CN115041992A - But arm end effector of quick replacement cutter - Google Patents
But arm end effector of quick replacement cutter Download PDFInfo
- Publication number
- CN115041992A CN115041992A CN202210584885.9A CN202210584885A CN115041992A CN 115041992 A CN115041992 A CN 115041992A CN 202210584885 A CN202210584885 A CN 202210584885A CN 115041992 A CN115041992 A CN 115041992A
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- Prior art keywords
- cutter
- tool
- end effector
- clamping
- execution frame
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- 239000012636 effector Substances 0.000 title claims abstract description 45
- 230000008859 change Effects 0.000 claims description 11
- 238000003780 insertion Methods 0.000 claims description 7
- 230000037431 insertion Effects 0.000 claims description 7
- 238000000034 method Methods 0.000 claims description 4
- 239000000725 suspension Substances 0.000 claims description 4
- 230000005611 electricity Effects 0.000 claims description 3
- 238000012544 monitoring process Methods 0.000 claims description 3
- 239000002184 metal Substances 0.000 claims description 2
- 238000001514 detection method Methods 0.000 claims 1
- 238000011065 in-situ storage Methods 0.000 claims 1
- 230000004044 response Effects 0.000 abstract description 3
- 210000000078 claw Anatomy 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 238000012360 testing method Methods 0.000 description 2
- 230000002411 adverse Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 238000004377 microelectronic Methods 0.000 description 1
- 238000003825 pressing Methods 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
Images
Classifications
-
- 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
- B23Q3/1552—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling parts of devices for automatically inserting or removing tools
- B23Q3/1554—Transfer mechanisms, e.g. tool gripping arms; Drive mechanisms therefore
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
- B25J15/0608—Gripping heads and other end effectors with vacuum or magnetic holding means with magnetic holding means
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Details Of Cutting Devices (AREA)
Abstract
The invention relates to the technical field of numerical control machines, and discloses an end effector of a mechanical arm capable of quickly replacing a cutter, wherein the mechanical arm is borne by an AGV trolley, meanwhile, a cutter frame for loading the cutter is arranged at the top of the AGV trolley, the end effector comprises a forcipate execution frame, jacks are formed in the centers of the top and the bottom of the execution frame, a movable cutter is inserted into the jacks, the diameter of each jack is larger than that of the cutter and smaller than that of a cutter handle of the cutter, and two symmetrical clamping modules for clamping the cutter are arranged on the outer side of the execution frame. This but arm end effector of quick replacement cutter need not use cylinder drive end effector, adopts electro-magnet cooperation mechanical structure to carry out the centre gripping of cutter, avoids droing because of the not enough cutter that leads to of atmospheric pressure, and the centre gripping is more stable, and response speed is faster.
Description
Technical Field
The invention relates to the technical field of numerical control machines, in particular to a mechanical arm end effector capable of quickly replacing a cutter.
Background
The numerical control machine tool is an automatic machine tool provided with a program control system, can move and machine parts according to a programmed program, integrates the latest technologies of machinery, automation, computers, measurement, microelectronics and the like, uses various sensors, and can frequently use a mechanical arm to change a tool by using an end effector when a numerical control tool is damaged, so that the tool changing efficiency is improved, and personnel damage is prevented.
The end effector that present digit control machine tool change cutter used is more in kind, often divide into the air-suction type and press from both sides and get the formula two kinds, and the air-suction type all needs the cylinder to drive with pressing from both sides the formula of getting, and the cylinder can lead to the cutter to drop when atmospheric pressure is not sufficient, and the tool changing process is interrupted to all take off earlier and use the cutter, take again and wait to install the cutter, it is long to change the cutter, influences lathe production efficiency, so but provides the arm end effector of a quick replacement cutter.
Chinese patent publication No. CN209812348U discloses an end effector for a hob replacing manipulator, which reduces the operation safety risk and improves the hob replacing efficiency, but the end effector performs the hob replacing operation by using a method of matching a hydraulic motor and a mechanical finger, and it needs to consider whether the mechanical finger can normally work in a severe environment, and if four hands are used for grasping and detaching the hob, the tool is likely to shake, which causes the failure of hob replacement, and is not suitable for a large-scale construction environment; chinese patent publication No. CN111015320B provides a cutter clamping equipment including handle of a knife quick change hand claw and cutter clamping mechanism that the separation set up, can carry out the accurate clamping of different cutters and raise the efficiency, but this equipment installs multiunit hand claw and sleeve additional, and the structure is complicated, and accurate part is many, easily receives the external factor interference, considers that its test environment is the laboratory, does not carry out actual processing environment test, can't guarantee equipment operating stability in the adverse circumstances.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides the mechanical arm end effector capable of quickly replacing the cutter, which has the advantages of no need of cylinder driving, simple cutter replacing step, short time and the like, and solves the problems that the air suction type and the clamping type both need the cylinder for driving, the cutter falls off and the cutter replacing process is interrupted when the air pressure of the cylinder is insufficient, the cutter is used firstly, then the cutter to be installed is taken, the cutter replacing time is long, and the production efficiency of a machine tool is influenced.
The technical scheme for solving the technical problems is as follows: an end effector of an mechanical arm capable of quickly replacing a cutter relates to the mechanical arm and comprises an end effector which is arranged at the end of the mechanical arm and used for changing the cutter for a machine tool, wherein an AGV trolley which is used for installing the mechanical arm and travels along an electromagnetic track is arranged at the bottom of the mechanical arm, and a cutter frame for loading the cutter is arranged at the top of the AGV trolley; the end effector comprises a clamp-shaped execution frame, jacks are formed in the center of the top and the center of the bottom of the execution frame, a movable cutter is inserted into the jacks, the diameter of each jack is smaller than the cutter handle portion of the movable cutter, two symmetrical clamping modules used for clamping the fixed movable cutter are arranged on the outer side of the execution frame, and the clamping modules can be remotely controlled.
This but arm end effector of quick replacement cutter need not use cylinder drive end effector, adopts electro-magnet cooperation mechanical structure to carry out the centre gripping of cutter, avoids droing because of the not enough cutter that leads to of atmospheric pressure, and the centre gripping is more stable simultaneously, and response speed is faster.
In order to achieve the purpose, the invention adopts the following specific steps:
step 1: monitoring the state of the cutter through a sensor in the numerical control machine tool, and transmitting a signal to a controller when the cutter is damaged and needs to be replaced;
step 1.1: the controller controls the AGV to move to the coordinate position of the corresponding numerical control machine tool;
step 1.2: the mechanical arm 2 drives the end effector 4 to clamp a tool to be installed from the tool rack 3 by using one clamping module;
step 1.3: the execution frame 41 is sleeved at the tip of the tool to be installed by using the insertion hole 42;
step 1.4: the tip of the tool to be mounted pushes the hanging plate 49 to move towards the middle shaft of the execution frame 41;
step 1.5: under the linkage of the hinge modules, the two clamping plates 46 move relatively to clamp the handle part of the tool to be installed;
step 2: the controller is utilized to electrify the corresponding electromagnet 411, the electromagnet 411 generates magnetic attraction on the hanging plate 49, the hanging plate 49 is kept not to move back under the influence of the resilience force of the spring 45, and the two clamping plates 46 clamp the tool to be installed;
and step 3: clamping the tool to be replaced by using another clamping module;
step 3.1: the mechanical arm 2 drives the end effector 4 to rotate one hundred eighty degrees, so that the tool to be mounted is rotated to a mounting position for mounting;
and 3.3, returning the damaged tool to a standby tool magazine after the mechanical arm drives the end effector to move to the space designated position.
Compared with the prior art, the invention has the following beneficial effects:
this but arm end effector of quick replacement cutter need not use cylinder drive end effector, adopts electro-magnet cooperation mechanical structure to carry out the centre gripping of cutter, sets up the through-hole that the power supply magnet circuit passes through, and two electro-magnets are connected with the controller electricity respectively, and two electro-magnets of controller control are circular telegram alone, avoid droing because of the insufficient cutter that leads to of atmospheric pressure, and the centre gripping is more stable simultaneously, and response speed is faster.
This executor adopts two clamping structure, can be in advance with waiting to install the cutter centre gripping, demolising need to change the cutter after, the arm rotates end effector one hundred eighty degrees and just can directly install waiting to install the cutter, saves a return stroke, saves the tool changing time.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic structural view of an end effector of the present invention;
FIG. 3 is a right side elevational view of the end effector of the present invention;
fig. 4 is a top view of the end effector of the present invention.
In the figure: 1. an AGV trolley; 2. a mechanical arm; 3. a tool holder; 4. an end effector; 41. an execution frame; 42. a jack; 43. moving the cutter; 44. a fixing plate; 45. a spring; 46. a splint; 47. a hinge module; 48. a boom; 49. a hanger plate; 410. a support plate; 411. an electromagnet; 471. a first hinge shaft; 472. a hinge plate; 473. a second hinge shaft.
Detailed Description
The technical solutions in the embodiments of the present application will be described clearly and completely with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only some embodiments of the present application, and not all embodiments. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments in the present application without making any creative effort belong to the protection scope of the present application.
In the first embodiment, as shown in fig. 1-2, the invention relates to a mechanical arm 2, which comprises an end effector 4 mounted at the end of the mechanical arm 2 and used for changing tools for a machine tool, wherein an AGV trolley 1 used for mounting the mechanical arm 2 and walking along an electromagnetic track is arranged at the bottom of the mechanical arm 2, tool racks 3 for loading tools are arranged at the tops of the AGV trolleys 1, and the tool racks 3 are uniformly arranged;
the end effector 4 includes an execution frame 41 in a wrench shape, the top and bottom centers of the execution frame 41 are both provided with insertion holes 42, and a movable tool 43 is inserted into the insertion holes 42, the diameter of the insertion holes 42 is smaller than the shank portion of the movable tool 43, two symmetrical clamping modules for clamping and fixing the movable tool 43 are arranged on the outer side of the execution frame 41, and the clamping modules can be remotely controlled.
Referring to fig. 2-4, the clamping module includes four hinged modules 47 hinged on the side of the actuating frame 41, opposite ends of the upper and lower hinged modules 47 are hinged with suspenders 48, a hanging plate 49 in a square tube shape is sleeved between the outer sides of the two suspenders 48 on the same side, opposite ends of the upper and lower hinged modules 47 are hinged with clamping plates 46, opposite sides of two adjacent clamping plates 46 are both in a concave arc shape, the two clamping plates 46 clamp the handle portion of the movable cutter 43, and opposite sides of the two clamping plates 46 are both fixed with rubber pads to increase friction force during clamping, so that clamping is more stable.
When the moving cutter 43 is inserted from the insertion hole 42, the moving cutter 43 abuts against the hanging plate 49.
The hanging plate 49 moves towards the center shaft of the execution frame 41, the hinge module 47 drives the two clamping plates 46 to move relatively and clamp the handle part of the movable cutter 43, the clamping module further comprises a supporting plate 410 fixed at the center of the inner side of the execution frame 41, electromagnets 411 are fixedly installed at the top and the bottom of the supporting plate 410, and the hanging plate 49 is made of metal capable of being attracted by the electromagnets 411.
When the moving tool 43 is clamped, the electromagnet 411 is energized, and the electromagnet 411 attracts the hanging plate 49 so that the hanging plate 49 does not move outward, so that the two clamp plates 46 hold the moving tool 43.
The opposite sides of the two adjacent clamping plates 46 are fixedly connected with springs 45, one ends of the springs 45 far away from the clamping plates 46 are fixedly connected with fixing plates 44 fixedly connected with the outer sides of the execution frames 41, and when the electromagnet 411 is powered off, the springs 45 rebound to drive the clamping plates 46 to move towards the fixing plates 44, so that the clamping of the movable cutters 43 is loosened by the two clamping plates 46.
As shown in fig. 3, the hinge module 47 includes a first hinge shaft 471 fixed at the outer side of the clamping plate 46 and a second hinge shaft 473 fixed at the outer side of the actuating frame 41, hinge plates 472 are sleeved at the outer sides of the first hinge shaft 471 and the second hinge shaft 473, and one end of the hinge plate 472 far away from the first hinge shaft 471 is fixedly connected with the suspension rod 48.
The outer ends of the first hinge shaft 471 and the second hinge shaft 473 are both fixedly connected with a limiting disc, and when the suspension rod 48 is driven to move by the suspension plate 49, the hinge plate 472 moves in an arc shape by taking the second hinge shaft 473 as the center of a circle, so as to drive the first hinge shaft 471 and the clamping plate 46 to move.
The through-hole that power supply magnet 411 circuit passed through is seted up to the inboard of backup pad 410, and two electro-magnets 411 are connected with the controller electricity respectively, and two electro-magnets 411 of controller control are circular telegram alone for two centre gripping modules can the separate operation, and wherein controller and arm 2 share same controller.
The working principle is as follows:
step 1: monitoring the state of the cutter through a sensor in the numerical control machine tool, and transmitting a signal to a controller when the cutter is damaged and needs to be replaced;
step 1.1: the controller controls the AGV to move to the coordinate position of the corresponding numerical control machine tool;
step 1.2: the mechanical arm 2 drives the end effector 4 to clamp a tool to be installed from the tool rack 3 by using one clamping module;
step 1.3: the execution frame 41 is sleeved at the tip of the tool to be installed by using the insertion hole 42;
step 1.4: the tip of the tool to be mounted pushes the hanging plate 49 to move towards the center shaft of the execution frame 41;
step 1.5: under the linkage of the hinge modules, the two clamping plates 46 move relatively to clamp the handle part of the tool to be installed;
step 2: the controller is utilized to electrify the corresponding electromagnet 411, the electromagnet 411 generates magnetic attraction on the hanging plate 49, the hanging plate 49 is kept not to move back under the influence of the resilience force of the spring 45, and the two clamping plates 46 clamp the tool to be installed;
and step 3: clamping the tool to be replaced by using another clamping module;
step 3.1: the mechanical arm 2 drives the end effector 4 to rotate one hundred eighty degrees, so that the tool to be mounted is rotated to a mounting position for mounting;
and 3.3, returning the damaged tool to a standby tool magazine after the mechanical arm drives the end effector to move to the space designated position.
Claims (8)
1. The utility model provides a but arm end effector of quick replacement cutter, relates to arm (2), its characterized in that: the tool changing device comprises an end effector (4) which is arranged at the tail end of a mechanical arm (2) and used for changing tools for a machine tool, wherein an AGV trolley (1) used for installing the mechanical arm (2) is arranged at the bottom of the mechanical arm (2), and a tool rack (3) for loading tools is arranged at the top of the AGV trolley (1);
the end effector (4) is including being the execution frame (41) of pincers-shaped, and jack (42) have all been seted up and have been utilized jack (42) to insert removal cutter (43) in the top of execution frame (41) and bottom central authorities, and the diameter of jack (42) is less than the handle of a knife part of removal cutter (43), the outside of execution frame (41) is provided with and is used for two clamping module of centre gripping fixed removal cutter (43) and symmetry, but clamping module remote control.
2. The end effector of a robotic arm capable of rapid tool change as claimed in claim 1, wherein: the clamping module comprises four hinged modules (47) hinged to the side face of the execution frame (41), opposite ends of the upper hinged module (47) and the lower hinged module (47) are hinged to suspenders (48), hanging plates (49) in the shape of a square tube are sleeved between the outer sides of the two suspenders (48) on the same side, opposite ends of the upper hinged module (47) and the lower hinged module (47) are hinged to clamping plates (46), opposite sides of the two adjacent clamping plates (46) are both in the shape of an inwards concave arc, and the two clamping plates (46) clamp the handle part of the movable cutter (43).
3. The end effector of a robotic arm capable of rapid tool change as claimed in claim 2, wherein: the clamping module further comprises a supporting plate (410) fixed in the center of the inner side of the execution frame (41), electromagnets (411) are fixedly installed at the top and the bottom of the supporting plate (410), and the hanging plate (49) is made of metal capable of being attracted by the electromagnets (411).
4. The end effector of a robotic arm capable of rapid tool change as claimed in claim 2, wherein: the opposite sides of the two adjacent clamping plates (46) are fixedly connected with springs (45), and one ends, far away from the clamping plates (46), of the springs (45) are fixedly connected with fixing plates (44) fixedly connected with the outer sides of the execution frames (41).
5. The end effector of a robotic arm capable of rapid tool change as claimed in claim 2, wherein: the hinge module (47) comprises a first hinge shaft (471) fixed on the outer side of the clamping plate (46) and a second hinge shaft (473) fixed on the outer side of the execution frame (41), the outer sides of the first hinge shaft (471) and the second hinge shaft (473) are respectively sleeved with a hinge plate (472), one end, away from the first hinge shaft (471), of the hinge plate (472) is fixedly connected with the suspension rod (48), and the outer ends of the first hinge shaft (471) and the second hinge shaft (473) are respectively fixedly connected with a limiting disc.
6. The end effector of a robotic arm capable of rapid tool change as claimed in claim 3, wherein: the through hole that power supply magnet (411) circuit passed through is seted up to the inboard of backup pad (410), and two electro-magnets (411) are connected with the controller electricity respectively, and two electro-magnets (411) are controlled to the controller and are switched on alone.
7. The end effector of a robotic arm capable of rapid tool change according to any of claims 1-6, comprising the steps of:
step 1: monitoring the state of the cutter through a sensor in the numerical control machine tool, and transmitting a signal to a controller when the cutter is damaged and needs to be replaced;
step 2: the controller is utilized to electrify the corresponding electromagnet 411, the electromagnet 411 generates magnetic attraction on the hanging plate 49, the hanging plate 49 is kept not to move back under the influence of the resilience force of the spring 45, and the two clamping plates 46 clamp the tool to be installed;
and step 3: and clamping and removing the tool needing to be replaced by using another clamping module.
8. The method for using the tool damage in-situ detection and tool changing robot as claimed in claim 7, wherein the step 1 comprises:
step 1.1: the controller controls the AGV to move to the coordinate position of the corresponding numerical control machine tool;
step 1.2: the mechanical arm 2 drives the end effector 4 to clamp a tool to be installed from the tool rack 3 by using one clamping module;
step 1.3: the execution frame 41 is sleeved at the tip of the tool to be installed by using the insertion hole 42;
step 1.4: the tip of the tool to be mounted pushes the hanging plate 49 to move towards the center shaft of the execution frame 41;
step 1.5: under the linkage of the hinge modules, the two clamping plates 46 move relatively to clamp the handle part of the tool to be installed;
the step 3 comprises the following steps:
step 3.1: the mechanical arm 2 drives the end effector 4 to rotate one hundred eighty degrees, so that the tool to be mounted is rotated to a mounting position for mounting;
step 3, 2: the electromagnet 411 is powered off, the spring 45 rebounds to drive the two clamping plates 46 to loosen the cutter, and the replacement cutter is installed on the machine tool;
and 3.3, returning the damaged tool to a standby tool magazine after the mechanical arm drives the end effector to move to the space designated position.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210584885.9A CN115041992A (en) | 2022-05-26 | 2022-05-26 | But arm end effector of quick replacement cutter |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210584885.9A CN115041992A (en) | 2022-05-26 | 2022-05-26 | But arm end effector of quick replacement cutter |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN115041992A true CN115041992A (en) | 2022-09-13 |
Family
ID=83159671
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210584885.9A Pending CN115041992A (en) | 2022-05-26 | 2022-05-26 | But arm end effector of quick replacement cutter |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN115041992A (en) |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5277689A (en) * | 1990-10-09 | 1994-01-11 | Chiron-Werke Gmbh & Co. Kg | Tool changer for tools of a machine tool |
| EP2803444A1 (en) * | 2013-05-16 | 2014-11-19 | VÚTS, a.s. | Tool feeder of manipulation device for exchange of tools on machine tools |
| CN105397544A (en) * | 2014-09-08 | 2016-03-16 | 德马吉森精机株式会社 | Automatic Tool Changer And Machine Tool |
| CN106553074A (en) * | 2015-09-30 | 2017-04-05 | Dmg森精机株式会社 | Tool replacing apparatus |
| CN207900739U (en) * | 2018-02-06 | 2018-09-25 | 东莞市高全数控机械有限公司 | A kind of CNC machining centers clamping-arm tool changing device |
| KR20200037614A (en) * | 2018-10-01 | 2020-04-09 | 주식회사 엘티아이 | Multitasking machining center with large capacity tool magazine |
| CN216463279U (en) * | 2021-11-09 | 2022-05-10 | 苏州玖物互通智能科技有限公司 | Numerical control disc type cutter head tool changing robot |
-
2022
- 2022-05-26 CN CN202210584885.9A patent/CN115041992A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5277689A (en) * | 1990-10-09 | 1994-01-11 | Chiron-Werke Gmbh & Co. Kg | Tool changer for tools of a machine tool |
| EP2803444A1 (en) * | 2013-05-16 | 2014-11-19 | VÚTS, a.s. | Tool feeder of manipulation device for exchange of tools on machine tools |
| CN105397544A (en) * | 2014-09-08 | 2016-03-16 | 德马吉森精机株式会社 | Automatic Tool Changer And Machine Tool |
| CN106553074A (en) * | 2015-09-30 | 2017-04-05 | Dmg森精机株式会社 | Tool replacing apparatus |
| CN207900739U (en) * | 2018-02-06 | 2018-09-25 | 东莞市高全数控机械有限公司 | A kind of CNC machining centers clamping-arm tool changing device |
| KR20200037614A (en) * | 2018-10-01 | 2020-04-09 | 주식회사 엘티아이 | Multitasking machining center with large capacity tool magazine |
| CN216463279U (en) * | 2021-11-09 | 2022-05-10 | 苏州玖物互通智能科技有限公司 | Numerical control disc type cutter head tool changing robot |
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Effective date of abandoning: 20240426 |