CN112207601B - Automatic tool changing system of machining center - Google Patents
Automatic tool changing system of machining center Download PDFInfo
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- CN112207601B CN112207601B CN202011051586.6A CN202011051586A CN112207601B CN 112207601 B CN112207601 B CN 112207601B CN 202011051586 A CN202011051586 A CN 202011051586A CN 112207601 B CN112207601 B CN 112207601B
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- sliding
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- chute
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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
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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
- 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
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Automatic Tool Replacement In Machine Tools (AREA)
Abstract
The invention belongs to the technical field of tool changing of machining centers, and particularly relates to an automatic tool changing system of a machining center, which comprises an intermediate shell, a slide bar mechanism, an outer shell, a tool changing manipulator and an inner shell. When the two sliding rods slide into the transverse grooves of the sixth sliding chute and the first sliding chute, the two sliding rods keep the original state and slide in the transverse grooves of the sixth sliding chute and the first sliding chute without swinging, so that the two sliding rods are designed to ensure that the two sliding rods do not interfere with the vertical groove of the first sliding chute due to angle problems and can smoothly enter the corresponding guide grooves when the two first sliding rods slide into the vertical groove from the transverse grooves of the sixth sliding chute and the first sliding chute.
Description
Technical Field
The invention belongs to the technical field of tool changing of machining centers, and particularly relates to an automatic tool changing system of a machining center.
Background
The automatic tool changing device of the machining center mostly adopts a double-arm manipulator tool changing mode to change tools, the manipulator sends tools on a tool magazine to a main shaft, and simultaneously sends the tools on the main shaft to the tool magazine, the tool changing time is short, but the structure is complex, and the complex structure comprises a structure for driving a tool arm to change tools and a structure for driving the tool to be changed from a tool changing point to an intermediate state; the two drives cooperate with each other, and in addition, precise mutual control increases the complexity of the structure.
The invention designs an automatic tool changing system of a machining center to solve the problems, and the structure for driving the intermediate state from a tool changing point to a tool to be changed is improved by a structure for driving a tool arm to change the tool, so that the driving structure from the tool changing point to the intermediate state of the tool to be changed is omitted, and the complexity of the structure is reduced.
Disclosure of Invention
In order to overcome the defects in the prior art, the invention discloses an automatic tool changing system of a machining center, which is realized by adopting the following technical scheme.
An automatic tool changing system of a machining center comprises an intermediate shell, a slide bar mechanism, an outer shell, a tool changing manipulator and an inner shell, wherein an annular second chute is formed in the outer circular surface of the lower end of the inner shell, and a first chute is formed in the outer circular surface of the lower end of the intermediate shell; the sliding rod mechanism is arranged on the outer shell and is matched with a second sliding groove formed in the inner shell and a first sliding groove formed in the middle shell; the tool changing manipulator is arranged on the lower side of the shell; the method is characterized in that: the middle shell is fixedly arranged on the machining center main body, two third sliding grooves are formed in two sides, close to the highest point, of the second sliding grooves, two fourth sliding grooves are formed in one ends, close to each other, of the two third sliding grooves, and a fifth sliding groove is formed between the two fourth sliding grooves; the bottom surfaces of the two third sliding chutes are arc-shaped and are in smooth transition with the bottom surfaces of the second sliding chutes on two sides, step-shaped bottoms are formed between the bottom surfaces of the two fourth sliding chutes and the bottom surfaces of the fifth sliding chutes, and the depth of the two fourth sliding chutes on the outer circular surface of the inner shell is smaller than that of the second sliding chutes on the outer circular surface of the inner shell; the depth of the fifth chute and the depth of the second chute on the outer circular surface of the inner shell are equal; the upper side of the inner shell is provided with a servo motor.
Two sixth sliding grooves are formed in the two ends of the upper side of the first sliding groove in the same direction; in the two sections of the grooves in which the first sliding grooves are vertically distributed, two first guide grooves are symmetrically formed in the corresponding two side surfaces, two second guide grooves are symmetrically formed in the upper sides of the two first guide grooves, two third guide grooves are symmetrically formed in the upper sides of the two second guide grooves, a fourth guide groove and a fifth guide groove are respectively formed in the upper sides of the two third guide grooves, the fourth guide groove and the fifth guide groove are communicated with the corresponding sixth sliding grooves, the first sliding grooves are outward relative to the third guide grooves and the fifth guide grooves in the radial direction of the middle shell, and the third guide grooves and the fifth guide grooves are vertically aligned; the second guide slot and the fourth guide slot are both arc-shaped, and one end, communicated with the sixth sliding slot, of the fourth guide slot is close to the outside relative to one end, communicated with the third guide slot, of the fourth guide slot in the radial direction of the middle shell.
The sliding rod mechanism comprises a sliding shell, sliding rods, a reset spring, a fixed shell, a sliding disc, return springs and damping rods, wherein the fixed shell is installed on an outer shell, one end of a damping outer sleeve of each damping rod is fixedly installed on the inner end face of the fixed shell, the middle sections of damping inner rods of the damping rods are symmetrically provided with the two sliding rods, the sliding shell is slidably installed at one end of the damping inner rod of each damping rod, and the return springs are installed between the sliding shell and the damping inner rods of the damping rods; a return spring is arranged between the damping inner rod and the damping outer sleeve of the damping rod; the two sliding rods are in sliding fit with a first guide groove, a second guide groove, a third guide groove, a fourth guide groove and a fifth guide groove in a first sliding groove formed in the middle shell; the sliding shell is matched with the second sliding groove, the third sliding groove, the fourth sliding groove and the fifth sliding groove.
A limiting block is slidably mounted on the upper end face, close to the first chute, of the sixth chute positioned between the two vertical chutes in the first chute, and the radial distance between the limiting block and the middle shell is equal to the radial distance between the notch of the sixth chute and the axis of the middle shell of the fourth chute; a limiting spring is arranged between the limiting block and the middle shell; the lower end of one side, facing the sixth sliding chute, of the limiting block is provided with an inclined plane, and the two sliding rods are matched with the limiting block.
As a further improvement of the technology, the distance between the side surface of the limiting block and the fourth sliding groove in the normal direction of the bottom of the fourth sliding groove is equal to the distance between two end surfaces of the two sliding rods which are far away from each other.
As a further improvement of the technology, one end of the damping inner rod of the damping rod is fixedly installed on the sliding plate, the sliding shell is installed on one end of the damping inner rod of the damping rod through sliding fit with the sliding plate, and two ends of the return spring are respectively installed on the inner end surfaces of the sliding plate and the sliding shell.
As a further improvement of the technology, a mounting ring is fixedly mounted on the damping outer sleeve of the damping rod, a mounting disc is fixedly mounted on the damping inner rod, and two ends of the return spring are fixedly mounted on the mounting ring and the mounting disc respectively.
As a further improvement of the present technology, the return spring is an extension spring.
As a further improvement of the present technology, the return spring is a compression spring.
As a further improvement of the technology, the outer circumferential surface of the shell is provided with a threaded hole, the outer circumferential surface of the fixed shell is provided with an external thread, and the fixed shell is arranged on the shell through matching with the threaded hole formed on the shell.
As a further improvement of the technology, the two sliding rods are fixedly arranged on the damping inner rod in a welding mode.
As a further improvement of the technology, the damping inner rod slides into the corresponding sixth sliding groove from the vertical groove body of the first sliding groove and slides into one end of the sixth sliding groove, and in the process, the rotating direction of the shell is consistent with the rotating direction of the cutter clamping semicircle of the cutter changing manipulator, which is separated from the cutter.
As a further improvement of the technology, the two sliding rods are horizontal in axis.
Compared with the traditional machining center tool changing technology, the tool changing device has the beneficial effects that:
1. according to the invention, the structure for driving the intermediate state from the tool changing point to the tool to be changed is improved to drive the tool changing structure of the tool arm, so that the driving structure from the tool changing point to the intermediate state of the tool to be changed is omitted, and only the inner shell is driven to rotate, so that the structural complexity is reduced.
2. When the two sliding rods slide into the transverse grooves of the sixth sliding chute and the first sliding chute, the two sliding rods keep the original state and slide in the transverse grooves of the sixth sliding chute and the first sliding chute without swinging, so that the two sliding rods are designed to ensure that the two sliding rods do not interfere with the vertical groove of the first sliding chute due to angle problems and can smoothly enter the corresponding guide grooves when the two first sliding rods slide into the vertical groove from the transverse grooves of the sixth sliding chute and the first sliding chute.
3. The damping rod is designed, when the two sliding rods are arranged on the damping inner rod and slide towards the sixth sliding chute provided with the limiting block along the fifth guide groove, the two sliding rods are guaranteed to have enough time to avoid the limiting block through the damping action of the damping rod, and the two sliding rods are prevented from moving back to the axis of the middle shell under the action of the reset spring and impacting the limiting block after being separated from the fifth guide groove.
Drawings
Fig. 1 is an external view of an entire part.
Fig. 2 is a schematic view of the slide bar mechanism installation.
Fig. 3 is a tool changing robot installation schematic.
Fig. 4 is a schematic view of the structure of the intermediate shell.
Fig. 5 is a schematic view of the first sliding chute structure and the two inner side surfaces thereof.
Fig. 6 is a schematic view of the stop block structure and its mounting location.
Fig. 7 is a schematic view of the second runner and its trough bottom at the highest point.
Fig. 8 is a schematic structural view of the slide bar mechanism.
Number designation in the figures: 1. a servo motor; 2. a middle shell; 3. a slide bar mechanism; 4. a housing; 5. a tool changing manipulator; 6. an inner shell; 7. a threaded hole; 8. a first chute; 9. a first guide groove; 10. a second guide groove; 11. a third guide groove; 12. a fourth guide groove; 13. a fifth guide groove; 14. a second chute; 15. a third chute; 16. a fourth chute; 17. a fifth chute; 18. a sliding shell; 19. a slide bar; 20. a return spring; 21. a stationary case; 22. a slide plate; 23. a return spring; 24. mounting a disc; 25. a mounting ring; 26. a damping lever; 27. a limiting spring; 28. a limiting block; 29. and a sixth chute.
Detailed Description
The following detailed description of embodiments of the present invention is provided in connection with the accompanying drawings and examples. The following examples or figures are illustrative of the present invention and are not intended to limit the scope of the present invention.
The structure of the second chute 14 and the distribution of the second chute 14 on the inner shell 6 in the conventional technology mentioned in the claims of the present invention are identical to the structure of the chute on the inner shell 6 and the distribution on the inner shell 6 in the tool changer commonly used in the existing machining center; the second chutes 14 are distributed in a full circle in an elliptical shape on the outer circumferential surface of the lower end of the inner casing 6. The structure of the first sliding groove 8 and the distribution of the first sliding groove 8 on the intermediate shell 2 in the conventional technology mentioned in the claims of the present invention are identical to the structure of the sliding groove on the intermediate shell 2 and the distribution on the intermediate shell 2 in the tool changer commonly used in the existing machining center; after the outer circumferential surface of the middle shell 2 is unfolded, the first chutes 8 are distributed in a U-shape on the outer circumferential surface of the lower end of the middle shell 2, and the two vertical grooves are distributed at 180 degrees on the outside of the middle shell 2.
The inner shell 6, the middle shell 2, the outer shell 4 and the tool changing manipulator 5 are arranged and matched with each other to be communicated with a tool changing device commonly used in the existing machining center, and the tool changing device is the prior art.
As shown in fig. 1, it comprises an intermediate shell 2, a slide bar mechanism 3, an outer shell 4, a tool changing manipulator 5, and an inner shell 6, wherein as shown in fig. 7, an annular second chute 14 is formed on the outer circumferential surface of the lower end of the inner shell 6, and as shown in fig. 4 and 5, a first chute 8 is formed on the outer circumferential surface of the lower end of the intermediate shell 2; as shown in fig. 2, the slide bar mechanism 3 is mounted on the outer shell 4, and the slide bar mechanism 3 is matched with a second slide groove 14 formed on the inner shell 6 and a first slide groove 8 formed on the intermediate shell 2; as shown in fig. 3, the tool changing robot 5 is installed at the lower side of the housing 4; the method is characterized in that: the middle shell 2 is fixedly installed on the main body of the machining center, as shown in fig. 7, two third sliding grooves 15 are formed in two sides, close to the highest point, of the second sliding groove 14, two fourth sliding grooves 16 are formed in one ends, close to each other, of the two third sliding grooves 15, and a fifth sliding groove 17 is formed between the two fourth sliding grooves 16; the bottom surfaces of the two third sliding chutes 15 are arc-shaped and are in smooth transition with the bottom surfaces of the second sliding chutes 14 on the two sides, step-shaped bottoms are formed between the bottom surfaces of the two fourth sliding chutes 16 and the bottom surface of the fifth sliding chute 17, and the depth of the two fourth sliding chutes 16 on the outer circular surface of the inner shell 6 is smaller than that of the second sliding chutes 14 on the outer circular surface of the inner shell 6; the depth of the fifth chute 17 and the depth of the second chute 14 on the outer circular surface of the inner shell 6 are equal; as shown in fig. 1 and 2, a servo motor 1 is mounted on the upper side of the inner housing 6.
As shown in fig. 4 and 5, two sixth sliding chutes 29 are formed at two ends of the upper side of the first sliding chute 8 in the same direction; in two sections of vertically distributed grooves of the first sliding groove 8, two first guide grooves 9 are symmetrically formed in corresponding two side surfaces, two second guide grooves 10 are symmetrically formed in the upper sides of the two first guide grooves 9, two third guide grooves 11 are symmetrically formed in the upper sides of the two second guide grooves 10, a fourth guide groove 12 and a fifth guide groove 13 are respectively formed in the upper sides of the two third guide grooves 11, the fourth guide groove 12 and the fifth guide groove 13 are communicated with a corresponding sixth sliding groove 29, the first sliding groove 8 is arranged outwards relative to the third guide groove 11 and the fifth guide groove 13 in the radial direction of the middle shell 2, and the third guide groove 11 and the fifth guide groove 13 are aligned up and down; the second guide groove 10 and the fourth guide groove 12 are both arc-shaped, and one end of the fourth guide groove 12, which is communicated with the sixth sliding groove 29, is located outward in the radial direction of the middle shell 2 relative to one end of the fourth guide groove 12, which is communicated with the third guide groove 11.
As shown in fig. 8, the sliding rod mechanism 3 includes a sliding shell 18, a sliding rod 19, a return spring 20, a fixed shell 21, a sliding disc 22, a return spring 23, and a damping rod 26, wherein the fixed shell 21 is installed on the outer shell 4, one end of a damping outer sleeve of the damping rod 26 is fixedly installed on an inner end surface of the fixed shell 21, two sliding rods 19 are symmetrically installed at a middle section of a damping inner rod of the damping rod 26, the sliding shell 18 is slidably installed at one end of the damping inner rod of the damping rod 26, and the return spring 23 is installed between the sliding shell 18 and the damping inner rod of the damping rod 26; a return spring 20 is arranged between the damping inner rod and the damping outer sleeve of the damping rod 26; the two sliding rods 19 are in sliding fit with a first guide groove 9, a second guide groove 10, a third guide groove 11, a fourth guide groove 12 and a fifth guide groove 13 in a first sliding groove 8 formed in the middle shell 2; the slide case 18 is engaged with the second slide groove 14, the third slide groove 15, the fourth slide groove 16, and the fifth slide groove 17.
In the existing tool changer, when a tool changing manipulator 5 is in a state of waiting for cutting, one end of a sliding rod mechanism 3 arranged on an outer shell 4 penetrates through the upper end of a first sliding groove 8 formed in an intermediate shell 2 and extends into the highest point of a second sliding groove 14 formed in an inner shell 6; when a tool is changed, firstly, the inner shell 6, the middle shell 2 and the outer shell 4 are simultaneously controlled to rotate for 90 degrees, so that a clamping groove on the tool changing manipulator 5 is aligned with a main shaft and a tool on a tool magazine, then, the inner shell 6 is controlled to rotate, under the combined action of a second sliding groove 14 formed in the inner shell 6 and a first sliding groove 8 formed in the middle shell 2, the outer shell 4 and the tool changing manipulator 5 can firstly move downwards along one of vertical groove bodies in the first sliding groove 8, and in the process of moving downwards, the corresponding tool is taken down; when shell 4 and tool changing manipulator 5 move the least significant end that corresponds vertical cell body in first spout 8, the rotation of inner shell 6 can make shell 4 and tool changing manipulator 5 rotatory 180 degrees under the effect of the horizontal cell body of first spout 8, two cutter switching positions on the tool changing manipulator 5, afterwards, the rotatory control shell 4 and the tool changing manipulator 5 of inner shell 6 upwards slide along another vertical cell body in first spout 8, install the new cutter that will need the installation and the cutter that takes off respectively in main shaft and tool magazine, finally, simultaneous control inner shell 6, middle shell 2 and shell 4 are towards the rotatory 90 degrees of reverse direction of the draw-in groove of opening on the tool changing manipulator 5, resume and treat the sword state.
In the invention, the sliding shell 18 is designed to be clamped in the fifth sliding chute 17, so that when the inner shell 6 is finally driven to rotate, the outer shell 4 can be driven to rotate through the cooperation of the fifth sliding chute 17 and the sliding shell 18, and the sliding rod mechanism 3 can smoothly slide into the sixth sliding chute 29.
When the two sliding rods 19 slide into the transverse grooves of the sixth sliding chute 29 and the first sliding chute 8, the two sliding rods 19 keep the original state and slide in the transverse grooves of the sixth sliding chute 29 and the first sliding chute 8 without swinging, so that the two sliding rods 19 are designed to ensure that the two sliding rods 19 do not interfere with the vertical groove of the first sliding chute 8 due to angle problems and can smoothly enter the corresponding guide grooves when the two first sliding rods 19 slide into the vertical groove from the transverse grooves of the sixth sliding chute 29 and the first sliding chute 8.
The damping rod 26 designed by the invention has the advantages that when the two sliding rods 19 mounted on the damping inner rod slide along the fifth guide grooves 13 towards the sixth sliding groove 29 provided with the limiting block 28, after the two sliding rods 19 slide to be separated from the two fifth guide grooves 13 on the two sides, the damping inner rod contracts relative to the damping outer sleeve under the action of the return spring 20, the damping inner rod contracts to drive the two sliding rods 19 to slide, and in order to prevent the two sliding rods 19 from interfering with the mounted limiting block 28 in the sliding process, the damping rod 26 is designed, so that the two sliding rods 19 have enough time to avoid the limiting block 28 through the damping action of the damping rod 26, and the two sliding rods 19 are prevented from moving back to the axis of the middle shell 2 under the action of the return spring 20 and impacting the limiting block 28 just after being separated from the fifth guide grooves 13.
As shown in fig. 6, a limiting block 28 is slidably mounted on the upper end surface of the sixth sliding chute 29 located between two vertical chutes in the first sliding chute 8, and a radial distance between the limiting block 28 and the middle shell 2 is equal to a radial distance between a notch of the sixth sliding chute 29 of the fourth sliding chute 16 and the axis of the middle shell 2; the design can ensure that the limiting block 28 is on the motion track of the sliding rod 19 to be slid into the fourth guide groove 12, so as to limit the sliding rod 19 reversely; a limiting spring 27 is arranged between the limiting block 28 and the middle shell 2; the lower end of the limiting block 28 facing to the sixth sliding chute 29 is provided with an inclined surface, and the two sliding rods 19 are matched with the limiting block 28.
In the invention, when the two sliding rods 19 slide from the sixth sliding chute 29 on the side provided with the stop block 28 to the fourth guide chute 12, the two sliding rods 19 already correspond to the fourth guide chute 12 in the radial direction before sliding towards the fourth guide chute 12 under the action of the return spring 20, so when the two sliding rods 19 slide from the sixth sliding chute 29 to the fourth guide chute 12, the two sliding rods 19 firstly press the corresponding stop block 28 along the sixth sliding chute 29, so that the stop block 28 retracts, when the two sliding rods 19 cross the stop block 28, the stop block 28 moves out again under the action of the stop spring 27 to limit the reverse movement of the two sliding rods 19, and the two stop rods are prevented from reversely sliding under the action of the second sliding chutes 14 formed on the sliding shell 18 and the inner shell 6, thereby influencing the normal tool changing process. The limiting block 28 on one side is designed to have the function that when the two sliding rods 19 slide into the fourth guide groove 12 along the sixth sliding groove 29 on the side, the rotation direction of the inner shell 6 is adjusted forwards and backwards, and the driving force has the capacity of driving the two sliding rods 19 to reversely slide into the sixth sliding groove 29 again, so that the limiting block 28 is designed on the side in order to prevent the situation; the stopper 28 is not required for the other side of the sixth sliding chute 29 without the stopper 28, and when the side of the sixth sliding chute 29 slides into the fourth sliding chute 16, the rotation direction of the inner housing 6 is not changed, and the driving force generated by the inner housing 6 does not make the sliding rod 19 slide into the sixth sliding chute 29 reversely.
The distance between the side surface of the stop block 28 and the fourth sliding groove 16 in the normal direction of the groove bottom of the fourth sliding groove 16 is equal to the distance between the two end surfaces of the two sliding rods 19 which are far away from each other. The design ensures that the limiting block 28 can limit the sliding rod 19 in time after the sliding rod 19 slides into the fourth guide groove 12 along the sixth sliding groove 29.
As shown in fig. 8, one end of the damper inner rod of the damper rod 26 is fixedly mounted on the slide plate 22, the slide housing 18 is mounted on one end of the damper inner rod of the damper rod 26 by sliding fit with the slide plate 22, and both ends of the return spring 23 are mounted on the inner end surfaces of the slide plate 22 and the slide housing 18, respectively.
As shown in fig. 8, a mounting ring 25 is fixedly mounted on the damping outer sleeve of the damping rod 26, a mounting plate 24 is fixedly mounted on the damping inner rod, and both ends of the return spring 23 are respectively fixedly mounted on the mounting ring 25 and the mounting plate 24.
The return spring 20 is an extension spring.
The return spring 23 is a compression spring.
The outer circumferential surface of the housing 4 is provided with a threaded hole 7, the outer circumferential surface of the fixing shell 21 is provided with an external thread, and the fixing shell 21 is mounted on the housing 4 through the matching with the threaded hole 7 formed on the housing 4.
The two sliding rods 19 are fixedly arranged on the damping inner rod in a welding mode.
The damping inner rod slides into the corresponding sixth sliding groove 29 from the vertical groove body of the first sliding groove 8 and slides into one end of the sixth sliding groove 29, and in the process, the rotating direction of the shell 4 is consistent with the rotating direction of the cutter clamping semicircle of the cutter changing manipulator 5, which is separated from the cutter. The design ensures that the tool changing manipulator 5 smoothly takes off the tool.
The two slide rods 19 are horizontal in axis. During the sliding fit of the sliding rod 19 with the guide groove on the side surface of the first sliding chute 8, the axis of the sliding rod 19 is always kept horizontal.
The specific working process is as follows: when the tool changer designed by the invention is used, when the tool changing manipulator 5 is in a state of waiting for cutting, one end of the sliding rod mechanism 3 arranged on the shell 4 penetrates through one sixth sliding chute 29 of two sixth sliding chutes 29 formed on the middle shell 2 and is positioned at one end far away from the corresponding first sliding chute 8; then extends into the highest point of a second chute 14 formed on the inner shell 6; when the tool is changed, the servo motor 1 controls the inner shell 6 to rotate, so that the two sliding rods 19 correspond to the fourth guide groove 12 in the radial direction under the action of the return spring 20, and the sliding shell 18 is positioned at the highest point of the second sliding groove 14, at the moment, the inner shell 6 rotates to drive the outer shell 4 and the tool changing manipulator 5 to slide to one side of the communicated first sliding groove 8 along the sixth sliding groove 29 formed in the middle shell 2, and the outer shell 4 and the tool changing manipulator 5 rotate 90 degrees in the sliding process, so that the clamping grooves in the tool changing manipulator 5 are aligned with the main shaft and the tools in the tool magazine, and the process is equivalent to the process of converting the state of waiting for the tool in the existing tool changing device into the process of clamping the main shaft and the two tools in the tool magazine by the tool changing manipulator 5; in this process, the slide case 18 is always located at the highest point of the second chute 14; then, the inner shell 6 is controlled to rotate so that the two sliding rods 19 slide along the corresponding fourth guide grooves 12, in the process, the distance between the sliding shell 18 and the fourth sliding groove 16 is gradually reduced in a manner that the sliding shell 18 and the fourth sliding groove 16 are matched, when the two sliding rods 19 slide into the third guide groove 11, the bottom surface of the sliding shell 18 is in contact with and extruded by the fourth sliding groove 16, the return spring 23 is compressed, when the two sliding rods 19 slide into the second guide groove 10, the bottom surface of the sliding shell 18 also just moves into the third sliding groove 15, because the third sliding groove 15 and the second movable groove are both arc surfaces, the second sliding groove 14 drives the two sliding rods 19 to move outwards, and the third sliding groove 15 is far away from the sliding shell 18, the return spring 23 in the sliding shell 18 is released at the moment; after the two sliding rods 19 slide into the first guide grooves 9, the sliding shell 18 also slides into the second sliding groove 14 on the corresponding side, at this time, a gap is formed between the sliding shell 18 and the bottom surface of the second sliding groove 14, no friction occurs, but the outer circular surface of the sliding shell 18 is still in a state of being matched with the side surface of the second arc groove; then, under the combined action of the second sliding chute 14 formed in the inner shell 6 and the first sliding chute 8 formed in the middle shell 2, the outer shell 4 and the tool changing manipulator 5 firstly move downwards along one of the vertical groove bodies in the first sliding chute 8, and during downward movement, the corresponding tool is taken down; when the outer shell 4 and the tool changing manipulator 5 move to the lowest end of the corresponding vertical groove body in the first sliding groove 8, the rotation of the inner shell 6 can enable the outer shell 4 and the tool changing manipulator 5 to rotate 180 degrees under the action of the transverse groove body of the first sliding groove 8, the two tools on the tool changing manipulator 5 are switched to different positions, then the rotation of the inner shell 6 controls the outer shell 4 and the tool changing manipulator 5 to slide upwards along the other vertical groove body in the first sliding groove 8, when the two sliding rods 19 move upwards to the corresponding second guide groove 10 along the first guide groove 9, the two sliding rods 19 slide inwards under the action of the second guide groove 10, meanwhile, the sliding shell 18 is matched with the third sliding groove 15, the distance between the sliding shell 18 and the third sliding groove 15 is gradually reduced, the sliding shell 18 is compressed by the third sliding groove 15, the force of the return spring 23 is exerted, when the two sliding rods 19 move into the third sliding groove 15, the sliding shell 18 also just moves into the corresponding fourth sliding groove 16, then, the two sliding rods 19 move into the fifth guide groove 13, in the moving process, the return spring 23 is continuously in a compressed state, when the two sliding rods 19 leave the fifth guide groove 13, the sliding shell 18 also moves right into the fifth sliding groove 17, and under the action of the return spring 23, the sliding shell 18 is clamped in the fifth sliding groove 17; in the process of moving upwards, a new tool to be installed and a removed tool are respectively installed in the spindle and the tool magazine, and finally, the inner shell 6 rotates to drive the outer shell 4 and the tool changing manipulator 5 to rotate 90 degrees in the reverse direction of the clamping groove formed in the tool changing manipulator 5 through the matching of the sliding shell 18 and the fifth sliding groove 17, and the state of waiting for cutting is recovered.
In the above embodiment, when the tool changing manipulator 5 is in the state of waiting for cutting, one end of the slide bar mechanism 3 passes through one sixth sliding slot 29 of the two sixth sliding slots 29 opened in the middle housing 2, if the sixth sliding slot 29 has the limiting block 28, the rotation direction of the inner housing 6 needs to be switched once when the slide bar mechanism 3 slides into the first sliding slot 8 from the sixth sliding slot 29, and the rotation direction of the inner housing 6 does not need to be switched when the slide bar mechanism slides into the next sixth sliding slot 29 from the vertical slot body of the first sliding slot 8.
In the above embodiment, when the tool changing manipulator 5 is in the waiting state, one end of the slide rod mechanism 3 passes through one sixth sliding slot 29 of the two sixth sliding slots 29 opened in the intermediate housing 2, and if the sixth sliding slot 29 has no stopper 28, the rotation direction of the inner housing 6 does not need to be switched when the slide rod mechanism 3 slides into the first sliding slot 8 from the sixth sliding slot 29, and the rotation direction of the inner housing 6 needs to be switched once when sliding into the next sixth sliding slot 29 from the vertical slot of the first sliding slot 8.
Claims (10)
1. An automatic tool changing system of a machining center comprises an intermediate shell, a slide bar mechanism, an outer shell, a tool changing manipulator and an inner shell, wherein an annular second chute is formed in the outer circular surface of the lower end of the inner shell, and a first chute is formed in the outer circular surface of the lower end of the intermediate shell; the sliding rod mechanism is arranged on the outer shell and is matched with a second sliding groove formed in the inner shell and a first sliding groove formed in the middle shell; the tool changing manipulator is arranged on the lower side of the shell; the method is characterized in that: the middle shell is fixedly arranged on the machining center main body, two third sliding grooves are formed in two sides, close to the highest point, of the second sliding grooves, two fourth sliding grooves are formed in one ends, close to each other, of the two third sliding grooves, and a fifth sliding groove is formed between the two fourth sliding grooves; the bottom surfaces of the two third sliding chutes are arc-shaped and are in smooth transition with the bottom surfaces of the second sliding chutes on two sides, step-shaped bottoms are formed between the bottom surfaces of the two fourth sliding chutes and the bottom surfaces of the fifth sliding chutes, and the depth of the two fourth sliding chutes on the outer circular surface of the inner shell is smaller than that of the second sliding chutes on the outer circular surface of the inner shell; the depth of the fifth chute and the depth of the second chute on the outer circular surface of the inner shell are equal; a servo motor is arranged on the upper side of the inner shell;
two sixth sliding grooves are formed in the two ends of the upper side of the first sliding groove in the same direction; in the two sections of the grooves in which the first sliding grooves are vertically distributed, two first guide grooves are symmetrically formed in the corresponding two side surfaces, two second guide grooves are symmetrically formed in the upper sides of the two first guide grooves, two third guide grooves are symmetrically formed in the upper sides of the two second guide grooves, a fourth guide groove and a fifth guide groove are respectively formed in the upper sides of the two third guide grooves, the fourth guide groove and the fifth guide groove are communicated with the corresponding sixth sliding grooves, the first sliding grooves are outward relative to the third guide grooves and the fifth guide grooves in the radial direction of the middle shell, and the third guide grooves and the fifth guide grooves are vertically aligned; the second guide groove and the fourth guide groove are both arc-shaped, and one end, communicated with the sixth sliding groove, of the fourth guide groove is close to the outside relative to one end, communicated with the third guide groove, of the fourth guide groove in the radial direction of the middle shell;
the sliding rod mechanism comprises a sliding shell, sliding rods, a reset spring, a fixed shell, a sliding disc, return springs and damping rods, wherein the fixed shell is installed on an outer shell, one end of a damping outer sleeve of each damping rod is fixedly installed on the inner end face of the fixed shell, the middle sections of damping inner rods of the damping rods are symmetrically provided with the two sliding rods, the sliding shell is slidably installed at one end of the damping inner rod of each damping rod, and the return springs are installed between the sliding shell and the damping inner rods of the damping rods; a return spring is arranged between the damping inner rod and the damping outer sleeve of the damping rod; the two sliding rods are in sliding fit with a first guide groove, a second guide groove, a third guide groove, a fourth guide groove and a fifth guide groove in a first sliding groove formed in the middle shell; the sliding shell is matched with the second sliding chute, the third sliding chute, the fourth sliding chute and the fifth sliding chute;
a limiting block is slidably mounted on the upper end face, close to the first chute, of the sixth chute positioned between the two vertical chutes in the first chute, and the radial distance between the limiting block and the middle shell is equal to the radial distance between the notch of the sixth chute and the axis of the middle shell of the fourth chute; a limiting spring is arranged between the limiting block and the middle shell; the lower end of one side, facing the sixth sliding chute, of the limiting block is provided with an inclined plane, and the two sliding rods are matched with the limiting block;
the second sliding chutes are distributed on the outer circular surface of the lower end of the inner shell in a full circle elliptical shape;
after the outer circular surface of the middle shell is unfolded, the first sliding grooves are distributed on the outer circular surface of the lower end of the middle shell in a U-shaped mode, and the two vertical groove bodies are distributed on the outer face of the middle shell at an angle of 180 degrees.
2. The automatic tool changing system of a machining center according to claim 1, wherein: the distance between the side face of the limiting block and the fourth sliding groove in the normal direction of the bottom of the fourth sliding groove is equal to the distance between two end faces, far away from each other, of the two sliding rods.
3. The automatic tool changing system of a machining center according to claim 1, wherein: one end of the damping inner rod of the damping rod is fixedly arranged on the sliding disc, the sliding shell is arranged at one end of the damping inner rod of the damping rod through sliding fit with the sliding disc, and two ends of the return spring are respectively arranged on the inner end faces of the sliding disc and the sliding shell.
4. The automatic tool changing system of a machining center according to claim 1, wherein: the damping outer sleeve of the damping rod is fixedly provided with a mounting ring, the damping inner rod is fixedly provided with a mounting disc, and two ends of the return spring are fixedly mounted on the mounting ring and the mounting disc respectively.
5. The automatic tool changing system of a machining center according to claim 1, wherein: the return spring is an extension spring.
6. The automatic tool changing system of a machining center according to claim 1, wherein: the return spring is a compression spring.
7. The automatic tool changing system of a machining center according to claim 1, wherein: the outer circle surface of the shell is provided with a threaded hole, the outer circle surface of the fixed shell is provided with an external thread, and the fixed shell is arranged on the shell through the matching with the threaded hole formed in the shell.
8. The automatic tool changing system of a machining center according to claim 1, wherein: the two sliding rods are fixedly arranged on the damping inner rod in a welding mode.
9. The automatic tool changing system of a machining center according to claim 1, wherein: the damping inner rod slides into the corresponding sixth sliding groove from the vertical groove body of the first sliding groove and slides into one end of the sixth sliding groove, and in the process, the rotating direction of the shell is consistent with the rotating direction of the cutter clamping semicircle of the cutter changing manipulator, which is separated from the cutter.
10. The automatic tool changing system of a machining center according to claim 1, wherein: the axes of the two sliding rods are horizontal.
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