Material taking mechanism and automatic loading and unloading device

Abstract

The application discloses a material taking mechanism and an automatic feeding and discharging device. The material taking mechanism comprises a mechanical arm and a gripper unit at the end of the mechanical arm. The gripper unit is used for grabbing a cutter disc, and the mechanical arm is used for driving the gripper unit to transport the cutter disc. The gripper unit comprises a gripper and a visual detection assembly. The visual detection assembly is used for detecting the position and the inclination angle of the cutter disc, and can adjust the clamping angle of the gripper according to the inclination angle of the cutter disc. The visual detection assembly is used for detecting the inclination angle of the cutter disc in space and in a plane, and can adjust the clamping posture of the gripper according to the inclination angle of the cutter disc. The clamping efficiency of the gripper is improved, and the cutter damage caused by the inaccurate clamping position of the gripper is reduced.

Description

Technical Field

[0001] This application belongs to the field of material handling technology, specifically relating to a material handling mechanism and an automatic loading and unloading device. Background Technology

[0002] With the continuous development of electronic technology, more and more industries need to use circuit boards. During the processing of circuit boards, machine tools need to drill holes in them. These drilling tools have a limited lifespan, and must be replaced promptly when their lifespan is reached. To improve the processing efficiency of circuit board processing equipment and reduce manufacturing costs, more and more manufacturers are adopting automatic loading and unloading mechanisms to replace old cutting tools. The gripper is a crucial component of this automatic loading and unloading mechanism, enabling it to pick up and transport new tool heads to replace the old tools.

[0003] In the existing technology, the grippers of the automatic feeding mechanism have technical problems such as inaccurate gripping of the cutter head or differences in the placement of the cutter head, which leads to long gripping time and low processing efficiency. Summary of the Invention

[0004] This application provides a material handling mechanism and an automatic loading and unloading device, which aims to overcome the problems of low efficiency and long time consumption caused by the inability to detect the position of the cutting disc during the movement of the existing material handling mechanism to grip the cutting disc.

[0005] An embodiment of this application provides a material handling mechanism, comprising: a robotic arm and a gripper unit at the end of the robotic arm. The gripper unit is used to grip a cutter head, and the robotic arm is used to drive the gripper unit to transfer the cutter head. The gripper unit includes a gripper, a connecting block, and a vision detection component. The gripper is located at the lower end of the connecting block. The vision detection component is located on one side of the connecting block and its relative position to the gripper is fixed. The vision detection component is used to detect the position and tilt angle of the cutter head and can adjust the gripping angle of the gripper according to the tilt angle of the cutter head. The vision detection component includes a camera, a lens, and a light source. The cutter head is provided with a positioning mark. The camera and the light source are connected to the connecting block through a fixing bracket and are set downwards to identify and capture the positioning mark below, so as to compensate for the tilt angle deviation of the gripper relative to the cutter head in the plane.

[0006] In some embodiments, the vision inspection component further includes a height sensor for detecting the tilt angle of the gripper relative to the cutter head in space, and for compensating for the deviation of the gripper relative to the cutter head in the height direction by distance based on the acquired deviation value.

[0007] In some embodiments, the camera identifies and compensates for the angular deviation of the gripper relative to the cutter head in the plane, while the height sensor synchronously calculates and compensates for the angular deviation of the gripper relative to the cutter head in space.

[0008] In some embodiments, the gripper unit further includes a level, which is fixed to one side of the connecting block by a fixing plate, and the level is aligned with the position of the vision inspection component.

[0009] In some embodiments, the gripper unit further includes a barcode reader located on one side of the connecting block for reading the identification code on the cutter head to trace the cutter head.

[0010] In some embodiments, a position compensation unit is provided above the connecting block to compensate for the position deviation of the gripper unit during the material handling process.

[0011] In some embodiments, the gripper includes a gripping member that can be opened and closed on both sides, the lower end of the gripping member having a gripping portion that extends horizontally inward, and a storage space is formed inside the gripping member; gripping openings are provided on both sides of the cutter head, and the gripping portion can be inserted into the gripping opening to grip the cutter head.

[0012] This application embodiment also provides an automatic loading and unloading device, including a material picking mechanism, a loading station and an unloading station, wherein the material picking mechanism is used to transfer the cutter head between the loading station and the unloading station.

[0013] The material handling mechanism and automatic loading / unloading device provided in this application embodiment utilize a vision detection component on the connecting block. This component identifies the overall position of the cutter head and determines its tilt angle in space and plane, adjusting the gripper's posture accordingly. Intelligent identification and adjustment based on the cutter head's actual position accelerates gripping efficiency. Simultaneously, the barcode reader, level, vision detection component, grippers, and position compensation unit are distributed in various directions of the connecting block, occupying minimal space while enabling traceability and precise positioning of the cutter head, thus speeding up tool change rates. Attached Figure Description

[0014] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0015] Figure 1 This is a schematic diagram of the overall structure of the tool changing device provided in this embodiment;

[0016] Figure 2 This is a side view of the tool changing device provided in this embodiment;

[0017] Figure 3 This is a schematic diagram of the lifting mechanism in the tool changing device provided in this embodiment;

[0018] Figure 4This is a schematic diagram of the gripper unit structure in the tool changing device provided in this embodiment;

[0019] Figure 5 This is a schematic diagram of the tool disc structure in the tool changing device provided in this embodiment;

[0020] Figure 6 This is a schematic diagram of the material tray structure in the tool changing device provided in this embodiment;

[0021] Figure 7 This is a schematic diagram of the material hopper structure in the tool changing device provided in this embodiment;

[0022] Figure 8 This is a schematic diagram of the buffer rack structure in the tool changing device provided in this embodiment;

[0023] Figure 9 This is a schematic diagram of the structure of the tool changing device provided in this embodiment, in which the material bin is located on the buffer rack.

[0024] Attached reference numerals: 1-Frame; 2-Robot arm; 3-Blouse; 4-Lifting mechanism; 5-Moving mechanism; 6-Pan; 7-Buffer rack; 8-Touch screen; 10-Feeding port;

[0025] 11-Temporary storage position; 12-First crossbeam; 21-Camera; 22-Light source; 23-Lens; 30-Hopper positioning seat; 31-Spherical buckle; 35-Positioning hole; 36-Support column; 41-Bracket; 42-Lifting assembly; 43-Translation assembly; 61-Cutter head; 62-Cutter holder; 63-Grip opening; 64-Code reader; 65-Height sensor; 66-Level; 67-Position compensation unit; 68-First positioning pin; 69-Fixing port; 71-First support frame; 72-Second support frame; 73-First suspension plate; 74-Second suspension plate; 75-Guide mechanism; 76-Positioning block; 77-Universal wheel;

[0026] 411-Linear guide rail; 421-Lifting motor; 422-Lifting lead screw; 423-Lifting back plate; 4231-First positioning sleeve; 4232-Second detection component; 4233-Limit block; 424-Lifting drive component; 431-Transfer lead screw; 432-Drawer plate; 4321-First protrusion; 4322-First detection component; 4323-Second protrusion; 433-Sliding rod; 434-Side plate; 435-Guide wheel; 611-Cutter head Positioning hole; 612-clamp; 613-connecting block; 711-first support column; 712-second support column; 713-third support column; 714-fourth support column; 715-top connecting beam; 716-first bottom connecting beam; 717-second bottom connecting beam; 718-third bottom connecting beam; 720-bearing plate; 721-first positioning assembly; 722-second positioning assembly; 723-third positioning assembly; 724-fourth positioning assembly. Detailed Implementation

[0027] The following detailed description, in conjunction with the accompanying drawings and specific embodiments, provides a further detailed explanation of the material handling mechanism and automatic loading / unloading device proposed in this utility model. It should be noted that the drawings are all in a very simplified form and use non-precise proportions, intended only to facilitate and clarify the explanation of the embodiments of this utility model. Furthermore, the structures shown in the drawings are often part of the actual structure. In particular, different proportions may be used in different drawings to emphasize different aspects.

[0028] It should be noted that the terms "first," "second," etc., used in the specification, claims, and drawings of this utility model are used to distinguish similar objects in order to describe embodiments of this utility model, and are not used to describe a specific order or sequence. It should be understood that such structures can be interchanged where appropriate. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or device that includes a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to these processes, methods, products, or devices.

[0029] like Figures 1 to 9 As shown, a tool changing device is disclosed. This device is mainly designed for PCB processing equipment that is currently widely used. It achieves the function of automatically changing the tool head of the PCB processing equipment by means of the cooperation of multiple mechanisms. It has a compact structure, simple control, and various modes and convenient maintenance. After the tool changing device realizes the function of automatically changing the tool head of the PCB equipment, it can reduce the number of workshop workers, improve work efficiency, and reduce labor costs.

[0030] Please see Figures 1 to 2 An embodiment of this utility model provides a tool changing device, including a frame 1, a robotic arm 2, a hopper 3, a lifting mechanism 4, and a moving mechanism 5. The frame 1, the lifting mechanism 4, and the hopper 3 are all located on the moving mechanism 5, which is an AGV intelligent vehicle. The AGV intelligent vehicle moves on the ground to move the tool changing device to the side of the required drilling equipment for operation, thereby completing the replacement of the tool disc.

[0031] The lifting mechanism 4 and the hopper 3 are arranged side by side on the moving mechanism 5. The lifting mechanism 4 can move up and down in the second direction and move horizontally in the first direction to extract the material tray in the hopper 3. The material-retrieving side of the lifting mechanism 4 is arranged opposite to the material-retrieving and dispensing opening side of the hopper 3 and the two are interconnected. The frame 1 surrounds the lifting mechanism 4 and forms a feeding port 10 above the lifting mechanism 4. The robot arm 2 is set above the frame 1 at the end away from the hopper 3, including a robot arm and a gripper unit at the end of the robot arm. The gripper unit is used to grasp materials, and the robot arm is used to drive the gripper unit to transfer materials. The lifting mechanism 4 is used to horizontally remove the stored material tray 6 from the hopper 3 and lift the material tray 6 to the upper feeding port 10, or to lower the material tray 6 located at the feeding port 10 and push it horizontally back to the hopper 3. The robot arm 2 is used to pick up and place the cutter head 61 in the material tray 6 at the feeding port 10. In other words, the frame 1 occupies part of the space of the moving mechanism 5, and the other part of the space is used to place the hopper 3. The frame 1 is equipped with a lifting mechanism 4, which continuously extracts the material tray 6 from the hopper 3 and transfers it to the feeding port 10. The robot arm 2 grabs the cutter head 61 on the material tray 6 at the feeding port 10 and replaces the old cutter head on the processing equipment, realizing automatic cutter head replacement. The hopper 3 is installed on the moving mechanism 5 by positioning pins. When all the material trays 6 in the hopper 3 have been replaced, the hopper 3 can be removed from the moving mechanism 5, and the hopper 3 can be replaced to continue processing.

[0032] When changing the cutter head of the processing equipment, the lifting mechanism 4 can pull the material tray 6 out of the hopper 3 and lift it to the upper feeding port 10. The material tray 6 can be exposed from the feeding port 10 for easy grabbing by the robot arm 2. The robot arm 2 delivers the cutter head 61 on the material tray 6 to the processing equipment to realize material feeding. The old cutter removed from the processing equipment is also placed on the material tray 6 by the robot arm 2. After the loading and unloading of the material tray 6 at the feeding port 10 is completed, the lifting mechanism 4 puts the replaced material tray 6 into the hopper 3, and lifts the unreplaced material tray 6 in the hopper 3 to the feeding port 10 to wait for the robot arm 2 to grab it, so as to realize continuous material feeding of the processing equipment.

[0033] It should be noted that in this embodiment, the first and second directions mentioned above refer to the height direction of the lifting component 42 and the length direction of the translation component 43 of the lifting mechanism 4. The first and second directions are spatial directions pointing upwards, downwards, leftwards, and rightwards, and are not limited to a specific spatial location. Specifically, in this embodiment, the height direction of the lifting component 42 is defined as the second direction. The lifting mechanism 4 and the hopper 3 are placed side-by-side along the length direction of the moving mechanism 5. The horizontal movement direction of the translation component 43 and the extraction and insertion of the tray 6 within the hopper 3 are defined as the first direction. The lifting component 42 moves up and down along the second direction to a designated layer in the hopper 3, and the translation component 43 reciprocates horizontally along the first direction to grip the tray 6 within the designated layer of the hopper 3. The first and second directions are perpendicular. Furthermore, in this embodiment, "first," "second," etc., are only used to distinguish each other, and do not indicate importance, order, or mutual preconditions.

[0034] Please see Figure 7 The frame 1 and lifting mechanism 4 are fixed to the moving mechanism 5. The moving mechanism 5 is equipped with a hopper positioning seat 30. The platform of the hopper positioning seat 30 and the bottom of the hopper 3 are respectively equipped with a third positioning pin (not shown in the figure) and a positioning hole 35. Taking the hopper 3 with the positioning hole 35 at the bottom as an example, the hopper 3 can be vertically positioned above the moving mechanism 5 and docked with the third positioning pin of the hopper positioning seat 30 to place the hopper 3 on the moving mechanism 5. The hopper 3 is equipped with handles on both sides, which can be picked up and put down manually or mechanically. The AGV intelligent vehicle can run to the equipment that needs to change the tool by following the designated navigation path. There is no need to transport the hopper 3 through the moving mechanism 5 (AGV intelligent vehicle). The tool head transport AGV and the loading and unloading AGV are designed separately to reduce the travel time of the loading and unloading AGV and reduce the cost of the tool changing device.

[0035] Furthermore, the frame 1 is arranged around the lifting mechanism 4, and there is space for the material tray 6 to move inside and above the frame 1. A top plate is provided on the side of the lifting mechanism 4 away from the hopper 3, and a material tray feeding port 10 is formed next to the top plate. The robot arm 2 is set on the top plate and is used to pick up and put down the material tray 6 at the feeding port 10.

[0036] In some embodiments, please refer to Figure 3The lifting mechanism 4 includes a support 41, a lifting component 42, and a translation component 43. The support 41 is connected to the moving mechanism 5. The lifting component 42 is mounted on the support 41 and connected to the translation component 43. The lifting component 42 can drive the translation component 43 to move up and down. When the translation component 43 retrieves the material tray 6 from the hopper 3, it works with the lifting component 42 to retrieve and feed the material trays 6 at different storage heights in the hopper 3. The translation component 43 is used to retrieve the material tray 6 stored in the hopper 3 at a specific retrieval height and move it to the loading position or push the material tray 6 located at the loading position back into the hopper 3. The lifting component 42 is used to drive the material tray 6 at the loading position to move up and down. When feeding is required, the lifting component 42 drives the material tray 6 at the loading position to move up to the feeding port 10, and the robot arm 2 grabs the cutter head 61 on the material tray 6 at the feeding port 10.

[0037] In some embodiments, the lifting assembly includes a lifting motor 421, a lifting screw 422, and a lifting back plate 423. The bracket 41 includes a first bracket and a second bracket, each with a linear guide rail 411. The two ends of the lifting back plate 423 are connected to the two linear guide rails 411 via sliders. When the lifting back plate 423 moves up and down, the movement of the lifting back plate 423 is guided by the sliding connection between the sliders and the linear guide rails 411. The lifting screw 422 is mounted on the first bracket and drives the lifting back plate 423 to move up and down along the lifting screw 422 via a lifting transmission assembly 424. The lifting transmission assembly 424 is located at the lower end of the first bracket and connected to the output end of the lifting motor 421. The lifting motor 421 is located on the side of the first bracket opposite to the translation assembly 43 and is used to drive the lifting back plate 423 to move up and down along the lifting screw 422. The lifting backplate 423 is connected to the translation component 43. The lifting screw 422 can drive the lifting backplate 423 to move up and down, which in turn drives the translation component 43 to move up and down, so that the translation component 43 can take out or push in material trays of different heights in the hopper 3. The position and direction of the first bracket and the second bracket are not limited.

[0038] The lifting motor 421 is located on the side of the first bracket opposite to the translation component 43, which can prevent the lifting component 42 from interfering with the lifting motor 421 during the up and down movement, thus affecting the up and down movement range of the lifting component 42. Since the lifting motor 421 is located at the rear end of the first bracket, the up and down movement range of the lifting back plate 423 along the lifting screw 422 is increased, which makes it easier to clamp material trays of different heights in the hopper 3.

[0039] In some embodiments, the lifting transmission assembly 424 is a synchronous belt transmission assembly. The lifting transmission assembly 424 includes a driving wheel, a driven wheel, and a synchronous belt. The driving wheel is connected to the output end of the lifting motor 421, and the driven wheel is connected to one end of the lifting screw 422. The synchronous belt surrounds the driving wheel and the driven wheel. The lifting motor 421 drives the driving wheel to rotate, and the synchronous belt and the driven wheel drive the lifting screw 422 to rotate, thereby realizing the up and down movement of the lifting back plate 423.

[0040] Furthermore, the first and second supports are set separately, and the synchronous belt can wrap around the driving and driven pulleys located on both sides of the first support at the bottom of the first support.

[0041] In some embodiments, the translation assembly 43 includes a translation motor, a slide rod 433, a horizontal lead screw 431, and a material dragging plate 432. A lifting back plate 423 is connected to a base plate. The slide rod 433 and the translation lead screw 431 are fixed to the base plate via support plates at the front and rear ends of the base plate. A feeding port 10 is formed above the slide rod 433 and the horizontal lead screw 431. The translation motor is located below the base plate, and its output end is connected to the horizontal lead screw 431. The material dragging plate 432 is connected above the horizontal lead screw 431 via a slider sleeved on the horizontal lead screw 431 and the slide rod 433. The translation motor drives the translation lead screw 431 to rotate, causing the slider and the material dragging plate 432 to move along a first direction, used to horizontally drag the material tray 6 stored in the hopper 3 to the loading position or horizontally push the material tray 6 at the loading position into the hopper 3. The translation lead screw 431 and the slide rod 433 are horizontal, providing guidance for the movement of the material dragging plate 432.

[0042] Specifically, when one of the cutting tools on one of the processing machines on the production line is about to reach its lifespan limit, the processing machine sends a tool replacement request signal to the scheduling system. The scheduling system sends an instruction to the AGV intelligent vehicle to move to the loading and unloading station. The lifting component 42 drives the translation component 43 to lift and lower to the corresponding height of a certain hopper 3. The translation motor drives the drag plate 432 to move towards the hopper 3. The drag plate 432 moves into the hopper 3 and receives the material tray 6. When the drag plate 432 returns to its original position, it can move the material tray 6 out of the hopper 3, thereby transferring the material tray 6 to the loading position. The lifting component 42 drives it to the upper feeding port 10. The robotic arm 2 picks up the cutting tool at the feeding port 10 and replaces the cutting tool on the processing machine.

[0043] The material tray is picked up and placed by a translation motor, translation screw 431 and material drag plate 432. Fewer parts are required and the above parts do not take up too much space. The overall volume is small, which can reduce the space occupied by the translation component 43. The structure is compact and will not cause the frame 1 to be too large.

[0044] In some embodiments, the drag plate 432 serves as a carrier tray, and its overall structure is not limited. Preferably, the drag plate 432 is in the shape of a "mountain" and is lightweight, which reduces the operating load on the translation motor. The drag plate 432 has a first detection component 4322 in its middle support column. This first detection component 4322 detects whether the drag plate 432 is receiving the tray 6, ensuring that the tray 6 does not detach from the drag plate 432 during the process of pulling or pushing the tray 6 from or into the hopper 3, thus ensuring the normal handling of the tray 6. If the first detection component 4322 does not detect a receiving signal for the tray 6 during the drag plate 432's movement, the transport is stopped, and operation is restarted only after the tray 6 is checked and confirmed to be in the correct position, reducing equipment failure rate. The first detection component 4322 can be a proximity sensor, which determines the position of the material tray 6 based on the distance between the material tray 6 and the material trolley 432. The first detection component 4322 can also be a distance sensor or a fiber optic sensor, etc., without specific limitations.

[0045] In some embodiments, please refer to Figure 3 and Figure 6 The material tray 432 is provided with at least one push-pull block. The push-pull block is used to connect the material tray 6 when it is taken out of the material tray 3, and to cooperate with the material tray 6 to dock with the material tray 3 when it is pushed back into the material tray 3. The push-pull block includes a first protrusion 4321 and a second protrusion 4323. The first protrusion 4321 and the second protrusion 4323 are parallel and spaced apart. The side of the material tray 6 is provided with at least one fixing hole 69. The width and length of the first protrusion 4321 are slightly smaller than the width and length of the fixing hole 69. That is to say, the first protrusion 4321 can not only be inserted into the fixing hole 69, but also there is a certain gap between the first protrusion 4321 and the fixing hole 69 around the perimeter after the first protrusion 4321 is inserted into the fixing hole 69. This can eliminate the deviation caused by the tilt of the first protrusion 4321 during the connection of the material tray 6, and compensate for the positional deviation during the processing and assembly process.

[0046] When the first protrusion 4321 extends into the hopper 3 and moves to a position below the tray fixing opening 69, the lifting assembly 42 drives the push-pull block to rise, inserting the first protrusion 4321 into the fixing opening 69 to connect the tray 6. Under the pulling force of the translation assembly 43 along the first direction, the first protrusion 4321 abuts against one side wall of the tray fixing opening 69, causing the tray 6 to move horizontally along the first direction. Similarly, when the tray 6 is full of used tools replaced by the machine, the lifting assembly 42 drives the tray 6 down to the tray placement layer. The translation assembly 43 pushes the tray 6 into the hopper 3 along the first direction. At this time, the first protrusion 4321 abuts against the other inner wall of the tray fixing opening 69, causing the tray 6 to move into the hopper 3 until the tray 6 is connected and fixed to the hopper 3. The lifting assembly 42 then descends to remove the first protrusion 4321 from the fixing opening 69 and places the tray 6 into the hopper 3.

[0047] Furthermore, the second protrusion 4323 is located on the side of the first protrusion 4321 away from the hopper 3. The distance between the first protrusion 4321 and the second protrusion 4323 is the first distance, and the distance between the fixing port 69 and the edge of the material tray 6 is the second distance. The first distance is greater than the second distance, which can eliminate errors in the processing and assembly process. At the same time, it can reduce the impact when the material tray 6 is pushed into the hopper 3.

[0048] In some embodiments, a positioning bead is provided inside the second protrusion 4323. The positioning bead is telescopically disposed inside the second protrusion 4323, facing one side of the hopper 3 and extending out of the second protrusion 4323. The positioning bead includes an elastic portion connected to the inner wall of the second protrusion 4323. The positioning bead is parallel to the translation screw. After the first protrusion 4321 is inserted into the fixing port 69, the positioning bead inside the second protrusion 4323 can abut against the side wall of the tray 6. When the first protrusion 4321 connects to the tray 6 and pushes it into the hopper 3 under the action of the translation component 43, the elastic positioning bead can generate a certain pushing force on the tray 6 in the first direction. This, combined with the engagement and connection of the ball buckle 31 at the rear end of the tray 6 and the ball buckle (not shown in the figure) of the support column 36 at the rear end of the hopper 3, allows the tray 6 to enter with a buffer, reducing impact. It also avoids the phenomenon that the tray 6 is not fully positioned when pushed into the hopper and the hopper 3 because the space of the fixing port 69 is larger than the first protrusion 4321, and there is a certain space distance between the first protrusion 4321 and the side wall of the fixing port 69 away from the hopper when the tray 6 is pushed into the hopper 3.

[0049] In some embodiments, two sets of push-pull blocks are provided, located at the ends of the two side pillars of the drag plate 432, so that the material tray is subjected to balanced force when it is hooked.

[0050] In some embodiments, the position of the first detection component 4322 is on the same horizontal line as the positions of the two push-pull blocks, which can detect the position of the material tray while the push-pull blocks are clamping the material tray.

[0051] In some embodiments, the two ends of the side of the lifting back plate 423 facing the translation component 43 are respectively connected to side plates 434, and the two side plates 434 are arranged opposite to each other and can move up and down with the lifting back plate 423.

[0052] Each side plate 434 is provided with multiple guide wheels 435 along the first direction. The guide wheels 435 on both sides are at the same height. When the material tray 6 is dragged by the drag plate 432 along the first direction, the guide wheels 435 can support and guide the movement of the material tray 6. When the translation component 43 pulls the material tray 6 out of the hopper 3, the guide wheels 435 on both sides support and guide the material tray 6 to move to the material position on the tray.

[0053] When the material tray 6 is fed into the hopper 3, the translation screw 431 drives the drag plate 432 to move and enter the hopper 3 and dock with the hopper 3. After docking and positioning, the lifting component 42 drives the translation component 43 to move downward, the drag plate 432 disengages from the material tray 6, and the material tray 6 is placed into the hopper 3.

[0054] In some embodiments, please refer to Figures 6 to 7 The material trays 6 are stacked horizontally in the material bin 3. The material bin 3 has a material loading / unloading opening connected to the translation component 43. The material tray 6 is located at the material loading / unloading opening side as the front end of the material tray, and the side away from the material loading / unloading opening is the rear end of the material tray. The lifting back plate 423 facing the translation component 43 and the front end of the material tray 6 are respectively provided with a first positioning sleeve 4231 and a first positioning pin 68. The positioning pin 68 matches the positioning sleeve 4231 to position the material tray 6 at the loading position. Taking the lifting back plate 423 with the first positioning sleeve 4231 and the front end of the material tray with the first positioning pin 68 as an example, when the translation component 43 pulls the material tray 6 out of the material bin 3, the positioning pin 68 at the front end of the material tray 6 can engage with the positioning sleeve 4231 on the lifting back plate 423 to ensure the positioning accuracy when the translation component 43 pulls out the material tray 6. After the positioning pin 68 of the material tray 6 is connected with the positioning sleeve 4231, the material tray 6 is located in the loading position. When the material tray 6 in the loading position moves up to the feeding port 10, it can avoid the displacement of part of the cutter head 61 when the material tray 6 rises to the feeding port 10 due to the material tray 6 not being pulled out in place, and avoid the interference between part of the cutter head 61 and the frame 1 during the rising process due to the material tray 6 not being pulled out in place, which would cause damage to the cutter head. It can also ensure the stability of the material tray 6 when it is in the loading position.

[0055] To further ensure the positioning accuracy of the material tray 6, in some embodiments, at least one second detection component 4232 is provided on the side of the lifting back plate 423 facing the translation component 43. The second detection component 4232 is a proximity sensor used to detect whether the material tray 6 is accurately located at the feeding position. The second detection component 4232 works together with the translation screw 431 to determine that the material tray 6 has moved into position at the same time as the translation screw 432 moves into position. If the position of the material tray 6 deviates when it is in the feeding position, the second detection component 4232 sends a signal, and after adjusting the position of the material tray 6, the lifting component 42 is controlled again to drive the material tray 6 to rise to the upper feeding port 10.

[0056] In some embodiments, a limiting block 4233 is provided on the side of the lifting back plate 423 facing the translation component 43. The limiting block 4233 is made of soft material and is used to softly limit the material tray 6 to the upper material position. When the translation component 43 pulls the material tray 6 out of the hopper 3 along the first direction, the drag plate 432 clamps the material tray 6 and moves along the first direction at a certain speed. When it reaches the upper material position, the material tray 6 first contacts the limiting block 4233, forming a certain buffer on the material tray 6, stopping the material tray 6 at the upper material position, avoiding direct contact between the material tray 6 and the lifting back plate 423, reducing impact force and preventing damage to the cutting tool. While the limiting block 4233 limits the material tray 6, the cutting tool positioning hole 611 on the side of the material tray 6 is connected with the positioning sleeve 4231, and the material tray 6 is stably fixed at the upper material position of the drag plate 432.

[0057] In some embodiments, please refer to Figure 1 In order to stably position the tray 6 at the feed port 10, the rear end of the tray 6 and the side of the first crossbeam 12 of the frame 1 facing the feed port 10 are respectively provided with a second positioning sleeve (not shown in the figure) and a second positioning pin (not shown in the figure). When the lifting component 42 drives the tray 6 to move to the feed port, the tray 6 and the first crossbeam 12 above the frame 1 are kept in the same plane. The translation component 43 pushes the tray 6 along the first direction to connect the second positioning sleeve and the second positioning pin to position the tray 6.

[0058] It should be noted that the first positioning sleeve, the first positioning pin, the second positioning sleeve, and the second positioning pin can be replaced with other docking methods such as mechanical ones, and no specific restrictions are made here.

[0059] Specifically, the frame 1 is enclosed by the lifting mechanism 4. A crossbeam above the lifting mechanism 4 forms a feeding port 10. The frame 1 includes a first crossbeam 12 and side crossbeams. The first crossbeam 12 is located on the side of the feeding port 10 closest to the hopper 3 and parallel to the hopper 3. A top plate is located on the side of the feeding port 10 furthest from the hopper 3. The top plate is horizontally connected to the side crossbeams on both sides, forming a platform above the frame 1. A robotic arm 2 is mounted on the top plate for picking up and placing the cutter head 61 at the feeding port 10. The robotic arm 2's placement on the upper part of the frame 1 saves space.

[0060] In order to stably fix the tray 6 to the feed port 10, the tray 6 can be positioned and fixed to the lifting back plate 423 by the docking of the first positioning sleeve 4231 and the first positioning pin 68, or the tray 6 can be positioned and fixed to the first crossbeam 12 by the docking of the second positioning sleeve and the second positioning pin.

[0061] In some embodiments, please refer to Figures 4 to 5 To enable the robotic arm 2 to more accurately and quickly grip the cutter head located on the material tray at the loading position, the gripper unit of the robotic arm 2 is equipped with a vision detection component. The cutter head 61 has positioning marks. The vision detection component includes a camera 21, a light source 22, and a lens 23. The camera 21 and light source 22 are fixed to one side of the connecting block 613 via a mounting bracket and are positioned downwards to identify the positioning marks on the cutter head 61 below. The shape and position of the positioning marks are not limited. During the movement of the robotic arm 2 to grip the cutter head 61, the camera 21 identifies and captures the positioning marks on the cutter head 61, quickly locating the position of the cutter head 61 while compensating for angular deviations of the cutter head 61 in the plane. The gripper unit includes a connecting block 613 and a gripper 612, with the gripper 612 rotatably connected to the lower end of the connecting block 613. In this embodiment, the positioning marker is the cutter head positioning hole 611 located on one side edge of the cutter head 61. The position of the cutter head positioning hole 611 is captured by the camera 21 to determine the positional relationship between the gripper 612 and the cutter head 61. The cutter head positioning hole 611 has a certain shape. The camera 21 can capture and identify the features of the cutter head positioning hole 611 to determine the offset angle of the cutter head 61 in the plane. The posture of the gripper 612 is rotated horizontally to make the two sides of the gripper 612 parallel to the cutter head 61, thus compensating for the angular deviation of the cutter head 61 in the plane.

[0062] In some embodiments, the vision inspection component further includes a height sensor 65 for detecting the spatial tilt angle of the cutter head 61 when it is lifted to the feed port 10. The height sensor 65 is located on one side of the connecting block 613 and is relatively fixed to the position of the gripper 612. The tilt angle of the gripper 612 relative to the cutter head 61 is determined by detecting the spatial tilt angle of the height sensor 65 relative to the cutter head 61.

[0063] Specifically, the height sensor 65 is used to detect the height distance of multiple height sensors 65 relative to the cutter head 61 at different positions. If the detected height distance values ​​are all the same, it indicates that the cutter head 61 is horizontal in space; otherwise, it indicates that the cutter head 61 has an angular deviation in space, such as being higher in the front than in the back or higher on the left than on the right. After detecting an angular deviation in space, the signal is fed back to the robot arm 2. The robot arm 2 adjusts the posture of the gripper 612 according to the acquired deviation data distance, so that the gripper 612 is parallel to the cutter head 61 in the height direction. At the same time, the camera 21 captures the features (positioning marks) on the cutter head 61, determines the tilt angle (in-plane tilt angle) between the two sides of the gripper 612 and the boundary of the cutter head 61, and adjusts the posture of the robot arm 2 to make the two sides of the gripper 612 parallel to the cutter head 61.

[0064] Furthermore, the height sensor 65 can detect the height of the gripper 612 relative to the cutter head 61 when the gripper 612 is above the cutter head 61, and provide a height reference value when the gripper 612 descends to grip the cutter head 61.

[0065] Furthermore, the gripper 612 includes two openable gripping parts, each with a horizontally extending gripping portion at its lower end, forming a storage space inside. The cutter head 61 has gripping openings 63 on both sides, the openings of which are adapted to the width of the gripping portion. The gripping portions on both sides can insert into the gripping openings 63 to grip the cutter head 61, reducing the gripping difficulty caused by deviations due to other structural factors. A vision detection component compensates for the deviation angle of the gripper 612 relative to the cutter head 61 in space and in the plane, ensuring that the gripping portions on both sides of the gripper 612 can precisely insert into the gripping openings on both sides of the cutter head 61 when gripping it, thus improving gripping efficiency.

[0066] Furthermore, after receiving instructions from the scheduling system, the robotic arm 2 extends its arm, and the vision detection component on the gripper unit identifies and compensates for the coordinate position of the cutter head on the machining equipment, as well as the coordinate position of the cutter head 61 at the feed port 10. It then grips the cutter head to perform the tool changing process, thereby compensating for the positional accuracy error of the moving mechanism 5, reducing the time the moving mechanism 5 spends moving to the docking position, and improving efficiency.

[0067] In some embodiments, the gripper unit is provided with a code reader 64, which is located on one side of the connecting block 613. Each set of cutter discs 61 is provided with an identification code. During the process of the robot arm 2 gripping the cutter disc 61, the code reader 64 can read the identification code on the cutter disc 61 to trace the cutter disc 61.

[0068] Furthermore, the gripper unit is also equipped with a level 66, which is connected to one side of the connecting block 613 via a fixing plate that is horizontally fixed to the connecting block 613. This level 66 is used to ensure that the gripper unit remains horizontal during movement. When the height sensor 65 detects that the cutter head 61 is tilted, the gripping angle of the gripper 612 is adjusted according to the angle deviation value. When the height sensor 65 does not detect that the cutter head 61 is tilted, it indicates that the cutter head 61 is placed horizontally, and the gripper 612 can maintain a horizontal state to grip the cutter head 61.

[0069] In some embodiments, the gripper unit includes a position compensation unit 67, which is located above the connecting block 613 and is used to compensate for position deviations of the gripper unit when picking up or placing materials.

[0070] The gripper 612, vision inspection component, level 66, barcode reader 64, and position compensation unit 67 are all disposed in various directions of the connecting block 613. The positions of the vision inspection component, level 66, barcode reader 64, and position compensation unit 67 are relatively fixed with respect to the gripper 612. They are used to detect and determine the position information of the lower cutter head 61, compensate for the gripping position of the gripper 612, and avoid the gripping position deviation of the gripper 612 due to the position difference when the cutter head 61 picks up and puts in materials. This improves the gripping efficiency and avoids tool damage caused by incorrect gripping position.

[0071] Meanwhile, the visual inspection component, level 66, barcode reader 64, and position compensation unit 67 are positioned in various directions of the connecting block 613, resulting in a small footprint and not affecting the movement range of the gripper unit. It should be noted that the orientation and position of the visual inspection component, level 66, barcode reader 64, and position compensation unit 67 within the connecting block 613 are not specifically limited and can be adjusted appropriately according to the actual scenario.

[0072] In some embodiments, please refer to Figures 1 to 2 The hopper 3 is placed on the moving mechanism 5 via the hopper positioning seat 30. The hopper positioning seat 30 is located on one side of the moving mechanism 5, which can place the hopper 3 on the moving mechanism 5. The material picking and dispensing opening of the hopper 3 is directly opposite the material picking side of the lifting mechanism 4. The placement position of the hopper 3 and the direction of the material tray 6 are parallel to the sliding direction of the translation screw 431 and the sliding rod 433 of the translation component 43. In the same horizontal space, the translation component 43 can clamp the material tray 6 in the hopper 3 and transport it in the first direction in the forward or reverse direction, so as to realize the picking and dispensing of the material tray 6 relative to the hopper 3.

[0073] The bottom of the hopper positioning seat 30 and the hopper 3 are respectively provided with a third positioning pin and a positioning hole 35. The hopper 3 is placed on the hopper positioning seat 30 by the docking of the positioning hole 35 and the third positioning pin. In this embodiment, the third positioning pin and the positioning hole 35 are located on the top of the hopper positioning seat 30 and around the bottom edge of the hopper 3, respectively.

[0074] The hopper 3 can be detached from the moving mechanism 5 and installed freely. After the cutter head 61 in the hopper 3 is replaced with the cutter head on the processing equipment, the hopper 3 on the moving mechanism 5 is replaced with the hopper on the buffer rack 7. The hopper positioning seat 30 is equipped with a second lifting component (not shown in the figure), which is used to lift the hopper 3 from the hopper positioning seat 30 and move it to the buffer rack 7 to automatically replace the hopper 3, thereby reducing the moving distance and moving time of the moving mechanism 5 and improving processing efficiency.

[0075] In some embodiments, a temporary storage position 11 is provided on the frame 1. The temporary storage position 11 is used to cooperate with the robot arm 2 to replace the old and new cutter heads. When the processing equipment needs to replace the cutter head, the robot arm 2 moves the cutter head to be replaced on the processing equipment to the temporary storage position 11, so that there is a cutter head empty space on the processing equipment. Then, the robot arm 2 picks up the new cutter head from the material tray at the feed port 10 and sends the new cutter head to the cutter head empty space on the processing equipment. Alternatively, when the processing equipment needs to replace the cutter head, the robot arm 2 moves the new cutter head at the feed port 10 to the temporary storage position 11, so that there is a cutter head empty space at the feed port 10. Then, the robot arm 2 picks up the old cutter head to be replaced from the processing equipment and sends it to the cutter head empty space at the feed port 10, thus creating a cutter head empty space on the drilling machine. Then, the robot arm 2 picks up the cutter head 61 from the material tray 6 at the feed port 10 and sends the cutter head 61 to the cutter head empty space on the processing equipment. In other words, the cutter head at the processing equipment table or the feed port 10 is temporarily stored in the temporary storage position 11 on the frame 1, so that the processing equipment table or the feed port 10 has a cutter head empty space, so as to realize the orderly exchange of the old cutter head on the table and the new cutter head at the feed port 10.

[0076] Used cutting tools are placed on the processing equipment table. The robotic arm 2 transfers the used cutting tools on the processing equipment to the material tray 6 of the feeding port 10. After the material tray 6 is full of used cutting tools, the lifting component 4 moves the material tray 6 downward and pushes it back to the material bin 3. Automatic loading and unloading from the processing equipment is achieved through the tool changing device.

[0077] For further details, please refer to Figures 5 to 7The hopper 3 contains multiple stacked trays 6, each capable of holding multiple cutter heads 61. Each cutter head 61 has multiple cutter holders 62 for holding cutters. Multiple sets of rollers are vertically arranged on both side walls of the hopper 3. Each set of rollers holds one tray 6, providing support and guidance when the tray 6 is placed inside the hopper 3, allowing it to slide horizontally along the rollers into the hopper. The material handling side of the hopper 3 (front end) is a fully open opening for docking with the lifting assembly 42 for material handling. The rear end of the hopper is a semi-open opening, with support columns 36 connected to the upper and lower ends. Support columns 36 have multiple locking parts, and the rear end of the tray 6 has a locking part. When the tray 6 slides into the rear end of the hopper 3, the locking part at the rear end of the tray 6 engages with the locking part of the support column 36, fixing the tray 6 to the hopper 3 and preventing displacement during transportation. In this embodiment, the locking part and the engaging part are spherical buckles 31, and the mating and engaging between the two sets of spherical buckles ensures the stability of the connection.

[0078] In some embodiments, please refer to Figures 8 to 9 The tool changing device also includes a buffer rack 7, which holds the hopper 3 containing new tools and the hopper 3 filled with old tool discs removed from the moving mechanism 5. After all the tools in the hopper 3 on the moving mechanism 5 have been replaced with the tools already in use on the processing equipment, the moving mechanism 5 moves to an empty buffer rack 7 (first buffer rack) and docks with it, transferring the hopper 3 from the hopper positioning seat 30 to the first buffer rack. Then, the moving mechanism 5 reverses direction, moving out of the first buffer rack and to a buffer rack 7 (second buffer rack) containing new tools, docking with it and transferring the new hopper from the second buffer rack to the hopper positioning seat 30, completing the hopper replacement. The buffer rack 7 acts as an intermediary, eliminating the need to move the moving mechanism 5 to the tool room to retrieve the hopper, thus enabling rapid hopper replacement.

[0079] Furthermore, the buffer rack 7 includes a first support frame 71, a second support frame 72, and multiple positioning components. The first support frame 71 includes four support columns, which stand vertically on a base surface. The second support frame 72 is horizontally connected to the top of the first support frame 71, forming a receiving space inside the first support frame 71 and part of its top. The positioning components are disposed on the second support frame 72. The second support frame 72 is used to support the hopper 3, and the positioning components are used to guide and position the hopper 3, positioning the hopper 3 downwards on the buffer rack 7 from above.

[0080] Please see Figure 8In some embodiments, the second support frame 72 includes a first suspension plate 73 and a second suspension plate 74 spaced apart. The first suspension plate 73 and the second suspension plate 74 are respectively connected to both sides of the first support frame 71 and extend horizontally inward along the central direction of the first support frame 71, forming partial horizontal support surfaces on both sides of the top of the first support frame 71 for supporting the hopper 3. The first suspension plate 73 and the second suspension plate 74 are at the same height and parallel to each other. The first suspension plate 73 and the second suspension plate 74 are not connected and there is a gap between them so that when the moving mechanism 5 docks with it, the second lifting component can extend out of the gap and lift the hopper to directly above the buffer frame 7.

[0081] In some embodiments, the first support frame 71 includes a first support column 711, a second support column 712, a third support column 713, a fourth support column 714, and a top connecting beam 715. The top connecting beam 715 is connected between the second support column 712 and the third support column 713 to stabilize the structure of the overall buffer frame 7. A first suspension plate 73 is connected between the first support column 711 and the top connecting beam 715, and a second suspension plate 74 is connected between the fourth support column 714 and the top connecting beam 715. A horizontal suspension plate is formed on both sides of the top Y-axis of the buffer frame 7 to support the hopper 3. Taking the direction shown in the figure as an example, the front end of the buffer rack 7 has an opening on one side, and the rear end is connected to the support columns on the left and right sides by a top connecting beam. The moving mechanism 5 is in the shape of a cuboid, and the buffer rack 7 is also in the shape of a cuboid. Its width and height are smaller than the width and height of the buffer rack 7. When the moving mechanism 5 docks with it, it can move along the X-axis to the inside of the buffer rack 7. The second lifting component extends out of the upper gap to move the hopper 3 to the top of the buffer rack 7. Then the second lifting component descends to place the hopper 3 on the first suspension plate 73 and the second suspension plate 74 of the buffer rack 7.

[0082] In some embodiments, the first support frame 71 further includes a first bottom connecting beam 716, a second bottom connecting beam 717, and a third bottom connecting beam 718, which are respectively connected between the first support column 711 and the second support column 712, the second support column 712 and the third support column 713, and the third support column 713 and the fourth support column 714. The first bottom connecting beam 716 is parallel to the third bottom connecting beam 718, and the second bottom connecting beam 717 is parallel to the top connecting beam 715, making the overall shape of the buffer frame 7 rectangular. By providing connecting beams at the rear end and the bottom of the left and right sides of the buffer frame 7, the overall structure of the buffer frame 7 can be stabilized again, and the load-bearing capacity of the buffer frame 7 can be strengthened. Similarly, the buffer frame 7 does not have bottom connecting beams and top connecting beams at the front end, but has an opening (in the X-axis direction) at the front end, through which the moving mechanism 5 can enter the buffer frame 7.

[0083] In some embodiments, the positioning components include a first positioning component 721, a second positioning component 722, a third positioning component 723, and a fourth positioning component 724. The first positioning component 721 and the second positioning component 722 are disposed at both ends of the first suspension plate 73, and the third positioning component 723 and the fourth positioning component 724 are disposed at both ends of the second suspension plate 74. The first positioning component 721 and the third positioning component 723 are arranged opposite each other in pairs, and the second positioning component 722 and the fourth positioning component 724 are arranged opposite each other in pairs. Two sets of positioning components are respectively provided on the first suspension plate 73 and the second suspension plate 74, and the four sets of positioning components are located at the four corners of the buffer frame 7, which can position the hopper 3 in four directions and improve the positioning accuracy of the hopper 3.

[0084] Furthermore, the positioning component includes a guide mechanism 75, which guides the hopper 3 when it is placed on the buffer rack 7, guides the hopper 3 to the placement position, and arranges the hopper 3 in an orderly manner.

[0085] The guiding mechanism 75 has inwardly and downwardly inclined guide surfaces, the inclined guiding direction of which is parallel to the connecting beam of the first support frame. That is, when the hopper 3 is placed downwards from above the buffer rack 7, the hopper 3 can move downwards along the Z-axis along the surrounding guide surfaces while simultaneously moving along the X-axis or Y-axis, ultimately confining the hopper 3 to the center position of the buffer rack 7. Each positioning assembly can contain one or two guiding mechanisms, which can guide only along the X-axis, only along the Y-axis, or both.

[0086] In some embodiments, in order to fix the hopper 3, each guide mechanism 75 has a positioning block 76 at its front end and a positioning hole at the bottom of the hopper 3 that matches the positioning block 76. When the hopper 3 is placed down on the buffer rack 7 along the guide mechanism 75, the positioning block 76 can be aligned with the positioning hole to fix the hopper 3 to the buffer rack 7 and prevent the hopper 3 from moving on the buffer rack 7.

[0087] In some embodiments, the buffer rack 7 is also provided with casters 77 around its perimeter, which can reduce friction during the placement of the hopper 3 on the buffer rack 7 and prevent it from getting stuck on the inclined surface of the guide mechanism 75 due to excessive friction, thereby effectively improving the speed and accuracy of the placement of the hopper 3.

[0088] In some embodiments, the positioning component includes a support plate 720, which is located on the side of the second support frame 72 that contacts the hopper 3. The guide mechanism 75, the positioning block 76, and the caster wheel 77 are all disposed on the support plate 720.

[0089] Furthermore, a second lifting assembly (not shown in the figure) is provided inside the hopper positioning seat 30. The second lifting assembly can lift the hopper 3 from the hopper positioning seat 30. When the hopper 3 on the moving mechanism 5 is full of used old tools, the second lifting assembly lifts the hopper 3 vertically, causing the third positioning pin and positioning hole 35 to disengage, and move along the X-axis to the inside of the first buffer rack 7 to dock with the buffer rack 7. The hopper 3 is located above the first buffer rack 7. The second lifting assembly drives the hopper 3 to descend and place the hopper 3 on the first buffer rack 7 along the guide mechanism 75. Among them, the support plate 720 is located on both sides of the top of the buffer rack 7, and a space is left in the middle of the two support plates 720 to accommodate the second lifting assembly when the moving mechanism 5 docks.

[0090] After the hopper 3 is placed on the first buffer rack 7, the moving mechanism 5 moves out of the first buffer rack 7 and then moves to the buffer rack 7 (second buffer rack 7) containing the new hopper 3 to dock with it. After docking, the second lifting component is controlled to rise, lifting the hopper 3 and moving it out of the buffer rack 7. After moving to the processing position or after moving out of the second buffer rack 7, the second lifting component is controlled to descend, causing the third positioning pin and positioning hole 35 to dock with each other, placing the hopper 3 on the hopper positioning seat 30, thus completing the hopper replacement. Through the sequential docking and cooperation of the two buffer racks and the moving mechanism 5, the disassembly of the old hopper and the installation of the new hopper are automatically completed. Moreover, the moving mechanism 5 does not need to move to the tool magazine to retrieve the hopper, reducing the movement distance and time, and improving processing efficiency.

[0091] In some embodiments, a touch screen 8 is provided on the side of the frame 1 for displaying and operating the operation of the robotic arm 2 and the lifting mechanism 4.

[0092] This utility model embodiment provides an automatic tool changing method for the aforementioned tool changing device, including: after receiving a tool changing signal, the moving mechanism 5 moves to the corresponding loading and unloading position of the processing equipment, and the lifting mechanism 4 sequentially removes the material tray from the hopper 3. Specifically, the lifting mechanism 4 descends to a designated layer of the hopper 3, removes the material tray 6 from the hopper 3, and lifts the material tray 6 to the feeding port 10.

[0093] First, the translation component 43 drives the drag plate 432 to the hopper 3 to connect with and receive the tray 6, and pulls the tray 6 horizontally out of the hopper 3 to the loading position; the second detection component 4232 cooperates with the drag plate 432 to detect and adjust the position accuracy of the drag plate 432 at the loading position; second, after the position detection of the tray 6 is qualified, the tray 6 is moved upward to the feeding port 10, and the robot arm 2 is waiting to clamp the cutter head 61 on the tray 6.

[0094] When performing a tool change, the robot arm 2 picks up the old tool disc from the machine platform and places it in the temporary storage position 11. There is a space for the tool disc on the machine platform. The robot arm 2 picks up the new tool disc 61 from the feed port 10 and places it in the space for the tool disc on the machine platform to complete a tool change. The picking is repeated until the material tray 6 at the feed port 10 is completely filled with the old tool disc.

[0095] During the process of the robotic arm 2 gripping the material tray, the positioning mark on the cutter head 61 is identified by the vision detection component camera 21 to determine the overall position of the cutter head 61. The position compensation unit 67 compensates for the position deviation of the cutter head 61, and the height sensor 65 identifies the tilt angle of the cutter head 61 and adjusts the gripping angle of the gripper accordingly, so that the gripper is accurately aligned with the gripping opening 63 and the cutter head 61 is gripped quickly and accurately.

[0096] When the tray 6 at the feed port 10 is full of used tools, the lifting mechanism 4 drives the tray 6 to descend from the feed port 10. When it descends to the material removal position, the translation component drives the tray 6 containing the old tools to push into the hopper 3.

[0097] After the lifting mechanism 4 moves the tray 6 filled with old cutter heads back to the hopper 3, the above steps are repeated. The lifting mechanism 4 takes out a new tray 6 from the hopper 3 again and moves it to the upper feed port 10 for automatic tool changing until all tools in the hopper 3 have been replaced. After all tools in the hopper 3 have been replaced, the moving mechanism 5 moves to perform the hopper replacement process. It controls the second lifting component to vertically lift the hopper 3 on the hopper positioning seat 30 and move it to the empty first buffer rack 7 to dock with it. It controls the second lifting component to lower and place the hopper 3 filled with old cutter heads on the first buffer rack 7. It moves out of the first buffer rack 7 and moves to the second buffer rack 7 to dock with it. It controls the second lifting component to lift the new hopper 3 on the second buffer rack 7 and move it out of the second buffer rack 7. It controls the second lifting component to lower and place the new hopper 3 downward on the hopper positioning seat 30, completing the hopper replacement. After the hopper replacement, the moving mechanism 5 continues to move to the tool changing processing position to work.

[0098] This utility model provides a material handling mechanism and an automatic loading and unloading device, which realizes the automatic and orderly exchange of old cutter discs on the machine and new cutter discs on the tool changing AGV. It adopts a fully automated system, which reduces labor costs and solves problems such as low manual efficiency, long equipment downtime, and easy scratches and bumps during the handling process. In addition, the robotic arm and the lifting mechanism can work independently at the same time, which improves material changing efficiency, space utilization, and production efficiency.

[0099] In the above embodiments, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions in other embodiments.

[0100] The above provides a detailed description of the material handling mechanism and automatic loading / unloading device provided in the embodiments of this application, and uses specific examples to illustrate the principles and implementation methods of this application. The description of the above embodiments is only for the purpose of helping to understand the technical solutions and core ideas of this application. Those skilled in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or make equivalent substitutions for some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application.

Claims

1. A material handling mechanism, characterized in that, include: A robotic arm and a gripper unit at the end of the robotic arm, wherein the gripper unit is used to grasp the cutter head, and the robotic arm is used to drive the gripper unit to transfer the cutter head; The gripper unit includes grippers, a connecting block, and a vision detection component; The gripper is located at the lower end of the connecting block; The vision detection component is located on one side of the connecting block and its relative position to the gripper is fixed; the vision detection component is used to detect the position and tilt angle of the cutter head, and can adjust the gripping angle of the gripper according to the tilt angle of the cutter head. The visual inspection component includes a camera, a lens, and a light source. The cutter head is provided with a positioning mark. The camera and the light source are connected to the connecting block through a fixing bracket and are set downwards to identify and capture the positioning mark below, so as to compensate for the tilt angle deviation of the gripper relative to the cutter head in the plane.

2. The material handling mechanism according to claim 1, characterized in that, The vision inspection component also includes a height sensor, which is used to detect the tilt angle of the gripper relative to the cutter head in space, and can compensate for the deviation of the gripper relative to the cutter head in the height direction according to the obtained deviation value.

3. The material handling mechanism according to claim 2, characterized in that, The camera identifies and compensates for the angular deviation of the gripper relative to the cutter head in the plane, while the height sensor synchronously calculates and compensates for the angular deviation of the gripper relative to the cutter head in space.

4. The material handling mechanism according to claim 1, characterized in that, The gripper unit also includes a level, which is fixed to one side of the connecting block by a fixing plate, and the level is aligned with the position of the visual inspection component.

5. The material handling mechanism according to claim 1, characterized in that, The gripper unit also includes a code reader, which is located on one side of the connecting block and is used to read the identification code on the cutter head for tracing the cutter head.

6. The material handling mechanism according to claim 1, characterized in that, A position compensation unit is provided above the connecting block to compensate for the positional deviation of the gripper unit during the material handling process.

7. The material handling mechanism according to claim 1, characterized in that, The gripper includes gripping parts that can be opened and closed on both sides. The lower end of the gripping part has a gripping portion that extends horizontally inward, and a storage space is formed inside the gripping part. The cutter head is provided with gripping openings on both sides, and the gripping portion can be inserted into the gripping openings to grip the cutter head.

8. An automatic loading and unloading device, characterized in that, It includes a material handling mechanism, a loading station, and a unloading station as described in any one of claims 1 to 7, wherein the material handling mechanism is used to transfer the cutter head between the loading station and the unloading station.

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