Tool changing clamping mechanism and tool changing robot
By introducing vision detection and control components into the tool changing clamping mechanism, the problem of low tool changing efficiency caused by tool position deviation is solved, achieving efficient and accurate tool clamping and improving the automation level of the tool changing robot.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- 富士康工业互联网股份有限公司
- Filing Date
- 2025-04-24
- Publication Date
- 2026-05-19
AI Technical Summary
The problem of low tool changing efficiency due to tool position deviation.
The tool changing clamping mechanism includes a mounting component, a first clamping assembly, a second clamping assembly, a vision detection assembly, and a control assembly. The vision detection assembly detects the tool position, and the control assembly adjusts the working state of the first and second clamping assemblies to ensure accurate clamping of the offset tool.
It improves tool changing efficiency, avoids inaccurate clamping caused by positional offset, and enhances the automation level of the tool changing robot.
Smart Images
Figure CN224254823U_ABST
Abstract
Description
Technical Field
[0001] This application relates to the field of industrial robot technology, and in particular to a tool changing clamping mechanism and a tool changing robot. Background Technology
[0002] Tool changing robots are equipped with gripping devices on their robotic arms, enabling them to perform tool changing operations on CNC (Computerized Numerical Control) machine tools or retrieve tools from the tool magazine. However, if the tool's position on the CNC machine tool or in the tool magazine shifts, the tool changing robot's gripping devices cannot directly hold the tool, requiring adjustment of the gripping devices on the robot's robotic arms, which reduces tool changing efficiency. Utility Model Content
[0003] This application provides a tool changer clamping mechanism and a tool changer robot to solve the problem of low tool changer efficiency caused by tool position deviation in the known technology.
[0004] This application provides a tool changing clamping mechanism applied to a tool changing robot for changing tools. The tool changing clamping mechanism includes a mounting component, a first clamping assembly, a second clamping assembly, a vision detection assembly, and a control assembly. The mounting component is used to connect to the tool changing robot's pick-and-place mechanism, which drives the mounting component to move within space. The first clamping assembly is disposed on the mounting component and is used to hold one side of the tool. The second clamping assembly is disposed on the mounting component and spaced apart from one side of the first clamping assembly, holding the side of the tool away from the first clamping assembly. The vision detection assembly is disposed on the mounting component and is used to detect the position of the tool. The control assembly is signal-connected to the first clamping assembly, the second clamping assembly, and the vision detection assembly. The control assembly is used to receive the position signal of the tool detected by the vision detection assembly and adjust the working state of the first clamping assembly and the second clamping assembly according to the position signal.
[0005] In one possible implementation, the first clamping assembly includes:
[0006] A first driving component is disposed on the mounting component;
[0007] The first clamping plate is connected to the first driving member, which drives the first clamping plate to move closer to or away from the cutting tool.
[0008] In one possible implementation, the second clamping assembly includes:
[0009] A second driving component is disposed on the mounting component;
[0010] The second clamping plate is disposed at intervals on one side of the first clamping plate. The second clamping plate is drivenly connected to the second driving member. The second driving member is used to drive the second clamping plate to move closer to or away from the side of the tool away from the first clamping plate.
[0011] In one possible implementation, the control component is signal-connected to the first drive member and the second drive member, and is used to adjust the travel and direction of movement of the first clamping plate and the second clamping plate according to the position signal.
[0012] In one possible implementation, the visual detection component includes:
[0013] Camera, mounted on the aforementioned mounting component;
[0014] A protective frame is provided on the mounting member, the protective frame surrounds the outer periphery of the camera, and allows the camera to receive light incident from outside the protective frame.
[0015] In one possible implementation, the protective frame includes a plurality of limiting members, one end of each of the plurality of limiting members being connected to the mounting member, the plurality of limiting members being arranged around the outer periphery of the camera, and any two adjacent limiting members being spaced apart.
[0016] In one possible implementation, the visual inspection component further includes a light source connected to one end of the plurality of limiting members away from the mounting member.
[0017] In one possible implementation, the tool changing clamping mechanism further includes a force sensor located between the mounting member and the pick-and-place mechanism, and the force sensor is connected to both the mounting member and the pick-and-place mechanism.
[0018] This application also provides a tool changing robot, including a moving mechanism, a pick-and-place mechanism, and the aforementioned tool changing clamping mechanism, wherein the pick-and-place mechanism is disposed on the moving mechanism, and the tool changing clamping mechanism is disposed on the drive end of the pick-and-place mechanism.
[0019] In one possible implementation, the tool-changing robot further includes a tool holder and multiple clamping components, the tool holder being disposed on the moving mechanism, and the multiple clamping components being disposed on the tool holder, the clamping components being used to clamp the tool.
[0020] The tool changer clamping mechanism of this application, by incorporating a vision detection component on the mounting component, can detect whether the current tool position has shifted when the tool changer clamping mechanism moves to the tool location along with the pick-and-place mechanism. Furthermore, the mounting component is equipped with a first clamping component and a second clamping component that can operate independently. When the vision detection component detects a shift in the current tool position, it transmits the signal to a control component. The control component then controls the first and second clamping components to adjust their respective operating states, ensuring that the first and second clamping components can directly clamp the shifted tool without requiring the pick-and-place mechanism to readjust the position of the tool changer clamping mechanism. Attached Figure Description
[0021] Figure 1 This is a three-dimensional schematic diagram of the tool-changing robot of this application in one embodiment.
[0022] Figure 2 for Figure 1 A schematic diagram of the clamping assembly installation in one embodiment of the tool-changing robot.
[0023] Figure 3 This is a schematic diagram of the tool changing clamping mechanism of this application in one embodiment.
[0024] Figure 4 for Figure 3 A front view schematic diagram of the tool changing clamping mechanism in one embodiment.
[0025] Figure 5 This is a schematic diagram of the tool changing clamping mechanism of this application in another embodiment.
[0026] Figure 6 This is a schematic diagram of signal transmission in one embodiment of the tool changing clamping mechanism of this application.
[0027] Key component symbols: 200, Tool changing robot; 100, Tool changing clamping mechanism; P, Placement surface; 1, Tool; 2, Control component; 10, Moving mechanism; 20, Pick-and-place mechanism; 30, Tool holder; 31, Receiving slot; 32, Baffle; 40, Clamping mechanism; 50, Mounting component; 60, First clamping assembly; 61, First driving component; 62, First clamping plate; 63, First elastic component; 64, First buffer plate; 70, Second clamping assembly; 71, Second driving component; 72, Second clamping plate; 73, Second elastic component; 74, Second buffer plate; 80, Vision inspection component; 81, Protective frame; 811, Limiting component; 82, Camera; 83, Light source; 84, Tool detection sensor; 90, Force sensor.
[0028] The following detailed description, in conjunction with the accompanying drawings, will further illustrate this application. Detailed Implementation
[0029] 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.
[0030] 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.
[0031] 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.
[0032] The specific embodiments of this application will be further described in detail below with reference to the accompanying drawings.
[0033] like Figures 1 to 2 As shown, this embodiment provides a tool changing robot 200, which is used to change tools 1 in scenarios such as machining tools or tool magazine centers. The tool changing robot 200 includes a moving mechanism 10, a picking and placing mechanism 20, and a tool changing clamping mechanism 100.
[0034] The moving mechanism 10 can be moved to the machine tool and / or tool magazine center to retrieve the tool 1 that needs to be replaced from the machine tool to the tool magazine center, or to transport the qualified tool 1 stored in the tool magazine center to the machine tool for installation and use.
[0035] It is understandable that the mobile mechanism 10 can be an AGV (Automated Guided Vehicle) or an RGV (Rail Guided Vehicle) to achieve automated transportation and automated tool changing operations.
[0036] The pick-and-place mechanism 20 is mounted on the top surface of the moving mechanism 10, and the tool changing clamping mechanism 100 is located at the drive end of the pick-and-place mechanism 20. The pick-and-place mechanism 20 is a robotic arm, which can be a six-degree-of-freedom robotic arm or the like, and can drive the tool changing clamping mechanism 100 to move or rotate in multiple directions.
[0037] Furthermore, the tool changing robot 200 also includes a tool holder 30 and multiple clamping mechanisms 40. The tool holder 30 is detachably mounted on the top surface of the moving mechanism 10, and the tool holder 30 is spaced apart on one side of the pick-and-place mechanism 20. For example, both the tool holder 30 and the moving mechanism 10 are provided with connecting plates. After the connecting plates of the tool holder 30 and the moving mechanism 10 are drilled, they are fastened together by bolts or other fasteners, thereby fixing the tool holder 30 to the moving mechanism 10.
[0038] The tool holder 30 is arranged in a stepped structure, and the end of the tool holder 30 away from the moving mechanism 10 has multiple placement surfaces P. Along the direction of gravity, the multiple placement surfaces P are spaced apart, and each placement surface P can hold at least one qualified tool or a defective tool. For example, the placement surface P can have a receiving slot 31 to receive the tool 1. The receiving slot 31 can receive the qualified tool, so that the qualified tool stored in the center of the tool magazine can be temporarily stored in the receiving slot 31, facilitating its subsequent direct removal from the tool holder 30 and loading into the machining tool. In addition, the receiving slot 31 can also receive the defective tool, so that the defective tool replaced from the machining tool can be temporarily stored in the receiving slot 31, facilitating the subsequent unified recycling and disposal of the temporarily stored defective tools.
[0039] Furthermore, along the direction of gravity, the distance from each placement surface P to the pick-and-place mechanism 20 decreases sequentially from top to bottom. This stepped structure of the tool holder 30 can utilize the vertical space of the moving mechanism 10 while preventing the placement surface P above and the tool 1 on it from affecting the pick-and-place of the tool 1 below.
[0040] 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 out of the moving mechanism 10.
[0041] Multiple clamping mechanisms 40 are mounted on the tool holder 30, and at least one clamping mechanism 40 can be provided on each placement surface P of the tool holder 30. The clamping mechanism 40 is used to clamp the tool 1 to secure the tool 1 placed on the tool holder 30. Specifically, the clamping mechanism 40 can be driven by a cylinder to move the jaws closer to or away from another jaw fixed in a position, thereby clamping or releasing the tool 1.
[0042] like Figures 3 to 4 As shown, and in combination Figure 6This embodiment also provides a tool changing clamping mechanism 100, including a mounting component 50, a first clamping component 60, a second clamping component 70, a vision detection component 80, and a control component 2.
[0043] Mounting member 50 is used to connect to the pick-and-place mechanism 20 of the tool changer robot 200. The pick-and-place mechanism 20 is used to drive the mounting member 50 to move within space. A first clamping assembly 60 and a second clamping assembly 70 are located on the same side of the mounting member 50, and the first clamping assembly 60 and the second clamping assembly 70 are located on the side of the mounting member 50 away from the pick-and-place mechanism 20. The first clamping assembly 60 is used to hold the tool 1 against one side, and the second clamping assembly 70 is spaced apart from one side of the first clamping assembly 60 to hold the tool 1 against the side away from the first clamping assembly 60, thereby clamping or releasing the tool 1 by the first clamping assembly 60 and the second clamping assembly 70.
[0044] A vision detection component 80 is mounted on the mounting member 50, and the vision detection component 80, the first clamping component 60, and the second clamping component 70 are located on the same side of the mounting member 50. The vision detection component 80 is used to detect the position of the tool 1 to detect whether the current position of the tool 1 has deviated. The control component 2 can be mounted on the pick-and-place mechanism 20 or the moving mechanism 10. The control component 2 is signal-connected to the first clamping component 60, the second clamping component 70, and the vision detection component 80. The control component 2 is used to receive the position signal of the tool 1 detected by the vision detection component 80, and adjust the working state of the first clamping component 60 and the second clamping component 70 according to the position signal to ensure that the first clamping component 60 and the second clamping component 70 can clamp the tool 1 whose position has deviated after adjusting their respective working states.
[0045] Thus, the tool changing clamping mechanism 100 of this application, by providing a vision detection component 80 on the mounting member 50, can detect whether the position of the tool 1 has shifted when the tool changing clamping mechanism 100 moves to the tool 1 with the pick-and-place mechanism 20. Furthermore, the mounting member 50 is provided with a first clamping component 60 and a second clamping component 70 that can operate independently. When the vision detection component 80 detects a shift in the position of the tool 1, it transmits the signal to the control component 2. The control component 2 controls the first clamping component 60 and the second clamping component 70 to adjust their respective working states, ensuring that the first clamping component 60 and the second clamping component 70 can directly clamp the shifted tool 1 without requiring the pick-and-place mechanism 20 to readjust the position of the tool changing clamping mechanism 100.
[0046] Please combine Figures 3 to 5 In one embodiment, the first clamping assembly 60 includes a first drive member 61 and a first clamping plate 62.
[0047] The first driving member 61 is a driving device such as a push-pull cylinder, and is located on the side of the mounting member 50 away from the pick-and-place mechanism 20. The first clamping plate 62 is connected to the first driving member 61, and is driven by the first driving member 61 to move the first clamping plate 62 closer to or away from the tool 1.
[0048] The second clamping assembly 70 includes a second drive member 71 and a second clamping plate 72.
[0049] The second driving member 71 is a driving device such as a push-pull cylinder, and is located on the same side of the mounting member 50 as the first driving member 61. Along the movement direction of the first clamping plate 62, the second driving member 71 is spaced apart on one side of the first driving member 61, and the driving end of the second driving member 71 is opposite to the driving end of the first driving member 61.
[0050] Along the direction of movement of the first clamping plate 62, the second clamping plate 72 is spaced apart on one side of the first clamping plate 62, so that a space for accommodating the tool 1 is formed between the first clamping plate 62 and the second clamping plate 72. The second clamping plate 72 is driven by the second driving member 71, which drives the second clamping plate 72 to move closer to or away from the side of the tool 1 away from the first clamping plate 62, thereby clamping the tool 1 by the first clamping plate 62 and the second clamping plate 72.
[0051] Specifically, the first clamping assembly 60 also includes a first elastic element 63 and a first buffer plate 64. The first elastic element 63 is a spring or similar component, and the first buffer plate 64 is used to hold the tool 1. The first buffer plate 64 is spaced apart on the side of the first clamping plate 62 near the second clamping plate 72, and the first buffer plate 64 is connected to the first clamping plate 62 through the first elastic element 63, so as to prevent the first driving member 61 from applying excessive force to the first clamping plate 62 and damaging the tool 1 when the first clamping assembly 60 clamps the tool 1.
[0052] Accordingly, the second clamping assembly 70 also includes a second elastic element 73 and a second buffer plate 74. The second elastic element 73 is a spring or similar component, and the second buffer plate 74 is used to hold the tool 1. The second buffer plate 74 is spaced apart on the side of the second clamping plate 72 near the first clamping plate 62, and the second buffer plate 74 is connected to the second clamping plate 72 through the second elastic element 73, so as to avoid the second driving member 71 applying excessive force to the second clamping plate 72 and damaging the tool 1 when the second clamping assembly 70 clamps the tool 1.
[0053] Thus, the arrangement of the first buffer plate 64 and the second buffer plate 74 can prevent the first clamping plate 62 and the second clamping plate 72 from applying excessive force to the tool 1 after holding it, thus avoiding damage to the tool 1, when the tool 1 is offset and the output power of the first driving member 61 and the second driving member 71 needs to be adjusted.
[0054] Please combine Figures 4 to 6In one embodiment, the control component 2 is signal-connected to the first drive member 61 and the second drive member 71, and is used to adjust the travel and direction of movement of the first clamping plate 62 and the second clamping plate 72 according to the position signal.
[0055] When it is necessary to clamp or release the tool 1, the control component 2 controls the first drive member 61 and the second drive member 71 to adjust the direction of the force they apply, thereby adjusting the movement direction of the first clamping plate 62 and the second clamping plate 72.
[0056] When the position of the tool 1 shifts, the control component 2 controls the first drive member 61 and the second drive member 71 to adjust the time of the force applied to the first clamping plate 62 and the second clamping plate 72 according to the position of the tool 1 relative to the current first clamping plate 62 and the second clamping plate 72, thereby adjusting the respective travel of the first clamping plate 62 and the second clamping plate 72, so as to ensure that the first clamping plate 62 and the second clamping plate 72 simultaneously abut against the outer peripheral surface of the tool 1 and clamp the tool 1.
[0057] Please combine Figure 3 and Figure 4 And see Figure 6 In one embodiment, the visual inspection component 80 includes a camera 82 and a protective frame 81.
[0058] Camera 82 is located on the side of mounting component 50 away from the pick-and-place mechanism 20 and is signal-connected to control component 2. When camera 82 moves with pick-and-place mechanism 20 to the position where tool 1 is stored, camera 82 captures an image of the current position and transmits the image to control component 2. Control component 2 determines whether tool 1 is present at the current position based on the image. Simultaneously, if tool 1 is present at the current position, control component 2 can also analyze the captured image to determine if the position of tool 1 has shifted.
[0059] Understandably, the vision detection component 80 may also include a tool detection sensor 84 to detect whether a tool 1 is present at the current location. If no tool 1 is present at the current location, the camera 82 may not take a picture of the current location. The tool detection sensor 84 is a magnetic sensor, and the tool 1 is made of metal. When the magnetic sensor is energized, it generates a static magnetic field. When the tool 1 approaches the static magnetic field, it interferes with the static magnetic field and causes it to change, thereby detecting the presence of the tool 1 through the magnetic sensor.
[0060] The protective frame 81 is connected to the mounting member 50 and is located on the same side of the mounting member 50 as the camera 82. The protective frame 81 surrounds the outer perimeter of the camera 82 and allows the camera 82 to receive light entering from outside the protective frame 81, so that the camera 82 surrounded by the protective frame 81 can capture the scene outside the protective frame 81.
[0061] Specifically, the protective frame 81 includes multiple limiting members 811, each of which is a columnar structure. One end of each limiting member 811 is connected to the mounting member 50. The multiple limiting members 811 are arranged around the outer periphery of the camera 82, and the extension length of each limiting member 811 is greater than the height of the camera 82. This provides protection for the camera 82, preventing it from being damaged by collision when moving with the pick-and-place mechanism 20. Any two adjacent limiting members 811 are spaced apart to allow light from outside the protective frame 81 to reach the camera 82.
[0062] Furthermore, the visual inspection component 80 also includes a light source 83, which is connected to the end of the plurality of limiting members 811 away from the mounting member 50. The light source 83 is a ring light source, and the light source 83 can still provide supplementary lighting to the scene to be photographed after being flipped to different positions by the pick-and-place mechanism 20.
[0063] Please combine Figure 6 And see Figure 3 In one embodiment, the tool changing clamping mechanism 100 further includes a force sensor 90, which is located between the mounting member 50 and the pick-and-place mechanism 20, and is connected to both the mounting member 50 and the pick-and-place mechanism 20. The force sensor 90 is a six-dimensional force sensor or similar device, capable of collecting the posture and force information of the tool changing clamping mechanism 100.
[0064] The force sensor 90 is connected to the control component 2. The control component 2 receives the signal detected by the force sensor 90 and then adjusts the motion state of the pick-and-place mechanism 20 according to the current posture and force information of the tool change clamping mechanism 100, thereby achieving high-precision control of the tool change clamping mechanism 100.
[0065] 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 changing clamping mechanism, applied to a tool changing robot, the tool changing robot being used to change tools; characterized in that, The tool changing clamping mechanism includes: Mounting component for connecting to the tool changing robot's pick-and-place mechanism, the pick-and-place mechanism for driving the mounting component to move within space; A first clamping assembly is disposed on the mounting member, and the first clamping assembly is used to hold one side of the cutting tool; A second clamping assembly is disposed on the mounting member. The second clamping assembly is disposed at intervals on one side of the first clamping assembly and is used to hold the cutting tool away from the side of the first clamping assembly. A vision inspection component is disposed on the mounting component, and the vision inspection component is used to detect the position of the cutting tool; A control component is signal-connected to the first clamping component, the second clamping component, and the vision detection component. The control component is used to receive the position signal of the tool detected by the vision detection component and adjust the working state of the first clamping component and the second clamping component according to the position signal.
2. The tool changing clamping mechanism as described in claim 1, characterized in that, The first clamping component includes: A first driving component is disposed on the mounting component; The first clamping plate is connected to the first driving member, which drives the first clamping plate to move closer to or away from the cutting tool.
3. The tool changing clamping mechanism as described in claim 2, characterized in that, The second clamping assembly includes: A second driving component is disposed on the mounting component; The second clamping plate is disposed at intervals on one side of the first clamping plate. The second clamping plate is drivenly connected to the second driving member. The second driving member is used to drive the second clamping plate to move closer to or away from the side of the tool away from the first clamping plate.
4. The tool changing clamping mechanism as described in claim 3, characterized in that, The control component is signal-connected to the first drive member and the second drive member, and is used to adjust the travel and direction of movement of the first clamping plate and the second clamping plate according to the position signal.
5. The tool changing clamping mechanism as described in claim 1, characterized in that, The visual inspection component includes: Camera, mounted on the aforementioned mounting component; A protective frame is provided on the mounting member, the protective frame surrounds the outer periphery of the camera, and allows the camera to receive light incident from outside the protective frame.
6. The tool changing clamping mechanism as described in claim 5, characterized in that, The protective frame includes multiple limiting members, one end of each of the multiple limiting members is connected to the mounting member, the multiple limiting members are arranged around the outer periphery of the camera, and any two adjacent limiting members are spaced apart.
7. The tool changing clamping mechanism as described in claim 6, characterized in that, The visual inspection component also includes a light source connected to one end of the plurality of limiting members away from the mounting member.
8. The tool changing clamping mechanism as described in claim 1, characterized in that, The tool changing clamping mechanism also includes a force sensor, which is located between the mounting component and the pick-and-place mechanism, and is connected to both the mounting component and the pick-and-place mechanism.
9. A tool-changing robot, characterized in that, It includes a moving mechanism, a pick-and-place mechanism, and a tool changing clamping mechanism as described in any one of claims 1 to 8, wherein the pick-and-place mechanism is disposed on the moving mechanism and the tool changing clamping mechanism is disposed on the drive end of the pick-and-place mechanism.
10. The tool-changing robot as described in claim 9, characterized in that, The tool changing robot also includes a tool holder and multiple clamping components. The tool holder is located on the moving mechanism, and the multiple clamping components are located on the tool holder. The clamping components are used to clamp the tool.