CN110614523A - Robot tool magazine tool changing device for machine tool - Google Patents
Robot tool magazine tool changing device for machine tool Download PDFInfo
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- CN110614523A CN110614523A CN201910978850.1A CN201910978850A CN110614523A CN 110614523 A CN110614523 A CN 110614523A CN 201910978850 A CN201910978850 A CN 201910978850A CN 110614523 A CN110614523 A CN 110614523A
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- cutter
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- machine tool
- clamping plate
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- 238000003860 storage Methods 0.000 claims description 22
- 230000005611 electricity Effects 0.000 claims description 15
- 238000005520 cutting process Methods 0.000 claims description 6
- 238000000034 method Methods 0.000 claims description 5
- 230000006978 adaptation Effects 0.000 claims description 3
- 238000001514 detection method Methods 0.000 description 11
- 239000002699 waste material Substances 0.000 description 3
- 238000000151 deposition Methods 0.000 description 2
- 238000005242 forging Methods 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 230000004075 alteration Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000005266 casting Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000003825 pressing Methods 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 230000000087 stabilizing effect Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 230000003746 surface roughness Effects 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, 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
- B23Q3/00—Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine
- B23Q3/155—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling
- B23Q3/15513—Arrangements 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
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Automatic Tool Replacement In Machine Tools (AREA)
Abstract
The invention discloses a robot tool magazine tool changing device for a machine tool, which comprises a tool magazine wall, a robot tool changing mechanism, a machine tool and a tool car, wherein the tool magazine wall is positioned on the left side of the robot tool changing mechanism, the machine tool is positioned on the rear side of the robot tool changing mechanism, the tool magazine wall comprises a box body, an inner cavity of the box body is fixedly connected with a transverse plate, the top of the transverse plate is provided with a clamping plate, a tool is clamped at the top of the clamping plate, the robot tool changing mechanism comprises a base, the top of the base is fixedly connected with a first rotating arm, the rear side of the first rotating arm is movably connected with a supporting arm, and the top of the supporting arm is movably connected with a second rotating arm. The automatic tool changing device has the advantages of automatically changing tools for a machine tool and arranging and storing the changed tools, and solves the problems that manual tool changing is time-consuming and labor-consuming, the working efficiency is low, the situation that the tools are misplaced easily occurs, and products are scrapped seriously.
Description
Technical Field
The invention relates to the technical field of machine tool magazine storage devices, in particular to a robot tool magazine tool changing device for a machine tool.
Background
Machine tools are machines for manufacturing machines, also called machine tools or machine tools, and are conventionally called machine tools for short, and are generally divided into metal cutting machine tools, forging machine tools, woodworking machine tools and the like, and many methods for processing machine parts in modern machine manufacturing are provided: in addition to cutting, casting, forging, welding, pressing, extruding, etc., however, in general, a part requiring high precision and fine surface roughness is finished by cutting on a machine tool.
The lathe tool changing in-process is mostly carried out through the manual work, pull down the cutter on the lathe earlier, take out the preliminary election cutter from the tool magazine, install the preliminary election cutter on the lathe, need arrange the cutter many times, with orderly the depositing in the tool magazine of cutter, waste time and energy, work efficiency is low, still appears the cutter and puts the wrong condition easily, causes scrapping of product when serious.
Disclosure of Invention
The invention aims to provide a robot tool magazine tool changing device for a machine tool, which has the advantages of automatically changing the tool of the machine tool and arranging and storing the changed tools, and solves the problems that manual tool changing is time-consuming and labor-consuming, the working efficiency is low, the situation of wrong tools is easy to occur, and products are scrapped when the situation is serious.
In order to achieve the purpose, the invention provides the following technical scheme: a robot tool changer for a machine tool comprises a tool changer wall, a robot tool changing mechanism, a machine tool and a tool car, the tool magazine wall is positioned at the left side of the robot tool changing mechanism, the machine tool is positioned at the rear side of the robot tool changing mechanism, the tool magazine wall comprises a box body, a transverse plate is fixedly connected with the inner cavity of the box body, a clamping plate is arranged at the top of the transverse plate, the top of the clamping plate clamps a cutter, the robot cutter changing mechanism comprises a base, the top of the base is fixedly connected with a first rotating arm, the back side of the first rotating arm is movably connected with a supporting arm, the top of the supporting arm is movably connected with a second rotating arm, the left side of second swinging boom is provided with holds the handle of a knife, the lathe includes the lathe stand, the left bottom fixedly connected with cutter backup pad of lathe stand, the equal fixedly connected with card cutting board of front side and the rear side at cutter backup pad top.
Preferably, the inner wall fixedly connected with detection switch of box, detection switch and grip block looks adaptation, the inner wall fixedly connected with cutter chip recognizer of box, the output electricity of cutter chip recognizer is connected with the treater, the two-way electricity of treater is connected with the cutter and differentiates the switch, the cutter differentiates switch fixed mounting on the surface of holding the handle of a knife, the two-way electricity of treater is connected with cutter information storage module, the output of treater is connected with the input electricity of robot tool changing mechanism, the output of detection switch is connected with the input electricity of treater.
Preferably, the number of the transverse plates is five, the transverse plates are vertically arranged in the inner cavity of the box body at equal intervals, the number of the clamping plates is a plurality, and the clamping plates are transversely arranged at the tops of the transverse plates at equal intervals.
Preferably, the name cards are fixedly connected to the two sides of the top of the front face of the box body, and the stabilizing seats are fixedly connected to the two sides of the bottom of the box body.
Preferably, the cutter trolley comprises a tray, guide pins are fixedly connected to four corners of the bottom of the tray, a positioning plate is fixedly connected to the left side of the tray, a cutter placing frame is fixedly connected to the top of the tray, and the surface of the cutter placing frame is clamped with a cutter.
A method for using a robot tool magazine tool changing device for a machine tool comprises the following steps:
a: an operator in a workshop places a tool on a tool placing frame, and an AGV trolley moves a tool car to an appointed position;
b: an instruction is sent to a processor through operating a key, the processor controls the robot tool changing mechanism to operate, the robot tool changing mechanism moves through a first rotating arm and a second rotating arm to adjust the position of a tool holding handle, the robot tool changing mechanism holds tools on a tool car through the tool holding handle and transfers the tools one by one;
c: when the cutter is transferred to one side of the box body, the cutter chip identifier reads the cutter information and sends the cutter information to the processor, the cutter information storage module records the cutter information, the processor controls the cutter to move to a specified storage position through the storage information of the cutter in the cutter information storage module, the cutter distinguishing switch detects whether the cutter exists on the clamping plate and feeds back the information to the processor, and the cutter does not exist on the clamping plate and is placed on the clamping plate;
d: when a tool on a machine tool is replaced, the operation of a robot tool changing mechanism is controlled by the processor, a preselected tool is taken out from the inner cavity of the box body, the tool is identified and calibrated by the tool chip identifier, and the tool is placed on the front side tool clamping plate after the calibration structure is matched with the record of the machine tool system;
e: the automatic door of the machine tool protection room is opened firstly, the spindle moves in the Y direction, a cutter on the existing machine tool is placed on the rear side cutter clamping plate, then the spindle of the machine tool holds the cutter on the front side cutter clamping plate, finally the robot cutter changing mechanism grabs the cutter on the rear side cutter clamping plate and puts the cutter back on the clamping plate, and cutter changing is finished.
Compared with the prior art, the invention has the following beneficial effects:
1. according to the invention, through cooperation of the tool magazine wall, the robot tool changing mechanism, the machine tool, the tool car, the box body, the transverse plate, the clamping plate, the tool, the base, the first rotating arm, the supporting arm, the second rotating arm, the handle of the hand tool, the machine tool upright post, the tool supporting plate, the tool clamping plate, the detection switch, the tool chip identifier, the processor, the tool identification switch, the tool information storage module and the tray, the tool magazine has the advantages of automatically changing the tool of the machine tool and storing the changed tools in an arranging manner, and the problems that manual tool changing is time-consuming and labor-consuming, the working efficiency is low, the situation of wrong tools is easy to occur, and products are scrapped when.
2. According to the invention, the cutter trolley is arranged, so that the cutters can be conveniently transported, the cutter storage efficiency is improved, the cutters can be clamped by arranging the clamping plate, the cutters can be held by arranging the handle of the cutter to convey the cutters, the cutters can be supported by arranging the cutter supporting plate and the cutter clamping plate, the number of the cutter clamping plates is two, two cutters can be placed at the same time, and the cutter changing efficiency can be greatly improved.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic view of a cutter cart according to the present invention;
FIG. 3 is a schematic right-view of the structure of the present invention;
FIG. 4 is a schematic view of the machine tool of the present invention;
FIG. 5 is a schematic top view of the structure of the present invention;
FIG. 6 is a perspective view of a cutter truck of the present invention;
fig. 7 is a schematic diagram of the system of the present invention.
In the figure: the tool changer comprises a tool magazine wall 1, a robot tool changing mechanism 2, a machine tool 3, a tool cart 4, a box 5, a tool supporting plate 6, a transverse plate 7, a clamping plate 8, a tool 9, a base 10, a first rotating arm 11, a supporting arm 12, a second rotating arm 13, a tool holder 14, a machine tool upright post 15, a tool placing rack 16, a tool clamping plate 17, a detection switch 18, a tool chip identifier 19, a processor 20, a tool discrimination switch 21, a tool information storage module 22, a tray 23, a guide pin 24 and a positioning plate 25.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the description of the present invention, it should be noted that the terms "upper", "lower", "inner", "outer", "front", "rear", "both ends", "one end", "the other end", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of describing the present invention and simplifying the description, but do not indicate or imply that the referred device or element must have a specific orientation, be configured in a specific orientation, and operate, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "disposed," "connected," and the like are to be construed broadly, such as "connected," which may be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
The tool magazine wall 1, the robot tool changing mechanism 2, the machine tool 3, the tool car 4, the box body 5, the transverse plate 7, the clamping plate 8, the tool 9, the base 10, the first rotating arm 11, the supporting arm 12, the second rotating arm 13, the tool holder 14, the machine tool upright column 15, the tool supporting plate 6, the tool clamping plate 17, the detection switch 18, the tool chip recognizer 19, the processor 20, the tool distinguishing switch 21, the tool information storage module 22, the tray 23, the guide pin 24, the positioning plate 25 and the tool placing frame 16 are all universal standard parts or parts known by technicians in the field, and the structure and the principle of the tool magazine wall are known by technicians in the field or by conventional experimental methods.
Referring to fig. 1-7, a robot tool magazine tool changer for a machine tool comprises a tool magazine wall 1, a robot tool changer 2, a machine tool 3 and a tool cart 4, wherein the tool magazine wall 1 is located on the left side of the robot tool changer 2, the machine tool 3 is located on the rear side of the robot tool changer 2, the tool magazine wall 1 comprises a box 5, an inner cavity of the box 5 is fixedly connected with a transverse plate 7, a clamping plate 8 is arranged on the top of the transverse plate 7, a tool 9 is clamped on the top of the clamping plate 8, the clamping plate 8 comprises a U-shaped clamping plate, a clamping piece is fixedly connected on the right side of the U-shaped clamping plate through a screw, the tool 9 is clamped inside the U-shaped clamping plate, the front side and the rear side of the tool 9 are clamped through the clamping piece, the tool 9 can be clamped through the clamping plate 8, the robot tool changer 2 comprises a base 10, a first rotating arm 11 is fixedly connected on the top of the base 10, a, the top of the supporting arm 12 is movably connected with a second rotating arm 13, a holding handle 14 is arranged on the left side of the second rotating arm 13, the tool 9 can be held to convey the tool 9 by arranging the holding handle 14, the machine tool 3 comprises a machine tool upright 15, a tool supporting plate 6 is fixedly connected to the bottom of the left side of the machine tool upright 15, tool clamping plates 17 are fixedly connected to the front side and the rear side of the top of the tool supporting plate 6, the tool 9 can be supported by arranging the tool supporting plate 6 and the tool clamping plates 17, the two tool clamping plates 17 can be arranged simultaneously, the tool changing efficiency can be greatly improved, and the tool changing mechanism 2, the machine tool 3, the tool car 4, the box 5, the transverse plate 7, the clamping plate 8, the tool 9, the base 10, the first rotating arm 11, the supporting arm 12, the second rotating arm 13, the holding handle 14, the machine tool upright 15, the tool supporting plate 6, the, Card cutting board 17, detection switch 18, cutter chip recognizer 19, treater 20, cutter differentiate switch 21, cutter information storage module 22 and tray 23 and cooperate, possess and can carry out the tool changing to the lathe automatically, arrange the advantage of depositing to the cutter that trades down, it wastes time and energy to have solved artifical tool changing, and work efficiency is low, still appears the cutter and puts the wrong condition easily, causes the condemned problem of product when serious.
Inner wall fixedly connected with detection switch 18 of box 5, detection switch 18 and 8 looks adaptations of grip block, the inner wall fixedly connected with cutter chip recognizer 19 of box 5, the output electricity of cutter chip recognizer 19 is connected with treater 20, the two-way electricity of treater 20 is connected with cutter and differentiates switch 21, cutter differentiates switch 21 fixed mounting and is holding the surface of handle of a knife 14, the two-way electricity of treater 20 is connected with cutter information storage module 22, the output of treater 20 is connected with robot tool changing mechanism 2's input electricity, the output of detection switch 18 is connected with the input electricity of treater 20, treater 20 is the control computer.
The number of the transverse plates 7 is five, the transverse plates 7 are vertically arranged in the inner cavity of the box body 5 at equal intervals, the number of the clamping plates 8 is several, and the clamping plates 8 are transversely arranged at the top of the transverse plates 7 at equal intervals.
The equal fixedly connected with name card in both sides at the positive top of box 5, the equal fixedly connected with of both sides at box 5 bottom stabilizes the seat.
The cutter trolley 4 comprises a tray 23, guide pins 24 are fixedly connected to four corners of the bottom of the tray 23, a positioning plate 25 is fixedly connected to the left side of the tray 23, a cutter placing frame 16 is fixedly connected to the top of the tray 23, and the surface of the cutter placing frame 16 is connected with a cutter 9 in a clamping mode.
A method for using a robot tool magazine tool changing device for a machine tool comprises the following steps:
a: an operator in a workshop places the tool 9 on the tool placing rack 16, and the AGV trolley moves the tool car 4 to an appointed position;
b: an instruction is sent to the processor 20 through operating keys, the processor 20 controls the robot tool changing mechanism 2 to operate, the robot tool changing mechanism 2 moves through the first rotating arm 11 and the second rotating arm 13 to adjust the position of the handle of the tool holder 14, the robot tool changing mechanism 2 holds the tools 9 on the tool cart 4 through the handle of the tool holder 14, and the tools 9 are transferred one by one;
c: when the cutter 9 is transferred to one side of the box body 5, after the information of the cutter 9 is read through the cutter chip identifier 19, the information of the cutter 9 is identified and sent to the processor 20, the cutter information storage module 22 records the information of the cutter 9, the processor 20 controls the cutter 9 to move to a specified storage position through the storage information of the cutter 9 in the cutter information storage module 22, the cutter identification switch 21 detects whether the cutter (9) exists on the clamping plate 8 and feeds the information back to the processor (20), the cutter (9) does not exist on the clamping plate (8), and the cutter (9) is placed on the clamping plate (8);
d: when a tool 9 on a machine tool is replaced, the processor 20 controls the robot tool changing mechanism 2 to operate, the preselection tool 9 is taken out from the inner cavity of the box body 5, the tool 9 is identified and calibrated through the tool chip identifier 19, and the tool 9 is placed on the front side tool clamping plate 17 after the calibration structure is matched with the record of the machine tool system;
e: the automatic door of the machine tool protection room is opened firstly, the spindle moves in the Y direction, a cutter 9 on the existing machine tool is placed on the rear-side cutter clamping plate 17, then the spindle of the machine tool holds the cutter 9 on the front-side cutter clamping plate 17, finally the robot cutter changing mechanism 2 grabs the cutter 9 on the rear-side cutter clamping plate 17 and puts the cutter back on the clamping plate 8, and cutter changing is finished.
In summary, the following steps: this robot tool magazine toolchanger that lathe was used, through tool magazine wall 1, robot tool changing mechanism 2, lathe 3, cutter car 4, the box 5, diaphragm 7, grip block 8, cutter 9, base 10, first swinging boom 11, support arm 12, second swinging boom 13, hold handle of a knife 14, lathe stand 15, cutter backup pad 6, card cutter board 17, detection switch 18, cutter chip recognizer 19, treater 20, switch 21 is differentiateed to the cutter, cutter information storage module 22 and tray 23 cooperate, it wastes time and energy to have solved artifical tool changing, work efficiency is low, the cutter condition of putting the wrong appears easily still, cause the condemned problem of product during serious.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (6)
1. The utility model provides a robot tool magazine toolchanger that lathe was used, includes tool magazine wall (1), robot tool changing mechanism (2), lathe (3) and cutter car (4), its characterized in that: the tool magazine wall (1) is located on the left side of the robot tool changing mechanism (2), the machine tool (3) is located on the rear side of the robot tool changing mechanism (2), the tool magazine wall (1) comprises a box body (5), a transverse plate (7) is fixedly connected to an inner cavity of the box body (5), a clamping plate (8) is arranged at the top of the transverse plate (7), a tool (9) is clamped at the top of the clamping plate (8), the robot tool changing mechanism (2) comprises a base (10), a first rotating arm (11) is fixedly connected to the top of the base (10), a supporting arm (12) is movably connected to the rear side of the first rotating arm (11), a second rotating arm (13) is movably connected to the top of the supporting arm (12), a handle of a tool (14) is arranged on the left side of the second rotating arm (13), the machine tool (3) comprises a machine tool stand column (15), the left bottom fixedly connected with cutter backup pad (6) of lathe stand (15), equal fixedly connected with card cutting board (17) of front side and the rear side at cutter backup pad (6) top.
2. A robotic tool magazine changer for a machine tool as claimed in claim 1, characterized in that: the inner wall fixedly connected with of box (5) detects switch (18), detect switch (18) and grip block (8) looks adaptation, the inner wall fixedly connected with cutter chip recognizer (19) of box (5), the output electricity of cutter chip recognizer (19) is connected with treater (20), the switch (21) is differentiateed to treater (20) two-way electricity is connected with the cutter, switch (21) fixed mounting is on the surface of holding handle of a knife (14) is differentiateed to the cutter, treater (20) two-way electricity is connected with cutter information storage module (22), the output of treater (20) is connected with the input electricity of robot tool changing mechanism (2), the output of detecting switch (18) is connected with the input electricity of treater (20).
3. A robotic tool magazine changer for a machine tool as claimed in claim 1, characterized in that: the quantity of diaphragm (7) is five, the inner chamber at box (5) is arranged to diaphragm (7) vertical equidistance, the quantity of grip block (8) is a plurality of, grip block (8) are horizontal equidistance and are arranged at the top of diaphragm (7).
4. A robotic tool magazine changer for a machine tool as claimed in claim 1, characterized in that: the equal fixedly connected with name card in both sides at box (5) positive top, the equal fixedly connected with of both sides of box (5) bottom stabilizes the seat.
5. A robotic tool magazine changer for a machine tool as claimed in claim 1, characterized in that: the cutter trolley (4) comprises a tray (23), guide pins (24) are fixedly connected to four corners of the bottom of the tray (23), a positioning plate (25) is fixedly connected to the left side of the tray (23), a cutter placing frame (16) is fixedly connected to the top of the tray (23), and the surface of the cutter placing frame (16) is connected with a cutter (9) in a clamping mode.
6. A method of using a robotic tool magazine changer for a machine tool as claimed in claim 1, characterized by the steps of:
a: an operator in a workshop places the tool (9) on the tool placing rack (16), and the AGV trolley
Moving the cutter vehicle (4) to a designated position;
b: an instruction is sent to a processor (20) through operating keys, the processor (20) controls a robot tool changing mechanism (2) to operate, the robot tool changing mechanism (2) moves through a first rotating arm (11) and a second rotating arm (13) to adjust the position of a handle (14), the robot tool changing mechanism (2) holds tools (9) on a tool car (4) through the handle (14) and transfers the tools (9) one by one;
c: when the cutter (9) is transferred to one side of the box body (5), the cutter chip identifier (19) is used for reading information of the cutter (9), the information of the identified cutter (9) is sent to the processor (20), the cutter information storage module (22) is used for recording the information of the cutter (9), the processor (20) controls the cutter (9) to move to a specified storage position through the storage information of the cutter (9) in the cutter information storage module (22), whether the cutter (9) exists on the clamping plate (8) is detected through the cutter identification switch (21), the information is fed back to the processor (20), the cutter (9) does not exist on the clamping plate (8), and the cutter (9) is placed on the clamping plate (8);
d: when a cutter (9) on a machine tool is replaced, the processor (20) controls the robot cutter changing mechanism (2) to operate, the preselection cutter (9) is taken out from the inner cavity of the box body (5), the cutter (9) is identified and calibrated through the cutter chip identifier (19), and the cutter (9) is placed on the front side cutter clamping plate (17) after the calibration structure is matched with the record of a machine tool system;
e: the automatic door of the machine tool protection room is opened firstly, the spindle moves in the Y direction, a cutter (9) on the existing machine tool is placed on the rear side cutter clamping plate (17), then the spindle of the machine tool holds the cutter (9) on the front side cutter clamping plate (17), finally the robot cutter changing mechanism (2) grabs the cutter (9) on the rear side cutter clamping plate (17), the cutter is placed back on the clamping plate (8), and cutter changing is finished.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910978850.1A CN110614523A (en) | 2019-10-15 | 2019-10-15 | Robot tool magazine tool changing device for machine tool |
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| CN201910978850.1A CN110614523A (en) | 2019-10-15 | 2019-10-15 | Robot tool magazine tool changing device for machine tool |
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| CN201910978850.1A Pending CN110614523A (en) | 2019-10-15 | 2019-10-15 | Robot tool magazine tool changing device for machine tool |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112388365A (en) * | 2020-11-05 | 2021-02-23 | 王鸽华 | Machining is with little cutter of installation error machine people that changes outfit |
| CN113568384A (en) * | 2021-06-30 | 2021-10-29 | 东风设备制造有限公司 | Automatic cutter feeding and oil injecting system based on AGV trolley |
| CN114952410A (en) * | 2022-06-08 | 2022-08-30 | 广东工业大学 | Intelligent movable ultrasonic knife handle and knife magazine |
| CN115122132A (en) * | 2022-08-01 | 2022-09-30 | 宁波江丰电子材料股份有限公司 | Method for robot to automatically replace cutter and automatically compensate cutter compensation |
| CN118003132A (en) * | 2024-04-09 | 2024-05-10 | 江西台正智能科技有限公司 | Automatic tool changing module and engraving and milling machine applying same |
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