一种用于给机床自动换刀和自动上下料的复合机器人
By designing a composite robot system that combines AGVs and robotic arms, automatic tool changing and loading/unloading of machine tools are achieved. This solves the problems of limited working range and manual tool changing in existing systems, improves processing efficiency and equipment flexibility, and adapts to multi-variety production.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- DALIAN KUNDA AUTOMATION CO LTD
- Filing Date
- 2025-08-12
- Publication Date
- 2026-07-17
AI Technical Summary
In existing automated tool changing and loading/unloading systems for machine tools, fixed six-axis robots have limited working range, while track-mounted seven-axis robots increase costs and floor space, and require manual replacement of worn tools, making it impossible to achieve flexible loading/unloading and efficient processing.
Design a composite robot comprising an AGV, a robotic arm, a vision system, a gripper placement area, and a tool changer. The AGV enables flexible transfer between machine tools and line-side warehouses. The robotic arm switches between a tool holder gripper and a pallet gripper to achieve automatic tool changing and loading/unloading. Combined with a rotary tool disc and a lifting pallet component, the flexibility and efficiency of the equipment are improved.
It achieves automatic tool changing and unloading, improving processing efficiency, reducing equipment footprint, lowering labor costs, avoiding human error, adapting to different specifications of tools and workpieces, and meeting the needs of small-batch, multi-variety production.
Smart Images
Figure CN224509126U_ABST
Abstract
Claims
1. A compound robot for automatic tool changing and automatic loading and unloading of a machine tool, characterized by, include: AGV (1), robotic arm (2), vision system (3), gripper placement position (4) and gun changing plate (5); the robotic arm (2) and gripper placement position (4) are located on the AGV (1), the vision system (3) is located on the robotic arm (2) and is used to identify the gripping position; the gripper placement position (4) is provided with a tool handle gripper (6) for picking up the tool handle (10) and a tray gripper (7) for picking up the tray (20), and the robotic arm (2) switches between the tool handle gripper (6) and the tray gripper (7) through the gun changing plate (5).
2. The composite robot for automatic tool changing and automatic loading and unloading of a machine tool according to claim 1, wherein The handle gripper (6) includes a first connecting seat (61) and a pneumatic finger (62); the pneumatic finger (62) is mounted on the first connecting seat (61) and is used to grip the handle (10); the first connecting seat (61) is connected to the end of the robotic arm (2) via a tool changer (5).
3. The composite robot for automatic tool changing and automatic loading and unloading of a machine tool according to claim 2, wherein The handle claw (6) further includes a buffer component, which includes: two gripping fingers (63), two sets of first guide components, and two sets of elastic components; the two gripping fingers (63) correspond to the two grippers (621) of the pneumatic fingers (62), the gripping fingers (63) are slidably connected to the grippers (621) through the first guide components, and the elastic components are disposed between the gripping fingers (63) and the grippers (621); The two gripper fingers (63) grip the handle (10), and the two grippers (621) are separated from the handle (10). The first guide component guides the movement of the gripper fingers (63) relative to the grippers (621) along the axis of the handle (10). The elastic component generates an elastic force to resist the movement of the gripper fingers (63).
4. The composite robot for automatic tool changing and automatic loading and unloading of a machine tool according to claim 3, wherein The clamping finger (63) includes a body (631) and a positioning block (632) for engaging the keyway (102) on the flange (101) of the tool holder (10). The body (631) is provided with a protrusion (633) for engaging the V-groove (103) on the flange (101) of the tool holder (10).
5. A composite robot for automatic tool changing and automatic loading / unloading of machine tools according to claim 1, characterized in that, The pallet gripper (7) includes a second connecting seat (71) and a quick-change gripper (72); the quick-change gripper (72) is mounted on the second connecting seat (71) and is used to pick up the pallet (20); the second connecting seat (71) is connected to the end of the robotic arm (2) via a gun changing plate (5).
6. The composite robot for automatic tool changing and automatic loading and unloading of a machine tool according to claim 1, wherein The claw placement position (4) includes: a first mounting base (41), a placement plate (42), and two positioning pins (43); the first mounting base (41) is mounted on the AGV (1), the placement plate (42) is mounted on the first mounting base (41), and the positioning pins (43) are mounted on the placement plate (42). The two positioning pins (43) respectively cooperate with the first positioning hole (611) on the tool holder claw (6) and the second positioning hole (711) on the tray claw (7).
7. The composite robot for automatic tool changing and automatic loading and unloading of a machine tool according to claim 1, wherein It also includes a rotary cutter head component (8) disposed on the AGV (1), the rotary cutter head component (8) including: a rotary cutter head (81), a plurality of tool holder mounting seats (82) and a first driver (83) for driving the rotary cutter head (81) to rotate, the plurality of tool holder mounting seats (82) being disposed on the rotary cutter head (81), the tool holder mounting seats (82) being used to store tool holders (10).
8. The composite robot for automatic tool changing and automatic loading and unloading of a machine tool according to claim 7, wherein The tool holder mounting base (82) includes a tool holder support ring (821) and a tool holder limiting rod (822); the rotary cutter head (81) has mounting through holes in the same number as the tool holder mounting base (82); the tool holder support ring (821) is mounted above the rotary cutter head (81) and located at the mounting through holes; the tool holder support ring (821) has a support surface (823); the tool holder limiting rod (822) is located below the rotary cutter head (81) and located at the mounting through holes; The tool holder (10) is inserted into the tool holder support ring (821), and the support surface (823) abuts against the end face of the flange (101) of the tool holder (10); the tool holder limiting rod (822) is engaged in the drive keyway (104) of the tool holder (10).
9. The composite robot for automatic tool changing and automatic loading and unloading of a machine tool according to claim 1, wherein It also includes a lifting pallet component (9) mounted on the AGV (1), the lifting pallet component (9) including a pallet support (91) for supporting the pallet (20) and a second driver (92) for driving the pallet support (91) to move vertically.
10. A composite robot for automatic tool changing and automatic loading / unloading of machine tools according to claim 9, characterized in that, The lifting pallet component (9) also includes a second guide component for guiding the pallet support (91).