CN107297640A - A kind of robot automatic tool changer tool magazine - Google Patents

A kind of robot automatic tool changer tool magazine Download PDF

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Publication number
CN107297640A
CN107297640A CN201710612700.XA CN201710612700A CN107297640A CN 107297640 A CN107297640 A CN 107297640A CN 201710612700 A CN201710612700 A CN 201710612700A CN 107297640 A CN107297640 A CN 107297640A
Authority
CN
China
Prior art keywords
robot
handle
cutter
supporting plate
tool magazine
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN201710612700.XA
Other languages
Chinese (zh)
Inventor
李军旗
刘庆
聂炎
赖勇斐
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Yuanmeng Precision Technology Shenzhen Institute
Original Assignee
Yuanmeng Precision Technology Shenzhen Institute
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Yuanmeng Precision Technology Shenzhen Institute filed Critical Yuanmeng Precision Technology Shenzhen Institute
Priority to CN201710612700.XA priority Critical patent/CN107297640A/en
Publication of CN107297640A publication Critical patent/CN107297640A/en
Priority to PCT/CN2018/074446 priority patent/WO2019019587A1/en
Pending legal-status Critical Current

Links

Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23QDETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q3/00Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine
    • B23Q3/155Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling
    • B23Q3/1552Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling parts of devices for automatically inserting or removing tools
    • B23Q3/15526Storage devices; Drive mechanisms therefor
    • B23Q3/15536Non-rotary fixed racks
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23QDETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q3/00Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine
    • B23Q3/155Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling
    • B23Q3/15513Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling the tool being taken from a storage device and transferred to a tool holder by means of transfer devices
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23QDETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q11/00Accessories fitted to machine tools for keeping tools or parts of the machine in good working condition or for cooling work; Safety devices specially combined with or arranged in, or specially adapted for use in connection with, machine tools
    • B23Q11/08Protective coverings for parts of machine tools; Splash guards
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23QDETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q13/00Equipment for use with tools or cutters when not in operation, e.g. protectors for storage

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Automatic Tool Replacement In Machine Tools (AREA)

Abstract

The invention belongs to robotic technology field, there is provided a kind of robot automatic tool changer tool magazine, for storing cutter and robot tool changing, including tool magazine support, the top of tool magazine support is provided with supporting plate, and one side of supporting plate is provided with the handle of a knife folder for being used to clamp cutter, and handle of a knife folder is fixedly connected with supporting plate, the bare terminal end of handle of a knife folder stretches out supporting plate, and the edge on one side that supporting plate is pressed from both sides provided with handle of a knife is just to being provided with photoelectric sensor at cutter.Because the edge on the one side of supporting plate provided with handle of a knife folder is just to being provided with photoelectric sensor at cutter, after robot motion is to tool change position, photoelectric sensor can detect whether handle of a knife folder is clamped with cutter, and testing result is sent to robot, so as to point out robot to carry out tool changing, it is ensured that robot exchanging knives process safety.

Description

A kind of robot automatic tool changer tool magazine
Technical field
It is to be related to a kind of robot automatic tool changer tool magazine more specifically the invention belongs to robotic technology field.
Background technology
It is gradually ripe with robot technology, especially Industrial Robot Technology, increasing industrial robot by Gradually substitution is manually processed to part, realizes the automation processing of part.According to the complexity of part, needed for part processing Number of cutters be also not quite similar, a fairly large number of cutter is used sometimes, and can not expire by the way of artificial tool changing The demand of sufficient part processing, therefore tool magazine system is just into very important device in industrial robot part process.Knife Storehouse system is that storage knife and a kind of device of tool changing demand are solved in the automation process of workpiece, in industrial robot processing During, tool magazine system coordinates its automatic tool changer to cooperate, and can complete a variety of process requirements, significantly shorten Leading time, reduce production cost.
Existing tool magazine system, although robot automatic tool changer can be realized, but can not be to tool changing in exchanging knives process The cutter situation of position is identified, so as to can not ensure the safety of exchanging knives process.
The above is not enough, has much room for improvement.
The content of the invention
It is an object of the invention to provide a kind of robot automatic tool changer tool magazine, to solve machine present in prior art The technical problem of exchanging knives process safety can not be ensured in device people's exchanging knives process.
To achieve the above object, the technical solution adopted by the present invention is:A kind of robot automatic tool changer tool magazine is provided, used In storage cutter and robot tool changing, including tool magazine support, the top of the tool magazine support is provided with supporting plate, the supporting plate While provided with the handle of a knife folder for being used to clamp cutter, the handle of a knife folder is fixedly connected with the supporting plate, the clamping of the handle of a knife folder The supporting plate is stretched out at end, and the edge on one side that the supporting plate is pressed from both sides provided with the handle of a knife is just to being provided with photoelectric transfer at the cutter Sensor.Further, the photoelectric sensor located at the lower Founder of handle of a knife folder to the cutter at.
Further, the photoelectric sensor is provided with photophore and light receiving device, and the photophore and the light receiving device are just right The cutter.
Further, the quantity of the handle of a knife folder is multiple and interval setting, described in each handle of a knife folder clamping one Cutter, the edge on one side that the supporting plate is pressed from both sides provided with the handle of a knife at each cutter just to being equipped with the photoelectricity Sensor.
Further, the cutter includes handle of a knife and blade, and the blade is connected to the bottom of the handle of a knife, the handle of a knife The folder clamping handle of a knife.
Further, the supporting plate is quadrate support plate, and the tool magazine support includes four supports being parallel to each other, four The upper end of the individual support is fixedly connected with four angles of the supporting plate.
Further, it is connected with connecting rod between the two neighboring support.
Further, the lower section of the support is provided with base block, and the base block is fixedly connected with the lower end of the support.
Further, it is additionally provided with above the supporting plate below tool magazine lid, the supporting plate and is provided with cylinder, the tool magazine lid Connected with the cylinder by pull rod device.
Further, the quantity of the cylinder is two, and the quantity of the pull rod device is two, two cylinders point Two ends that She Yu be below the supporting plate, each cylinder connects a pull rod device, two pull bars respectively Device connects the two ends of the tool magazine lid respectively.
A kind of robot that the present invention is provided is with the beneficial effect of automatic tool changer tool magazine:Due to being provided with knife in supporting plate The edge on one side of spindle clamp is just to being provided with photoelectric sensor, after robot motion is to tool change position, photoelectric sensor at cutter It can detect whether handle of a knife folder is clamped with cutter, and testing result is sent to robot, so as to point out robot to carry out Tool changing, it is ensured that robot exchanging knives process safety.
Brief description of the drawings
Technical scheme in order to illustrate the embodiments of the present invention more clearly, below will be to embodiment or description of the prior art In required for the accompanying drawing that uses be briefly described, it should be apparent that, drawings in the following description are only some of the present invention Embodiment, for those of ordinary skill in the art, on the premise of not paying creative work, can also be attached according to these Figure obtains other accompanying drawings.
Fig. 1 is structural representation Fig. 1 of robot automatic tool changer tool magazine provided in an embodiment of the present invention;
Fig. 2 is the structural representation that handle of a knife provided in an embodiment of the present invention is pressed from both sides;
Fig. 3 is structural representation Fig. 2 of robot automatic tool changer tool magazine provided in an embodiment of the present invention.
Wherein, each reference in figure:
1- tool magazine supports;11- supports;12- connecting rods;13- base blocks;
2- supporting plates;3- handle of a knifes are pressed from both sides;31- fixing ends;32- bare terminal ends;
4- cutters;41- handle of a knifes;42- blades;
5- photoelectric sensors;6- tool magazine lids;7- pull rod device;8- cylinders.
Embodiment
In order that technical problems, technical solutions and advantages to be solved are more clearly understood, tie below Drawings and Examples are closed, the present invention will be described in further detail.It should be appreciated that specific embodiment described herein is only used To explain the present invention, it is not intended to limit the present invention.
It should be noted that when element is referred to as " being arranged at " another element, it can be directly on another element Or be connected on another element.When an element is known as " being connected to " another element, it can directly be connected It is connected to another element or is indirectly connected on another element.In addition, term " first ", " second " are only used for describing mesh , and it is not intended that indicating or implying relative importance or the implicit quantity for indicating indicated technical characteristic.Thus, limit Surely there is " first ", one or more this feature can be expressed or be implicitly included to the feature of " second ".The present invention's In description, " multiple " are meant that two or more, unless otherwise specifically defined.
Refer to Fig. 1 and Fig. 2, a kind of robot automatic tool changer tool magazine, for storing cutter and robot tool changing, including Tool magazine support 1, the top of tool magazine support 1 is provided with supporting plate 2, and one side of supporting plate 2 is provided with the handle of a knife folder 3 for being used to clamp cutter 4, Handle of a knife folder 3 is fixedly connected with supporting plate 2, and the bare terminal end 32 of handle of a knife folder 3 stretches out supporting plate 2, and supporting plate 2 presss from both sides the one of 3 provided with handle of a knife The edge on side is the first edge, and the first edge is just to being provided with photoelectric sensor 5 at cutter 4.In the present embodiment, handle of a knife presss from both sides 3 Fixing end 31 is bolted to connection with supporting plate 2.
The robot that the present embodiment is provided is as follows with the operation principle of automatic tool changer tool magazine:When robot needs tool changing, Robot motion is to tool change position, and whether the detection handle of a knife of photoelectric sensor 5 folder 3 is clamped with cutter 4, when handle of a knife folder 3 is clamped with knife When having 4, testing result is sent to robot by photoelectric sensor 5, and robot, which recognizes this tool change position, cutter 4, it is impossible to enter Row tool changing;When handle of a knife folder 3 does not clamp cutter 4, testing result is sent to robot by photoelectric sensor 5, and robot is recognized This tool change position does not have cutter 4, can carry out tool changing, so as to proceed tool changing action.
The beneficial effect so set is:Due to, just to being provided with photoelectric sensor 5 at cutter 4, working as machine at the first edge When device people moves to tool change position, photoelectric sensor 5 can detect whether handle of a knife folder 3 is clamped with cutter 4, and testing result is sent out Robot is given, so as to point out robot to carry out tool changing, it is ensured that robot exchanging knives process safety.
Further, photoelectric sensor 5 located at handle of a knife press from both sides 3 time it is upright to cutter 4 at.Photoelectric sensor 5 is provided with photophore And light receiving device, photophore and light receiving device are just to cutter 4.In the present embodiment, the adjacent side in the edge of supporting plate 2 first is offered Accommodating hole, photoelectric sensor 5 is located in accommodating hole and photoelectric sensor 5 one provided with photophore and light receiving device is proper to cutter 4, The type of photoelectric sensor 5 is diffusing reflection formula cylindrical light electric transducer.When handle of a knife folder 3 is not clamped with cutter 4, photophore hair The light gone out can not be reflected, therefore light receiving device can not receive the light that photophore is sent, and photoelectric sensor sends the first signal, table Show that handle of a knife folder 3 is not clamped with cutter 4;When handle of a knife folder 3 is clamped with cutter 4, the light that photophore is sent can be reflected by cutter 4, Reflected light is received by light receiving device, and now photoelectric sensor sends secondary signal, represents that handle of a knife folder 3 is clamped with cutter 4.With it is other Photoelectric sensor is different, and the diffusing reflection formula cylindrical light electric transducer that the present embodiment is used need not set reflective on cutter 4 Face, but realize that light receiving device receives light using diffusing reflection, thus structure is simpler, installs also more flexible.
Further, handle of a knife folder 3 quantity be it is multiple be and be arranged at intervals, and handle of a knife folder 3 quantity can be according to reality Need to be configured, each handle of a knife folder 3 clamps a cutter 4, and the first edge at each cutter 4 just to being equipped with a photoelectric transfer Sensor 5.In the present embodiment, the quantity of handle of a knife folder 3 is 4, and each handle of a knife folder 3 is clamped with a cutter 4, each handle of a knife folder 3 Side be carved with cutter spacing numbering, be easy to that cutter 4 is numbered.
Cutter 4 includes handle of a knife 41 and blade 42, and blade 42 is connected to the bottom of handle of a knife 41, and handle of a knife folder 3 clamps handle of a knife 41.Knife The type of tool 4 can be selected according to actual needs.
Further, supporting plate 2 is rectangular supporting board, and tool magazine support 1 includes four supports 11 being parallel to each other, four branch The upper end of frame 11 is fixedly connected with four angles of supporting plate 2.The company vertical with support 11 is connected between two neighboring support 11 Extension bar 12, four one rectangles of formation of connecting rod 12 so that tool magazine support 1 is more stablized, it is not easy to damage.In one embodiment In, connecting rod 12 is respectively connected between any two support 11, can further increase the stability of tool magazine support 1.
The lower section of support 11 is provided with base block 13, and base block 13 is fixedly connected with the lower end of support 11.In the present embodiment, The lower section of each support 11 is designed with a base block 13, and four base blocks 13 are fixedly connected with the ground, the area of base block 13 Area than the lower end of support 11 is big, so that the weight of automatic tool changer tool magazine can further be dispersed in four base blocks 13 On, reduce pressure of the automatic tool changer tool magazine to ground.In one embodiment, the lower section of four supports 11 is provided with a pedestal The support of block 13, i.e., four 11 is fixedly connected with a base block 13, and the area of base block 13 is surrounded not less than four supports 11 Rectangle area.
Fig. 1 and Fig. 3 are referred to, further, the top of supporting plate 2 is additionally provided with tool magazine lid 6, and the lower section of supporting plate 2 is provided with cylinder 8, tool magazine lid 6 and cylinder 8 are connected by pull rod device 7.The quantity of cylinder 8 is two, and the quantity of pull rod device 7 is two, two Individual cylinder 8 is respectively arranged on the two ends of the lower section of supporting plate 2, and each cylinder 8 connects a pull rod device 7, two pull rod device 7 respectively The two ends of the same side of tool magazine lid 6 are connected respectively.In the present embodiment, two of supporting plate 2 relative to second edge at the first edge End is provided with through hole, and pull rod device 7 is through through hole by located at the tool magazine lid 6 and the cylinder located at the lower section of supporting plate 2 of the top of supporting plate 2 8 connect, and cylinder 8 drives tool magazine lid 6 to open or close by pull rod device 7.Lid is located at cutter 4 when tool magazine lid 6 is closed Top, so as to play a part of protecting cutter 4 when not in use in cutter 4, while also causing the robot that the present embodiment is provided to use Automatic tool changer tool magazine is more attractive in appearance;When robot needs tool changing, tool magazine lid 6 is opened, for robot tool changing.
The robot that the present embodiment is provided is as follows with the course of work of automatic tool changer tool magazine:When robot does not need tool changing When, tool magazine lid 6 covers the top for being located at cutter 4, plays a part of protecting cutter 4;When robot needs tool changing, operating personnel adjust The program finished in advance with robot so that robot is sending instruction, gas close to before robot automatic tool changer tool magazine to cylinder 8 Cylinder 8 opens tool magazine lid 6 by pull rod device 7;When robot motion is to tool change position, the detection of photoelectric sensor 5 relevant position Handle of a knife folder 3 whether clamp cutter 4, when the handle of a knife folder 3 that photoelectric sensor 5 detects relevant position does not clamp cutter 4, photoelectricity Sensor 5 sends the first signal to robot, represents that handle of a knife folder 3 is not clamped with cutter 4, robot sends a signal to robot folder Hold the main shaft of cutter 4 so that main shaft carries out the action of loose knife, and the cutter 4 for needing to change is placed on handle of a knife folder 3;Work as light When the handle of a knife folder 3 that electric transducer 5 detects relevant position is clamped with cutter 4, photoelectric sensor 5 sends the second letter to robot Number, represent that handle of a knife folder 3 is clamped with cutter 4, robot is received after secondary signal, continues to move to next tool change position, is repeated Said process, does not clamp the handle of a knife folder 3 of cutter 4 until finding, robot sends a signal to the main shaft of robotic gripper cutter, makes The action that main shaft carries out loose knife is obtained, and the cutter 4 for needing to change is placed into handle of a knife and is pressed from both sides on 3;Then robot continues to move to The position of cutter 4 to be mounted is needed, the cutter 4 needed is installed, robot sends a signal to main shaft so that main shaft carries out tight knife Action;Subsequent robot leaves robot automatic tool changer tool magazine, and sends instruction to cylinder 8, and cylinder 8 passes through pull rod device 7 Tool magazine lid 6 is closed, so as to complete robot automatic tool changer process.
The present embodiment provide robot with automatic tool changer tool magazine due to the first edge just at cutter 4 be provided with photoelectric transfer Sensor 5, when robot motion is to tool change position, photoelectric sensor 5 can detect whether handle of a knife folder 3 is clamped with cutter 4, and will Can testing result be sent to robot, so as to point out robot carry out tool changing, it is ensured that robot exchanging knives process safety;Exist simultaneously The top of cutter 4 is covered with tool magazine lid 6, and cylinder 8 opens or closes tool magazine lid 6 by pull rod device 7, on the one hand can protect Cutter 4, on the other hand also make it that robot is more attractive in appearance with automatic tool changer tool magazine.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all essences in the present invention Any modifications, equivalent substitutions and improvements made within refreshing and principle etc., should be included in the scope of the protection.

Claims (10)

1. a kind of robot automatic tool changer tool magazine, for storing cutter and robot tool changing, it is characterised in that:Including tool magazine branch Frame, the top of the tool magazine support is provided with supporting plate, and one side of the supporting plate is provided with the handle of a knife folder for being used to clamp cutter, described Handle of a knife folder is fixedly connected with the supporting plate, and the bare terminal end of the handle of a knife folder stretches out the supporting plate, and the supporting plate is provided with institute The edge on one side of handle of a knife folder is stated just to being provided with photoelectric sensor at the cutter.
2. robot as claimed in claim 1 automatic tool changer tool magazine, it is characterised in that:The photoelectric sensor is located at described The lower Founder of handle of a knife folder to the cutter at.
3. robot as claimed in claim 1 automatic tool changer tool magazine, it is characterised in that:The photoelectric sensor is provided with luminous Device and light receiving device, the photophore and the light receiving device are just to the cutter.
4. robot as claimed in claim 1 automatic tool changer tool magazine, it is characterised in that:The quantity of the handle of a knife folder is multiple And be arranged at intervals, each handle of a knife folder one cutter of clamping, the side on one side that the supporting plate is pressed from both sides provided with the handle of a knife Along just to being equipped with a photoelectric sensor at each cutter.
5. robot as claimed in claim 1 automatic tool changer tool magazine, it is characterised in that:The cutter includes handle of a knife and knife Sword, the blade is connected to the bottom of the handle of a knife, the handle of a knife folder clamping handle of a knife.
6. robot as claimed in claim 1 automatic tool changer tool magazine, it is characterised in that:The supporting plate is quadrate support Plate, the tool magazine support includes four supports being parallel to each other, the upper end of four supports and four angles of the supporting plate It is fixedly connected.
7. robot as claimed in claim 6 automatic tool changer tool magazine, it is characterised in that:Connect between the two neighboring support It is connected to connecting rod.
8. robot as claimed in claim 6 automatic tool changer tool magazine, it is characterised in that:The lower section of the support is provided with pedestal Block, the base block is fixedly connected with the lower end of the support.
9. the automatic tool changer tool magazine of the robot as described in any one of claim 1 to 8, it is characterised in that:In the supporting plate Side is additionally provided with below tool magazine lid, the supporting plate and is provided with cylinder, and the tool magazine lid and the cylinder are connected by pull rod device.
10. robot as claimed in claim 9 automatic tool changer tool magazine, it is characterised in that:The quantity of the cylinder is two, The quantity of the pull rod device is two, and two cylinders are respectively arranged on the two ends below the supporting plate, each gas Cylinder connects a pull rod device respectively, and two pull rod device connect the two ends of the tool magazine lid respectively.
CN201710612700.XA 2017-07-25 2017-07-25 A kind of robot automatic tool changer tool magazine Pending CN107297640A (en)

Priority Applications (2)

Application Number Priority Date Filing Date Title
CN201710612700.XA CN107297640A (en) 2017-07-25 2017-07-25 A kind of robot automatic tool changer tool magazine
PCT/CN2018/074446 WO2019019587A1 (en) 2017-07-25 2018-01-29 Automatic tool-changing magazine for robot

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201710612700.XA CN107297640A (en) 2017-07-25 2017-07-25 A kind of robot automatic tool changer tool magazine

Publications (1)

Publication Number Publication Date
CN107297640A true CN107297640A (en) 2017-10-27

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CN201710612700.XA Pending CN107297640A (en) 2017-07-25 2017-07-25 A kind of robot automatic tool changer tool magazine

Country Status (2)

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CN (1) CN107297640A (en)
WO (1) WO2019019587A1 (en)

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WO2019019587A1 (en) * 2017-07-25 2019-01-31 深圳市圆梦精密技术研究院 Automatic tool-changing magazine for robot
CN114454215A (en) * 2022-03-01 2022-05-10 南通新蓝机器人科技有限公司 Quick change tool magazine of robot
CN114714124A (en) * 2021-01-05 2022-07-08 达详自动化股份有限公司 Intelligent tool changing system with double intelligent tool rests and tool changing method thereof
CN116493686A (en) * 2023-06-25 2023-07-28 宁波经纬数控股份有限公司 Cutting equipment with tool changing function

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WO2019019587A1 (en) * 2017-07-25 2019-01-31 深圳市圆梦精密技术研究院 Automatic tool-changing magazine for robot
CN114714124A (en) * 2021-01-05 2022-07-08 达详自动化股份有限公司 Intelligent tool changing system with double intelligent tool rests and tool changing method thereof
CN114454215A (en) * 2022-03-01 2022-05-10 南通新蓝机器人科技有限公司 Quick change tool magazine of robot
CN114454215B (en) * 2022-03-01 2022-11-18 南通新蓝机器人科技有限公司 Quick change tool magazine of robot
CN116493686A (en) * 2023-06-25 2023-07-28 宁波经纬数控股份有限公司 Cutting equipment with tool changing function
CN116493686B (en) * 2023-06-25 2023-09-19 宁波经纬数控股份有限公司 Cutting equipment with tool changing function

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Application publication date: 20171027