CN102615537B - Locking devices of tool changing manipulator of numerical control processing center - Google Patents
Locking devices of tool changing manipulator of numerical control processing center Download PDFInfo
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- CN102615537B CN102615537B CN201210042459.9A CN201210042459A CN102615537B CN 102615537 B CN102615537 B CN 102615537B CN 201210042459 A CN201210042459 A CN 201210042459A CN 102615537 B CN102615537 B CN 102615537B
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- push rod
- cutter
- manipulator
- locking
- tool
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Abstract
The invention relates to two locking devices of a tool changing manipulator of an automatic tool changing center of a numerical control machine tool. Particularly, an auxiliary locking device is added at an end of the tool changing manipulator used at present, and present common single locking is changed into synchronous double locking. Tools are not inclined or drop assuredly under conditions that the tool changing manipulator grabs tools, particularly heavy tools, when changing tools frequently. The tools cannot drop, so that safety during machining is guaranteed. The tools are not inclined, so that the possibility that the tool changing manipulator is collided with a machining spindle when inserting the tools onto the machining spindle is reduced. The locking devices of the tool changing manipulator not only guarantee safety during production, but also improve machining precision.
Description
Technical field
The present invention relates to the locking device of Digit Control Machine Tool automatic tool changer center tool-changing mechanical arm.Be exactly specifically the monolock cutter mechanism that becomes current be two-bolt lock cutter mechanism.Realize in the time capturing heavy cutter situation and can ensure that cutter has good reliability, ensured that the distortion of cutter inclination angle is little, in motion process, do not fallen cutter.
Background technology
Digit Control Machine Tool is called as national manufacturing machine tool, realize the modernization of China's assembling manufacturing industry, realizes China by manufacturing big country to the transformation of manufacturing power, depends on the development level of China NC Machine.The automatic tool changer of machining center is as the of paramount importance part of large-size numerical control machine, the reliability of its tool changing, and stability direct relation manufacturing development, also affects the development of enterprise.When tool changing, the action that manipulator and tool magazine are carried out is many, and speed is fast, high to accurate positioning requirement.In complex parts process, need frequent exchange cutter, this makes knife-changing system become the weak links of reliability of machining center.
The cutter-exchange mechanism of the Digit Control Machine Tool of Multiple Type all adopts manipulator to realize automatic tool changer in the market.Be that tool changing is to rotate by driven by motor cam, cam drives corresponding linkage to realize manipulator in axial movement and rotation again, in process mobile and that rotate, realizes and grabs cutter and slotting tool.Therefore, the process of grabbing cutter and slotting tool just relates to integrity problem, the namely locking problem of manipulator to cutter, and widely used manipulator locking device is as shown in Figure 1 in the market.End be with the circular arc paw of mechanical arm 1 one and locking device the first push rod 4, the first push rods 4 of sliding in arm on put the first spring 2, the first push rods 4 and can carry out stretching motion, and then drive the flexible of spring, realize the clamping to cutter.In the time will grabbing cutter, robot movement is to the end of axle, now the first push rod 4 is in relaxed state, manipulator rotates 90 clampings of having spent handle of a knife, in the time that cam driven connecting rod makes manipulator leave end, manipulator completes a cutter and extracts from broach shell, relies on the first spring 2 to realize the clamping to the first push rod 4 in this process, and then realize clamping to cutter, when tool changing, be and same process above.
Summary of the invention
But the tool-changing mechanical arm using in the market exists a serious problem after long-term use, due to the long-term wearing and tearing of the first push rod 4 and further developing along with automatic process technology, at the cutter of clamping more and more heavier and cutter changing frequency more and more higher, remove to capture heavy cutter if still use ubiquitous tool-changing mechanical arm structure in the market, just easily cause in crawl and motion process and occur loose cutter, fall cutter and in slotting tool, aggravated greatly the collision of cutter and machining spindle due to the change of cutter inclination angle, cause the damage aggravation of main shaft, affect the machining accuracy of enterprise product, strengthen production cost, production efficiency and the productive profit of enterprise are reduced.
The actual conditions of producing for this reason for above problem, then in conjunction with enterprise, our unit has designed two kinds of novel tool-changing mechanical arm structures, and can become the single locking tool-changing mechanical arm generally using is at present double locking.And the design's novel part is just to realize by single power source the locking of double synchronous.Both strengthened the contact area of manipulator and cutter, locking cutter that again can be firm.
Be the above-mentioned weak point for prior art order of the present invention, a kind of tool-changing mechanical arm device of double locking is provided.This novel tool-changing mechanical arm not only can meet Cutters In Mc and change the requirement that weight frequent, cutter more and more weighs, and can realize synchronously carrying out of double locking by single power source.The present invention is by strengthening the contact area of tool-changing mechanical arm and cutter, ensure that tool-changing mechanical arm do not forge a knife in the process of grabbing cutter, not loose cutter in the process of moving together with cutter, do not fall cutter, in the slotting tool process toward machine tool chief axis, there will not be due to tool axis and the machine tool chief axis axis sharp impacts that conllinear does not cause, and then delayed to a great extent the injuring speed of main shaft, improve the working (machining) efficiency of enterprise and reduced the production cost of enterprise.
In order to achieve the above object, the first tool-changing mechanical arm device installation diagram of the present invention as shown in Figure 2.First keep 1 of original manipulator, 2, 3, 4 parts are constant, on the basis of original robot manipulator structure, output a groove in mechanical arm inside, in groove, place the second push rod 8, the second push rod 8 and the first push rod 4 are assembled together, the second push rod 8 is set in the inside of the first push rod 4, such the first push rod 4 will be synchronous in mobile process the movement that causes the second push rod 8, then bore again a hole in robot end, in hole, place the 3rd push rod 7, the circular arc hand of end is grabbed by the first pin 6 and assisted finger 5 and is linked together, the rotation of assisted finger 5 can cause the round movement of the 3rd push rod 7, second push rod 8 that makes that the round movement of the 3rd push rod 7 can be lucky is simultaneously set in its groove, and then complete the double locking to cutter.
The second tool-changing mechanical arm installation diagram of the present invention as shown in figure 15, same 1,2,3,4 parts of original manipulator that keep are constant, still on the arm of manipulator, output a groove and place the 4th push rod 13, the second spring 12 is now installed on the 4th push rod 13, output one in the end of manipulator and can ensure that bull stick 9 forwards the groove of scope to, bull stick 9 links together by the second pin 10 and manipulator, finally on mechanical arm, is boring the hole that can place the second spring 11.
Brief description of the drawings
The first manipulator brief description of the drawings
Fig. 1 is at present conventional Digit Control Machine Tool machinery hand locking device top view and front view
Fig. 2 is installation diagram top view of the present invention
Fig. 3 is installation diagram front view of the present invention
Fig. 4 is the top view of the second push rod 8
Fig. 5 is the front view of the second push rod 8
Fig. 6 is the front view of the 3rd push rod 7
Fig. 7 is the top view of the 3rd push rod 7
Fig. 8 is the front view of assisted finger 5
Fig. 9 is the top view of assisted finger 5
Figure 10 is the front view of manipulator 1
Figure 11 is the top view of manipulator 1
Figure 12 is the front view of the first push rod 4
Figure 13 is the top view of the first push rod 4
Figure 14 is the front view of the first pin 6
The second manipulator brief description of the drawings
Figure 15 is manipulator installation diagram top view
Figure 16 is gripper of manipulator cutter top view
Figure 17 is manipulator top view
Figure 18 is manipulator front view
Figure 19 is the top view of bull stick 9
Figure 20 is the front view of bull stick 9
The top view of Figure 21 the 4th push rod 13
Detailed description of the invention
the operation principle of the first tool-changing mechanical arm
First: in the time that manipulator remains static, the first push rod 4 is because the effect of manipulator contained spring is in locking state, the second push rod 8 is set in the first push rod 4, now the second push rod 8 is in the distal-most end B point away from manipulator axle center, and now the C part of the E of the 3rd push rod 7 part and the second push rod 8 is combined.Locking finger 5 rotates counterclockwise 38 degree around the first pin 6, and the G part of locking finger and the F part of the 3rd push rod 7 are combined, and the F part of the 3rd push rod 7 now realizes self-locking with the G part of locking finger 5.
Secondly: when robot movement, before robot movement arrives cutter stand, the just state in narrating above always of the whole part of manipulator, in the time that manipulator moves to cutter stand just, now the first push rod 4 is in relaxed state, capture in the process of cutter at manipulator, cutter contacts with the first push rod 4, due to the interaction on cutter and push rod, force the axe movement of the first push rod 4 to manipulator, meanwhile the second push rod 8 will be transported to A point away from B point, the C portion of the second push rod 8 also can be accordingly away from the E part of the 3rd push rod 7.Simultaneously when cutter contacts with the first push rod 4, cutter also contacts with locking finger 4, now cutter is because the C part of the second push rod 8 has departed from the E part of the 3rd push rod 7, so the 3rd push rod 7 just can be realized and moving freely under the effect of locking finger, when cutter is completely in the time that manipulator circular arc is about to leave cutter stand, because effect first push rod 4 of the first spring 2 moves locking cutter, now push rod 8 moves to B point by A point.The C part of push rod 8 and the D part of the 3rd push rod 7 are combined, push rod the 37 moves downward and compresses the finger of drawing back one's hand, and then realize the locking of locking finger and cutter, and moving to manipulator at cutter toward before machine tool chief axis slotting tool together with manipulator, cutter and manipulator are always in locking state.
Last: at manipulator in the process of machine tool chief axis slotting tool, manipulator is relying on that powerful inertia force is compulsory draws sword from cutter, such the first push rod 4 will move backward, the first push rod 4 movement backward will cause that the second push rod 8 moves to A point from B point, cause that the C part of the second push rod 8 departs from the D part of the 3rd push rod 7 simultaneously, in realizing above slotting tool process, due to departing from cutter of mechanical arm forced, cause exactly walking around counterclockwise of locking finger, and now the 3rd push rod 7 in relaxed state, so locking finger is exactly to promote the 3rd push rod 7 to move up, completing the G part of locking finger and the F of the 3rd push rod 7 partly combines, the E part of the 3rd push rod 7 and the D part of the second push rod 8 are combined.
Above three processes are exactly this new mechanical arm three processes more than complete whole motion state of grabbing in cutter, exchanging knives process, repeating to realize in robot movement process afterwards.
the operation principle of the second tool-changing mechanical arm
First: in the time that manipulator remains static, the first push rod 4 is because the effect of inner the first spring 2 of manipulator is in locking state, the 4th push rod 13 is set in the first push rod 4, now the first push rod 4 is away from farthest, manipulator axle center, and now bull stick 9 due under the acting in conjunction at the 4th push rod 13 second springs 11 and the 3rd spring 12 in as Figure 15 state, Figure 15 is manipulator installation diagram.Bull stick 9 and the first push rod 4 acting in conjunction locking cutters.
Secondly: when robot movement is grabbed cutter, before robot movement arrives cutter stand, the whole part of manipulator is still in Figure 15 state, in the time that manipulator moves to cutter stand just, now the first push rod 4 in the squeezed state of cutter, the 4th push rod 13 is followed the first push rod 4 to manipulator axe movement, and meanwhile bull stick 9 rotates counterclockwise around the second pin 10 under the effect of the second spring 11 and the 3rd spring 12, and pivot region is that Figure 15 center line shows region.
When manipulator and cutter in together with while leaving cutter stand, the first push rod 4 under the effect of the first spring 2 away from manipulator axle center, the 4th push rod 13 is followed the first push rod 4 and is moved together, now bull stick 9 is at the 4th push rod 13, under the acting in conjunction of the second spring 11 and the 3rd spring 12, clockwise rotate around the first pin 6, final position as shown in figure 16.So just realize the double locking of manipulator to cutter.Strengthen the dynamics of locking, avoided manipulator and cutter in the process of motion, to fall the generation of cutter phenomenon.
Last: manipulator is toward on main shaft when slotting tool, manipulator is relying on powerful inertia force to force to draw sword from cutter, such the 4th push rod 13 will be followed the first push rod 4 together near manipulator axle center, meanwhile bull stick 9 rotates counterclockwise around the second pin 10 under the effect of the first spring 11 and the second spring 12, avoid the collision of cutter and bull stick 5, realized the safe escape of cutter and manipulator.
Above three processes are exactly this new mechanical arm three processes more than complete whole motion state of grabbing in cutter, exchanging knives process, repeating to realize in robot movement process afterwards.
In sum: the present invention can realize smoothly and grab cutter, tool changing, can realize again double synchronous clamp-on tool, avoid current standard machinery hand grabbing cutter, especially tightly serious according to the cutter inclination becoming owing to clamping in the process of the heavy cutter of crawl, and fall cutter phenomenon.Cutter aggravates the collision of cutter and main shaft, infringement main shaft when tilting seriously can shine into cutter toward machine tool chief axis dress cutter.And then impact vibration cutting in the process of processing is violent, the precision of impact processing.And the dual fastening safety that the present invention realizes is reliable, eliminates and cutter problem due to what single clamping brought.Also can eliminate the infringement to main shaft of tilting to shine due to cutter.Improve economic benefit and production safety ability, also improved machining accuracy.
Claims (1)
1. based on numerical control machining center tool-changing mechanical arm locking device, it is characterized in that the single locking that becomes current is synchronous double locking, its version is: the synchronous double locking with the first push rod (4), the second push rod (8), the 3rd push rod (7) and assisted finger (5) composition, the upper cover of the first push rod (4) has spring (2), the first push rod (4) can carry out stretching motion, and then driving the flexible of spring (2), assisted finger (5) has arcuate structure; It grabs cutter principle: cutter pushes the first push rod (4) and moves backward, the first push rod (4) drives the second push rod (8) to move together, now the second push rod (8) and the 3rd push rod (7) are in released state, assisted finger (5) turns clockwise and holds cutter tightly under the extruding of cutter, in this simultaneously, the first push rod (4) drives the second push rod (8) to complete the self-locking to the 3rd push rod (7) under the effect of spring (2), and manipulator completes the synchronous locking to cutter.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210042459.9A CN102615537B (en) | 2012-04-01 | 2012-04-01 | Locking devices of tool changing manipulator of numerical control processing center |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210042459.9A CN102615537B (en) | 2012-04-01 | 2012-04-01 | Locking devices of tool changing manipulator of numerical control processing center |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102615537A CN102615537A (en) | 2012-08-01 |
| CN102615537B true CN102615537B (en) | 2014-07-09 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201210042459.9A Expired - Fee Related CN102615537B (en) | 2012-04-01 | 2012-04-01 | Locking devices of tool changing manipulator of numerical control processing center |
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Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103551919B (en) * | 2013-10-17 | 2016-01-06 | 北京工业大学 | A kind of repetitive positioning accuracy measurement mechanism of rotating machine arm automatic tool changer |
| CN105500088B (en) * | 2016-01-29 | 2017-07-28 | 黄山皖南机床有限公司 | A kind of Digit Control Machine Tool automatic tool changer and method |
| CN108188800A (en) * | 2018-03-05 | 2018-06-22 | 内蒙古工业大学 | A kind of pneumatic tool-changing mechanical arm of machining center |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DD214322A1 (en) * | 1983-03-10 | 1984-10-10 | Werkzeugmasch Heckert Veb | GRIPPER FOR ROTATION SYMMETRIC PARTS |
| US4509235A (en) * | 1981-09-09 | 1985-04-09 | Toyoda Koki Kabushiki Kaisha | Tool changer |
| CN101176994A (en) * | 2007-11-30 | 2008-05-14 | 四川长征机床集团有限公司 | Locking device of mechanical arm |
| CN201366627Y (en) * | 2009-03-20 | 2009-12-23 | 大连机床集团有限责任公司 | Tool changing manipulator locking mechanism |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2001018138A (en) * | 1999-07-09 | 2001-01-23 | Sankyo Seiki Mfg Co Ltd | Tool gripping mechanism for tool changing arm |
-
2012
- 2012-04-01 CN CN201210042459.9A patent/CN102615537B/en not_active Expired - Fee Related
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4509235A (en) * | 1981-09-09 | 1985-04-09 | Toyoda Koki Kabushiki Kaisha | Tool changer |
| DD214322A1 (en) * | 1983-03-10 | 1984-10-10 | Werkzeugmasch Heckert Veb | GRIPPER FOR ROTATION SYMMETRIC PARTS |
| CN101176994A (en) * | 2007-11-30 | 2008-05-14 | 四川长征机床集团有限公司 | Locking device of mechanical arm |
| CN201366627Y (en) * | 2009-03-20 | 2009-12-23 | 大连机床集团有限责任公司 | Tool changing manipulator locking mechanism |
Non-Patent Citations (1)
| Title |
|---|
| JP特开2001-18138A 2001.01.23 |
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| CN102615537A (en) | 2012-08-01 |
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