CN102626881A - Automatic tool changing system of manipulator - Google Patents
Automatic tool changing system of manipulator Download PDFInfo
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- CN102626881A CN102626881A CN2012101191280A CN201210119128A CN102626881A CN 102626881 A CN102626881 A CN 102626881A CN 2012101191280 A CN2012101191280 A CN 2012101191280A CN 201210119128 A CN201210119128 A CN 201210119128A CN 102626881 A CN102626881 A CN 102626881A
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Abstract
According to an automatic tool changing system of manipulator, a tool changing manipulator is driven to do swiveling motion and plugging-unplugging motion by a group of cam mechanism, and a tool loosening mechanism of a main shaft is driven by a system of oil pump, oil pipe, and oil cylinder to realize the coordination of the tool loosening-drawing action of the main shaft and the action of the manipulator. The whole process can be finished in only one start-stop action of the tool changing manipulator, and the tool changing speed is accelerated. But hidden trouble of damaging the tool changing mechanism exists in the system of oil pump, oil pipe, and oil cylinder, because the tool loosening-drawing action of the main shaft is not in place due to trace leakage of oil and change of temperature. According to the invention, the safety and the reliability of the whole tool changing process realized in one start-stop action of the tool changing manipulator are ensured by adding an oil supplementing hole on the oil pump, an oil supplementing cup, a tool loosening displacement detecting and alarming device, and a corresponding program of a numerical control system. The system of the invention is suitable for various kinds of main shafts by adopting normal tool loosening oil cylinder; the structure of the tool changing manipulator is simplified, and the volume is reduced by integrating a tool loosening cam with an arm swiveling cam, and the automatic tool changing system of the manipulator is further suitable for multiple machining centers such as vertical type and horizontal type.
Description
Technical field
The present invention relates to a kind of machining center automatic tool changer that is used for, especially a kind of cam that utilizes is realized the tool changing system that manipulator and main shaft pine broaching tool coordination are controlled in the automatic tool changer process, belongs to the Metal Cutting Machine Tool technical field.
Background technology
Patent of invention ZL200810011687.3, denomination of invention are: machining center hydraulic cam linkage tool-changing mechanism proposes a kind of manipulator automatic tool changer different with conventional art.Press conventional art, tool-changing mechanical arm is only born the revolution button cutter and the action of plug cutter of manipulator, need cooperatively interact with main shaft pine tool-broaching mechanism therebetween; Two cover mechanisms need digital control system to detect and coordinate control, and whole exchanging knives process, tool-changing mechanical arm will start and stop 3 times; Every starting once will detect and wait for that the manipulator status signal is ready, and the control manipulator stops; Detect again after stopping and waiting for that main shaft pine broaching tool status signal is ready, just can carry out manipulator starting next time, each starts stopped process, as long as there is a detection signal undesired; Exchanging knives process just can not be proceeded, so not only exchanging knives process is slow, and fault rate is higher.And " hydraulic cam linkage tool-changing mechanism " that patent of invention ZL200810011687.3 proposes promotes a piston that oil cylinder with a loose cutter cam with manipulator control cam linkage; The fluid of this oil cylinder output promotes a piston that is contained in the loose knife oil cylinder on the main spindle box through oil pipe; This piston is through the broaching tool bar of a lever pushing rear-end of spindle; Realize the coordination of broaching tool action of main shaft pine and manipulator behavior, make whole process tool-changing mechanical arm, accelerated tool-changing speed significantly as long as starting stops once just can to accomplish; Simplify the structure, improved the reliability of exchanging knives process.But this invention still has following deficiency: the first, one promotes oil cylinder through hydraulic oil pipe and a loose knife oil cylinder interlock; Because of main shaft is among the motion with respect to tool-changing mechanical arm for a long time, a plurality of hydraulic joints are passed through in the long and soft or hard series connection of hydraulic oil pipe therebetween; Long-time micro-oil liquid leakage is unavoidable; And be closed in the stroke that the fluid that promotes among oil cylinder, hydraulic oil pipe, the loose knife oil cylinder such as entrained gas or temperature influence also can influence the loose knife oil cylinder piston, and loose cutter stroke must could be realized effective loose cutter within the specific limits, as because of long-time micro-oil liquid leakage; Or entrained gas or variation of temperature cause the stroke of loose knife oil cylinder piston not reach above-mentioned scope; Then disposable starting stops, and does not have the tool changing campaign of loose cutter stroke detection, will cause the destructiveness damage of cutter-exchange mechanism.The second, the piston of loose knife oil cylinder is realized main shaft pine cutter or broaching tool through the broaching tool bar of a lever pushing rear-end of spindle, blows to the handle of a knife conical surface when this structure is unfavorable for tool changing, also is not suitable for direct-connected main shaft, middle spray main shaft.Three, this invention obviously is to design for certain specific horizontal Machining centers; As will being applicable to horizontal Machining centers, can be applicable to vertical machining centre again as the traditional cam tool-changing mechanical arm; Its layout should be compacter, and place the same side of main shaft.
Summary of the invention
The object of the present invention is to provide a kind of manipulator automatic tool changer; Possibly lose efficacy because of micro-oil liquid leakage or variations in temperature cause loose cutter to overcome prior art; The hidden danger of mechanism's damage, and can not be applicable to multiple main shaft, can not be suitable for the deficiency of multiple machining center.
For reaching the object of the invention, the present invention adopts following technical scheme.
Manipulator automatic tool changer of the present invention comprises housing, brake motor, reducing gear worm screw, reducing gear worm gear, spiral arm cam, six star-wheels, manipulator, manipulator axle, plug cutter lever, connecting rod, bearing slider, loose cutter cam, plunger-type fuel pump, roller, high-pressure hose, loose knife oil cylinder, is used to adjust the loose cutter push rod of loose cutter stroke, the main shaft that has loose knife bar and digital control system, cam position switch; Said spiral arm cam and reducing gear worm gear are affixed; The engagement of anchor ring cam path on the spiral arm cam cylindrical and six star-wheels, built in or be contained in the roller engagement on plug cutter cam and the plug cutter lever on spiral arm cam one side end face, and do the motion of straight line plug cutter through lever pushing manipulator axle; The cam surface of pine cutter cam contacts with roller; Roller directly or through leverage is connected with the plunger outer end of oil pump, and the fluid in the oil pump is through high-pressure hose and loose knife oil cylinder UNICOM, and its design feature is:
One displacement transducer is set, is used to detect the displacement of main shaft pine knife bar or loose cutter push rod;
One switch is set, is used to detect the loose cutter cam position that whether peaks;
The output signal of said displacement transducer and switch, cam position switch inserts a digital control system or inserts the digital control system of a band warning device;
The digital control system of said digital control system or band warning device when the output signal of each switch is effective, the process one of below carrying out according to the output signal selection of displacement transducer:
A, show that loose cutter stroke is normal, tool changing and procedure continue;
B, the current loose cutter stroke of prompting are less than normal, and tool changing and procedure continue;
C, send loose cutter stroke greater than but near the warning of lowest limit, this tool changing continues, promptly stop but tool changing finishes the back procedure;
D, send loose cutter stroke and be less than or equal to lowest limit and report to the police, the tool changing motor has a power failure immediately and brakes.
The design feature of manipulator automatic tool changer of the present invention also is:
On the cylinder body of said oil pump, be shaped on a repairing hole, said repairing hole links with the repairing cup that fills fluid, strengthens loose cutter cam curve lift; Make fuel feed pump plunger increase an extra repairing stroke; A plunger return spring is placed between the cylinder body and plunger of oil pump, forces the overhanging roller that makes of plunger to keep in touch with the cam curved surface of loose cutter cam all the time, when roller contacts with the minimum point of loose cutter cam; The repairing hole is opened; The fluid of repairing cup communicates with the interior space of plunger-type fuel pump, and is drawn into a small amount of fluid, thereby makes the fluid in oil pump, oil pipe and the loose knife oil cylinder loop be able in time replenish.
Be provided with an exhaust screw plug, be positioned at the most significant end of oil pump, high-pressure oil pipe and loose knife oil cylinder oil circuit.
Said digital control system is provided with loose cutter stroke adjustment program and manipulator reset routine; Carry out loose cutter stroke adjustment program, tool-changing mechanical arm will run to loose cutter cam automatically and reach the position of peak and stop; Carry out the manipulator reset routine, tool-changing mechanical arm runs to start bit automatically and stops.
Said loose cutter cam and spiral arm cam are processed one; Or be fixedly mounted on a side of spiral arm cam, or be fixedly mounted on the end shaft extension of spiral arm cam, oil pump is fixed on the housing; Whole tool-changing mechanical arm structure is more simplified; Layout is compacter, thereby can be arranged in main shaft the same side, so that be applicable to vertical and horizontal Machining centers simultaneously.
Said loose knife oil cylinder is column type or annular, is co-axially mounted on the rear end of main shaft.
Said displacement transducer is made up of three to four optoelectronic switches, LED luminous tube, shadow shields being stamped light shield with seam.
Compared with present technology, beneficial effect of the present invention is embodied in:
1, the present invention has overcome prior art and possibly lose efficacy because of micro-oil liquid leakage or variations in temperature cause loose cutter, and the hidden danger of mechanism's damage is guaranteed the safe and reliable of automatic tool changer;
2, the present invention makes the machine operation personnel can in time understand the duty of tool changing system, and can adjust to optimum state easily;
3, the present invention can be applicable to multiple main shaft;
4, the present invention can be suitable for multiple machining center, thereby is suitable for producing in enormous quantities.
Description of drawings
Fig. 1 is a manipulator automatic tool changer of the present invention overall layout chart.
Fig. 1 a is the B-B profile of Fig. 1.
Fig. 2 is the sketch map that replaces displacement transducer with three optoelectronic switches.
Fig. 2 a is the A-A profile of Fig. 2.
Fig. 3 is different loose cutter strokes and the corresponding warning device and the differential responses sketch map of digital control system.
Drawing reference numeral: 1 housing, the 2a motor that brakes, 2b reducing gear worm screw; 2c reducing gear worm gear, 3 spiral arm cams, 4 six star-wheels;, 5 manipulators, 6; The manipulator axle; 7 plug cutter levers, 7b connecting rod, 7c bearing slider, 7d lever fulcrum shaft, 8 loose cutter cams, 9 plunger-type fuel pumps; The 9a plunger; 9b repairing hole, 9c spring, 9d oil connection, 10 rollers, 10a roller bearing, 10b roller bearing pin, 11 high-pressure oil pipes, 12 loose knife oil cylinders, 12a piston, 12b pine cutter push rod, 12c oil connection, 12d gas-tpe fitting, 12f shadow shield, 13 plug cutter cams, 14 exhaust screw plugs, 15 repairing cups, 16 main shafts, 16a main shaft pine knife bar, 17 displacement transducers, 17a P1 optoelectronic switch, 17b P2 optoelectronic switch, 17c P3 optoelectronic switch, 17d light shield with seam, 17eLED luminous tube, 18 loose cutter peak switches, 19 warning devices, 20 digital control systems, 21 cam position switches, 24 gas blow pipes, 25 tracheal pressures, 26 electromagnetic gas valves, 27 pressure gas sources.
The specific embodiment
Ginseng Fig. 1, Fig. 1 a; Manipulator automatic tool changer of the present invention by housing 1, brake motor 2a, reducing gear worm screw 2b, reducing gear worm gear 2c, spiral arm cam 3, six star-wheels 4, manipulator 5, manipulator axle 6, plug cutter lever 7, connecting rod 7b, bearing slider 7c, loose cutter cam 8, plunger-type fuel pump 9, roller 10, high-pressure hose 11, loose knife oil cylinder 12, be used to adjust the loose cutter push rod 12b of loose cutter stroke, the main shaft 16 that has loose knife bar 16a and digital control system 20, cam position switch 21 etc. and constitute; Spiral arm cam 3 is affixed with reducing gear worm gear 2c; Anchor ring cam path on spiral arm cam 3 cylindricals and 4 engagements of six star-wheels; Built in or be contained in the roller engagement on plug cutter cam 13 and the plug cutter lever 7 on spiral arm cam 3 one side end faces and do the motion of straight line plug cutter through lever 7, connecting rod 7b, bearing slider 7c promotion robot axle 6, the fulcrum shaft 7d of lever 7 is installed on the housing 1.The cam surface of pine cutter cam 8 contacts with roller 10, and roller 10 directly or through leverage is connected with the plunger 9a outer end of oil pump 9, the fluid in the oil pump 9; Through high-pressure hose 11 and loose knife oil cylinder 12 UNICOMs, increased a repairing hole 9b on oil pump 9 cylinder bodies, this Kong Yuyi repairing cup 15 UNICOMs that are added with fluid; Strengthen loose cutter cam curve lift, make fuel feed pump plunger increase an extra repairing stroke, a plunger return spring 9c is placed between the cylinder body and plunger of oil pump 9; Force the overhanging roller 10 that makes of plunger to keep in touch with the cam curved surface of loose cutter cam 8 all the time, when roller 10 contacted with the minimum point of loose cutter cam 8, repairing hole 9b was opened; The fluid of repairing cup 15 communicates with the interior space of plunger-type fuel pump, and is drawn into a small amount of fluid, thereby makes oil pump 9; Oil pipe 11, the fluid in loose knife oil cylinder 12 loops are able in time replenish.
For making things convenient for emptying to sneak into oil pump 9, oil pipe 11, the gas of loose knife oil cylinder 12 oil circuits, an exhaust screw plug 14 is arranged on the extreme higher position of this oil circuit.
On other parts that displacement transducer 17 can be contained on the loose knife oil cylinder 12 or main shaft is fixed relatively, be used to detect the displacement of loose cutter push rod 12b, its effect is identical with the displacement that detects main shaft pine knife bar 16a.At housing 1 switch 18 that detects loose cutter cam peak is housed; Displacement transducer 17 and switch 18 switches 21 directly connect with the digital control system 20 that can accept analog signal; Or can accept analog signal through one, and display alarm prompting and shift value, the warning device 19 of output alarm signal connects with a general NC system 20; Displacement transducer 17 can be the displacement-voltage sensor of any pattern; Also can shown in Fig. 2 and Fig. 2 a, replace, comprise the first optoelectronic switch 17a, the second optoelectronic switch 17b and the 3rd optoelectronic switch 17c with three or four optoelectronic switches.Do not need warning device 19, three or four optoelectronic switches and switch 18 switches 21 can directly receive digital control system 20PLC input terminal in the case.Each optoelectronic switch is stamped light shield 17d with seam to improve certainty of measurement, and the position of optoelectronic switch is adjusted to P0 shown in Figure 3 respectively, P1, and whether P2 point, the 4th optoelectronic switch are used to detect broaching tool effective.17e is the LED luminous tube, and 12f is a shadow shield that is contained on the loose cutter push rod 12b.
Warning device 19 and digital control system 20 according to displacement transducer output signal, confirm that (referring to Fig. 3) carries out following process when each switch 18 signals are effective:
A, stroke＞P2 show that loose cutter stroke is normal, and tool changing and procedure continue;
B, P2＞stroke＞P1 send the prompting less than normal of loose cutter stroke and are shown to the difference of P0, remind the lathe user in time to adjust loose cutter stroke, but tool changing and procedure continue;
C, P1＞stroke＞P0 are sent out the cutter stroke loose to report to the police near lowest limit, and this tool changing continues, and stop immediately but tool changing finishes the back procedure, wait for after the user adjusts loose cutter stroke and could continue;
D, stroke＜=P0, loose cutter stroke send out highest the warning less than lowest limit, and the tool changing motor has a power failure immediately and brakes.
A, carry out exchanging knives process one time again; Procedure is carried out in b, continuation; C, stop.
The column type or the circular ring type loose knife oil cylinder that generally adopt on the market that the loose knife oil cylinder that adopts 12 is are so that be applicable to the multiple main shaft on the market.
One is processed or dressed up to pine cutter cam 8 with spiral arm cam 3; Also can be installed on the shaft extension that spiral arm cam 3 held; Oil pump 9 is fixed on the housing 1, makes whole tool-changing mechanical arm designs simplification, compact in design; And make this tool-changing mechanical arm can be arranged in main shaft the same side, both be applicable to that vertical machining centre also is applicable to horizontal Machining centers.
The loose cutter push rod 12b of a loose cutter stroke of adjustment is housed in the loose knife oil cylinder centre screw, and its rear end also can connect an air jet pipe 24, and logical jet magnetic valve 26 so that jet to the handle of a knife conical surface when the dress cutter, guarantees that the main shaft and the handle of a knife conical surface are clean.
The ante-chamber of loose knife oil cylinder is through joint 12d, and tracheae 25 is received pneumatic supply 27, shifts piston 12c onto rearmost end so that finish the back at loose cutter, clears fluid.But this also available spring replaces.
Claims (7)
1. a manipulator automatic tool changer comprises housing (1), brake motor (2a), reducing gear worm screw (2b), reducing gear worm gear (2c), spiral arm cam (3), six star-wheels (4), manipulator (5), manipulator axle (6), plug cutter lever (7), connecting rod (7b), bearing slider (7c), loose cutter cam (8), plunger-type fuel pump (9), roller (10), high-pressure hose (11), loose knife oil cylinder (12), the loose cutter push rod (12b) that is used to adjust loose cutter stroke, the main shaft (16) that has loose knife bar (16a) and digital control system (20), cam position switch (21); Said spiral arm cam (3) is affixed with reducing gear worm gear (2c); Anchor ring cam path on spiral arm cam (3) cylindrical and six star-wheels (4) engagement; Built in or be contained in the roller engagement in plug cutter cam (13) and plug cutter lever (7) on spiral arm cam (3) one side end faces; And make straight line plug cutter through lever (7) promotion robot axle (6) and move, the cam surface of loose cutter cam (8) contacts with roller (10), and roller (10) directly or through leverage is connected with plunger (9a) outer end of oil pump (9); Fluid in the oil pump (9) is characterized in that through high-pressure hose (11) and loose knife oil cylinder (12) UNICOM:
One displacement transducer (17) is set, is used to detect the displacement of main shaft pine knife bar (16a) or loose cutter push rod (12b);
One switch (18) is set, is used to detect loose cutter cam (8) position that whether peaks;
The output signal of said displacement transducer (17) and switch (18), cam position switch (21) inserts a digital control system (20) or inserts the digital control system (20) of a band warning device (19);
The digital control system (20) of said digital control system (20) or band warning device (19) when the output signal of each switch (18) is effective, the process one of below carrying out according to the output signal selection of displacement transducer (17):
A, show that loose cutter stroke is normal, tool changing and procedure continue;
B, the current loose cutter stroke of prompting are less than normal, and tool changing and procedure continue;
C, send loose cutter stroke greater than but near the warning of lowest limit, this tool changing continues, promptly stop but tool changing finishes the back procedure;
D, send loose cutter stroke and be less than or equal to lowest limit and report to the police, the tool changing motor has a power failure immediately and brakes.
2. by the described manipulator automatic tool changer of claim 1, it is characterized in that:
On the cylinder body of said oil pump (9), be shaped on a repairing hole (9b), said repairing hole (9b) links with the repairing cup (15) that fills fluid, and a plunger return spring (9c) is placed between the cylinder body and plunger of oil pump (9).
3. by the described manipulator automatic tool changer of claim 1, it is characterized in that: be provided with an exhaust screw plug (14), be positioned at the most significant end of oil pump (9), high-pressure oil pipe (11) and loose knife oil cylinder (12) oil circuit.
4. by the said manipulator automatic tool changer of claim 1, it is characterized in that: said digital control system (20) is provided with loose cutter stroke adjustment program and manipulator reset routine; Carry out loose cutter stroke adjustment program, tool-changing mechanical arm will run to loose cutter cam automatically and reach the position of peak and stop; Carry out the manipulator reset routine, tool-changing mechanical arm runs to start bit automatically and stops.
5. by the described manipulator automatic tool changer of claim 1; It is characterized in that: said loose cutter cam (8) is processed one with spiral arm cam (3); Or be fixedly mounted on a side of spiral arm cam (3), or be fixedly mounted on the end shaft extension of spiral arm cam (3), oil pump (9) is fixed on the housing (1).
6. by the described manipulator automatic tool changer of claim 1, it is characterized in that: said loose knife oil cylinder (12) is column type or annular, is co-axially mounted on the rear end of main shaft (16).
7. by the described manipulator automatic tool changer of claim 1, it is characterized in that: said displacement transducer (17) is made up of three to four optoelectronic switches that are stamped light shield with seam (17d), LED luminous tube (17e), shadow shield (12f).
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210119128.0A CN102626881B (en) | 2012-04-20 | 2012-04-20 | Automatic tool changing system of manipulator |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210119128.0A CN102626881B (en) | 2012-04-20 | 2012-04-20 | Automatic tool changing system of manipulator |
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| CN102626881A true CN102626881A (en) | 2012-08-08 |
| CN102626881B CN102626881B (en) | 2014-01-29 |
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| CN201210119128.0A Active CN102626881B (en) | 2012-04-20 | 2012-04-20 | Automatic tool changing system of manipulator |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108080749A (en) * | 2018-02-05 | 2018-05-29 | 重庆机床(集团)有限责任公司 | High-precision spiral case making lathe and its Measurement and Control System with on-line checking mechanism |
| CN108687571A (en) * | 2017-03-30 | 2018-10-23 | 发那科株式会社 | Lathe |
| CN109128959A (en) * | 2018-07-14 | 2019-01-04 | 安徽工程大学 | A kind of lathe machine head main shaft safety device |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109128959A (en) * | 2018-07-14 | 2019-01-04 | 安徽工程大学 | A kind of lathe machine head main shaft safety device |
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|---|---|
| CN102626881B (en) | 2014-01-29 |
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Effective date of registration: 20201209 Address after: 232000 Shuichang Road, economic development zone, Huainan City, Anhui Province Patentee after: HUAINAN QIDI ELECTRONICS Co.,Ltd. Address before: 230088 No. 77 science Avenue, hi tech Zone, Anhui, Hefei Patentee before: Shao Wenyuan |