CN110303364A - Tool-changing mechanical arm, cutter-exchange mechanism and tool magazine with knife position detection function - Google Patents
Tool-changing mechanical arm, cutter-exchange mechanism and tool magazine with knife position detection function Download PDFInfo
- Publication number
- CN110303364A CN110303364A CN201910650080.8A CN201910650080A CN110303364A CN 110303364 A CN110303364 A CN 110303364A CN 201910650080 A CN201910650080 A CN 201910650080A CN 110303364 A CN110303364 A CN 110303364A
- Authority
- CN
- China
- Prior art keywords
- cutter
- tool
- air flue
- slip ring
- tool arm
- 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.)
- Pending
Links
- 230000007246 mechanism Effects 0.000 title claims abstract description 73
- 238000001514 detection method Methods 0.000 title claims abstract description 48
- 210000000078 claw Anatomy 0.000 claims abstract description 48
- 238000012360 testing method Methods 0.000 claims abstract description 30
- 238000005520 cutting process Methods 0.000 claims abstract description 3
- 238000000034 method Methods 0.000 claims description 18
- 230000008569 process Effects 0.000 claims description 16
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 14
- 230000003028 elevating effect Effects 0.000 claims description 10
- 230000006870 function Effects 0.000 claims description 5
- 230000008878 coupling Effects 0.000 claims description 4
- 238000010168 coupling process Methods 0.000 claims description 4
- 238000005859 coupling reaction Methods 0.000 claims description 4
- 238000007789 sealing Methods 0.000 claims description 4
- 210000002421 cell wall Anatomy 0.000 claims description 3
- 230000008450 motivation Effects 0.000 claims description 3
- 239000007787 solid Substances 0.000 claims 1
- 238000003754 machining Methods 0.000 description 10
- 230000008859 change Effects 0.000 description 5
- 238000010586 diagram Methods 0.000 description 5
- 230000032683 aging Effects 0.000 description 4
- 230000000694 effects Effects 0.000 description 3
- 238000007689 inspection Methods 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 2
- 238000006243 chemical reaction Methods 0.000 description 2
- 238000004140 cleaning Methods 0.000 description 2
- 230000007774 longterm Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000035939 shock Effects 0.000 description 2
- 206010044565 Tremor Diseases 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000000903 blocking effect Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 230000008602 contraction Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000009987 spinning Methods 0.000 description 1
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
- B23Q17/00—Arrangements for observing, indicating or measuring on machine tools
-
- 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
- B23Q3/157—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling of rotary tools
-
- 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
- B23Q2003/155425—Transfer mechanisms, e.g. tool gripping arms; Drive mechanisms therefore the transfer mechanism comprising two or more grippers pivotable
- B23Q2003/155428—Transfer mechanisms, e.g. tool gripping arms; Drive mechanisms therefore the transfer mechanism comprising two or more grippers pivotable about a common axis
Abstract
The invention discloses a kind of tool-changing mechanical arms with knife position detection function, comprising: tool arm, including hold knife portion, the appearance knife portion is for accommodating aligned cutting tool；Cutter claw can stretch to cooperate with the appearance knife portion relative to the tool arm and clamp or discharge the cutter；Straight line driving mechanism drives the cutter claw flexible to abut or far from the cutter；Testing agency, when the cutter is located in the appearance knife portion, the testing agency, which is able to detect, judges whether cutter is clamped by the cutter claw.Tool-changing mechanical arm provided by the present invention judges whether cutter is clamped by the cutter claw to detect, cutter flies out from cutter claw when tool changing being avoided to rotate, and protects equipment, prevents such safety accident by the increase checking mechanism on tool-changing mechanical arm.
Description
Technical field
The present invention relates to machine tooling technical field more particularly to a kind of tool-changing mechanical arm with knife position detection function,
Cutter-exchange mechanism and tool magazine.
Background technique
When numerically-controlled machine tool processes complex part, it may be necessary to which multiple cutters are processed.To store multiple cutters, numerical control machine
Bed needs to be equipped with tool magazine.Using the tool magazine of automation tool changing, then need to be equipped with automatic tool changer.
Cutter-exchange mechanism currently on the market, tool-changing mechanical arm will cause component wear and cutter claw after long-term operation
Caton, be easy to appear the phenomenon of cutter holding shakiness.In existing cutter-exchange mechanism technology, lacks effective detection means and use
To detect whether cutter is held in place, before tool changing spinning movement, existing cutter-exchange mechanism can not judge whether cutter is clipped,
Cutter is easy to fly out from cutter claw when tool changing being caused to rotate, and causes safety accident.
Also, current cutter-exchange mechanism generally passes through elastic telescopic mechanism and locks cutter automatically, and tool arm is in rotational automatic folder
During holding cutter, the cutter claw of tool arm can collide cutter, and due to the design of spring, moment impact force can be bigger, meanwhile, it hits
Machining spindle can be transferred to by cutter by hitting power.In this way, long-term tool changing movement can cause machining spindle anti-when equipment works
It is multiple to hit, it may result in machining spindle offset or break machining spindle, influence the machining accuracy of machining spindle cutter.
Summary of the invention
In order to overcome at least one defect described in the above-mentioned prior art, the present invention provides one kind, and there is knife position to detect function
The tool-changing mechanical arm of energy.
The present invention is that technical solution used by solving the problems, such as it is:
A kind of tool-changing mechanical arm with knife position detection function, comprising: tool arm, including hold knife portion, the appearance knife portion is used for
Accommodate aligned cutting tool；Cutter claw can stretch to cooperate with the appearance knife portion relative to the tool arm and clamp or discharge the knife
Tool；Straight line driving mechanism drives the cutter claw flexible to abut or far from the cutter；Testing agency, when the cutter is located at
When in the appearance knife portion, the testing agency, which is able to detect, judges whether cutter is clamped by the cutter claw.
Tool-changing mechanical arm provided by the present invention, by the increase checking mechanism on tool-changing mechanical arm, to detect judgement
Whether cutter is clamped by the cutter claw, and cutter flies out from cutter claw when tool changing being avoided to rotate, and protects equipment, prevents such safety
Accident.
Further, the testing agency includes: slide, is fixedly installed in the tool arm, is provided on the slide non-
The detection chambers of sealing；Connecting rod is connected with the cutter claw, is provided with and is snug fit in the detection chambers on the connecting rod
Sliding block；Air flue is detected, is connected to the detection chambers, the cutter claw drives the connecting rod when sliding on the slide, institute
It states sliding block and blocks or unclamp the detection air flue.
The position for judging cutter claw by the barometric information of detection air flue as a result, determines the working condition of cutter claw.
Further, the testing agency further includes pressure test device, and the pressure test device is described for detecting
The pressure of air flue is detected to judge whether cutter is clamped by the cutter claw.
The pressure test device may be mounted at any position as a result, need to only be connected to detection air flue, pass through air pressure
The barometric information of detection device detection judgement detection air flue, so that it is determined that the working condition of cutter claw.
Further, the straight line driving mechanism be cylinder, including be fixedly installed in the tool arm cylinder body and with institute
State the cylinder rod that cutter claw is connected, the cylinder rod can relative to the cylinder body it is flexible with drive the cutter claw and hold the cooperation of knife portion and
Clamp or discharge the cutter.
Further, the cylinder body includes first chamber and second chamber, the first chamber be provided with venthole with
And the elastic component resetted for driving the cylinder rod to stretch out, the second chamber are communicated with for air inlet to drive the cylinder rod to contract
The driving air flue returned.
Existing elastic telescopic mechanism is substituted by using cylinder as a result, can actively control clamping to cutter with
Release, cutter and collsion damage main shaft when avoiding clamping cutter automatically in exchanging knives process on shock machining spindle.
Further, the slide is located in the first chamber, and the detection chambers are connected to the first chamber, institute
Connecting rod is stated to be fixedly connected with the cylinder rod.
It will test integrated combine of slide, connecting rod and cylinder in mechanism as a result, to be arranged, simplify the entirety of the tool-changing mechanical arm
Structure reduces its occupied space.
Further, the knife portion that holds includes the appearance cutter groove in arc-shaped, the cell wall for holding cutter groove and the cutter
Outer circumference surface matches.
Cutter can preferably be clamped by the appearance cutter groove as a result, so that cutter is not easily to fall off.
A kind of cutter-exchange mechanism, including rotary drive mechanism, tool arm axis and the tool-changing mechanical arm, the rotary driving machine
Structure and the tool arm axis driving coupling are to drive the tool arm axis to rotate；The tool arm is fixedly connected with the tool arm axis, so that
When obtaining rotary drive mechanism driving tool arm axis rotation, the tool arm and the tool arm axis are rotated synchronously；The tool arm
Mutually independent first air flue and the second air flue are provided in axis, first air flue is connected to the detection air flue, described
Second air flue is connected to the driving air flue.
Cutter-exchange mechanism provided by the present invention, by the first air flue and the second air flue being arranged in tool arm axis to substitute tracheae
Gas supply, effectively prevents the problem of aging of caused tracheae wrapping phenomena and tracheae when cylinder rotary work in the prior art,
Improve the reliability and stability of straight line driving mechanism and testing agency.
Further, the cutter-exchange mechanism further includes the fixing seal component being sheathed on the tool arm axis, the fixation
The first gas slip ring and the second gas slip ring are formed between seal assembly and the tool arm axis, in the rotation process of the tool arm axis
In, the first gas slip ring and the second gas slip ring are remained and are connected to first air flue and the second air flue respectively.
As a result, by not with the fixing seal component of tool arm axis rotation to airway pressure, it is ensured that be connected to the first gas slip ring
And second the external tracheae of gas slip ring there is not wrapping phenomena.
Further, the fixing seal component includes Fixing shrink ring and several lip rings, the Fixing shrink ring
It is sheathed on the tool arm axis and is used to be fixedly installed to slide unit, be provided on the Fixing shrink ring and be respectively communicated with first gas
The first air inlet and the second air inlet of slip ring and the second gas slip ring, the lip ring be set to the first gas slip ring with
And second gas slip ring two sides, the first gas slip ring and the second gas slip ring are individually insulated sealing.
Matching by Fixing shrink ring and lip ring as a result, it is ensured that the gas of the first gas slip ring and the second gas slip ring
Close property, avoids gas leakage from causing atmospheric pressure lost.
Further, the cutter-exchange mechanism further includes elevating mechanism, and the elevating mechanism includes linear guide elements, lead screw
Shift sleeve structure, driving motor and pedestal, the rotary drive mechanism are slidably mounted on described by the linear guide elements
On pedestal, the driving motor is fixedly installed in the pedestal and drives the rotary driving machine by the lead screw shift sleeve structure
Structure slides up and down.
Lead screw shift sleeve structure is driven by driving motor as a result, to control the telescopic moving up and down of tool-changing mechanical arm, reaction
Fastly, control is precisely convenient, it is ensured that provides optimal flexible stroke when taking, filling the cutter of various criterion, is conducive to shorten tool changing
Time.
A kind of tool magazine, including cutter-exchange mechanism as described above.
In conclusion tool-changing mechanical arm provided by the invention has the following technical effect that overall structure is simple, compact, account for
It is small with space, it can judge that the working condition for determining cutter claw to ensure that cutter is clamped, avoids tool changing from revolving in exchanging knives process
Cutter flies out from cutter claw when turning；The clamping and release to cutter can be actively controlled, avoids clamping automatically in exchanging knives process
Cutter and collsion damage main shaft when cutter on shock machining spindle.
Cutter-exchange mechanism provided by the invention also includes compact overall structure, succinct other than having above-mentioned technique effect,
Reliability and stability are high；Tracheae wrapping phenomena and tracheae problem of aging are avoided, convenient for cleaning and maintaining；Air-tightness is good, keeps away
Exempt from gas leakage and causes atmospheric pressure lost；Elevating mechanism reaction is fast, and control is precisely convenient, it is ensured that mentions when taking, filling the cutter of various criterion
For optimal flexible stroke, be conducive to shorten tool change time.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of cutter-exchange mechanism in the embodiment of the present invention；
Fig. 2 is the structural schematic diagram of cutter-exchange mechanism in the embodiment of the present invention；
Fig. 3 is the structural schematic diagram that tool arm axis shown in Fig. 2 is connected with fixing seal component and tool arm；
Fig. 4 is the structural schematic diagram of tool-changing mechanical arm in the embodiment of the present invention；
Fig. 5 is the structural schematic diagram that cutter claw shown in Fig. 4 is connected with straight line driving mechanism and testing agency.
Wherein, appended drawing reference meaning is as follows:
1, tool-changing mechanical arm；11, tool arm；111, hold knife portion；1111, hold cutter groove；12, cutter claw；13, straight line driving mechanism；
131, cylinder body；1311, first chamber；1312, second chamber；1313, venthole；1314, elastic component；1315, air flue is driven；
1316, end cap；132, cylinder rod；133, piston head；14, testing agency；141, slide；1411, detection chambers；1412, connecting hole；
142, connecting rod；143, sliding block；144, air flue is detected；145, pressure test device；2, tool arm axis；21, the first air flue；22, second
Air flue；3, rotary drive mechanism；4, fixing seal component；41, the first gas slip ring；42, the second gas slip ring；43, Fixing shrink ring；
431, the first air inlet；432, the second air inlet；44, lip ring；5, elevating mechanism；51, linear guide elements；511, it leads
Rail；512, sliding block；52, lead screw shift sleeve structure；521, lead screw；522, sliding sleeve；53, driving motor；54, pedestal；55, slide unit；6,
Cutter.
Specific embodiment
In order to better understand and implement, following will be combined with the drawings in the embodiments of the present invention, in the embodiment of the present invention
Technical solution be clearly and completely described.
Unless otherwise defined, all technical and scientific terms used herein and belong to technical field of the invention
The normally understood meaning of technical staff is identical.Term as used herein in the specification of the present invention is intended merely to description tool
The purpose of the embodiment of body, it is not intended that the limitation present invention.
" driving coupling " that the present invention refers to includes being directly connected to, and also includes that (chain-drive mechanism, band pass by transmission mechanism
Motivation structure and gear drive etc.) connection.
Refering to fig. 1 to Fig. 3, the invention discloses a kind of cutter-exchange mechanism, which includes rotary drive mechanism 3, knife
Arm axle 2, tool-changing mechanical arm 1, fixing seal component 4 and elevating mechanism 5.The invention also discloses one kind to have the tool changing machine
The tool magazine of structure.
Refering to Fig. 4 and Fig. 5, in the present embodiment, the tool-changing mechanical arm 1 includes tool arm 11, cutter claw 12, straight line driving
Structure 13 and testing agency 14.Specifically, the tool arm 11 includes holding knife portion 111, the appearance knife portion 111 is for accommodating knife edge
Tool 6；The cutter claw 12 can stretch to cooperate with the appearance knife portion 111 relative to the tool arm 11 and clamp or discharge the knife
Tool 6；When the cutter 6 is located in the appearance knife portion 111, whether the testing agency 14 is able to detect judges cutter 6 by institute
Cutter claw 12 is stated to clamp.
In the present embodiment, there are two the appearance knife portions 111, the both ends of tool arm 11 are located at.It wraps in the appearance knife portion 111
The appearance cutter groove 1111 in arc-shaped is included, the outer circumference surface of the cell wall and the cutter 6 for holding cutter groove 1111 matches, so that
The appearance cutter groove 1111 can preferably clamp cutter 6, so that cutter 6 is not easily to fall off.
Refering to Fig. 5, in the present embodiment, the straight line driving mechanism 13 is arranged with integrated combine of the testing agency 14,
To simplify the overall structure of the tool-changing mechanical arm 1, its occupied space is reduced.
Specifically, the testing agency 14 includes slide 141, connecting rod 142, detection air flue 144 and pressure test device
145, the straight line driving mechanism 13 is cylinder, including cylinder body 131 and cylinder rod 132.
It the generally rectangular shaped shape of the cylinder body 131 and is fixedly installed on the tool arm 11；Described 132 one end of cylinder rod is provided with
Piston head 133, the piston head 133 are slidably mounted in the cylinder body 131 and the inner cavity of cylinder body 131 are divided into first chamber
1311 and second chamber 1312；Blocking in the second chamber 1312 has end cap 1316, and 132 other end of cylinder rod passes through institute
It states end cap 1316 and is fixedly connected with 12 phase of cutter claw.The cylinder rod 132 can be flexible relative to the cylinder body 131 as a result,
To drive the cutter claw 12 to clamp or discharge the cutter 6 with the cooperation of knife portion 111 is held.
The slide 141 is fixedly installed in the first chamber 1311, and the inspection of non-tight is provided on the slide 141
Chamber 1411 is surveyed, specifically, the detection chambers 1411 have opening towards one end of the cutter claw 12, the opening is by the inspection
It surveys chamber 1411 to be connected to the first chamber 1311, is additionally provided with communication with detection chamber 1411 and institute in the detection chambers 1411
State the connecting hole 1412 of first chamber 1311.
The connecting rod 142 is fixedly connected with the cylinder rod 132, is provided on the connecting rod 142 and is snug fit at the inspection
Survey the sliding block 143 in chamber 1411；The detection air flue 144 is connected to the detection chambers 1411, and the cutter claw 12 drives institute
Connecting rod 142 is stated when sliding on the slide 141, the sliding block 143 blocks or unclamp the detection air flue 144.
In the present embodiment, venthole 1313 is provided in the first chamber 1311 and for driving the cylinder rod
132 stretch out the elastic component 1314 resetted, and the second chamber 1312 is communicated with for air inlet to drive the cylinder rod 132 to retract
Drive air flue 1315.Thereby, it is possible to actively control the contraction of cylinder rod 132 to clamp and discharge to cutter 6, exchanging knives process is avoided
In hit cutter 6 on machining spindle when clamping cutter 6 automatically and collsion damage its main shaft.
Wherein, the elastic component 1314 is spring, and one end of the spring is connected on piston head 133, and the other end is connected to
On the inner wall of first chamber 1311.Really, also elastic reset can may be implemented for elastic slice, elastic cushion etc. in the elastic component 1314
Structure, the present invention is specifically limited not to this.
Certainly, in other embodiments, the straight line driving mechanism 13 can also independently be set with the testing agency 14
It sets, i.e., the described slide 141 is fixedly installed on the tool arm 11 or is fixedly installed on the lateral wall of the cylinder body 131, institute
The opening and connecting hole 1412 for stating detection chambers 1411 are connected to outside atmosphere, and the connecting rod 142 is connected with the cutter claw 12
It connects, the sliding block 143 being snug fit in the detection chambers 1411 is provided on the connecting rod 142；The cutter claw 12 drives institute
Connecting rod 142 is stated when sliding on the slide 141, the sliding block 143 blocks or unclamp the detection air flue 144.
The pressure test device 145 may be mounted at any position, need to only be connected to, pass through with detection air flue 144
The barometric information of the detection judgement detection air flue 144 of pressure test device 145, so that it is determined that the working condition of cutter claw 12.
Refering to Fig. 4, in the present embodiment, the driving air flue 1315 and detection air flue 144 are opened in tool arm 11.
Refering to Fig. 3, the rotary drive mechanism 3 drives the tool arm axis 2 to rotate with 2 driving coupling of tool arm axis,
The tool arm 11 is fixedly connected with the tool arm axis 2, when the rotary drive mechanism 3 drives the tool arm axis 2 to rotate, the knife
Arm 11 and the tool arm axis 2 rotate synchronously.
In the present embodiment, mutually independent first air flue 21 and the second air flue 22, institute are provided in the tool arm axis 2
It states the first air flue 21 to be connected to the detection air flue 144, second air flue 22 is connected to the driving air flue 1315.By
The first air flue 21 of setting and the second air flue 22 effectively prevent cylinder rotation in the prior art to substitute tracheae gas supply in tool arm axis 2
Change a job the problem of aging of caused tracheae wrapping phenomena and tracheae when making, raising straight line driving mechanism 13 and testing agency 14
Reliability and stability.
In the present embodiment, the fixing seal component 4 is sheathed on the top of the tool arm axis 2, the fixing seal group
The first gas slip ring 41 and the second gas slip ring 42 are formed between part 4 and the tool arm axis 2, in the rotation process of the tool arm axis 2
In, the first gas slip ring 41 and the second gas slip ring 42 respectively with 22 company of remaining of first air flue 21 and the second air flue
It is logical.
Wherein, the first gas slip ring 41 and the second gas slip ring 42 can be recessed by the annular opened up on fixing seal component 4
Slot is constituted, or the external annular groove by opening up on tool arm axis 2 is constituted, or the inner ring by opening up on fixing seal component 4
The external annular groove opened up in connected in star composition and tool arm axis 2 collectively forms.
In the present embodiment, the fixing seal component 4 includes Fixing shrink ring 43 and several lip rings 44.Its
In, the Fixing shrink ring 43 is sheathed on the upper end of the tool arm axis 2 and for being fixedly installed to slide unit 55, the Fixing shrink ring
The first air inlet 431 and the second air inlet for being respectively communicated with the first gas slip ring 41 and the second gas slip ring 42 are provided on 43
432, first air inlet 431 is with the second air inlet 432 for connecting external air source as the driving air flue 1315 and detection
Air flue 144 supplies.
As a result, by the fixing seal component 4 that is not rotated with tool arm axis 2 to airway pressure, it is ensured that it is sliding to be connected to the first gas
There is not wrapping phenomena in the external tracheae of ring 41 and the second gas slip ring 42
There are three the lip rings 44, and the lip ring 44 is set to the first gas slip ring 41 and second
The two sides of gas slip ring 42, i.e., the described first gas slip ring 41 and the second gas slip ring 42 be located at two lip rings 44 it
Between, the first gas slip ring 41 and the second gas slip ring 42 are individually insulated sealing, it is ensured that the first gas slip ring 41 and the second gas
The air-tightness of slip ring 42, avoids gas leakage from causing atmospheric pressure lost.
Refering to fig. 1 and Fig. 2, the elevating mechanism 5 include linear guide elements 51, lead screw shift sleeve structure 52, driving motor
53 and pedestal 54, the rotary drive mechanism 3 be slidably mounted on the pedestal 54 by the linear guide elements 51, institute
Driving motor 53 is stated to be fixedly installed in the pedestal 54 and drive the rotary drive mechanism 3 by the lead screw shift sleeve structure 52
It slides up and down.
Specifically, there are two the linear guide elements 51 tools, including guide rail 511 and it is slidably connected to the guide rail
511 sliding block 512, wherein the guide rail 511 is fixedly mounted on pedestal 54, is fixedly connected with one between two sliding blocks 512
Slide unit 55, the slide unit 55 is for installing the rotary drive mechanism 3；The lead screw shift sleeve structure 52 include lead screw 521 and
Sliding sleeve 522, the sliding sleeve 522 are rotatably connected on the slide unit 55, and the driving motor 53 is fixedly installed in the pedestal 54
Above and with the lead screw 521 it is connected.Driving motor 53 drives the rotation of lead screw 521 to drive sliding sleeve 522 to move up and down as a result,
To drive the rotary drive mechanism 3 to slide up and down, to complete tool changing movement.
Driving motor 53 cooperates with the transmission of lead screw shift sleeve structure 52 has the characteristics that react fast, control is precisely convenient, really
Guarantor provides optimal flexible stroke when taking, filling the cutter 6 of various criterion, is conducive to shorten tool change time.
Tool changing is carried out using the cutter-exchange mechanism, specific action process is as follows:
Process one: tool-changing mechanical arm 1 discharges cutter 6, Hui Yuanwei.Entire cutter-exchange mechanism is completed a upper cutter 6 being packed into machine
After bed main shaft and broach shell, external gas source is supplied to straight line driving mechanism 13；Gas is successively by the second air inlet on fixing seal component 4
Hole 432, the second gas slip ring 42, the second air flue 22, driving air flue 1315 enter in second chamber 1312, act on piston head 133.
Piston head 133 is bullied pressure-driven, and the resistance of elastic component 1314 is overcome to move inward；Cylinder rod 132 and cutter claw 12 is driven to withdraw, together
When cylinder body 131 in the gas of first chamber 1311 be discharged in atmosphere by venthole 1313, cutter 6, which is detached from, to be held knife portion 111 and is released.
Rotary drive mechanism 3 drives tool-changing mechanical arm 1 to be rotated by 90 °, and tool-changing mechanical arm 1 resets.
Process two: tool-changing mechanical arm 1 clamps cutter 6, carries downwards.Rotary drive mechanism 3 drives tool-changing mechanical arm 1 reversed
It returns and turn 90 degrees, arrival takes cutter position；At this point, the center in appearance knife portion 111 and main shaft, broach shell are coaxial.Gas in second chamber 1312
Body is discharged into the atmosphere along 1 opposite direction of process.Piston head 133 moves out, cylinder under the elastic force effect of elastic component 1314
Bar 132, which stretches out, drives cutter claw 12 to withstand on cutter 6 in appearance knife portion 111, clasps cutter 6.After tool-changing mechanical arm 1 clamps cutter 6, rise
Descending mechanism 5 drives tool-changing mechanical arm 1 to move downward.
If cutter claw 12 does not pop up does not clip cutter 6 in place during above-mentioned clamping cutter 6, then sliding
Block 143 cannot block detection air flue 144.It detects air flue 144 and passes through detection chambers 1411, second chamber 1312, finally by
Venthole 1313 is discharged into the atmosphere, and the atmospheric pressure of detection air flue 144 reduces.And it detects air flue 144 and passes sequentially through the first air flue
21, the first gas slip ring 41, the first air inlet 431 are communicated with detection gas circuit, and pressure test device 145 is connected in the gas circuit.Gas
Pressure detection device 145 can detecte the pressure change of detection air flue 144, to export alarm signal.
Process three: it carries upwards, dress knife.Elevating mechanism 5 drives tool-changing mechanical arm 1 to move upwards；At the same time, rotation is driven
Motivation structure 3 drives tool-changing mechanical arm 1 to invert 180 degree, after two cutters 6 on tool-changing mechanical arm 1 complete exchange, is attached to main shaft or knife
It puts on.An exchanging knives process is completed with this.
In conclusion tool-changing mechanical arm 1 provided by the present invention, overall structure is simple, compact, occupies little space, can
In exchanging knives process judge determine cutter claw 12 working condition to ensure that cutter 6 is clamped, when tool changing being avoided to rotate cutter 6 from
It flies out in cutter claw；The clamping and release to cutter 6 can be actively controlled, avoids hitting when clamping cutter 6 in exchanging knives process automatically
Hit the cutter 6 on machining spindle and collsion damage main shaft.
Cutter-exchange mechanism provided by the present invention with the tool-changing mechanical arm 1, it is compact overall structure, succinct, reliably
Property and stability it is high；Tracheae wrapping phenomena and tracheae problem of aging are avoided, convenient for cleaning and maintaining；Air-tightness is good, avoids leaking
Gas causes atmospheric pressure lost；Elevating mechanism 5 reacts fastly, and control is precisely convenient, it is ensured that the offer when taking, filling the cutter 6 of various criterion
Optimal flexible stroke is conducive to shorten tool change time.
The technical means disclosed in the embodiments of the present invention is not limited only to technological means disclosed in above embodiment, further includes
Technical solution consisting of any combination of the above technical features.It should be pointed out that for those skilled in the art
For, various improvements and modifications may be made without departing from the principle of the present invention, these improvements and modifications are also considered as
Protection scope of the present invention.
Claims (12)
1. a kind of tool-changing mechanical arm (1) with knife position detection function characterized by comprising
Tool arm (11), including hold knife portion (111), the appearance knife portion (111) is for accommodating aligned cutting tool (6)；
Cutter claw (12), can be flexible to cooperate and clamping or release institute with the appearance knife portion (111) relative to the tool arm (11)
State cutter (6)；
Straight line driving mechanism (13) drives the cutter claw (12) flexible to abut or far from the cutter (6)；
Testing agency (14), when the cutter (6) are located in the appearance knife portion (111), the testing agency (14) can be examined
Survey judges whether cutter (6) is clamped by the cutter claw (12).
2. tool-changing mechanical arm (1) according to claim 1, which is characterized in that the testing agency (14) includes:
Slide (141) is fixedly installed in the tool arm (11), and the detection chambers of non-tight are provided on the slide (141)
(1411)；
Connecting rod (142) is connected with the cutter claw (12), is provided on the connecting rod (142) and is snug fit at the test chamber
Sliding block (143) in room (1411)；
It detects air flue (144), is connected to the detection chambers (1411), the cutter claw (12) drives the connecting rod (142) in institute
It states when being slided on slide (141), the sliding block (143) blocks or unclamp the detection air flue (144).
3. tool-changing mechanical arm (1) according to claim 2, which is characterized in that the testing agency (14) further includes air pressure
Detection device (145), the pressure test device (145) are used to detect the pressure of detection air flue (144) to judge cutter
(6) whether clamped by the cutter claw (12).
4. tool-changing mechanical arm (1) according to claim 2, which is characterized in that the straight line driving mechanism (13) is cylinder,
It is described including the cylinder rod (132) for being fixedly installed in the cylinder body (131) of the tool arm (11) and being connected with the cutter claw (12)
Cylinder rod (132) can be flexible to drive the cutter claw (12) to clamp with knife portion (111) cooperation is held relative to the cylinder body (131)
Or the release cutter (6).
5. tool-changing mechanical arm (1) according to claim 4, which is characterized in that the cylinder body (131) includes first chamber
(1311) and second chamber (1312), the first chamber (1311) is provided with venthole (1313) and described for driving
Cylinder rod (132) stretches out the elastic component (1314) resetted, and the second chamber (1312) is communicated with for air inlet to drive the cylinder
The driving air flue (1315) that bar (132) retracts.
6. tool-changing mechanical arm (1) according to claim 5, which is characterized in that the slide (141) is located at first chamber
In room (1311), the detection chambers (1411) are connected to the first chamber (1311), the connecting rod (142) and the cylinder rod
(132) it is fixedly connected.
7. tool-changing mechanical arm (1) according to claim 1, which is characterized in that the appearance knife portion (111) includes in arc-shaped
Appearance cutter groove (1111), the outer circumference surface of cell wall and the cutter (6) for holding cutter groove (1111) matches.
8. a kind of cutter-exchange mechanism, including rotary drive mechanism (3), tool arm axis (2) and claim 1 to 7 are described in any item
Tool-changing mechanical arm (1), which is characterized in that
The rotary drive mechanism (3) and tool arm axis (2) driving coupling are to drive the tool arm axis (2) to rotate；
The tool arm (11) is fixedly connected with the tool arm axis (2), so that the rotary drive mechanism (3) drives the tool arm
When axis (2) rotates, the tool arm (11) and the tool arm axis (2) are rotated synchronously；
Mutually independent first air flue (21) and the second air flue (22), first air flue are provided in the tool arm axis (2)
(21) it is connected to the detection air flue (144), second air flue (22) is connected to the driving air flue (1315).
9. cutter-exchange mechanism according to claim 8, which is characterized in that the cutter-exchange mechanism further includes being sheathed on the tool arm
Fixing seal component (4) on axis (2) forms the first gas slip ring between the fixing seal component (4) and the tool arm axis (2)
(41) and the second gas slip ring (42), in the rotation process of the tool arm axis (2), the first gas slip ring (41) and the second gas
Slip ring (42) is remained and is connected to first air flue (21) and the second air flue (22) respectively.
10. cutter-exchange mechanism according to claim 9, which is characterized in that the fixing seal component (4) includes Fixing shrink ring
(43) and several lip rings (44), the Fixing shrink ring (43) are sheathed on the tool arm axis (2) and for being fixedly mounted
To slide unit, it is provided on the Fixing shrink ring (43) and is respectively communicated with the first gas slip ring (41) and the second gas slip ring (42)
First air inlet (431) and the second air inlet (432), the lip ring (44) be set to the first gas slip ring (41) with
And second gas slip ring (42) two sides, the first gas slip ring (41) and the second gas slip ring (42) are individually insulated sealing.
11. cutter-exchange mechanism according to claim 8, which is characterized in that further include elevating mechanism (5), the elevating mechanism
It (5) include linear guide elements (51), lead screw shift sleeve structure (52), driving motor (53) and pedestal (54), the rotation is driven
Motivation structure (3) is slidably mounted on the pedestal (54) by the linear guide elements (51), and the driving motor (53) is solid
Dingan County is loaded on the pedestal (54) and by gliding on the lead screw shift sleeve structure (52) the driving rotary drive mechanism (3)
It is dynamic.
12. a kind of tool magazine, which is characterized in that including the described in any item cutter-exchange mechanisms of such as claim 8 to 11.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010395358.4A CN111590372A (en) | 2019-07-18 | 2019-07-18 | Tool changing position detection mechanism and linear driving mechanism |
| CN201910650080.8A CN110303364A (en) | 2019-07-18 | 2019-07-18 | Tool-changing mechanical arm, cutter-exchange mechanism and tool magazine with knife position detection function |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910650080.8A CN110303364A (en) | 2019-07-18 | 2019-07-18 | Tool-changing mechanical arm, cutter-exchange mechanism and tool magazine with knife position detection function |
Related Child Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010395358.4A Division CN111590372A (en) | 2019-07-18 | 2019-07-18 | Tool changing position detection mechanism and linear driving mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110303364A true CN110303364A (en) | 2019-10-08 |
Family
ID=68080271
Family Applications (2)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010395358.4A Pending CN111590372A (en) | 2019-07-18 | 2019-07-18 | Tool changing position detection mechanism and linear driving mechanism |
| CN201910650080.8A Pending CN110303364A (en) | 2019-07-18 | 2019-07-18 | Tool-changing mechanical arm, cutter-exchange mechanism and tool magazine with knife position detection function |
Family Applications Before (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010395358.4A Pending CN111590372A (en) | 2019-07-18 | 2019-07-18 | Tool changing position detection mechanism and linear driving mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (2) | CN111590372A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112022393A (en) * | 2020-07-31 | 2020-12-04 | 南京佳和牙科技术有限公司 | Automatic planter tool magazine and tool changing method |
| US20200391334A1 (en) * | 2019-06-11 | 2020-12-17 | Gebr. Heller Maschinenfabrik Gmbh | Change device for changing of tools and/or workpieces |
| CN112318178A (en) * | 2020-11-20 | 2021-02-05 | 深圳市万嘉科技有限公司 | Intelligent precision machining equipment |
| CN113770442A (en) * | 2021-09-09 | 2021-12-10 | 富准精密模具(嘉善)有限公司 | Cutting device and cutting method thereof |
| CN115091221A (en) * | 2022-06-28 | 2022-09-23 | 淮阴工学院 | Automatic control mechanical motion equipment and preliminary scheme of control method thereof |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113385961A (en) * | 2021-06-30 | 2021-09-14 | 台州科技职业学院 | Cutter locking device and cutter changing method of five-axis machining center |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| TW200732620A (en) * | 2006-02-22 | 2007-09-01 | Cin Phown Technology Co Ltd | Laser measuring module and device of PCB processing cutter |
| CN104259913A (en) * | 2014-08-29 | 2015-01-07 | 许博 | Automatic tool changing device of simple numerical control machine center |
| CN208895694U (en) * | 2018-10-30 | 2019-05-24 | 江西衡源智能装备有限公司 | Tool-changing mechanical arm, cutter-exchange mechanism, cutter-exchange mechanism component and machining center |
| CN210499388U (en) * | 2019-07-18 | 2020-05-12 | 江西衡源智能装备有限公司 | Tool changing manipulator, tool changing mechanism and tool magazine with tool position detection function |
-
2019
- 2019-07-18 CN CN202010395358.4A patent/CN111590372A/en active Pending
- 2019-07-18 CN CN201910650080.8A patent/CN110303364A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| TW200732620A (en) * | 2006-02-22 | 2007-09-01 | Cin Phown Technology Co Ltd | Laser measuring module and device of PCB processing cutter |
| CN104259913A (en) * | 2014-08-29 | 2015-01-07 | 许博 | Automatic tool changing device of simple numerical control machine center |
| CN208895694U (en) * | 2018-10-30 | 2019-05-24 | 江西衡源智能装备有限公司 | Tool-changing mechanical arm, cutter-exchange mechanism, cutter-exchange mechanism component and machining center |
| CN210499388U (en) * | 2019-07-18 | 2020-05-12 | 江西衡源智能装备有限公司 | Tool changing manipulator, tool changing mechanism and tool magazine with tool position detection function |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20200391334A1 (en) * | 2019-06-11 | 2020-12-17 | Gebr. Heller Maschinenfabrik Gmbh | Change device for changing of tools and/or workpieces |
| CN112022393A (en) * | 2020-07-31 | 2020-12-04 | 南京佳和牙科技术有限公司 | Automatic planter tool magazine and tool changing method |
| CN112022393B (en) * | 2020-07-31 | 2022-03-01 | 南京佳和牙科技术有限公司 | Automatic planter tool magazine and tool changing method |
| CN112318178A (en) * | 2020-11-20 | 2021-02-05 | 深圳市万嘉科技有限公司 | Intelligent precision machining equipment |
| CN113770442A (en) * | 2021-09-09 | 2021-12-10 | 富准精密模具(嘉善)有限公司 | Cutting device and cutting method thereof |
| CN113770442B (en) * | 2021-09-09 | 2022-11-01 | 富准精密模具(嘉善)有限公司 | Cutting device and cutting method thereof |
| CN115091221A (en) * | 2022-06-28 | 2022-09-23 | 淮阴工学院 | Automatic control mechanical motion equipment and preliminary scheme of control method thereof |
| CN115091221B (en) * | 2022-06-28 | 2024-01-26 | 淮阴工学院 | Automatic control mechanical movement equipment and control method thereof |
Also Published As
| Publication number | Publication date |
|---|---|
| CN111590372A (en) | 2020-08-28 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110303364A (en) | Tool-changing mechanical arm, cutter-exchange mechanism and tool magazine with knife position detection function | |
| CN106995063B (en) | A kind of multi-functional end effector | |
| US9333607B2 (en) | Machine tool having workpiece measurement function | |
| CN205888678U (en) | Automatic tool changer of digit control machine tool | |
| CN112846885B (en) | Tool changing device and circuit board processing equipment | |
| CN108917564B (en) | Pneumatic multifunctional concentricity detection instrument | |
| CN208392357U (en) | A kind of silicon single crystal rod processing unit (plant) | |
| CN115876388A (en) | Dynamic balance testing device for numerical control machine tool cutter | |
| CN206028777U (en) | Drive moving member is radial actuating mechanism and chuck that removes that come and go on mount pad | |
| CN215280687U (en) | Cylinder bottom positioning and clamping device | |
| CN209867706U (en) | Be used for dedicated pneumatic double acting full stroke chuck of laser pipe cutting | |
| CN102862013A (en) | Tooth holder locating device and rotary drum repairing method | |
| CN205342669U (en) | Probe | |
| CN105691784B (en) | The positioning device for labeling and its fault detection method of container bottle | |
| CN210499388U (en) | Tool changing manipulator, tool changing mechanism and tool magazine with tool position detection function | |
| CN216151811U (en) | Oblique angle tool changing mechanism | |
| CN110081800A (en) | A kind of electric motor end cap feeding detection device | |
| CN202985204U (en) | An installing and dismounting assembly for manual replacement of a cutter of a main shaft of a milling and drilling machine | |
| US20220009009A1 (en) | Machining apparatus | |
| CN210165853U (en) | Digit control machine tool motion debugging device | |
| CN210173127U (en) | Laser cutter measuring device | |
| US4680842A (en) | Multiple part simultaneous forming apparatus | |
| CN111579559A (en) | Detection tool of electrode tip detection machine | |
| CN110014308A (en) | A kind of angular positioning device of crankshaft | |
| CN217166808U (en) | Hydro-cylinder frame nest prosthetic devices |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |