Universal tool holder type rotatable robot gripping module loadable on a machine tool spindle

Abstract

The utility model discloses a general tool shank type rotatable mechanical hand clamping module capable of being loaded on lathe main shaft, including gas source seat module and tool shank clamping module, the gas source seat module is including gas source seat main part, and the gas source seat main part is including open and close gas source and rotates gas source and exports, the tool shank clamping module includes: tool shank, rotates the rotary cylinder of installation in the tool shank below, is located between the rotary cylinder and the tool shank gas path integrated board, installs open and close gas claw in the rotary cylinder lower part, be equipped with open and close gas source gas path and rotary gas source gas path in the gas path integrated board. Compared with prior art, the utility model discloses through open and close gas claw opening and closing and realizes the clamping and loosening of work piece, through the rotary cylinder can realize the rotation of work piece, utilizes open and close gas claw clamping work piece, can clamping heavier work piece, guarantees work piece to be firmly clamped.

Description

Technical Field

[0001] This utility model belongs to the field of machine tool workpiece clamping technology, and in particular relates to a universal tool holder type rotatable manipulator clamping module that can be mounted on the machine tool spindle. Background Technology

[0002] When machining workpieces using CNC machine tools, clamping devices are needed to achieve automatic loading and unloading of workpieces.

[0003] In the prior art, Chinese Patent Publication No. CN119159427A discloses an in-machine clamping device for thin sheet workpieces with a rotary suction cup clamping head, comprising: a spindle seat, an air source seat, and a rotary suction cup clamping head. The bottom of the spindle seat is provided with a tool holder interface; the air source seat is detachably connected to the lower part of the spindle seat, and is provided with a seat drive air source air path and a seat vacuum air source air path; the rotary suction cup clamping head includes: a tool holder assembly, a rotary cylinder, a hollow suction cup rotating arm, and a material suction cup; the tool holder assembly is an integrated structure composed of a tool holder body and an air path block in a cross shape; the rotary cylinder is fixed to the bottom of the tool holder body. This in-machine clamping device for thin sheet workpieces is suitable for loading and unloading lightweight thin sheet workpieces such as glass covers for mobile phones or tablet computers.

[0004] The shortcoming of the existing technology is that when the workpiece is heavy, the clamping equipment in the existing technology relies on the suction cup adsorption structure, which has a small suction force and is difficult to ensure a stable grip on the workpiece.

[0005] Therefore, it is necessary to provide a new universal toolholder-type rotatable robotic arm clamping module that can be mounted on a machine tool spindle to solve the above-mentioned technical problems. Summary of the Invention

[0006] (a) Technical problems to be solved

[0007] Based on this, the present invention provides a universal tool holder type rotatable manipulator clamping module that can be mounted on a machine tool spindle, aiming to solve the technical problem that existing clamping equipment is difficult to stably grasp heavy workpieces.

[0008] (II) Technical Solution

[0009] To solve the above-mentioned technical problems, this utility model proposes a universal toolholder-type rotatable manipulator clamping module that can be mounted on a machine tool spindle, including an air source base module and a toolholder clamping module; the air source base module includes an air source base body, which includes an opening / closing air source inlet and a rotating air source inlet; the toolholder clamping module includes: a toolholder, a rotary cylinder mounted below the toolholder, an air circuit integration plate disposed between the toolholder and the rotary cylinder, and an opening / closing gripper mounted below the rotary cylinder; the air circuit integration plate is provided with an opening / closing air source air circuit and a rotating air source air circuit; the module can be mounted on a machine tool spindle. The universal toolholder-type rotatable robotic arm clamping module includes a spindle-mounted state. When the universal toolholder-type rotatable robotic arm clamping module, which can be mounted on a machine tool spindle, is in the spindle-mounted state: the air circuit integration plate abuts against the air source base body, and the opening / closing air source inlet is connected to the opening / closing air source air circuit, and the rotation air source inlet is connected to the rotation air source air circuit. The opening / closing air source air circuit is used to introduce opening / closing power air source to the opening / closing gripper to drive the opening / closing gripper to open and close, and the rotation air source air circuit is used to introduce rotation power air source to the rotary cylinder to drive the rotary cylinder and the opening / closing gripper to rotate as a whole.

[0010] Preferably, the air source base module further includes a three-way adjustable connection unit, which includes a bottom plate, a horizontal adjustment plate, and a vertical adjustment plate that are threaded together from top to bottom; the horizontal adjustment plate, the vertical adjustment plate, and the air source base body are respectively provided with an X-direction waist-shaped connection hole, a Z-direction waist-shaped connection hole, and a Y-direction waist-shaped connection hole.

[0011] Preferably, the bottom plate has a through-hole for a connecting shaft seat, and the bottom plate also has a hole for a connecting horizontal plate; the horizontal adjustment plate includes a first horizontal plate arranged horizontally and a first vertical plate arranged vertically, the first horizontal plate and the first vertical plate are fixedly connected and together form a right-angle plate shape, the X-direction waist-shaped connecting hole is provided on the first horizontal plate, and the first vertical plate has a Z-direction connecting circular hole; the vertical adjustment plate includes a second horizontal plate arranged horizontally and a second vertical plate arranged vertically, the second horizontal plate and the second vertical plate are fixedly connected and together form a right-angle plate shape, the Z-direction waist-shaped connecting hole is provided on the second vertical plate, and the second vertical plate has a connecting circular hole. The unit is provided with a Y-direction connecting circular hole; the three-way adjustable connecting unit further includes a first connecting bolt for connecting the bottom plate and the horizontal adjustment plate, the first connecting bolt passing through the X-direction waist-shaped connecting hole and extending into the connecting horizontal plate hole; the three-way adjustable connecting unit further includes a second connecting bolt for connecting the horizontal adjustment plate and the vertical adjustment plate, the second connecting bolt passing through the Z-direction waist-shaped connecting hole and extending into the Z-direction connecting circular hole; the three-way adjustable connecting unit further includes a third connecting bolt for connecting the vertical adjustment plate and the air source base body, the third connecting bolt passing through the Y-direction waist-shaped connecting hole and extending into the Y-direction connecting circular hole.

[0012] Preferably, the second horizontal plate has a concave arc shape on the side near the tool holder; the bottom plate also has a water vapor nozzle through hole; the opening / closing air source inlet and the rotating air source inlet are both located at the lower part of the air source base body; the air source base body also includes an opening / closing air source inlet and a rotating air source inlet, both located on the side of the air source base body away from the machine tool spindle; both the opening / closing air source inlet and the rotating air source inlet are connected to air connectors.

[0013] Preferably, the tool holder clamping module further includes a frame-shaped adapter plate with an overall open top, and the rotary cylinder further includes: a cylinder body, a rotating shaft passing through the cylinder body and rotatably connected to the cylinder body, and an anti-rotation sliding piston slidably connected to the inside of the cylinder body. The rotating shaft passes through the anti-rotation sliding piston and is rotatably connected to the anti-rotation sliding piston. The piston and the cylinder body form a rotary drive cavity. The two ends of the rotating shaft are respectively fixedly connected to the two ends of the adapter plate, and the opening and closing air gripper is installed on the lower part of the adapter plate. The tool holder clamping module is provided with a connecting gripper air passage that passes through the cylinder body, the rotating shaft and the adapter plate in sequence and connects the opening and closing air source air passage and the opening and closing air gripper. The cylinder body is provided with a connecting cylinder air passage that connects the rotary air source air passage and the rotary drive cavity.

[0014] Preferably, the opening and closing pneumatic gripper is a two-finger pneumatic gripper; the connecting gripper air path includes an opening connecting gripper air path and a closing connecting gripper air path; the opening and closing air source air path includes a first gripper air path and a second gripper air path; the opening connecting gripper air path includes a left front section pneumatic gripper air path, a left middle section pneumatic gripper air path, and a left rear section pneumatic gripper air path that pass sequentially through the cylinder body, the rotating shaft, and the left side of the adapter plate; the cylinder body is also provided with a left annular groove surrounding the rotating shaft; the left front section pneumatic gripper air path and the left middle section pneumatic gripper air path are respectively connected to the left annular groove; the left front section pneumatic gripper air path is connected to the first gripper air path; the left rear section pneumatic gripper air path is connected to the opening and closing pneumatic gripper; the closing connecting gripper air path includes a right front section pneumatic gripper air path, a right middle section pneumatic gripper air path, and a right middle section pneumatic gripper air path that pass sequentially through the cylinder body, the rotating shaft, and the adapter plate. The cylinder contains an air gripper air passage and a right rear section air gripper air passage. A right annular groove surrounds the rotating shaft. The right front section air gripper air passage and the right middle section air gripper air passage are respectively connected to the right annular groove. The right front section air gripper air passage is connected to the second gripper air passage, and the right rear section air gripper air passage is connected to the opening / closing gripper. The rotary air source air passage includes a first rotary air passage and a second rotary air passage. The cylinder connecting air passage includes a clockwise rotary air passage and a counterclockwise rotary air passage. The rotary drive chamber includes a clockwise rotary drive chamber and a counterclockwise rotary drive chamber located on both sides of the anti-rotation sliding piston. The clockwise rotary air passage connects the first rotary air passage and the clockwise rotary drive chamber, and the counterclockwise rotary air passage connects the second rotary air passage and the counterclockwise rotary drive chamber.

[0015] Preferably, the adapter plate includes a horizontal connecting plate and a first longitudinal plate and a second longitudinal plate respectively fixed to the upper two sides of the horizontal connecting plate. The horizontal connecting plate and the first longitudinal plate together form a right-angle plate with an integral structure. The right-angle plate and the second longitudinal plate are detachably connected.

[0016] Preferably, left sealing rings for sealing the left annular groove are provided on both sides of the left annular groove, and right sealing rings for sealing the right annular groove are provided on both sides of the right annular groove; the anti-rotation sliding piston is stepped in shape, and a spiral groove is provided on the upper part of the anti-rotation sliding piston; a protruding guide post is provided on the outer wall of the rotating shaft, and the guide post extends into the spiral groove. When the anti-rotation sliding piston slides, it drives the groove wall of the spiral groove to push the guide post to move, thereby driving the rotating shaft and the pneumatic gripper to rotate as a whole.

[0017] Preferably, the universal toolholder-type rotatable robot clamping module that can be mounted on a machine tool spindle further includes a tool changing positioning unit, which includes: a guide pin, a tapered sleeve, and a compression spring; the upper part of the guide pin is a tapered guide head that is smaller at the top and larger at the bottom, the upper part of the air circuit integrated plate is provided with a recessed guide component mounting hole, the lower part of the guide pin is slidably installed in the guide component mounting hole, and the tapered guide head extends out of the guide component mounting hole; the lower part of the compression spring is located in the guide component mounting hole, and the upper part of the compression spring abuts against the lower part of the guide pin; the tapered sleeve is embedded in the bottom of the air source seat body, and the tapered sleeve includes a tapered guide hole that is smaller at the top and larger at the bottom; when the universal toolholder-type rotatable robot clamping module that can be mounted on a machine tool spindle is in the spindle mounting state: the tapered guide head is inserted into the tapered guide hole.

[0018] Preferably, the rotary air source air path includes a first rotary air path and a second rotary air path; the opening and closing air source air path includes a first gripper air path and a second gripper air path; the universal tool holder type rotatable manipulator clamping module that can be mounted on the machine tool spindle further includes a docking sealing unit, the docking sealing unit includes a straight-through air connector, the upper part of the straight-through air connector is a raised frustum-shaped cone, the lower part of the straight-through air connector is fixedly snapped into the air path integration plate, and the upper part of the straight-through air connector is provided with a connector O-type seal. The lower part of the air source seat body is provided with a seat sealing cone surface that matches the upper end of the straight-through air connector; the first rotary air passage, the second rotary air passage, the first gripper air passage, and the second gripper air passage are each provided with a set of the docking sealing units at the parts that abut against the air source seat; when the universal tool holder type rotatable manipulator clamping module that can be mounted on the machine tool spindle is in the spindle mounting state: the upper part of the straight-through air connector extends into the seat sealing cone surface, and the connector O-ring seal abuts against the seat sealing cone surface.

[0019] (III) Beneficial Effects

[0020] Compared with the prior art, the universal tool holder type rotatable manipulator clamping module of this utility model can be mounted on the machine tool spindle to clamp and release workpieces by opening and closing the pneumatic grippers. The rotation of the workpiece can be achieved by the rotary cylinder. By using the opening and closing pneumatic grippers to clamp the workpiece, heavier workpieces can be clamped, ensuring that the workpiece is firmly clamped. Attached Figure Description

[0021] To more clearly illustrate the technical solutions of the embodiments of this utility model, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0022] Figure 1 This is the usage state of the present utility model. Figure 1 (The opening and closing pneumatic gripper is set vertically);

[0023] Figure 2 This is the usage state of the present utility model. Figure 2 (The opening and closing pneumatic gripper is set horizontally);

[0024] Figure 3 This is a three-dimensional schematic diagram of the overall structure of this utility model;

[0025] Figure 4 This is an exploded view of the present invention;

[0026] Figure 5 This is a cross-sectional view of the present invention;

[0027] Figure 6 This is a schematic diagram of the tool holder clamping module in this utility model;

[0028] Figure 7 This is a three-dimensional schematic diagram of the main body of the air source seat in this utility model.

[0029] Explanation of reference numerals in the attached figures:

[0030] 100. Air source base module; 200. Tool holder clamping module; 300. Machine tool spindle; 400. Spindle seat; 500. Water vapor nozzle;

[0031] 1. Air source base body; 2. Three-way adjustable connection unit; 3. Tool holder; 4. Rotary cylinder; 5. Air circuit integrated plate; 6. Opening and closing gripper; 7. Air connector; 8. Adapter plate; 9. Guide pin; 10. Conical sleeve; 11. Compression spring; 12. Set screw; 13. Straight-through air connector; 14. Connector O-ring seal; 15. Left sealing ring; 16. Right sealing ring; 17. Center connecting screw;

[0032] 11. Open / close air source outlet; 12. Rotary air source outlet; 13. Open / close air source inlet; 14. Rotary air source inlet; 15. Seat sealing cone surface; 16. Y-shaped waist-shaped connection hole;

[0033] 21. Bottom plate; 22. Horizontal adjustment plate; 23. Vertical adjustment plate; 24. First connecting bolt; 25. Second connecting bolt; 26. Third connecting bolt;

[0034] 41. Rotary shaft; 42. Anti-rotation sliding piston; 43. Left middle section air gripper air passage; 44. Right middle section air gripper air passage; 45. Cylinder block;

[0035] 51. First rotary air passage; 52. Second rotary air passage; 53. First gripper air passage; 54. Second gripper air passage; 55. Guide mounting hole;

[0036] 81. Air path of the left rear pneumatic gripper; 82. Air path of the right rear pneumatic gripper; 83. Right-angle plate; 84. Second longitudinal plate;

[0037] 211. Coupling seat hole; 212. Connecting cross plate hole; 213. Water vapor nozzle through hole;

[0038] 221. First horizontal board; 222. First vertical board;

[0039] 231. Second horizontal board; 232. Second vertical board;

[0040] 451. Left front pneumatic gripper air passage; 452. Right front pneumatic gripper air passage; 453. Left annular groove; 454. Right annular groove; 455. Clockwise rotating air passage; 456. Counterclockwise rotating air passage; 457. Clockwise rotating drive chamber; 458. Counterclockwise rotating drive chamber.

[0041] 91. Conical guide head; 92. Anti-disengagement protrusion ring;

[0042] 101. Tapered guide hole;

[0043] 421. Spiral groove;

[0044] 2211, X-direction oblong connecting hole;

[0045] 2221. Z-direction connecting round hole;

[0046] 2321. Z-direction oblong connecting hole; 2322. Y-direction connecting round hole;

[0047] 2311. Concave arc shape;

[0048] 551. Stepped surface. Detailed Implementation

[0049] To make the above-mentioned objectives, features, and advantages of this utility model more apparent and understandable, the specific embodiments of this utility model are described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a full understanding of this utility model. However, this utility model can be implemented in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of this utility model. Therefore, this utility model is not limited to the specific embodiments disclosed below.

[0050] The following is in conjunction with the appendix Figure 1-7 The present invention provides a further description of the universal tool holder type rotatable robotic arm clamping module that can be mounted on a machine tool spindle.

[0051] Please refer to this carefully. Figure 1-5 and Figure 7 This utility model discloses a universal tool holder type rotatable manipulator clamping module that can be mounted on a machine tool spindle, including an air source base module 100 and a tool holder clamping module 200; the air source base module 100 includes an air source base body 1, which includes an opening / closing air source inlet 11 and a rotating air source inlet 12; the tool holder clamping module 200 includes: a tool holder 3, a rotating cylinder 4 installed below the tool holder 3, an air passage integration plate 5 located between the tool holder 3 and the rotating cylinder 4, and an opening / closing gripper 6 installed below the rotating cylinder 4; the air passage integration plate 5 is provided with an opening / closing air source passage and a rotating air source passage; The universal tool holder type rotatable manipulator clamping module that can be mounted on the machine tool spindle includes a spindle mounting state. When the universal tool holder type rotatable manipulator clamping module that can be mounted on the machine tool spindle is in the spindle mounting state: the air circuit integration plate 5 abuts against the air source seat body 1, and the opening and closing air source inlet 11 is connected to the opening and closing air source air circuit, and the rotation air source inlet 12 is connected to the rotation air source air circuit. The opening and closing air source air circuit is used to introduce the opening and closing power air source to the opening and closing gripper 6 to drive the opening and closing gripper 6 to open and close. The rotation air source air circuit is used to introduce the rotation power air source to the rotation cylinder 4 to drive the rotation cylinder 4 and the opening and closing gripper 6 to rotate as a whole.

[0052] The structure and function of each component in this embodiment will be described in detail below.

[0053] Regarding the tool holder 3: The tool holder 3 adopts a universal tool holder structure that is compatible with CNC machine tools. Since the tool holder 3 is an existing universal tool holder structure, the structure of the tool holder 3 is not specifically described in this embodiment, which does not affect the full disclosure of this utility model.

[0054] When the universal toolholder-type rotatable robotic arm clamping module of this utility model, which can be mounted on the machine tool spindle, is in the following position... Figure 1 When the vertical configuration is shown, the tool holder clamping module 200 can be completely replaced using the CNC machine tool tool changer mechanism and placed into the existing tool magazine of the CNC machine tool.

[0055] About Rotary Cylinder 4: Rotary cylinder 4 is a pneumatic actuator that converts the pressure energy of compressed air into mechanical energy to achieve rotational motion. In use, compressed air is introduced into rotary cylinder 4 through the air inlet. The compressed air then enters the cylinder. The compressed air entering the cylinder pushes the piston to move linearly within the cylinder barrel. The piston is connected to the piston rod, and the piston rod, through specific mechanical structures such as a rack and pinion mechanism or a helical groove mechanism, converts the piston's linear motion into rotational motion.

[0056] Regarding the air circuit integration plate 5: The air circuit integration plate 5 contains opening and closing air source air circuits and rotation air source air circuits, which avoids the use of a scattered distribution of pipelines. The air circuit integration plate 5 can quickly connect the four sets of gases used to drive the rotary cylinder 4 to rotate clockwise and counterclockwise, and to drive the opening and closing gripper 6 to open and clamp.

[0057] Regarding the air source base body 1: The air source base body 1 is used to introduce pressurized gas. When in use, the air source base module 100 is fixedly installed below the spindle seat 400. When the air circuit integration plate 5 is connected to the air source base body 1, the pressurized gas is input from the air source base body 1 into the air circuit integration plate 5.

[0058] In this embodiment, a universal toolholder-type rotatable manipulator clamping module that can be mounted on a machine tool spindle is applied to a machine tool. The machine tool includes a spindle seat 400 and a machine tool spindle 300 mounted below the spindle seat 400. The bottom of the machine tool spindle 300 is provided with a toolholder interface. The air source base module 100 is detachably connected to the lower part of the spindle seat 400. When the universal toolholder-type rotatable manipulator clamping module that can be mounted on the machine tool spindle is in the spindle mounting state: the top of the toolholder body is inserted into the toolholder interface and fixed to the lower part of the machine tool spindle 300; the upper surface of the air circuit integration plate 5 abuts against the lower surface of the air source base body 1, and is connected to the air source to drive the rotary cylinder 4 and the opening and closing gripper 6 to move.

[0059] The structure of this embodiment allows the pneumatic gripper 6 to open and close, enabling the clamping and releasing of workpieces. The rotating cylinder 4 allows the workpiece to rotate, changing its placement angle to meet processing requirements. Furthermore, the pneumatic gripper 6 can hold heavier workpieces, ensuring they are securely clamped.

[0060] According to a specific embodiment of the present invention, the air source base module 100 further includes a three-way adjustable connection unit 2. The three-way adjustable connection unit 2 includes a bottom plate 21, a horizontal adjustment plate 22, and a vertical adjustment plate 23 that are threaded together from top to bottom. The horizontal adjustment plate 22, the vertical adjustment plate 23, and the air source base body 1 are respectively provided with an X-direction waist-shaped connection hole 2211, a Z-direction waist-shaped connection hole 2321, and a Y-direction waist-shaped connection hole 16.

[0061] In this embodiment, the position of two adjacent components is adjusted by the waist-shaped connecting hole. The three-way waist-shaped hole can be set to enable flexible adjustment of the position of the air source seat body 1 in the X, Y and Z directions, so as to ensure that when the present invention is in the spindle mounting state, the air hole at the bottom of the air source seat body 1 is aligned with the air hole on the air circuit integrated plate 5, and the tapered guide head 91 is inserted into the tapered guide hole 101.

[0062] According to a specific embodiment of this utility model, the bottom plate 21 is provided with a connecting shaft seat hole 211 passing through it, and the bottom plate 21 is also provided with a connecting horizontal plate hole 212; the horizontal adjustment plate 22 includes a first horizontal plate 221 arranged horizontally and a first vertical plate 222 arranged vertically, the first horizontal plate 221 and the first vertical plate 222 are fixedly connected, and the two together form a right-angle plate shape, an X-direction waist-shaped connecting hole 2211 is provided on the first horizontal plate 221, and a Z-direction connecting round hole 2221 is provided on the first vertical plate 222; the vertical adjustment plate 23 includes a second horizontal plate 231 arranged horizontally and a second vertical plate 232 arranged vertically, the second horizontal plate 231 and the second vertical plate 232 are fixedly connected, and the two together form a right-angle plate shape, and a Z-direction waist-shaped connecting hole 2321 is provided on the second vertical plate 232. On plate 232, the second vertical plate 232 is provided with a Y-direction connecting circular hole 2322; the three-way adjustable connecting unit 2 also includes a first connecting bolt 24 for connecting the bottom plate 21 and the horizontal adjustment plate 22, the first connecting bolt 24 passes through the X-direction waist-shaped connecting hole 2211 and extends into the horizontal plate hole 212; the three-way adjustable connecting unit 2 also includes a second connecting bolt 25 for connecting the horizontal adjustment plate 22 and the vertical adjustment plate 23, the second connecting bolt 25 passes through the Z-direction waist-shaped connecting hole 2321 and extends into the Z-direction connecting circular hole 2221; the three-way adjustable connecting unit 2 also includes a third connecting bolt 26 for connecting the vertical adjustment plate 23 and the air source base body 1, the third connecting bolt 26 passes through the Y-direction waist-shaped connecting hole 16 and extends into the Y-direction connecting circular hole 2322.

[0063] In this embodiment, a more specific structure of the three-way adjustable connection unit 2 is provided. The horizontal adjustment plate 22 and the vertical adjustment plate 23 can be connected to each other, and their vertical positions (Z-axis) are adjustable. The horizontal adjustment plate 22 has a first horizontal plate 221 connected to the bottom plate 21, and its first horizontal direction (Y-axis) is adjustable. The vertical adjustment plate 23 has a second horizontal plate 231 connected to the air source base body 1, and its second horizontal direction (X-axis) is adjustable. The overall structure is simple and compact, and the position adjustment is flexible and convenient. The X, Y, and Z directions are referenced... Figure 2 The direction of the XYZ coordinate system.

[0064] According to a specific embodiment of this utility model, the second horizontal plate 231 is provided with a concave arc shape 2311 on the side near the tool holder 3; the bottom plate 21 is also provided with a water vapor nozzle through hole 213; the opening and closing air source inlet 11 and the rotating air source inlet 12 are both located at the lower part of the air source base body 1; the air source base body 1 also includes an opening and closing air source inlet 13 and a rotating air source inlet 14, both of which are located on the side of the air source base body 1 away from the machine tool spindle 300; both the opening and closing air source inlet 13 and the rotating air source inlet 14 are connected to an air connector 7.

[0065] In this embodiment, the concave arc 2311 on one side of the second horizontal plate 231 is used to avoid the machine tool spindle 300. The water vapor nozzle through hole 213 is used for the water vapor nozzle 500 to pass through. The openable air source inlet 11 and the rotary air source inlet 12 are both located at the lower part of the air source base body 1, which facilitates the quick connection of the air passage between the air source base body 1 and the air passage integration plate 5. The openable air source inlet 13 is used to introduce the power air source, and the positions of the openable air source inlet 13 and the rotary air source inlet 14 facilitate the arrangement space for the air connector 7.

[0066] According to a specific embodiment of this utility model, the tool holder clamping module 200 further includes a frame-shaped adapter plate 8 with an overall open top. The rotary cylinder 4 further includes: a cylinder body 45, a rotating shaft 41 that passes through the cylinder body 45 and is rotatably connected to the cylinder body 45, and an anti-rotation sliding piston 42 that is slidably connected to the inside of the cylinder body 45. The rotating shaft 41 passes through the anti-rotation sliding piston 42, and the rotating shaft 41 and the anti-rotation sliding piston 42 are rotatably connected. The piston and the cylinder body 45 form a rotary drive cavity. The two ends of the rotating shaft 41 are respectively fixedly connected to the two ends of the adapter plate 8. The opening and closing air gripper 6 is installed on the lower part of the adapter plate 8. The tool holder clamping module 200 is provided with a connecting gripper air passage that passes through the cylinder body 45, the rotating shaft 41 and the adapter plate 8 in sequence and connects the opening and closing air source air passage and the opening and closing air gripper 6. The cylinder body 45 is provided with a connecting cylinder air passage that connects the rotary air source air passage and the rotary drive cavity.

[0067] This embodiment specifically discloses the connection structure between the rotary cylinder 4 and the opening / closing gripper 6. This connection structure includes a mechanical connection structure, namely, connecting the opening / closing gripper 6 and the rotating shaft 41 via a transition plate 8, so that the opening / closing gripper 6 rotates with the rotating shaft 41. The connection structure also includes an air passage connection structure. On one hand, air passages are sequentially formed on the cylinder body 45, the rotating shaft 41, and the transition plate 8, so that the opening / closing air source passage enters the opening / closing gripper 6 through the rotary cylinder 4 and the transition plate 8, realizing the opening and closing of the opening / closing gripper 6. On the other hand, a connecting cylinder air passage is provided on the cylinder body 45 to realize the rotation of the rotary cylinder 4. Furthermore, the upper parts of both the gripper air passage and the connecting cylinder air passage are connected to the lower part of the air passage integration plate 5, allowing for rapid connection of multiple sets of air passages.

[0068] Please refer to this carefully. Figure 5-6According to a specific embodiment of this utility model, the opening and closing pneumatic gripper 6 is a two-finger pneumatic gripper; the connecting gripper air path includes an opening connecting gripper air path and a closing connecting gripper air path; the opening and closing air source air path includes a first gripper air path 53 and a second gripper air path 54; the opening connecting gripper air path includes a left front section pneumatic gripper air path 451, a left middle section pneumatic gripper air path 43, and a left rear section pneumatic gripper air path 81 that pass sequentially through the cylinder body 45, the rotating shaft 41, and the left side of the adapter plate 8; the cylinder body 45 is also provided with a left annular groove 453 surrounding the rotating shaft 41; the left front section pneumatic gripper air path 451 and the left middle section pneumatic gripper air path 43 are respectively connected to the left annular groove 453; the left front section pneumatic gripper air path 451 is connected to the first gripper air path 53, and the left rear section pneumatic gripper air path 81 is connected to the opening and closing pneumatic gripper 6; the closing connecting gripper air path includes a right front section pneumatic gripper air path 452, a right middle section pneumatic gripper air path 452, and a right middle section pneumatic gripper air path 453 that pass sequentially through the cylinder body 45, the rotating shaft 41, and the right side of the adapter plate 8. The cylinder body 45 is equipped with a right-side annular groove 454 surrounding the rotating shaft 41, and the right-side front-side air passage 452 and right-side middle-side air passage 44 are respectively connected to the right-side annular groove 454. The right-side front-side air passage 452 is connected to the second gripper air passage 54, and the right-side rear-side air passage 82 is connected to the opening and closing gripper 6. The rotary air source air passage includes a first rotary air passage 51 and a second rotary air passage 52. The cylinder air passage includes a clockwise rotary air passage 455 and a counterclockwise rotary air passage 456. The rotary drive chamber includes a clockwise rotary drive chamber 457 and a counterclockwise rotary drive chamber 458 located on both sides of the anti-rotation sliding piston 42. The clockwise rotary air passage 455 is connected to the first rotary air passage 51 and the clockwise rotary drive chamber 457, and the counterclockwise rotary air passage 456 is connected to the second rotary air passage 52 and the counterclockwise rotary drive chamber 458.

[0069] Figure 6 The four thick black zigzag lines in the middle represent the first gripper air passage 53, the first rotating air passage 51, the second rotating air passage 52, and the second gripper air passage 54, respectively. Figure 6 The four thick red lines in the middle represent the air passage 451 of the left front pneumatic gripper, the clockwise rotating air passage 455, the counterclockwise rotating air passage 456, and the air passage 452 of the right front pneumatic gripper, respectively.

[0070] In this embodiment, two gripper air paths are specifically designed to accommodate the case where the opening and closing gripper 6 is a two-finger gripper. A left annular groove 453 is provided so that the left front gripper air path 451 and the left middle gripper air path 43 remain connected throughout the entire rotation of the rotating shaft 41. A right annular groove 454 is provided so that the right front gripper air path 452 and the right middle gripper air path 44 remain connected throughout the entire rotation of the rotating shaft 41.

[0071] According to a specific embodiment of the present invention, the adapter plate 8 includes a horizontal connecting plate and a first longitudinal plate and a second longitudinal plate 84 respectively fixed on the upper two sides of the horizontal connecting plate. The horizontal connecting plate and the first longitudinal plate together form a right-angle plate 83 with an integral structure. The right-angle plate 83 and the second longitudinal plate 84 are detachably connected.

[0072] In this embodiment, the detachable connection between the right-angle plate 83 and the second vertical plate 232 facilitates the assembly and disassembly of the rotary cylinder 4. The right-angle plate 83 is an integral structure, which ensures the integrity of the air passage 82 of the rear right-side gripper and improves the air passage sealing.

[0073] According to a specific embodiment of this utility model, left sealing rings 015 are provided on both sides of the left annular groove 453 to achieve sealing of the left annular groove 453, and right sealing rings 016 are provided on both sides of the right annular groove 454 to achieve sealing of the right annular groove 454. The anti-rotation sliding piston 42 is generally stepped, and a spiral groove 421 is provided on the upper part of the anti-rotation sliding piston 42. A protruding guide post (not shown in the figure) is provided on the outer wall of the rotating shaft 41. The guide post extends into the spiral groove 421. The anti-rotation sliding piston 42 slides, which drives the groove wall of the spiral groove 421 to push the guide post to move, so as to drive the rotating shaft 41 and the pneumatic gripper to rotate as a whole.

[0074] In this embodiment, both the left sealing ring 015 and the right sealing ring 016 are located between the rotating shaft 41 and the cylinder body 45, ensuring rotational sealing even when the rotating shaft 41 rotates. The rotary cylinder 4 employs a spiral groove mechanism to convert the linear motion of the anti-rotation sliding piston 42 into rotational motion. More specifically, the anti-rotation sliding piston 42 includes a connected large end section and a small end section. The large end section has an oblong cross-section, which serves to prevent rotation. The spiral groove 421 is located in the small end section.

[0075] According to a specific embodiment of this utility model, the universal tool holder type rotatable manipulator clamping module that can be mounted on a machine tool spindle also includes a tool changing positioning unit. The tool changing positioning unit includes: a guide pin 9, a tapered sleeve 10, and a compression spring 011. The upper part of the guide pin 9 is a tapered guide head 91 that is smaller at the top and larger at the bottom. The upper part of the air circuit integrated plate 5 is provided with a recessed guide component mounting hole 55. The lower part of the guide pin 9 is slidably installed in the guide component mounting hole 55, and the tapered guide head 91 extends out of the guide component mounting hole 55. The lower part of the compression spring 011 is located in the guide component mounting hole 55, and the upper part of the compression spring 011 abuts against the lower part of the guide pin 9. The tapered sleeve 10 is embedded in the bottom of the air source seat body 1, and the tapered sleeve 10 includes a tapered guide hole 101 that is smaller at the top and larger at the bottom. When the universal tool holder type rotatable manipulator clamping module that can be mounted on a machine tool spindle is in the spindle mounting state: the tapered guide head 91 is inserted into the tapered guide hole 101.

[0076] In this embodiment, during automatic tool changer installation, the tool holder clamping module 200 of this utility model can be quickly positioned using the tool changer positioning unit. Specifically, when the tool holder clamping module 200 is installed, the CNC automatic tool changer clamps the tool holder 3, bringing the tool holder clamping module 200 of this utility model close to the air source base module 100. Under the guidance of the tapered guide hole 101, the tapered guide head 91 is inserted into the tapered guide hole 101, realizing the rapid docking of the tool holder clamping module 200 and the air source base body 1.

[0077] According to a specific embodiment of the present invention, the guide mounting hole 55 penetrates the air circuit integrated plate 5, and the bottom section of the guide mounting hole 55 is connected to a set screw 012. The set screw 012 is completely housed in the guide mounting hole 55, and the lower part of the compression spring 011 abuts against the upper part of the set screw 012.

[0078] More specifically, the guide mounting hole 55 is a stepped hole with a smaller top and a larger bottom. The stepped hole includes a stepped surface 551, and the lower part of the guide pin 9 is provided with an anti-dislodgement protrusion ring 92 that cooperates with the stepped surface 551.

[0079] According to a specific embodiment of this utility model, the universal tool holder type rotatable manipulator clamping module that can be mounted on a machine tool spindle further includes a docking sealing unit. The docking sealing unit includes a straight-through air connector 013. The upper part of the straight-through air connector 013 is a raised frustoconical shape, and the lower part of the straight-through air connector 013 is fixedly snapped into the air circuit integration plate 5. The upper part of the straight-through air connector 013 is provided with a connector O-ring seal 014. The lower part of the air source base body 1 is provided with a connection to the straight-through air connector. The upper end of the through connector 013 is matched with the seat sealing cone surface 15; the first rotary air passage 51, the second rotary air passage 52, the first gripper air passage 53 and the second gripper air passage 54 are each provided with a set of mating sealing units at the parts that abut against the air source seat; when the universal tool holder type rotatable manipulator clamping module that can be mounted on the machine tool spindle is in the spindle mounting state: the upper part of the through air connector 013 extends into the seat sealing cone surface 15, and the connector O-ring seal 014 abuts against the seat sealing cone surface 15.

[0080] In this embodiment, by adopting this structure, the reliability of the air passage seal between the air source base body 1 and the air passage integrated plate 5 can be guaranteed when the tool holder clamping module 200 is installed.

[0081] The universal toolholder-type rotatable robotic clamping module, which can be mounted on a machine tool spindle, also includes a center connecting screw 017, one end of which is connected to the toolholder 3 and the other end is threaded to the pneumatic circuit integration plate 5. The center connecting screw 017 is also threaded to the cylinder body 45. This structure improves the reliability of the connection.

[0082] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "connected" and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal connection of two components; and they can also refer to a "transmission connection," that is, a power connection through various suitable methods such as belt drive, gear drive, or sprocket drive. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

Claims

1. A universal toolholder-type rotatable robotic arm clamping module that can be mounted on a machine tool spindle, characterized in that, The system includes an air source base module and a tool holder clamping module. The air source base module includes an air source base body, which includes an openable air source inlet and a rotary air source inlet. The tool holder clamping module includes a tool holder, a rotary cylinder mounted below the tool holder, an air circuit integration plate located between the tool holder and the rotary cylinder, and an openable / closeable gripper mounted below the rotary cylinder. The air circuit integration plate contains an openable / closeable air source circuit and a rotary air source circuit. The universal tool holder type rotatable robot clamping module, which can be mounted on a machine tool spindle, includes a spindle-mounted configuration. When the universal tool holder type rotatable manipulator clamping module that can be mounted on the machine tool spindle is in the spindle mounting state: the air circuit integration plate abuts against the air source base body, and the opening and closing air source inlet is connected to the opening and closing air source air circuit, the rotation air source inlet is connected to the rotation air source air circuit, the opening and closing air source air circuit is used to introduce opening and closing power air source to the opening and closing gripper to drive the opening and closing gripper to open and close, and the rotation air source air circuit is used to introduce rotation power air source to the rotation cylinder to drive the rotation cylinder and the opening and closing gripper to rotate as a whole.

2. The universal toolholder-type rotatable robotic arm clamping module capable of being mounted on a machine tool spindle according to claim 1, characterized in that, The air source base module also includes a three-way adjustable connection unit, which includes a bottom plate, a horizontal adjustment plate, and a vertical adjustment plate that are threaded together from top to bottom; the horizontal adjustment plate, the vertical adjustment plate, and the air source base body are respectively provided with an X-direction waist-shaped connection hole, a Z-direction waist-shaped connection hole, and a Y-direction waist-shaped connection hole.

3. The universal toolholder-type rotatable robotic arm clamping module capable of being mounted on a machine tool spindle according to claim 2, characterized in that, The bottom plate has a through-hole for a connecting shaft seat, and also has a hole for a connecting horizontal plate. The horizontal adjustment plate includes a first horizontal plate arranged horizontally and a first vertical plate arranged vertically. The first horizontal plate and the first vertical plate are fixedly connected and together form a right-angle plate. An X-direction waist-shaped connecting hole is provided on the first horizontal plate, and a Z-direction connecting circular hole is provided on the first vertical plate. The vertical adjustment plate includes a second horizontal plate arranged horizontally and a second vertical plate arranged vertically. The second horizontal plate and the second vertical plate are fixedly connected and together form a right-angle plate. A Z-direction waist-shaped connecting hole is provided on the second vertical plate, and a hole is provided on the second vertical plate. The three-way adjustable connection unit further includes a Y-direction connecting hole; the three-way adjustable connection unit also includes a first connecting bolt for connecting the bottom plate and the horizontal adjustment plate, the first connecting bolt passing through the X-direction waist-shaped connecting hole and extending into the horizontal plate hole; the three-way adjustable connection unit also includes a second connecting bolt for connecting the horizontal adjustment plate and the vertical adjustment plate, the second connecting bolt passing through the Z-direction waist-shaped connecting hole and extending into the Z-direction connecting hole; the three-way adjustable connection unit also includes a third connecting bolt for connecting the vertical adjustment plate and the air source base body, the third connecting bolt passing through the Y-direction waist-shaped connecting hole and extending into the Y-direction connecting hole.

4. The universal tool holder type rotatable robotic arm clamping module that can be mounted on a machine tool spindle according to claim 3, characterized in that, The second horizontal plate has a concave arc shape on the side near the tool holder; the bottom plate also has a water vapor nozzle through hole; the opening / closing air source outlet and the rotating air source outlet are both located at the lower part of the air source base body; the air source base body also includes an opening / closing air source inlet and a rotating air source inlet, both of which are located on the side of the air source base body away from the machine tool spindle; both the opening / closing air source inlet and the rotating air source inlet are connected to air connectors.

5. The universal toolholder-type rotatable robotic arm clamping module capable of being mounted on a machine tool spindle according to any one of claims 1-4, characterized in that, The tool holder clamping module also includes a frame-shaped adapter plate with an overall open top. The rotary cylinder further includes: a cylinder body, a rotating shaft passing through the cylinder body and rotatably connected to the cylinder body, and an anti-rotation sliding piston slidably connected to the inside of the cylinder body. The rotating shaft passes through the anti-rotation sliding piston and is rotatably connected to the anti-rotation sliding piston. The piston and the cylinder body form a rotary drive cavity. The two ends of the rotating shaft are respectively fixedly connected to the two ends of the adapter plate. The opening and closing air gripper is installed on the lower part of the adapter plate. The tool holder clamping module is provided with a connecting gripper air passage that passes through the cylinder body, the rotating shaft, and the adapter plate in sequence and connects the opening and closing air source air passage and the opening and closing air gripper. The cylinder body is provided with a connecting cylinder air passage that connects the rotary air source air passage and the rotary drive cavity.

6. The universal toolholder-type rotatable robotic arm clamping module capable of being mounted on a machine tool spindle according to claim 5, characterized in that, The opening and closing pneumatic gripper is a two-finger pneumatic gripper; the connecting gripper air path includes an opening connecting gripper air path and a closing connecting gripper air path; the opening and closing air source air path includes a first gripper air path and a second gripper air path; the opening connecting gripper air path includes a left front section pneumatic gripper air path, a left middle section pneumatic gripper air path, and a left rear section pneumatic gripper air path that sequentially pass through the cylinder body, the rotating shaft, and the left side of the adapter plate; the cylinder body is also provided with a left annular groove surrounding the rotating shaft; the left front section pneumatic gripper air path and the left middle section pneumatic gripper air path are respectively connected to the left annular groove; the left front section pneumatic gripper air path is connected to the first gripper air path; the left rear section pneumatic gripper air path is connected to the opening and closing pneumatic gripper; the closing connecting gripper air path includes a first gripper air path and a second gripper air path that sequentially pass through the cylinder body, the rotating shaft, and the adapter plate; the cylinder body is also provided with a left annular groove surrounding the rotating shaft; the left front section pneumatic gripper air path and the left middle section pneumatic gripper air path are respectively connected to the left annular groove; the left front section pneumatic gripper air path is connected to the first gripper air path; the left rear section pneumatic gripper air path is connected to the opening and closing pneumatic gripper air path; the closing connecting gripper air path includes a first gripper air path and a second gripper air path that sequentially pass through the cylinder body, the rotating shaft, and the adapter plate; the cylinder body is also provided with a left annular groove surrounding the rotating shaft; the cylinder body is also provided with a left annular groove surrounding the rotating shaft; the left front section pneumatic gripper air path and the left middle section pneumatic gripper air path are respectively connected to the left annular groove; the left front section pneumatic gripper air path is connected to the first gripper air path; the left rear section pneumatic gripper air path is connected The cylinder body, rotating shaft, and adapter plate have a right front section air passage, a right middle section air passage, and a right rear section air passage. The cylinder body also has a right annular groove surrounding the rotating shaft. The right front section air passage and the right middle section air passage are respectively connected to the right annular groove. The right front section air passage is connected to the second gripper air passage, and the right rear section air passage is connected to the opening and closing gripper. The rotating air source air passage includes a first rotating air passage and a second rotating air passage. The cylinder connecting air passage includes a clockwise rotating air passage and a counterclockwise rotating air passage. The rotating drive chamber includes a clockwise rotating drive chamber and a counterclockwise rotating drive chamber located on both sides of the anti-rotation sliding piston. The clockwise rotating air passage connects the first rotating air passage and the clockwise rotating drive cavity, and the counterclockwise rotating air passage connects the second rotating air passage and the counterclockwise rotating drive cavity.

7. The universal toolholder-type rotatable robotic arm clamping module capable of being mounted on a machine tool spindle according to claim 6, characterized in that, The adapter plate includes a horizontal connecting plate and a first longitudinal plate and a second longitudinal plate respectively fixed to the upper two sides of the horizontal connecting plate. The horizontal connecting plate and the first longitudinal plate together form a right-angle plate with an integral structure. The right-angle plate and the second longitudinal plate are detachably connected.

8. The universal toolholder-type rotatable robotic arm clamping module capable of being mounted on a machine tool spindle according to claim 7, characterized in that, The left annular groove has left sealing rings on both sides for sealing the left annular groove, and the right annular groove has right sealing rings on both sides for sealing the right annular groove. The anti-rotation sliding piston is stepped in shape and has a spiral groove on its upper side. The outer wall of the rotating shaft has a protruding guide post that extends into the spiral groove. When the anti-rotation sliding piston slides, it drives the groove wall of the spiral groove to push the guide post to move, thereby driving the rotating shaft and the opening and closing pneumatic gripper to rotate as a whole.

9. The universal toolholder-type rotatable robotic arm clamping module capable of being mounted on a machine tool spindle according to claim 8, characterized in that, The universal toolholder-type rotatable robot clamping module that can be mounted on a machine tool spindle also includes a tool changing and positioning unit. The tool changing and positioning unit includes: a guide pin, a tapered sleeve, and a compression spring. The upper part of the guide pin is a tapered guide head that is smaller at the top and larger at the bottom. The upper part of the air circuit integrated plate is provided with a recessed guide mounting hole. The lower part of the guide pin is slidably installed in the guide mounting hole, and the tapered guide head extends out of the guide mounting hole. The lower part of the compression spring is located in the guide mounting hole, and the upper part of the compression spring abuts against the lower part of the guide pin. The tapered sleeve is embedded in the bottom of the air source seat body, and the tapered sleeve includes a tapered guide hole that is smaller at the top and larger at the bottom. When the universal toolholder-type rotatable robot clamping module that can be mounted on a machine tool spindle is in the spindle mounting state: the tapered guide head is inserted into the tapered guide hole.

10. The universal toolholder-type rotatable robotic arm clamping module capable of being mounted on a machine tool spindle according to claim 9, characterized in that, The universal toolholder-type rotatable manipulator clamping module that can be mounted on a machine tool spindle also includes a docking sealing unit. The docking sealing unit includes a straight-through air connector. The upper part of the straight-through air connector is a raised frustum-shaped cone. The lower part of the straight-through air connector is fixedly snapped into the air circuit integration plate. The upper part of the straight-through air connector is provided with a connector O-ring seal. The lower part of the air source seat body is provided with a seat sealing cone surface that matches the upper end of the straight-through air connector. Each of the first rotary air circuit, the second rotary air circuit, the first gripper air circuit, and the second gripper air circuit is provided with a set of the docking sealing units at the parts that abut against the air source seat. When the universal toolholder-type rotatable manipulator clamping module that can be mounted on a machine tool spindle is in the spindle mounting state: the upper part of the straight-through air connector extends into the seat sealing cone surface, and the connector O-ring seal abuts against the seat sealing cone surface.

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