Tool changing robot

Abstract

The utility model provides a tool changing robot which comprises a moving device, a taking and placing device, a tool table and a clamping device, and the moving device is used for moving to a machining tool and / or a tool magazine center; the pick-and-place device is connected to the moving device and is used for exchanging tools with the processing machine tool and / or the tool magazine center; the cutter table is connected to the moving device and located on one side of the taking and placing device, and a plurality of containing grooves are formed in the end, away from the moving device, of the cutter table and used for partially containing cutters. The multiple clamping devices are connected to the tool table, located in the multiple containing grooves correspondingly and used for clamping the tools contained in the containing grooves. The clamping device comprises a clamping base, two clamping jaws and a driving assembly, the middles of the two clamping jaws are rotatably connected to the clamping base, the first ends of the two clamping jaws are used for clamping the two opposite sides of the cutter, a clamping opening is formed between the first ends of the two clamping jaws and used for containing the cutter, and the second ends of the two clamping jaws are in transmission connection to the driving assembly.

Description

Technical Field

[0001] This application relates to the field of industrial robot technology, and more particularly to a tool changing robot. Background Technology

[0002] Most CNC (Computerized Numerical Control) machine tools are equipped with independent tool magazines and tool changers. Different CNC machine tools cannot share tool magazines or tool changers. As a result, machining centers with multiple CNC machine tools need to be configured with multiple tool magazines and multiple tool changers to serve different CNC machine tools, which leads to excessive construction costs for machining centers. Utility Model Content

[0003] This application provides a tool-changing robot to address the problem of high construction costs for machining centers in known technologies.

[0004] This application provides a tool-changing robot, including a moving device, a pick-and-place device, a tool holder, and a clamping device. The moving device is used to move to the center of a machine tool and / or a tool magazine. The pick-and-place device is connected to the moving device and is used to exchange tools with the machine tool and / or the center of the tool magazine. The tool holder is connected to the moving device and is located on one side of the pick-and-place device. Multiple receiving slots are provided at the end of the tool holder away from the moving device, and these receiving slots are used to partially receive the tools. Multiple clamping devices are provided, and each clamping device is connected to the tool holder. Multiple clamping devices are respectively located at multiple receiving slots for clamping the cutting tool received in the receiving slots; wherein, each clamping device includes a clamping base, two jaws, and a drive assembly, the middle portions of the two jaws are rotatably connected to the clamping base, the first ends of the two jaws are used to clamp the opposite sides of the cutting tool, and a clamping opening is formed between the first ends of the two jaws for receiving the cutting tool, the second ends of the two jaws are drivenly connected to the drive assembly, and the drive assembly is used to drive the two jaws to rotate relative to the clamping base.

[0005] In one possible implementation, the drive assembly includes two drive members disposed on the tool holder, the two drive members being correspondingly disposed with the two grippers, and the two drive members being tractively connected to the second ends of the two grippers respectively, for driving the second ends of the two grippers to move closer to or further away from each other.

[0006] In one possible implementation, the drive assembly further includes two elastic elements, which are correspondingly disposed with the two drive elements. One end of each elastic element is connected to the drive end of the drive element, and the other end of each elastic element is connected to the second end of the gripper.

[0007] In one possible implementation, the clamping device further includes two rollers, which are correspondingly arranged with the two jaws, and the two rollers are rotatably connected to the first ends of the two jaws respectively. The two rollers are spaced apart, and the clamping opening is formed between the two rollers. The two rollers are used to abut against the opposite sides of the cutting tool.

[0008] In one possible implementation, the tool holder is arranged in a stepped structure, and the end of the tool holder away from the moving device has multiple placement surfaces. Along the direction of gravity, the multiple placement surfaces are spaced apart, and each placement surface has at least one receiving slot.

[0009] In one possible implementation, the clamping device is disposed on the placement surface and located on the outer periphery of the opening of the receiving groove.

[0010] In one possible implementation, the pick-and-place device includes a robotic arm and a clamping mechanism, wherein the robotic arm is driven to the clamping mechanism for moving the clamping mechanism in space, and the clamping mechanism is used to clamp the tool.

[0011] In one possible implementation, the drive assembly includes a drive member, a drive gear, a first rack, and a second rack. The drive member is pulsatorically connected to the drive gear. The first rack and the second rack are arranged parallel to each other and spaced apart. The drive gear is located between the first rack and the second rack. The drive gear is pulsatorically connected to the first rack and the second rack respectively, and is used to drive the first rack and the second rack to move synchronously in opposite directions.

[0012] The first rack and the second rack are respectively connected to the second ends of the two grippers.

[0013] In one possible implementation, the drive assembly further includes two elastic elements, which are correspondingly disposed with respect to the first rack and the second rack, and the first rack and the second rack are respectively connected to the second end of one of the grippers through one of the elastic elements.

[0014] In one possible implementation, the cutting tool is provided with an information code, and the cutting tool robot further includes a decoding device located on the cutting tool holder for reading the information code of the cutting tool placed in the receiving slot.

[0015] The tool changing robot of this application, by mounting the pick-and-place device and the tool holder on a moving device, allows the pick-and-place device to place unqualified tools temporarily stored on the tool holder into the tool holder center when the moving device moves to the tool magazine center, and to move qualified tools stored in the tool magazine center to the tool holder for temporary storage. Furthermore, when a machine tool needs a tool change, the moving device moves to the corresponding machine tool, and the pick-and-place device can move unqualified tools worn or damaged due to use from the machine tool to the tool holder for temporary storage, and install qualified tools temporarily stored on the tool holder onto the machine tool for use. This allows multiple machine tools to share a single tool magazine center and tool changing equipment, saving on the construction costs of machining centers with multiple machine tools. Attached Figure Description

[0016] Figure 1 This is a three-dimensional schematic diagram of the tool-changing robot of this application in one embodiment.

[0017] Figure 2 for Figure 1 A schematic diagram of the clamping device in one embodiment of the tool-changing robot.

[0018] Figure 3 for Figure 1 A schematic diagram of the clamping device of the tool-changing robot in another embodiment.

[0019] Figure 4 This is a schematic diagram of the signal transmission of the control device of the tool-changing robot of this application in one embodiment.

[0020] Key component symbols: 100, Tool changing robot; P, Placement surface; 1, Tool; 10, Moving device; 20, Picking and placing device; 21, Robotic arm; 22, Clamping mechanism; 30, Tool holder; 31, Receiving slot; 32, Baffle; 40, Clamping device; 41, Clamping seat; 411, Rotating shaft; 42, Gripper; 421, First end; 422, Second end; 43a, Drive assembly; 43b, Drive assembly; 431a, Drive component; 431b, Drive component; 432a, Elastic component; 432b, Elastic component; 44, Clamping opening; 45, Roller; 46, Drive gear; 47, First rack; 48, Second rack; 50, Decoding device; 60, Scanning device; 70, Control device.

[0021] The following detailed description, in conjunction with the accompanying drawings, will further illustrate this application. Detailed Implementation

[0022] The following description will refer to the accompanying drawings to provide a more complete picture of the present application. The drawings illustrate exemplary embodiments of the present application. However, the present application may be implemented in many different forms and should not be construed as limited to the exemplary embodiments set forth herein. These exemplary embodiments are provided to make the present application thorough and complete, and to fully convey the scope of the present application to those skilled in the art. Similar reference numerals denote the same or similar components.

[0023] The terminology used herein is for the purpose of describing particular exemplary embodiments only and is not intended to limit the application. As used herein, unless the context clearly indicates otherwise, the singular forms “a,” “an,” and “the” are intended to also include the plural forms. Furthermore, when used herein, “comprising” and / or “including” and / or “having,” integers, steps, operations, components, and / or components, but does not exclude the presence or addition of one or more other features, regions, integers, steps, operations, components, and / or groups thereof.

[0024] Unless otherwise defined, all terms used herein (including technical and scientific terms) have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains. Furthermore, unless expressly defined herein, terms such as those defined in a general dictionary should be interpreted as having the same meaning as they have in the relevant art and in the content of this application, and will not be interpreted as having an idealized or overly formal meaning.

[0025] The specific embodiments of this application will be further described in detail below with reference to the accompanying drawings.

[0026] like Figures 1 to 2 As shown, this embodiment provides a tool changing robot 100, including a moving device 10, a picking and placing device 20, a tool holder 30, and a clamping device 40. The tool changing robot 100 can be used in a machining center with multiple machine tools to perform tool changing operations on multiple machine tools in the machining center using a single tool changing robot 100. Furthermore, the machining center is equipped with a tool magazine center, which stores the qualified tools 1 required by each machine tool, and also stores the unqualified tools 1 replaced by each machine tool.

[0027] The moving device 10 is used to move to the center of the machine tool and / or tool magazine.

[0028] The pick-and-place device 20 is connected to the moving device 10 and is used to exchange tools 1 with the machine tool and / or tool magazine center.

[0029] The tool holder 30 is connected to the moving device 10 and moves with the moving device 10. The tool holder 30 is located on one side of the pick-and-place device 20, and a plurality of receiving slots 31 are provided at the end of the tool holder 30 away from the moving device 10. The receiving slots 31 are used to partially receive the cutting tools 1. Among them, some of the receiving slots 31 are used to receive qualified cutting tools 1, while the remaining receiving slots 31 are used to receive unqualified cutting tools 1.

[0030] Multiple clamping devices 40 are provided, and all multiple clamping devices 40 are connected to the tool holder 30. The multiple clamping devices 40 are respectively located at multiple receiving slots 31, and are used to clamp the tool 1 received in the receiving slots 31, so that each tool 1 temporarily stored in the tool holder 30 is equipped with a clamping device 40 to clamp the tool 1.

[0031] Among them, specifically such as Figure 2 As shown, the clamping device 40 includes a clamping base 41, two jaws 42, and a drive assembly 43a. The middle portions of the two jaws 42 are rotatably connected to the clamping base 41, and each jaw 42 has a first end 421 and a second end 422 disposed opposite to each other. The first ends 421 of the two jaws 42 are used to clamp the opposite sides of the tool 1. A clamping opening 44 is formed between the first ends 421 of the two jaws 42, which is used to receive the tool 1. When the tool 1 is partially received in the clamping opening 44, the tool 1 is clamped by the first ends 421 of the two jaws 42. The second ends 422 of the two jaws 42 are both driveably connected to the drive assembly 43a, which drives the two jaws 42 to rotate relative to the clamping base 41, so that the first ends 421 of the two jaws 42 move opposite to each other or close to each other, thereby opening or closing the clamping opening 44.

[0032] Thus, the tool changing robot 100 of this application, by mounting the pick-and-place device 20 and the tool holder 30 on the moving device 10, allows the pick-and-place device 20 to place the defective tool 1 temporarily stored on the tool holder 30 into the tool magazine center when the moving device 10 moves to the tool magazine center, and to move the qualified tool 1 stored in the tool magazine center to the tool holder 30 for temporary storage. Furthermore, when a machine tool needs a tool change, the moving device 10 moves to the corresponding machine tool, and the pick-and-place device 20 can move the defective tool 1 from the machine tool that has become worn due to use to the tool holder 30 for temporary storage, and install the qualified tool 1 temporarily stored on the tool holder 30 onto the machine tool for use. This allows multiple machine tools to share a single tool magazine center and tool changing equipment, saving on the construction costs of machining centers with multiple machine tools.

[0033] Please combine Figures 1 to 2In one embodiment, the mobile device 10 can be an AGV (Automated Guided Vehicle) or an RGV (Rail Guided Vehicle) to achieve automated transportation of the mobile device 10.

[0034] The mobile device 10 is equipped with a navigation device and an obstacle avoidance device. Specifically, the navigation device can be an SLM (Simultaneous localization and mapping) laser navigation sensor to locate the current position of the mobile device 10 in real time. The obstacle avoidance device can be a laser obstacle avoidance sensor, which is installed around the mobile device 10 to monitor whether there are obstacles around the mobile device 10 in real time.

[0035] Furthermore, the mobile device 10 is also equipped with an emergency stop button and a safety contact edge to ensure the safety of the mobile device 10 during operation.

[0036] Please combine Figures 1 to 2 In one embodiment, the top surface of the moving device 10 is a planar structure, and the tool holder 30 is mounted on the top surface of the moving device 10. The tool holder 30 and the moving device 10 can be connected as a whole by welding, or they can be detached to facilitate the removal of the tool holder 30 from the moving device 10. For example, both the tool holder 30 and the moving device 10 are provided with connecting pieces, and bolts or other fasteners are installed after drilling holes in the connecting pieces to lock the tool holder 30 and the moving device 10 together.

[0037] The tool holder 30 is arranged in a stepped structure, and the end of the tool holder 30 away from the moving device 10 has multiple placement surfaces P. Along the direction of gravity, the multiple placement surfaces P are spaced apart, and each placement surface P has at least one receiving slot 31. Furthermore, along the direction of gravity, the distance from each placement surface P to the pick-and-place device 20 decreases sequentially from top to bottom. This stepped structure of the tool holder 30 allows for utilization of the vertical space of the moving device 10 while preventing the placement surface P and the tool 1 on it from interfering with the pick-and-place of the tool 1 located below.

[0038] Specifically, a baffle 32 is provided around the outer periphery of the tool holder 30. Along the direction of gravity, the top surface of the baffle 32 is higher than the top surface of the tool holder 30 to prevent the tool 1 from falling off the tool holder 30 and falling outside the moving device 10.

[0039] It is understandable that the various receiving slots 31 located on the same placement surface P can be arranged sequentially at intervals along one direction, or they can be arranged in an array.

[0040] The shape of the receiving groove 31 is adapted to one end of the tool 1 so that the circumferential surface of the tool 1 placed in the receiving groove 31 abuts against the inner wall of the receiving groove 31, thereby improving the stability of the tool 1. A pressure sensor can be installed at the bottom wall of the receiving groove 31 so that when the tool 1 is placed in the receiving groove 31, the bottom end of the tool 1 contacts the pressure sensor and applies force to it, thereby the pressure sensor detects whether the receiving groove 31 contains the tool 1, which facilitates the subsequent retrieval and placement of the tool 1 by the retrieval and placement device 20.

[0041] Please combine Figures 1 to 2 In one embodiment, the clamping device 40 is disposed on the placement surface P and located on the outer periphery of the opening of the receiving groove 31.

[0042] Specifically, the clamping base 41 is mounted on the placement surface P and located on the outer periphery of the opening of the receiving groove 31. Two grippers 42 are spaced apart and located on opposite sides of the receiving groove 31. The first end 421 of the gripper 42 is closer to the receiving groove 31, and the second end 422 of the gripper 42 is farther away from the receiving groove 31. Two rotating shafts 411 protrude from the top surface of the clamping base 41. The middle sections of the two grippers 42 are respectively hinged to the two rotating shafts 411, so that the two grippers 42 rotate around the axes of the two rotating shafts 411, thereby adjusting the distance between the two first ends 421, and thus opening or closing the clamping opening 44.

[0043] Furthermore, the clamping device 40 also includes two rollers 45, which are correspondingly arranged with two grippers 42, and the two rollers 45 are rotatably connected to the first ends 421 of the two grippers 42. The two rollers 45 are spaced apart and located on opposite sides of the receiving groove 31, and a clamping opening 44 is formed between the two rollers 45. The two rollers 45 are used to abut against the opposite sides of the tool 1 to guide the tool 1 into the clamping opening 44.

[0044] In some implementations, the drive assembly 43a includes two drive members 431a. Both drive members 431a are power components such as cylinders. Both drive members 431a are mounted on the clamping base 41, and the two drive members 431a are correspondingly arranged with the two grippers 42, with the two drive members 431a located on the opposite side of the second end 422 of the two grippers 42.

[0045] Two driving components 431a are respectively connected to the second ends 422 of the two grippers 42, and are used to drive the second ends 422 of the two grippers 42 to move closer or further away, thereby realizing the rotation of the two grippers 42 relative to the axis of their respective rotation shafts 411, and thus causing the first ends 421 of the two grippers 42 to move closer or further away. The two driving components 431a adjust the opening of the clamping opening 44 to adjust the magnitude of the clamping force applied by the two grippers 42 to the tool 1.

[0046] The drive assembly 43a also includes two elastic elements 432a, which are compression springs or the like. The two elastic elements 432a are correspondingly arranged with the two drive elements 431a. One end of each elastic element 432a is connected to the drive end of the drive element 431a, and the other end is connected to the second end 422 of the gripper 42. The elastic elements 432a prevent the drive elements 431a from applying excessive force to the gripper 42, thus avoiding damage to the tool 1 caused by the gripper 42.

[0047] Thus, when a qualified cutting tool 1 needs to be stored on the tool holder 30, a non-operating clamping device 40 is selected. The clamping opening 44 of the non-operating clamping device 40 is open, and the diameter of the clamping opening 44 is slightly smaller than the outer diameter of the cutting tool 1. At this time, the pick-and-place device 20 pushes the cutting tool 1 into the clamping opening 44. The cutting tool 1 abuts against the two rollers 45, thereby causing the two grippers 42 to rotate and open the clamping opening 44 until the cutting tool 1 is fully inside the clamping opening 44. During this process, the elastic element 432a is continuously compressed. When the cutting tool 1 is fully inside the clamping opening 44, the pick-and-place device 20 continues to clamp the cutting tool 1 and moves it downward, causing the cutting tool 1 to fall into the receiving groove 31. At this time, the pick-and-place device 20 releases the tool 1, and the two driving members 431a drive the second ends 422 of the two grippers 42 to move towards each other, so that the two elastic members 432a continue to be compressed, thereby the two elastic members 432a apply a greater elastic force to the two grippers 42, and thus change the clamping force applied by the two grippers 42 to the tool 1, ensuring that the tool 1 will not shake when stored on the tool holder 30.

[0048] When it is necessary to remove the tool 1 from the tool holder 30, the two driving members 431a drive the second ends 422 of the two grippers 42 to move in opposite directions, and the elastic member 432a gradually resets, so that the clamping force applied by the two grippers 42 to the tool 1 is reduced, thereby facilitating the removal and placement device 20 to remove the tool 1.

[0049] It is understandable that, when adopting other implementation methods, specifically as follows: Figure 3 As shown, the drive component 43b can be a single drive element 431b to reduce costs.

[0050] Specifically, the drive assembly 43b includes a drive component 431b, a drive gear 46, a first rack 47, and a second rack 48. The drive component 431b can be a rotary cylinder, a motor, or an electric motor.

[0051] The drive component 431b is mounted on the clamping base 41 and is connected to the drive gear 46 for transmission. The first rack 47 and the second rack 48 are arranged parallel to each other and spaced apart, and both the first rack 47 and the second rack 48 are slidably connected to the clamping base 41. The drive gear 46 is located between the first rack 47 and the second rack 48, and its opposite sides mesh with the first rack 47 and the second rack 48 respectively, driving the first rack 47 and the second rack 48 to move synchronously in opposite directions. The first rack 47 and the second rack 48 are respectively connected to the second ends 422 of the two grippers 42.

[0052] Furthermore, the drive assembly 43b also includes two elastic elements 432b, which are correspondingly arranged with the first rack 47 and the second rack 48. The first rack 47 and the second rack 48 are respectively connected to the second end 422 of a gripper 42 through an elastic element 432b.

[0053] The working method and principle of the first rack 47, the second rack 48, and the two elastic elements 432b are the same as those of the aforementioned drive assembly 43a, and will not be repeated here.

[0054] Please combine Figure 1 In one embodiment, the pick-and-place device 20 includes a robotic arm 21 and a clamping mechanism 22. The robotic arm 21 is mounted on the top surface of the moving device 10 and is spaced apart from the tool holder 30. The robotic arm 21 is a multi-axis robotic arm, capable of moving or rotating in multiple directions. The robotic arm 21 is drive-connected to the clamping mechanism 22, used to drive the clamping mechanism 22 to move within space.

[0055] The clamping mechanism 22 is used to clamp the tool 1, so that after clamping the tool 1, the tool 1 is placed on the tool holder 30 or the center of the machine tool or tool magazine by the movement of the robot arm 21.

[0056] Understandably, the clamping mechanism 22 can use a cylinder to drive the two grippers to move closer or further apart to clamp the tool 1.

[0057] Please combine Figure 4 And see Figure 1 and Figure 2In one embodiment, the cutting tool 1 is equipped with an information code. The tool changing robot 100 also includes a decoding device 50, a scanning device 60, and a control device 70. Both the decoding device 50 and the scanning device 60 are signal-connected to the control device 70. The decoding device 50 is located on the tool holder 30 and is used to read the information code of the cutting tool 1 placed in the receiving slot 31 and transmit the information of the cutting tool 1 to the control device 70 to identify qualified and unqualified cutting tools 1, so that the control device 70 can control the pick-and-place device 20 to move to the required cutting tool 1. The scanning device 60 is located on the clamping mechanism 22 and is used to scan the information code of the cutting tool 1. When the clamping mechanism 22 moves with the robot arm 21 to the cutting tool 1, the scanning device 60 scans the information code of the cutting tool 1 and transmits the information of the cutting tool 1 to the control device 70. The control device 70 controls the clamping device 40 holding the cutting tool 1 to release the cutting tool 1.

[0058] The specific embodiments of this application have been described above with reference to the accompanying drawings. However, those skilled in the art will understand that various changes and substitutions can be made to the specific embodiments of this application without departing from the scope of this application. All such changes and substitutions fall within the scope defined by this application.

Claims

1. A tool changer robot, characterized in that, include: A moving device for moving to the center of the machine tool and / or tool magazine; A pick-and-place device is connected to the moving device, and the pick-and-place device is used to exchange tools with the machine tool and / or the tool magazine center; A tool holder is connected to the moving device. The tool holder is located on one side of the picking and placing device. The end of the tool holder away from the moving device has multiple receiving slots, which are used to partially receive the tool. The clamping device is configured as a plurality of such devices, each of which is connected to the tool holder and is located at a plurality of such receiving slots, for clamping the tool received in the receiving slots; The clamping device includes a clamping base, two jaws, and a drive assembly. The middle portions of the two jaws are rotatably connected to the clamping base. The first ends of the two jaws are used to clamp the opposite sides of the cutting tool, and a clamping opening is formed between the first ends of the two jaws for receiving the cutting tool. The second ends of the two jaws are drively connected to the drive assembly, which is used to drive the two jaws to rotate relative to the clamping base.

2. The tool changer robot according to claim 1, characterized in that, The driving assembly includes two driving members, which are disposed on the tool holder and corresponding to the two grippers. The two driving members are respectively connected to the second ends of the two grippers to drive the second ends of the two grippers to move closer or further away.

3. The tool changer robot according to claim 2, characterized in that, The drive assembly further includes two elastic elements, which are correspondingly arranged with the two drive elements. One end of each elastic element is connected to the drive end of the drive element, and the other end of each elastic element is connected to the second end of the gripper.

4. The tool changer robot according to claim 1, characterized in that, The clamping device further includes two rollers, which are correspondingly arranged with the two jaws. The two rollers are rotatably connected to the first ends of the two jaws, and the two rollers are spaced apart. The clamping opening is formed between the two rollers, and the two rollers are used to abut against the opposite sides of the cutting tool.

5. The tool changer robot according to claim 1, characterized in that, The tool holder is arranged in a stepped structure. The end of the tool holder away from the moving device has multiple placement surfaces. Along the direction of gravity, the multiple placement surfaces are spaced apart, and each placement surface has at least one receiving slot.

6. The tool changer robot according to claim 5, characterized in that, The clamping device is disposed on the placement surface and located on the outer periphery of the opening of the receiving groove.

7. The tool changer robot according to claim 1, characterized in that, The picking and placing device includes a robotic arm and a clamping mechanism. The robotic arm is driven to the clamping mechanism to move within space. The clamping mechanism is used to clamp the cutting tool.

8. The tool changer robot according to claim 1, characterized in that, The driving assembly includes a driving element, a driving gear, a first rack, and a second rack. The driving element is pulsatorically connected to the driving gear. The first rack and the second rack are arranged parallel to each other and spaced apart. The driving gear is located between the first rack and the second rack. The driving gear is pulsatorically connected to the first rack and the second rack respectively, and is used to drive the first rack and the second rack to move synchronously in opposite directions. The first rack and the second rack are respectively connected to the second ends of the two grippers.

9. The tool changer robot according to claim 8, characterized in that, The driving assembly further comprises two elastic members, and the first rack and the second rack are respectively connected to the second end of one of the clamping jaws through one of the elastic members.

10. The tool changer robot according to claim 1, characterized in that, The tool is provided with an information code, and the tool changing robot further comprises a decoding device arranged on the tool table and configured to read the information code of the tool placed in the accommodation groove.

Images