Automatic tool changing device

Abstract

The utility model discloses a tool automatic dismounting and clamping jaw equipment, it includes six -axis robot and clamping mechanism. Six -axis robot end is equipped with the rotary table, and the rotary table is fixed with the fixture board, and the fixture board bottom is equipped with the finger air cylinder connection handle clamping plate, and one side passes through the connecting plate, and the mounting plate fixed end floating compensation module and tension and pressure sensor, and the sensor bottom is equipped with the tool clamp, and the end floating compensation module buffer tool inserts the collision, and tension and pressure sensor prevent the damage caused by forcibly dismounting under the interference fit, and this equipment realizes the tool automation assembly and dismounting through six -axis robot and clamping mechanism cooperation, and the efficiency is improved significantly and reduces the security risk, and is suitable for the automatic workshop.

Description

Technical Field

[0001] This utility model relates to the technical field of automated assembly equipment, and in particular to a tool automatic disassembly and assembly gripper device. Background Technology

[0002] In modern machining, tool assembly and disassembly are indispensable and crucial steps in the production process. Currently, tool holders are widely used to store tools of different specifications, especially those adaptable to various sizes, which greatly improves production flexibility. However, in practice, the assembly of thermally expanded tools typically relies on manual labor. Workers must wait for the tool to heat to the appropriate temperature before inserting it into the tool holder and then allow it to cool before proceeding with subsequent operations. This process is not only inefficient but also poses significant safety risks, such as burns from high temperatures. Furthermore, as manufacturing moves towards automation and intelligence, traditional manual operation methods are no longer sufficient to meet the demands of future automated workshops for efficiency, precision, and safety. Therefore, there is an urgent need for equipment capable of automated clamping to replace manual operation.

[0003] While some automated equipment is currently used in the tool assembly process, these devices still have many shortcomings in terms of functionality and performance. For example, during the assembly of the tool and tool holder, due to the principle of thermal expansion and contraction, the tool and tool holder are usually in an interference fit. If assembly or disassembly is forced before complete heating or cooling, it may lead to problems such as tool deformation, tool holder damage, or even malfunction of the hot-fitting machine. Furthermore, existing automated equipment often lacks precise force control during the assembly process and cannot effectively buffer the collision or friction forces generated when the tool is inserted into the tool holder, further increasing the risk of assembly failure. Therefore, developing a device that can automatically assemble and disassemble tools and has high-precision force control capabilities has become an urgent technical challenge. Utility Model Content

[0004] The purpose of this invention is to provide an automatic tool disassembly and assembly gripper device to overcome the shortcomings of the existing technology.

[0005] To achieve the above objectives, this utility model provides the following technical solution:

[0006] An automated tool assembly / disassembly gripper device includes a six-axis robot, a gripping mechanism, and related components. The six-axis robot has a rotary table at its last degree of freedom, on which the gripping mechanism is fixedly mounted. The six-axis robot possesses multi-degree-of-freedom motion capabilities, allowing it to precisely move the gripping mechanism to a target position to complete tool assembly or disassembly operations. Furthermore, the gripping mechanism includes a jig plate, finger cylinders, a connecting plate, a mounting plate, an end effector floating compensation module, tension / compression sensors, and a tool holder. These components coordinate their functions through specific connections.

[0007] The fixture plate, serving as the base platform for the clamping mechanism, is fixedly mounted on the rotary table at the end of the six-axis robot. A finger cylinder is fixedly mounted at the bottom of the fixture plate, and its output end is fixedly connected to a pair of tool holder clamping plates. These clamping plates are used to clamp the tool holders and move them to the heat-fitting machine via the six-axis robot. Specifically, a connecting plate is fixedly mounted on one side of the fixture plate, and a mounting plate is fixedly mounted on the top of the connecting plate. An end-effector floating compensation module is vertically fixed at the bottom of the mounting plate, and a tension / compression sensor is connected to its bottom end. The end-effector floating compensation module is designed to buffer collisions or friction generated when the tool is inserted into the tool holder, preventing damage to the tool or tool holder due to hard contact. The tension / compression sensor is used to detect the tension / compression value during the pulling process in real time. When the detected tension / compression reaches a preset threshold, the control system pauses the pulling action and waits for a set time before resuming operation, thereby preventing deformation or damage caused by forcibly pulling out the tool or tool holder before it is fully heated and still in an interference fit state. Furthermore, a tool holder is installed at the bottom of the tension / compression sensor, and a pair of tool clamping plates are respectively installed at the output end of the tool holder. The tool clamping plates are used to clamp the tool to be installed, ensuring that the tool remains stable during the assembly process.

[0008] Furthermore, the technical solution of this utility model also includes specific implementation methods. S1: A six-axis robot drives the clamping mechanism to move to the tool holder, a finger cylinder drives the tool holder clamping plate to clamp the tool holder, and the six-axis robot moves the tool holder to the hot fitting machine. S2: The tool clamping plate of the tool fixture clamps the tool to be installed, and the end float compensation module buffers collisions or friction during the insertion of the tool into the tool holder. S3: During the tool disassembly process, the tension and pressure sensor monitors the tension and pressure values ​​in real time. When the tension and pressure exceed the preset threshold, the control system pauses the operation and waits for a set time before continuing the disassembly action.

[0009] Specifically, the end effector's floating compensation module employs an elastic element or similar structure, which absorbs some of the impact force when the tool is inserted into the tool holder, while allowing a certain range of displacement to avoid rigid contact. The tension / compression sensor is implemented as a high-precision resistance strain gauge sensor, which accurately detects changes in tension and compression and transmits the signal to the control system. The control system determines the current operating state based on the feedback signal from the tension / compression sensor and adjusts the six-axis robot's movements accordingly. Furthermore, the tool holder surface is provided with anti-slip textures or a coating to enhance the tool's gripping stability.

[0010] Compared with the prior art, the beneficial effects of this utility model are as follows:

[0011] By employing a six-axis robot in conjunction with a clamping mechanism, the efficiency of tool assembly and disassembly is significantly improved, reducing the need for manual intervention. Furthermore, the design of tension / compression sensors and an end-effector floating compensation module effectively reduces the risk of tool or tool holder damage during assembly and disassembly, extending the equipment's lifespan. In addition, the equipment can accommodate different specifications of tools and tool holders, meeting the diverse needs of future automated workshops. In particular, the modular design of components such as the jig plate, connecting plate, and mounting plate simplifies the assembly and maintenance process, enhancing the equipment's reliability.

[0012] Furthermore, the technical solution of this utility model has broad application prospects. In modern production environments, automatic tool assembly and disassembly grippers can not only improve production efficiency but also reduce safety hazards caused by manual operation. By precisely controlling the motion trajectory of the six-axis robot and the function of the gripping mechanism, the equipment exhibits excellent performance in the tool assembly and disassembly process, providing reliable technical support for the construction of automated workshops. Attached Figure Description

[0013] Figure 1 This is a three-dimensional structural diagram of the present invention;

[0014] Figure 2 This is a schematic diagram of the clamping mechanism of this utility model;

[0015] Figure 3 This is a structural schematic diagram of the clamping mechanism of this utility model from another perspective.

[0016] Attached image annotations:

[0017] 1. Six-axis robot; 2. Gripping mechanism; 3. Fixture plate; 4. Connecting plate; 5. Mounting plate; 6. End-effector floating compensation module; 7. Tension and compression sensor; 8. Tool holder; 9. Finger cylinder; 10. Tool holder clamping plate; 11. Tool clamping plate. Detailed Implementation

[0018] To make the above-mentioned objects, features, and advantages of this utility model more apparent and understandable, the specific embodiments of this utility model will be 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.

[0019] It should be noted that when an element is referred to as being "fixed to" another element, it can be directly attached to the other element or there may be an intervening element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or there may be an intervening element. When the number of elements is referred to as "multiple," it can be any number of two or more. The terms "vertical," "horizontal," "left," "right," and similar expressions used herein are for illustrative purposes only and do not represent the only possible implementation.

[0020] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0021] The present invention will now be described in detail with reference to the embodiments shown in the accompanying drawings:

[0022] An automated tool assembly and disassembly gripper device, which achieves automated assembly and disassembly of tools and tool holders through the collaborative work of a six-axis robot 1 and a gripping mechanism 2. Combined with... Figures 1 to 3 As shown, the specific implementation method of this device is described below.

[0023] The six-axis robot 1, as the core motion component, possesses six degrees of freedom, enabling it to flexibly perform multi-directional and multi-angle spatial movements. The last degree of freedom at the end effector of the six-axis robot 1 is equipped with a rotary table, which is used to fix and mount the clamping mechanism 2. The clamping mechanism 2 includes a jig plate 3, finger cylinders 9, a connecting plate 4, a mounting plate 5, an end effector floating compensation module 6, tension and compression sensors 7, and a tool holder 8. These components form a complete functional unit through specific mechanical connections, ensuring precise control during tool assembly and disassembly.

[0024] The jig plate 3, serving as the base platform for the clamping mechanism 2, is directly and fixedly mounted on the rotary table at the end of the six-axis robot 1. A finger cylinder 9 is fixedly mounted on the bottom of the jig plate 3, and the output end of the finger cylinder 9 is fixedly connected to a pair of tool holder clamping plates 10 via bolts or other fasteners. The tool holder clamping plates 10 are designed with high-hardness material and have anti-slip textures or coatings on their inner surfaces to enhance the clamping stability of the tool holders. The finger cylinder 9 is driven by compressed air to drive the tool holder clamping plates 10 to complete the opening and closing action, thereby achieving the clamping and release of the tool holders. When the six-axis robot 1 moves the clamping mechanism 2 to the tool holder, the finger cylinder 9 drives the tool holder clamping plates 10 to clamp the target tool holder, and the six-axis robot 1 precisely moves the tool holder to the heat-fitting machine for subsequent operations.

[0025] A connecting plate 4 is fixedly installed on one side of the fixture plate 3. A mounting plate 5 is fixedly installed on the top of the connecting plate 4 using bolts or other fasteners. An end-effector floating compensation module 6 is vertically fixed at the bottom of the mounting plate 5. This end-effector floating compensation module 6 is specifically a product of the ANT brand, whose core advantage lies in its ability to automatically adapt to positional deviations between parts during assembly. When the robot performs assembly operations, the end-effector floating compensation module can move and rotate flexibly within a certain range. It can absorb some impact force during the insertion of the tool into the tool holder, while allowing displacement within a certain range to avoid rigid contact. A tension / compression sensor 7 is connected to the bottom end of the end-effector floating compensation module 6. The tension / compression sensor 7 is a high-precision resistance strain gauge sensor that can detect the tension / compression value during the pulling process in real time. When the tension / compression sensor 7 detects that the tension / compression exceeds a preset threshold, the control system will pause the operation of the six-axis robot 1 and wait for a set time before continuing the disassembly operation. A tool holder 8 is installed at the bottom of the tension / compression sensor 7, and a pair of tool clamping plates 11 are installed at the output end of the tool holder 8. The tool holder 11 is also made of high-hardness material, and anti-slip textures or coatings are provided on its inner surface to enhance the clamping stability of the tool to be installed.

[0026] In actual operation, the equipment's workflow consists of the following steps: S1, the six-axis robot 1 drives the clamping mechanism 2 to move to the tool holder, the finger cylinder 9 drives the tool holder clamping plate 10 to clamp the tool holder, and the six-axis robot 1 moves the tool holder to the hot fitting machine; S2, the tool clamping plate 11 of the tool holder 8 clamps the tool to be installed, and the end float compensation module 6 buffers collisions or friction during the insertion of the tool into the tool holder; S3, during the tool disassembly process, the tension and compression sensor 7 monitors the tension and compression values ​​in real time. When the detected tension and compression exceed the preset threshold, the control system pauses the operation and waits for a set time before continuing the disassembly action. Specifically, the tension and compression sensor 7 uses a CPR120 steel alloy load cell from the Koprui brand.

[0027] To further illustrate the practical application scenarios of the equipment, the following description uses a specific example. Suppose an automated workshop needs to assemble and disassemble a batch of cutting tools of different specifications. First, a six-axis robot 1 moves to the tool holder position according to a preset program, and a finger cylinder 9 drives the tool holder clamping plate 10 to clamp the target tool holder. Then, the six-axis robot 1 moves the clamped tool holder to a heat-fitting machine for heating. After heating, the six-axis robot 1 moves the tool holder to the assembly station, where the tool holder 8's tool clamping plate 11 clamps the tool to be installed and precisely inserts it into the heated tool holder. During this process, the end effector floating compensation module 6 absorbs the impact force generated when the tool is inserted into the tool holder, preventing damage to the tool or tool holder due to hard contact. Subsequently, the six-axis robot 1 moves the assembled tool to a designated location for cooling. During the disassembly process, the tension and pressure sensor 7 monitors the tension and pressure values ​​in real time. When the tension and pressure exceed the preset threshold, the control system pauses the operation and waits for a set time before continuing the disassembly action. This prevents the tool or tool holder from being forcibly pulled out before it is fully heated and is still in an interference fit state, which could lead to deformation or damage.

[0028] Furthermore, this equipment features a modular design. Components such as the jig plate 3, connecting plate 4, and mounting plate 5 all use standardized interfaces for easy assembly and maintenance. For example, the finger cylinder 9 is fixedly connected to the tool holder clamping plate 10 via a quick-connect device, facilitating the replacement of different specifications of the tool holder clamping plate 10 to accommodate tool holders of different sizes. The end effector floating compensation module 6 is designed with adjustable elastic elements, allowing for adjustment of the buffering force according to actual needs to accommodate tools of different weights and sizes. The signal output terminal of the tension / compression sensor 7 is connected to the control system via a data cable. The control system determines the current operating status based on the feedback signal from the tension / compression sensor 7 and adjusts the motion trajectory of the six-axis robot 1 accordingly.

[0029] In summary, this invention achieves automated assembly and disassembly of cutting tools and tool holders through the collaborative work of a six-axis robot 1 and a clamping mechanism 2. The design of the tension / compression sensor 7 and the end-effector floating compensation module 6 effectively reduces the risk of damage to the cutting tools or tool holders during assembly and disassembly, extending the equipment's service life. Simultaneously, the equipment can adapt to different specifications of cutting tools and tool holders, meeting the diverse needs of future automated workshops. In particular, the modular design of components such as the fixture plate 3, connecting plate 4, and mounting plate 5 simplifies the assembly and maintenance process, improving the equipment's reliability. In modern production environments, automated tool assembly and disassembly clamping equipment not only improves production efficiency but also reduces safety hazards associated with manual operation, providing reliable technical support for the construction of automated workshops.

[0030] The technical features of the above embodiments can be combined arbitrarily. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as the combination of these technical features does not contradict each other, it should be considered within the scope of this specification. For those skilled in the art, several modifications and improvements can be made without departing from the concept of this utility model, and these all fall within the protection scope of this utility model. Therefore, the protection scope of this utility model patent should be determined by the appended claims.

Claims

1. An automatic tool assembly and disassembly gripper device, comprising a six-axis robot (1) and a gripping mechanism (2), characterized in that, The last degree of freedom of the six-axis robot (1) is provided with a rotary table. The clamping mechanism (2) is fixedly installed on the rotary table. The clamping mechanism (2) includes a jig plate (3), a finger cylinder (9), a connecting plate (4), a mounting plate (5), an end float compensation module (6), a tension and pressure sensor (7), and a tool holder (8). The finger cylinder (9) is fixedly installed at the bottom of the jig plate (3). The output end of the finger cylinder (9) is fixedly connected to a pair of tool holder clamping plates (10). The connecting plate (4) is fixedly installed on one side of the jig plate (3). The mounting plate (5) is fixedly installed on the top of the connecting plate (4). The end float compensation module (6) is vertically fixedly installed at the bottom of the mounting plate (5). The tension and pressure sensor (7) is connected to the bottom end of the end float compensation module (6). The tool holder (8) is fixedly installed at the bottom of the tension and pressure sensor (7). The output end of the tool holder (8) is equipped with a pair of tool clamping plates (11).

2. The automatic tool assembly and disassembly clamping device as described in claim 1, characterized in that, The end-floating compensation module (6) adopts an elastic element structure, which can absorb impact force and allow displacement within a certain range during the insertion of the tool into the tool holder.

3. The automatic tool assembly and disassembly gripper device as described in claim 2, characterized in that, The elastic element is a spring or similar structure, and the buffering force of the end floating compensation module (6) is adjustable.

4. The automatic tool assembly and disassembly clamping device as described in claim 1, characterized in that, The tension / compression sensor (7) is a high-precision resistance strain gauge sensor used to detect the tension / compression value during the traction process in real time.

5. The automatic tool assembly and disassembly gripper device as described in claim 4, characterized in that, The signal output terminal of the tension / compression sensor (7) is connected to the control system via a data line. The control system adjusts the action of the six-axis robot (1) according to the detected tension / compression value.

6. The automatic tool assembly and disassembly clamping device as described in claim 1, characterized in that, The inner surface of the tool clamping piece (11) is provided with anti-slip texture or coating to enhance the clamping stability of the tool to be installed.

7. The automatic tool assembly and disassembly clamping device as described in claim 1, characterized in that, The finger cylinder (9) and the knife handle clamping plate (10) are fixedly connected by a quick-connect device, which facilitates the replacement of knife handle clamping plates (10) of different specifications.

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