CN218363540U - Automatic cutter assembling and disassembling equipment - Google Patents

Abstract

The utility model discloses an automatic cutter loading and unloading device, which comprises a feeding device module, a vision manipulator module and an interpenetration module, and also comprises two symmetrically arranged rotating cutter frames, wherein the two rotating cutter frames are arranged on the same rotating chassis side by side; the rotating chassis rotates to move one of the rotating tool rests to a preset position close to the inserting station, so that the rotating tool rests can be switched after being fully installed; the device is not stopped, the tool rests are quickly switched, and the efficiency is greatly improved; the rotary tool rest is provided with the drill rod above and snatchs the module, the drill rod snatchs the module and snatchs from the drill rod top, then shifts out drill rod joint breach with the drill rod top, then moves to on alternating the station, solves current equipment from this and need shut down to change the knife rest that is used for installing the cutter, and the knife rest needs artifical the change, causes the problem of speed inefficiency slowly.

Description

Automatic cutter assembling and disassembling equipment

Technical Field

The utility model belongs to the technical field of but steel chisel equipment that alternates of transposition turning cutter, concretely relates to cutter auto-control handling equipment.

Background

The numerical control blade is a general name of an indexable turning tool and is a mainstream product in the field of modern metal cutting application. The method is mainly applied to the fields of metal turning, milling, cutting and grooving, thread turning and the like. The coating process is mainly used for treating the surface of the numerical control blade and coating a layer of ceramic material with high wear resistance, so that the surface hardness of the cutter is greatly improved, the service life of the cutter is prolonged, and the friction coefficient between the cutter and a processing material is reduced. Compared with a non-coating blade, the service life of the blade can be prolonged by 5-10 times, and the coating is divided into a physical coating and a chemical coating. The Physical coating (PVD) is to bombard the surface of a metal target by current to generate metal plasma, and then deposit the metal plasma on the surface of a blade under the action of an electric field to form a coating; chemical coatings are coatings formed by chemical reactions of various compounds and gases at the blade surface at elevated temperatures, typically greater than 1000 degrees.

Because numerical control cutter characteristics such as many kinds, size nonconformity, large in quantity, PVD coating requires thickness evenly simultaneously, consequently mostly all alternate the cutter on the drill rod earlier, alternate the in-process at the drill rod at the cutter, still need insert the sleeve in step on the drill rod and keep apart two adjacent cutters, fix a plurality of drill rods that fill with the cutter with on the rotary drum back unified entering PVD equipment and carry out unified coating process again. In the past, the cutter and the sleeve are inserted into the drill steel manually, the efficiency is low, and a large amount of human resources are consumed. A flexible rotary table for tools for PVD coating is disclosed in CN201510973856.1, which uses interpenetration tools, wherein a rotatable tool holder is disclosed.

At present, a plurality of types of feeding equipment exist in a feeding process section of a PVD (physical vapor deposition) process of a cutter, but several common problems exist: firstly, the existing equipment needs to be stopped to replace a tool rest for installing a tool, and the tool rest needs to be replaced manually, so that the problems of low speed and low efficiency are caused; secondly, a cutter factory generally has a plurality of different cutters, one clamping jaw cannot adapt to the plurality of cutters, and when the cutters are different, the machine needs to be stopped to replace the clamping jaw, so that the speed is influenced; moreover, the feeding tray is greatly deformed, so that the cutter is in a non-horizontal state, the visual positioning precision is reduced, and the problem of inaccurate grabbing is caused; the mill has multiple borer mode of wearing, and existing equipment can not compatible tow sides, and is compatible low.

SUMMERY OF THE UTILITY MODEL

The utility model aims at providing a cutter automatic handling equipment for solve current equipment and need shut down and change the knife rest that is used for installing the cutter, the knife rest needs the manual work to be changed, causes the slow problem of inefficiency of speed.

In order to achieve the above purpose, the utility model adopts the following technical scheme:

an automatic cutter loading and unloading device comprises a feeding device module, a vision manipulator module and an inserting module, wherein the feeding device module conveys a cutter disc to a recognition grabbing position of the vision manipulator module; a plurality of lattices for placing the cutters are arranged on the cutter disc in a longitudinal and transverse manner, and the cutters to be grabbed are placed in the lattices; the vision manipulator module is used for grabbing and identifying a cutter in a material tray at a grabbing position to penetrate a drill rod at an penetrating station of the penetrating module;

the rotary cutter frame is characterized by also comprising two symmetrically arranged rotary cutter frames, wherein the two rotary cutter frames are arranged on the same rotary chassis side by side; the rotating chassis rotates to move one of the rotating tool rests to a preset position close to the inserting station, so that the rotating tool rests can be switched after being fully installed;

the rotary tool rest comprises a lower disc and an upper disc, and a connecting column is arranged between the upper disc and the lower disc; the lower disc is provided with a plurality of steel chisel mounting holes, the plurality of steel chisel mounting holes are annularly distributed on the lower disc, and the middle points of the rings formed by the plurality of steel chisel mounting holes coincide with the center of the lower disc; the steel chisel mounting hole is provided with a steel chisel; a plurality of steel chisel clamping notches are uniformly distributed on the edge of the upper disc, and correspond to the steel chisel mounting holes one by one; the upper end of a steel rod installed in the steel rod installation hole is clamped at the steel rod clamping notch; the bottom of the lower disc is provided with a rotating disc;

a steel chisel grabbing module is arranged above the rotary tool rest close to the insertion station, and when the rotary tool rest works, the steel chisel grabbing module grabs from the top of the steel chisel, moves the top of the steel chisel out of the steel chisel clamping gap and moves the steel chisel to the insertion station; the vision manipulator module identifies the cutter and grabs the cutter to the interpenetration station, and the cutter is interpenetrated on the drill rod on the interpenetration station.

According to the technical means, two rotary tool rests are arranged and are arranged on the same rotary chassis side by side; the rotating chassis rotates to move one of the rotating tool rests to a preset position close to the inserting station, so that the rotating tool rests can be switched after being fully installed; the device is not stopped, the tool rests are quickly switched, and the efficiency is greatly improved; a steel chisel grabbing module is arranged above the rotary cutter frame, grabs the top of the steel chisel, moves the top of the steel chisel out of the steel chisel clamping gap, moves the steel chisel clamping gap to the inserting station, and keeps the lower end of the steel chisel in a steel chisel mounting hole on the lower disc; the visual manipulator module identifies a cutter from the identification grabbing position and grabs the cutter to the inserting station, the cutter is inserted on a steel chisel on the inserting station, the penetration of the cutter is realized, when one steel chisel penetrates, the top end of the steel chisel is grabbed and moved to the position of a steel chisel clamping gap through the steel chisel grabbing module to be clamped, then the rotary tool rest is controlled to rotate, and the next empty steel chisel is rotated to the grabbing position of the steel chisel grabbing module; from this, a rotating tool rest can wear a lot of cutters, and whole cutter has worn the back, and rotating chassis rotates and switches rotating tool rest, and the change is new rotating tool rest go on can again, solve present equipment from this and need shut down and change the knife rest that is used for installing the cutter, and the knife rest needs the manual work to be changed, causes the slow problem of inefficiency of speed.

In one possible design, the drill rod clamping notch comprises a notch groove arranged at the edge of the upper circular disc, clamping block grooves are symmetrically arranged at two sides of the notch groove, an opening is formed in one side, close to the notch groove, of each clamping block groove, the opening is communicated with the notch groove, the opening, close to the notch groove, of each clamping block groove is smaller than the width of each clamping block groove, a clamping block is arranged in each clamping block groove, an arc-shaped bulge is arranged on one side, close to the notch groove, of each clamping block, and the opening, protruding out of the clamping block groove, of each arc-shaped bulge is located in the notch groove; a spring is arranged between one side of the clamping block, which is far away from the arc-shaped bulge, and the side wall of the clamping block groove; when the steel chisel is installed, the steel chisel can be directly pressed into the notch groove and then clamped by the clamping blocks on two sides of the notch groove, the top of the clamping block groove is provided with a sealing cover, two sides of each clamping block groove are provided with screw holes, and the sealing cover is fixed on the upper disc through the matching of bolts and the screw holes, so that the clamping blocks are limited in the clamping block grooves. According to the design, the steel chisel clamping gap can clamp the steel chisel and simultaneously can facilitate the shifting out and the installation of the top end of the steel chisel.

In one possible design, the end of the rotating base close to the insertion station is higher than the end far away from the insertion station, so that the rotating tool rest is in an inclined state; when the drill rod grabbing module moves the drill rod to the inserting station, the lower end of the drill rod is always in the drill rod mounting hole of the lower disc of the rotary tool rest, and the drill rod is in a vertical state. According to the design, the drill rod grabbing module can grab the drill rod top from the drill rod top and move out the drill rod clamping gap, then the drill rod is in a perpendicular to state after moving to the penetrating station, and the lower end of the drill rod is always arranged in the drill rod mounting hole in the lower disc, so that the drill rod penetrating operation of the cutter at the penetrating station is facilitated.

In one possible design, a standby fixture table is arranged beside the vision manipulator module, and a plurality of standby fixtures are mounted on the standby fixture table; the vision manipulator module is used for replacing the standby fixture according to different tools. According to setting up a plurality of reserve anchor clamps, reserve anchor clamps are reserve jack catch promptly, after discerning the cutter and changing, can carry out the change of jack catch fast.

In one possible design, the loading device module is a stacking loading module. The tray stacking type feeding module can be used for mounting a large number of cutter trays, and materials needed by the equipment for hours are guaranteed.

In one possible design, the disc stacking mode feeding modules are provided with two groups, the two groups of disc stacking mode feeding modules are arranged side by side, each vision manipulator module comprises two groups of vision camera modules and a mechanical arm, the two groups of vision camera modules are respectively located above the preset grabbing positions of the two groups of disc stacking mode feeding modules, and the mechanical arm is located between the preset grabbing positions of the two groups of disc stacking mode feeding modules.

In a possible design, the cutter of one of the two sets of disc stacking type feeding modules is fed from the front side; the other group is the reverse material of the cutter. And meanwhile, the feeding is arranged left and right, specifically, the left side is used for feeding materials on the front side of the cutter, and the right side is used for feeding materials on the back side of the cutter, so that the feeding device is compatible with the existing factory stringing mode.

In a possible design, discerning snatchs the position and is provided with the correction mechanism that is used for correcting cutter head deformation, correct the mechanism and include the telescoping device, the vertical setting of telescoping device, the telescoping device top is provided with the flat board, and when correcting, the telescoping device rises, makes flat board and cutter head contact prop cutter head middle part position. The vision module of making a video recording is arranged at cutter dish top, and the bottom is furnished with cutter dish and corrects the mechanism for the camera of vision module of making a video recording can accurate discernment product in the charging tray position, and the guide manipulator is accurate snatchs.

Has the beneficial effects that: two rotary tool rests are arranged and are arranged on the same rotary chassis side by side; the rotary chassis rotates to move one of the rotary tool rests to a preset position close to the inserting station, so that the rotary tool rests can be switched after being fully installed; the device is not stopped, the tool rests are quickly switched, and the efficiency is greatly improved; a steel chisel grabbing module is arranged above the rotary tool rest, grabs from the top of the steel chisel, moves the top of the steel chisel out of the steel chisel clamping gap, moves the steel chisel clamping gap to the penetrating station, and keeps the lower end of the steel chisel in the steel chisel mounting hole on the lower disc; the visual manipulator module identifies a cutter from the identification grabbing position and grabs the cutter to the inserting station, the cutter is inserted on a steel chisel on the inserting station, the penetration of the cutter is realized, when one steel chisel penetrates, the top end of the steel chisel is grabbed and moved to the position of a steel chisel clamping gap through the steel chisel grabbing module to be clamped, then the rotary tool rest is controlled to rotate, and the next empty steel chisel is rotated to the grabbing position of the steel chisel grabbing module; therefore, a plurality of cutters can be threaded on one rotary cutter frame, after the whole cutter is threaded, the rotary chassis rotates to switch the rotary cutter frame, and then the rotary cutter frame is replaced with a new rotary cutter frame, so that the problems that the existing equipment needs to be shut down to replace the cutter frame for installing the cutter, the cutter frame needs to be replaced manually, and the speed is low and the efficiency is low are solved;

the tray stacking type feeding module can be used for mounting a large number of cutter trays, so that materials needed by equipment for hours are guaranteed; meanwhile, the feeding is arranged left and right, specifically, the left side is used for feeding materials on the front side of the cutter, and the right side is used for feeding materials on the back side of the cutter, so that the method is compatible with the existing factory stringing mode; the top of the cutter disc is provided with a visual shooting module, and the bottom of the cutter disc is provided with a cutter disc correcting mechanism, so that a camera of the visual shooting module can accurately identify the position of a product on the material disc and guide a manipulator to accurately grab the product; set up a plurality of reserve anchor clamps, reserve anchor clamps are reserve jack catch promptly, after discerning the cutter and changing, can carry out the change of jack catch fast.

Drawings

FIG. 1 is a schematic perspective view of an automatic tool mounting and dismounting apparatus according to an embodiment of the present invention;

FIG. 2 is a schematic diagram showing the right side view of the automatic tool mounting and dismounting apparatus according to the embodiment;

FIG. 3 is a schematic top view of the automatic tool mounting and dismounting apparatus according to the embodiment;

FIG. 4 is a schematic structural view of a rotary cutter head and a cutter head base of the automatic tool mounting and dismounting apparatus according to the embodiment;

FIG. 5 is a schematic structural view illustrating the disassembly of the rotary cutter holder and the cutter holder base of the automatic cutter mounting and dismounting apparatus according to the embodiment;

FIG. 6 is a partial enlarged view of the portion A in FIG. 5;

fig. 7 is a schematic structural view of the correction mechanism.

Detailed Description

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the present invention will be briefly described below with reference to the accompanying drawings and the description of the embodiments or the prior art, and it is obvious that the following description of the structure of the accompanying drawings is only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without any inventive work. It should be noted that the description of the embodiments is provided to help understanding of the present invention, but the present invention is not limited thereto.

Example (b):

as shown in fig. 1 to 6, the present embodiment provides an automatic tool handling device, which includes a feeding device module, a vision manipulator module, and an inserting module, where the feeding device module includes a tool tray conveying mechanism 1 and a tool tray positioning mechanism 2, and specifically, a vision-guided 4-axis manipulator grabbing manner is adopted; the feeding device module 1 conveys the cutter disc to an identification grabbing position 2 of the visual manipulator module; a plurality of lattices for placing the cutters are arranged on the cutter disc in a longitudinal and transverse manner, and the cutters to be grabbed are placed in the lattices; the vision manipulator module is used for grabbing and identifying a cutter in a material tray at the grabbing position to penetrate through a drill rod at an penetrating station of the penetrating module; the device also comprises two symmetrically arranged rotary tool rests 6 which are arranged on the same rotary chassis 7 side by side; the rotating chassis rotates to move one of the rotating tool rests to a preset position close to the inserting station;

the rotary knife rest comprises a lower disc 601 and an upper disc 602, and a connecting column is arranged between the upper disc and the lower disc; the lower disc is provided with a plurality of steel chisel mounting holes, the plurality of steel chisel mounting holes are annularly distributed on the lower disc, and the middle points of the rings formed by the plurality of steel chisel mounting holes coincide with the center of the lower disc; the steel chisel mounting hole is provided with a steel chisel 603; a plurality of steel chisel clamping notches are uniformly distributed on the edge of the upper disc, and correspond to the steel chisel mounting holes one by one; the upper end of the steel chisel installed in the steel chisel installation hole is clamped at the steel chisel clamping gap; the bottom of the lower disc is provided with a rotating disc 8; be provided with swivel knife rest mounting panel 9 on the rotary disk 8, the swivel knife rest mounting panel is provided with the recess that matches with lower disc 601 for lower disc is installed on the swivel knife rest mounting panel, swivel knife rest mounting panel both sides are provided with checkpost 10, and lower disc is provided with the bayonet socket that corresponds with the checkpost, makes the checkpost card in bayonet socket department, makes the swivel knife rest more stable, and is concrete, and the rotary disk is pneumatic rotary disk or motor drive's rotary disk.

A steel chisel grabbing module 13 is arranged above the rotary tool rest close to the inserting station, and during work, the steel chisel grabbing module grabs from the top of the steel chisel, moves the top of the steel chisel out of the steel chisel clamping gap and moves the steel chisel to the inserting station; the vision manipulator module identifies the cutter and grabs the cutter to the penetrating station, and the cutter is penetrated on the steel chisel on the penetrating station by the penetrating module 5. In specific implementation, the inserting module 5 further includes a cutter inserting module 14 and a spacer inserting sub-module 15, the cutter inserting module 14 and the spacer inserting sub-module 15 are existing modules, the specific structure refers to existing loading and unloading equipment, and details are not illustrated in the drawing of this embodiment. When the cutter is inserted on the drill steel, the spacer bush is directly inserted into the cutter, and specifically, the spacer bush adopts a vibration disc mode and can be compatible with the spacer bush used by the existing cutter.

When the automatic loading and unloading equipment is implemented specifically, a necessary frame is arranged outside the automatic loading and unloading equipment, the visual camera module 4 is used for erecting a visual manipulator module, a shell can be arranged on the frame, and a plurality of door bodies are arranged on the side surface of the frame, so that the equipment is convenient to package, and the dustproof effect and the safety production effect are achieved; the vision camera module 4 is located above the positioning mechanism 2, and the cutter in the cutter disc is identified by the vision camera module at the positioning mechanism.

In a possible embodiment, as shown in fig. 6, the drill rod clamping gap includes a gap groove 604 arranged at the edge of the upper circular disc, the two sides of the gap groove are symmetrically provided with clamp block grooves 605, one side of the clamp block groove close to the gap groove is provided with an opening, the opening is communicated with the gap groove, one side of the clamp block groove close to the gap groove is provided with an opening smaller than the width of the clamp block groove, a clamp block 606 is arranged in the clamp block groove, one side of the clamp block close to the gap groove is provided with an arc-shaped protrusion, and the opening of the arc-shaped protrusion protruding out of the clamp block groove is positioned in the gap groove; a spring 607 is arranged between one side of the clamping block far away from the arc-shaped bulge and the side wall of the clamping block groove; when the steel chisel is installed, the steel chisel can be directly pressed into the notch groove and then clamped by the clamping blocks on two sides of the notch groove, the top of the clamping block groove is provided with a sealing cover 608, two sides of each clamping block groove are provided with screw holes, and the sealing covers are fixed on the upper disc through bolts and the screw holes in a matched mode, so that the clamping blocks are limited in the clamping block grooves.

In a possible embodiment, the end of the rotary chassis close to the insertion station is higher than the end far from the insertion station, so that the rotary tool rest is in an inclined state; when the drill rod grabbing module moves the drill rod to the inserting station, the lower end of the drill rod is always in the drill rod mounting hole of the lower disc of the rotary tool rest, and the drill rod is in a vertical state.

In a possible embodiment, a standby fixture table is arranged beside the vision manipulator module, and a plurality of standby fixtures 12 are arranged on the standby fixture table; the vision manipulator module is used for replacing the standby fixture according to different cutters. Three spare clamps are shown in the example of fig. 3.

Specifically, the standby manipulator clamp can be provided with 4 different modes, can be used for vacuum suction, can be internally supported, is provided with a quick-change clamp, can automatically change a clamping jaw according to different products, and is compatible with the existing tools of factories and the tools for expanding future planning.

In one possible embodiment, the loading device module is a tray-stacked loading module.

The material tray material loading adopts the mode material loading of folding the dish, and full charging tray and empty charging tray are integrated together, can go up dozens of dishes of material simultaneously, guarantee the required material of equipment several hours.

In a possible implementation mode, the disc stacking mode feeding modules are provided with two groups, the two groups of disc stacking mode feeding modules are arranged side by side, the vision manipulator module comprises two groups of vision camera modules and a mechanical arm, the two groups of vision camera modules are respectively positioned above the preset grabbing positions of the two groups of disc stacking mode feeding modules, and the mechanical arm is positioned between the preset grabbing positions of the two groups of disc stacking mode feeding modules.

In a possible implementation mode, the cutter of one of the two sets of the disc stacking type feeding modules is fed from the front side; the other group is the reverse material of the cutter.

When the tool is specifically implemented, the feeding is performed left and right, the left side is used for feeding the front side of the tool, the right side is used for feeding the back side of the tool, and the tool is compatible with the existing factory stringing mode.

As shown in fig. 7, in a possible embodiment, the recognition grabbing position is provided with a correction mechanism for correcting deformation of the cutter head, the correction mechanism comprises a telescopic device 11, the telescopic device is vertically arranged, a flat plate is arranged at the top of the telescopic device, and when the correction is performed, the telescopic device is lifted, so that the flat plate is in contact with the cutter head to support the middle position of the cutter head.

The camera bottom is arranged at the charging tray top and is furnished with the charging tray and correct the mechanism, can accurately discern the product and pick at the charging tray position, and guide manipulator snatchs.

Finally, it should be noted that: the above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims (8)

1. An automatic cutter loading and unloading device comprises a feeding device module, a vision manipulator module and an inserting module, wherein the feeding device module conveys a cutter disc to a recognition grabbing position of the vision manipulator module; a plurality of lattices for placing the cutters are arranged on the cutter disc in a longitudinal and transverse manner, and the cutters to be grabbed are placed in the lattices; the vision manipulator module is used for grabbing and identifying a cutter in a material tray at the grabbing position to penetrate through a drill rod at an penetrating station of the penetrating module;

the device is characterized by further comprising two symmetrically arranged rotating tool rests which are arranged on the same rotating chassis side by side; the rotating chassis rotates to move one of the rotating tool rests to a preset position close to the inserting station;

the rotary tool rest comprises a lower disc and an upper disc, and a connecting column is arranged between the upper disc and the lower disc; the lower disc is provided with a plurality of steel chisel mounting holes, the plurality of steel chisel mounting holes are annularly distributed on the lower disc, and the middle points of the rings formed by the plurality of steel chisel mounting holes coincide with the center of the lower disc; the steel chisel mounting hole is provided with a steel chisel; a plurality of steel chisel clamping notches are uniformly distributed on the edge of the upper disc, and correspond to the steel chisel mounting holes one by one; the upper end of a steel rod installed in the steel rod installation hole is clamped at the steel rod clamping notch; the bottom of the lower disc is provided with a rotating disc;

a steel chisel grabbing module is arranged above the rotary tool rest close to the insertion station, and when the rotary tool rest works, the steel chisel grabbing module grabs from the top of the steel chisel, moves the top of the steel chisel out of the steel chisel clamping gap and moves the steel chisel to the insertion station; the vision manipulator module identifies the cutter and grabs the cutter to the interpenetration station, and the cutter is interpenetrated on the drill rod on the interpenetration station.

2. The automatic cutter assembling and disassembling device according to claim 1, wherein the drill steel clamping notch includes a notch groove provided at an edge of the upper circular plate, block grooves are symmetrically provided at both sides of the notch groove, an opening is provided at a side of the block groove close to the notch groove, the opening communicates with the notch groove, an opening at a side of the block groove close to the notch groove is smaller than a width of the block groove, a block is provided in the block groove, an arc-shaped protrusion is provided at a side of the block close to the notch groove, and an opening of the arc-shaped protrusion protruding out of the block groove is located in the notch groove; a spring is arranged between one side of the clamping block, which is far away from the arc-shaped bulge, and the side wall of the clamping block groove; when the steel chisel is installed, the steel chisel can be directly pressed into the notch groove and then clamped by the clamping blocks on two sides of the notch groove, the top of the clamping block groove is provided with a sealing cover, two sides of each clamping block groove are provided with screw holes, and the sealing cover is fixed on the upper disc through the matching of bolts and the screw holes, so that the clamping blocks are limited in the clamping block grooves.

3. The automatic tool handling device of claim 1, wherein the end of the rotary turret base near the insertion station is higher than the end far from the insertion station, so that the rotary turret is in a tilted state; when the drill rod grabbing module moves the drill rod to the inserting station, the lower end of the drill rod is always in the drill rod mounting hole of the lower disc of the rotary tool rest, and the drill rod is in a vertical state.

4. The automated tool handling apparatus of claim 1, wherein a standby fixture table is disposed adjacent to the vision manipulator module, the standby fixture table having a plurality of standby fixtures mounted thereon; the vision manipulator module is used for replacing the standby fixture according to different tools.

5. The automated tool handling apparatus of claim 1, wherein the loader module is a stack-tray style loader module.

6. The automatic tool handling device of claim 5, wherein said stack loading modules are arranged in two sets, said two sets of said stack loading modules are arranged side by side, said vision manipulator module comprises two sets of vision camera modules and a robot arm, said two sets of vision camera modules are respectively located above the preset grabbing positions of said two sets of said stack loading modules, and said robot arm is located between the preset grabbing positions of said two sets of said stack loading modules.

7. The automated tool handling apparatus of claim 6, wherein the tools of one of the two sets of stacker-type loading modules are front loading; the other group is the reverse material of the cutter.

8. The automatic tool handling device of claim 1, wherein the recognition grabbing position is provided with a correction mechanism for correcting deformation of the tool tray, the correction mechanism comprises a telescopic device, the telescopic device is vertically arranged, a flat plate is arranged at the top of the telescopic device, and the telescopic device is lifted when the correction is performed, so that the flat plate is in contact with the bottom of the tool tray to support the middle position of the tool tray.

Images