Robot force control washing and cutting mechanical tool changing device

Abstract

The utility model relates to a mechanical tool changing device for force-controlled milling of a robot. The mechanical tool changing device comprises a base; the multiple clamping assemblies are arranged on the base, and the clamping assemblies are used for clamping a cutter handle of the cutter; a robot; the quick-change chuck is connected with the robot; and the cutter handle is connected with the quick-change chuck, the robot drives the cutter handle to the clamping assembly so that the cutter handle can be separated from the quick-change chuck, and the robot drives the quick-change chuck to move to the cutter handle on the clamping assembly so that the cutter handle can be connected with the quick-change chuck. The robot force control milling mechanical tool changing device is an automatic tool changing device which can be seamlessly connected with a robot and a self-adaptive grinding and polishing tool, the robot can quickly and reliably replace a tool in the force control machining process, and the robot force control milling mechanical tool changing device has important technical and practical application significance.

Description

TECHNICAL FIELD

[0001] The utility model relates to the field of machining technology especially is a kind of robot force control washes and cuts mechanical tool changing device. BACKGROUND

[0002] With the wide application of robot technology in industrial field, the improvement of its machining precision and production efficiency becomes an important direction of industry development. Especially in complex grinding, polishing and cutting tasks, robot automation operation significantly improves the consistency and efficiency of machining. However, in these multi-task machining processes, the rapid replacement of tools becomes a major technical bottleneck restricting the application of robots.

[0003] At present, the tool changing mode used in cutting, grinding or polishing tasks of most industrial robots mainly includes manual tool changing, semi-automatic tool changing and automatic tool changing technology. Manual tool changing: traditional manual tool changing mode relies on manual intervention, which is time-consuming and inefficient, and cannot meet the needs of modern production for continuity and automation. Semi-automatic tool changing: some systems are equipped with semi-automatic tool changing function, but still need operators to manually trigger or participate, which has high downtime. Automatic tool changing technology: in recent years, tool changing technology based on automation has gradually developed, but existing tool changing devices are difficult to be efficiently integrated with force control machining tools, and there are still obvious deficiencies in precision, reliability and flexibility. SUMMARY

[0004] Therefore, the technical problem to be solved by the utility model lies in that, in the practical application of force control technology and self-adaptive grinding and polishing tools, different tasks have highly flexible requirements for the performance, shape and service life of tools. However, existing tool changing devices are generally difficult to meet the following needs: multi-functional integration: both cutting tools and grinding and polishing tools can be quickly replaced. High-efficiency tool changing: reduce tool changing time and reduce the frequency of robot downtime. Reliability and precision: realize stable tool changing operation under complex working conditions and ensure the machining precision after tool changing.

[0005] To solve the above technical problems, the utility model provides a robot force control washes and cuts mechanical tool changing device, which comprises: a base; a plurality of clamping assemblies arranged on the base, the clamping assemblies being used for clamping tool shanks of tools; a robot; a quick-change chuck connected with the robot; a tool shank connected with the quick-change chuck, the robot drives the tool shank to the clamping assembly to realize the separation of the tool shank and the quick-change chuck, and the robot drives the quick-change chuck to move to the tool shank on the clamping assembly to realize the connection of the tool shank and the quick-change chuck.

[0006] In an embodiment of the utility model, the clamping assembly includes lower mounting plate, intermediate limiting plate, upper positioning plate and two symmetrically arranged clamping jaws, the lower mounting plate is installed on the base, the lower mounting plate is equipped with pivot, one end of the clamping jaw is sleeved on the pivot, the intermediate limiting plate is locked on the lower mounting plate through fastener, and the intermediate limiting plate is used for limiting the clamping jaw to the lower mounting plate, the upper positioning plate is installed on the intermediate limiting plate, the lower mounting plate is equipped with two spring plungers, the two spring plungers and two symmetrically arranged clamping jaws are correspondingly arranged, and the spring plunger is in contact with the clamping jaw to realize the clamping of the clamping jaw.

[0007] In an embodiment of the utility model, one of the side walls of the lower mounting plate is equipped with two symmetrically arranged convex parts, the spring plunger is installed on the convex part, and the clamping part of the clamping jaw is located between the two symmetrically arranged convex parts.

[0008] In an embodiment of the utility model, the end of the upper positioning plate extending out of the lower mounting plate is equipped with a U-shaped groove, and the gap between the U-shaped groove and the two symmetrically arranged clamping jaws is on the same straight line.

[0009] In an embodiment of the utility model, the quick-change chuck includes connecting piece, sleeve, elastic piece and a plurality of balls, one end of the connecting piece is arranged in the sleeve, the elastic piece is arranged between the connecting piece and the sleeve, the plurality of balls are arranged in the connecting piece, the outer wall of the tool shank is equipped with an annular groove, and the balls are arranged in the annular groove to realize the locking of the tool shank and the connecting piece.

[0010] In an embodiment of the utility model, the outer wall of the connecting piece is equipped with convex table one, the inner wall of the sleeve is equipped with convex table two, and the two ends of the elastic piece are respectively in abutment with convex table one and convex table two.

[0011] In an embodiment of the utility model, the center of the connecting piece is equipped with tool shank mounting hole, and one end of the tool shank is arranged in the tool shank mounting hole.

[0012] In an embodiment of the utility model, the radial direction of the connecting piece is equipped with a plurality of through holes, and the balls are arranged in the through holes.

[0013] In an embodiment of the utility model, the clamping assembly is arranged in a circular array mode with the center of the base as the center.

[0014] In an embodiment of the utility model, the upper cover is arranged on the base.

[0015] The above technical scheme of the utility model has the following beneficial effects compared with the prior art:

[0016] The robot force control washing and grinding mechanical tool changing device can be seamlessly connected with the robot and the self-adaptive grinding and polishing tool, realizes quick and reliable replacement of the tool in the force control machining process of the robot, and has important technical and practical application significance. Implementation of the device will provide strong support for high-precision and multi-task machining in intelligent manufacturing, significantly improve production efficiency and machining quality, and is suitable for universal design of various process scenes, has modularity and universality, can be adapted to various types of tools and mechanical arms, and is widely applicable to force control washing and grinding operations in various industrial fields such as metal polishing and metal material finishing. BRIEF DESCRIPTION OF DRAWINGS

[0017] In order to make the content of the utility model more easily understood clearly, the utility model is further explained in detail below according to the specific embodiment of the utility model and in combination with the drawings, wherein

[0018] Figure 1 It is the whole structure schematic diagram of robot force control washing and grinding mechanical tool changing device in the preferred embodiment of the utility model;

[0019] Figure 2 It is the isometric view of base and clamping assembly in the preferred embodiment of the utility model;

[0020] Figure 3 It is the plan view of base and clamping assembly in the preferred embodiment of the utility model;

[0021] Figure 4 It is the isometric view of clamping assembly in the preferred embodiment of the utility model;

[0022] Figure 5 It is the explosion view of clamping assembly in the preferred embodiment of the utility model;

[0023] Figure 6 It is the structure schematic view of quick-change chuck and tool shank in the preferred embodiment of the utility model;

[0024] Figure 7 It is the structure schematic view of tool shank in the preferred embodiment of the utility model;

[0025] Figure 8 It is the sectional view of quick-change chuck and tool shank when locking in the preferred embodiment of the utility model;

[0026] Figure 9 It is the sectional view of quick-change chuck and tool shank when not locking in the preferred embodiment of the utility model;

[0027] Figure 10 It is the structure schematic of robot force control washing and grinding mechanical tool changing device when changing tool in the preferred embodiment of the utility model Figure 1 ;

[0028] Figure 11 Structure diagram of the robot force control lathe tool changing device when changing tools in the preferred embodiment of the present application Figure 2

[0029] Figure 12 Top view of the robot force control lathe tool changing device when changing tools in the preferred embodiment of the present application

[0030] Figure 13 Structure diagram of the robot force control lathe tool changing device when changing tools in the preferred embodiment of the present application Figure 3 .

[0031] Description of reference signs in the drawings: base 1, upper cover 10, clamping assembly 2, lower mounting plate 21, convex part 211, middle limiting plate 22, upper positioning plate 23, U-shaped groove 231, proximity sensor 232, clamping jaw 24, rotating shaft 25, spring plunger 26, robot 3, quick-change chuck 4, connecting piece 41, through hole 410, convex table one 411, tool shank mounting hole 412, step three 413, sleeve 42, convex table two 421, annular piece 422, recess two 423, elastic piece 43, ball 44, tool shank 5, annular groove 51. DETAILED DESCRIPTION

[0032] The present application will be further described below in conjunction with the drawings and specific embodiments, so that those skilled in the art can better understand the present application and implement it, but the embodiments are not intended to limit the present application.

[0033] Referring to Figure 1 , the robot force control lathe tool changing device of the present application comprises: a base 1, wherein the base 1 is provided with an upper cover 10; a plurality of clamping assemblies 2, wherein the clamping assemblies 2 are arranged on the base 1, and the clamping assemblies 2 are used for clamping tool shanks of tools; a robot 3; a quick-change chuck 4 connected with the robot 3; and a tool shank 5 connected with the quick-change chuck 4, wherein the robot 3 drives the tool shank 5 to the clamping assembly 2 to realize separation of the tool shank 5 and the quick-change chuck 4, and the robot 3 drives the quick-change chuck 4 to move to the tool shank 5 on the clamping assembly 2 to realize connection of the tool shank 5 and the quick-change chuck 4. A plurality of tools are arranged on the base 1, and one space is reserved for the robot 3 to change tools, wherein the tool connected with the quick-change chuck 4 is placed in the reserved space when the robot 3 changes tools, and then a new tool is clamped on the base 1, thereby completing automatic tool changing.

[0034] Preferably, referring to Figure 2 , 3 ​As shown, the base 1 is provided with a disc shape at the position where the clamping assembly 2 is installed, and the clamping assembly 2 is arranged in a ring array with the center of the base 1 as the center. Preferably, the number of clamping assemblies 2 is 6, which are uniformly distributed in the disc. The uniform distribution ensures the balance of the disc and improves the stability and service life of the mechanism. The multi-tool device provides a redundant design, which can quickly switch to other tools when a clamping device or tool fails, ensuring the reliability and continuity of the system.

[0035] Referring to Figure 4 , 5 As shown, the clamping assembly 2 includes a lower mounting plate 21, an intermediate limiting plate 22, an upper positioning plate 23, and two symmetrically arranged clamping jaws 24. The lower mounting plate 21 is installed on the base 1, and the lower mounting plate 21 is provided with a rotating shaft 25. One end of the clamping jaw 24 is sleeved on the rotating shaft 25. The intermediate limiting plate 22 is locked on the lower mounting plate 21 by a fastener, and the intermediate limiting plate 22 is used to limit the clamping jaw 24 to the lower mounting plate 21. The upper positioning plate 23 is installed on the intermediate limiting plate 22. The lower mounting plate 21 is provided with two spring plungers 26. The two spring plungers 26 and the two symmetrically arranged clamping jaws 24 are correspondingly arranged, and the spring plunger 26 is in contact with the clamping jaw 24 to realize the clamping of the clamping jaw 24. One of the side walls of the lower mounting plate 21 is provided with two symmetrically arranged protrusions 211, and the spring plunger 26 is installed on the protrusion 211. The clamping part of the clamping jaw 24 is located between the two symmetrically arranged protrusions 211. The lower mounting plate 21, the intermediate limiting plate 22, and the upper positioning plate 23 are stacked together, and the lower mounting plate 21, the intermediate limiting plate 22, and the upper positioning plate 23 are connected to each other by hexagonal bolts.

[0036] In the above structure, the end of the upper positioning plate 23 extending out of the lower mounting plate 21 is provided with a U-shaped groove 231, and the gap between the two symmetrically arranged clamping jaws 24 is in the same straight line as the U-shaped groove 231. The upper positioning plate 23 is provided with a proximity sensor 232, and the sensing end of the proximity sensor 232 is arranged opposite to the U-shaped groove 231. When the tool shank 5 is clamped in the U-shaped groove 231, the proximity sensor 232 is used to sense the tool shank 5.

[0037] Referring to Figures 6-9As shown, the quick-change chuck 4 comprises a connecting piece 41, a sleeve 42, an elastic piece 43 and a plurality of balls 44. One end of the connecting piece 41 is arranged in the sleeve 42, the elastic piece 43 is arranged between the connecting piece 41 and the sleeve 42, and the balls 44 are arranged in the connecting piece 41. An annular groove 51 is arranged on the outer wall of the shank 5, and the balls 44 are arranged in the annular groove 51 to lock the shank 5 and the connecting piece 41. A boss 411 is arranged on the outer wall of the connecting piece 41, a boss 421 is arranged on the inner wall of the sleeve 42, and the two ends of the elastic piece 43 abut against the bosses 411 and 421 respectively. A shank mounting hole 412 is arranged in the center of the connecting piece 41, and one end of the shank 5 is arranged in the shank mounting hole 412. A plurality of through holes 410 are arranged in the radial direction of the connecting piece 41, and the balls 44 are arranged in the through holes 410.

[0038] Preferably, the elastic piece 43 is a spring. The boss 421 has an annular cross section, and an annular piece 422 is connected to the inner wall of the boss 421. A groove 423 is arranged on the inner wall of the annular piece 422. A step 413 is arranged on the outer wall of the connecting piece 41, and the gap between the step 413 and the annular piece 422 is the distance by which the connecting piece 41 can move in the sleeve 42.

[0039] Referring to Figures 10-13 As shown, when the connecting piece 41 is pushed down, the through holes 410 are moved to be in the same radial direction as the groove 423, and the shank 5 is pulled. Due to the tapered arrangement of one end of the shank 5, the balls 44 can be pushed out of the annular groove 51, and the balls 44 are located in the through holes 410 and the groove 423. At this time, the shank 5 is in an unlocked state. Initially, the connecting piece 41 is pressed down to the step 413 abuts against the annular piece 422. After the shank 5 is inserted into the connecting piece 41, the connecting piece 41 is released. Under the action of the elastic force of the elastic piece 43, the connecting piece 41 rebounds. When the connecting piece 41 moves to the position of the annular groove 51 with the balls 44, the balls 44 are clamped into the annular groove 51, thereby completing the locking of the shank 5. When the shank 5 is in a locked state, the balls 44 and the shank 5 form a self-locking state, that is, the shank 5 is normally installed in the self-adaptive grinding and polishing tool, thereby performing polishing and other process machining. When it is necessary to remove the shank, the quick-change chuck 4 is moved upward, and the shank 5 is in an unlocked state, so that the shank 5 can be removed.

[0040] Obviously, the above embodiments are only examples for clear illustration, and are not a limitation on the embodiments. Based on the above description, other different forms of changes or variations can be made by those skilled in the art. Here, all the embodiments cannot be exhausted, and the obvious changes or variations derived therefrom are still within the protection scope of the present application.

Claims

1. A robot force-controlled tool changing device for a lathe, characterized in that The utility model relates to a quick-change tool holder system, comprising: a base; a plurality of clamping assemblies arranged on the base, the clamping assemblies being used to clamp a shank of a tool; a robot; a quick-change chuck connected to the robot; a shank connected to the quick-change chuck, the robot driving the shank to the clamping assembly to achieve separation of the shank and the quick-change chuck, and the robot driving the quick-change chuck to move to the shank on the clamping assembly to achieve connection of the shank and the quick-change chuck; the clamping assembly comprises a lower mounting plate, an intermediate limiting plate, an upper positioning plate and two symmetrically arranged clamping jaws, the lower mounting plate is mounted on the base, the lower mounting plate is provided with a rotating shaft, one end of the clamping jaw is sleeved on the rotating shaft, the intermediate limiting plate is locked on the lower mounting plate through a fastener, and the intermediate limiting plate is used to limit the clamping jaw to the lower mounting plate, the upper positioning plate is mounted on the intermediate limiting plate, the lower mounting plate is provided with two spring plungers, the two spring plungers and the two symmetrically arranged clamping jaws are arranged one by one in correspondence, and the spring plunger is in contact with the clamping jaw to achieve clamping of the clamping jaw.

2. The robotic force-controlled resharpening machine tool changer of claim 1, wherein: One of the side walls of the lower mounting plate is provided with two symmetrically arranged protrusions, the spring plunger is mounted on the protrusion, and the clamping part of the clamping jaw is located between the two symmetrically arranged protrusions.

3. The robotic force-controlled resharpening machine tool changer of claim 2, wherein: The end of the upper positioning plate extending out of the lower mounting plate is provided with a U-shaped groove, and the U-shaped groove is in the same straight line with the gap between the two symmetrically arranged clamping jaws.

4. The robotic force-controlled resharpening machine tool changer of claim 1, wherein: The quick-change chuck comprises a connecting piece, a sleeve, an elastic piece and a plurality of balls, one end of the connecting piece is arranged in the sleeve, the elastic piece is arranged between the connecting piece and the sleeve, the plurality of balls are arranged in the connecting piece, the outer wall of the shank is provided with an annular groove, and the balls are arranged in the annular groove to achieve locking of the shank and the connecting piece.

5. The robotic force-controlled resharpening machine tool changer of claim 4, wherein: The outer wall of the connecting piece is provided with a boss one, the inner wall of the sleeve is provided with a boss two, and the two ends of the elastic piece are respectively in abutment with the boss one and the boss two.

6. The robotic force-controlled resharpening machine tool changer of claim 5, wherein: The center of the connecting piece is provided with a shank mounting hole, and one end of the shank is arranged in the shank mounting hole.

7. The robotic force-controlled resharpening machine tool changer according to claim 6, characterized in that: The connecting piece is provided with a plurality of through holes in the radial direction, and the balls are arranged in the through holes.

8. The robotic force-controlled resharpening machine tool changer of claim 1, wherein: The clamping assemblies are arranged in a circular array with the center of the base as the center.

9. The robotic force-controlled resharpening machine tool changer of claim 1, wherein: The base is provided with an upper cover.

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