Multi-station tool taking manipulator

Abstract

According to the multi-station tool taking mechanical arm, the X-axis moving mechanism is used for horizontally moving the moving table, the moving table is fixedly provided with the tool taking mechanism and the tool changing mechanism, during operation, the Z-axis moving mechanism ascends by a certain height firstly, the height of the clamping mechanism is slightly higher than that of the tool rotating table, the telescopic air cylinder retracts, the rotating air cylinder is started to rotate by 90 degrees, and the tool taking mechanism and the tool changing mechanism are fixed. The clamping mechanism is aligned with the cutter on the cutter rotating table, a clamping head of the clamping mechanism is opened, the telescopic air cylinder stretches out, then the cutter is clamped by the clamping mechanism, at the moment, the Z-axis moving mechanism moves upwards, the cutter is pulled out of the cutter fixing hole, then the telescopic air cylinder retracts, the rotating air cylinder rotates reversely by 90 degrees, and the Z-axis moving mechanism descends; the tools are taken to the machining equipment, one tool changing mechanism is arranged beside each tool taking mechanism, the tools can be conveniently and rapidly taken by the tool taking mechanisms, and the tool changing speed is increased.

Description

Technical Field

[0001] This utility model belongs to the field of mechanical processing technology, specifically relating to a multi-station tool-retrieving robot. Background Technology

[0002] In the field of automated machining, automatic tool changers (APCs) are indispensable key devices. They mainly consist of a tool magazine and a tool changer. The tool magazine can hold numerous tools of different specifications, while the tool changer precisely picks up and changes tools. This system is widely used in various automated machining equipment such as CNC machine tools, lathes, and milling machines. Its advantages lie in significantly improving production efficiency, reducing the frequency of manual operation, and the ability to quickly switch between different types or sizes of tools during the machining process to meet diverse machining tasks. In large-scale production and automated production line scenarios, APCs are extremely important for improving production efficiency and ensuring machining accuracy, making them a crucial component of the machining process. Existing multi-station tool changers are relatively slow, affecting equipment operating efficiency.

[0003] Chinese utility model patent CN222920096U proposes a multi-station tool-retrieving robot. Addressing the problems of existing multi-station tool-retrieving robots having complex structures, increasing maintenance and repair difficulties, requiring more time and cost for maintenance, potentially high manufacturing and maintenance costs, and requiring more training time for users, the proposed solution includes a main support plate. A transverse mechanism is fixedly installed on the front side of the main support plate, a lifting mechanism is fixedly installed on the front side of the transverse mechanism, and a lifting frame is fixedly installed on the front side of the lifting mechanism. This utility model uses the cooperation of a servo motor and a lead screw to adjust the position of the clamping plate and the lifting frame, thereby adjusting the XY axis position of multiple tool retrievers to achieve precise positioning of the tool retrievers. The tool is clamped or released by the internal clamping mechanism of the tool retriever, realizing the tool transport and transfer function. The structure is simple and the operation is convenient. However, its long robot stroke during tool switching results in a slow tool changing speed. Utility Model Content

[0004] The purpose of this invention is to provide a multi-station tool-retrieving robot to solve the problems mentioned in the background art.

[0005] To achieve the above objectives, this utility model provides the following technical solution: a multi-station tool-retrieving robot, comprising a support, on which an X-axis moving mechanism is fixedly mounted, the X-axis moving mechanism being provided with a moving stage, and a tool-retrieving mechanism and a tool-changing mechanism being fixedly mounted on the moving stage. The tool-retrieving mechanism includes a Z-axis moving mechanism, a rotary cylinder, a telescopic cylinder, and a clamping mechanism. The Z-axis moving mechanism is driven and connected to the rotary cylinder, the rotary cylinder is driven and connected to the telescopic cylinder, and the telescopic cylinder is driven and connected to the clamping mechanism. The tool-changing mechanism includes a protective shell, a tool rotating platform, and a drive motor. The protective shell is fixedly mounted with the drive motor, and the drive motor is driven and connected to the tool rotating platform. The tool rotating platform is provided with a tool fixing hole.

[0006] Preferably, the clamping mechanism includes a clamping cylinder and a clamping head, the clamping cylinder is driven and connected to the clamping head, and the clamping head is fixedly mounted with soft rubber.

[0007] Preferably, a fastening rubber ring is fixedly installed in the tool fixing hole, and the fastening rubber ring is made of silicone rubber.

[0008] Preferably, the number of tool fixing holes is eight, arranged in a circular array on the tool rotary table.

[0009] Compared with the prior art, the beneficial effects of this utility model are:

[0010] This invention utilizes an X-axis moving mechanism to translate a moving stage. The moving stage is fixedly equipped with a tool-picking mechanism and a tool-changing mechanism. During operation, the Z-axis moving mechanism first rises to a certain height, making the height of the clamping mechanism slightly higher than the tool rotary table. The telescopic cylinder retracts, and the rotary cylinder rotates 90 degrees, aligning the clamping mechanism with the tool on the tool rotary table. The clamping head of the clamping mechanism opens, and simultaneously, the telescopic cylinder extends, clamping the tool. At this point, the Z-axis moving mechanism moves upward, pulling the tool out of the tool fixing hole. Immediately afterwards, the telescopic cylinder retracts, the rotary cylinder reverses 90 degrees, and the Z-axis moving mechanism descends, retrieving the tool for the processing equipment. By setting a tool-changing mechanism next to each tool-picking mechanism, the tool-picking mechanism can quickly retrieve and change tools, improving the tool-changing speed. Attached Figure Description

[0011] Figure 1 This is a structural view of the present invention.

[0012] Figure 2 This is a structural view of the tool changing mechanism of this utility model.

[0013] Figure 3 This is a structural view of the tool-removing mechanism of this utility model.

[0014] Figure 4 This is an internal structural view of the tool changing mechanism of this utility model.

[0015] The diagram is labeled as follows: 1. Support bracket; 2. X-axis moving mechanism; 3. Moving table; 4. Tool picking mechanism; 5. Tool changing mechanism; 6. Z-axis moving mechanism; 7. Rotary cylinder; 8. Telescopic cylinder; 9. Clamping mechanism; 10. Protective shell; 11. Tool rotating table; 12. Drive motor; 13. Tool fixing hole; 14. Clamping cylinder; 15. Clamping head; 16. Soft rubber; 17. Fastening rubber ring. Detailed Implementation

[0016] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0017] Example 1:

[0018] This utility model provides a multi-station tool-retrieving robot, including a bracket 1. An X-axis moving mechanism 2 is fixedly mounted on the bracket 1. The X-axis moving mechanism 2 is provided with a moving stage 3. A tool-retrieving mechanism 4 and a tool-changing mechanism 5 are fixedly mounted on the moving stage 3. The tool-retrieving mechanism 4 includes a Z-axis moving mechanism 6, a rotary cylinder 7, a telescopic cylinder 8, and a clamping mechanism 9. The Z-axis moving mechanism 6 drives and connects to the rotary cylinder 7, the rotary cylinder 7 drives and connects to the telescopic cylinder 8, and the telescopic cylinder 8 drives and connects to the clamping mechanism 9. The tool-changing mechanism 5 includes a protective shell 10, a tool rotating platform 11, and a drive motor 12. The protective shell 10 is fixedly mounted with the drive motor 12, and the drive motor 12 drives and connects to the tool rotating platform 11. The tool rotating platform 11 has a tool fixing hole 13. The clamping mechanism 9 includes a clamping cylinder 14 and a clamping head 15. The clamping cylinder 14 drives and connects to the clamping head 15, and a soft rubber 16 is fixedly mounted on the clamping head 15. A fastening rubber ring 17, made of silicone rubber, is fixedly installed in the tool fixing hole 13. There are eight tool fixing holes 13 arranged in a ring array on the tool rotary table 11.

[0019] Through the above technical solution, this utility model uses the X-axis moving mechanism 2 to translate the moving stage 3. The moving stage 3 is fixedly installed with the tool taking mechanism 4 and the tool changing mechanism 5. During operation, the Z-axis moving mechanism 6 first rises to a certain height, so that the height of the clamping mechanism 9 is slightly higher than the tool rotating table 11. The telescopic cylinder 8 retracts, and the rotating cylinder 7 starts to rotate 90 degrees, so that the clamping mechanism 9 is aligned with the tool on the tool rotating table 11. The clamping head 15 of the clamping mechanism 9 opens, and at the same time, the telescopic cylinder 8 extends, and the clamping mechanism 9 clamps the tool. At this time, the Z-axis moving mechanism 6 moves upward again, so that the tool is pulled out from the tool fixing hole 13. Then the telescopic cylinder 8 retracts, the rotating cylinder 7 reverses 90 degrees, and the Z-axis moving mechanism 6 descends to pick up the tool and deliver it to the processing equipment. By setting a tool changing mechanism 5 next to each tool taking mechanism 4, it is convenient for the tool taking mechanism 4 to quickly pick up the tool and improve the tool changing speed.

[0020] Example 2:

[0021] In this embodiment, an X-axis moving mechanism 2 is precisely mounted on the bracket 1. This moving mechanism uses a high-precision linear guide and servo motor drive system to ensure that the moving stage 3 can move smoothly and accurately along the X-axis. As the core load-bearing component, the moving stage 3 is equipped with multiple sets of tool picking mechanisms 4 and tool changing mechanisms 5. This compact layout significantly shortens the mechanical travel during tool changing.

[0022] The tool-retrieving mechanism 4 employs a multi-stage motion system design. Its Z-axis movement mechanism 6 achieves precise vertical positioning via ball screw transmission. A rotary cylinder 7 is mounted at the drive end of this mechanism, and the output shaft of the rotary cylinder 7 is connected to the telescopic cylinder 8 via a rigid coupling. The telescopic cylinder 8 adopts a double-acting cylinder structure, and a precision clamping mechanism 9 is fitted to the end of its piston rod. This clamping mechanism 9 is equipped with adaptive grippers and a force feedback system, enabling it to reliably grasp tools of different diameters. The entire motion chain of the tool-retrieving mechanism 4 adopts a serial structure, forming a complete motion sequence from Z-axis movement and rotary positioning to telescopic clamping.

[0023] The tool changing mechanism 5 is designed as an independent functional unit. Its housing 10 is made of steel, and a high-torque drive motor 12 is mounted on top. The drive motor 12 is connected to the tool rotary table 11 through a precision reducer. Multiple standard tool fixing holes 13 are evenly distributed on the surface of the rotary table. Each fixing hole is embedded with an elastic sleeve, which can accommodate the installation of tools of different specifications. The rotary table adopts indexing positioning technology, which can accurately stop the target tool at the tool picking position.

[0024] In actual operation, when a tool needs to be changed, the X-axis moving mechanism 2 first positions the moving stage 3 to the target workstation. The Z-axis moving mechanism 6 of the tool-retrieving mechanism 4 then activates, raising the entire tool-retrieving unit to a preset height. At this point, the clamping mechanism 9 is positioned safely above the tool rotary table 11. The telescopic cylinder 8 automatically retracts, making room for rotation. The rotary cylinder 7 precisely rotates 90 degrees, aligning the clamping mechanism 9 directly with the fixed tool position. Simultaneously, the pneumatic grippers of the clamping mechanism 9 open, and the telescopic cylinder 8 extends, delivering the grippers to the tool-holding position.

[0025] The clamping mechanism 9 detects the clamping force via a pressure sensor, and completes tool gripping when the set value is reached. The Z-axis moving mechanism 6 immediately executes a lifting action, smoothly pulling the tool out of the fixing hole. Subsequently, the telescopic cylinder 8 retracts, the rotary cylinder 7 rotates in the opposite direction to reset, and the Z-axis moving mechanism 6 descends to the handover height, ready to transfer the tool to the machining equipment. The entire tool change process is tightly coordinated, and the idle travel is minimized by optimizing the motion trajectory.

[0026] The innovation of this embodiment lies in integrating the tool retrieval and tool changing functions onto a single moving stage 3, achieving multi-station coverage through X-axis movement. Each station is equipped with an independent tool rotary table 11. This design allows the tool retrieval mechanism 4 to move only a short distance between adjacent stations, significantly reducing tool changing time. Simultaneously, the modular structural design facilitates maintenance and functional expansion, allowing for the addition or reduction of stations according to actual needs.

[0027] Example 3:

[0028] In this embodiment, when the clamping mechanism 9 is working, the clamping cylinder 14 drives the two clamping heads 15 to move towards each other, thereby clamping the tool. The soft rubber 16 material fixedly installed on the inner side of the clamping head 15 undergoes elastic deformation when it comes into contact with the tool, forming a tight fit with the shape of the tool. This design, on the one hand, increases the friction between the clamping head 15 and the tool through the elastic deformation of the soft rubber 16, ensuring the reliability of clamping; on the other hand, the cushioning properties of the soft rubber 16 material effectively avoid damage to the tool surface that may be caused by direct metal contact.

[0029] During the tool removal process, when the telescopic cylinder 8 pushes the clamping mechanism 9 close to the tool, the clamping head 15 is in an open state. After the clamping head 15 reaches the predetermined position, the clamping cylinder 14 is activated, driving the two clamping heads 15 to close synchronously. The soft rubber material 16, after being deformed under pressure, evenly wraps around the outer surface of the tool, forming a stable three-point contact state. This contact method can ensure sufficient clamping force while avoiding tool deformation due to excessive local pressure.

[0030] When the tool needs to be released, the clamping cylinder 14 reverses its direction, driving the clamping head 15 to open outwards. At this time, the soft rubber material 16 returns to its original shape due to its own elasticity, completely detaching from the tool surface. This feature effectively solves the problem of tool sticking that may occur with traditional metal chucks, ensuring that the tool can be released smoothly.

[0031] During tool transfer, the soft rubber 16 material also acts as a shock absorber. When the robot arm moves rapidly, the soft rubber 16 can absorb some of the vibration energy, preventing unnecessary shaking of the tool while it is being held. This characteristic is particularly important for maintaining tool positioning accuracy, especially during high-speed tool changes.

[0032] The movement trajectory of the clamping mechanism 9 is coordinated with the rotary cylinder 7 and the telescopic cylinder 8. When the rotary cylinder 7 drives the clamping mechanism 9 to rotate, the low-friction characteristics of the soft rubber 16 material reduce rotational resistance, making the movement smoother. At the same time, the reciprocating motion of the telescopic cylinder 8 is precisely synchronized with the clamping action, ensuring that it clamps immediately when extended and fully releases before retracting.

[0033] This clamping mechanism 9 is particularly suitable for tools of different diameters. The deformable properties of the soft rubber 16 material allow it to adapt to a variety of tool sizes without requiring adjustments to the clamping parameters for each tool. This versatile design greatly simplifies the configuration of the tool changer system and improves the adaptability of the equipment.

[0034] During prolonged operation, the wear resistance of the soft rubber 16 material ensures the long-term stability of the clamping mechanism 9. Even after multiple clamping-release cycles, the surface of the soft rubber 16 maintains good frictional properties and does not affect the clamping effect due to wear. This durable design significantly reduces maintenance frequency and operating costs.

[0035] The compact design of the clamping mechanism 9 allows it to adapt to limited space. The clamping cylinder 14 and the clamping head 15 are directly connected, reducing intermediate transmission links, which improves response speed and reduces the probability of failure. This simple structural layout is particularly suitable for efficient operation in multi-station environments.

[0036] Example 4:

[0037] In this embodiment, during actual operation, the X-axis moving mechanism 2 drives the moving stage 3 to move horizontally, enabling the tool-taking mechanism 4 to quickly position itself at different tool locations. When a tool needs to be changed, the Z-axis moving mechanism 6 first drives the rotary cylinder 7 to rise to a predetermined height, which is such that the lower end of the clamping mechanism 9 is slightly higher than the upper surface of the tool rotary table 11. At this time, the telescopic cylinder 8 is in a retracted state, ensuring that the clamping mechanism 9 does not interfere with the tool rotary table 11.

[0038] After the rotary cylinder 7 is activated, it drives the telescopic cylinder 8 and the clamping mechanism 9 to rotate 90 degrees as a whole, so that the clamping head 15 of the clamping mechanism 9 is directly facing the target tool on the tool rotary table 11. Under the command of the control system, the clamping mechanism 9 automatically opens the clamping head 15, and at the same time, the telescopic cylinder 8 begins to extend, pushing the clamping mechanism 9 to move towards the tool. When the clamping head 15 reaches the appropriate position of the tool, the clamping mechanism 9 closes to firmly clamp the tool.

[0039] The fastening ring 17 inside the tool fixing hole 13 is made of silicone rubber, which has good elasticity and wear resistance. When the tool is inserted into the fixing hole, the silicone rubber fastening ring 17 generates radial pressure through its elastic deformation, stably fixing the tool in the hole. This fixing method ensures the stability of the tool during rotation and provides appropriate resistance when removing the tool, preventing the tool from accidentally falling out. At the same time, silicone rubber material has excellent oil resistance and high temperature resistance, making it suitable for long-term use in machining environments.

[0040] After the clamping mechanism 9 completes the tool clamping, the Z-axis moving mechanism 6 drives the entire tool-retrieving mechanism 4 to move upward, smoothly pulling the tool out of the tool fixing hole 13. Due to the elastic properties of the fastening rubber ring 17, the resistance encountered by the tool during the extraction process is uniform, and no sudden impact is generated. Subsequently, the telescopic cylinder 8 retracts, retracting the clamping mechanism 9 and the tool, and the rotary cylinder 7 rotates 90 degrees in the opposite direction to restore the tool-retrieving mechanism 4 to its initial position.

[0041] Finally, the Z-axis moving mechanism 6 descends, delivering the retrieved tool to the tool holder position of the machining equipment. The entire tool retrieval process is seamless, with each mechanism coordinating precisely, significantly improving tool changing efficiency. By setting an independent tool changing mechanism 5 next to each tool retrieval mechanism 4, rapid tool retrieval and placement are achieved, avoiding the time loss caused by long-distance movement of the robotic arm in traditional designs.

[0042] In this embodiment, the design of the fastening rubber ring 17 takes into account the frequent tool changes. The silicone rubber material maintains good elasticity even after long-term use and will not undergo permanent deformation due to repeated tool insertion and removal. At the same time, its coefficient of friction is moderate, ensuring reliable tool fixation without creating excessive resistance during the tool removal process. This structural design enables the robot to complete tool change operations at a higher frequency, meeting the needs of modern high-efficiency machining.

[0043] Example 5:

[0044] In this embodiment, the tool rotary table 11 has eight tool fixing holes 13, which are evenly distributed in a circular array along the circumference of the tool rotary table 11. Each tool fixing hole 13 is precision machined to ensure that tools of different specifications can be securely fixed. The tool rotary table 11 is driven by a drive motor 12, which can achieve precise rotational positioning, so that any tool fixing hole 13 can be quickly aligned with the working position of the tool taking mechanism 4.

[0045] The circular array design of the tool rotary table 11 minimizes the switching path between the eight tool fixing holes 13. When a tool change is needed, the drive motor 12 only needs to rotate the tool rotary table 11 by an integer multiple of 45 degrees to quickly position the target tool to the tool pick-up position. This design significantly reduces the rotational travel during tool switching and improves tool changing efficiency. At the same time, the eight-station configuration ensures sufficient tool capacity while avoiding the problem of an excessively large rotary table due to too many stations.

[0046] During operation, when the machining equipment issues a tool change command, the X-axis moving mechanism 2 first moves the moving table 3 to the position of the corresponding tool change mechanism 5. At this time, the tool rotary table 11 has already rotated, aligning the tool fixing hole 13 where the target tool is located with the tool removal mechanism 4. The Z-axis moving mechanism 6 drives the rotary cylinder 7 and the clamping mechanism 9 to rise to an appropriate height, and the telescopic cylinder 8 extends to bring the clamping mechanism 9 closer to the target tool. After the clamping mechanism 9 accurately clamps the tool, the Z-axis moving mechanism 6 moves upward to remove the tool from the fixing hole.

[0047] After tool removal, the rotary cylinder 7 drives the clamping mechanism 9 to rotate 90 degrees, oriented the tool towards the machining equipment. The X-axis moving mechanism 2 then moves the moving table 3 to the machining equipment position, and the Z-axis moving mechanism 6 descends to install the tool onto the machining equipment. The entire tool changing process is fast and accurate, and the 8-station setup ensures that commonly used tools are always ready, greatly reducing waiting time.

[0048] When it is necessary to return the tool to the tool magazine, the above process is reversed. The clamping mechanism 9 returns the used tool to the empty tool fixing hole 13, and the tool rotary table 11 can automatically adjust its position according to the preset program to ensure that each tool fixing hole 13 is fully utilized. The circular array design of 8 stations makes tool management more organized, and operators can intuitively understand the tool status of each station.

[0049] This embodiment achieves rapid and precise tool changing through an eight-hole circular array 13. Compared to traditional linear tool magazines, this circular array structure significantly shortens the tool changing path and increases tool change speed. Simultaneously, the eight-station configuration meets the tooling requirements of most machining scenarios while maintaining the equipment's compactness, making it an ideal solution for improving automated machining efficiency.

[0050] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0051] The above description is only used to illustrate the technical solution of this utility model and is not intended to limit it. Any other modifications or equivalent substitutions made by those skilled in the art to the technical solution of this utility model, as long as they do not depart from the spirit and scope of the technical solution of this utility model, should be covered within the scope of the claims of this utility model.

Claims

1. A multi-station tool-retrieving robot, comprising a support frame, wherein an X-axis moving mechanism is fixedly mounted on the support frame, and the X-axis moving mechanism is provided with a moving stage, characterized in that, The moving stage is fixedly equipped with a tool-picking mechanism and a tool-changing mechanism. The tool-picking mechanism includes a Z-axis moving mechanism, a rotary cylinder, a telescopic cylinder, and a clamping mechanism. The Z-axis moving mechanism is driven and connected to the rotary cylinder. The rotary cylinder is driven and connected to the telescopic cylinder. The telescopic cylinder is driven and connected to the clamping mechanism. The tool-changing mechanism includes a protective shell, a tool rotating table, and a drive motor. The protective shell is fixedly equipped with the drive motor. The drive motor is driven and connected to the tool rotating table. The tool rotating table is provided with a tool fixing hole.

2. The multi-station tool-retrieving robot according to claim 1, characterized in that, The clamping mechanism includes a clamping cylinder and a clamping head. The clamping cylinder drives and connects to the clamping head, and the clamping head is fixedly mounted with soft rubber.

3. The multi-station tool-retrieving robot according to claim 1, characterized in that, A fastening rubber ring is fixedly installed in the tool fixing hole, and the fastening rubber ring is made of silicone rubber.

4. The multi-station tool-retrieving robot according to claim 1, characterized in that, The tool fixing holes are eight in number and arranged in a ring array on the tool rotary table.

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