CN108723854A - One kind is based on the double gripping-type cutting tool exchanging systems of manipulator - Google Patents
One kind is based on the double gripping-type cutting tool exchanging systems of manipulator Download PDFInfo
- Publication number
- CN108723854A CN108723854A CN201810705445.8A CN201810705445A CN108723854A CN 108723854 A CN108723854 A CN 108723854A CN 201810705445 A CN201810705445 A CN 201810705445A CN 108723854 A CN108723854 A CN 108723854A
- Authority
- CN
- China
- Prior art keywords
- gripping
- cutter
- type
- lathe bed
- storage unit
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q3/00—Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine
- B23Q3/155—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling
- B23Q3/1552—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling parts of devices for automatically inserting or removing tools
- B23Q3/1554—Transfer mechanisms, e.g. tool gripping arms; Drive mechanisms therefore
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q3/00—Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine
- B23Q3/155—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling
- B23Q3/1552—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling parts of devices for automatically inserting or removing tools
- B23Q3/1554—Transfer mechanisms, e.g. tool gripping arms; Drive mechanisms therefore
- B23Q2003/155414—Transfer mechanisms, e.g. tool gripping arms; Drive mechanisms therefore the transfer mechanism comprising two or more grippers
Abstract
The invention discloses one kind based on the double gripping-type cutting tool exchanging systems of manipulator, including：The main axle unit that cutter storage unit, the first gripping-type straight-line motion mechanism, the second gripping-type exchange automatically；The cutter storage unit is set to the side of lathe bed column, the first gripping-type straight-line motion mechanism is set between the main axle unit that the cutter storage unit exchanges automatically with second gripping-type, the cutter captured in the cutter storage unit is moved along lathe bed X-axis, the main axle unit that second gripping-type exchanges automatically is moved along lathe bed X-axis, captures the cutter on the first gripping-type straight-line motion mechanism.The present invention realizes the rapid changing knife between main shaft and cutter, improves the tool changing beat of machine tool product, reduces tool changing non-cutting time, and then lifting means processing efficiency.
Description
Technical field
The present invention relates to metal working technical areas, more particularly to one kind is based on the double gripping-type Tool changeover systems of manipulator
System.
Background technology
Five-axis NC Machining Center can be two rotary shafts all in the Double swing head Five-axis NC Machining Center of spindle end and spindle end and work
Make end and respectively arrange that the single pendulum head of a rotary shaft matches two kinds of the Five-axis NC Machining Center of rotary table structure, as single pendulum head
For machining center.The collocation form of tool magazine can mainly have vertical, sleeping two kinds of configurations.It is different according to machining center structure, it is optional
With the tool changing of pick-up forms or ATC automatic tool changers.But institute is come for the machining center of single pendulum header structure, no matter stand
Formula or horizontal type structure, if selecting ATC automatic tool changers, in order to avoid the interference region of spindle box, manipulator can all be done
It is very big.The position also bad placement of cam box simultaneously, tool magazine body are made heavy again, and floor space is also larger, simultaneously because main
The limitation of axle construction, it is also difficult to realize accurate tool changing.
Invention content
The present invention provides one kind based on the double gripping-type cutting tool exchanging systems of manipulator, to overcome above-mentioned technical problem.
The present invention is based on the double gripping-type cutting tool exchanging systems of manipulator, including：
The main axle unit that cutter storage unit, the first gripping-type straight-line motion mechanism, the second gripping-type exchange automatically；
The cutter storage unit is set to the side of lathe bed column, and the first gripping-type straight-line motion mechanism is set to
Between the main axle unit that the cutter storage unit exchanges automatically with second gripping-type, moved described in crawl along lathe bed X-axis
Cutter in cutter storage unit, the main axle unit that second gripping-type exchanges automatically are moved along lathe bed X-axis, crawl described the
Cutter on one gripping-type straight-line motion mechanism.
Further, the first gripping-type straight-line motion mechanism, including：
Holder, slide, the mechanism that draws sword and take cutter mechanism；
Lathe bed X-direction guide rail is arranged in the holder, is arranged the slide above the guide rail, fixed on the slide to connect
Draw sword mechanism described in connecing, and cutter mechanism is taken described in setting in the mechanism that draws sword.
Further, the main axle unit that second gripping-type exchanges automatically includes：
It is set to saddle, the spindle box of lathe bed column；
The saddle is moved by the guide rail on the lathe bed column along lathe bed X-direction, and the spindle box is along the cunning
Guide rail on saddle is moved along the Y direction of lathe bed.
The present invention is based on the double gripping-type cutting tool exchanging systems of manipulator, do not need adapted ATC automatic tool changers, save
Cost.Manipulator and tool magazine overall volume reduce, and save the occupied space of system, while saving cost.
Description of the drawings
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technology description to be briefly described, it should be apparent that, the accompanying drawings in the following description is this hair
Some bright embodiments for those of ordinary skill in the art without having to pay creative labor, can be with
Obtain other attached drawings according to these attached drawings.
Fig. 1 is that the present invention is based on the double gripping-type cutting tool exchanging system block diagrams of manipulator；
Fig. 2 is that the present invention is based on the double gripping-type cutting tool exchanging system structure charts of manipulator；
Fig. 3 is coherent reference coordinate system schematic diagram of the present invention.
Specific implementation mode
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is
A part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art
The every other embodiment obtained without creative efforts, shall fall within the protection scope of the present invention.
Fig. 1 is that the present invention is based on the double gripping-type cutting tool exchanging system block diagrams of manipulator, as shown in Figure 1, the present embodiment is
System may include：
The main shaft list that cutter storage unit 101, the first gripping-type straight-line motion mechanism 102, the second gripping-type exchange automatically
Member 103；
The cutter storage unit is set to the side of lathe bed column, and the first gripping-type straight-line motion mechanism is set to
Between the main axle unit that the cutter storage unit exchanges automatically with second gripping-type, moved described in crawl along lathe bed X-axis
Cutter in cutter storage unit, the main axle unit that second gripping-type exchanges automatically are moved along lathe bed X-axis, crawl described the
Cutter on one gripping-type straight-line motion mechanism.
Specifically, cutter memory cell is furnished with 90 ° of overturning cutter functions of tool changing point.The cutter memory cell has a large amount of
Cutter store function is waiting for that tool changing point can be achieved 90 ° of overturning cutter functions, and broach shell has lock function after overturning cutter, is
Tool-changing mechanical arm pick-up provides enough rigid supports when taking cutter.
Fig. 2 is the present invention is based on the double gripping-type cutting tool exchanging system structure charts of manipulator, as shown in Fig. 2, the present embodiment
First gripping-type straight-line motion mechanism, including：
Holder 6, slide 7, swing mechanism 8, the mechanism that draws sword 3 and take cutter mechanism 2；
Lathe bed X-direction guide rail is arranged in the holder, is arranged the slide above the guide rail, fixed on the slide to connect
Draw sword mechanism described in connecing, and cutter mechanism is taken described in setting in the mechanism that draws sword.
Mechanism and take cutter mechanism whole specifically, holder and the slide drive of the first gripping-type straight-line motion mechanism are drawn sword
Transverse shifting of the structure relative to tool changing point, realization take knife and wait for that tool changing acts, driving of the slide in straight spur unit 4
Under, it moves along a straight line in the linear guide 5, the realization of cutter mechanism 2 is taken to take knife, the drive of the mechanism that draws sword 3 takes cutter mechanism 2 whole along cutter 1
Axis direction moves, and realizes that cutter is detached from the action of drawing sword of cutter memory cell.The swing mechanism 8 drives the mechanism that draws sword, takes
Cutter mechanism and the cutter entirety captured from cutter memory cell 13 are rotated by 90 °/120 °/180 ° around itself rotation center, wherein
Cutter is taken cutter mechanism by 90 ° of correspondences 4, wherein cutter is taken cutter mechanism by 120 ° of correspondences 3, wherein 180 ° of correspondences 2 are cutter
Take cutter mechanism.
It is reconfigured after waiting for the main axle unit that the second gripping-type exchanges automatically to put back to cutter 9 to be exchanged on main tapping 10
The cutter to be exchanged 1 that first gripping-type straight-line motion mechanism takes out.
As shown in Fig. 2, the main axle unit that second gripping-type of the present embodiment exchanges automatically includes：
It is set to saddle 12, the spindle box 11 of lathe bed column；
The saddle is moved by the guide rail on the lathe bed column along lathe bed X-direction, and the spindle box is along the cunning
Guide rail on saddle is moved along the Y direction of lathe bed.
Specifically, the main axle unit for the automatic function of exchange of main axle unit that the second gripping-type exchanges automatically mainly by：If
It is placed in saddle, spindle box the two linear axis coordinates of motion of lathe bed column:The first straight line coordinates of motion are parallel to first
The lathe bed X-direction of pick-up straight-line motion mechanisms realizes the automatic knife/knife is taken to act gone back of main shaft；The second straight line movement
Coordinate is parallel to perpendicular to the Y direction that the first straight line coordinates of motion are lathe bed through insert central axis to be exchanged
In plane, loose knife/folder knife action is realized.Above-mentioned lathe bed change in coordinate axis direction is as shown in Figure 3.
Finally it should be noted that：The above embodiments are only used to illustrate the technical solution of the present invention., rather than its limitations；To the greatest extent
Present invention has been described in detail with reference to the aforementioned embodiments for pipe, it will be understood by those of ordinary skill in the art that：Its according to
So can with technical scheme described in the above embodiments is modified, either to which part or all technical features into
Row equivalent replacement；And these modifications or replacements, various embodiments of the present invention technology that it does not separate the essence of the corresponding technical solution
The range of scheme.
Claims (3)
1. one kind is based on the double gripping-type cutting tool exchanging systems of manipulator, which is characterized in that including：
The main axle unit that cutter storage unit, the first gripping-type straight-line motion mechanism, the second gripping-type exchange automatically；
The cutter storage unit is set to the side of lathe bed column, and the first gripping-type straight-line motion mechanism is set to described
Between the main axle unit that cutter storage unit exchanges automatically with second gripping-type, the crawl cutter is moved along lathe bed X-axis
Cutter in storage unit, the main axle unit that second gripping-type exchanges automatically are moved along lathe bed X-axis, and crawl described first is grabbed
Cutter on modus ponens straight-line motion mechanism.
2. system according to claim 1, which is characterized in that the first gripping-type straight-line motion mechanism, including：
Holder, slide, the mechanism that draws sword and take cutter mechanism；
Lathe bed X-direction guide rail is arranged in the holder, and the slide is arranged above the guide rail, institute is fixedly connected on the slide
It states the mechanism that draws sword, cutter mechanism is taken described in setting in the mechanism that draws sword.
3. system according to claim 2, which is characterized in that the main axle unit packet that second gripping-type exchanges automatically
It includes：
It is set to saddle, the spindle box of lathe bed column；
The saddle is moved by the guide rail on the lathe bed column along lathe bed X-direction, and the spindle box is along the saddle
Guide rail moved along the Y direction of lathe bed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810705445.8A CN108723854A (en) | 2018-06-29 | 2018-06-29 | One kind is based on the double gripping-type cutting tool exchanging systems of manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810705445.8A CN108723854A (en) | 2018-06-29 | 2018-06-29 | One kind is based on the double gripping-type cutting tool exchanging systems of manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108723854A true CN108723854A (en) | 2018-11-02 |
Family
ID=63925569
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810705445.8A Pending CN108723854A (en) | 2018-06-29 | 2018-06-29 | One kind is based on the double gripping-type cutting tool exchanging systems of manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108723854A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2021012943A1 (en) * | 2019-07-19 | 2021-01-28 | 科德数控股份有限公司 | Fully automatic vertical machining center having material tray |
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|---|---|---|---|---|
| JP2006136984A (en) * | 2004-11-12 | 2006-06-01 | Brother Ind Ltd | Machine tool |
| JP2007175819A (en) * | 2005-12-28 | 2007-07-12 | Mitsui Seiki Kogyo Co Ltd | Automatic tool changer of vertical machining center having side wall and automatic tool changer method for it |
| KR100779805B1 (en) * | 2006-12-14 | 2007-11-27 | 두산인프라코어 주식회사 | Tool magazine driving connected atc door open and close device |
| CN102416576A (en) * | 2011-12-14 | 2012-04-18 | 上海三一精机有限公司 | Automatic tool changing device for chain magazine |
| TW201321123A (en) * | 2011-11-25 | 2013-06-01 | Gentiger Machinery Ind Co Ltd | Tool magazine device of high speed gantry machine center and its tool changing method |
| 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 |
| CN107139001A (en) * | 2017-05-26 | 2017-09-08 | 山东永华机械有限公司 | The dual gauge handle of a knife automatic tool changer of the axle gantry machining center of Multifunctional milling five |
| DE102016015806A1 (en) * | 2016-09-22 | 2018-03-29 | Elb-Schliff Werkzeugmaschinen Gmbh | Workpiece machining device |
| CN208409307U (en) * | 2018-06-29 | 2019-01-22 | 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 |
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2018
- 2018-06-29 CN CN201810705445.8A patent/CN108723854A/en active Pending
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2006136984A (en) * | 2004-11-12 | 2006-06-01 | Brother Ind Ltd | Machine tool |
| JP2007175819A (en) * | 2005-12-28 | 2007-07-12 | Mitsui Seiki Kogyo Co Ltd | Automatic tool changer of vertical machining center having side wall and automatic tool changer method for it |
| KR100779805B1 (en) * | 2006-12-14 | 2007-11-27 | 두산인프라코어 주식회사 | Tool magazine driving connected atc door open and close device |
| TW201321123A (en) * | 2011-11-25 | 2013-06-01 | Gentiger Machinery Ind Co Ltd | Tool magazine device of high speed gantry machine center and its tool changing method |
| CN102416576A (en) * | 2011-12-14 | 2012-04-18 | 上海三一精机有限公司 | Automatic tool changing device for chain magazine |
| 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 |
| DE102016015806A1 (en) * | 2016-09-22 | 2018-03-29 | Elb-Schliff Werkzeugmaschinen Gmbh | Workpiece machining device |
| CN107139001A (en) * | 2017-05-26 | 2017-09-08 | 山东永华机械有限公司 | The dual gauge handle of a knife automatic tool changer of the axle gantry machining center of Multifunctional milling five |
| CN208409307U (en) * | 2018-06-29 | 2019-01-22 | 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 |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2021012943A1 (en) * | 2019-07-19 | 2021-01-28 | 科德数控股份有限公司 | Fully automatic vertical machining center having material tray |
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