System for assisting machine tool to automatically replace cutter by mobile robot

Abstract

The utility model discloses a system for assisting a machine tool to automatically replace cutters by a mobile robot, which comprises a CNC machine tool, the mobile robot and a cutter magazine main body, the mobile robot moves between the CNC machine tool and the cutter magazine main body, the mobile robot comprises an AGV body and a fixed box body, the bottom of the AGV body is movably provided with moving wheels, and the fixed box body is fixedly connected with the CNC machine tool. A cutter placing bin is positioned on one side of the upper end of the fixed box body, and a robot mounting position is positioned on the other side of the upper end of the fixed box body. The system for assisting the machine tool to automatically replace the cutter by the mobile robot is high in running speed and can respond at any time for 24 hours; the precision is high, errors are reduced, the precision can reach + / -0.05 MM through cooperation of the three parts, and the machining precision of a machine tool is guaranteed; the efficiency is high, it can be guaranteed that the cutter replacement speed is the same every time, and fatigue caused by long-time work is avoided.

Description

Technical Field

[0001] The utility model relates to the technical field of CNC machine tool tool replacement, in particular to a system for automatically replacing tool of a mobile robot-assisted machine tool. Background Art

[0002] The system for automatic tool replacement of mobile robots assisted machine tools is a supporting device for automatic tool replacement of CNC machine tools. During the operation of CNC machine tools, the tools need to be replaced in real time. With the continuous development of science and technology, people's requirements for the manufacturing process of the system for automatic tool replacement of mobile robots assisted machine tools are becoming higher and higher.

[0003] The existing mobile robot-assisted automatic tool replacement system for machine tools has certain drawbacks when used. At present, in the mechanical processing industry, tool replacement in the machine tool magazine is still done manually. Since the machine tool tools have different weights, sizes and lengths, and high precision, there are uncertainties in manual handling and replacement, which may cause the tools to be bumped or even accidentally dropped, resulting in unnecessary losses and bringing certain adverse effects to the actual use process. For this reason, we propose a mobile robot-assisted automatic tool replacement system for machine tools. Utility Model Content

[0004] Technical problems solved: In response to the shortcomings of the existing technology, the utility model provides a system for automatically changing tool of a mobile robot-assisted machine tool. The system has a fast running speed and can respond at any time 24 hours a day; it has high precision and reduces errors. The cooperation between the three can make the precision reach ±0.05MM, ensuring the accuracy of machine tool processing; it has high efficiency and can ensure that each tool is changed at the same speed, and will not cause fatigue due to long-term work; it reduces losses, improves production capacity, and reduces costs, and can avoid the cost increase caused by negligence in manual change of tools falling and being damaged, thereby improving the overall economic benefits of the factory; it is safe to use, and the collaborative robotic arm installed on the mobile robot can work safely with workers. Even if it touches a person or is touched by a person, the robot will stop running immediately and will not hurt people, which can effectively solve the problems in the background technology.

[0005] Technical solution: In order to achieve the above-mentioned purpose, the technical solution adopted by the utility model is: a system for automatically changing tools of machine tools assisted by a mobile robot, comprising a CNC machine tool, a mobile robot and a tool magazine body, wherein the mobile robot moves between the CNC machine tool and the tool magazine body, and the mobile robot comprises an AGV body and a fixed box body, a movable wheel is movably provided at the bottom of the AGV body, a tool placement bin is positioned on one side of the upper end of the fixed box body, a robot mounting position is positioned on the other side of the upper end of the fixed box body, a drive seat is mounted on the robot mounting position, a robotic arm is movably provided on the drive seat, an intelligent camera and a clamping controller are mounted on the end of the robotic arm, an electric clamp is provided on the clamping controller, and a bolt positioning structure is positioned between the robot mounting position and the drive seat.

[0006] Preferably, a processing station is installed inside the CNC machine tool, a sliding door is provided at the middle of the front end of the CNC machine tool, and the tool magazine body includes a tool magazine to be used and a scrap tool magazine, the tool magazine to be used is provided with tools to be used, and the scrap tool magazine is provided with scrap tools.

[0007] Preferably, the mobile robot switches and moves back and forth between the CNC machine tool and the tool magazine body via moving wheels provided at the bottom.

[0008] Preferably, the bottom of the AGV body is moved by moving wheels, the robot mounting position and the drive seat are fixed by a bolt positioning structure, the robotic arm rotates at the end of the drive seat, the clamping controller drives the electric clamp to clamp, and is monitored by a smart camera.

[0009] Preferably, the sliding door opens and closes in the middle of the front end of the CNC machine tool and is processed at a processing station inside.

[0010] Preferably, the tools to be used are clamped by a mobile robot and placed on a tool magazine to be used, and the scrapped tools are clamped by a mobile robot and placed on a scrapped tool magazine.

[0011] Beneficial effects: Compared with the existing technology, the utility model provides a system for automatically changing tools for machine tools assisted by mobile robots, which has the following beneficial effects: the system for automatically changing tools for machine tools assisted by mobile robots has a fast running speed and can respond at any time 24 hours a day; it has high precision and reduces errors, and the coordination between the three can make the precision reach ±0.05MM, ensuring the accuracy of machine tool processing; it has high efficiency and can ensure that each tool change is at the same speed and will not cause fatigue due to long-term work; it reduces losses, increases production capacity, and reduces costs, and can avoid the cost increase caused by negligence in manual change that causes the tool to fall and be damaged, thereby improving the overall economic benefits of the factory; it is safe to use, and the collaborative robotic arm installed on the mobile robot can work safely with workers. Even if it touches or is touched by people, the robot will stop running immediately and will not hurt people. The entire system for automatically changing tools for machine tools assisted by mobile robots has a simple structure and is easy to operate. The effect of use is better than that of traditional methods. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Figure 1 The utility model is a schematic diagram of the overall structure of a system for automatically changing tool of a mobile robot-assisted machine tool.

[0013] Figure 2 This is a structural schematic diagram of one side of the overall system for automatically changing tool for a mobile robot-assisted machine tool according to the present invention.

[0014] Figure 3 This is a schematic structural diagram of the overall top of a system for automatically changing tool for a mobile robot-assisted machine tool according to the present invention.

[0015] Figure 4 This is a schematic structural diagram of the other side of the overall system for automatically changing tool for a mobile robot-assisted machine tool according to the present invention.

[0016] Figure 5 The utility model is a structural schematic diagram of a tool library in a system for automatically changing tools for a mobile robot-assisted machine tool.

[0017] Figure 6 The utility model is a structural schematic diagram of a mobile robot in a system for automatically changing tool of a mobile robot-assisted machine tool.

[0018] In the figure: 1. CNC machine tool; 2. Mobile robot; 3. Sliding door; 4. Processing station; 5. Tool library for tools to be used; 6. Scrapped tool library; 7. Tools to be used; 8. Scrapped tools; 9. Robot installation position; 10. Bolt positioning structure; 11. Drive seat; 12. Robot arm; 13. Smart camera; 14. Clamping controller; 15. Electric gripper; 16. Tool placement compartment; 17. Fixed box; 18. Moving wheel; 19. AGV body; 20. Tool library body. DETAILED DESCRIPTION

[0019] The technical solution of the present invention will be clearly and completely described below in conjunction with the accompanying drawings and specific embodiments, but those skilled in the art will understand that the embodiments described below are part of the embodiments of the present invention, rather than all of the embodiments, and are only used to illustrate the present invention, and should not be regarded as limiting the scope of the present invention. Based on the embodiments in the present invention, all other embodiments obtained by those of ordinary skill in the art without making creative work are within the scope of protection of the present invention. If specific conditions are not specified in the embodiments, they are carried out according to conventional conditions or the conditions recommended by the manufacturer. If the manufacturer is not specified for the reagents or instruments used, they are all conventional products that can be purchased commercially.

[0020] In the description of this utility model, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicating positions or relationships, are based on the positions or relationships shown in the accompanying drawings and are intended solely to facilitate the description of this utility model and simplify the description. They do not indicate or imply that the devices or components referred to must have a specific orientation, be constructed, or operate in a specific orientation. Therefore, they should not be construed as limitations on this utility model. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0021] In the description of this utility model, it should be noted that, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "connected" should be understood in a broad sense. For example, they can refer to fixed connections, detachable connections, or integral connections; mechanical connections, electrical connections; direct connections, indirect connections through an intermediate medium, and internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in this utility model based on the specific circumstances.

[0022] like Figure 1-6As shown, a system for automatically changing tools of a mobile robot-assisted machine tool comprises a CNC machine tool 1, a mobile robot 2 and a tool magazine body 20. The mobile robot 2 moves between the CNC machine tool 1 and the tool magazine body 20. The mobile robot 2 comprises an AGV body 19 and a fixed box 17. A moving wheel 18 is movably provided at the bottom of the AGV body 19. A tool placement bin 16 is positioned on one side of the upper end of the fixed box 17. A robot mounting position 9 is positioned on the other side of the upper end of the fixed box 17. A drive seat 11 is mounted on the robot mounting position 9. A mechanical arm 12 is movably provided on the drive seat 11. An intelligent camera 13 and a clamping controller 14 are mounted on the end of the mechanical arm 12. An electric clamping claw 15 is provided on the clamping controller 14. There is a bolt positioning structure 10 between the human installation position 9 and the drive seat 11, which has a fast running speed and can respond at any time 24 hours a day; it has high precision and reduces errors. The cooperation between the three can make the precision reach ±0.05MM, ensuring the accuracy of machine tool processing; it is highly efficient and can ensure that each tool change is at the same speed, and will not cause fatigue due to long-term work; it reduces losses, increases production capacity, and reduces costs, and can avoid the cost increase caused by negligence in manual change that causes the tool to fall and be damaged, thereby improving the overall economic benefits of the factory; it is safe to use, and the collaborative robotic arm installed on the mobile robot can work safely with workers. Even if it touches people or is touched by people, the robot will stop running immediately and will not hurt people.

[0023] Furthermore, a processing station 4 is installed inside the CNC machine tool 1, a sliding door 3 is provided at the middle of the front end of the CNC machine tool 1, and the tool magazine body 20 includes a tool magazine 5 to be used and a scrap tool magazine 6, the tool magazine 5 to be used is provided with tools 7 to be used, and the scrap tool magazine 6 is provided with scrap tools 8.

[0024] Furthermore, the mobile robot 2 switches and moves back and forth between the CNC machine tool 1 and the tool magazine body 20 via the moving wheels 18 provided at the bottom.

[0025] Furthermore, the bottom of the AGV body 19 is moved by the moving wheel 18, the robot mounting position 9 and the drive seat 11 are fixed by the bolt positioning structure 10, the robotic arm 12 rotates at the end of the drive seat 11, the clamping controller 14 drives the electric clamp 15 to clamp, and is monitored by the smart camera 13.

[0026] Furthermore, the sliding door 3 is opened and closed in the middle of the front end of the CNC machine tool 1 and is processed by the processing station 4 inside.

[0027] Furthermore, the tool 7 to be used is clamped by the mobile robot 2 and placed on the tool magazine 5 to be used, and the scrapped tool 8 is clamped by the mobile robot 2 and placed on the scrapped tool magazine 6 .

[0028] Working principle: The utility model includes CNC machine tool 1, mobile robot 2, sliding door 3, processing station 4, tool library for use 5, scrap tool library 6, tools for use 7, scrap tools 8, robot installation position 9, bolt positioning structure 10, drive seat 11, robot arm 12, smart camera 13, clamping controller 14, electric clamp 15, tool placement bin 16, fixed box 17, moving wheel 18, AGV body 19, tool library body 20, fast running speed, can achieve 24 hours at any time response; high precision, reduce error, the coordination between the three The accuracy can reach ±0.05MM, ensuring the accuracy of machine tool processing; high efficiency, can ensure that each tool change is at the same speed, and will not cause fatigue due to long-term work; reduce losses, improve production capacity, and reduce costs, and can avoid the negligence caused by manual tool change that leads to tool falling and damage, causing increased costs, thereby improving the overall economic benefits of the factory; safe to use, the collaborative robotic arm installed on the mobile robot can work safely with workers, and even if it touches people or is touched by people, the robot will stop running immediately and will not hurt people.

[0029] A fixed box is installed above the AGV body. The front half of the box contains 10 tool storage bins, and the back half houses a collaborative robot. A dedicated gripper is mounted on the end of the collaborative robot, equipped with a 3D smart camera and an electric gripper that allows the robot to properly grasp the tool. This system is called a mobile robot. A tool magazine is also provided for the robot to easily access, divided into a ready-to-use tool magazine and a scrap tool magazine. The mobile robot can retrieve new tools from the ready-to-use tool magazine and place them in the tool magazine at the front of the machine body. The scrap tool magazine can be used to store unusable tools. When a tool needs to be replaced on a machine tool, the mobile robot moves to the machine. First, its robotic arm reaches into the machine tool and takes a picture of the designated tool change location. After correcting its position, the robot removes the scrapped tool and places it in the tool magazine at the front of the machine body. It then picks up a new tool of the same model, and the robotic arm re-enters the machine tool to replace it. After the replacement, the robotic arm exits the machine tool, completing the tool change task for the current machine tool.

[0030] It should be noted that, in this document, relational terms such as first and second (number one, number two), etc., are used solely to distinguish one entity or operation from another, and do not necessarily require or imply any actual relationship or order between these entities or operations. Furthermore, the terms "include," "comprise," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a process, method, article, or apparatus that includes a series of elements includes not only those elements but also other elements not explicitly listed, or elements inherent to such process, method, article, or apparatus. In the absence of further limitations, an element defined by the phrase "includes a..." does not preclude the presence of additional identical elements in the process, method, article, or apparatus that includes the element.

[0031] The above shows and describes the basic principles and main features of the present invention and the advantages of the present invention. It should be understood by those skilled in the art that the present invention is not limited to the above embodiments. The above embodiments and descriptions are merely illustrative of the principles of the present invention. Various changes and improvements may be made to the present invention without departing from the spirit and scope of the present invention, and such changes and improvements shall fall within the scope of the present invention as claimed.

Claims

1. A system for automatically changing tool of a machine tool using a mobile robot, comprising a CNC machine tool (1), a mobile robot (2) and a tool magazine body (20), characterized in that: The mobile robot (2) moves between the CNC machine tool (1) and the tool magazine body (20). The mobile robot (2) includes an AGV body (19) and a fixed box (17). The bottom of the AGV body (19) is movably provided with a moving wheel (18). A tool placement bin (16) is positioned on one side of the upper end of the fixed box (17). A robot mounting position (9) is positioned on the other side of the upper end of the fixed box (17). A drive seat (11) is mounted on the robot mounting position (9). A mechanical arm (12) is movably mounted on the drive seat (11). An intelligent camera (13) and a clamping controller (14) are mounted on the end of the mechanical arm (12). An electric clamping claw (15) is provided on the clamping controller (14). A bolt positioning structure (10) is positioned between the robot mounting position (9) and the drive seat (11).

2. The system for automatically changing tool of a machine tool assisted by a mobile robot according to claim 1, characterized in that: A processing station (4) is installed inside the CNC machine tool (1), a sliding door (3) is provided at the middle of the front end of the CNC machine tool (1), and the tool magazine body (20) includes a tool magazine to be used (5) and a scrap tool magazine (6), wherein the tool magazine to be used (5) is provided with tools to be used (7), and the scrap tool magazine (6) is provided with scrap tools (8).

3. The system for automatically changing tool of a machine tool assisted by a mobile robot according to claim 1, characterized in that: The mobile robot (2) switches and moves back and forth between the CNC machine tool (1) and the tool magazine body (20) via moving wheels (18) arranged at the bottom.

4. The system for automatically changing tool of a machine tool assisted by a mobile robot according to claim 1, characterized in that: The bottom of the AGV body (19) is moved by a moving wheel (18), the robot mounting position (9) and the drive seat (11) are fixed by a bolt positioning structure (10), the robot arm (12) rotates at the end of the drive seat (11), the clamping controller (14) drives the electric clamp (15) to clamp, and the clamping is monitored by an intelligent camera (13).

5. The system for automatically changing tool of a machine tool assisted by a mobile robot according to claim 2, characterized in that: The sliding door (3) is opened and closed in the middle of the front end of the CNC machine tool (1), and is processed inside through a processing station (4).

6. The system for automatically changing tool of a machine tool assisted by a mobile robot according to claim 2, characterized in that: The tool to be used (7) is clamped by the mobile robot (2) and placed on the tool magazine to be used (5), and the scrapped tool (8) is clamped by the mobile robot (2) and placed on the scrapped tool magazine (6).

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