CN116372634A - Composite robot for automatically replacing tool for CNC (computerized numerical control) - Google Patents
Composite robot for automatically replacing tool for CNC (computerized numerical control) Download PDFInfo
- Publication number
- CN116372634A CN116372634A CN202310013435.9A CN202310013435A CN116372634A CN 116372634 A CN116372634 A CN 116372634A CN 202310013435 A CN202310013435 A CN 202310013435A CN 116372634 A CN116372634 A CN 116372634A
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- groups
- clamping
- fixedly arranged
- mechanical arm
- cutter
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- 239000002131 composite material Substances 0.000 title claims description 12
- 210000000078 claw Anatomy 0.000 claims abstract description 21
- 150000001875 compounds Chemical class 0.000 claims abstract description 5
- 230000000007 visual effect Effects 0.000 claims 3
- 238000003754 machining Methods 0.000 abstract description 6
- 230000000712 assembly Effects 0.000 abstract 2
- 238000000429 assembly Methods 0.000 abstract 2
- 238000000034 method Methods 0.000 description 4
- 239000002184 metal Substances 0.000 description 3
- 230000003068 static effect Effects 0.000 description 3
- 238000013459 approach Methods 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000002349 favourable effect Effects 0.000 description 1
- 238000006748 scratching Methods 0.000 description 1
- 230000002393 scratching effect Effects 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
- B23Q3/15526—Storage devices; Drive mechanisms therefor
-
- 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
- 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
- B23Q2003/155404—Transfer mechanisms, e.g. tool gripping arms; Drive mechanisms therefore the transfer mechanism comprising a single gripper
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Automatic Tool Replacement In Machine Tools (AREA)
Abstract
The invention discloses a compound robot for automatically replacing a cutter for CNC (computer numerical control), which relates to the technical field of industrial equipment, and comprises an AGV (automatic guided vehicle), a controller, a mechanical arm, a mechanical claw and a cutter library, wherein the controller, the mechanical arm and the cutter library are fixedly arranged on the AGV, the mechanical claw is fixedly arranged at the tail end of the mechanical arm, and the controller respectively controls the mechanical arm and the mechanical claw to work; the cutter library comprises a plurality of groups of first fixing frames and clamping assemblies, the groups of first fixing frames are arranged in an equidistant array, the clamping assemblies comprise fixing seats, springs, two groups of clamping arms and two groups of rollers, the fixing seats are fixedly arranged on the first fixing frames, the two groups of clamping arms are respectively positioned on two sides of the fixing seats, the middle parts of the clamping arms are hinged to the fixing seats, and the two groups of rollers are respectively pivoted to one ends of the two groups of clamping arms; the invention realizes the replacement of the cutter among a plurality of CNC machining centers through the same cutter library and the same mechanical claw.
Description
Technical Field
The invention relates to the technical field of industrial equipment, in particular to a compound robot for automatically replacing a cutter for CNC (computerized numerical control).
Background
CNC machining center (numerical control machine) is a short term of computer numerical control machine, is an automatic machine controlled by program, continuous machining of part procedures requires replacement of tools through a tool changing system, and the tool changing system automatically changes new tools used in the next procedure onto a main shaft after each procedure is completed, so that the process characteristics of the machining center are guaranteed.
In the background, the applicant aims to develop a compound robot for automatically replacing the tool for CNCs, and the tool is replaced among a plurality of CNC machining centers through the same tool magazine and the same tool gripper, so that the sharing use is realized.
Disclosure of Invention
The invention aims to realize the replacement of the cutter among a plurality of CNC machining centers through the same cutter library and mechanical claws, and realize the sharing use.
In order to achieve the above purpose, the technical scheme adopted by the invention is as follows:
the utility model provides a compound robot for CNC automatic replacement cutter, includes AGV transport vechicle, controller, arm, gripper and cutter storehouse, controller, arm, cutter storehouse are all fixed to be set up on the AGV transport vechicle, the gripper is fixed to be set up in the terminal of arm, the controller controls arm and gripper work respectively;
the cutter storehouse includes a plurality of first mounts of group and clamping assembly, and a plurality of first mounts of group are equidistant array arrangement, clamping assembly includes fixing base, spring, two sets of arms and two sets of gyro wheels, the fixing base is fixed to be set up on first mount, and two sets of arms are located the both sides of fixing base respectively, and the middle part of arm is articulated on the fixing base, and two sets of gyro wheels pin joint respectively in the one end of two sets of arms, the spring is located the other end of two sets of arms, and the spring is compressed between two sets of arms.
Further, a major arc groove is formed by enclosing the two groups of rollers, the two groups of clamping arms and the fixing base, and a first positioning piece is fixedly arranged on the inner side wall of the fixing base.
Further, the tool magazine further comprises a first magnetic sensor which is fixedly arranged on the fixing seat, and the first magnetic sensor is matched with the clamping assembly.
Further, the gripper comprises a second fixing frame, a clamping mechanism, two groups of clamping jaws and a second positioning piece, wherein the second fixing frame is fixedly arranged at the tail end of the mechanical arm, the clamping mechanism and the second positioning piece are fixedly arranged on the second fixing frame, the controller controls the clamping mechanism to work, the clamping mechanism drives the two groups of clamping jaws to fold or separate from each other, and the second positioning piece is positioned between the two groups of clamping jaws.
Further, the mechanical claw further comprises a vision system, the vision system is electrically connected with the controller, and the vision system is fixedly arranged on the second fixing frame.
Further, the mechanical claw further comprises a second magnetic sensor, the second magnetic sensor is fixedly arranged on the second fixing frame, and the second magnetic sensor is matched with the clamping jaw.
Further, the inner sides of the two groups of clamping jaws are provided with conical arc grooves.
Further, the clamping mechanism is an air cylinder, and the controller controls the air cylinder to work through an electromagnetic valve.
Further, the mechanical arm is a multi-axis industrial mechanical arm.
Further, the AGV transport vehicle further comprises a safety radar fixedly arranged on the outer side face of the AGV transport vehicle.
The beneficial effects of the invention are as follows: according to the invention, the controller, the mechanical arm and the tool library are fixedly arranged on the AGV transport vehicle, so that the AGV transport vehicle carries the tool library and the mechanical arm to move, the mechanical claw is fixedly arranged at the tail end of the mechanical arm, the controller respectively controls the mechanical arm and the mechanical claw to work, the tool is clamped by the two groups of clamping arms, the springs are compressed at the other ends of the two groups of clamping arms, so that the tool is clamped between the two groups of rollers, the mechanical claw is facilitated to grasp the tool, when a certain CNC machining center needs to replace the tool, the AGV transport vehicle moves the tool library and the mechanical arm to the CNC machining center, the controller controls the mechanical arm and the mechanical claw to cooperate to take down the tool to be replaced, and a new tool is grasped from between the two groups of clamping arms and is installed on a station of the CNC machining center, so that the tool of any CNC machining center is replaced.
Drawings
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a top view of the detection area of the security radar of the present invention;
FIG. 3 is a schematic view of the structure of the AGV transport and tool magazine of the present invention;
FIG. 4 is a schematic view of the structure of the first fixing frame, the clamping assembly and the first magnetic sensor of the present invention;
FIG. 5 is a schematic view of the structure of the clamping assembly, tool of the present invention;
FIG. 6 is a structural side view of the gripper of the present invention;
FIG. 7 is a structural elevation of the gripper of the present invention;
the reference numerals are:
the AGV transport 1,
the controller 2, the mechanical arm 3,
the mechanical claw 4, the second fixing frame 41, the clamping mechanism 42, the clamping jaw 43, the second positioning piece 44, the vision system 45, the second magnetic sensor 46,
the tool magazine 5, the first fixing frame 51, the clamping assembly 52, the fixing base 521, the first positioning member 5211, the spring 522, the clamping arm 523, the roller 524, the first magnetic sensor 53,
a safety radar 6 is provided which,
the cutter 7, the positioning groove 71 and the annular groove 72.
Detailed Description
The invention is further described below with reference to the accompanying drawings.
A composite robot for CNC automatic tool changing, as shown in fig. 1 to 7, includes an AGV transporter 1, a controller 2, a robot arm 3, a gripper 4, a tool magazine 5, and a safety radar 6.
The controller 2, the mechanical arm 3, the tool warehouse 5 are all fixed to be set up on the AGV transport vechicle 1, the fixed end that sets up at the mechanical arm 3 of gripper 4, the controller 2 controls mechanical arm 3 and gripper 4 work respectively, when a CNC machining center needs to change tool 7, AGV transport vechicle 1 carries tool warehouse 5 and mechanical arm 3 and removes to this CNC machining center department, the cooperation operation of controller 2 control mechanical arm 3 and gripper 4, will need the tool 7 of changing takes off, and snatch new tool 7 and install on CNC machining center's station from between two sets of clamp arms 523, thereby realize changing tool 7 to arbitrary CNC machining center, that is to say can realize carrying out tool 7's change between many CNC machining centers, thereby realized the sharing use of tool warehouse 5 and gripper 4.
The mechanical arm 3 is a multi-shaft industrial mechanical arm 3 and can drive the mechanical claw 4 to move in multiple angles.
The tool magazine 5 includes a plurality of first fixing frames 51, a clamping assembly 52, and a first magnetic sensor 53, the plurality of first fixing frames 51 are arranged in an equidistant array, the clamping assembly 52 includes a fixing seat 521, a spring 522, two groups of clamping arms 523, and two groups of rollers 524, the fixing seat 521 is fixedly disposed on the first fixing frame 51, the two groups of clamping arms 523 are respectively located at two sides of the fixing seat 521, the middle of the clamping arm 523 is hinged on the fixing seat 521, the two groups of rollers 524 are respectively pivoted at one ends of the two groups of clamping arms 523, the spring 522 is located at the other ends of the two groups of clamping arms 523, and the spring 522 is compressed between the two groups of clamping arms 523.
A major arc groove is enclosed between the two groups of rollers 524, the two groups of clamping arms 523 and the fixed seat 521, and a first positioning piece 5211 is fixedly arranged on the inner side wall of the fixed seat 521; because the middle part of the clamping arms 523 is hinged on the fixed seat 521, one ends of the two groups of clamping arms 523 are spread by the compressed springs 522, and the other ends of the clamping arms 523 keep the trend of being mutually close, so that the cutter 7 is clamped; the design of the two sets of rollers 524 enables the cutter 7 to slide over the surface of the cutter 7 through the rollers 524 while taking and placing, thereby avoiding scratching the cutter 7.
Two sets of constant head tanks 71 have been seted up to the symmetry on cutter 7's side, when cutter 7 was held by two sets of arms 523, first setting element 5211 card was in one of them set of constant head tanks 71 to make cutter 7 place more stable, be difficult for rocking, can not drop because of the walking of AGV transport vechicle 1.
The first magnetic sensor 53 is fixedly arranged on the fixed seat 521, the first magnetic sensor 53 is matched with the clamping component 52, and the first magnetic sensor 53 is electrically connected with the controller 2; the tool 7 is made of metal, a static magnetic field is formed around the first magnetic sensor 53 when the first magnetic sensor 53 works, when the metal tool 7 approaches to the static magnetic field, a new magnetic field is induced, the original static magnetic field is disturbed, the magnetic field is changed due to the interference generated by the change of the movement of the target, the deflection and the swing of the magnetometer pointer in the first magnetic sensor 53 are caused, an electric signal is generated, the electric signal is transmitted to the controller 2, the detection of the metal tool 7 is further realized, and the existence of the tool 7 on the clamping assembly 52 is detected.
The gripper 4 comprises a second fixing frame 41, a clamping mechanism 42, two groups of clamping jaws 43, a second positioning piece 44, a vision system 45 and a second magnetic sensor 46, wherein in the embodiment, the clamping mechanism 42 is an air cylinder, and the controller 2 controls the air cylinder to work through an electromagnetic valve.
The second mount 41 is fixed to be set up in the end of arm 3, and fixture 42 and second setting element 44 are all fixed to be set up on second mount 41, and the work of controller 2 control fixture 42, fixture 42 drive two sets of clamping jaw 43 fold each other or separate, and the inboard of two sets of clamping jaw 43 all is provided with the arc wall that is the circular cone form, and the lower part of cutter 7 is circular cone form, matches with the arc wall, and the arc wall of clamping jaw 43 inboard design is favorable to more stable centre gripping cutter 7.
The second positioning piece 44 is located between the two groups of clamping jaws 43, when the cutter 7 is clamped between the two groups of clamping jaws 43, the second positioning piece 44 is clamped in the positioning groove 71 of the cutter 7, so that the cutter 7 is clamped more stably and is not easy to shake, and the cutter cannot fall off due to movement of the mechanical arm 3.
The vision system 45 is electrically connected with the controller 2, and the vision system 45 is fixedly arranged on the second fixing frame 41, and the vision system 45 is used for providing scene information.
The second magnetic sensor 46 is fixedly arranged on the second fixing frame 41, and the second magnetic sensor 46 is mutually matched with the clamping jaw 43, the second sensor is electrically connected with the controller 2, and compared with the first sensor, the second sensor has the same structure and the same working principle, so that the description is omitted here.
The safety radar 6 is fixedly arranged on the outer side face of the AGV transport vehicle 1, four safety radars 6 are respectively arranged on the four outer side faces of the AGV transport vehicle 1, and when a person approaches, the safety radars 6 sense the safety radars.
The working principle of the invention is as follows: when the CNC machining center needs to replace the cutter 7, the AGV transport vehicle 1 moves to the CNC machining center along with the cutter library 5 and the mechanical arm 3, the controller 2 controls the mechanical arm 3 and the mechanical claw 4 to cooperate to take down the cutter 7 needing to be replaced, and a new cutter 7 is grabbed and installed on a station of the CNC machining center from between two groups of clamping arms 523, so that the cutter 7 is replaced among a plurality of CNC machining centers, and the cutter library 5 and the mechanical claw 4 are shared.
The above disclosure is only a preferred embodiment of the present invention, and the scope of the present invention is not limited thereto, so that the present invention is not limited to the above embodiments, and any modifications, equivalents and modifications made to the above embodiments according to the technical principles of the present invention are still within the scope of the present invention.
Claims (10)
1. A compound robot for CNC automatic replacement cutter, its characterized in that: the automatic control device comprises an AGV transport vehicle, a controller, a mechanical arm, a mechanical claw and a cutter library, wherein the controller, the mechanical arm and the cutter library are fixedly arranged on the AGV transport vehicle, the mechanical claw is fixedly arranged at the tail end of the mechanical arm, and the controller respectively controls the mechanical arm and the mechanical claw to work;
the cutter storehouse includes a plurality of first mounts of group and clamping assembly, and a plurality of first mounts of group are equidistant array arrangement, clamping assembly includes fixing base, spring, two sets of arms and two sets of gyro wheels, the fixing base is fixed to be set up on first mount, and two sets of arms are located the both sides of fixing base respectively, and the middle part of arm is articulated on the fixing base, and two sets of gyro wheels pin joint respectively in the one end of two sets of arms, the spring is located the other end of two sets of arms, and the spring is compressed between two sets of arms.
2. A composite robot for automatically changing tools for CNC according to claim 1, wherein: a major arc groove is formed by enclosing the two groups of rollers, the two groups of clamping arms and the fixing base, and a first positioning piece is fixedly arranged on the inner side wall of the fixing base.
3. A composite robot for automatically changing tools for CNC according to claim 1, wherein: the tool magazine further comprises a first magnetic sensor which is fixedly arranged on the fixing seat, and the first magnetic sensor is matched with the clamping assembly.
4. A composite robot for automatically changing tools for CNC according to claim 1, wherein: the mechanical claw comprises a second fixing frame, a clamping mechanism, two groups of clamping jaws and a second locating piece, wherein the second fixing frame is fixedly arranged at the tail end of the mechanical arm, the clamping mechanism and the second locating piece are fixedly arranged on the second fixing frame, the controller controls the clamping mechanism to work, the clamping mechanism drives the two groups of clamping jaws to fold or separate from each other, and the second locating piece is positioned between the two groups of clamping jaws.
5. A composite robot for automatically changing tools for CNC according to claim 4, wherein: the mechanical claw further comprises a visual system, the visual system is electrically connected with the controller, and the visual system is fixedly arranged on the second fixing frame.
6. A composite robot for automatically changing tools for CNC according to claim 4, wherein: the mechanical claw further comprises a second magnetic sensor, the second magnetic sensor is fixedly arranged on the second fixing frame, and the second magnetic sensor is matched with the clamping jaw.
7. A composite robot for automatically changing tools for CNC according to claim 4, wherein: the inner sides of the two groups of clamping jaws are provided with conical arc grooves.
8. A composite robot for automatically changing tools for CNC according to claim 4, wherein: the clamping mechanism is an air cylinder, and the controller controls the air cylinder to work through the electromagnetic valve.
9. A composite robot for automatically changing tools for CNC according to claim 1, wherein: the mechanical arm is a multi-axis industrial mechanical arm.
10. A composite robot for automatically changing a tool for CNC according to any one of claims 1 to 9, wherein: still include safety radar, safety radar is fixed to be set up on the lateral surface of AGV transport vechicle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310013435.9A CN116372634A (en) | 2023-01-05 | 2023-01-05 | Composite robot for automatically replacing tool for CNC (computerized numerical control) |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310013435.9A CN116372634A (en) | 2023-01-05 | 2023-01-05 | Composite robot for automatically replacing tool for CNC (computerized numerical control) |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN116372634A true CN116372634A (en) | 2023-07-04 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310013435.9A Pending CN116372634A (en) | 2023-01-05 | 2023-01-05 | Composite robot for automatically replacing tool for CNC (computerized numerical control) |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN116372634A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117773632A (en) * | 2024-02-28 | 2024-03-29 | 冈田精机(常州)有限公司 | Automatic change tool device |
-
2023
- 2023-01-05 CN CN202310013435.9A patent/CN116372634A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117773632A (en) * | 2024-02-28 | 2024-03-29 | 冈田精机(常州)有限公司 | Automatic change tool device |
| CN117773632B (en) * | 2024-02-28 | 2024-04-26 | 冈田精机(常州)有限公司 | Automatic change tool device |
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