CN113231865A - Horizontal automatic tool changing mechanism with advance tool locking structure - Google Patents
Horizontal automatic tool changing mechanism with advance tool locking structure Download PDFInfo
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- CN113231865A CN113231865A CN202110486670.9A CN202110486670A CN113231865A CN 113231865 A CN113231865 A CN 113231865A CN 202110486670 A CN202110486670 A CN 202110486670A CN 113231865 A CN113231865 A CN 113231865A
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- cutter
- advance
- output shaft
- locking
- tool changing
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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
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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
- B23Q3/15513—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling the tool being taken from a storage device and transferred to a tool holder by means of transfer devices
Abstract
The utility model provides a tool changing mechanism with sword structure of locking in advance, has the tool changing arm and is located the locking round pin on this tool changing arm, the sword structure of locking in advance includes the sword backing plate of locking in advance, locks the cutter arbor group in advance and locks the sword linkage in advance, and the phenomenon that the cutter breaks away from the tool changing arm when can preventing the tool changing, can snatch heavy sword and snatch the sword steady, can realize the stable in structure reliable and the long service life of the quick tool changing of heavy load cutter.
Description
Technical Field
The invention relates to a tool changing mechanism, in particular to a horizontal automatic tool changing mechanism with an advanced tool locking structure.
Background
Along with the continuous development of high-end manufacturing industry, need adopt multiple different specifications, the cutter of different grade type is processed more and more, automatic tool changing technique becomes the focus of paying attention to more and more, the customer end is more and more telling in the use and is changed speed, the cutter weight that can bear during the tool changing, and the speed of automatic tool changing often determines production efficiency, however, when pursuing the tool changing speed, often can take place the phenomenon that the cutter breaks away from the tool arm when the tool changing, the safety and the efficiency in the product use are not only influenced in the emergence of this kind of phenomenon, also can indirectly influence the life-span of product. The automatic tool changing mechanism is provided with a rotatable tool changing arm which rotates between the processing mechanism and the tool magazine by taking the center of the tool changing arm as an axis so as to utilize the tool buckling or loosening action of buckling claws at two ends of the tool changing arm to change the tool between the processing mechanism and the tool magazine. Automatic tool changing typically goes through the following process: 1) rotating the cutter arm; 2) buckling a knife; 3) pulling the cutter downwards; 4) rotating the cutter arm; 5) inserting a cutter; 6) and resetting. In the process of fastening the cutter, the cutter needs to be firmly grabbed to lock the cutter, the grabbing position precision of the cutter, including coaxiality, verticality, flatness and the like, is guaranteed, the cutter is smoothly pulled upwards to enter a main shaft in the cutter inserting process, and the cutter is not damaged or falls off due to position deviation.
There are many technical solutions related to Automatic Tool Changer (ATC) in the prior art, and various attempts have been made to ensure the robustness and accuracy of tool locking. For example, chinese patent document CN209394359U discloses an automatic tool changer, which improves tool changing time and efficiency by adjusting the control timing of a tool magazine tool changing mechanism. For example, chinese patent document CN205147910U discloses a knife arm with a knock pin cover plate, in order to complete the knife locking operation in cooperation with the knife arm, a box body for driving the knife arm to rotate is provided with a driving mechanism for pressing down the knock pin, before the knife is fastened, the driving mechanism firstly presses down the knock pin, drives the knock claw to contract inwards, releases the locking of the knife, then fastens the knife, after the knife is fastened, the driving mechanism ascends, the knock pin is acted upwards by an elastic member at the bottom, the knock claw extends outwards, and the knife locking is completed.
Some technical schemes in the prior art provide a structure for locking a knife in advance, so as to allow an actuating member to elastically protrude and extend to achieve the purpose of locking the knife in advance, so that a rod head of a movable rod is in a state of being incapable of retracting to stably buckle the knife in advance, and the firmness and the accuracy of the knife locking are further ensured. For example, chinese patent document CN206253947U discloses an advance cam box cutter locking structure, which includes a cam box driving device, a rotating shaft rotated and moved up and down by the cam box driving device, a cutter arm fixed at the end of the rotating shaft, and a knock pin pressing plate fixed on the cam box driving device and located above the cutter arm, wherein a knock claw for locking a cutter and a knock pin hinged to the knock claw and driving the knock claw to retract inside and outside are oppositely disposed in the cutter arm, the knock pin pressing plate is a disc-shaped structure and has a lower surface provided with a slope wedge surface recessed from bottom to top, and the top end of the knock pin abuts against the slope wedge surface and is restricted by the slope wedge surface to move up and down during rotation.
For example, chinese patent document CN201970131U discloses an automatic tool changer with an advanced tool locking mechanism, which includes a tool changer body with a housing, a driving shaft disposed on the tool changer body, and a roller cam disposed in the tool changer body, and further includes an advanced tool locking mechanism, which includes: a linkage piece, a butt-joint disc and a swing arm. Wherein, the abutting disc is movably sleeved on the driving shaft; the linkage piece is movably arranged between the two opposite wall bodies of the shell, and one end of the linkage piece is fixedly connected with the abutting disc; the swing arm is provided with two ends and a pivoting part positioned between the two ends, the pivoting part of the swing arm is pivoted on the shell, and the two ends of the swing arm are respectively and movably connected with the linkage piece and the roller cam. However, in this scheme, the tool still separates from the tool changing arm during tool changing, or the tool is damaged by collision between the tool and the tool magazine or the processing mechanism during tool retracting. In the technical scheme, the movement of the abutting disc is controlled, so that after the cutter changing arm, the driving of the roller cam and the swinging of the swinging arm control the linkage piece and the abutting disc to move backwards together in advance, so that the ejector pin of the cutter changing arm can protrude out in advance, and further the rod head at the front end of the movable rod is limited to be in a non-retractable cutter buckling state in advance to stably buckle a cutter which is not shown in the drawing together with the buckling claw, therefore, the scheme can effectively prevent one end of the cutter from tilting and further prevent the cutter from being separated from the cutter changing arm during cutter changing.
The tool changing mechanism which can grab heavy tools, stably grab the tools, realize quick tool changing of heavy-load tools, and has stable and reliable structure and long service life is urgently needed in the prior art.
Disclosure of Invention
In view of the technical problems in the prior art, the invention aims to provide a tool changing mechanism with an advanced tool locking structure, which can prevent a tool from separating from a tool changing arm during tool changing, can grab a heavy tool and grab the tool stably, can realize quick tool changing of the heavy tool, and has stable and reliable structure and long service life.
Specifically, according to a first aspect of the present invention, there is provided a tool changing mechanism with an advance tool locking structure, comprising a tool changing mechanical arm and a locking pin located on the tool changing mechanical arm, wherein the advance tool locking structure comprises an advance tool locking backing plate, an advance tool locking lever set and an advance tool locking connecting lever set, the advance tool locking backing plate is screwed with the advance tool locking lever set, the advance tool locking connecting lever set is in transmission connection with the advance tool locking lever set, the tool changing mechanism is characterized by further comprising an arc cam, the back surface of the arc cam is provided with a set of plane curve grooves, the arc cam performs a circular motion to drive the plane curve grooves on the back surface to move, thereby driving the whole advance tool locking connecting lever set to perform a linear reciprocating motion to drive the advance tool locking lever set to perform a reciprocating motion, the advance tool locking backing plate also performs a reciprocating motion to be matched with the locking pin on the tool changing mechanical arm, thereby realizing the early locking of the cutter.
The tool changing mechanism with the advance cutter locking structure is characterized in that the tool changing mechanical arm is arranged on a tool changing mechanical arm mounting shaft, and the tool changing mechanical arm mounting shaft is coaxially arranged on an output shaft of the tool changing mechanism through the advance cutter locking rod group and an advance cutter locking base plate.
The tool changing mechanism with the advance tool locking structure is characterized in that the output shaft is a rectangular spline output shaft.
The tool changing mechanism with the advance tool locking structure is characterized in that an output shaft transmission pipe is sleeved on the outer periphery of the rectangular spline output shaft, and the shape of the inner wall of the output shaft transmission pipe is matched with the shape of the outer periphery of the rectangular spline output shaft.
The tool changing mechanism with the advance tool locking structure is characterized in that a large bevel gear is mounted on a rotating shaft of the arc cam, the large bevel gear is meshed with a motor output shaft through a small bevel gear, power is output through a motor, the small bevel gear is meshed with the large bevel gear, the rotating shaft is driven to rotate, and therefore the arc cam rotates along with the rotating shaft.
The tool changing mechanism with the advance tool locking structure is characterized in that a plane curve groove is formed in the end face of the bevel bull gear.
The tool changing mechanism with the advance tool locking structure is characterized in that an output shaft connecting rod group is arranged between the bevel gear and the output shaft.
The tool changing mechanism with the advance tool locking structure is characterized in that the output shaft connecting rod group is provided with a plurality of hadron rollers, and when the bevel gear performs circular motion, part of the hadron rollers in the output shaft connecting rod group move in a plane curve groove on the end face of the bevel gear according to the track of the groove.
The tool changing mechanism with the advance tool locking structure is characterized in that a positioning groove is formed in the output shaft transmission pipe, and the other end of the output shaft connecting rod group is clamped in the positioning groove of the output shaft transmission pipe through a part of hadron rollers on the output shaft connecting rod group.
The tool changing mechanism with the advance cutter locking structure is characterized in that a hadron roller is arranged in the advance cutter locking connecting rod group, a clamping groove is formed in one side of the arc-shaped cam, and the hadron roller rotates around a roller rotating shaft of the hadron roller along with the movement track of the clamping groove in the clamping groove of the arc-shaped cam.
The tool changing mechanism with the advance tool locking structure is characterized in that the tool changing mechanical arm rotates through the meshing of a transmission gear arranged on the roller rotating shaft and a transmission gear arranged on the rectangular spline output shaft, and the rectangular spline output shaft is matched with the output shaft transmission pipe.
The tool changing mechanism with the advanced tool locking structure is characterized in that a powerful roller is arranged in the output shaft connecting rod group, a positioning groove is arranged in the output shaft transmission pipe, the powerful roller in the output shaft connecting rod group moves in a plane curve groove on the end face of a big bevel gear along with the circular motion of the big bevel gear according to the track of the groove, so that the output shaft connecting rod group makes reciprocating linear motion, and the powerful roller arranged on the output shaft connecting rod group is clamped in the positioning groove of the output shaft transmission pipe, so that the tool changing mechanical arm installation shaft makes linear reciprocating motion.
The tool changing mechanism with the advance tool locking structure is characterized in that a signal sensing wheel is further arranged in a rotating shaft of the arc-shaped cam to sense the action state of the tool changing mechanical arm and correspondingly control the action of the arc-shaped cam according to sensed signals.
According to another aspect of the invention, a method for locking a cutter in advance is provided, wherein the method utilizes a horizontal cutter changing structure with the structure for locking the cutter in advance, and is characterized by comprising the following steps: (1) the tool changing mechanical arm is rotated through the engagement of a transmission gear arranged on the roller rotating shaft and a transmission gear arranged on the rectangular spline output shaft, and the matching of the rectangular spline output shaft and the output shaft transmission pipe; (2) along with the circular motion of the big bevel gear, the powerful roller in the output shaft connecting rod group moves in the plane curve groove on the end face of the big bevel gear according to the track motion of the groove, so that the output shaft connecting rod group makes a reciprocating linear motion, and the powerful roller arranged on the output shaft connecting rod group is clamped in the positioning groove of the output shaft transmission tube, so that the tool changing mechanical arm mounting shaft makes a linear reciprocating motion; (3) the cambered surface cam is in circular motion to drive the plane curved groove on the back of the cambered surface cam to move, so that the whole advanced cutter locking connecting rod group is driven to do linear reciprocating motion, the advanced cutter locking rod group is driven to do reciprocating motion, the advanced cutter locking base plate also does reciprocating motion and is matched with a locking pin on the cutter changing mechanical arm, and therefore the advanced cutter locking is achieved.
According to the method for locking the cutter in advance, the cutter changing process is characterized by comprising the following actions: firstly, determining a standby position, a cutter cup position and a spindle position of a cutter arm, rotating the cutter arm by 60 degrees after the spindle position is positioned, performing downward broach action when the cutter arm enters the spindle position, immediately rotating by 180 degrees to perform cutter changing action after the downward broach action is completed, immediately upwardly broaching the cutter arm to enter the spindle position after rotating by 180 degrees, and then reversing by 60 degrees to immediately complete the cutter changing action.
According to the method for locking the cutter in advance, the action state of the cutter changing mechanical arm is sensed through the signal sensing wheel, and the action of the cambered surface cam is correspondingly controlled according to the sensed signal.
According to the tool changing mechanism, due to the adoption of the meshing structure of the big bevel gear and the small bevel gear, the arc cam rotates along with the rotation of the rotating shaft, the hadron roller can be firmly clamped in the clamping groove of the arc cam to synchronously rotate, the stable rotation of the tool changing mechanical arm can be realized, the phenomenon that one end of a tool is tilted to cause the tool to fall off can be effectively avoided, and meanwhile, the whole process of grabbing and changing the tool can be firmly realized even if the tool is heavy-load through the matching of the rectangular spline output shaft and the output shaft transmission pipe.
According to the invention, because the big bevel gear moves along the circumferential direction stably, the powerful roller in the output shaft connecting rod group can move in the plane curve groove of the end surface of the big bevel gear smoothly according to the track of the groove, so that the structure is more stable and reliable, the heavy-duty tool grabbing device is suitable for firmly grabbing heavy-duty tools, and the tools can be prevented from falling off unexpectedly.
According to the invention, the other group of plane curve grooves are arranged on the back surface of the cambered surface cam, so that the whole cutter-locking connecting rod group can be driven to do linear reciprocating motion, and the cutter-locking connecting rod group is driven to do reciprocating motion, therefore, thread is not moved in the left and right directions in the rotating process of the whole structure, so that the cutter-changing mechanical arm can be stably locked in the guide pin, the weight can be lifted if light even in the heavy-load cutter occasion, and the rapid cutter-changing action of the heavy-load cutter is realized.
Drawings
Fig. 1 (a) is a perspective view of a horizontal tool changer having an advance lock structure according to an embodiment of the present invention, as viewed from one side. (b) The perspective view of the horizontal tool changer having the advance lock structure according to the embodiment of the present invention is a schematic perspective view of the horizontal tool changer as viewed from the other side (side opposite to (a)).
Fig. 2(a) is a vertical sectional view of a central longitudinal vertical surface of a horizontal tool changer having an advance lock structure according to an embodiment of the present invention, as viewed from one side surface thereof. (b) The vertical cross-sectional view of the center vertical plane of the horizontal tool changer having the advance lock structure according to the embodiment of the present invention is viewed from the other side (from the side rotated by 90 degrees to (a)).
Fig. 3 is a partially cut-away (through the housing) perspective view of a horizontal tool changer having an advance lock structure according to an embodiment of the present invention from a side.
Fig. 4 is a partially cut-away (through the housing) perspective view of the horizontal tool changer having the advance lock structure according to the embodiment of the present invention from still another side.
Fig. 5 is a schematic diagram illustrating a tool changing operation of the horizontal tool changer having the advance lock structure according to an embodiment of the present invention.
Detailed Description
The present invention will be described in detail below with reference to the accompanying drawings in conjunction with specific embodiments. Those skilled in the art will appreciate that the description is illustrative and that the invention is not limited to just this specific embodiment.
Fig. 1 (a) is a perspective view of a horizontal tool changer having an advance lock structure according to an embodiment of the present invention, as viewed from one side. (b) Is a schematic perspective view from the other side (the side opposite to (a)).
As shown in fig. 1 (a) and 1 (b), a mounting shaft for a tool changing robot arm, on which a tool is mounted, is laterally protruded from the tool changing mechanism at a lower side. The motor is positioned above the tool changing mechanism, and the rotation of each part of the tool changing mechanism is driven by the rotation of an output shaft of the motor. Fig. 1 (a) and 1 (b) are perspective views viewed from opposite directions, and components shown in front of fig. 1 (a) will be located in the rear of fig. 1 (b).
Fig. 2(a) is an elevation sectional view of a central longitudinal vertical surface of a horizontal tool changer having an advance lock structure, as viewed from one side surface thereof. (b) Is a vertical sectional view of the central vertical plane viewed from the other side (the side rotated 90 degrees from (a)).
For the sake of illustrative clarity of the drawings, fig. 2(a) and 2 (b) are drawn at the same height, and components expressed by the two are only different when the orientation is rotated by 90 degrees, and are in one-to-one correspondence, so that each reference numeral is given only to fig. 2(a), and actually, these components are also present in fig. 2 (b).
As shown in fig. 2(a) and 2 (b), a motor 1 is arranged above a housing frame of a cutter changing mechanism expressed by black shaded parts, an output shaft of the motor 1 vertically extends downwards into the cutter changing mechanism, power is input through the motor 1, the rotating shaft 5 is driven to rotate through the engagement of a small bevel gear 2 arranged on the output shaft of the motor 1 and a large bevel gear 3 coaxially arranged on the rotating shaft 5, a cambered cam 4 is closely and coaxially arranged on the inner side surface of the large bevel gear 3, so that the large bevel gear rotates along with the rotation of the rotating shaft 5, a roller rotating shaft 6 is transversely arranged on the lower side surface of the cambered cam 4, the roller rotating shaft 6 can rotate in the horizontal direction along with the rotation of the cambered cam 4, a roller 7 is marked as a hadron roller in the figure, and is arranged in an advance cutter locking connecting rod group 13 (shown in fig. 3 and 4), the roller 7 rolls into the clamping groove on the side surface of the arc cam 4, and correspondingly rotates along with the track movement of the groove, so that the transmission is firmly locked in the corresponding movement track, and any unexpected shaking is prevented. The periphery of the roller rotating shaft 6 is provided with a transmission gear 8 which is meshed with a transmission gear 9 arranged on a rectangular spline output shaft 11, the transmission gear 8 is transmitted to the transmission gear 9 along with the rotation of the roller rotating shaft 6, so that the rectangular spline output shaft 11 also rotates correspondingly, an output shaft transmission pipe 10 is sleeved on the periphery of the rectangular spline output shaft 11, the inner wall of the output shaft transmission pipe 10 is matched with the outer wall of the rectangular spline output shaft 11 in shape, and unnecessary sliding cannot occur between the inner wall of the output shaft transmission pipe 10 and the outer wall of the rectangular spline output shaft 11 during rotation so as to guarantee strict synchronous transmission of the output shaft transmission pipe.
Fig. 3 is a partially cut-away (through the housing) perspective view of a horizontal tool changer having an advance lock structure according to an embodiment of the present invention from a side. Fig. 4 is a schematic view from the opposite side.
As shown in fig. 3 and 4, the tool changing mechanism having the advance lock structure has a tool changing robot arm, not shown, mounted on the tool changing robot arm mounting shaft 18, and a lock pin on the tool changing robot arm, and only the mounting shaft 18 is shown in the drawings for convenience of description of the advance lock structure. The cutter advance locking structure comprises an advance cutter locking backing plate 15, an advance cutter locking rod group 14 and an advance cutter locking connecting rod group 13, wherein the advance cutter locking backing plate 15 is in threaded connection with the advance cutter locking rod group 14, the advance cutter locking connecting rod group 13 is in transmission connection with the advance cutter locking rod group 14, the cutter advance locking structure further comprises an arc cam 4, the back surface of the arc cam is provided with a group of plane curve grooves (not shown), the arc cam 4 makes a circular motion to drive the plane curve grooves on the back surface of the arc cam to move, so that the whole advance cutter locking connecting rod group 13 is driven to make a linear reciprocating motion to further drive the advance cutter locking rod group 14 to make a reciprocating motion, and the advance cutter locking backing plate 15 also makes a reciprocating motion to be matched with a locking pin (not shown) on a cutter changing mechanical arm, so that the cutter advance locking is realized.
In the invention, the tool changing mechanical arm is arranged on a tool changing mechanical arm mounting shaft 18, and the tool changing mechanical arm mounting shaft 18 is coaxially arranged on an output shaft 11 of the tool changing mechanism through the advance lock cutter bar group 14 and the advance lock cutter backing plate 15. In a preferred embodiment, the output shaft 11 is a rectangular splined output shaft. An output shaft transmission pipe 10 is sleeved on the periphery of the rectangular spline output shaft 11, and the shape of the inner wall of the output shaft transmission pipe 10 is matched with the shape of the periphery of the rectangular spline output shaft 11. Through the meshing of a transmission gear 8 arranged on the roller rotating shaft 6 and a transmission gear 9 arranged on a rectangular spline output shaft 11, the rotation of the tool changing mechanical arm is realized through the matching of the rectangular spline output shaft 11 and an output shaft transmission pipe 10.
In the present invention, a large bevel gear 3 is mounted on a rotating shaft 5 of the arc cam 4, the large bevel gear 3 is engaged with an output shaft (not shown) of a motor 1 through a small bevel gear 2, and the rotating shaft 5 is driven to rotate by the power output of the motor 1 and the engagement of the small bevel gear 2 with the large bevel gear 3, so that the arc cam 4 rotates therewith. A planar curved groove (not shown) is provided on the end face of the bevel bull gear 3. An output shaft connecting rod group 16 is arranged between the big bevel gear 3 and the output shaft 11 of the tool changing mechanism. The output shaft connecting rod group 16 is provided with a plurality of hadron rollers 7, when the big bevel gear 3 makes circular motion, part of the hadron rollers 12 in the output shaft connecting rod group 16 move in a plane curve groove on the end surface of the big bevel gear 3 according to the track of the groove.
In addition, in a preferred embodiment of the present invention, a positioning groove (not shown) is provided in the output shaft transmission tube 10, and the other end of the output shaft linkage 16 is clamped in the positioning groove of the output shaft transmission tube 10 by a partial hadron roller 7 on the output shaft linkage 16. The hadron roller 7 arranged in the advance lock cutter connecting rod group 13 rotates around the roller rotating shaft 6 of the hadron roller along with the motion track of the clamping groove in the clamping groove of the arc cam 4.
According to the invention, the powerful rollers 7 are arranged in the output shaft connecting rod group 16, the positioning groove is arranged in the output shaft transmission pipe 10, the powerful rollers 7 in the output shaft connecting rod group 16 move in the plane curve groove of the end surface of the big bevel gear 3 along the track of the groove along with the circular motion of the big bevel gear 3, so that the output shaft connecting rod group 16 makes reciprocating linear motion, and the powerful rollers 7 arranged on the output shaft connecting rod group 16 are clamped in the positioning groove of the output shaft transmission pipe 10, so that the tool changing mechanical arm mounting shaft 18 makes linear reciprocating motion.
In addition, a signal induction wheel 17 is further arranged on the rotating shaft 5 of the arc cam 4 to sense the action state of the tool changing mechanical arm and correspondingly control the action of the arc cam 4 according to the sensed signal.
According to the above embodiment of the present invention, the advance lock structure of the horizontal tool changer is described in detail, and the method for using the advance lock structure of the horizontal tool changer with the advance lock structure will be described in detail below, wherein the advance lock process includes the following steps: (1) the tool changing mechanical arm is rotated through the engagement of a transmission gear 8 arranged on a roller rotating shaft 6 and a transmission gear 9 arranged on a rectangular spline output shaft 11, and the matching of the rectangular spline output shaft 11 and an output shaft transmission pipe 10; (2) with the circular motion of the big bevel gear 3, the strong roller 12 in the output shaft connecting rod group 16 moves in the plane curve groove on the end surface of the big bevel gear 3 according to the track motion of the groove, so that the output shaft connecting rod group 16 makes reciprocating linear motion, and the strong roller 12 arranged on the output shaft connecting rod group 16 is clamped in the positioning groove of the output shaft transmission pipe 10, so that the tool changing mechanical arm mounting shaft makes linear reciprocating motion; (3) the cambered surface cam 4 makes a circular motion to drive the plane cam crank on the back of the cambered surface cam to move, so that the whole advanced cutter locking connecting rod group 13 is driven to make a linear reciprocating motion, the advanced cutter locking rod group 14 is driven to make a reciprocating motion, the advanced cutter locking base plate 15 also makes a reciprocating motion to be matched with a locking pin on the cutter changing mechanical arm, and the advanced cutter locking is realized.
The tool changing process is described below, and the tool changing process undergoes the following actions: firstly, determining the standby position, the position of a cutter cup and the position of a spindle (namely the axial position of a mounting shaft 18 of a cutter changing mechanical arm), rotating the cutter arm by 60 degrees after the position of the spindle is positioned, performing downward broaching when the cutter arm enters the position of the spindle, immediately rotating by 180 degrees to perform cutter changing after the downward broaching is finished, immediately pulling the cutter arm upwards to enable the cutter arm to enter the position of the spindle after the cutter arm rotates by 180 degrees, and then reversing by 60 degrees to immediately finish the cutter changing.
According to the tool changing mechanism, due to the adoption of the meshing structure of the big bevel gear and the small bevel gear, the arc cam rotates along with the rotation of the driving shaft, the hadron roller can be firmly clamped in the clamping groove of the arc cam to synchronously rotate, the stable rotation of the tool changing mechanical arm can be realized, the phenomenon that one end of a tool is tilted to cause the tool to fall off can be effectively avoided, and meanwhile, the whole process of grabbing and changing the tool can be firmly realized even if the tool is heavily loaded through the matching of the rectangular spline output shaft and the output shaft transmission pipe.
According to the invention, because the big bevel gear moves along the circumferential direction stably, the powerful roller in the output shaft connecting rod group can move in the plane curve groove of the end surface of the big bevel gear smoothly according to the track of the groove, so that the structure is more stable and reliable, the heavy-duty tool grabbing device is suitable for firmly grabbing heavy-duty tools, and the tools can be prevented from falling off unexpectedly.
According to the invention, the other group of plane cam cranks are arranged on the back surface of the cambered surface cam, so that the whole cutter-locking connecting rod group can be driven to do linear reciprocating motion, and the cutter-locking connecting rod group is driven to do reciprocating motion, therefore, thread is not moved in the left and right directions in the rotating process of the whole structure, so that the cutter-changing mechanical arm can be stably locked in the guide pin, the weight can be lifted if light even in the heavy-load cutter occasion, and the rapid cutter-changing action of the heavy-load cutter is realized.
Although the present invention has been described in detail with reference to the specific embodiments, it will be understood by those skilled in the art that the description is illustrative, and various modifications and changes may be made without departing from the spirit and scope of the invention, which is defined by the appended claims.
Claims (16)
1. A tool changing mechanism with an advance tool locking structure comprises a tool changing mechanical arm and a locking pin positioned on the tool changing mechanical arm, the cutter advance locking structure comprises an advance cutter locking backing plate, an advance cutter locking rod group and an advance cutter locking connecting rod group, the cutter locking backing plate is screwed with the cutter locking rod group in advance, the cutter locking connecting rod group is in transmission connection with the cutter locking rod group in advance, it is characterized by also comprising an arc cam, the back surface of the arc cam is provided with a group of plane curve grooves, the cambered surface cam makes a circular motion to drive the plane curve groove on the back surface of the cambered surface cam to move, so as to drive the whole advance cutter locking connecting rod group to make a linear reciprocating motion, and then the cutter locking rod group is driven to reciprocate, and the cutter locking backing plate also reciprocates to be matched with a locking pin on the cutter changing mechanical arm, so that the cutter locking in advance is realized.
2. The tool changing mechanism with the advance lock cutter structure according to claim 1, wherein the tool changing mechanical arm is mounted on a tool changing mechanical arm mounting shaft, and the tool changing mechanical arm mounting shaft is coaxially mounted on an output shaft of the tool changing mechanism through the advance lock cutter bar group and the advance lock cutter backing plate.
3. The tool changing mechanism with the advance lock cutter structure according to claim 2, wherein the output shaft is a rectangular spline output shaft.
4. The tool changing mechanism with the advance tool locking structure as claimed in claim 3, wherein an output shaft transmission tube is sleeved on the outer periphery of the rectangular spline output shaft, and the shape of the inner wall of the output shaft transmission tube is matched with the shape of the outer periphery of the rectangular spline output shaft.
5. The tool changing mechanism with the advance lock cutter structure as claimed in claim 1, wherein a large bevel gear is mounted on a rotating shaft of the arc cam, the large bevel gear is engaged with an output shaft of a motor through a small bevel gear, power is output through the motor, and the rotating shaft is driven to rotate through engagement of the small bevel gear and the large bevel gear, so that the arc cam rotates along with the large bevel gear.
6. The tool changing mechanism with the advance lock cutter structure according to claim 5, wherein a planar curved groove is provided on the end face of the bevel bull gear.
7. The tool changing mechanism with the advance lock cutter structure according to claim 5 or 6, wherein an output shaft linkage is provided between the bevel bull gear and the output shaft.
8. The tool changing mechanism with the advance tool locking structure as claimed in claim 1, wherein the output shaft linkage is provided with a plurality of hadron rollers, and when the bevel gear performs circular motion, part of the hadron rollers in the output shaft linkage move in a plane curve groove on the end face of the bevel gear according to the track of the groove.
9. The tool changing mechanism with the advance tool locking structure as claimed in claim 4, wherein a positioning groove is arranged in the output shaft transmission tube, and the other end of the output shaft linkage is clamped in the positioning groove of the output shaft transmission tube through a part of the hadron rollers on the output shaft linkage.
10. The tool changing mechanism with the advance lock cutter structure as claimed in claim 1, wherein a hadron roller is arranged in the advance lock cutter linkage, a clamping groove is arranged on one side of the arc cam, and the hadron roller rotates around a roller rotating shaft of the hadron roller along a track of the movement of the clamping groove in the clamping groove of the arc cam.
11. The tool changing mechanism with the advance tool locking structure as claimed in claim 4, wherein the tool changing mechanical arm is rotated by the engagement of a transmission gear mounted on the roller rotating shaft and a transmission gear mounted on the rectangular spline output shaft, and the rectangular spline output shaft is matched with the output shaft transmission pipe.
12. The tool changing mechanism with the advance tool locking structure as claimed in claim 11, wherein a powerful roller is arranged in the output shaft linkage, a positioning groove is arranged in the output shaft transmission tube, the powerful roller in the output shaft linkage moves in a plane curve groove on the end face of the big bevel gear along with the circular motion of the big bevel gear according to the track of the groove, so that the output shaft linkage makes a reciprocating linear motion, and the powerful roller arranged on the output shaft linkage is clamped in the positioning groove of the output shaft transmission tube, so that the tool changing mechanical arm mounting shaft makes a linear reciprocating motion.
13. The tool changing mechanism with the advance tool locking structure as claimed in claim 1, wherein a signal sensing wheel is further arranged in the rotating shaft of the arc cam to sense the action state of the tool changing mechanical arm and correspondingly control the action of the arc cam according to the sensed signal.
14. A method for locking a tool in advance by using the tool changing structure having the structure for locking a tool in advance as claimed in any one of claims 1 to 13, comprising the steps of: (1) the rotation of the tool changing mechanical arm is realized through the engagement of a transmission gear arranged on a roller rotating shaft and a transmission gear arranged on a rectangular spline output shaft, and the matching of the rectangular spline output shaft and an output shaft transmission pipe; (2) along with the circular motion of the big bevel gear, the powerful roller in the output shaft connecting rod group moves in the plane curve groove on the end surface of the big bevel gear according to the track motion of the groove, so that the output shaft connecting rod group makes a reciprocating linear motion, and the powerful roller arranged on the output shaft connecting rod group is clamped in the positioning groove of the output shaft transmission pipe, so that the tool changing mechanical arm mounting shaft makes a linear reciprocating motion; (3) the cambered surface cam is in circular motion to drive the plane cam crank on the back of the cambered surface cam to move, so that the whole cutter locking connecting rod group in advance is driven to do linear reciprocating motion, the cutter locking rod group in advance is driven to do reciprocating motion, the cutter locking base plate in advance also does reciprocating motion and is matched with a locking pin on the cutter changing mechanical arm, and therefore cutter locking in advance is achieved.
15. The method of advancing lock cutting according to claim 14, wherein the tool changing process is subjected to the following actions: firstly, determining a standby position, a cutter cup position and a spindle position of a cutter arm, rotating the cutter arm by 60 degrees after the spindle position is positioned, performing downward broach action when the cutter arm enters the spindle position, immediately rotating by 180 degrees to perform cutter changing action after the downward broach action is completed, immediately upwardly broaching the cutter arm to enter the spindle position after rotating by 180 degrees, and then reversing by 60 degrees to immediately complete the cutter changing action.
16. The method for locking the cutter in advance according to claim 14 or 15, wherein the action state of the cutter changing mechanical arm is sensed through the signal sensing wheel, and the action of the cambered cam is correspondingly controlled according to the sensed signal.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110486670.9A CN113231865A (en) | 2021-05-01 | 2021-05-01 | Horizontal automatic tool changing mechanism with advance tool locking structure |
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| CN202110486670.9A CN113231865A (en) | 2021-05-01 | 2021-05-01 | Horizontal automatic tool changing mechanism with advance tool locking structure |
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| CN113231865A true CN113231865A (en) | 2021-08-10 |
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| CN202110486670.9A Pending CN113231865A (en) | 2021-05-01 | 2021-05-01 | Horizontal automatic tool changing mechanism with advance tool locking structure |
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