to detect and calibrate the processing tools. When the processing tool leaves or is loaded into the corresponding position, the sensing member can perform real-time induction and calibration, so as to further ensure the accuracy of tool changing in cooperation with the visual detection mechanism and avoid tool changing misalignment. Description of the Drawings

[0017] To more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0018] Figure 1 Structural schematic diagram of an automatic tool changing device for a composite robot according to an embodiment of the present application;

[0019] Figure 2 Another structural schematic diagram of an automatic tool changing device for a composite robot according to an embodiment of the present application;

[0020] Figure 3 For Figure 2 Partial enlarged schematic diagram of part A in

[0021] Figure 4 Structural schematic diagram of a mobile tool changing device in an embodiment of the present application;

[0022] Figure 5 For Figure 4 Structural schematic diagram of the clamping mechanism and the vision detection mechanism in

[0023] Figure 6 For Figure 4 Structural schematic diagram of the tool storage position mechanism in

[0024] Figure 7 For Figure 4 Structural schematic diagram of the tool tray in

[0025] Explanation of reference numerals:

[0026] 1. Processing device; 11. Processing mechanism; 12. Tool magazine mechanism; 121. Main body frame; 122. Tool library; 1221. Tool storage slot; 123. Driving component; 2. Mobile tool changing device; 21. Navigation and transportation mechanism; 22. Clamping mechanism; 221. Robot arm; 2211. Clamping and fixing frame; 2212. Claw; 23. Tool storage position mechanism; 231. Storage position vertical frame; 2311. Adaptable installation hole; 232. Tool tray; 2321. Adaptable notch; 233. Processing tool; 234. Storage position sensor; 24. Vision detection mechanism; 241. Camera. Detailed implementation manners

[0027] To make the above objects, features, and advantages of the present application more apparent and understandable, the following provides a detailed description of the specific embodiments of the present application with reference to the accompanying drawings. Many specific details are set forth in the following description to facilitate a thorough understanding of the present application. However, the present application 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 spirit of the present application. Therefore, the present application is not limited by the specific embodiments disclosed below.

[0028] In the description of the present application, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the present application.

[0029] In the present application, unless otherwise clearly defined and limited, the terms "installed", "connected", "connected to", "fixed", etc. should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or integrated; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two elements or the interaction relationship between two elements, unless otherwise clearly limited. For those of ordinary skill in the art, the specific meanings of the above terms in the present application can be understood according to specific circumstances.

[0030] It should be noted that when an element is referred to as "fixed to" or "disposed on" another element, it can be directly on the other element or there may be an intermediate element. When an element is considered to be "connected to" another element, it can be directly connected to the other element or there may be an intermediate element at the same time. The terms "vertical", "horizontal", "upper", "lower", "left", "right" and similar expressions used herein are only for the purpose of illustration and do not represent the only implementation manner.

[0031] Refer to Figure 1 and Figure 2 , a composite robot automatic tool changing device, including at least one processing device 1, and further including a mobile tool changing device 2 and a production control device. The production control device is electrically connected to the processing device 1 and the mobile tool changing device 2 for control. When the automatic tool changing device is running, the processing device 1 processes the parts. When a tool change is required, the mobile tool changing device 2 moves to the corresponding processing device 1 for tool change.

[0032] Specifically, the processing device 1 is used to process various parts. In this embodiment, the processing device 1 is a drilling and tapping device. The processing device 1 includes a processing mechanism 11. The processing mechanism 11 is provided with a tool magazine mechanism 12 and a processing control mechanism for controlling the processing and the tool magazine mechanism 12. The tool magazine mechanism 12 includes a main body frame 121 slidably connected to the processing mechanism 11, a tool magazine 122 rotatably connected to the main body frame 121, and a driving assembly 123 for driving the main body frame 121. In this embodiment, the main body frame 121 can reciprocate along the height direction of the processing mechanism 11 to cooperate with workpiece processing or move the tool changing device 2. The driving assembly 123 is a lead screw transmission assembly. Driven by the driving assembly 123, the main body frame 121 drives the tool magazine 122 to move in the vertical direction. It can be understood that the driving assembly 123 can also be a rack and pinion transmission assembly, a belt transmission assembly, etc.

[0033] Referring to Figure 2 and Figure 3 , the tool magazine 122 is arranged on the side of the main body frame 121 away from the driving assembly 123. The tool magazine 122 has a number of tool storage slots 1221 for installing the processing tool 233. The tool storage slots 1221 are circumferentially arranged along the edge direction of the tool magazine 122. Each tool storage slot 1221 is used to install one tool, and each tool storage slot 1221 is provided with a magnetic sensing element for detecting the tool. When the tool is changed to the tool storage slot 1221 by the tool changing device 2, the magnetic sensing element can sense the tool to know that the installation is completed.

[0034] The tool magazine mechanism 12 further includes a locking assembly arranged on the tool magazine 122 and a tool detection assembly arranged on the processing mechanism 11. The locking assembly is used to lock the tool magazine 122. The locking assembly can specifically be an electromagnetic lock, a mechanical lock, or other types of locks. When the tool magazine 122 is not in use, the locking assembly locks the tool magazine 122 to prevent unexpected movement. The tool detection assembly includes a tool magazine sensor for detecting the processing tool 233 and a tool aligner for assisting the processing tool 233 in tool alignment. Both the tool magazine sensor and the tool aligner face the processing area of the tool magazine 122, that is, the area where the tool magazine 122 contacts the part. The tool magazine sensor monitors parameters such as the wear degree, temperature, and vibration of the tool to determine whether the tool can continue to be used and whether tool change is required. The tool aligner is used to perform timely tool alignment in cooperation with the tool magazine 122 after tool change.

[0035] The processing control mechanism includes a processor, a memory, and a communication interface that are electrically connected to the processing mechanism 11 and the tool magazine mechanism 12. The processor is connected to the memory and is used to execute the program code stored in the memory. The memory also stores input data and output data. The processor processes the input data and generates output data according to the input data. The communication interface is used for data exchange with other devices. The communication interface can be a wired or wireless interface, such as an Ethernet interface, a Wi-Fi interface, a Bluetooth interface, etc. The processing control mechanism also includes a heat dissipation module for heat dissipation. The heat dissipation module can specifically be a heat sink, a fan, or other heat dissipation devices. The specific structure and working principle of the processing device 1 are prior arts and can be obtained by purchase, so they will not be elaborated here.

[0036] Referring to Figure 4 and Figure 5 , the tool changing device 2 includes a navigation and transportation mechanism 21, and the navigation and transportation mechanism 21 is provided with a clamping mechanism 22, a tool storage position mechanism 23, and a vision detection mechanism 24. Specifically, the navigation and transportation mechanism 21 is a laser SLAM navigation AGV. The clamping mechanism 22 includes a robotic arm 221, a power supply component, and a cooling component. The power supply component is used to supply power to the clamping mechanism 22, and the cooling component is used to timely discharge the heat generated by the operation of the robotic arm 221. The robotic arm 221 is a multi-axis collaborative arm. The robotic arm 221 is provided with a clamping and fixing frame 2211 and clamping jaws 2212 arranged on the clamping and fixing frame 2211. The clamping and fixing frame 2211 has a clamping end and a replacement end. The clamping end and the replacement end have a certain included angle. Both the clamping end and the replacement end are provided with clamping jaws 2212. The clamping jaws 2212 are provided with induction sensors, and the induction sensors can monitor the clamping process of the clamping jaws 2212 and obtain the power parameters during the clamping process to ensure the clamping accuracy. When changing tools, the robotic arm 221 drives the clamping and fixing frame 2211 and the clamping jaws 2212 to move to the processing device 1. The replacement end clamps and removes the tool of the processing device 1, and the clamping end clamps the tool of the tool storage position mechanism 23 and replaces it with the processing device 1.

[0037] To ensure the accuracy of tool changing, the vision detection mechanism 24 includes a camera 241 arranged on the clamping jaws 2212 and an industrial computer. The industrial computer stores communication software and application software. In this embodiment, the camera 241 is a high-definition camera 241. The camera 241 is arranged between the clamping end and the replacement end. When changing tools, the camera 241 continuously monitors the tool to ensure that the type and position of the replaced tool are the same as expected.

[0038] Referring to Figure 6 and Figure 7, the tool storage mechanism 23 includes a storage vertical frame 231 and a tool tray 232 arranged on the storage vertical frame 231. The tool tray 232 is provided with a number of processing tools 233. Specifically, the storage vertical frame 231 is made of high-strength alloy steel to ensure structural strength, and the storage vertical frame 231 is installed on the navigation and transportation mechanism 21 by means of threaded connection to achieve detachable connection. The storage vertical frame 231 is provided with a number of adaptor mounting holes 2311 along its height, and the tool tray 232 is detachably connected to the storage vertical frame 231 through the adaptor mounting holes 2311, and at the same time, the number of tool trays 232 on the storage vertical frame 231 can be conveniently adjusted. The tool tray 232 is horizontally arranged, and a number of adaptor notches 2321 are provided along the length direction of the tool tray 232. The processing tools 233 are inserted and limited in the adaptor notches 2321. The tool tray 232 is also coated with a protective coating to improve wear resistance and corrosion resistance, thereby extending the service life.

[0039] To ensure the accuracy when taking the processing tools 233, the tool storage mechanism 23 further includes a storage sensor 234. The storage sensor 234 includes a photoelectric sensor arranged on one side of the adaptor notch 2321. The storage sensor 234 faces the adaptor notch 2321. When the processing tool 233 at a specific position is taken or placed, the storage sensor 234 can sense and feedback to the production control device. At the same time, the mobile tool changing device 2 further includes a tool changing detection mechanism. The tool changing detection mechanism includes a safety radar arranged on the robotic arm 221. The safety radar can monitor the personnel or objects of the mobile tool changing device 2 in real time. When the personnel or objects are relatively close to the mobile tool changing device 2, the safety radar can give an alarm or stop in time to ensure the use safety.

[0040] The production control device (not shown in the figure) stores a CPPS system. The production control device uses the CPPS system to control the processing device 1 and the mobile tool changing device 2: The initial state of the processing device 1 is that the fixture is open. After being ready, the processing device 1 sends a start signal to the production control device, indicating that the processing preparation is completed. Subsequently, the part blank is placed at the picking origin and clamped by the fixture. The mobile tool changing device 2 receives the work order information sent by the processing device 1, including the corresponding tool number, and then installs the correct tool onto the processing device 1. After the tool installation is completed, the mobile tool changing device 2 withdraws from the processing device 1 and closes the protective door. After receiving the completion signal sent by the mobile tool changing device 2, the processing device 1 calls the target program to start processing. After the processing is completed, the fixture of the processing device 1 opens, and a processing completion signal is sent. After receiving this signal, the production control device opens the protective door and takes out the processed part.

[0041] The working principle of an automatic tool changing device for a composite robot in this application is as follows: When the processing device 1 needs to replace the processing tool 233, the mobile tool changing device 2 moves to the processing device 1 through the navigation and transportation mechanism 21. The production control device controls the clamping mechanism 22, the tool storage mechanism 23, and the vision detection mechanism 24 to cooperate. The processing tool 233 to be replaced is removed, and at the same time, the tool to be replaced is grabbed from the tool storage mechanism 23 and installed on the corresponding working position of the processing device 1. It can be understood that when there are multiple processing devices 1, the mobile tool changing device 2 can continuously move between multiple processing devices 1, so as to realize the replacement of the processing tool 233 between multiple processing devices 1, achieve the shared use of the mobile tool changing device 2, and effectively improve the work efficiency and reduce the production cost.

[0042] The technical features of the above-described embodiments can be combined arbitrarily. For the sake of brevity of description, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, it should be considered as the scope described in this specification.

[0043] The above-described embodiments only represent several implementation manners of this application. The description is relatively specific and detailed, but it should not be construed as a limitation to the scope of the patent application. It should be noted that for those of ordinary skill in the art, without departing from the concept of this application, several deformations and improvements can still be made, and these all belong to the protection scope of this application. Therefore, the protection scope of the patent of this application should be subject to the appended claims.

Claims

1. A compound robot automatic tool changing device, comprising at least one processing device (1), characterized in that, It also includes a mobile tool changing device (2) and a production control device; the mobile tool changing device (2) includes a navigation and transportation mechanism (21), and the navigation and transportation mechanism (21) is provided with a clamping mechanism (22), a tool storage position mechanism (23) and a visual detection mechanism (24); the clamping mechanism (22) includes a robotic arm (221), the robotic arm (221) is provided with a clamping fixing frame (2211) and clamping jaws (2212) arranged on the clamping fixing frame (2211); the tool storage position mechanism (23) includes a storage vertical frame (231), a tool tray (232) arranged on the storage vertical frame (231), and the tool tray (232) is provided with a number of processing tools (233); the visual detection mechanism (24) includes a camera (241) arranged on the clamping jaws (2212).

2. The automatic tool changing device for a composite robot according to claim 1, characterized in that, The clamping fixing frame (2211) has a clamping end and a replacement end, there is an included angle between the clamping end and the replacement end, and the clamping jaws (2212) are arranged at both the clamping end and the replacement end; the camera (241) is arranged between the clamping end and the replacement end; the clamping jaws (2212) are provided with induction sensors.

3. The automatic tool changing device of a composite robot according to claim 1, characterized in that, A number of adapted mounting holes (2311) are opened along the height of the storage vertical frame (231), and the tool tray (232) is detachably connected to the storage vertical frame (231) through the adapted mounting holes (2311).

4. The automatic tool changing device of a composite robot according to claim 3, characterized in that, The tool tray (232) is horizontally arranged, and a number of adapted notches (2321) are opened along the length direction of the tool tray (232), and the processing tools (233) are inserted and limited in the adapted notches (2321).

5. The automatic tool changing device for a composite robot according to claim 4, characterized in that, The tool storage position mechanism (23) also includes a storage sensor (234), and the storage sensor (234) includes a photoelectric sensor arranged on one side of the adapted notch (2321), and the storage sensor (234) faces the adapted notch (2321).

6. The automatic tool changing device of a composite robot according to claim 3, characterized in that, The tool tray (232) is coated with a protective coating.

7. The automatic tool changing device of a composite robot according to claim 1, characterized in that, The mobile tool changing device (2) also includes a tool changing detection mechanism, and the tool changing detection mechanism includes a safety radar arranged on the robotic arm (221).

8. A composite robot automatic tool changing device according to any one of claims 1-7, characterized in that, The processing device (1) includes a processing mechanism (11), the processing mechanism (11) is provided with a tool magazine mechanism (12) and a processing control mechanism, the tool magazine mechanism (12) includes a main body frame (121) slidably connected to the processing mechanism (11) and a tool magazine (122) rotatably connected to the main body frame (121), the tool magazine (122) has a number of tool storage slots (1221) for installing the processing tools (233), and magnetic sensing parts for detecting the processing tools (233) are arranged in the tool storage slots (1221).

9. The automatic tool changing device for a composite robot according to claim 8, characterized in that, The tool magazine mechanism (12) also includes a tool detection component arranged on the processing mechanism (11), and the tool detection component includes a tool magazine sensing part for detecting the processing tools (233) and a tool aligner for assisting the processing tools (233) in tool alignment.

10. The automatic tool changing device for a composite robot according to claim 8, characterized in that, The processing control mechanism includes a processor, a memory, and a communication interface that are electrically connected to the processing mechanism (11) and the tool magazine mechanism (12).

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