CN102416576A - Automatic tool changing device for chain magazine - Google Patents
Automatic tool changing device for chain magazine Download PDFInfo
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- CN102416576A CN102416576A CN2011104181642A CN201110418164A CN102416576A CN 102416576 A CN102416576 A CN 102416576A CN 2011104181642 A CN2011104181642 A CN 2011104181642A CN 201110418164 A CN201110418164 A CN 201110418164A CN 102416576 A CN102416576 A CN 102416576A
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- 238000003754 machining Methods 0.000 description 2
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Abstract
The invention provides an automatic tool changing device for a chain magazine. The device comprises a support frame connected with the magazine, a first directional moving assembly, a second directional moving assembly and a tool changing manipulator; the first direction is vertical to the second direction; the first directional moving assembly is arranged on the support frame and comprises a first driving mechanism and a first moving component which are connected, and the first moving component is driven to move linearly by the first driving mechanism; the second directional moving assembly is connected with the first directional moving assembly and comprises a second driving mechanism and a second moving component which are connected, and the second moving component is driven to move linearly by the second driving mechanism; and the tool changing manipulator is fixedly connected with the second moving component and comprises a horizontal plane rotating shaft and a vertical plant rotating shaft. Through the device, the rigidity of the tool changing manipulator is improved; and meanwhile, the tool changing position of a main shaft is adjusted as required, and the universality of the magazine is further improved.
Description
Technical Field
The invention relates to the technical field of machining, in particular to an automatic tool changing device of a chain type tool magazine.
Background
The automatic tool changing system of the machining center machine tool directly relates to the machining range of the machine tool and the working efficiency of the machine tool. Along with the improvement of the machine tool function and the increase of the efficiency of the machining center, the automatic tool changing device for the tool magazine also has the requirements of high speed, high reliability, short tool changing time and the like.
At present, the tool changing manipulator of the chain type tool magazine tool changing device has two modes: one is to fix the tool magazine, and this way is not suitable for grabbing heavy or large-sized tools because the manipulator is not rigid. The second is that the tool changing manipulator moves according to a fixed track, the tool changing device has better rigidity, but is driven by an oil cylinder or an air cylinder, the speed is lower, the impact is easy to generate, and the tool changing position can not be adjusted according to the requirement because the tool changing manipulator moves according to the fixed track.
Disclosure of Invention
The invention aims to provide an automatic tool changer for a chain type tool magazine, which aims to improve the rigidity of a tool changing manipulator; meanwhile, the tool changing position of the spindle is adjusted as required, and the universality of the tool magazine is improved.
The automatic tool changing device of the chain type tool magazine comprises: the tool changer comprises a support frame connected with a tool magazine, a first direction movement assembly, a second direction movement assembly and a tool changing manipulator; wherein the first direction is perpendicular to the second direction; the first direction movement assembly is arranged on the support frame and comprises a first driving mechanism and a first movement part which are connected, and the first movement part is driven by the first driving mechanism to do linear movement; the second direction movement assembly is connected with the first movement part and comprises a second driving mechanism and a second movement part which are connected, and the second movement part is driven by the second driving mechanism to do linear movement; and the tool changing manipulator is fixedly connected with the second moving part and comprises a horizontal plane rotating shaft and a vertical plane rotating shaft.
Preferably, in the automatic tool changer of the chain magazine, the first direction is a longitudinal direction, and the first moving part is a longitudinal moving part; the first driving mechanism comprises a first servo motor, a first linear transmission mechanism driven by the first servo motor and a first linear guide mechanism; the longitudinal moving part is connected with the first linear transmission mechanism and the first linear guide mechanism.
Preferably, in the automatic tool changer of the chain-type tool magazine, the first linear transmission mechanism is a longitudinal screw pair; the first linear guide mechanism is a longitudinal guide rail pair; and the longitudinal moving part is connected with a screw nut of the longitudinal screw pair and a slide block of the longitudinal guide rail pair.
Preferably, in the automatic tool changer of the chain magazine, the second direction is a transverse direction, and the second moving member is a transverse moving member; the second driving mechanism comprises a second servo motor, a second linear force transmission mechanism driven by the second servo motor and a second linear guide mechanism; the transverse moving component is connected with the second linear force transmission mechanism and the second linear guide mechanism.
Preferably, in the automatic tool changer of the chain-type tool magazine, the second linear force transmission mechanism is a transverse screw pair; the second linear guide mechanism is a transverse guide rail pair; the second servo motor, the transverse lead screw pair and the transverse guide rail pair are arranged on the longitudinal moving part; the transverse moving component is connected with a screw nut of the transverse screw pair and a slide block of the transverse guide rail pair.
In the invention, the tool changing manipulator is fixedly connected with the second direction movement assembly, the second direction movement assembly is fixedly connected with the first direction movement assembly, the first direction movement assembly is fixedly connected with the support frame, and the support frame is connected with the tool magazine. And because the motion components in two directions can be driven by the driving mechanism to realize linear motion, the tool changing position of the main shaft can be adjusted as required, and the universality of the tool magazine is facilitated.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
FIG. 1 is a front view of an embodiment of an automatic tool changer of the present invention;
FIG. 2 is a top view of an embodiment of the automatic tool changer of the chain magazine of the present invention;
fig. 3 is a schematic perspective view of an automatic tool changer of the chain magazine according to an embodiment of the invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
First embodiment
This embodiment chain tool magazine automatic tool changing device includes: the tool magazine comprises a support frame 1 connected with the tool magazine, a first direction movement assembly and a second direction movement assembly; and a tool changing manipulator 10; wherein the first direction is perpendicular to the second direction; the first direction movement assembly is arranged on the support frame 1 and comprises a first driving mechanism and a first movement part which are connected, and the first movement part is driven by the first driving mechanism to do linear movement; the second direction movement assembly is connected with the first movement part and comprises a second driving mechanism and a second movement part which are connected, and the second movement part is driven by the second driving mechanism to do linear movement; and the tool changing manipulator 10 is fixedly connected with a second moving part and comprises a horizontal plane rotating shaft and a vertical plane rotating shaft.
In this embodiment, tool changing manipulator and second direction motion subassembly fixed connection, second direction motion subassembly and first direction motion subassembly fixed connection, first direction motion subassembly and support frame fixed connection, the support frame is connected with the tool magazine, and in this kind of connected mode, because tool changing manipulator does not directly be connected with the tool magazine, consequently, improved tool changing manipulator's rigidity, the weight and the volume range of interchangeable cutter are big. And because the motion components in two directions can be driven by the driving mechanism to realize linear motion, the tool changing position of the main shaft can be adjusted as required, and the universality of the tool magazine is facilitated.
Second embodiment
Reference is made to fig. 1, 2 and 3.
The automatic tool changing device of the chain type tool magazine in the embodiment comprises a support frame 1, a longitudinal moving part 2, a transverse moving part 3, a longitudinal servo motor 4, a transverse servo motor 5, a longitudinal lead screw pair 6, a transverse lead screw pair 7, a longitudinal guide rail pair 8, a transverse guide rail pair 9 and a manipulator 10.
The longitudinal moving component 2, the longitudinal servo motor 4, the longitudinal lead screw pair 6 and the longitudinal guide rail pair 8 are first-direction moving assemblies; the transverse moving component 3, the transverse servo motor 5, the transverse lead screw pair 7 and the transverse guide rail pair 9 are a second direction moving assembly.
The support frame 1 is connected with the tool magazine, and a longitudinal motor 4, a longitudinal screw 6 and a longitudinal guide rail pair 8 are arranged on the support frame 1. The longitudinal screw is driven by a longitudinal servomotor 4. The longitudinal moving part 2 is connected with a screw nut of the longitudinal screw pair 6 and a slide block of the longitudinal guide rail pair 8 and is driven by the longitudinal screw 6 to do linear motion.
The transverse servo motor 5, the transverse lead screw pair 7 and the transverse guide rail pair 9 are arranged on the longitudinal moving component 2, and the transverse lead screw pair 7 is driven by the transverse motor 5. The transverse moving component 3 is connected with a screw nut of the transverse screw pair 7 and a slide block of the transverse guide rail pair 7 and is driven by the transverse screw 7 to do linear motion.
The tool changing manipulator 10 is fixed on the transverse moving part and can complete the actions of taking a tool from a tool magazine, changing the tool to the spindle and replacing the tool magazine under the matching action of longitudinal movement and transverse movement.
The automatic tool changer is used on a chain type tool magazine of a machine tool of a machining center, the support frame 1 is connected with the tool magazine, and corresponding support can be made to be connected with the ground in order to increase the support rigidity of the automatic tool changer. The longitudinal moving part 2 moves linearly in the longitudinal direction relative to the support frame 1, a longitudinal servo motor 4 and a longitudinal lead screw pair 6 are used as a transmission chain to provide power, and a longitudinal guide rail pair 8 is used as guide. The longitudinal servo motor 4 is controlled by a machine tool numerical control system and can control the movement position of the longitudinal movement part 2, and the longitudinal movement part 2 can complete the tool pulling and inserting actions in the tool magazine direction and the tool grabbing action at the main shaft position. The transverse moving component 3 moves linearly in the transverse direction relative to the support frame 1, a transverse servo motor 5 and a transverse lead screw pair 7 are used as a transmission chain to provide power, and a transverse guide rail pair 9 is used as a guide. The transverse servo motor 5 is controlled by a machine tool numerical control system, can control the movement position of a transverse movement component, and the transverse movement component can complete the tool pulling and inserting actions in the main shaft direction and the tool grabbing actions in the tool magazine position. The manipulator 10 has a horizontal rotation axis and a vertical rotation axis, the vertical rotation axis rotates at least 90 degrees and can complete the turning from the tool magazine direction to the spindle direction, the horizontal rotation axis rotates at least 180 degrees and completes the tool changing action at the tool magazine position or the spindle position.
The tool changing process is as follows: the numerical control system of the machine tool instructs to change the tool, the tool magazine adjusts the target tool to the tool changing position, the tool changing manipulator is adjusted to the tool magazine tool changing position by the transverse moving part 3 and the longitudinal moving part 2, the transverse servo motor 5 acts to drive the manipulator to grab the tool, the longitudinal servo motor 4 acts, and the manipulator pulls out the tool. The longitudinal servo motor 4 and the transverse servo motor 5 work simultaneously, the manipulator 10 is sent to a spindle tool changing position, and meanwhile, the vertical rotating shaft of the manipulator rotates by 90 degrees. The longitudinal servo motor 4 acts, the manipulator grabs the tool to be changed, and the transverse servo motor 5 acts to complete tool pulling. The horizontal rotating shaft of the manipulator 10 rotates 180 degrees, the new cutter is adjusted to the position of the spindle taper hole, and the transverse servo motor 5 acts to complete the actions of inserting the cutter and withdrawing the manipulator. The longitudinal servo motor 4 and the transverse servo motor 5 work simultaneously to send the manipulator to a tool magazine tool changing sleeve position, and meanwhile, the vertical rotating shaft of the manipulator 10 rotates reversely by 90 degrees. The longitudinal servo motor 4 acts to complete the slotting tool, the transverse servo motor 5 acts, and the mechanical arm 10 withdraws. The whole process is controlled by a numerical control system of the machine tool.
In addition, it should be noted that the screw pair may be replaced by other linear force transmission mechanisms, and the longitudinal and transverse guide rail pairs may be replaced by other linear guide mechanisms.
The embodiment has the following technical effects:
firstly, because the tool changing manipulator is not directly connected with the tool magazine, the rigidity of the tool changing manipulator is improved, and the weight and the volume range of the replaceable tool are large.
Secondly, because the motion subassembly of two directions all can be realized linear motion by the actuating mechanism drive, consequently, can adjust the tool changing position of main shaft as required, be favorable to the commonality of tool magazine.
And the third, longitudinal movement and transverse movement components are controlled by a servo motor, so that the positioning precision is high, the movement speed is high, and the impact generated by using an oil cylinder or an air cylinder as power is avoided.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (5)
1. The utility model provides an automatic tool changer of chain tool magazine which characterized in that includes:
the tool magazine comprises a support frame (1) connected with the tool magazine, a first direction movement assembly and a second direction movement assembly; and a tool changing manipulator (10); wherein,
the first direction is vertical to the second direction; and is
The first direction movement assembly is arranged on the support frame (1) and comprises a first driving mechanism and a first movement part which are connected, and the first movement part is driven by the first driving mechanism to do linear movement;
the second direction movement assembly is connected with the first movement part and comprises a second driving mechanism and a second movement part which are connected, and the second movement part is driven by the second driving mechanism to do linear movement; and
the tool changing manipulator (10) is fixedly connected with the second moving part and comprises a horizontal plane rotating shaft and a vertical plane rotating shaft.
2. The automatic tool changer of the chain magazine according to claim 1,
the first direction is a longitudinal direction, and the first moving part is a longitudinal moving part (2);
the first driving mechanism comprises a first servo motor (4), a first linear transmission mechanism driven by the first servo motor (4) and a first linear guide mechanism;
the longitudinal moving part (2) is connected with the first linear transmission mechanism and the first linear guide mechanism.
3. The automatic tool changer of the chain magazine according to claim 2,
the first linear transmission mechanism is a longitudinal lead screw pair (6);
the first linear guide mechanism is a longitudinal guide rail pair (8); and is
The longitudinal moving part (2) is connected with a screw nut of the longitudinal screw pair (6) and a slide block of the longitudinal guide rail pair (8).
4. The automatic tool changer of the chain magazine according to claim 1,
the second direction is transverse, and the second moving part is a transverse moving part (3);
the second driving mechanism comprises a second servo motor (5), a second linear force transmission mechanism driven by the second servo motor (5) and a second linear guide mechanism;
the transverse motion component (3) is connected with the second linear force transmission mechanism and the second linear guide mechanism.
5. The automatic tool changer of the chain magazine according to claim 4,
the second linear force transmission mechanism is a transverse lead screw pair (7);
the second linear guide mechanism is a transverse guide rail pair (9); and is
The second servo motor (5), the transverse lead screw pair (7) and the transverse guide rail pair (9) are arranged on the longitudinal moving part (2);
the transverse moving component (3) is connected with a screw nut of the transverse screw pair (7) and a slide block of the transverse guide rail pair (9).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011104181642A CN102416576A (en) | 2011-12-14 | 2011-12-14 | Automatic tool changing device for chain magazine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011104181642A CN102416576A (en) | 2011-12-14 | 2011-12-14 | Automatic tool changing device for chain magazine |
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| Publication Number | Publication Date |
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| CN102416576A true CN102416576A (en) | 2012-04-18 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN2011104181642A Pending CN102416576A (en) | 2011-12-14 | 2011-12-14 | Automatic tool changing device for chain magazine |
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Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102744637A (en) * | 2012-07-24 | 2012-10-24 | 宁夏银川大河数控机床有限公司 | Movable tool magazine of horizontal machining center |
| CN103302537A (en) * | 2013-06-06 | 2013-09-18 | 宁波海迈克精密机械制造有限公司 | Chained cutter base cutter changing mechanism |
| CN104647102A (en) * | 2015-02-04 | 2015-05-27 | 杜德宏 | Coordinate robot tool magazine for machine tool |
| CN104816169A (en) * | 2015-05-12 | 2015-08-05 | 浙江海洋学院 | Manipulator arm |
| CN106271798A (en) * | 2016-08-30 | 2017-01-04 | 广东原点机床科技有限公司 | Digit Control Machine Tool tool magazine system |
| CN107378587A (en) * | 2017-08-09 | 2017-11-24 | 邱龙海 | A kind of lathe tool changing device |
| CN108723854A (en) * | 2018-06-29 | 2018-11-02 | 科德数控股份有限公司 | One kind is based on the double gripping-type cutting tool exchanging systems of manipulator |
| CN108723853A (en) * | 2018-06-29 | 2018-11-02 | 科德数控股份有限公司 | A kind of horizontal tool magazine adjustment positioning system of horizontal machining center machine side |
| CN110394656A (en) * | 2019-08-13 | 2019-11-01 | 浙江金汤机床有限公司 | Camshaft processes turn-milling complex machining center |
| CN110405507A (en) * | 2019-08-13 | 2019-11-05 | 浙江金汤机床有限公司 | Automotive brake cnc lathe |
| CN112192291A (en) * | 2020-09-30 | 2021-01-08 | 上海交通大学 | Truss composite tool magazine |
| CN112476005A (en) * | 2020-11-19 | 2021-03-12 | 南通格美工业数控设备有限公司 | Variable-rail blade set for five-axis linkage numerical control machining center |
| CN112692627A (en) * | 2019-10-23 | 2021-04-23 | 冈田精机丹阳有限公司 | Chain type tool magazine |
| CN113814450A (en) * | 2021-10-08 | 2021-12-21 | 宁波华源精特金属制品有限公司 | Milling equipment for support plate of track inspection robot |
| CN117428540A (en) * | 2023-12-21 | 2024-01-23 | 广州霏鸿智能科技有限公司 | Mobile extension type tool magazine device |
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Cited By (20)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102744637A (en) * | 2012-07-24 | 2012-10-24 | 宁夏银川大河数控机床有限公司 | Movable tool magazine of horizontal machining center |
| CN103302537A (en) * | 2013-06-06 | 2013-09-18 | 宁波海迈克精密机械制造有限公司 | Chained cutter base cutter changing mechanism |
| CN104647102A (en) * | 2015-02-04 | 2015-05-27 | 杜德宏 | Coordinate robot tool magazine for machine tool |
| CN104816169A (en) * | 2015-05-12 | 2015-08-05 | 浙江海洋学院 | Manipulator arm |
| CN106271798A (en) * | 2016-08-30 | 2017-01-04 | 广东原点机床科技有限公司 | Digit Control Machine Tool tool magazine system |
| CN107378587A (en) * | 2017-08-09 | 2017-11-24 | 邱龙海 | A kind of lathe tool changing device |
| CN108723853B (en) * | 2018-06-29 | 2023-12-12 | 科德数控股份有限公司 | Horizontal tool magazine adjustment positioning system for side machine tool of horizontal machining center |
| CN108723853A (en) * | 2018-06-29 | 2018-11-02 | 科德数控股份有限公司 | A kind of horizontal tool magazine adjustment positioning system of horizontal machining center machine side |
| CN108723854A (en) * | 2018-06-29 | 2018-11-02 | 科德数控股份有限公司 | One kind is based on the double gripping-type cutting tool exchanging systems of manipulator |
| CN110394656B (en) * | 2019-08-13 | 2024-05-07 | 浙江金汤机床有限公司 | Cam shaft machining turning and milling composite machining center |
| CN110394656A (en) * | 2019-08-13 | 2019-11-01 | 浙江金汤机床有限公司 | Camshaft processes turn-milling complex machining center |
| CN110405507A (en) * | 2019-08-13 | 2019-11-05 | 浙江金汤机床有限公司 | Automotive brake cnc lathe |
| CN110405507B (en) * | 2019-08-13 | 2024-08-30 | 浙江金汤机床有限公司 | Special numerical control lathe for automobile brake |
| CN112692627A (en) * | 2019-10-23 | 2021-04-23 | 冈田精机丹阳有限公司 | Chain type tool magazine |
| CN112192291A (en) * | 2020-09-30 | 2021-01-08 | 上海交通大学 | Truss composite tool magazine |
| CN112476005A (en) * | 2020-11-19 | 2021-03-12 | 南通格美工业数控设备有限公司 | Variable-rail blade set for five-axis linkage numerical control machining center |
| CN112476005B (en) * | 2020-11-19 | 2022-04-29 | 南通格美工业数控设备有限公司 | Variable-rail blade set for five-axis linkage numerical control machining center |
| CN113814450A (en) * | 2021-10-08 | 2021-12-21 | 宁波华源精特金属制品有限公司 | Milling equipment for support plate of track inspection robot |
| CN117428540B (en) * | 2023-12-21 | 2024-05-24 | 广州霏鸿智能科技有限公司 | Mobile extension type tool magazine device |
| CN117428540A (en) * | 2023-12-21 | 2024-01-23 | 广州霏鸿智能科技有限公司 | Mobile extension type tool magazine device |
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