Tool changing robot

Abstract

The utility model discloses a tool changing robot which comprises a grabbing module, and a tool bin and a movable tool rest are correspondingly arranged below the grabbing module. The grabbing module comprises a motor cross beam, and the motor cross beam is provided and connected with a first motor adapter plate. The first motor adapter plate is provided with a first motor and a first synchronous wheel-synchronous belt structure matched with the first motor. The first synchronous wheel-synchronous belt structure is connected with a first lead screw, and the first lead screw is used for driving the z-axis guide rail installation bottom plate to move front and back. The tool clamping device has the advantages that the grabbing module is introduced, a plurality of side-by-side clamping jaw air cylinders can accurately move in the x-axis direction, the y-axis direction and the z-axis direction at the same time to pick and place a plurality of tools through close fit of a motor, a lead screw and other devices, the hidden danger of large tool installation deviation in manual operation is eliminated, higher installation precision is guaranteed, and the tool clamping device is suitable for being used for machining tools. And the tool changing efficiency is improved.

Description

Technical Field

[0001] This utility model relates to the field of robot control technology, specifically to a tool-changing robot. Background Technology

[0002] In CNC machine tool machining, tool changing typically involves retrieving a tool from the tool magazine and installing it onto the spindle. Traditional methods rely on manual tool retrieval and mounting on the high-speed spindle. This not only easily leads to significant tool installation errors but also reduces machining efficiency and product quality due to the slow tool selection and installation process. Especially when frequent tool changes are involved, operators are required to disassemble used tools, return them to the tool storage area, retrieve new tools, and install them on the machining center. This tool changing method is cumbersome and time-consuming, increasing the complexity of the tool changing process and limiting production efficiency and automation levels. Utility Model Content

[0003] (I) Problems to be solved

[0004] The technical problem to be solved by this utility model is to provide a tool changing robot in view of the current state of the technology.

[0005] (II) Technical Solution

[0006] This utility model is achieved through the following technical solution: This utility model proposes a tool-changing robot, including a gripping module, with a tool magazine and a movable tool holder correspondingly arranged below the gripping module. The gripping module includes a motor beam, and a motor adapter plate is mounted on the motor beam. The motor adapter plate mounts a motor and a first synchronous pulley-synchronous belt structure that cooperates with the motor. A first lead screw is connected to the first synchronous pulley-synchronous belt structure, and the first lead screw is used to drive the Z-axis guide rail mounting base plate to move back and forth. A first lead screw nut is fixed to a Y-axis nut seat, and the Y-axis nut seat is fixed to the Y-axis slide plate. Transmission frames are provided at both ends of the motor beam, and the transmission frames are slidably connected to the Y-axis slide plate through a Y-axis guide rail-slider mechanism. An X-axis guide rail-slider mechanism is arranged laterally on the Y-axis slide plate, and the X-axis guide rail-slider mechanism is slidably connected to the X-axis slide plate. A motor second mounting plate is connected to one end of the Y-axis slide plate, and a motor second is mounted on the motor second mounting plate. Motor 2 is installed with the second lead screw and its nut. The second lead screw nut is mounted on the x-axis nut seat, which is fixed to the z-axis guide rail mounting base. The x-axis slide plate is fixedly connected to the z-axis guide rail mounting base. The z-axis guide rail mounting base has a motor 3 adapter plate, on which motor 3 and a second synchronous pulley-synchronous belt structure that mates with motor 3 are mounted. A vertically arranged z-axis guide rail-slider mechanism is mounted on the z-axis guide rail mounting base, which is slidably connected to the z-axis slide plate via the z-axis guide rail-slider mechanism. Motor 3 is installed with the third lead screw and its nut. The third lead screw nut is mounted on the z-axis nut seat, which is fixed to the z-axis slide plate. The third lead screw drives the z-axis slide plate to move up and down. Six gripper devices are installed on the z-axis slide plate.

[0007] By adopting the above technical solution, in the first part of the tool handling process, the Z-axis slide descends and then returns to its original position, where the sensor between the grippers detects the position of the tool below. After the Y-axis slide moves towards the movable tool holder, it drives the Z-axis slide to descend, at which point the gripper cylinder picks up the tool to be replaced from the tool placement position. Subsequently, the Z-axis slide is driven to rise, so that the bottom of the tool is higher than the tool placement hole. Next, the first synchronous pulley-synchronous belt structure and the first lead screw drive the Y-axis slide to move towards the tool preparation disc until it is above the tool placement hole, driving the Z-axis slide to slide down and place the tool to be replaced into the tool placement hole, and the grippers open and move upward a certain distance. Next, in the second part of the action, the x-axis slide is driven to move laterally on the x-axis guide rail-slider mechanism. At this time, the empty gripper cylinder moves above another tool placement hole. Then, the z-axis slide is driven to move downward, and the gripper cylinder's grippers close to clamp the tool to be used. The first synchronous pulley-synchronous belt structure, the first lead screw, and the third lead screw drive the z-axis slide and x-axis slide to move, placing the tool to be used into the tool placement hole of the movable tool holder. Finally, the drive motor-gear mechanism moves the movable tool holder loaded with the tool to be used to a preset position, completing the entire tool unloading action. One action can simultaneously grab 6 tools, resulting in high tool changing efficiency.

[0008] Furthermore, the gripper device includes a cylinder mounting plate and a gripper cylinder mounted on the cylinder mounting plate, the gripper cylinder being connected to an airflow valve.

[0009] Furthermore, a sensor bracket is connected to the gripper cylinder, and a sensor is installed on the sensor bracket. The sensor is arranged between the grippers of the gripper cylinder.

[0010] Furthermore, the inner side of the gripper of the gripper cylinder is provided with an arc-shaped mating surface that matches and fits into the shape of the upper part of the tool holder.

[0011] Furthermore, the tool magazine includes a tool holder mounting plate, on which a tool holder disc is mounted. The tool holder disc and the tool holder mounting plate have tool mounting holes, with each tool holder disc having 4×5 tool mounting holes.

[0012] Furthermore, the movable tool holder includes a movable plate that is fixedly connected to the tool preparation mounting plate. The lower end of the movable plate is equipped with a movable plate guide rail-slider structure, and the tool magazine movable plate is fixedly connected to the movable plate guide rail of the movable plate guide rail-slider structure.

[0013] Furthermore, a gear plate is mounted on the moving plate frame, and the gear plate meshes with the drive motor-gear mechanism. The moving plate frame is slidably connected to the tool magazine moving plate through a moving plate guide rail-slider structure.

[0014] Furthermore, the tool magazine moving plate is equipped with a number of movable tool holders that match the number of spare tool plates, and the movable tool holders are provided with multiple tool placement holes.

[0015] (III) Beneficial Effects

[0016] This invention introduces a gripping module, which, through the close cooperation of a motor, lead screw, and other devices, enables multiple parallel gripper cylinders to move simultaneously and precisely in the x, y, and z axes to pick up and place multiple tools. This eliminates the risk of large tool installation deviations in manual operation, ensuring higher installation accuracy and improving tool changing efficiency. Furthermore, when frequent tool changes are required, the gripping module can quickly and accurately complete the replacement of different types of tools between the tool magazine and the moving tool holder, reducing process complexity and downtime, lowering labor costs, achieving a smoother machining process, and accelerating production efficiency. Attached Figure Description

[0017] The accompanying drawings, which form part of this application, are used to provide a further understanding of the present invention. The illustrative embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention.

[0018] Figure 1 This is a perspective view (a) of a tool-changing robot according to the present invention;

[0019] Figure 2 This is a perspective view (II) of a tool-changing robot according to the present invention;

[0020] Figure 3 This is a perspective view of the gripping module in a tool-changing robot according to the present invention;

[0021] Figure 4 This is a top view of the gripping module in a tool-changing robot according to the present invention;

[0022] Figure 5 This is a left view of the tool-changing robot described in this utility model;

[0023] The accompanying reference numerals are as follows:

[0024] 1. Gripping module; 2. Tool magazine; 3. Moving tool holder; 4. Gripper device; 100. Motor crossbeam; 101. Motor 1 adapter plate; 102. Motor 1; 103. First synchronous pulley-synchronous belt structure; 104. First lead screw; 105. Y-axis slide plate; 106. Y-axis nut seat; 1061. First lead screw nut; 107. Transmission frame; 108. Y-axis guide rail-slider mechanism; 109. X-axis guide rail-slider mechanism; 110. X-axis slide plate; 111. Motor 2 mounting plate; 112. Motor 2; 113. Second lead screw; 114. Second lead screw nut; 115. Z-axis guide rail mounting base plate; 116. Motor 3 adapter plate; 117. Motor 3; 118. Second synchronous pulley-synchronous belt Structure; 119. Z-axis guide rail-slider mechanism; 120. Z-axis slide plate; 121. Third lead screw; 122. Third lead screw nut; 123. Z-axis nut seat; 200. Tool spare mounting plate; 201. Tool spare disc; 202. Tool placement hole; 300. Moving disc frame; 301. Moving disc guide rail-slider structure; 302. Moving disc guide rail; 303. Gear plate; 304. Drive motor-gear mechanism; 305. Tool magazine moving disc; 306. Movable tool holder frame; 307. Tool placement hole; 401. Cylinder mounting plate; 402. Gripper cylinder; 403. Airflow valve; 404. Sensor bracket; 405. Sensor; 406. Gripper; 407. Inner side of gripper; 408. Arc mating surface. Detailed Implementation

[0025] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0026] In the description of this application, it should be understood that the terms "thickness", "upper", "lower", "front", "rear", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0027] Please see Figures 1-5This utility model provides a technical solution: a tool-changing robot, including a gripping module 1, with a tool magazine 2 and a movable tool holder 3 correspondingly arranged below the gripping module 1. The gripping module 1 includes a motor crossbeam 100, and a motor adapter plate 101 is mounted on the motor crossbeam 100. The motor adapter plate 101 is equipped with a motor 102 and a first synchronous pulley-synchronous belt structure 103 that cooperates with the motor 102. A first lead screw 104 is connected to the first synchronous pulley-synchronous belt structure 103, and the first lead screw 104 is used to drive the z-axis guide rail mounting base plate 115 to move back and forth. A first lead screw nut 1061 is fixed on the y-axis nut seat 106 and the y-axis nut seat 106 is fixed on the y-axis slide plate 105. Transmission frames 107 are provided at both ends of the motor crossbeam 100, and the transmission frames 107 and the y-axis slide plate 105 are slidably connected through a y-axis guide rail-slider mechanism 108. An x-axis guide rail-slider mechanism 109 is laterally arranged on the y-axis slide plate 105, and the x-axis guide rail-slider mechanism 109 is slidably connected to the x-axis slide plate 110. One end of the y-axis slide plate 105 is connected to a motor mounting plate 111, on which a motor 112 is mounted. The motor 112 is fitted with a second lead screw 113 and a second lead screw nut 114, which is mounted on an x-axis nut seat fixed to the z-axis guide rail mounting base plate 115. The x-axis slide plate 110 is fixedly connected to the z-axis guide rail mounting base plate 115. A motor 3 adapter plate 116 is mounted on the z-axis guide rail mounting base plate 115, and a motor 3 117 and a second synchronous pulley-synchronous belt structure 118 that mates with the motor 3 117 are mounted on the motor 3 adapter plate 116. A vertically arranged Z-axis guide rail-slider mechanism 119 is mounted on the Z-axis guide rail mounting base plate 115. The Z-axis guide rail mounting base plate 115 is slidably connected to the Z-axis slide plate 120 through the Z-axis guide rail-slider mechanism 119. A motor 117 is installed in conjunction with a third lead screw 121 and a third lead screw nut 122. The third lead screw nut 122 is mounted on a Z-axis nut seat 123 fixed on the Z-axis slide plate 120. The third lead screw 121 is used to drive the Z-axis slide plate 120 to move up and down. Six gripper devices 4 are mounted on the Z-axis slide plate 120. In the first part of the tool handling operation, the Z-axis slide plate 120 descends and then returns to its original position. The sensor 405 between the grippers 406 senses the position of the tool below. After the Y-axis slide plate 105 moves towards the movable tool holder 306, it drives the Z-axis slide plate 120 to descend. At this time, the gripper cylinder 402 picks up the tool to be replaced in the tool placement hole 307. Then, the z-axis slide plate 120 is driven to rise, so that the bottom of the tool is higher than the tool placement hole 202. Next, the y-axis slide plate 105 is driven to move towards the tool preparation disc 201 above the tool placement hole 202 through the first synchronous pulley-synchronous belt structure 103 and the first lead screw 104. The z-axis slide plate 120 is then driven to slide down to put the tool to be replaced into the tool placement hole 202, and the gripper 406 is opened and moved upward a certain distance.Next, in the second part of the action, the x-axis slide plate 110 is driven to move laterally on the x-axis guide rail-slider mechanism 109. At this time, the empty gripper cylinder 402 moves above another tool placement hole 202. Then, the z-axis slide plate 120 is driven to move downward, and the gripper 406 of the gripper cylinder 402 closes to clamp the tool to be used. The z-axis slide plate 120 and the x-axis slide plate 110 are driven to move by the first synchronous pulley-synchronous belt structure 103, the first lead screw 104, and the third lead screw 121, placing the tool to be used into the tool placement hole 307 of the movable tool holder 306. Finally, the drive motor-gear mechanism 304 moves the movable tool holder 306 loaded with the tool to be used to a preset position, completing the entire tool removal action. Six tools can be grabbed at the same time in one action, resulting in high tool changing efficiency.

[0028] Preferably, the gripper device 4 includes a cylinder mounting plate 401 and a gripper cylinder 402 mounted on the cylinder mounting plate 401. The gripper cylinder 402 is connected to an airflow valve 403. The airflow valve 403 is used to control the gripping speed of the gripper cylinder 402.

[0029] Preferably, a sensor bracket 404 is connected to the gripper cylinder 402, and a sensor 405 is mounted on the sensor bracket 404. The sensor 405 is arranged between the grippers 406 of the gripper cylinder 402. The sensor 405 is used to obtain the position information of the tool.

[0030] Preferably, the inner surface 407 of the gripper of the gripper cylinder 402 is provided with an arc-shaped mating surface 408 that matches and fits into the upper part of the tool holder. When clamping the tool, the arc-shaped mating surface 408 engages with the arc surface of the tool itself to prevent the clamping force from concentrating and causing tool wear.

[0031] Preferably, the tool magazine 2 includes a tool holder mounting plate 200, on which a tool holder disc 201 is mounted. The tool holder disc 201 and the tool holder mounting plate 200 have tool mounting holes 202. Each tool holder disc 201 has 4×5 tool mounting holes 202, which can hold up to 20 tools to store different types of tools required during the machining process.

[0032] Preferably, the movable tool holder 3 includes a movable plate frame 300 that is connected and fixed to the tool preparation mounting plate 200. A movable plate guide rail-slider structure 301 is installed at the lower end of the movable plate frame 300. The tool magazine movable plate 305 is fixedly connected to the movable plate guide rail 302 of the movable plate guide rail-slider structure 301.

[0033] Preferably, the moving plate frame 300 is equipped with a gear plate 303, which meshes with the drive motor-gear mechanism 304. The moving plate frame 300 is slidably connected to the tool magazine moving plate 305 via the moving plate guide rail-slider structure 301.

[0034] Preferably, the tool magazine moving plate 305 is equipped with movable tool holders 306, which are the same number as the spare tool plate 201. The movable tool holders 306 are provided with multiple tool placement holes 307.

[0035] The above description of the disclosed embodiments enables those skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A tool-changing robot, characterized in that, The system includes a gripping module, with a tool magazine and a movable tool holder located below it. The gripping module includes a motor beam, to which a motor adapter plate is mounted. The motor adapter plate houses a motor and a first synchronous pulley-belt structure that mates with the motor. A first lead screw is connected to the first synchronous pulley-belt structure, driving the Z-axis guide rail mounting plate to move back and forth. A first lead screw nut is fixed to a Y-axis nut seat, which is mounted on a Y-axis slide plate. Transmission frames are located at both ends of the motor beam, slidably connected to the Y-axis slide plate via a Y-axis guide rail-slider mechanism. An X-axis guide rail-slider mechanism is laterally arranged on the Y-axis slide plate, slidably connected to the X-axis slide plate. A second motor mounting plate is connected to one end of the Y-axis slide plate. Motor 2 is mounted on the motor 2 mounting plate; Motor 2 is installed in conjunction with a second lead screw and a second lead screw nut, the second lead screw nut being mounted on an x-axis nut seat fixed to the z-axis guide rail mounting base plate; the x-axis slide plate is fixedly connected to the z-axis guide rail mounting base plate, the z-axis guide rail mounting base plate is equipped with a motor 3 adapter plate, the motor 3 adapter plate is equipped with a second synchronous pulley-synchronous belt structure that mates with the motor 3; the z-axis guide rail mounting base plate is equipped with a vertically arranged z-axis guide rail-slider mechanism, the z-axis guide rail mounting base plate is slidably connected to the z-axis slide plate through the z-axis guide rail-slider mechanism; Motor 3 is installed in conjunction with a third lead screw and a third lead screw nut, the third lead screw nut being mounted on a z-axis nut seat fixed to the z-axis slide plate, the third lead screw being used to drive the z-axis slide plate to move up and down; multiple gripper devices are installed on the z-axis slide plate.

2. The tool-changing robot according to claim 1, characterized in that: The gripper device includes a cylinder mounting plate and a gripper cylinder mounted on the cylinder mounting plate, and the gripper cylinder is connected to an airflow valve.

3. The tool-changing robot according to claim 2, characterized in that: A sensor bracket is connected to the gripper cylinder, and a sensor is installed on the sensor bracket. The sensor is arranged between the grippers of the gripper cylinder.

4. The tool-changing robot according to claim 2, characterized in that: The inner side of the gripper of the gripper cylinder is provided with an arc-shaped mating surface that matches and fits into the upper part of the tool holder.

5. The tool-changing robot according to claim 1, characterized in that: The tool magazine includes a spare tool mounting plate, on which a spare tool disc is mounted; the spare tool disc and the spare tool mounting plate are provided with tool mounting holes.

6. A tool-changing robot according to claim 5, characterized in that: The movable tool holder includes a movable plate frame that is connected and fixed to the tool preparation mounting plate. A movable plate guide rail-slider structure is installed at the lower end of the movable plate frame, and the tool magazine movable plate is fixedly connected to the movable plate guide rail of the movable plate guide rail-slider structure.

7. A tool-changing robot according to claim 6, characterized in that: The moving plate frame is equipped with a gear plate, which meshes with the drive motor-gear mechanism; the moving plate frame is slidably connected to the tool magazine moving plate through a moving plate guide rail-slider structure.

8. A tool-changing robot according to claim 7, characterized in that: The tool magazine moving plate is equipped with a movable tool holder with the same number of tool holders as the spare tool plate, and the movable tool holder is provided with multiple tool placement holes.

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