CN103769930A

CN103769930A - Tool-change manipulator locking mechanism of numerical-control processing center

Info

Publication number: CN103769930A
Application number: CN201410019707.7A
Authority: CN
Inventors: 张海新; 杨津; 王忠华; 崔满福
Original assignee: WUHU RUIJING MACHINE TOOL CO Ltd
Current assignee: WUHU RUIJING MACHINE TOOL CO Ltd
Priority date: 2014-01-16
Filing date: 2014-01-16
Publication date: 2014-05-07
Anticipated expiration: 2034-01-16
Also published as: CN103769930B

Abstract

The invention relates to a manipulator locking device and particularly relates to a tool-change manipulator locking mechanism of a numerical-control processing center. Two sides of a tool holding groove of a tool-change manipulator are provided with a pair of claws which are in shaft coupling; a spring is arranged between the tail ends of the two claws; the middle of the tool-change manipulator is provided with a through groove along the vertical direction of the claws; two ends of the through groove are respectively provided with limit screws; the part, which is corresponding to a tool-change link stopper of the numerical-control processing center, of the middle of the through groove is provided with a locking sleeve; the inner cavity of the locking sleeve is provided with a locking core with a conical tail part; the outer end of the locking core is extended outward from the inner cavity of the locking sleeve, and the end part of the locking core is provided with a bearing; the bottom end of the locking core is provided with a return spring; the tail of the locking core is respectively contacted with the bottom ends of the two limit screws in the through groove by virtue of a steel ball; the outer ends of the limit screws are positioned outside the through groove and movably connected with the rear ends of the claws. The limit screws are ejected out by virtue of the locking core and the steel balls and are driven to drive the claws to tightly clamp a tool handle, so that locking of tools is realized.

Description

A kind of numerical control machining center tool-changing mechanical arm locking mechanism

Technical field

The present invention relates to a kind of manipulator locking device, especially relate to a kind of numerical control machining center tool-changing mechanical arm locking mechanism.

Background technology

The tool changing of existing numerical control machining center all completes by cutter-exchange mechanism, cutter-exchange mechanism comprises manipulator, be arranged with and grab cutter groove and clamp arm at the two ends of manipulator, between clamp arm and mechanical arm, rotating shaft is connected, one end of clamp arm with grab cutter groove and match, between the other end of clamp arm and mechanical arm, be provided with spring, this spring leans all the time the termination of clamp arm and grabs cutter groove and is interlocked, and handle of a knife is held therein.Because mechanical arm in exchanging knives process has the action of rotation, under the effect of centrifugal force, sometimes there is falling cutter phenomenon, mainly, because handle of a knife is to be clamped in and to grab in cutter groove by spring force, lack retaining mechanism, once the centrifugal force of handle of a knife is greater than spring force, just there will be to fall cutter phenomenon.

Summary of the invention

For overcoming the deficiencies in the prior art part, the invention provides a kind of numerical control machining center tool-changing mechanical arm locking mechanism, can capture smoothly cutter, can in robot movement process, lock securely again cutter, cutter problem with what solve that existing tool-changing mechanical arm exists.

The technical solution adopted in the present invention is: a kind of numerical control machining center tool-changing mechanical arm locking mechanism, comprise tool-changing mechanical arm, the cutter groove both sides of grabbing at described tool-changing mechanical arm are provided with a pair of claw that can folding, described claw middle part is provided with a rotating shaft, these rotating shaft one or both ends are fixed on described tool-changing mechanical arm, are connected with one for making described claw expand the spring of its opening between the tail end of two described claws; Described tool-changing mechanical arm middle part has a groove along described claw vertical direction, these groove two ends are respectively equipped with stop screw, a lock sleeve is equipped with in the position of corresponding numerical control machining center tool changing collision block in described groove middle part, this lock sleeve inner chamber is provided with a locking core with tapered tail, described locking core outer end stretches out and in its end, one bearing is installed from described lock sleeve inner chamber, and back-moving spring is equipped with in described locking core bottom; Between stop screw bottom in described locking core afterbody and two described grooves, contact respectively by a steel ball, described stop screw outer end is positioned at outside described groove and with the rear end of described claw and is actively coupled.

Inventive principle: the present invention moves forward and backward by locking core, stop screw ejects or retracts, stop screw drives claw to make opening and closing movement, in the time of tool-changing mechanical arm tool changing, manipulator is rotated to tool changing point by the cylinder of robot device bottom, the outer end bearing of locking core is entirety retraction under the extruding of tool changing collision block, and stop screw falls, and claw opens to be convenient to cutter and to enter; When manipulator, above tool magazine, to grab cutter complete, the plug cutter oil cylinder of robot device bottom starts cutter to pull up above tool magazine, in the process of drawing sword, lock the outer end bearing of core and leave tool changing collision block, locking core is ejected by the back-moving spring of its bottom, stop screw stretches out from described groove under locking core afterbody ramp effect, thereby drive the handle of a knife of the closed clamp-on tool of claw, realize the locking to cutter handle of a knife.

Beneficial effect: the present invention locks core by employing and steel ball holds out against stop screw, drive stop screw to drive claw clamp-on tool handle of a knife, realize the locking to cutter handle of a knife, can guarantee that dress is got cutter smoothly, can in robot movement process, lock securely again cutter, overcome the shortcoming that original structure is difficult to lock cutter, elimination cutter in the time of robot movement easily falls the danger of cutter, has improved operational security and operating efficiency.

Accompanying drawing explanation

The invention will be further described in conjunction with the embodiments with reference to the accompanying drawings.

Fig. 1 is structural representation of the present invention,

Fig. 2 is A-A profile shown in Fig. 1,

Fig. 3 is B-B profile shown in Fig. 1.

In figure:

1, claw, 2, claw spring, 3, stop screw, 4, steel ball, 5, tool-changing mechanical arm, 6, locating piece, 7, front pressuring plate, 8, rear fender, 9, needle bearing, 10, rotating shaft, 11, stop collar, 12, guide finger, 13, lock sleeve, 14, locking core, 15, locking core back-moving spring, 16, rotating shaft, 17, bearing, 18, tool changing collision block, 19, handle of a knife.

The specific embodiment

As Figure 1-3, a kind of numerical control machining center tool-changing mechanical arm locking mechanism, comprise tool-changing mechanical arm 5, be arranged with and grab cutter groove at the two ends of tool-changing mechanical arm 5, grab cutter groove both sides and be provided with a pair of claw 1 that can folding, claw 1 middle part is provided with rotating shaft 10, rotating shaft 10 one or both ends are fixed on tool-changing mechanical arm 5, between the tail end of two claws 1, be connected with one for making it expand the claw spring 2 of its opening, 6 of locating pieces are equipped with in two claw 1 centre positions, its one end and handle of a knife 19 offset, and for handle of a knife 19 orientations, facilitate the exchange of cutter.Front pressuring plate 7 is installed on tool-changing mechanical arm 5 both sides with rear fender 8, locates for claw 1.Rotating shaft 10 is contained in needle bearing 9, and claw 1 carries out opening and closing along rotating shaft 10, and rotating shaft 10 inner sides are provided with stop collar 11, for coordinating with claw spring 2, the action of claw 1 is carried out spacing, and it is limited in proper range.

Locking core 14 both sides have radial groove, and lock sleeve 13 bilateral symmetry have cross through hole, are provided with guide finger 12 in through hole, its effect be locking core 14 stretch out and the process of retracting in play the guiding role, and prevent from locking core 14 and rotate.

As shown in Figure 3, tool-changing mechanical arm 5 middle parts have a groove along claw 1 vertical direction, these groove two ends are respectively equipped with stop screw 3, lock sleeve 13 is equipped with in the position of corresponding numerical control machining center tool changing collision block 18 in groove middle part, lock sleeve 13 inner chambers are provided with a locking core 14 with tapered tail, locking core 14 outer end Self-locking sleeve 13 inner chambers stretch out and in its end, bearing 16 are installed, and bearing 17 connects with locking core 14 by rotating shaft 16; Back-moving spring 15 is equipped with in locking core 14 bottoms; Between stop screw 3 bottoms in locking core 14 afterbodys and two grooves, contact respectively by steel ball 4, stop screw 3 outer ends are positioned at outside groove and with the rear end of claw 1 and are actively coupled.

Manipulator original state is: manipulator is at main shaft side tool changing point and in slotting tool state, wait for the cutter on main shaft, in the time that main shaft needs cutter, the cutter of needs is rotated to tool changing point by tool magazine rotation, the complete signal that sends of tool magazine rotation, the cylinder of robot device bottom is pushed manipulator 5 to tool magazine side tool changing point, pushing in the process of tool magazine side tool changing point, bearing 17 will bump against tool changing collision block 18, because locking core 14 is connected with bearing 17 by rotating shaft 16, force locking core 14 to bounce back, the tapered tail of locking core 14 is with inclined-plane, locking core 14 retractions fall steel ball 4, the whereabouts of steel ball 4 makes the bottom surface of stop screw 3 no longer contact with the surface of steel ball 4, such two claws 1 rotate along rotating shaft 10 under claw contained spring 2 just can act on, make the opening of two claws 1 become large, realize the function that captures handle of a knife 19.

When manipulator, above tool magazine, to grab cutter complete, the plug cutter oil cylinder of robot device bottom starts cutter to pull up above tool magazine, process middle (center) bearing 17 and the tool changing collision block 18 of drawing sword start to produce distance, in the time that bearing 17 and tool changing collision block 18 depart from completely, the back-moving spring 15 of locking core bottom ejects locking core 14, the afterbody inclined-plane of locking core 14 forces steel ball 4 to rise, steel ball 4 rises stop screw 3 is ejected to groove, because stop screw 3 and claw 1 are actively coupled, the rising of steel ball 4 forces stop screw 3 to drive claw to rotate along rotating shaft 10, make the openings get smaller of two claws 1, reach the object of locking knife handle 19.

Although illustrated and described embodiments of the invention, for the ordinary skill in the art, be appreciated that without departing from the principles and spirit of the present invention and can carry out multiple variation, modification, replacement and modification to these embodiment, scope of the present invention is limited by claims and equivalent thereof.

Claims

1. a numerical control machining center tool-changing mechanical arm locking mechanism, comprise tool-changing mechanical arm, be provided with a pair of claw that can folding in the cutter groove both sides of described tool-changing mechanical arm, described claw middle part is provided with a rotating shaft, these rotating shaft one or both ends are fixed on described tool-changing mechanical arm, are connected with one for making described claw expand the spring of its opening between the tail end of two described claws; It is characterized in that: described tool-changing mechanical arm middle part has a groove along described claw vertical direction, these groove two ends are respectively equipped with stop screw, a lock sleeve is equipped with in the position of corresponding numerical control machining center tool changing collision block in described groove middle part, this lock sleeve inner chamber is provided with a locking core with tapered tail, described locking core outer end stretches out and in its end, one bearing is installed from described lock sleeve inner chamber, and back-moving spring is equipped with in described locking core bottom; Between stop screw bottom in described locking core afterbody and two described grooves, contact respectively by a steel ball, described stop screw outer end is positioned at outside described groove and with the rear end of described claw and is actively coupled.

2. a kind of numerical control machining center tool-changing mechanical arm locking mechanism according to claim 1, is characterized in that: described locking core both sides have radial groove, and described lock sleeve bilateral symmetry has cross through hole, in this through hole, is provided with guide finger.

3. a kind of numerical control machining center tool-changing mechanical arm locking mechanism according to claim 1, is characterized in that: locating piece 6 is equipped with in two described claw centre positions, and its one end and described handle of a knife offset, for described handle of a knife orientation.

4. a kind of numerical control machining center tool-changing mechanical arm locking mechanism according to claim 1, is characterized in that: described rotating shaft is contained in a needle bearing, and described claw carries out opening and closing along described rotating shaft.

5. a kind of numerical control machining center tool-changing mechanical arm locking mechanism according to claim 1, is characterized in that: described rotating shaft inner side is provided with stop collar, and it coordinates with described claw spring, for carrying out spacing to the action of described claw.