CN210306910U - Automatic tool changing system suitable for machining and assembling large-scale complex workpiece - Google Patents
Automatic tool changing system suitable for machining and assembling large-scale complex workpiece Download PDFInfo
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- CN210306910U CN210306910U CN201921359153.XU CN201921359153U CN210306910U CN 210306910 U CN210306910 U CN 210306910U CN 201921359153 U CN201921359153 U CN 201921359153U CN 210306910 U CN210306910 U CN 210306910U
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- 238000003754 machining Methods 0.000 title claims description 17
- 239000012636 effector Substances 0.000 claims abstract description 18
- 238000012545 processing Methods 0.000 claims abstract description 18
- 238000012360 testing method Methods 0.000 claims abstract description 17
- 238000004891 communication Methods 0.000 claims abstract description 10
- 238000001514 detection method Methods 0.000 claims description 9
- 230000003584 silencer Effects 0.000 claims description 3
- 230000007246 mechanism Effects 0.000 description 8
- 238000000034 method Methods 0.000 description 6
- 230000008569 process Effects 0.000 description 5
- 230000009466 transformation Effects 0.000 description 2
- 230000000007 visual effect Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000003908 quality control method Methods 0.000 description 1
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Abstract
An automatic tool changing system suitable for processing and assembling large complex workpieces comprises an industrial robot, a tool magazine, a tool testing table, a tool detecting table, a tool table and a control table; the tool magazine, the tool testing table, the tool detecting table and the tool table are all arranged in the range of the turning radius of the industrial robot, an end effector is installed at the tail end of a manipulator of the industrial robot, and the control table is in communication connection with the industrial robot and the end effector; the trial cutter table is provided with a trial cutter; the tooling table is used for clamping a part to be processed; the tool magazine comprises tool rests, brackets and tools, wherein the brackets are uniformly distributed and fixedly arranged on the tool rests, each bracket is provided with a tool, and each tool is provided with a tool handle with the same model; an indicator light is arranged on the tool rest, and a position sensor is arranged on the bracket; the tool checking platform comprises a tool checking box, a CCD camera, a camera support, a tool bearing platform and a bearing platform support; the camera support is located and examines the inside of sword case, and the CCD camera is established at camera support top, and the cutter plummer is located under the CCD camera.
Description
Technical Field
The utility model belongs to the technical field of machining, especially, relate to an automatic tool changing system suitable for processing of large-scale complicated work piece and assembly.
Background
At present, a plurality of machining and assembling devices for large-scale complex workpieces do not have an automatic tool changing function generally, only a few large-scale machining centers are equipped with automatic tool changing mechanisms, common automatic tool changing mechanisms comprise rotary tool rest tool changing mechanisms, row-type tool rest tool changing mechanisms, spindle-type tool changing mechanisms and tool magazine-type tool changing mechanisms, and the automatic tool changing mechanisms are all components of the machining centers, so that the independence and universality of the automatic tool changing mechanisms are poor.
For processing and assembling equipment of large-scale complex workpieces without automatic cutter changing function, the problems of long cutter changing time consumption, easy error of cutter changing and complex cutter checking process generally exist, and if the existing equipment is comprehensively updated and eliminated, great cost pressure exists for enterprises.
SUMMERY OF THE UTILITY MODEL
The problem that exists to prior art, the utility model provides an automatic tool changing system suitable for processing of large-scale complicated work piece and assembly, be totally independent of current large-scale processing and rigging equipment and exist, do not receive the equipment restriction, good independence and universality have, as long as the place space allows, applicable in any current large-scale processing and rigging equipment, possess the automatic tool changing ability of high accuracy simultaneously, the processing and the assembly efficiency of existing equipment have not only effectively been improved, but also can accurate quick realization examine sword and examination sword, make the enterprise can realize the upgrading transformation of equipment with lower cost.
In order to achieve the above purpose, the utility model adopts the following technical scheme: an automatic tool changing system suitable for processing and assembling large complex workpieces comprises an industrial robot, a tool magazine, a tool testing table, a tool detecting table, a tool table and a control table; the tool magazine, the tool testing table, the tool detecting table and the tool table are all arranged in the range of the turning radius of the industrial robot, an end effector is installed at the tail end of a manipulator of the industrial robot, and the control table is in communication connection with the industrial robot and the end effector; a cutter testing piece is configured on the cutter testing table; the tool table is used for clamping a part to be processed.
The tool magazine comprises a tool rest, a bracket and a tool; the tool rest is characterized in that the number of the brackets is multiple, the brackets are uniformly distributed and fixedly arranged on the tool rest, a tool is arranged on each bracket, the types of all tools are different, each tool is provided with a tool handle, and the types of all tool handles are the same; an indicator light is arranged on the tool rest above the bracket, and a position sensor is arranged on the side surface of the bracket; when the cutter is taken out and put in, the position of the cutter is monitored through a position sensor, and the indication lamp is used for prompting the wrong cutter taking and putting; the indicator light and the position sensor are in communication connection with the console.
The tool checking platform comprises a tool checking box, a CCD camera, a camera support, a tool bearing platform and a bearing platform support; the camera support is arranged in the tool checking box, the CCD camera is arranged at the top of the camera support, the tool bearing table is positioned right below the CCD camera, and the tool bearing table is fixed through the bearing table support; the CCD camera is in communication connection with the console; an automatic door is arranged on a box body of the tool detection box at the side of the tool bearing table, a tool to be detected enters the tool detection box through the automatic door, and the automatic door is driven by an air cylinder to open and close; and a parallel light backlight source is arranged on the surface of the cutter bearing table.
A control box is arranged below the tool detecting table, an air cylinder driving system for opening and closing an automatic door is installed in the control box, the air cylinder driving system comprises a pneumatic triple piece, an electromagnetic directional valve and a speed control valve, and the pneumatic triple piece is connected with an air cylinder sequentially through the electromagnetic directional valve and the speed control valve; and a silencer is arranged on the electromagnetic directional valve.
The utility model has the advantages that:
the utility model discloses an automatic tool changing system suitable for processing of large-scale complicated work piece and assembly, be completely independent of current large-scale processing and rigging equipment and exist, do not receive the equipment restriction, good independence and universality have, as long as the place space allows, applicable in any current large-scale processing and rigging equipment, possess the automatic tool changing ability of high accuracy simultaneously, the processing and the assembly efficiency of existing equipment have not only effectively been improved, but also sword and examination sword are examined in the accurate quick realization, make the enterprise can realize the upgrading transformation of equipment with lower cost.
Drawings
Fig. 1 is a schematic structural diagram of an automatic tool changing system suitable for processing and assembling large-scale complex workpieces according to the present invention;
FIG. 2 is a schematic view of the tool magazine structure of the present invention;
FIG. 3 is a schematic structural view of a tool detecting table of the present invention;
in the figure, 1-industrial robot, 2-tool magazine, 3-test tool table, 4-tool checking table, 5-tool table, 6-control table, 7-end effector, 8-tool rest, 9-bracket, 10-tool, 11-indicator light, 12-tool checking box, 13-CCD camera, 14-camera support, 15-tool bearing table, 16-bearing table support, and 17-part.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
As shown in fig. 1 to 3, an automatic tool changing system suitable for processing and assembling large complex workpieces comprises an industrial robot 1, a tool magazine 2, a tool testing table 3, a tool detecting table 4, a tool table 5 and a control table 6; the tool magazine 2, the test tool table 3, the tool detection table 4 and the tool table 5 are all arranged in the range of the turning radius of the industrial robot 1, an end effector 7 is installed at the tail end of a manipulator of the industrial robot 1, and the control table 6 is in communication connection with the industrial robot 1 and the end effector 7; a cutter testing piece is configured on the cutter testing table 3; the tooling table 5 is used for clamping a part 17 to be processed.
The tool magazine 2 comprises a tool rest 8, a bracket 9 and a tool 10; the number of the brackets 9 is multiple, the brackets 9 are uniformly distributed and fixedly arranged on the tool rest 8, each bracket 9 is provided with a cutter 10, the types of all the cutters 10 are different, each cutter 10 is provided with a cutter handle, and the types of all the cutter handles are the same; an indicator light 11 is arranged on the tool rest 8 above the bracket 9, and a position sensor is arranged on the side surface of the bracket 9; when the cutter is taken out and put in, the position of the cutter 10 is monitored through a position sensor, and the indication lamp 11 is used for prompting the wrong cutter taking and putting of the cutter 10; the indicator light 11 and the position sensor are in communication connection with the console 6.
The tool detecting table 4 comprises a tool detecting box 12, a CCD camera 13, a camera support 14, a tool bearing table 15 and a bearing table support 16; the camera support 14 is arranged inside the knife detecting box 12, the CCD camera 13 is arranged at the top of the camera support 14, the knife bearing table 15 is positioned under the CCD camera 13, and the knife bearing table 15 is fixed through a bearing table support 16; the CCD camera 13 is in communication connection with the console 6; an automatic door is arranged on a box body of the tool detection box 12 at the side of the tool bearing table 15, a tool 10 to be detected enters the tool detection box 12 through the automatic door, and the automatic door is driven by an air cylinder to open and close; and a parallel light backlight source is arranged on the surface of the cutter bearing table 15.
A control box is arranged below the tool detecting table 4, an air cylinder driving system for opening and closing an automatic door is installed in the control box, the air cylinder driving system comprises a pneumatic triple piece, an electromagnetic reversing valve and a speed control valve, and the pneumatic triple piece is connected with an air cylinder sequentially through the electromagnetic reversing valve and the speed control valve; and a silencer is arranged on the electromagnetic directional valve.
The utility model is described with the following drawings in the process of one-time use:
in the embodiment, all the tool holders assembled on the tool 10 are ISO tool holders, and the taper of the tool holders is 7: 24; the end effector 7 adopts an electric spindle supporting automatic tool changing, and only one electric spindle is used, so that the system cost can be reduced, the volume of the end effector 7 can be reduced, the processing range is wider, and the end effector 7 has a visual detection function; the CCD camera 13 is an area-array camera with model number of piA 2400-2400 gc.
Firstly, a part 17 to be machined is clamped on a tool table 5, an industrial robot 1 automatically takes and places tools in a preprogramming mode, the industrial robot 1 controls an end effector 7 to move to a tool magazine 2 and moves to the position of an appointed tool 10, then automatically grips a tool handle of the appointed tool 10, then moves the appointed tool 10 out of the tool magazine 2, finally moves the appointed tool 10 to machining equipment, and installs the appointed tool 10 on a main shaft of the machining equipment, and then the industrial robot 1 moves the end effector 7 away from the machining equipment to wait for executing a subsequent tool changing step.
After the machining equipment utilizes the designated tool 10 to complete corresponding machining on the part 17, the industrial robot 1 moves the end effector 7 back to the main shaft of the machining equipment again, the tool 10 is taken down from the main shaft of the equipment, then the end effector 7 is controlled to move to the tool magazine 2 and accurately placed back to the corresponding bracket 9, then the end effector 7 is controlled to move to the position of the second designated tool 10, the tool changing process of the first designated tool 10 is repeated, and the tool changing step of the second designated tool 10 is completed.
Along with the continuous execution of tool changing process, after same cutter 10 is used many times, the wearing and tearing that the cutter produced may influence the machining precision of part 17, before cutter 10 tool changing this moment, need move to earlier and try sword platform 3, utilize industrial robot 1 to accomplish the examination sword of cutter 10, specifically process through cutter 10 to the examination sword piece on trying sword platform 3, after the examination sword piece processing, directly utilize the visual detection function of taking oneself on end effector 7 to carry out quality control to the processing position, judge whether processingquality satisfies the demands.
Confirm the processingquality after satisfying the requirement when the test cutter in-process, move cutter 10 after the test cutter to examining sword platform 4, open the automatically-controlled door through being driven by the cylinder this moment, industrial robot 1 sends into the cutter case 12 from the automatically-controlled door of opening with the cutter 10 of centre gripping, and place on cutter plummer 15, then utilize CCD camera 13 to carry out image acquisition to cutter 10, the image processing software of control cabinet 6 can automated inspection cutter 10's length and diameter, and then acquire the actual degree of wear of cutter 10, and then confirm cutter radius offset value and cutter length offset value according to the actual degree of wear of cutter 10, thereby guarantee the subsequent machining precision of part 17.
The embodiments are not intended to limit the scope of the present invention, and all equivalent implementations or modifications that do not depart from the scope of the present invention are intended to be included within the scope of the present invention.
Claims (4)
1. The utility model provides an automatic tool changing system suitable for processing of large-scale complicated work piece and assembly which characterized in that: the automatic tool changer comprises an industrial robot, a tool magazine, a tool testing table, a tool detecting table, a tool table and a control table; the tool magazine, the tool testing table, the tool detecting table and the tool table are all arranged in the range of the turning radius of the industrial robot, an end effector is installed at the tail end of a manipulator of the industrial robot, and the control table is in communication connection with the industrial robot and the end effector; a cutter testing piece is configured on the cutter testing table; the tool table is used for clamping a part to be processed.
2. The automatic tool changing system suitable for machining and assembling large-scale complex workpieces as claimed in claim 1, wherein: the tool magazine comprises a tool rest, a bracket and a tool; the tool rest is characterized in that the number of the brackets is multiple, the brackets are uniformly distributed and fixedly arranged on the tool rest, a tool is arranged on each bracket, the types of all tools are different, each tool is provided with a tool handle, and the types of all tool handles are the same; an indicator light is arranged on the tool rest above the bracket, and a position sensor is arranged on the side surface of the bracket; when the cutter is taken out and put in, the position of the cutter is monitored through a position sensor, and the indication lamp is used for prompting the wrong cutter taking and putting; the indicator light and the position sensor are in communication connection with the console.
3. The automatic tool changing system suitable for machining and assembling large-scale complex workpieces as claimed in claim 1, wherein: the tool checking platform comprises a tool checking box, a CCD camera, a camera support, a tool bearing platform and a bearing platform support; the camera support is arranged in the tool checking box, the CCD camera is arranged at the top of the camera support, the tool bearing table is positioned right below the CCD camera, and the tool bearing table is fixed through the bearing table support; the CCD camera is in communication connection with the console; an automatic door is arranged on a box body of the tool detection box at the side of the tool bearing table, a tool to be detected enters the tool detection box through the automatic door, and the automatic door is driven by an air cylinder to open and close; and a parallel light backlight source is arranged on the surface of the cutter bearing table.
4. The automatic tool changing system suitable for machining and assembling large-scale complex workpieces as claimed in claim 3, wherein: a control box is arranged below the tool detecting table, an air cylinder driving system for opening and closing an automatic door is installed in the control box, the air cylinder driving system comprises a pneumatic triple piece, an electromagnetic directional valve and a speed control valve, and the pneumatic triple piece is connected with an air cylinder sequentially through the electromagnetic directional valve and the speed control valve; and a silencer is arranged on the electromagnetic directional valve.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921359153.XU CN210306910U (en) | 2019-08-21 | 2019-08-21 | Automatic tool changing system suitable for machining and assembling large-scale complex workpiece |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921359153.XU CN210306910U (en) | 2019-08-21 | 2019-08-21 | Automatic tool changing system suitable for machining and assembling large-scale complex workpiece |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN210306910U true CN210306910U (en) | 2020-04-14 |
Family
ID=70130731
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201921359153.XU Expired - Fee Related CN210306910U (en) | 2019-08-21 | 2019-08-21 | Automatic tool changing system suitable for machining and assembling large-scale complex workpiece |
Country Status (1)
| Country | Link |
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| CN (1) | CN210306910U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110480391A (en) * | 2019-08-21 | 2019-11-22 | 辽宁省交通高等专科学校 | A kind of automatic tool changer suitable for large complicated work pieces process and assembly |
-
2019
- 2019-08-21 CN CN201921359153.XU patent/CN210306910U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110480391A (en) * | 2019-08-21 | 2019-11-22 | 辽宁省交通高等专科学校 | A kind of automatic tool changer suitable for large complicated work pieces process and assembly |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20200414 |