CN102626881B - Automatic tool changing system of manipulator - Google Patents
Automatic tool changing system of manipulator Download PDFInfo
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- CN102626881B CN102626881B CN201210119128.0A CN201210119128A CN102626881B CN 102626881 B CN102626881 B CN 102626881B CN 201210119128 A CN201210119128 A CN 201210119128A CN 102626881 B CN102626881 B CN 102626881B
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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 ofly for machining center automatic tool changer, especially a kind of cam that utilizes is realized the knife-changing system that in automatic tool changer process, manipulator and main shaft pine broaching tool coordination is controlled, and belongs to 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 from conventional art.Press conventional art, tool-changing mechanical arm is only born revolution button cutter and the action of plug cutter of manipulator, need therebetween to cooperatively interact with main shaft pine tool-broaching mechanism, Liang Tao mechanism needs digital control system to detect and coordinates to control, whole exchanging knives process, tool-changing mechanical arm will start and stop 3 times, every starting once, detect and wait for that manipulator status signal is ready, control manipulator stops, after stopping, detecting again and wait 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 promotes oil cylinder with one with the loose cutter cam of manipulator control cam linkage, the fluid of this oil cylinder output promotes a piston that is contained in the loose knife oil cylinder on main spindle box by oil pipe, this piston is by the broaching tool bar of a lever pushing rear-end of spindle, realize the coordination of the broaching tool action of main shaft pine and manipulator behavior, make whole process tool-changing mechanical arm as long as starting stops once just can completing, significantly accelerated tool-changing speed, simplify the structure, improved the reliability of exchanging knives process.But this invention still has following deficiency: first, one promotes oil cylinder through hydraulic oil pipe and a loose knife oil cylinder interlock, because of main shaft with respect to tool-changing mechanical arm for a long time in motion among, the series connection of the long also soft or hard of hydraulic oil pipe, pass through a plurality of hydraulic joints therebetween, long-time micro-oil liquid leakage is unavoidable, and be closed in promotion oil cylinder, hydraulic oil pipe, fluid among loose knife oil cylinder also can affect the stroke of loose knife oil cylinder piston as entrained gas or temperature influence, and loose cutter stroke must could be realized effective loose cutter within the specific limits, as the oil liquid leakage because of long-time trace, or the variation of entrained gas or temperature causes the stroke of loose knife oil cylinder piston not reach above-mentioned scope, disposable starting stops, tool changing movement without loose cutter stroke detection, will cause the destructiveness damage of cutter-exchange mechanism.The second, the piston of loose knife oil cylinder, by the broaching tool bar of a lever pushing rear-end of spindle, is realized main shaft knife loosening or broaching tool, when this structure is unfavorable for tool changing, to the handle of a knife conical surface, blows, and is not also suitable for direct-connected main shaft, middle spray main shaft.Three, this invention is obviously certain specific horizontal Machining centers design, as will be applicable to horizontal Machining centers as traditional cam tool-changing mechanical arm, can be applicable to vertical machining centre again, its layout should be compacter, and be placed in 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, to overcome prior art, may lose efficacy because micro-oil liquid leakage or variations in temperature cause loose cutter, 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.
To achieve the object of the present 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, for adjusting the loose cutter push rod of loose cutter stroke, with the main shaft of loose knife bar and digital control system, cam position switch; Described spiral arm cam and reducing gear worm gear are affixed, anchor ring cam path on spiral arm cam cylindrical and the engagement of six star-wheels, built in or be contained in the roller engagement on plug cutter cam on spiral arm cam one side end face and plug cutter lever, and by lever pushing manipulator axle, make straight line plug cutter and move, cam surface and the roller contact of pine cutter cam, roller directly or by leverage is connected with the plunger outer end of oil pump, and the fluid in oil pump is by high-pressure hose and loose knife oil cylinder UNICOM, and its design feature is:
One displacement transducer is set, for detection of the displacement of main shaft knife loosening bar or loose cutter push rod;
One switch is set, for detection of the loose cutter cam position that whether peaks;
The output signal of described displacement transducer and switch, cam position switch accesses a digital control system or accesses a digital control system with warning device;
Described digital control system or with the digital control system of warning device when the output signal of each switch is effective, according to the output signal selection of displacement transducer, carry out one of following process:
A, show that loose cutter stroke is normal, tool changing and procedure continue;
B, point out current loose cutter stroke less than normal, tool changing and procedure continue;
C, send that loose cutter stroke is greater than but the warning that approaches lowest limit, this tool changing continues, but tool changing finishes rear procedure, stops;
D, send loose cutter stroke and be less than or equal to lowest limit and report to the police, tool changing motor has a power failure immediately and brakes.
The design feature of manipulator automatic tool changer of the present invention is also:
On the cylinder body of described oil pump, be shaped with a repairing hole, described repairing hole is connected with the repairing cup that fills fluid, strengthen 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, force 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, repairing hole is opened, the fluid of repairing cup communicates with space in plunger-type fuel pump, and be drawn into a small amount of fluid, thereby make oil pump, fluid in oil pipe and loose knife oil cylinder loop is able to supplement in time.
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.
Described digital control system is provided with loose cutter stroke adjustment programme, and manipulator reset routine; Carry out loose cutter stroke adjustment programme, tool-changing mechanical arm reaches the position of peak and stops automatically running to loose cutter cam; Carry out manipulator reset routine, tool-changing mechanical arm automatically runs to start bit and stops.
Described loose cutter cam and spiral arm cam are made one, or be fixedly mounted on a side of spiral arm cam, or be fixedly mounted in one end shaft extension of spiral arm cam, oil pump is fixed on housing, whole tool-changing mechanical arm structure is more simplified, layout is compacter, thereby can be arranged in main shaft the same side, to be applicable to vertical and horizontal Machining centers simultaneously.
Described loose knife oil cylinder is column type or annular, is co-axially mounted on the rear end of main shaft.
Described displacement transducer consists of three to four optoelectronic switches, LED luminous tube, shadow shields being stamped light shield with seam.
Compared with the prior art, beneficial effect of the present invention is embodied in:
1, the present invention has overcome prior art and may lose efficacy because micro-oil liquid leakage or variations in temperature cause loose cutter, and the hidden danger of mechanism's damage, guarantees the safe and reliable of automatic tool changer;
2, the present invention makes machine operation personnel can understand in time the duty of knife-changing system, and can adjust to easily optimum state;
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.
Accompanying drawing explanation
Fig. 1 is manipulator automatic tool changer of the present invention overall layout chart.
Fig. 1 a is the B-B profile of Fig. 1.
Fig. 2 replaces the schematic diagram of 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 corresponding warning device and the differential responses schematic diagram of digital control system.
Drawing reference numeral: 1 housing, 2a brake motor, 2b reducing gear worm screw, 2c reducing gear worm gear, 3 spiral arm cams, 4 six star-wheels, , 5 manipulators, 6, 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, 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 knife loosening 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 is 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, pine cutter cam 8, plunger-type fuel pump 9, roller 10, high-pressure hose 11, loose knife oil cylinder 12, for adjusting the loose cutter push rod 12b of loose cutter stroke, main shaft 16 and digital control system 20 with loose knife bar 16a, cam position switch 21 formations such as grade, spiral arm cam 3 is affixed with reducing gear worm gear 2c, anchor ring cam path on spiral arm cam 3 cylindricals and six star-wheel 4 engagements, built in or be contained in plug cutter cam on spiral arm cam 3 one side end faces 13 and nibble merga pass lever 7 with the roller on plug cutter lever 7, connecting rod 7b, bearing slider 7c promotion robot axle 6 is done the motion of straight line plug cutter, the fulcrum shaft 7d of lever 7 is arranged on housing 1.The cam surface of pine cutter cam 8 contacts with roller 10, roller 10 directly or by leverage is connected with the plunger 9a outer end of oil pump 9, fluid in oil pump 9, by high-pressure hose 11 and loose knife oil cylinder 12 UNICOMs, on oil pump 9 cylinder bodies, increased a repairing hole 9b, this Kong Yuyi repairing Bei15 UNICOM that is 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 contacts with the minimum point of loose cutter cam 8, repairing hole 9b is opened, the fluid of repairing cup 15 communicates with space in plunger-type fuel pump, and be drawn into a small amount of fluid, thereby make oil pump 9, oil pipe 11, fluid in loose knife oil cylinder 12 loops is able to supplement in time.
For convenience of emptying, 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.
Displacement transducer 17 can be contained on loose knife oil cylinder 12 or on other parts that main shaft is fixed relatively, and for detection of the displacement of loose cutter push rod 12b, its effect is identical with the displacement that detects main shaft knife loosening bar 16a.At housing 1, a 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 by 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 be as shown in Fig. 2 and Fig. 2 a, with three or four optoelectronic switches, replace, comprise the first optoelectronic switch 17a, the second optoelectronic switch 17b and the 3rd optoelectronic switch 17c.Do not need in the case warning device 19, three or four optoelectronic switches and switch 18 switches 21 can directly receive digital control system 20PLC input terminal.Each optoelectronic switch is stamped light shield 17d with seam to improve certainty of measurement, and the P0 shown in Fig. 3 is adjusted to respectively in the position of optoelectronic switch, P1, and P2 point, whether the 4th optoelectronic switch be effective for detection of broaching tool.17e is LED luminous tube, and 12f is the shadow shield being contained on loose cutter push rod 12b.
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 be shown to the difference of P0, remind lathe user to adjust in time loose cutter stroke, but tool changing and procedure continues;
C, P1 > stroke > P0, send out cutter stroke loose and approach lowest limit and report to the police, and this tool changing continues, but tool changing finishes rear procedure, stops immediately, waits for after user adjusts loose cutter stroke and could continue;
D, stroke <=P0, loose cutter stroke is less than lowest limit, sends out highest warning, and 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 on the market that the loose knife oil cylinder that adopts 12 is, generally adopt, to be applicable to the multiple main shaft on market.
One is made or dressed up to pine cutter cam 8 with spiral arm cam 3, also can be arranged in the shaft extension that spiral arm cam 3 held, oil pump 9 is fixed on housing 1, make 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, be both applicable to vertical machining centre and be also applicable to horizontal Machining centers.
A loose cutter push rod 12b who adjusts loose cutter stroke is housed in loose knife oil cylinder piston center screw, and its rear end also can connect an air jet pipe 24, and a logical solenoid valve 26, so that jet to the handle of a knife conical surface when dress cutter, guarantees that main shaft and the handle of a knife conical surface are clean.
The ante-chamber of loose knife oil cylinder is by joint 12d, and tracheae 25 is received pneumatic supply 27, to piston 12c is shifted onto to rearmost end after loose cutter finishes, clears fluid.But this is available spring replacement also.
Claims (6)
1. a manipulator automatic tool changer, comprise 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), pine cutter cam (8), plunger-type fuel pump (9), roller (10), high-pressure hose (11), loose knife oil cylinder (12), for adjusting the loose cutter push rod (12b) of loose cutter stroke, main shaft (16) and digital control system (20) with loose knife bar (16a), cam position switch (21), described 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 on plug cutter cam (13) on spiral arm cam (3) one side end faces and plug cutter lever (7), and do the motion of straight line plug cutter by lever (7) promotion robot axle (6), the cam surface of pine cutter cam (8) contacts with roller (10), roller (10) directly or by leverage is connected with plunger (9a) outer end of plunger-type fuel pump (9), fluid in plunger-type fuel pump (9) is by high-pressure hose (11) and loose knife oil cylinder (12) UNICOM, it is characterized in that:
One displacement transducer (17) is set, for detection of the displacement of main shaft knife loosening bar (16a) or loose cutter push rod (12b);
One switch (18) is set, for detection of loose cutter cam (8) position that whether peaks;
The output signal of described displacement transducer (17) and switch (18), cam position switch (21) accesses a digital control system (20);
Described digital control system (20), when the output signal of each switch (18) is effective, is carried out one of following process according to the output signal selection of displacement transducer (17):
A, show that loose cutter stroke is normal, tool changing and procedure continue;
B, point out current loose cutter stroke less than normal, tool changing and procedure continue;
C, send that loose cutter stroke is greater than but the warning that approaches lowest limit, this tool changing continues, but tool changing finishes rear procedure, stops;
D, send loose cutter stroke and be less than or equal to lowest limit and report to the police, tool changing motor has a power failure immediately and brakes.
2. by manipulator automatic tool changer claimed in claim 1, it is characterized in that: on the cylinder body of described plunger-type fuel pump (9), be shaped with a repairing hole (9b), described repairing hole (9b) is connected with the repairing cup (15) that fills fluid, and a plunger return spring (9c) is placed between the cylinder body and plunger of plunger-type fuel pump (9).
3. by the manipulator automatic tool changer described in claim 1, it is characterized in that: described digital control system (20) is provided with loose cutter stroke adjustment programme, and manipulator reset routine; Carry out loose cutter stroke adjustment programme, tool-changing mechanical arm reaches the position of peak and stops automatically running to loose cutter cam; Carry out manipulator reset routine, tool-changing mechanical arm automatically runs to start bit and stops.
4. by manipulator automatic tool changer claimed in claim 1, it is characterized in that: described loose cutter cam (8) is made one with spiral arm cam (3), or be fixedly mounted on a side of spiral arm cam (3), or be fixedly mounted in one end shaft extension of spiral arm cam (3), plunger-type fuel pump (9) is fixed on housing (1).
5. by manipulator automatic tool changer claimed in claim 1, it is characterized in that: described loose knife oil cylinder (12) is column type or annular, be co-axially mounted on the rear end of main shaft (16).
6. by manipulator automatic tool changer claimed in claim 1, it is characterized in that: described displacement transducer (17) consists of three to four optoelectronic switches, LED luminous tube (17e), the shadow shield (12f) that are stamped light shield with seam (17d).
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| CN201210119128.0A CN102626881B (en) | 2012-04-20 | 2012-04-20 | Automatic tool changing system of manipulator |
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| CN201210119128.0A CN102626881B (en) | 2012-04-20 | 2012-04-20 | Automatic tool changing system of manipulator |
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| CN102626881B true CN102626881B (en) | 2014-01-29 |
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Families Citing this family (3)
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| JP6484273B2 (en) * | 2017-03-30 | 2019-03-13 | ファナック株式会社 | Machine Tools |
| CN108080749B (en) * | 2018-02-05 | 2023-12-22 | 重庆机床(集团)有限责任公司 | High-precision worm gear processing machine tool with online detection mechanism and measurement control system thereof |
| 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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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 |