Double-mechanical hand double-tool magazine automatic tool changing system
By combining the design of dual robotic arms and dual-disc tool magazines, the problems of low efficiency and insufficient capacity of traditional tool changing systems are solved, enabling efficient and flexible tool changing and storage, suitable for complex machining tasks, and improving the working efficiency of machining equipment.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- SUZHOU JINFUMAI RUIJING MASCH CO LTD
- Filing Date
- 2025-05-29
- Publication Date
- 2026-06-02
AI Technical Summary
Traditional single-manipulator, single-tool magazine tool changer systems suffer from low tool changing efficiency and limited tool capacity, making it difficult to meet complex and diverse machining needs.
It adopts a design with dual robotic arms and dual disc tool magazines. Through the coordinated work of the two sets of robotic arms and disc tool magazines, it can achieve efficient and flexible tool changing, increase tool storage capacity, and is equipped with cleaning and inspection components to ensure accuracy and safety.
It significantly improves tool changing efficiency, increases tool storage capacity, is suitable for complex machining tasks, reduces tool changing time, and improves the working efficiency and flexibility of machining equipment.
Smart Images
Figure CN224310153U_ABST
Abstract
Description
Technical Field
[0001] This utility model relates to the field of machine tool processing equipment technology, and in particular to an automatic tool changing system with dual robotic arms and dual tool magazines. Background Technology
[0002] In the field of machining, automated tool changing systems are one of the key technologies for improving machining efficiency and reducing manual intervention. Traditional tool changing systems typically employ a single robotic arm and a single tool magazine, which suffers from low tool changing efficiency and limited tool capacity. With the increasing complexity and diversity of machining requirements, existing technologies are struggling to meet the demands for efficient, multi-tool switching.
[0003] Therefore, there is an urgent need for an automatic tool changing system that can improve tool changing efficiency and increase tool capacity. Utility Model Content
[0004] To address the aforementioned problems, this utility model proposes an automatic tool changing system with dual robotic arms and dual tool magazines that features a simple structure and effectively improves tool changing efficiency.
[0005] The main contents of this utility model include: a tool magazine module, which includes a tool magazine bracket, a tool magazine component A and a tool magazine component B that are arranged opposite to each other on the tool magazine bracket and have the same structure. The tool magazine component A includes a vertically arranged disc-shaped tool magazine, a rotary drive module that drives the disc-shaped tool magazine to rotate circumferentially, and a plurality of tool clamping parts arranged on the edge of the disc-shaped tool magazine. The tool clamping parts are used to store tools for spindle machining.
[0006] The robotic arm module includes robotic arm A and robotic arm B, which are identical in structure and are disposed on both sides of the tool magazine module. Robotic arm A and robotic arm B respectively drive the tool to the tool magazine component A and tool magazine component B for tool replacement. Robotic arm A includes a robotic arm, a linear displacement drive module disposed at the output end of the robotic arm, and a machining spindle disposed at the moving end of the linear displacement drive module. The machining spindle is used to hold the tool.
[0007] Preferably, the tool clamping component includes a housing, the housing includes a fixed end and a clamping end arranged opposite each other along the length direction, the fixed end is fixedly connected to the disc-type tool magazine, the clamping end is shaped to conform to the outer edge of the tool, and the housing has symmetrically opened mounting grooves on both sides along the width direction, and the mounting grooves are equipped with clamping components.
[0008] Preferably, the clamping member includes a clamping arm, which is hinged to the housing via a connecting shaft. One end of the clamping arm extends along the length direction to the outside of the clamping end of the housing for clamping the tool, and the other end is located inside the housing and in contact with the elastic element. A laterally extending limiting groove is provided inside the fixed end, and the elastic element is installed in the limiting groove.
[0009] Preferably, the elastic element is a spring, one end of which is fixed in the limiting groove, and the other end is in contact with the inner end of the clamping arm.
[0010] Preferably, the width of the clamping arm gradually decreases from the connecting shaft to the contact end of the elastic element, forming a gradient structure, and the width between the clamping arm and the inner wall of the mounting groove gradually increases.
[0011] Preferably, one end of the clamping arm extending to the outside of the clamping end of the housing is connected to a rotatable roller.
[0012] Preferably, both the tool magazine component A and the tool magazine component B are provided with cleaning components on their sides for cleaning the tool clamping area.
[0013] Preferably, the cleaning component includes a cleaning plate and a first rotary drive component for driving the cleaning plate to rotate. A cleaning brush is eccentrically disposed on the end face of the cleaning plate near the disc-shaped tool magazine, and an air blowing pipe is disposed on one side of the cleaning brush.
[0014] Preferably, the tool magazine support is further provided with a detection component, which is placed between the tool magazine component A and the tool magazine component B, and is used to detect the breakage of the tools on the disc-type tool magazines on both sides.
[0015] Preferably, the detection component includes a sensor and a second rotary drive that drives the sensor to reciprocate toward the end of the cutter.
[0016] The beneficial effects of this utility model are: (1) Efficient tool changing: Through the coordinated work of two sets of robotic arms and two sets of disc tool magazines, the tool changing efficiency is significantly improved and the tool changing time is reduced; (2) Large capacity tool storage: The dual disc tool magazine design increases the tool storage capacity to meet the needs of complex machining tasks; (3) High flexibility: The two sets of robotic arms can work independently and are suitable for multi-task parallel machining scenarios. Attached Figure Description
[0017] Figure 1 This is a three-dimensional structural schematic diagram of a preferred embodiment;
[0018] Figure 2 This is a three-dimensional structural diagram of the tool magazine module in a preferred embodiment;
[0019] Figure 3 A three-dimensional structural schematic diagram of a preferred embodiment of the tool clamping component;
[0020] Figure 4 A cross-sectional structural schematic diagram of a preferred embodiment of the tool clamping component;
[0021] Figure 5 forFigure 2 A magnified schematic diagram of the local structure at point a;
[0022] Figure label:
[0023] 1. Tool magazine module; 11. Tool magazine bracket; 12. Tool magazine component A; 121. Disc-type tool magazine; 122. Rotary drive module; 123. Tool clamping component; 1231. Housing; 12311. Fixed end; 12312. Clamping end; 12313. Step; 1232. Mounting slot; 1233. Clamping arm; 1234. Connecting shaft; 1235. Elastic element; 1236. Limiting slot; 1237. Roller; 13. Tool magazine component B; 14. Cleaning component; 141. Cleaning plate; 142. First rotary drive component; 143. Cleaning brush; 144. Air blowing pipe; 15. Detection component; 151. Sensor; 152. Second rotary drive component;
[0024] 2. Robotic arm module; 21. Robotic arm A; 211. Robotic arm; 212. Linear displacement drive module; 213. Machining spindle; 22. Robotic arm B. Detailed Implementation
[0025] The technical solution protected by this utility model will be described in detail below with reference to the accompanying drawings.
[0026] like Figure 1 As shown, this application proposes a dual-manipulator, dual-tool magazine automatic tool changer system, which includes a tool magazine module 1 and a manipulator module 2. The tool magazine module 1 includes a tool magazine support 11, and tool magazine components A12 and B13, which are structurally identical and are arranged opposite each other on the tool magazine support 11. The manipulator module 2 includes manipulators A21 and B22, which are structurally identical and are arranged on both sides of the tool magazine module 1. Manipulators A21 and B22 control the tools to perform machining, milling, and other operations, and can move to the corresponding tool magazine components A12 and B13 to change tools. Through the coordinated work of the dual manipulators and dual tool magazines, efficient and flexible tool changing operations are achieved, which is suitable for complex machining tasks and effectively improves work efficiency.
[0027] like Figure 1 and 2As shown, the tool magazine component A12 includes a vertically arranged disc-type tool magazine 121, a rotary drive module 122 for driving the disc-type tool magazine 121 to rotate circumferentially, and a plurality of tool clamping members 123 disposed on the edge of the disc-type tool magazine 121. The tool clamping members 123 are used to store tools for spindle machining. Preferably, in a specific embodiment, the tool clamping members 123 are arranged at equal intervals around the disc-type tool magazine 121. When changing tools, the disc-type tool magazine 121 can rotate in fixed angle units, which helps to quickly adjust the position of the target tool. Both sets of disc-type tool magazines 121 are equipped with a plurality of tool clamping members 123 for storing tools, which effectively increases the tool storage capacity and can meet the needs of complex machining tasks.
[0028] like Figures 1-3 As shown, the tool clamping component 123 includes a housing 1231. The housing 1231 has a fixed end 12311 and a clamping end 12312 arranged opposite to each other along the length direction. The fixed end 12311 is fixedly connected to the disc tool magazine 121, so that the tool clamping component 123 can rotate synchronously with the disc tool magazine 121. The clamping end 12312 is shaped to conform to the outer edge of the tool. Preferably, the middle part of the clamping end 12312 is provided with a side-protruding step 12313. The step 12313 is adapted to the circumferential limiting groove of the tool to ensure accurate tool clamping position. The step 12313 limits the axial position of the tool to prevent the tool from being displaced along the axial direction during tool replacement.
[0029] like Figures 1-4As shown, the housing 1231 has symmetrical mounting grooves 1232 on both sides along its width. Clamping members are disposed within the mounting grooves 1232 for clamping the cutting tool. Each clamping member includes a clamping arm 1233, which is hinged to the housing 1231 via a connecting shaft 1234, allowing the clamping arm 1233 to rotate around the connecting shaft 1234. One end of the clamping arm 1233 extends along its length to the outside of the clamping end of the housing 1231 for clamping the cutting tool, while the other end is placed inside the housing 1231 and contacts the elastic element 1235. A laterally extending limiting groove 1236 is provided on the inner side of the housing's fixed end 12311. The limiting groove 1236 communicates with the mounting groove 1232 on the corresponding side, and the elastic element 1235 is placed within the limiting groove 1236. In one specific embodiment, the elastic element 1235 is a spring, with one end fixed in the limiting groove 1236 and the other end in contact with the inner end of the clamping arm 1233. The width of the clamping arm 1233 gradually decreases from the connecting shaft 1234 to the contact end of the elastic element 1235, forming a gradient structure. This ensures that within the aforementioned range, the width between the clamping arm 1233 and the inner wall of the mounting groove 1232 gradually increases, and the clamping force automatically adjusts with the rotation angle of the clamping arm 1233, thereby adapting to tools of different diameters. Preferably, the clamping end of the clamping arm 1233 is provided with a rotatable roller 1237, which contacts the tool surface to reduce wear on the tool surface during clamping.
[0030] like Figure 2 and 5 As shown, a cleaning component 14 is also provided on the side of the tool magazine support 11 corresponding to the tool magazine components A12 and B13. This component is used to clean the clamping area of the replaced tools on the disc tool magazine 121 to prevent aluminum shavings from remaining and affecting subsequent clamping accuracy. The cleaning component 14 includes a cleaning plate 141 and a first rotary drive 142 that drives the cleaning plate 141 to rotate circumferentially. A cleaning brush 143 is eccentrically arranged on the end face of the cleaning plate 141 near the disc tool magazine 121. When the tool clamped on the disc tool magazine 121 corresponds to the front end of the cleaning plate 141, the first rotary drive 142 drives the cleaning plate 141 to rotate, and the cleaning brush 143 rotates circumferentially around the tool clamping end to clean it circumferentially. Preferably, air pipes 144 are arranged on both sides of the cleaning brush 143 to simultaneously blow air during the cleaning process, improving cleaning efficiency. In a specific embodiment, the first rotary drive 142 may be a rotary cylinder or a servo motor, reducer and gear rack, etc., and no specific limitation is made here.
[0031] like Figure 1 and 2 As shown, a detection component 15 is also provided on the tool magazine support 11. It is located between the tool magazine component A12 and the tool magazine component B13 and is used to detect the tool tip on both sides of the tool magazine component to detect whether the tool has chipped or broken edges.
[0032] like Figure 1 and 2 As shown, the detection component 15 includes a sensor 151 and a second rotary drive 152 that drives the sensor 151 to swing towards the tool direction. The second rotary drive 152 drives the sensor 151 to rotate towards the tool direction from its initial position until it contacts the tool tip, thereby detecting the rotation angle of the sensor 151. The integrity of the cutting edge is determined by the rotation angle. Preferably, in one embodiment, the detection component 15 is configured with two sets, which can detect the tool magazine component A12 and the tool magazine component B13 respectively, thereby improving the detection efficiency.
[0033] like Figure 1 and 2 As shown, the robotic arm A includes a robotic arm 211. A linear displacement drive module 212 is installed at the output end of the robotic arm 211. The moving end of the linear displacement drive module 212 is connected to a machining spindle 213, which holds the cutting tool. The linear displacement drive module 212 improves the movement accuracy of the machining spindle 213. During tool changing, the robotic arm 211 drives the old cutting tool at its end to be inserted into the empty tool holder 123 from the side. The linear displacement drive module 212 drives the machining spindle 213 to retract, leaving the cutting tool in the tool holder 123. The rotation drive module 122 drives the disc tool magazine 121 to rotate a certain angle, causing the target cutting tool to rotate to the front of the machining spindle 213. The linear displacement drive module 212 drives the machining spindle 213 forward, and the machining spindle 213 holds the target cutting tool. The robotic arm 211 drives the cutting tool at its end to move to the side, causing the cutting tool to disengage from the tool holder 123. Preferably, in one embodiment, the linear displacement drive module 212 may be a combination of a servo motor, a ball screw, and a linear guide to improve the movement accuracy of the machining spindle.
[0034] Working principle:
[0035] When the machining equipment needs to change tools, the two sets of robotic arms move to the corresponding disc-type tool magazine 121 side, and the robotic arms put the old tool back into the tool magazine. When the tool is inserted into the tool clamping member 123 from the side, the outer end of the clamping arm 1233 is subjected to the pressure of the tool, and the clamping arm 1233 rotates around the connecting shaft 1234 and compresses the elastic element 1235 inward. The elastic force of the elastic element 1235 is transmitted to the tool through the clamping arm 1233, realizing clamping. Since the width of the clamping arm 1233 gradually decreases from the connecting shaft 1234 to the contact end of the elastic element 1235, the clamping force is automatically adjusted with the rotation angle of the clamping arm 1233, thereby adapting to pipes of different diameters. The design of the roller 1237 makes the clamping process smoother and reduces wear on the tool surface. After the tool clamping member 123 clamps the old tool, the machining spindle 213 releases the old tool, and the linear displacement drive module 212 drives the machining spindle 213 to move away from the disc-type tool magazine 121.
[0036] The external tool changer control unit selects the target tool according to the machining task. The rotary drive module 122 drives the disc tool magazine 121 to rotate, and the target tool rotates to the front end of the machining spindle 213. The linear displacement drive module 212 drives the machining spindle to move towards the disc tool magazine 121. The machining spindle 213 clamps the target tool at its mounting point, and the robot arm drives the tool to disengage from the opening side of the tool clamping device, completing the tool change. The robot arm returns to the machining area to continue performing the machining task. The two sets of robot arms can perform tool changing actions independently, which is applicable to a variety of scenarios and effectively improves work efficiency.
[0037] The above description is merely an embodiment of this utility model and does not limit the patent scope of this utility model. Any equivalent structural or procedural transformations made based on the description and drawings of this utility model, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of this utility model.
[0038] In the description of this application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., indicating the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.
Claims
1. A dual-manipulator, dual-tool magazine automatic tool changer system, characterized in that, Mainly includes: Tool magazine module (1), which includes tool magazine bracket (11), tool magazine component A (12) and tool magazine component B (13) which are arranged opposite to each other on the tool magazine bracket (11) and have the same structure. The tool magazine component A (12) includes a vertically arranged disc tool magazine (121), a rotary drive module (122) for driving the disc tool magazine (121) to rotate circumferentially, and a plurality of tool clamping parts (123) arranged on the edge of the disc tool magazine (121). The tool clamping parts (123) are used to store the tools for spindle machining. The robotic arm module (2) includes robotic arm A (21) and robotic arm B (22) which are arranged on both sides of the tool magazine module (1) and have the same structure. The robotic arm A (21) and the robotic arm B (22) respectively drive the tool to move to the tool magazine component A (12) and the tool magazine component B (13) for tool replacement. The robotic arm A (21) includes a robotic arm (211), a linear displacement drive module (212) arranged at the output end of the robotic arm (211), and a machining spindle (213) arranged at the moving end of the linear displacement drive module (212). The machining spindle (213) is used to hold the tool.
2. The automatic tool changer system with dual robotic arms and dual tool magazines according to claim 1, characterized in that, The tool clamping component (123) includes a housing (1231), which includes a fixed end (12311) and a clamping end (12312) arranged opposite to each other along the length direction. The fixed end (12311) is fixedly connected to the disc-type tool magazine (121), and the clamping end (12312) is shaped to conform to the outer edge of the tool. The housing (1231) has symmetrically opened mounting grooves (1232) on both sides along the width direction, and the clamping component is arranged in the mounting groove (1232).
3. The automatic tool changer system with dual robotic arms and dual tool magazines according to claim 2, characterized in that, The clamping member includes a clamping arm (1233), which is hinged to the housing (1231) via a connecting shaft (1234). One end of the clamping arm (1233) extends along the length direction to the outside of the clamping end of the housing (1231) for clamping the tool, and the other end is located inside the housing (1231) and in contact with the elastic element (1235). A laterally extending limiting groove (1236) is provided inside the fixed end (12311), and the elastic element (1235) is installed in the limiting groove (1236).
4. The automatic tool changer system with dual robotic arms and dual tool magazines according to claim 3, characterized in that, The width of the clamping arm (1233) gradually decreases from the connecting shaft (1234) to the contact end of the elastic element (1235), forming a gradient structure, and the width between the clamping arm (1233) and the inner wall of the mounting groove (1232) gradually increases.
5. The automatic tool changer system with dual robotic arms and dual tool magazines according to claim 3, characterized in that, The clamping arm (1233) extends to one end outside the clamping end of the housing (1231) and is connected to a rotatable roller (1237).
6. The automatic tool changer system with dual robotic arms and dual tool magazines according to claim 3, characterized in that, The elastic element (1235) is a spring, one end of which is fixed in the limiting groove (1236), and the other end is in contact with the inner end of the clamping arm (1233).
7. The automatic tool changer system with dual robotic arms and dual tool magazines according to claim 1, characterized in that, The tool magazine component A (12) and the tool magazine component B (13) are both provided with cleaning components (14) on their sides for cleaning the tool clamping area.
8. The automatic tool changer system with dual robotic arms and dual tool magazines according to claim 7, characterized in that, The cleaning component (14) includes a cleaning plate (141) and a first rotary drive (142) that drives the cleaning plate (141) to rotate. A cleaning brush (143) is eccentrically arranged on one end face of the cleaning plate (141) near the disc-shaped tool magazine (121), and an air blowing pipe (144) is arranged on one side of the cleaning brush (143).
9. The automatic tool changer system with dual robotic arms and dual tool magazines according to claim 1, characterized in that, The tool magazine support (11) is also provided with a detection component (15), which is placed between the tool magazine component A (12) and the tool magazine component B (13) for detecting the breakage of the tools on the disc-type tool magazines (121) on both sides.
10. The dual-manipulator, dual-tool magazine automatic tool changer system according to claim 9, characterized in that, The detection component (15) includes a sensor (151) and a second rotary drive (152) that drives the sensor (151) to reciprocate in the direction of the tool.