A robot milling system with automatic tool change function

Abstract

This utility model discloses a robotic milling system with automatic tool changing function, comprising: a robotic arm body, a support shaft rotatably connected to the free end of the robotic arm body, an extension seat fixedly connected to the joint of the robotic arm body near the support shaft, a drive motor fixedly connected to one end of the extension seat, and the output end of the drive motor fixedly connected to the support shaft; a quick-release assembly, which is assembled at one end of the support shaft; and a milling power box, with a quick-release plate fixedly connected to one side of the milling power box. The quick-release plate is used to cooperate with the quick-release assembly to form a convenient disassembly and positioning for the milling power box. This utility model relates to the field of milling system technology. Through the overall structural cooperation, this utility model can ensure the application stability of the milling power box while enabling the milling power box to be quickly assembled and disassembled, facilitating the replacement or maintenance of the milling power box and making the whole system more convenient.

Description

Technical Field

[0001] This utility model relates to the field of milling system technology, specifically a robotic milling system with automatic tool changing function. Background Technology

[0002] A car door frame is a metal or non-metal structural component on a car body used to support the car door. The main function of the door frame is to protect the interior space of the vehicle while providing a passage for passengers to enter and exit. Before being put into use, the door frame needs to be milled to eliminate excess weld height, thus ensuring its effective application.

[0003] A search revealed a robotic automatic milling system with automatic tool changing capabilities, disclosed in publication number CN 212793212 U. This system achieves automatic tool changing by cooperating with a tool-changing milling power head using a robot 1. However, when the tool-changing milling power head 2 is damaged, it is difficult to quickly separate from the robot 1, which greatly affects the efficiency of maintenance and the overall ease of use.

[0004] To address these issues, this invention provides a robotic milling system with automatic tool changing capability. Utility Model Content

[0005] To address the shortcomings of existing technologies, this invention provides a robotic milling system with automatic tool changing function, thus solving the aforementioned problems.

[0006] To achieve the above objectives, this utility model provides the following technical solution: a robotic milling system with automatic tool changing function, comprising:

[0007] The robotic arm body has a support shaft rotatably connected to its free end. An extension seat is fixedly connected to a joint of the robotic arm body near the support shaft. A drive motor is fixedly connected to one end of the extension seat, and the output end of the drive motor is fixedly connected to the support shaft.

[0008] A quick-installation assembly, which is mounted on one end of a support shaft;

[0009] A milling power box, wherein a quick-release plate is fixedly connected to one side of the milling power box, the quick-release plate is used to cooperate with the quick-release assembly to form a convenient disassembly and positioning of the milling power box, and a pneumatic clamp is provided at the output end of the milling power box, and a tool holder and a milling cutter sensor A are provided on the pneumatic clamp;

[0010] A tool repositioning assembly is used in conjunction with the robotic arm body and pneumatic gripper to achieve automatic tool changing.

[0011] Preferably, the quick-assembly assembly includes a support frame, a transmission cylinder, a transmission screw, a drive worm gear, a displacement disc, and limiting rods. One end of the support shaft is fixedly connected to the support frame, and one end of the support frame is fixedly connected to the transmission cylinder. The transmission screw is rotatably connected to the middle of the inner side of the transmission cylinder. The drive worm gear is fixedly connected to the transmission screw. The displacement disc is threadedly connected to the outer side of the transmission screw. Multiple limiting rods are fixedly connected to the outer side of the displacement disc. Each limiting rod has a positioning plate for positioning the quick-assembly disc slidably connected vertically to its outer side.

[0012] Preferably, the quick-assembly assembly further includes a guide plate, a guide slot, and a linkage rod. The outer side of the transmission cylinder is fixedly connected to a guide plate corresponding to the positioning plate. Each guide plate is inclinedly provided with a guide slot. The top of one end of the positioning plate is fixedly connected to a linkage rod, and the linkage rod is also movably connected inside the corresponding guide slot. The end of the transmission cylinder near the drive worm gear is rotatably connected to a transmission shaft. The end of the transmission shaft located inside the transmission cylinder is fixedly connected to a transmission worm, and the transmission worm is also meshed with the drive worm gear.

[0013] Preferably, the top of the milling power box is provided with a heat dissipation window, and a filter screen is fixedly connected to the heat dissipation window.

[0014] Preferably, a stabilizing bracket is fixedly connected to one end of the transmission cylinder, and the transmission screw is also rotatably connected to the middle of the stabilizing bracket.

[0015] Preferably, the outer side of the transmission cylinder is provided with a clearance groove corresponding to the limiting rod, and the limiting rod is located inside the corresponding clearance groove.

[0016] Preferably, the positioning plate is L-shaped, and the quick-release plate has a rectangular through hole corresponding to the positioning plate, and the height of the rectangular through hole is greater than the height of the positioning plate.

[0017] Preferably, a force-receiving knob is fixedly connected to the top end of the transmission shaft, and an internal hexagonal groove is provided in the middle of the force-receiving knob. Beneficial effects

[0018] This invention provides a robotic milling system with automatic tool changing function. Compared with the prior art, it has the following advantages:

[0019] This robotic milling system with automatic tool changer, through its overall structural design, ensures the stability of the milling power unit while enabling rapid assembly and disassembly of the power unit. This facilitates replacement or maintenance of the power unit, making the entire system more convenient. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the present invention;

[0021] Figure 2 This is a schematic diagram of the separation structure of the support shaft and quick-release assembly of this utility model;

[0022] Figure 3 This is a schematic diagram of the connection structure between the milling power box and the quick-release disc of this utility model;

[0023] Figure 4 This is a structural schematic diagram of the quick-assembly component of this utility model;

[0024] Figure 5 This is a schematic diagram of the separation structure of the guide groove and the linkage rod of this utility model;

[0025] Figure 6 This is a schematic diagram of the tool storage assembly of this utility model.

[0026] In the diagram: 1. Main body of the robotic arm; 2. Support shaft; 3. Extension seat; 4. Drive motor; 5. Quick-release assembly; 6. Milling power box; 7. Quick-release plate; 8. Tool holder; 9. Milling cutter sensor A; 10. Support frame; 11. Transmission cylinder; 12. Transmission screw; 13. Driving worm gear; 14. Displacement plate; 15. Limiting rod; 16. Positioning plate; 17. Guide plate; 18. Guide slot; 19. Linkage rod; 20. Drive shaft; 21. Transmission worm gear; 22. Support column; 23. Placement platform; 24. Tool placement position; 25. Tool removal position; 26. Rib plate; 27. Milling cutter sensor B. Detailed Implementation

[0027] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0028] Example 1:

[0029] Please see Figure 1-5 A robotic milling system with automatic tool changing function, comprising:

[0030] The robotic arm body 1 has a support shaft 2 rotatably connected to its free end. An extension seat 3 is fixedly connected to the joint of the robotic arm body 1 near the support shaft 2. A drive motor 4 is fixedly connected to one end of the extension seat 3, and the output end of the drive motor 4 is fixedly connected to the support shaft 2.

[0031] Quick-installation component 5 is assembled at one end of the support shaft 2;

[0032] The milling power box 6 has a quick-release plate 7 fixedly connected to one side. The quick-release plate 7 is used to cooperate with the quick-release assembly 5 to form a convenient disassembly and positioning of the milling power box 6. The output end of the milling power box 6 is provided with a pneumatic clamp, and the pneumatic clamp is provided with a tool holder 8 and a milling cutter sensor A9.

[0033] In detail, the top of the milling power box 6 is provided with a heat dissipation window, and a filter screen is fixedly connected to the heat dissipation window. By using the heat dissipation window, the heat generated during the operation of the milling power box 6 can be dissipated in a timely manner, avoiding overheating of the milling power box 6. In this embodiment, the milling power box 6 is used to provide power to the milling cutter, which is a mature existing technology and will not be described in detail here.

[0034] Tool retrieval assembly, which works in conjunction with the robotic arm body 1 and the pneumatic gripper to achieve automatic tool changing;

[0035] Please refer to Figure 6 In this embodiment, the tool placement assembly includes a support column 22, a placement platform 23, a tool placement position 24, a tool removal position 25, a rib plate 26, and a milling cutter sensor B27. The top of the support column 22 is fixedly connected to the placement platform 23, and the placement platform 23 is provided with the tool placement position 24 and the tool removal position 25. The two sides of the top of the support column 22 are fixedly connected to the rib plate 26, and the two rib plates 26 are each equipped with a milling cutter sensor B27. The two milling cutter sensors B27 correspond to the tool placement position 24 and the tool removal position 25, respectively. This is a mature prior art and will not be described in detail here.

[0036] Example 2:

[0037] Please see Figure 1-5 This embodiment provides a technical solution based on embodiment one: the quick-assembly assembly 5 includes a support frame 10, a transmission cylinder 11, a transmission screw 12, a drive worm gear 13, a displacement disk 14, and a limiting rod 15. One end of the support shaft 2 is fixedly connected to the support frame 10, and one end of the support frame 10 is fixedly connected to the transmission cylinder 11. The transmission screw 12 is rotatably connected to the middle of the inner side of the transmission cylinder 11. The drive worm gear 13 is fixedly connected to the transmission screw 12. The outer side of the transmission screw 12 is threadedly connected to the displacement disk 14. Multiple limiting rods 15 are fixedly connected to the outer side of the displacement disk 14. Each limiting rod 15 is vertically slidably connected to a positioning plate 16 for positioning the quick-assembly disk 7.

[0038] Furthermore, a stabilizing bracket is fixedly connected to one end inside the transmission cylinder 11, and the transmission screw 12 is also rotatably connected to the middle of the stabilizing bracket. By using the stabilizing bracket, the transmission screw 12 can be provided with auxiliary support to ensure the stability of the transmission screw 12 when it rotates.

[0039] The transmission cylinder 11 has an outer clearance groove corresponding to the limiting rod 15, and the limiting rod 15 is located inside the corresponding clearance groove. By using the clearance groove, the limiting rod 15 can pass through the transmission cylinder 11 and make a stable connection with the positioning plate 16.

[0040] In detail, the positioning plate 16 is L-shaped, and the quick-release plate 7 has a rectangular through hole corresponding to the positioning plate 16. The height of the rectangular through hole is greater than the height of the positioning plate 16. By utilizing the structural cooperation of the positioning plate 16, after the positioning plate 16 passes through the rectangular through hole and moves upward to contact the quick-release plate 7, the quick-release plate 7 can be positioned between the positioning plate 16 and the transmission cylinder 11. In this embodiment, the positioning plate 16 has anti-slip texture.

[0041] The quick-installation assembly 5 also includes a guide plate 17, a guide slot 18, and a linkage rod 19. The outer side of the transmission cylinder 11 is fixedly connected to a guide plate 17 corresponding to the positioning plate 16. Each guide plate 17 is inclinedly provided with a guide slot 18. The top of one end of the positioning plate 16 is fixedly connected to a linkage rod 19, and the linkage rod 19 is also movably connected inside the corresponding guide slot 18. The end of the transmission cylinder 11 near the drive worm wheel 13 is rotatably connected to a transmission shaft 20. The end of the transmission shaft 20 located inside the transmission cylinder 11 is fixedly connected to a transmission worm 21, and the transmission worm 21 is also meshed with the drive worm wheel 13.

[0042] Furthermore, a force-bearing knob is fixedly connected to the top of the transmission shaft 20, and an internal hexagonal groove is provided in the middle of the force-bearing knob. By using the force-bearing knob, the transmission shaft 20 can be rotated conveniently, ensuring the transmission efficiency of the transmission shaft 20.

[0043] Furthermore, any content not described in detail in this specification is existing technology known to those skilled in the art.

[0044] The working principle is as follows: the main body 1 of the robotic arm moves the milling power box 6 to the tool placement position 24 until the milling cutter sensor B27 corresponding to the tool placement position 24 senses the milling cutter sensor A9. Then the main body 1 of the robotic arm stops moving. Then the pneumatic clamp is released and the milling cutter sensor A9 is placed on the tool placement position 24. Then the main body 1 of the robotic arm adjusts the milling power box 6 to the tool removal position 25 and clamps the milling cutter sensor A9 at the tool removal position 25 with the pneumatic clamp. When the milling cutter sensor B27 at the tool removal position 25 detects that there is no milling cutter sensor A9, it means that the automatic tool change is completed.

[0045] When the milling power box 6 needs maintenance, first rotate the transmission shaft 20 to cause the transmission worm gear 21 to move the drive worm wheel 13, which in turn drives the transmission screw 12 to rotate. With the connection between the transmission screw 12 and the displacement plate 14, the displacement plate 14 can drive the limit rod 15 to move linearly. With the connection between the limit rod 15 and the positioning plate 16, the positioning plate 16 can be disengaged from the quick-release plate 7. Since the linkage rod 19 is also movably connected in the guide groove 18, when the positioning plate 16 is displaced, the adaptive movement of the linkage rod 19 in the guide groove 18 can drive the positioning plate 16 to move vertically under the limit of the limit rod 15, so that the positioning plate 16 no longer blocks the quick-release plate 7. Then pull the milling power box 6 to remove the quick-release plate 7 from the positioning plate 16.

[0046] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0047] Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A robotic milling system with automatic tool changing function, characterized in that: include: The robotic arm body (1) has a support shaft (2) rotatably connected to its free end. An extension seat (3) is fixedly connected to the joint of the robotic arm body (1) near the support shaft (2). A transmission motor (4) is fixedly connected to one end of the extension seat (3), and the output end of the transmission motor (4) is fixedly connected to the support shaft (2). Quick-install assembly (5), which is assembled at one end of the support shaft (2); A milling power box (6) is fixedly connected to one side of the milling power box (6). The quick-release plate (7) is used to cooperate with the quick-release assembly (5) to form a convenient disassembly and positioning of the milling power box (6). A pneumatic clamp is provided at the output end of the milling power box (6). A tool holder (8) and a milling cutter sensor A (9) are provided on the pneumatic clamp. A tool placement assembly is used to work with the robotic arm body (1) and a pneumatic clamp to achieve automatic tool changing.

2. The robotic milling system with automatic tool change function according to claim 1, characterized in that: The quick-release assembly (5) includes a support frame (10), a transmission cylinder (11), a transmission screw (12), a drive worm gear (13), a displacement disc (14), and a limiting rod (15). One end of the support shaft (2) is fixedly connected to the support frame (10), and one end of the support frame (10) is fixedly connected to the transmission cylinder (11). The transmission screw (12) is rotatably connected to the middle of the inner side of the transmission cylinder (11). The drive worm gear (13) is fixedly connected to the transmission screw (12). The displacement disc (14) is threadedly connected to the outer side of the transmission screw (12). Multiple limiting rods (15) are fixedly connected to the outer side of the displacement disc (14). Each limiting rod (15) is vertically slidably connected to a positioning plate (16) for positioning the quick-release disc (7).

3. The robotic milling system with automatic tool change function according to claim 2, characterized in that: The quick-assembly assembly (5) also includes a guide plate (17), a guide slot (18), and a linkage rod (19). The outer side of the transmission cylinder (11) is fixedly connected to a guide plate (17) corresponding to the positioning plate (16). Each guide plate (17) is inclinedly provided with a guide slot (18). The top of one end of the positioning plate (16) is fixedly connected to a linkage rod (19), and the linkage rod (19) is also movably connected inside the corresponding guide slot (18). The end of the transmission cylinder (11) near the drive worm wheel (13) is rotatably connected to a transmission shaft (20). The end of the transmission shaft (20) located inside the transmission cylinder (11) is fixedly connected to a transmission worm (21), and the transmission worm (21) is also meshed with the drive worm wheel (13).

4. The robotic milling system with automatic tool change function according to claim 1, characterized in that: The top of the milling power box (6) is provided with a heat dissipation window, and a filter screen is fixedly connected to the heat dissipation window.

5. The robotic milling system with automatic tool change function according to claim 2, characterized in that: One end of the transmission cylinder (11) is fixedly connected to a stabilization bracket, and the transmission screw (12) is also rotatably connected to the middle of the stabilization bracket.

6. A robotic milling system with automatic tool changing function according to claim 2, characterized in that: The transmission cylinder (11) has an avoidance groove on its outer side that corresponds to the limiting rod (15), and the limiting rod (15) is located inside the corresponding avoidance groove.

7. The robotic milling system with automatic tool change capability of claim 2, wherein: The positioning plate (16) is L-shaped, and the quick-release plate (7) has a rectangular through hole corresponding to the positioning plate (16), and the height of the rectangular through hole is greater than the height of the positioning plate (16).

8. The robotic milling system with automatic tool change capability of claim 3, wherein: The top end of the drive shaft (20) is fixedly connected to a force-bearing knob, and the force-bearing knob has an internal hexagonal groove in the middle.

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