Serial-parallel robot follow-up tool changing system

Abstract

The utility model relates to the field of machining equipment, in particular to a series-parallel robot follow-up tool changing system which comprises an equipment gantry base, a tool changing base is arranged on the equipment gantry base, a mechanical arm module and a tool base are arranged on the tool changing base in a sliding mode, a tool clamping module is arranged at one end of the mechanical arm module, and a tool clamping module is arranged at the other end of the mechanical arm module. The mechanical arm module and the tool base slide to the tool changing position above machining equipment on the tool changing base, and the mechanical arm module controls the tool clamping module to move between the tool base and the machining equipment to carry out tool replacement operation. The tool changing base is movably arranged above the multiple linkage robots, the tool changing system with the tool changing mechanical arm module and the tool magazine is arranged in a follow-up mode through the transmission mechanism, the tool changing time is saved, and the machining efficiency is improved; when the multiple robots operate in parallel, the tool changing system operates among the multiple robots, and the setting cost of the tool changing system is saved.

Description

Technical Field

[0001] This utility model relates to the field of machining equipment, specifically a serial-parallel robot follow-up tool changing system. Background Technology

[0002] During machining, the main tool needs to be replaced according to the tool usage or machining type requirements. The machine tool magazine holds the tools, and the tool-changing robotic arm is equipped with grippers to remove the tool from the tool holder and replace it with a tool retrieved from the tool magazine. This tool-changing method requires the robotic arm to move between the tool magazine and the tool holder position of the machining equipment performing the machining action. To correspond to the tool-changing position, the tool holder needs to pause machining, move to the tool-changing position, and wait for the tool-changing action to complete before resuming machining. This results in a long time occupation of the machining equipment, affecting machine tool uptime. Furthermore, this method is only suitable for tool changing on a single machining equipment and is not applicable to multiple parallel machining equipment operations, lacking scalability for the machining equipment. Utility Model Content

[0003] This utility model addresses the shortcomings of existing technologies by providing a serial-parallel robot follow-up tool changing system, including a gantry base, a tool changing base mounted on the gantry base, a robotic arm module and a tool holder slidably mounted on the tool changing base, a tool clamping module at one end of the robotic arm module, the robotic arm module and the tool holder sliding on the tool changing base to a tool changing position above the processing equipment, and the robotic arm module controlling the tool clamping module to move between the tool holder and the processing equipment to perform tool replacement operations.

[0004] Preferably, the tool changer base includes a positioning plate, a guide rail, and a drive rack. The positioning plate is fixedly disposed at the lower part of the tool changer base, and the tool changer base is fixed to the top of the equipment gantry through the positioning plate.

[0005] Preferably, the guide rails are disposed on the side wall of the tool changer base, and the upper and lower guide rails slide in cooperation with the robotic arm module and the tool holder. The drive rack is disposed on the side wall of the tool changer base, and the drive rack is arranged parallel to the guide rails. The drive rack is in transmission cooperation with the robotic arm module and the tool holder.

[0006] Preferably, the tool changer base is further provided with a cable drag chain, which is used to protect the connecting cables of the tool changer base and the robotic arm module.

[0007] Preferably, the robotic arm module is fixed on the drive base, the drive base cooperates with the guide rail, the drive base is equipped with a drive motor, and the drive motor cooperates with the drive rack through gears to enable the drive base to move horizontally on the guide rail.

[0008] Preferably, the robotic arm module includes a robotic arm base, a first arm, a second arm, and a third arm. The bottom of the robotic arm base is fixedly mounted on the drive seat. The bottom of the first arm is driven to the robotic arm base. The tail of the second arm is driven to the first arm to form a hinge. The front of the second arm is driven to the tail of the third arm to form a hinge. The front end of the third arm is rotatably connected to the tool clamping module.

[0009] Preferably, the tool clamping module includes an adjusting head and a clamping claw, and the adjusting head is rotatably disposed at the end of the robotic arm module away from the robotic arm base.

[0010] Preferably, the gripping claw includes a main gripping claw and a secondary gripping claw.

[0011] Preferably, the guide rail and drive rack are set on one or both sides of the tool changing base as needed, so that several sets of tool changing modules can be set in parallel, and the corresponding serial and parallel robots can be changed simultaneously.

[0012] Compared with the prior art, the beneficial effects of this utility model are as follows: by setting a tool changing base movably above multiple linked robots, and by setting the tool changing system with tool changing robot arm module and tool magazine in a follow-up manner through the transmission mechanism, the tool changing time of resetting when the robot changes tools is saved, and the processing efficiency is improved; when multiple groups of robots run in parallel, the tool changing system runs between multiple robots, saving the tool changing system setup cost. Attached Figure Description

[0013] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the accompanying drawings used in the description of the embodiments or the prior art will be discussed below. Obviously, the technical solutions described in conjunction with the accompanying drawings are only some embodiments of this utility model. For those skilled in the art, other embodiments and their accompanying drawings can be obtained from the embodiments shown in these drawings without creative effort.

[0014] Figure 1 This is a schematic diagram of the overall structure of a serial-parallel robot follow-up tool changing system according to this utility model.

[0015] Figure 2 This is a schematic diagram of the machine state without machining for a serial-parallel robot follow-up tool changing system according to this utility model.

[0016] Figure 3 This is a three-dimensional schematic diagram of a serial-parallel robot follow-up tool changing system according to the present invention.

[0017] Figure 4 This is a side view of a follow-up tool changing system of a serial-parallel robot follow-up tool changing system according to this utility model.

[0018] Figure 5 This is a top view of a follow-up tool changing system of a serial-parallel robot follow-up tool changing system according to this utility model.

[0019] Figure 6 This is a diagram showing the retracted state of the robotic arm in a serial-parallel robot follow-up tool changing system according to this utility model.

[0020] Figure 7 This is a diagram showing the operating status of a robotic arm in a serial-parallel robot follow-up tool changing system according to this utility model.

[0021] Figure 8 This is a top view of the robotic arm operating state of a serial-parallel robot follow-up tool changing system according to this utility model.

[0022] In the diagram: 1-Tool changer base, 11-Positioning plate, 12-Guide rail, 13-Drive rack, 14-Cable drag chain, 2-Drive seat, 21-Drive motor, 3-Tool holder, 31-Tool slot, 4-Machine arm base, 41-First arm, 42-Second arm, 43-Third arm, 5-Adjusting head, 51-Main gripper, 52-Secondary gripper, 6-Equipment gantry, 7-Processing equipment. Detailed Implementation

[0023] The technical solutions of various embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this utility model, and not all of them. Based on the embodiments described in this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this utility model.

[0024] This utility model discloses a serial-parallel robot follow-up tool changing system. In this embodiment, the follow-up tool changing system is applied to an industrial production line, facilitating the automation of product processing. The follow-up tool changing system achieves automatic operation through control equipment. The relevant control principles and implementation methods are existing technologies known to those skilled in the art based on the corresponding scenarios, and will not be elaborated here. Figures 1 to 8As shown, a tool changing base 1 is provided on the gantry base 6 of the equipment. A robotic arm module and a tool holder 3 are slidably mounted on the tool changing base 1. A tool clamping module is provided at one end of the robotic arm module. The robotic arm module and the tool holder 3 slide on the tool changing base 1 to the tool changing position above the processing equipment 7. The robotic arm module controls the tool clamping module to move between the tool holder 3 and the processing equipment 7 to perform tool replacement operations.

[0025] The tool changer base 1 includes a positioning plate 11, a guide rail 12, and a drive rack 13. The positioning plate 11 is fixedly mounted on the lower part of the tool changer base 1, and the tool changer base 1 is fixed to the top of the equipment gantry 6 via the positioning plate 11. The guide rail 12 is mounted on the side wall of the tool changer base 1, and the upper and lower guide rails 12 slide in engagement with the robotic arm module and the tool holder 3. The drive rack 13 is mounted on the side wall of the tool changer base 1, and is parallel to the guide rail 12. The drive rack 13 engages in transmission with the robotic arm module and the tool holder 3. A cable drag chain 14 is also provided on the tool changer base 1 to protect the connecting cables of the tool changer base 1 and the robotic arm module.

[0026] The robotic arm module is fixed on the drive base 2, which cooperates with the guide rail 12. The drive base 2 is equipped with a drive motor 21, which, through gears, cooperates with the drive rack 13 to enable the drive base 2 to move horizontally on the guide rail 12. The tool holder 3 is provided with several tool slots 31 for placing tools that are not currently in use.

[0027] The robotic arm module includes a robotic arm base 4, a first arm 41, a second arm 42, and a third arm 43. The bottom of the robotic arm base 4 is fixedly mounted on the drive seat 2. The bottom of the first arm 41 is connected to the robotic arm base 4. The tail of the second arm 42 is connected to the first arm 41 to form a hinge. The front of the second arm 42 is connected to the tail of the third arm 43 to form a hinge. The tool clamping module is rotatably connected to the front end of the third arm 43.

[0028] The tool clamping module includes an adjustment head 5 and clamping claws. The adjustment head 5 is rotatably disposed at the end of the robotic arm module away from the robotic arm base 4. The clamping claws include a main clamping claw 51 and a secondary clamping claw 52.

[0029] The guide rail 12 and drive rack 13 are set on one or both sides of the tool changing base 1 as required, so as to realize the setting of single or multiple tool changing modules and achieve the effect of tool changing for multiple serial or parallel robots.

[0030] It will be apparent to those skilled in the art that this invention is not limited to the details of the exemplary embodiments described above, and that it can be implemented in other specific forms without departing from the spirit or essential characteristics of this invention. Therefore, the embodiments should be considered exemplary and not restrictive in all respects. The scope of this invention is defined by the appended claims, not by the foregoing description, and is therefore intended to encompass all variations falling within the meaning and scope of equivalents of the claims. No reference numerals in the claims should be construed as limiting the scope of the claims.

[0031] Furthermore, it should be understood that although this specification describes embodiments, not every embodiment contains only one independent technical solution. This narrative style is merely for clarity. Those skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

Claims

1. A serial-parallel robot follow-up tool changing system, comprising a gantry tower, characterized in that: The equipment gantry is provided with a tool changing base, on which a robotic arm module and a tool holder are slidably mounted. One end of the robotic arm module is provided with a tool clamping module. The robotic arm module and the tool holder slide on the tool changing base to a tool changing position above the processing equipment. The robotic arm module controls the tool clamping module to move between the tool holder and the processing equipment to perform tool replacement operations.

2. The serial-parallel robot follow-up tool changing system according to claim 1, characterized in that: The tool changer base includes a positioning plate, a guide rail, and a drive rack. The positioning plate is fixedly installed at the lower part of the tool changer base, and the tool changer base is fixed to the top of the equipment gantry through the positioning plate.

3. The serial-parallel robot follow-up tool changing system according to claim 2, characterized in that: The guide rails are disposed on the side wall of the tool changer base. The upper and lower guide rails slide in cooperation with the robotic arm module and the tool holder. The drive rack is disposed on the side wall of the tool changer base. The drive rack is arranged parallel to the guide rails and is in transmission cooperation with the robotic arm module and the tool holder.

4. The serial-parallel robot follow-up tool changing system according to claim 1, characterized in that: The tool changer base is also equipped with a cable drag chain, which is used to protect the connecting cables of the tool changer base and the robotic arm module.

5. The serial-parallel robot follow-up tool changing system according to claim 3, characterized in that: The robotic arm module is fixed on the drive base, which cooperates with the guide rail. The drive base is equipped with a drive motor, which cooperates with the drive rack through gears to enable the drive base to move horizontally on the guide rail.

6. The serial-parallel robot follow-up tool changing system according to claim 5, characterized in that: The robotic arm module includes a robotic arm base, a first arm, a second arm, and a third arm. The bottom of the robotic arm base is fixedly mounted on the drive seat. The bottom of the first arm is driven to the robotic arm base. The tail of the second arm is driven to the first arm to form a hinge. The front of the second arm is driven to the tail of the third arm to form a hinge. The front end of the third arm is rotatably connected to the tool clamping module.

7. The serial-parallel robot follow-up tool changing system according to claim 1, characterized in that: The tool clamping module includes an adjustment head and a clamping jaw, and the adjustment head is rotatably mounted at the end of the robotic arm module away from the robotic arm base.

8. The serial-parallel robot follow-up tool changing system according to claim 7, characterized in that: The clamping jaws include a main clamping jaw and a secondary clamping jaw.

9. The serial-parallel robot follow-up tool changing system according to claim 2, characterized in that: The guide rail and drive rack are set on one or both sides of the tool changing base as required, so that several sets of tool changing modules can be set in parallel, and the corresponding serial and parallel robots can be changed simultaneously.

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