CN115716274A - Automatic tool changer - Google Patents

Abstract

The invention discloses an automatic tool change magazine, which comprises a pressure foot loading and unloading mechanism installed on a frame, an integral laser tool measuring system, a tool changing device, and a turntable lifting device; the pressure foot loading and unloading mechanism of the pressure foot loading and unloading frame is equipped with grippers , The lifting device is installed between the pressure foot loading and unloading frame and the frame; the tool changing device is placed on the turntable lifting device. The characteristics of the present invention are: 1. The disassembly and assembly of the end effector is simple, the action of tool detection and replacement is fast, and the work efficiency is high; 2. It has the functions of disassembly of the end effector, tool detection and replacement, and has a high degree of integration; 3. The device holder Actions such as holding, lifting and telescoping are all automatically completed through the control system, with a high degree of automation; 4. The control system is simple and easy to operate.

Description

Automatic Tool Changer

technical field

The invention relates to the technical field related to aircraft assembly, in particular to an automatic tool changer.

Background technique

During the aircraft assembly process, the end effector of the robot needs to change the tool according to the working conditions. In the past, when changing the tool, the tool change of the end effector was done manually, which was prone to errors and inefficient.

Contents of the invention

The object of the present invention is to overcome the above disadvantages and provide an automatic tool changer.

The technical scheme that the present invention adopts for realizing the above object is:

The automatic tool change magazine includes a pressure foot loading and unloading mechanism installed on the frame, an integral laser tool measuring system, a tool changing device, and a turntable lifting device; the pressure foot loading and unloading mechanism includes a pressure foot loading and unloading frame, and the pressure foot loading and unloading frame The jaws corresponding to the pressure feet are installed, and a lifting device is installed between the pressure foot loading and unloading frame and the frame; the tool changing device is inserted on the turntable lifting device, and the tool changing device includes a tool seat, a fixed seat, a guide The knife seat is connected with the guide rod through the fixed seat, and the matching ball and top knife block are installed on the knife seat; the turntable lifting device includes a turntable and a support, and the support is installed on the frame , the turntable is arranged above the support, the turntable is connected to the motor, the motor is installed on the support, the guide rod passes through the turntable and is located below the turntable, the fixed seat is supported above the turntable, and the guide rod A top block is arranged below, and a jacking device is installed between the top block and the support.

The jaws are connected with the opening and closing cylinder through the connecting rod, and the opening and closing cylinder is installed on the loading and unloading frame of the pressure foot.

A bracket is arranged under the pressure foot loading and unloading frame, and one side of the pressure foot loading and unloading frame is slidably installed on the frame, and the lower end of the pressure foot loading and unloading frame is connected with the bracket through a lifting device, and the bracket is installed on the frame. Ribs are installed between them.

A buffer is installed between the lower end of the loading and unloading frame of the pressure foot and the support.

A limit block corresponding to the rib plate is installed at the lower end of the loading and unloading frame of the pressure foot.

A return to zero block is arranged on the turntable.

A detection switch is arranged at the top block.

The cross-section of the guide rod is triangular, and the guide rod is inserted into a triangular hole corresponding to the guide rod provided on the turntable.

The characteristics of the present invention are: 1. The disassembly and assembly of the end effector is simple, the action of tool detection and replacement is fast, and the work efficiency is high; 2. It has the functions of disassembly of the end effector, tool detection and replacement, and has a high degree of integration; 3. The device holder Actions such as holding, lifting and telescoping are all automatically completed through the control system, with a high degree of automation; 4. The control system is simple and easy to operate.

Description of drawings

Fig. 1 is a structural schematic diagram of the present invention.

Fig. 2 is a front view of the present invention.

Figure 3 is a side view of the present invention.

Figure 4 is a top view of the present invention.

Fig. 5 is a structural schematic diagram of the tool changing device of the present invention.

Fig. 6 is a top view of the tool changing device of the present invention.

FIG. 7 is a sectional view of FIG. 6 .

Fig. 8 is a structural schematic diagram of the turntable lifting device of the present invention.

Among them: 1. Frame 2. Integral laser tool measuring system 3. Pressure foot loading and unloading mechanism 31, pressure foot loading and unloading frame 32, jaw 33, opening and closing cylinder 34, connecting rod 35, lifting device 36, bracket 37, rib plate 38 , Buffer 39, Limit Block 4, Tool Changer 41, Tool Holder 42, Fixing Seat 43, Guide Rod 44, Top Knife Block 45, Card Bead 5, Turntable Lifting Device 51, Turntable 511, Triangular Hole 52, Motor 53 , Support 54, top block 55, jacking device 56, detection switch 6, cutter.

Detailed ways

As shown in Figures 1-8, the present invention is an automatic tool changer, which includes a pressure foot loading and unloading mechanism 3 installed on a frame 1, an integral laser tool measuring system 2, a tool changing device 4, and a turntable lifting device 5. The pressure foot loading and unloading mechanism 3, the integrated laser tool measuring system 2, and the turntable lifting device 5 are all connected to the control system. The laser scanner of the integrated laser tool measuring system 2 is used to measure tool information. The pressure foot loading and unloading mechanism 3 includes a pressure foot loading and unloading frame 31, and three openable and closing jaws 32 are evenly distributed on the pressure foot loading and unloading frame 31, and the jaws 32 are connected to the opening and closing cylinder 33 through respective connecting rods 34, and the opening and closing cylinder 33 is installed on the pressure foot loading and unloading frame 31, and the pressure foot is clamped by opening and closing the telescopic control jaw 32 of the cylinder 3. A bracket 36 is arranged under the pressure foot loading and unloading frame 31, and one side of the pressure foot loading and unloading frame 31 slides Installed on the frame 1, the lower end of the pressure foot loading and unloading frame 31 is connected to the bracket 36 through the lifting device 35, the bracket 36 is installed on the frame 1, and a rib plate for strengthening the connection is installed between the bracket 36 and the frame 1 37. In order to ensure the lifting stability of the pressure foot loading and unloading frame 31, a buffer 38 is installed between the lower end of the pressure foot loading and unloading frame 31 and the bracket 36, and the lower end of the pressure foot loading and unloading frame 31 is installed with a limiter corresponding to the rib plate 31. Bit block 39, at least two groups of tool changing devices 4 are evenly distributed on the turntable lifting device 5 according to the actual use conditions, and the tool changing device 4 includes a tool seat 41, a fixed seat 42, a guide rod 43, and the tool seat 41 Connect with the guide bar 43 through the fixed seat 42, the clamping beads 45 and the top knife block 44 that cooperate with each other are installed on the said knife seat 41, and the cutter 6 is inserted in the inner space of the knife seat 41 and the fixed seat 42. Under normal conditions, the top knife Block 44 is in open state, and when cutter 6 enters in knife seat 41, fixed seat 42, top cutter block 44 is still in open state, and clamping ball 45 blocks the handle of a knife of cutter 6, thereby limits cutter 6 to move, when taking cutter , the tool changing device 4 moves up, and the top knife block 44 contacts the components on the frame 1 during the movement, so that the top knife block 44 retracts and pushes the clamping ball 45 outward, and the knife 6 can be taken out without being restricted by the clamping ball 45. The turntable lifting device 5 includes a turntable 51 and a support 53, the support 53 is installed on the frame 1, the turntable 51 is arranged above the support 53, the turntable 51 is connected with a motor 52, and the motor 52 is installed On the support 53, the turntable 51 is driven by the motor 52 to rotate above the support 53. The cross-section of the guide rod 43 is triangular in shape, and the guide rod 43 is inserted on the turntable 51 corresponding to the guide rod 43. In the triangular hole 511, the guide rod 43 passes through the triangular hole 511 and is located below the turntable 51. The cross section of the fixed seat 42 is larger than the triangular hole 511, so that the fixed seat 42 is supported on the top of the turntable 51. One of the tool changing devices 4 is set as the replacement place, and a jacking block 54 is arranged under the guide rod 43 of the tool changing device 4 at the replacement place. A jacking device 55 is installed between the jacking block 54 and the support 53, and the jacking device 55 drives the jacking block 54 rising will The required tool changing device 4 is ejected, and the top block 54 is provided with two detection switches 56, wherein one detection switch 56 detects whether the upper tool change device is in place, and the other detection switch 56 detects whether the top block 54 is reset. A return to zero block 57 is provided on the turntable 51 for returning to the reference.

When the tool 6 needs to be replaced, the end effector moves above the integrated laser tool measuring system 2, and the end effector drives the tool 6 to extend forward to the measurement area of the integrated laser tool measuring system 2, and the integrated laser tool measuring system 2 The laser scanner scans the information on the handle of the tool 6 and uploads it to the control system, and the measurement work is completed; the end effector moves to the top of the pressure foot loading and unloading mechanism 3, and the pressure foot is aligned with the pressure foot loading and unloading mechanism 3, and the control system Control the lifting device 35 to raise the pressure foot loading and unloading rack 31 and align it with the pressure foot. The control system controls the opening and closing cylinder 33 to drive the clamp jaw 32 to clamp the pressure foot at the same time. The pressure foot is separated from the end effector, and the control system controls the lifting The device 35 descends to drive the pressure foot loading and unloading frame 31 to descend and reset; the end effector moves to the top of the tool changing device 4, and the control system controls the jacking device 55 to drive the jacking block 54 to rise, and the tool changing device 4 is jacked up, and the end effector will The tool 6 is inserted into the tool changing device 4, the tool 4 is fixed by the clamp ball 45, the control system controls the motor 52 to drive the turntable 51 to rotate, and the tool 6 to be replaced is rotated to the replacement position, and the control system controls the jacking device 55 to drive the top block 54 Lift the tool changing device 4, and the tool changing device 4 contacts with the components on the frame 1 during the lifting process, so that the top knife block 44 retracts and the knife 6 is ejected from the clamping ball 45, and the end effector clamps the knife 6; The end effector moves to the pressure foot loading and unloading mechanism 3, the control system controls the lifting device 35 to lift the pressure foot loading and unloading frame 31, and then controls the opening and closing cylinder 33 to drive the clamp jaw 32 to release the pressure foot, and the end effector installs the pressure foot and retreats. Go out and reset, and change tool 6 and finish.

The invention makes the disassembly and assembly of the end effector simple, the tool detection and replacement actions are quick, and the work efficiency is high; at the same time, it has the functions of end effector disassembly, tool detection and replacement, and has a high degree of integration; the actions of equipment clamping, lifting and telescoping are all It is automatically completed by the control system, with a high degree of automation; the control system is simple and easy to operate.

The above is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto, and any person familiar with the technical field within the technical scope disclosed in the present invention, according to the technical solution of the present invention Any equivalent replacement or change of the inventive concept thereof shall fall within the protection scope of the present invention.

Claims (8)

1. Automatic trade tool magazine, its characterized in that: the device comprises a pressure foot loading and unloading mechanism, an integral laser cutter measuring system, a cutter changing device and a turntable lifting device, wherein the pressure foot loading and unloading mechanism is arranged on a frame; the pressure foot loading and unloading mechanism comprises a pressure foot loading and unloading frame, a clamping jaw corresponding to a pressure foot is mounted on the pressure foot loading and unloading frame, and a lifting device is mounted between the pressure foot loading and unloading frame and the frame; the tool changing device is inserted on the turntable lifting device and comprises a tool apron, a fixed seat and a guide rod, wherein the tool apron is connected with the guide rod through the fixed seat, and a clamping bead and a tool ejecting block which are matched with each other are arranged on the tool apron; the turntable lifting device comprises a turntable and a support, the support is mounted on a frame, the turntable is arranged above the support, the turntable is connected with a motor, the motor is mounted on the support, a guide rod penetrates through the turntable and is located below the turntable, a fixing seat is supported above the turntable, a top block is arranged below the guide rod, and a jacking device is mounted between the top block and the support.

2. The automatic tool changer of claim 1, wherein: the clamping jaw is connected with the opening and closing cylinder through a connecting rod, and the opening and closing cylinder is installed on the pressure foot loading and unloading frame.

3. The automatic tool changer of claim 1, wherein: the pressure foot assembling and disassembling device is characterized in that a support is arranged below the pressure foot assembling and disassembling frame, one side of the pressure foot assembling and disassembling frame is slidably installed on the frame, the lower end of the pressure foot assembling and disassembling frame is connected with the support through a lifting device, the support is installed on the frame, and a rib plate is installed between the support and the frame.

4. The automatic tool changer of claim 3, wherein: and a buffer is arranged between the lower end of the pressure foot loading and unloading frame and the support.

5. The automatic tool changer of claim 3, wherein: and the lower end of the pressure foot assembling and disassembling frame is provided with a limiting block corresponding to the rib plate.

6. The automatic tool changer of claim 1, wherein: and a zeroing block is arranged on the turntable.

7. The automatic tool changer of claim 1, wherein: and a detection switch is arranged at the top block.

8. The automatic tool changer of claim 1, wherein: the cross section of the guide rod is triangular, and the guide rod is inserted into a triangular hole which is formed in the rotary table and corresponds to the guide rod.

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