Automatic tool changing magazine for polishing robot

Abstract

The automatic tool changer comprises a box body, an arc-shaped box cover is arranged above the box body, and the arc-shaped box cover is hinged to the box body through a hinge and driven by an air cylinder to be opened and closed. A horizontal upper mounting plate and a horizontal lower mounting plate are arranged on the upper portion in the box body, a row of mounting holes used for mounting grinding assemblies are formed in each of the upper mounting plate and the lower mounting plate, an upper row of grinding assemblies and a lower row of grinding assemblies are mounted in the mounting holes of the upper mounting plate and the mounting holes of the lower mounting plate respectively, and a photoelectric sensor is arranged below each grinding assembly. The photoelectric sensors are used for detecting whether grinding materials are installed in the grinding assemblies at the corresponding installation positions or not. The box body can be effectively sealed, the influence of dust on the chuck part of the cutter bar can be effectively reduced, and the service life of the cutter bar is prolonged; more abrasives can be mounted in a limited mounting space, and the upper row and the lower row of abrasives are convenient to pick and place by a robot without generating interference.

Description

Technical Field

[0001] This utility model relates to the field of grinding technology, specifically to an automatic tool changer for a grinding robot. Background Technology

[0002] Robotic grinding technology is widely used in aerospace, shipbuilding, and other fields due to its advantages such as high flexibility, high automation, and high adaptability. The tool changer is a crucial processing device for the continuous operation of grinding robots, and its main function is to store the grinding tools required by the robot. Existing tool changers suffer from technical problems such as poor sealing, limited abrasive capacity, inconvenience for robot handling, and poor adaptability in abrasive detection. Utility Model Content

[0003] To address the aforementioned problems, this invention provides an automatic tool changer for a grinding robot.

[0004] The technical solution adopted in this utility model is:

[0005] An automatic tool changer for a grinding robot includes a housing with an arc-shaped cover on top. The arc-shaped cover is hinged to the housing and opened and closed by a cylinder. The upper part of the housing has a horizontal upper mounting plate and a horizontal lower mounting plate. Both the upper and lower mounting plates have a row of mounting holes for mounting grinding components. Two rows of grinding components are mounted on the mounting holes of the upper and lower mounting plates, respectively. A photoelectric sensor is located below each grinding component to detect whether abrasive material is installed in the grinding component at the corresponding mounting position.

[0006] Furthermore, a buffer block is provided at the top of the housing, away from the hinge, to prevent excessive cylinder impact and noise.

[0007] Furthermore, the upper parts of the two side panels of the housing are arc-shaped; the arc-shaped housing cover includes an arc-shaped top cover plate and two side cover plates, and the bottom of the two side cover plates is provided with arc-shaped grooves that fit the arc-shaped part of the side panels of the housing. Furthermore, a top plate is connected to one end of the two side cover plates near the hinge, and the top cover plate, side cover plates and top plate form a receiving cavity for accommodating the tool holder of the grinding assembly.

[0008] By adopting the above technical solutions, the box structure can be made more compact, more grinding abrasive can be installed, and it is easier for the robot to pick up the material.

[0009] Furthermore, the grinding assembly includes a tool holder, a tool shank, and abrasive. The tool holder is fixed to the mounting plate, the upper end of the tool shank is held in the tool holder by a circular snap-fit ​​part, and the lower end of the tool shank is threaded with the abrasive. This facilitates material handling by the robot and replacement of the abrasive on the tool shank.

[0010] Furthermore, a cylinder cover is provided on the outside of the cylinder to protect it.

[0011] Furthermore, the housing contains a pneumatic actuator and a solenoid valve, with the cylinder connected to the solenoid valve via the pneumatic actuator. The pneumatic actuator is used to filter moisture from the compressed air, regulate air pressure, and provide oil mist lubrication for the solenoid valve.

[0012] Furthermore, the photoelectric sensor is a distance-setting photoelectric sensor. It can adapt to the detection of abrasive on tool holders of different lengths, and its detection performance is stable and highly reliable.

[0013] The beneficial effects of this utility model are:

[0014] 1. By setting an arc-shaped cover and using a cylinder to drive the opening and closing of the cover, the box can be effectively sealed, which can effectively reduce the impact of dust on the tool holder chuck and improve the service life of the tool holder.

[0015] 2. By combining the arc-shaped box cover with the upper and lower mounting plates, more abrasives can be installed in a limited installation space, and the upper and lower rows of abrasives are easy for the robot to pick up and put down without causing interference. Attached Figure Description

[0016] Figure 1 This is the first three-dimensional structural diagram of the tool changer in this application.

[0017] Figure 2 This is a second three-dimensional structural diagram of the tool changer.

[0018] Figure 3 for Figure 1 The left-side view.

[0019] Figure 4 A structural diagram of the tool changer grinding assembly. Detailed Implementation

[0020] To make the objectives, technical solutions, and advantages of this utility model clearer, the technical solution of this utility model will be clearly and completely described below in conjunction with the accompanying drawings and a preferred embodiment.

[0021] See Figures 1-4 An automatic tool changer for a grinding robot includes a housing 1, with an arc-shaped cover 2 on top of the housing. The arc-shaped cover 2 is hinged to the housing 1 and driven to open and close by a cylinder 3. Inside the housing 1, there is a horizontal upper mounting plate 11 and a horizontal lower mounting plate 12. Both the upper and lower mounting plates have a row of mounting holes for mounting grinding components. Two rows of grinding components are respectively mounted on the mounting holes of the upper mounting plate 11 and the lower mounting plate 12. A photoelectric sensor 5 is installed below each grinding component 4. The photoelectric sensor 5 is used to detect whether there is abrasive 43 installed in the grinding component 4 at the corresponding installation position.

[0022] In this embodiment, the box 1 is rectangular with an open top. Specifically, the box can be welded from a rectangular frame and box panels. The upper parts of the side panels are arc-shaped, and two buffer blocks 6 are provided at the apex of the junction between the front panel and the side panels. The arc-shaped cover 2 includes an arc-shaped upper cover 21, two side cover plates 22, and a top plate 23. The two side cover plates 22 have two arc-shaped edges; one arc-shaped edge is welded to both sides of the upper cover 21, and the other arc-shaped edge forms a groove that matches the upper arc-shaped portion of the side panels. The top plate 23 connects the upper cover 21 and the two side cover plates 22. A hinge is provided on the top plate 23, and the arc-shaped cover 2 is hinged to the rear panel of the box 1 via the hinge. The upper cover 21, side cover plates 22, and top plate 23 form a cavity for accommodating the tool holder 42 of the grinding assembly 4. A cylinder connecting plate 24 is provided on the outer side of the top plate 23.

[0023] The cylinder 3 is vertically mounted on the outer side of the rear panel of the housing, and the cylinder piston rod is hinged to the cylinder connecting plate 24. The cylinder 3 is provided with a cylinder cover 31 on the outside, and a pneumatic double unit 32 and a solenoid valve 33 are provided inside the housing. The cylinder is connected to the solenoid valve through the pneumatic double unit.

[0024] The upper mounting plate 11 is fixed to the rear cover of the housing with screws, and the lower mounting plate 12 is fixed to the side plates of the housing with brackets on both sides. The grinding assembly 4 includes a tool holder 41, a tool shank 42, and an abrasive 43. The tool holder 41 of the upper row of grinding assemblies is fixed to the upper mounting plate 11 with screws, and the tool holder 41 of the lower row of grinding assemblies is fixed to the lower mounting plate 12 with screws. The upper end of the tool shank is held in the groove of the tool holder 41 by a circular snap-fit ​​part, and the abrasive 43 is threaded to the lower end of the tool shank and locked with a nut.

[0025] The photoelectric sensor 5 is mounted below the grinding assembly via a bracket. In this embodiment, the photoelectric sensor 5 can be selected as the E3Z-LS81 2M*1 model.

[0026] When this application is used: the cylinder 3 opens or closes the arc-shaped box cover 2, the photoelectric sensor 5 detects the presence or absence of abrasive, and the detection status is fed back to the robot control system, which then controls the robot to automatically replace the abrasive and feeds back to the main control system.

[0027] The above description is only a preferred embodiment of the present utility model. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principle of the present utility model, and these improvements and modifications are also within the protection scope of the present utility model.

Claims

1. An automatic tool changer for a grinding robot, comprising a housing (1), characterized in that, The box body (1) is provided with an arc-shaped box cover (2) on the top. The arc-shaped box cover (2) is hinged to the box body (1) and is driven to open and close by a cylinder (3). The upper part of the box body (1) is provided with a horizontal upper mounting plate and a horizontal lower mounting plate. Both the upper and lower mounting plates are provided with a row of mounting holes for installing grinding components (4). The upper and lower mounting holes of the upper and lower mounting plates are respectively installed with two rows of grinding components (4). Each grinding component is provided with a photoelectric sensor (5) below it. The photoelectric sensor (5) is used to detect whether there is abrasive (43) installed in the grinding component (4) at the corresponding installation position.

2. The automatic tool changer for a grinding robot according to claim 1, characterized in that, A buffer block (6) is provided at the top of the box (1) away from the hinge.

3. The automatic tool changer for a grinding robot according to claim 1, characterized in that, The upper part of the two side panels of the box body (1) is arc-shaped; the arc-shaped box cover (2) includes an arc-shaped upper cover plate (21) and two side cover plates (22), and the bottom of the two side cover plates (22) is provided with arc-shaped grooves that are adapted to the arc-shaped part of the side panel of the box body.

4. An automatic tool changer for a grinding robot according to claim 3, characterized in that, Two side cover plates (22) are connected to a top plate (23) near the hinge end. The top cover plate (21), side cover plates (22) and top plate (23) form a receiving cavity for accommodating the tool holder (42) of the grinding assembly (4).

5. An automatic tool changer for a grinding robot according to claim 1, characterized in that, The grinding assembly (4) includes a tool holder (41), a tool bar (42), and an abrasive (43). The tool holder (41) is fixed on the mounting plate, the upper end of the tool bar is held in the tool holder (41) by a circular snap-fit ​​part, and the lower end of the tool bar is threadedly connected to the abrasive (43).

6. An automatic tool changer for a grinding robot according to claim 1, characterized in that, The cylinder (3) is provided with a cylinder cover (31) on its exterior.

7. An automatic tool changer for a grinding robot according to claim 1, characterized in that, The housing is equipped with a pneumatic double unit (32) and a solenoid valve (33), and the cylinder (3) is connected to the solenoid valve (33) through the pneumatic double unit (32).

8. An automatic tool changer for a grinding robot according to claim 1, characterized in that, The photoelectric sensor (5) is a distance-setting photoelectric sensor.

Images