CN110682141A - Rotation and linear displacement control system of shaft and automatic tool changing mechanism with shaft - Google Patents
Rotation and linear displacement control system of shaft and automatic tool changing mechanism with shaft Download PDFInfo
- Publication number
- CN110682141A CN110682141A CN201810738855.2A CN201810738855A CN110682141A CN 110682141 A CN110682141 A CN 110682141A CN 201810738855 A CN201810738855 A CN 201810738855A CN 110682141 A CN110682141 A CN 110682141A
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- China
- Prior art keywords
- shaft
- sleeve
- shaft sleeve
- transmission unit
- main shaft
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- 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
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- 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
Abstract
The invention discloses a rotation and linear displacement control system of a shaft and an automatic tool changing mechanism with the shaft, wherein the control system comprises a main shaft, a first transmission unit and a second transmission unit. The main shaft simultaneously passes through the first shaft sleeve of the first transmission unit and the second shaft sleeve of the second transmission unit, wherein the main shaft is in sliding pair fit with the first shaft sleeve and in spiral pair fit with the second shaft sleeve, and the rotation and/or axial movement of the main shaft can be controlled by effectively controlling and driving the first shaft sleeve and/or the second shaft sleeve to rotate. The automatic tool changing mechanism further comprises a tool changing arm assembled at one end of the main shaft, and the tool changing arm completes tool changing action along with the rotation and/or axial movement of the main shaft.
Description
Technical Field
The present invention relates to the use of shafts; in particular to a rotation and linear displacement control system of a shaft and an automatic tool changing mechanism with the shaft.
Background
The known shaft is widely used and can be controlled in a rotary or linear displacement manner. Taking an automatic tool changing mechanism of a processing machine as an example, the automatic tool changing mechanism is arranged between a tool magazine and a spindle head of the processing machine and comprises a spindle and a tool changing arm combined at one end of the spindle, wherein the spindle is controlled by two motors to rotate or linearly displace, so that the tool changing arm is driven to exchange tools on the tool magazine and the spindle head. For example, taiwan publication No. I310717, "tool changer" discloses that two motors are used to drive the main shaft to rotate or linearly displace, but the technology occupies a large space due to a large structure, and the transmission members are too heavy to be maintained, which further causes a problem of shear failure due to an excessive hidden load between some connecting members.
The inventor of the present invention discloses a taiwan patent of taiwan publication No. I375604 "a rotation and linear displacement control system of a shaft and an automatic tool changing mechanism of a processing machine having the same" to improve the above disadvantages, but the inventor of the present invention considers that the tool changing timing can be further enhanced to shorten the tool changing time and the structural space can be further improved to reduce the volume in view of the refinement.
Disclosure of Invention
In view of the above, the present invention is directed to a system for controlling rotation and linear displacement of a shaft and an automatic tool changing mechanism having the same, which can shorten a tool changing time and improve a structural volume.
In order to achieve the above object, the present invention provides a system for controlling the rotational and linear displacement of a shaft, which comprises a base, a main shaft, a first transmission unit and a second transmission unit. Wherein the main shaft is rotatably arranged on the base and can reciprocate along the axial direction; the first transmission unit comprises a first shaft sleeve and a first power source, the main shaft penetrates through the first shaft sleeve and is matched with the first shaft sleeve in a sliding manner, and the first power source drives the first shaft sleeve to drive the main shaft to rotate; the second transmission unit comprises a second shaft sleeve and a second power source, the main shaft penetrates through the second shaft sleeve and is matched with the second shaft sleeve in a spiral pair mode, and the second power source drives the second shaft sleeve to rotate so that the main shaft moves in the axial direction relative to the second shaft sleeve.
The invention also provides an automatic tool changing mechanism which comprises the rotation and linear displacement control system of the shaft, and a tool changing arm is combined at one end of the main shaft, which penetrates out of the machine base.
The structure of the invention enables the first motor and the second motor to synchronously operate in time sequence of tool changing to achieve the purpose of shortening the tool changing time, and the main shaft and the first shaft sleeve are matched in a sliding pair way, and the main shaft and the second shaft sleeve are matched in a spiral pair way, so that the effect of reducing the volume of the structure can be achieved.
The invention is described in detail below with reference to the drawings and specific examples, but the invention is not limited thereto.
Drawings
FIG. 1 is a perspective view of an automatic tool changer according to a preferred embodiment of the present invention;
FIG. 2 is a perspective view of a base and a spindle in the control system according to the preferred embodiment of the present invention;
FIG. 3 is a front view of FIG. 1;
FIG. 4 is a perspective view of a portion of the components of FIG. 1;
FIG. 5 is an exploded view of the components of FIG. 4;
FIG. 6 is a cross-sectional view of a portion of the components of FIG. 4;
FIG. 7 is another embodiment of a portion of the components of the control system of the present invention;
FIG. 8 is a perspective view of a portion of the components of FIG. 1;
FIG. 9 is an exploded view of the components of FIG. 8;
FIG. 10 is a cross-sectional view of a portion of the components of FIG. 8;
fig. 11 to 15 are schematic diagrams illustrating a tool changing operation of the automatic tool changer according to the preferred embodiment of the invention.
Wherein the reference numerals
100 control system
10 machine base
12 upper cover 14 motor base 16 body
18 base
20 spindle
22 external spiral structure 24 straight groove
30 first transmission unit
31 first sleeve 31a straight groove 32 first axle seat
32a bore 33 retainer 33a ball
35 first motor 35a first output shaft 36 first pulley
36a perforated 36' first pulley 37 first belt
38 bolt 39 bolt 31A first bushing
31B ribs
40 second transmission unit
41 second shaft sleeve 41a internal spiral structure 41b screw hole
42 second bearing 43 retainer 44 steel ball
45 second motor 45a second output shaft 46 second pulley
46a second pulley 47 and a second pulley 46' having a through hole
48 bolt 49 bolt
200 tool changing arm
A. B cutter
Detailed Description
The following detailed description of the embodiments of the present invention with reference to the drawings and specific examples is provided for further understanding the objects, aspects and effects of the present invention, but not for limiting the scope of the appended claims.
To more clearly illustrate the present invention, a preferred embodiment is described in detail below with reference to the accompanying drawings. As will be described in the foregoing, the present invention provides a control system for controlling the rotational and linear displacement of a shaft, which is applied to a center-cutting machine, but not limited thereto, wherein the control system forms a part of an automatic tool changer of the machine, and the automatic tool changer further includes a tool changer arm.
Referring to fig. 1 to 3, a control system 100 according to a preferred embodiment of the present invention includes a base 10, a main shaft 20, a first transmission unit 30 and a second transmission unit 40. The machine base 10 is composed of an upper cover 12, a motor base 14, a body 16 and a base 18 which are sequentially butted from top to bottom, a main shaft 20 is rotatably arranged among the upper cover 12, the motor base 14, the body 16 and the base 18 in a penetrating way and can be operated to reciprocate along the axial direction, in addition, the top end of the main shaft 20 is covered by the upper cover 12, and the bottom end of the main shaft 20 downwards penetrates through the base 18 and is fixedly connected with a cutter changing arm 200.
The spindle 20 is a cylinder with good rigidity and wear resistance through special processing, in the embodiment, the upper half surface of the spindle 20 has an outer spiral structure 22 and a plurality of straight grooves 24 recessed along the axial direction, wherein the outer spiral structure 22 is a spiral groove wound along the axial direction, and the straight grooves 24 cut the outer spiral structure 22, however, in other embodiments, it is not excluded that the outer spiral structure and the straight grooves may be arranged in segments without intersection.
The first transmission unit 30 is used for driving the main shaft 20 to rotate, and the second transmission unit 40 is used for driving the main shaft 20 to move along the axial direction. In the present embodiment, the first transmission unit 30 includes a first sleeve 31, the second transmission unit 40 includes a second sleeve 41, wherein the main shaft 20 penetrates through the first sleeve 31 and the second sleeve 41, the main shaft 20 and the first sleeve 31 are engaged in a sliding pair (slipping pair), and the main shaft 20 and the second sleeve 41 are engaged in a spiral pair (screw pair).
Referring to fig. 4 to 6, the first transmission unit 30 further includes a first shaft seat 32, a retainer 33, a plurality of steel balls 34, a first power source exemplified by a first motor 35, two first pulleys 36, 36', and a first belt 37. The first shaft seat 32 is locked inside the body 16 of the base 10 after passing through the through hole 32a by a plurality of bolts 38, the first shaft sleeve 31 is arranged in the first shaft seat 32 in a penetrating manner and a retainer 33 is arranged between the first shaft seat 32 and the retainer 33, and the retainer 33 comprises a plurality of balls 33a and an oil seal 33b, so that the first shaft sleeve 31 can smoothly rotate in situ relative to the first shaft seat 32; in addition, the inner wall of the first shaft sleeve 31 also has a plurality of straight grooves 31a recessed along the axial direction, the steel balls 34 are filled between the straight grooves 31a of the first shaft sleeve 31 and the straight grooves 24 of the main shaft 20, and the steel balls 34 are limited by the oil seal 34a and do not scatter, so that the main shaft 20 can slide axially relative to the first shaft sleeve 31. In addition, the bottoms of the spiral grooves and the straight grooves can be concave arc surfaces, V-shaped groove bottoms or trapezoidal groove bottoms. The first sleeve 31 and the main shaft 20 are interlocked with each other by filling steel balls 34, however, the interlocking manner may adopt a rib and groove matching manner, as shown in fig. 7, the inner wall of the first sleeve 31A is provided with a number of ribs 31B corresponding to the number of the straight grooves 24 of the main shaft 20, the ribs 31B are located in the straight grooves 24 and can push the main shaft 20 to rotate when the first sleeve 31A is controlled to rotate.
The first motor 35 is fixedly connected to the outside of the body 16, and has a first output shaft 35a which can rotate and extend into the body 16; the two first pulleys 36,36 'have different gear ratios, wherein the first pulley 36 is fastened to the bottom of the first sleeve 31 by a plurality of bolts 39 passing through the through holes 36a and coaxially disposed with the first sleeve 31, the main shaft 20 passes through the first pulley 36, and the other first pulley 36' is located at one side of the inside of the body 16 by being connected to one end of the first output shaft 35 a; the first belt 37 is wound around the first pulley 36 and the first pulley 36'. Thus, when the first output shaft 35a of the first motor 35 is driven to rotate, the first belt 37 synchronously drives the first sleeve 31 to rotate, and the first sleeve 31 drives the main shaft 20 to rotate due to the relationship of the steel balls 34.
Referring to fig. 8 to 10, the second transmission unit 40 further includes a second shaft seat 42, a retainer 43, a plurality of steel balls 44, a second power source, such as a second motor 45, two second pulleys 46, 46' and a second belt 47. The second shaft seat 42 is locked in the motor seat 14 of the base 10 after passing through the through hole 42a by a plurality of bolts 48, the second shaft sleeve 41 is arranged in the second shaft seat 42 in a penetrating way, and can rotate in situ relative to the second shaft seat 42 by arranging the retainer 43 with the same structure as the retainer 33 between; in addition, the second sleeve 41 has an inner spiral structure 41a which is a spiral groove in cooperation with the outer spiral structure 22 of the main shaft 20, and the steel balls 44 are filled between the outer spiral structure 22 and the spiral groove of the inner spiral structure 41a and can roll circularly in the outer and inner spiral structures.
The second motor 45 is fixedly connected to the outside of the motor base 14, and has a second output shaft 45a which can rotate and extend into the motor base 14; the second pulleys 46,46 ' have different gear ratios, wherein the second pulley 46 is coaxially disposed with the second sleeve 41 by a plurality of bolts 49 passing through the through hole 46a and being locked into the screw hole 41b of the second sleeve 41, the main shaft 20 passes through the second pulley 46, and the other second pulley 46 ' is connected to one end of the second output shaft 45a, and the second pulley 46 ' are wound by a second belt 47. Thus, when the second output shaft 45a of the second motor 45 is driven to rotate, the second belt 47 indirectly drives the second sleeve 41 to rotate, and the rotating second sleeve 41 causes the steel balls 44 to roll between the inner spiral structure 41a and the outer spiral structure 22, thereby guiding the main shaft 20 to ascend or descend.
The above is a description of the structure of the control system 100 of the present invention, and the following describes a tool changing procedure applicable to an automatic tool changing mechanism of a processing machine by controlling the rotation and linear movement of the spindle 20, wherein the tool changing procedure drives the tool changing arm 200 to sequentially perform the following steps: the first direction of rotation is counterclockwise, and the second direction of rotation is clockwise.
Fig. 1 shows the tool changer 200 in a standby state. When the control system 100 receives a tool changing command, the first step is to synchronously start the first motor 35 and the second motor 45, wherein the first output shaft 35a of the first motor 35 rotates in the first direction, and as can be seen from the above description of the structure, the first sleeve 31 rotating therewith will drive the spindle 20 to rotate in the first direction due to the steel balls 34 being located between the straight groove 31a of the first sleeve 31 and the straight groove 24 of the spindle 20, however, since the spindle 20 and the second sleeve 41 are simultaneously engaged in a spiral manner, in order to avoid the axial displacement of the rotating spindle 20, the second motor 45 is selected to be synchronously started to drive the second sleeve 41 to rotate in the second direction, so that the spindle 20 is not axially displaced, as shown in fig. 11, the spindle 20 drives the tool changer arm 200 to rotate and fasten the tool in an original rotation manner, at this time, both ends of the tool changer 200 respectively engage a tool a provided in a tool magazine (not shown) and a tool B on a spindle head (not shown) of the processing machine.
As shown in fig. 12, when the tool changing arm 200 finishes rotating the tool, the first motor 35 stops rotating to stop the rotation of the spindle 20, and at the same time, the second motor 45 continuously drives the second sleeve 41 to rotate in the second direction, so that the spindle 20 and the second sleeve 41 are engaged in a spiral pair manner, and the spindle 20 and the first sleeve 31 are engaged in a sliding pair manner, so that the second sleeve 41 rotating in situ drives the spindle 20 to move downward to perform the tool releasing and lowering operation of the tool changing arm 200.
Fig. 13 shows the operation of the tool changer arm 200 for rotary tool change. In this procedure, the first motor 35 is activated again and keeps controlling the first sleeve 31 to rotate in the first direction, so that the tool changing arm 200 performs a tool changing operation of rotating 180 degrees, and during this period, the second motor 45 rapidly drives the second sleeve 41 to rotate in the first direction, and then drives the second sleeve 41 to rotate in the second direction, the former drives the spindle 20 to move downward again, and the latter drives the spindle 20 to move upward, in other words, the 180 degree rotation of the tool changing arm 200 is divided into two stages: the tool changing arm 200 in the first stage rotates 90 degrees and descends along with the spindle 20, the tool changing arm 200 in the second stage continues to rotate 90 degrees and ascends along with the spindle 20, and the transition time point of the first stage and the second stage is when the spindle 20 descends to the lowest point position, so that the synchronous action of the action depending on the first motor 35 and the second motor 45 is achieved, and the rotating tool changing speed can be increased more efficiently. It can be seen from fig. 13 that the positions of tool a and tool B have been exchanged.
Fig. 14 illustrates the raising and clamping operation of the tool changer arm 200. In this process, the first motor 35 is controlled to stop to prevent the spindle 20 from rotating, and the second motor 45 is still operated to change the second sleeve 41 to the first rotation direction, so that the spindle 20 is brought up to the clamping position without rotating because the spindle 20 is in the relationship of screw pair engagement with the second sleeve 41 and sliding pair engagement with the first sleeve 31. That is, the tool A is held by the spindle head of the machine while the tool B is inserted into the corresponding pocket of the tool magazine.
After the tool clamping operation is completed, the first motor 35 is started again, except that the first motor 35 drives the first sleeve 31 to rotate in the second direction, and the second motor 45 continues to operate but changes the second sleeve 41 to rotate in the first direction, which is a procedure for preventing the spindle 20 from axially shifting, and the spindle 20 rotates in the second direction to reversely rotate the tool changer 200 to return to the state shown in fig. 15 for the next tool change. That is, both ends of the tool changer arm 200 can be separated from the tool a and the tool B without hitting the tools.
In the above tool changing procedure, the operations of rotating and fastening the tool, loosening and descending the tool, rotating and changing the tool, lifting and clamping the tool, and rotating and returning are completed in a very short time, and the invention further shortens the tool changing time and improves the efficiency by synchronously starting the first motor 35 and the second motor 45 in a part of the procedure to make the spindle 20 simultaneously rotate and axially move. In addition, the main shaft 20 is in sliding fit with the first sleeve 31 and in screw fit with the second sleeve 41, and the first sleeve 31 and the second sleeve 41 are driven by the first motor 35 and the second motor 45, respectively, so that the effect of reducing the volume of the control system 100 can be achieved.
The present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof, and it should be understood that various changes and modifications can be effected therein by one skilled in the art without departing from the spirit and scope of the invention as defined in the appended claims.
Claims (15)
1. The utility model provides a rotation of axle and linear displacement control system which characterized in that contains:
a frame;
a main shaft, which is rotatably arranged on the base and can reciprocate along the axial direction;
the first transmission unit comprises a first shaft sleeve and a first power source, wherein the main shaft penetrates through the first shaft sleeve, the main shaft and the first shaft sleeve are matched in a sliding manner, the first power source drives the first shaft sleeve to rotate, and the rotating first shaft sleeve drives the main shaft to rotate; and
and the second transmission unit comprises a second shaft sleeve and a second power source, wherein the main shaft penetrates through the second shaft sleeve, the main shaft and the second shaft sleeve are matched in a spiral opposite mode, and the second power source drives the second shaft sleeve to rotate so that the main shaft moves in the axial direction relative to the second shaft sleeve.
2. The system as claimed in claim 1, wherein the second transmission unit comprises a second shaft seat fixed in the base, the second sleeve is disposed in the second shaft seat, the second sleeve has an inner spiral structure, and the main shaft has an outer spiral structure matching with the inner spiral structure.
3. The system as claimed in claim 2, wherein at least one retainer is disposed between the second shaft seat and the second shaft sleeve to keep the second shaft sleeve rotatably disposed in the second shaft seat.
4. The system for controlling rotational and linear displacement of a shaft according to claim 2, wherein the inner helical structure and the outer helical structure are helical grooves formed along the axial direction, and the second transmission unit includes a plurality of steel balls disposed in the helical grooves of the inner helical structure and the outer helical structure.
5. The system for controlling the rotational and linear displacement of a shaft according to any one of claims 2 to 4, wherein the second transmission unit comprises two second pulleys, the second power source having a second rotatable output shaft; one of the second belt pulleys is fixedly connected to one end of the second output shaft, the other second belt pulley and the second shaft sleeve are coaxially arranged and fixedly connected to the second shaft sleeve, and a second belt is wound between the two second belt pulleys.
6. The system according to any one of claims 1 to 4, wherein the first transmission unit comprises a first shaft seat fixed in the machine seat, the first shaft seat being disposed in the first shaft seat; the inner wall of the first shaft sleeve and the surface of the main shaft are respectively provided with at least one straight groove which is concavely arranged along the axial direction, and a plurality of steel balls are filled between the first shaft sleeve and the straight groove of the main shaft.
7. The system of claim 6, wherein at least one retainer is disposed between the first shaft seat and the first sleeve to retain the first sleeve rotatably in the first shaft seat.
8. The system of claim 6, wherein the first transmission unit includes two first pulleys, the first power source having a first rotatable output shaft; one of the first belt pulleys is fixedly connected to one end of the first output shaft, the other one of the first belt pulleys is coaxially arranged with the first shaft sleeve and fixedly connected to the first shaft sleeve, and a first belt is wound between the two first belt pulleys.
9. The system according to any one of claims 1 to 4, wherein the first transmission unit comprises a first shaft seat fixed in the machine seat, the first shaft seat is disposed in the first shaft seat and driven by the first power source to rotate in situ; one of the inner wall of the first shaft sleeve and the surface of the main shaft is provided with at least one straight groove which is recessed along the axial direction, and the other one is provided with a convex rib which is matched with the straight groove.
10. The system of claim 1, wherein at least one of the first and second power sources is a motor.
11. An automatic tool changing mechanism, comprising:
a control system for a shaft, comprising:
a frame;
a main shaft, which is rotatably arranged on the base and can reciprocate along the axial direction;
the first transmission unit comprises a first shaft sleeve, the main shaft penetrates through the first shaft sleeve and is matched with the first shaft sleeve in a sliding manner, and the first shaft sleeve is driven to rotate and drives the main shaft to rotate;
the second transmission unit comprises a second shaft sleeve, the main shaft penetrates through the second shaft sleeve and is matched with the second shaft sleeve in a spiral opposite mode, and the second shaft sleeve is driven to rotate so as to drive the main shaft to move along the axial direction; and
a tool changing arm combined with one end of the main shaft penetrating out of the machine base.
12. The automatic tool changer of claim 11, wherein the first transmission unit comprises a first shaft seat fixed in the machine base, the first shaft sleeve being rotatably disposed in the first shaft seat in situ; the inner wall of the first shaft sleeve and the surface of the main shaft are respectively provided with at least one straight groove which is concavely arranged along the axial direction, and a plurality of steel balls are filled between the first shaft sleeve and the straight groove of the main shaft.
13. The automatic tool changer of claim 12, wherein the first transmission unit comprises a first motor having a rotatable first output shaft and two first pulleys; one of the first belt pulleys is fixedly connected to one end of the first output shaft, the other one of the first belt pulleys is coaxially arranged with the first shaft sleeve and fixedly connected to the first shaft sleeve, and a first belt is wound between the two first belt pulleys.
14. The automatic tool changer of claim 11, wherein the second transmission unit comprises a second shaft base fixed in the base, the second shaft sleeve is rotatably disposed in the second shaft base, the second shaft sleeve has an inner spiral structure, the spindle has an outer spiral structure engaged with the inner spiral structure, and a plurality of steel balls are disposed between the inner spiral structure and the outer spiral structure.
15. The automatic tool changer of claim 14, wherein the second transmission unit comprises a second motor and second pulleys, the second motor having a rotatable second output shaft; one of the second belt pulleys is fixedly connected to one end of the second output shaft, the other second belt pulley and the second shaft sleeve are coaxially arranged and fixedly connected to the second shaft sleeve, and a second belt is wound between the two second belt pulleys.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810738855.2A CN110682141B (en) | 2018-07-06 | 2018-07-06 | Rotation and linear displacement control system of shaft and automatic tool changing mechanism with shaft |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810738855.2A CN110682141B (en) | 2018-07-06 | 2018-07-06 | Rotation and linear displacement control system of shaft and automatic tool changing mechanism with shaft |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110682141A true CN110682141A (en) | 2020-01-14 |
| CN110682141B CN110682141B (en) | 2022-02-22 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810738855.2A Active CN110682141B (en) | 2018-07-06 | 2018-07-06 | Rotation and linear displacement control system of shaft and automatic tool changing mechanism with shaft |
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| Country | Link |
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| CN (1) | CN110682141B (en) |
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| CN114749975A (en) * | 2022-06-15 | 2022-07-15 | 方冠（常州）数控科技有限公司 | Double-tool-position automatic tool changing device for horizontal machine tool |
| CN117773632A (en) * | 2024-02-28 | 2024-03-29 | 冈田精机(常州)有限公司 | Automatic change tool device |
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| CN201685126U (en) * | 2009-12-17 | 2010-12-29 | 圣杰国际股份有限公司 | Automatic cutter changing system of cutting machine |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114749975A (en) * | 2022-06-15 | 2022-07-15 | 方冠（常州）数控科技有限公司 | Double-tool-position automatic tool changing device for horizontal machine tool |
| CN114749975B (en) * | 2022-06-15 | 2022-12-06 | 方冠（常州）数控科技有限公司 | Double-tool-position automatic tool changing device for horizontal machine tool |
| CN117773632A (en) * | 2024-02-28 | 2024-03-29 | 冈田精机(常州)有限公司 | Automatic change tool device |
| CN117773632B (en) * | 2024-02-28 | 2024-04-26 | 冈田精机(常州)有限公司 | Automatic change tool device |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110682141B (en) | 2022-02-22 |
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