High-reliability high-speed double-mechanical-arm automatic tool changing device

Abstract

The utility model relates to the technical field of machining equipment, in particular to a high-reliability high-speed double-mechanical-arm automatic tool changing device which comprises a supporting bottom plate and is characterized in that an inverted-L-shaped support is arranged on one side of the top of the supporting bottom plate, a transmission assembly is arranged on the inverted-L-shaped support, an H-shaped supporting frame is arranged on one side of the supporting bottom plate, and a transmission assembly is arranged on the H-shaped supporting frame. The high-reliability high-speed double-mechanical-arm automatic tool changing device comprises an H-shaped supporting frame, a reinforcing rod is arranged on the top of the H-shaped supporting frame, a mounting plate is arranged on the reinforcing rod, a linear sliding rail is mounted on the mounting plate, a rack is arranged on one side of the linear sliding rail, and a sliding support is mounted on the top of the linear sliding rail. The reliability and speed of tool changing operation are obviously improved, the downtime of equipment is shortened, and the production efficiency is improved; the structural stability is enhanced through the design of the H-shaped supporting frame and the reinforcing rod, meanwhile, the sliding support can move accurately through cooperation of the front-back driving motor and the rack, and the operation precision is further improved.

Description

Technical Field

[0001] The utility model relates to the technical field of machining equipment, in particular to a highly reliable and high-speed dual-robot automatic tool changer. Background Art

[0002] In the traditional mechanical manufacturing and processing fields, the replacement of tools is usually a time-consuming process that requires manual intervention. This causes the machine to stop working when replacing tools, thereby reducing production efficiency. With the development of automation technology, automated tool-changing systems have gradually replaced manual tool-changing, but there are still problems such as low reliability, slow tool-changing speed, and complex maintenance. Therefore, developing an automatic tool changer with high reliability, high speed, and simple maintenance has become an important requirement in the industry.

[0003] A Chinese patent discloses an automatic tool changer (publication number: CN 210967995 U), which includes: a bracket, a tool turret assembly, a manipulator, a jaw assembly, and a tool arm. The tool turret assembly, the manipulator, and the tool arm are arranged on the bracket, and the jaw assembly is connected to the manipulator. Among them, a plurality of tools are arranged on the tool turret assembly. Among them, the manipulator can change its position relative to the tool turret assembly and the tool arm to grab a tool of a corresponding specification through the jaw assembly and place the grabbed tool on the tool arm to achieve automatic tool changing. However, this tool-changing device has a complex structure, single functionality, and problems such as low reliability, slow tool-changing speed, and complex maintenance. Therefore, a highly reliable and high-speed dual-robot automatic tool changer is needed. Summary of the Utility Model

[0004] The purpose of the utility model is to solve the disadvantages of the existing tool-changing device, such as complex structure, single functionality, low reliability, slow tool-changing speed, and complex maintenance, and to propose a highly reliable and high-speed dual-robot automatic tool changer.

[0005] The technical solution adopted by the utility model to solve its technical problems is: A highly reliable and high-speed dual-robot automatic tool changer of the utility model includes a support base plate, characterized in that: A reverse L-shaped bracket is arranged on one side of the top of the support base plate, a transmission assembly is arranged on the reverse L-shaped bracket, an H-shaped support frame is arranged on one side of the support base plate, a reinforcing rod is arranged on the top of the H-shaped support frame, a mounting plate is arranged on the reinforcing rod, a linear slide rail is mounted on the mounting plate, a rack is arranged on one side of the linear slide rail, a sliding bracket is mounted on the top of the linear slide rail, a front and rear driving motor is connected to one side of the sliding bracket, the front and rear driving motor is matched with the rack, a clamping assembly is connected to one end of the sliding bracket, an integrated sensor is arranged on one side of the clamping assembly, and a lubricating assembly is arranged on one side of the transmission assembly.

[0006] Preferably, the lubrication assembly includes an outer box body. Inside the outer box body, there is an oil storage tank. One end of the top of the oil storage tank is connected to an oil delivery pipe, and the other end of the oil delivery pipe is connected to an oil pump. One side of the oil pump is connected to a spray head. The number of spray heads is 2 and they are arranged from top to bottom. The lubrication assembly is an important part of the automatic tool changer, used to keep the chain conveyor belt lubricated, reduce wear and extend its service life. The lubrication assembly consists of an outer box body containing an oil storage tank for storing lubricating oil. The oil storage tank is connected to the oil pump through the oil delivery pipe. The function of the oil pump is to transport the lubricating oil from the oil storage tank to the spray heads. The two spray heads are arranged from top to bottom, which can effectively spray the lubricating oil evenly on all parts of the chain conveyor belt.

[0007] Preferably, the transmission assembly includes an output drive wheel. One end of the output drive wheel is connected to a first drive motor. One side of the output drive wheel is provided with a first driven wheel, and one side of the bottom of the output drive wheel is provided with a second driven wheel. The output drive wheel, the first driven wheel and the second driven wheel are jointly engaged with a chain conveyor belt. A limiting wheel is arranged at the included angle of the chain conveyor belt. There are 2 sets of grinding wheel replacement groups on the chain conveyor belt. Each grinding wheel replacement group includes a replacement grinding wheel, and one side of the replacement grinding wheel is provided with a replacement roller. The transmission assembly is responsible for driving the movement of the entire automatic tool changer. The output drive wheel is connected to the first drive motor to provide a power source. The first and second driven wheels are engaged with the outside of the output drive wheel to jointly drive the chain conveyor belt to move. The limiting wheel is arranged at the included angle of the chain conveyor belt to ensure the correct running track of the conveyor belt. There are two sets of grinding wheel replacement groups installed on the chain conveyor belt, and each group includes a replacement grinding wheel and a replacement roller, which are used to realize the rapid replacement of the tool.

[0008] Preferably, the clamping assembly includes a fixture base. Inside the fixture base, there is a second drive motor. At the bottom of the second drive motor, there are 2 lead screws. The lead screws are connected to a double robotic arm. The clamping assembly is used to fix and release the tool, including the fixture base, the second drive motor, the lead screws and the double robotic arm. The second drive motor is built into the fixture base to provide power for the clamping action. The two lead screws are connected to the second drive motor to convert the rotational motion into the linear motion of the robotic arm. The double robotic arm is connected to the lead screws to achieve precise clamping and release of the tool.

[0009] Preferably, one side of the fixture base is provided with a working grinding wheel, and one side of the working grinding wheel is provided with a working roller. On one side of the fixture base, 2 connecting plates are installed. On the connecting plates, 2 groups of cylinders are installed. The cylinders are associated with the robotic arm. One side of the fixture base is equipped with a working grinding wheel and a working roller. These components work together to realize the grinding and positioning of the tool. The two groups of cylinders are installed on the connecting plates and are connected to the robotic arm to provide additional power support and control the movement of the robotic arm.

[0010] Preferably, a third driving motor is provided on the sliding bracket. One end of the third driving motor is connected to a speed reducer, and the speed reducer is connected to the fixture base. The third driving motor and the speed reducer are installed on the sliding bracket, and these components work together to adjust the position and movement of the fixture base. The third driving motor provides power, and the speed reducer reduces the speed and increases the torque to control the fine movement of the fixture base. Such a design can ensure the precise positioning and stability of the tool during the replacement process.

[0011] The beneficial effects of the present utility model are as follows:

[0012] By designing a highly reliable and high-speed dual robotic arm automatic tool changer, the present utility model significantly improves the reliability and speed of the tool changing operation, reduces the equipment downtime, and enhances the production efficiency; the design of the H-shaped support frame and the reinforcing rod enhances the structural stability. At the same time, the cooperation of the front and rear driving motors and the rack enables the sliding bracket to move precisely, further improving the operation accuracy; the integrated lubrication component ensures the smooth operation of the chain conveyor belt, reduces the maintenance requirements and equipment wear, and extends the service life of the equipment; the design of the transmission component and the grinding wheel replacement group enables rapid and efficient tool replacement, reduces the tool changing time, and improves the continuous operation ability of the production line; the clamping component adopts the design of the second driving motor and the lead screw to provide a stable and reliable tool clamping force, avoiding the displacement or dropping of the tool during the machining process; the use of the integrated sensor can monitor the tool status in real time, prevent safety accidents caused by tool abnormalities, and enhance the safety of the entire operation process. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] In order to more clearly illustrate the technical solutions in the embodiments of the present utility model 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 following drawings are only some embodiments of the present utility model. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings.

[0014] Figure 1 It is a schematic structural diagram of the present utility model.

[0015] Figure 2 It is a top view of the structure of the present utility model.

[0016] Figure 3 It is a front view of the structure of the present utility model.

[0017] Figure 4 For the present utility model Figure 3 A-A sectional view.

[0018] Figure 5This is a schematic structural diagram of the lubrication component of the present utility model.

[0019] In the figure: 1. Replacement grinding wheel; 2. Replacement roller; 3. Double robotic arms; 4. Linear slide rail; 5. Second drive motor; 6. Third drive motor; 7. Reducer; 8. Lead screw; 9. Cylinder; 10. Front and rear drive motor; 11. Sliding bracket; 12. Fixture base; 13. Output drive wheel; 14. First drive motor; 15. Inverted L-shaped bracket; 16. Limiting wheel; 18. Second driven wheel; 20. Support bottom plate; 21. First driven wheel; 22. Chain conveyor belt; 23. Working roller; 24. Working grinding wheel; 25. Connecting plate; 26. Rack; 27. Mounting plate; 28. Reinforcing rod; 29. Integrated sensor; 30. H-shaped support frame; 31. Oil pump; 32. Nozzle; 33. Oil pipeline; 34. Outer box body; 35. Oil storage tank. Specific embodiments

[0020] Next, the technical solutions in the embodiments of the present utility model will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present utility model. Obviously, the described embodiments are only a part of the embodiments of the present utility model, rather than all of the embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative efforts fall within the protection scope of the present utility model. Embodiment

[0021] Please refer to Figures 1-5 As shown in the figure, a highly reliable high-speed double robotic arm automatic tool changer includes a support bottom plate 20, and is characterized in that: on one side of the top of the support bottom plate 20, there is an inverted L-shaped bracket 15, a transmission component is provided on the inverted L-shaped bracket 15, on one side of the support bottom plate 20, there is an H-shaped support frame 30, a reinforcing rod 28 is provided on the top of the H-shaped support frame 30, a mounting plate 27 is provided on the reinforcing rod 28, a linear slide rail 4 is installed on the mounting plate 27. The linear slide rail 4 is a common product on the market and can be directly purchased. On one side of the linear slide rail 4, there is a rack 26. A sliding bracket 11 is installed on the top of the linear slide rail 4. One side of the sliding bracket 11 is connected to a front and rear drive motor 10. The front and rear drive motor 10 cooperates with the rack 26. One end of the sliding bracket 11 is connected to a clamping component. One side of the clamping component is provided with an integrated sensor 29. The integrated sensor 29 is a common product on the market and can be directly purchased. A lubrication component is provided on one side of the transmission component.

[0022] In this embodiment, the lubrication assembly includes an outer box 34, an oil storage tank 35 is arranged inside the outer box 34, one end of the top of the oil storage tank 35 is connected to an oil delivery pipe 33, the other end of the oil delivery pipe 33 is connected to an oil pump 31, one side of the oil pump 31 is connected to a nozzle 32, the number of the nozzles 32 is 2 and they are arranged from top to bottom, the lubrication assembly is an important part of the automatic tool changing device, used to keep the chain conveyor 22 lubricated, reduce wear and extend the service life; the lubrication assembly is composed of an outer box 34, which contains an oil storage tank 35 for storing lubricating oil; the oil storage tank 35 is connected to the oil pump 31 through the oil delivery pipe 33, and the function of the oil pump 31 is to transport the lubricating oil from the oil storage tank 35 to the nozzle 32. The two nozzles 32 are arranged from top to bottom, and can effectively spray the lubricating oil evenly to various parts of the chain conveyor 22.

[0023] In this embodiment, the transmission assembly includes an output drive wheel 13, one end of the output drive wheel 13 is connected to a first drive motor 14, the first drive motor 14 is a common product on the market and can be purchased directly, one side of the output drive wheel 13 is provided with a first driven wheel 21, and the bottom side of the output drive wheel 13 is provided with a second driven wheel 18, the output drive wheel 13, the first driven wheel 21 and the second driven wheel 18 are commonly meshed with a chain conveyor 22 on the outer sides, the chain conveyor 22 is provided with a limiting wheel 16 at the angle, and the chain conveyor 22 is provided with a grinding wheel replacement group, the number of the grinding wheel replacement groups is 2, and the grinding wheel replacement group includes a replacement grinding wheel 1, and a replacement roller 2 is provided on one side of the replacement grinding wheel 1. The transmission assembly is responsible for driving the movement of the entire automatic tool changing device. The output drive wheel 13 is connected to the first drive motor 14 to provide a power source. The first and second driven wheels 18 are meshed with the outer side of the output drive wheel 13 to jointly drive the chain conveyor 22 to move. The limiting wheel 16 is arranged at the angle of the chain conveyor 22 to ensure the correct running trajectory of the conveyor belt. Two sets of grinding wheel replacement groups are installed on the chain conveyor 22, each group includes a replacement grinding wheel 1 and a replacement roller 2, which are used to realize the rapid replacement of the tool.

[0024] In this embodiment, the clamping assembly includes a clamp base 12, and a second drive motor 5 is provided inside the clamp base 12. The second drive motor 5 is a common product on the market and can be purchased directly. A lead screw 8 is provided at the bottom of the second drive motor 5. The number of the lead screws 8 is 2, and the lead screws 8 are connected to a dual robotic arm 3. The clamping assembly is used to fix and release the tool, and includes a clamp base 12, a second drive motor 5, a lead screw 8 and a dual robotic arm 3. The second drive motor 5 is built into the clamp base 12 to provide power for the clamping action. Two lead screws 8 are connected to the second drive motor 5 to convert the rotational motion into the linear motion of the robotic arm. The dual robotic arm 3 is connected to the lead screw 8 to achieve precise clamping and release of the tool.

[0025] In this embodiment, a working grinding wheel 24 is provided on one side of the fixture base 12, a working roller 23 is provided on one side of the working grinding wheel 24, a connecting plate 25 is installed on one side of the fixture base 12, the number of the connecting plates 25 is two, a cylinder 9 is installed on the connecting plate 25. The cylinder 9 is a common product on the market and can be directly purchased. The number of the cylinders 9 is two groups. The cylinder 9 is associated with the robotic arm. A working grinding wheel 24 and a working roller 23 are installed on one side of the fixture base 12. These components work together to realize the grinding and positioning of the cutting tool. The two groups of cylinders 9 are installed on the connecting plate 25 and connected to the robotic arm to provide additional power support and control the movement of the robotic arm.

[0026] In this embodiment, a third driving motor 6 is provided on the sliding bracket 11. The third driving motor 6 is a common product on the market and can be directly purchased. One end of the third driving motor 6 is connected to a speed reducer 7, and the speed reducer 7 is connected to the fixture base 12. The sliding bracket 11 is equipped with the third driving motor 6 and the speed reducer 7. These components work together to adjust the position and movement of the fixture base 12. The third driving motor 6 provides power, and the speed is reduced and the torque is increased through the speed reducer 7, so as to control the fine movement of the fixture base 12. Such a design can ensure the precise positioning and stability of the cutting tool during the replacement process.

[0027] The implementation principle of this embodiment is as follows: When the main machine needs to replace the grinding wheel, first start the first driving motor 14. The first driving motor 14 drives the driving wheel to rotate, and the driving wheel drives the first driven wheel 21 and the second driven wheel 18 to rotate, thereby driving the entire chain conveyor belt 22 to start running, and running one group of replacement grinding wheels 1 and replacement rollers 2 to the replacement position. Start the front and rear driving motors 10. Under the action of the linear slide rail 4 and the rack 26, drive the sliding bracket 11 to move back and forth. Start the third driving motor 6 to drive the fixture base 12 to rotate to the replacement position. Then start the second driving motor 5 to drive the lead screw 8 to rotate, so that the robotic arm moves along the lead screw. Move each robotic arm to the replacement roller 2 and the replacement grinding wheel 1 respectively. Start the cylinder 9 to control the robotic arm to clamp the replacement roller 2 and the replacement grinding wheel 1, and then drive the fixture base 12 to rotate through the third driving motor 6, and control it to relax through the cylinder 9, and install the clamped replacement roller 2 and replacement grinding wheel 1 on the main machine. The replacement of the grinding wheel and the roller is all controlled mechanically. When maintenance lubrication is required, the oil pump 31 of the lubrication component transports the lubricating oil to the spray head 32 through the oil delivery pipe 33, and the spray head 32 evenly sprays the lubricating oil on each part of the chain conveyor belt 22 to ensure the smooth operation of the conveyor belt and extend its service life; the integrated sensor 29 real-time monitors the position and state of the cutting tool to ensure the accuracy and safety of the cutting tool replacement. Once an abnormality is detected, the control system will immediately take measures to stop the operation and issue an alarm.

[0028] In the description of this specification, the descriptions referring to terms such as "one embodiment", "example", "specific example", etc. mean that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present utility model. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0029] The above has shown and described the basic principles, main features and advantages of the present utility model. Those skilled in the art should understand that the present utility model is not limited by the above embodiments, and the above embodiments and the descriptions in the specification only illustrate the principles of the present utility model. Without departing from the spirit and scope of the present utility model, the present utility model will have various changes and improvements, and all these changes and improvements fall within the scope of the present utility model claimed.

Claims

1. A highly reliable and high-speed automatic tool changing device for double robotic arms, comprising a support base plate (20), characterized in that: On one side of the top of the supporting bottom plate (20), there is an inverted L-shaped bracket (15). A transmission component is provided on the inverted L-shaped bracket (15). On one side of the supporting bottom plate (20), there is an H-shaped support frame (30). At the top of the H-shaped support frame (30), there is a reinforcing rod (28). An installation plate (27) is provided on the reinforcing rod (28). A linear slide rail (4) is installed on the installation plate (27). A rack (26) is provided on one side of the linear slide rail (4). A sliding bracket (11) is installed on the top of the linear slide rail (4). One side of the sliding bracket (11) is connected to a front and rear drive motor (10). The front and rear drive motor (10) cooperates with the rack (26). One end of the sliding bracket (11) is connected to a clamping component. An integrated sensor (29) is provided on one side of the clamping component. A lubrication component is provided on one side of the transmission component.

2. The high-reliability high-speed dual robotic arm automatic tool changer according to claim 1, characterized in that: The lubrication component includes an outer box body (34). An oil storage tank (35) is provided inside the outer box body (34). One end of the top of the oil storage tank (35) is connected to an oil delivery pipe (33). The other end of the oil delivery pipe (33) is connected to an oil pump (31). A spray head (32) is connected to one side of the oil pump (31). The number of spray heads (32) is 2 and they are arranged from top to bottom.

3. A highly reliable and high-speed dual robotic arm automatic tool changer according to claim 1, characterized in that: The transmission component includes an output drive wheel (13). One end of the output drive wheel (13) is connected to a first drive motor (14). A first driven wheel (21) is provided on one side of the output drive wheel (13). A second driven wheel (18) is provided on one side of the bottom of the output drive wheel (13). A chain conveyor belt (22) meshes with the outside of the output drive wheel (13), the first driven wheel (21), and the second driven wheel (18). A limiting wheel (16) is provided at the included angle of the chain conveyor belt (22). There are 2 groups of grinding wheel replacement groups on the chain conveyor belt (22). Each grinding wheel replacement group includes a replacement grinding wheel (1). A replacement roller (2) is provided on one side of the replacement grinding wheel (1).

4. A highly reliable and high-speed dual robotic arm automatic tool changing device according to claim 1, characterized in that: The clamping component includes a fixture base (12). A second drive motor (5) is provided inside the fixture base (12). A lead screw (8) is provided at the bottom of the second drive motor (5). The number of lead screws (8) is 2. The lead screws (8) are connected to a double robotic arm (3).

5. A highly reliable and high-speed dual robotic arm automatic tool changer according to claim 4, characterized in that: A working grinding wheel (24) is provided on one side of the fixture base (12). A working roller (23) is provided on one side of the working grinding wheel (24). Two connecting plates (25) are installed on one side of the fixture base (12). Two groups of air cylinders (9) are installed on the connecting plates (25). The air cylinders (9) are associated with the robotic arm.

6. The highly reliable and high-speed dual robotic arm automatic tool changer according to claim 1, characterized in that: A third drive motor (6) is provided on the sliding bracket (11). One end of the third drive motor (6) is connected to a speed reducer (7). The speed reducer (7) is connected to the fixture base (12).

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