CN114310424A - Tool changing device and vertical machining center - Google Patents
Tool changing device and vertical machining center Download PDFInfo
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- CN114310424A CN114310424A CN202111617696.9A CN202111617696A CN114310424A CN 114310424 A CN114310424 A CN 114310424A CN 202111617696 A CN202111617696 A CN 202111617696A CN 114310424 A CN114310424 A CN 114310424A
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- 239000003921 oil Substances 0.000 claims description 7
- 230000001050 lubricating effect Effects 0.000 claims description 6
- 239000010687 lubricating oil Substances 0.000 claims description 4
- 230000002093 peripheral effect Effects 0.000 claims description 4
- 230000009286 beneficial effect Effects 0.000 abstract description 5
- 230000005540 biological transmission Effects 0.000 description 15
- 238000003754 machining Methods 0.000 description 8
- 238000005461 lubrication Methods 0.000 description 7
- 238000007789 sealing Methods 0.000 description 5
- 238000009434 installation Methods 0.000 description 4
- 238000004519 manufacturing process Methods 0.000 description 4
- 238000000034 method Methods 0.000 description 3
- 210000000078 claw Anatomy 0.000 description 1
- 238000004590 computer program Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005553 drilling Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000003801 milling Methods 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 238000010079 rubber tapping Methods 0.000 description 1
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Abstract
The invention discloses a tool changing device which comprises a support connected with a tool magazine, wherein the tool magazine is provided with a driving shaft, the side wall of the tool magazine is connected with a conveying belt, the conveying belt is connected with a plurality of tool rests used for placing tools, the conveying belt is connected with the driving shaft, the driving shaft can drive the conveying belt to rotate along the edge of the tool magazine to drive the tool rests to move, and the tool magazine is at least provided with one empty tool rest; the tool changing cantilever comprises a center seat and a clamping jaw, wherein the center seat is connected to the clamping jaw, the clamping jaw is provided with a fixing groove and a clamp spring, the clamp spring is matched with a clamping tool handle through the fixing groove, the center seat is connected with a rotating shaft, the rotating shaft is rotatably connected to a support, the rotating shaft is connected with a driving device to drive the center seat to rotate for a preset angle, and the preset angle is 200-250 degrees. The vertical machining center with the tool changing device can realize single-arm angle-limited rotary tool changing, saves assembly space, enables the overall structure of the machining center to be more compact, and is beneficial to user experience.
Description
Technical Field
The invention relates to the technical field of air conditioners, in particular to a tool changing device and a vertical machining center.
Background
The machining center is a highly automated multifunctional numerical control machine tool with a tool magazine and an automatic tool changer, can automatically cut and machine a workpiece, and has indispensable effect in the field of intelligent manufacturing. The automatic tool changing device and the tool magazine capable of storing a plurality of tools change the traditional production mode mainly by people. By means of the control of the computer program, various machining requirements such as milling, drilling, boring, tapping and the like can be met, the machining time course is greatly shortened, and the production cost is reduced. However, in a vertical machining center, a double-arm tool changer capable of rotating 360 degrees is usually used, and in order to consider a tool changing space during assembly, a large space needs to be reserved between a tool magazine and a spindle, so that the assembly difficulty is improved, the manufacturing cost is increased, and the use experience of a user is not facilitated.
Disclosure of Invention
The present invention is directed to solving at least one of the problems of the prior art. Therefore, the tool changing device provided by the invention can realize single-arm angle-limited rotary tool changing, saves the assembly space and enables the overall structure of the machining center to be more compact.
The invention also provides a vertical machining center with the tool changing device.
The tool changing device comprises a bracket, wherein a tool magazine is connected with the bracket, the tool magazine is provided with a driving shaft, the side wall of the tool magazine is connected with a conveying belt, the conveying belt is connected with a plurality of tool rests and used for placing tools, the conveying belt is connected with the driving shaft, the driving shaft can drive the conveying belt to rotate along the edge of the tool magazine to drive the tool rests to move, at least one empty tool rest is arranged in the tool magazine, the tool magazine is connected with a tool changing groove, and the tool rests can abut against the wall of the tool changing groove; the tool changing cantilever comprises a center seat and a clamping jaw, wherein the center seat is connected to the clamping jaw, the clamping jaw is provided with a fixing groove and a clamping spring, the clamping spring is matched with a clamping tool handle through the fixing groove, the center seat is connected with a rotating shaft, the rotating shaft is rotatably connected to the support, the rotating shaft is connected with a driving device to drive the center seat to rotate a preset angle, and the preset angle is 200-250 degrees.
The tool changing device provided by the embodiment of the invention at least has the following beneficial effects: the tool magazine can be connected with the tool changing cantilever, and the tool can be dismounted and mounted from and placed on the main shaft through rotation of the tool changing cantilever. The tool changing cantilever is extended and connected with the clamping jaw at one side only to form a single-arm tool changing structure, at least one idle tool rest is arranged on the tool magazine, when a tool changing program is started, the tool changing cantilever rotates to the position of the spindle, the clamping jaw clamps the tool shank on the spindle, the idle tool rest on the tool magazine rotates to a tool changing position, the tool changing cantilever places a tool on the spindle in the idle tool rest, the tool magazine rotates again to move the tool rest to be subjected to tool changing to the tool changing position, the clamping jaw clamps the tool shank to be subjected to tool changing, the tool shank is moved to the position of the spindle, and a new tool is installed. The double-arm tool changer is banned, at least half of the space occupied by the original double-arm tool changer is saved, the limited angle rotation can further save the space, the tool changing speed is increased, and the processing efficiency is improved. The tool magazine is more compact in assembly distance with the spindle, the cost of the whole machining center is lower, and the use experience of a user is facilitated.
According to some embodiments of the invention, the preset angle is 215 °.
According to some embodiments of the invention, the number of the clamping jaws is one, and the clamping jaws can clamp the tools on the tool magazine, or the clamping jaws can clamp the tools on the spindle.
According to some embodiments of the present invention, the driving device includes a motor, a driving shaft, a driving gear, and a driven gear, the motor is disposed on the bracket, the driving shaft is connected to the motor, the driving gear is connected to the driving shaft, the driven gear is engaged with the driving gear, and the driven gear is connected to the rotating shaft.
According to some embodiments of the invention, the rotating shaft is connected with a hydraulic cylinder, and the hydraulic cylinder can drive the rotating shaft to extend and retract.
According to some embodiments of the invention, the transmission device comprises a driving shaft and a conveyor belt, the driving shaft is rotatably connected to the support, the conveyor belt is connected to the driving shaft, the driving shaft can drive the conveyor belt to rotate around the tool magazine, and the tool holders are uniformly arranged on the conveyor belt.
According to some embodiments of the invention, the peripheral wall of the rotating shaft is spirally provided with a lubricating groove, and the groove wall of the lubricating groove is filled with lubricating oil.
According to some embodiments of the invention, the clip spring is arc-shaped, the inner edge of the fixing groove is semi-arc-shaped, the clip spring is connected to the fixing groove, and the outer arc surface of the clip spring is away from the inner arc surface of the fixing groove.
According to some embodiments of the invention, the center base is provided with a sealing groove inside, and the sealing groove is provided with an oil seal.
According to a second aspect embodiment of the invention, the vertical machining center comprises a main shaft, a workbench, a drainage device, a movement device and the tool changing device, wherein the main shaft is mounted on the bracket, the movement device is connected to the workbench, the workbench is positioned below the main shaft, and the movement device is arranged on the bracket.
The vertical machining center provided by the embodiment of the invention at least has the following beneficial effects: the vertical machining center of the single-arm type tool changer ensures tool changing and machining efficiency, is more compact in overall structure, can improve the efficiency of workers during installation, and reduces the assembling steps. The machine tool with compact structure is also beneficial to transportation, cost control and marketing. For a user, a machine tool with smaller occupied area can be used more effectively, the machining efficiency is increased, the yield is improved, and the use experience of the user is facilitated.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
The invention is further described with reference to the following figures and examples, in which:
FIG. 1 is a three-dimensional schematic view of a tool changer according to an embodiment of the invention;
FIG. 2 is a side view of a tool changer according to an embodiment of the present invention;
FIG. 3 is a three-dimensional view of another orientation of the tool changer of an embodiment of the present invention;
FIG. 4 is a cross-sectional view of a tool changer of an embodiment of the invention;
FIG. 5 is a top view of a tool changing cantilever of a tool changer according to an embodiment of the present invention;
fig. 6 is a state diagram of the movement of a tool changing cantilever of the tool changer from the top view direction according to the embodiment of the present invention.
Reference numerals: the tool changer comprises a support 100, a tool magazine 110, a tool rest 111, a conveyor belt 112, a driving shaft 113, a tool changing cantilever 200, a center seat 210, a claw 220, a fixing groove 221, a clamp spring 222, a motor 300, a driving gear 301, a hydraulic cylinder 400, a rotating shaft 500, a transmission groove 501, a thrust ball bearing 502, a deep groove ball bearing 503, a driven gear 504 and a lubricating groove 505.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.
In the description of the present invention, it should be understood that the orientation or positional relationship referred to in the description of the orientation, such as the upper, lower, front, rear, left, right, etc., is based on the orientation or positional relationship shown in the drawings, and is only for convenience of description and simplification of description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention.
In the description of the present invention, the meaning of a plurality of means is one or more, the meaning of a plurality of means is two or more, and larger, smaller, larger, etc. are understood as excluding the number, and larger, smaller, inner, etc. are understood as including the number. If the first and second are described for the purpose of distinguishing technical features, they are not to be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated or implicitly indicating the precedence of the technical features indicated.
In the description of the present invention, unless otherwise explicitly limited, terms such as arrangement, installation, connection and the like should be understood in a broad sense, and those skilled in the art can reasonably determine the specific meanings of the above terms in the present invention in combination with the specific contents of the technical solutions.
Referring to fig. 1, 2 and 3, the tool changing device provided by the invention is provided. The support 100 is provided with a tool magazine 110, and it is understood that the support 100 may be a column, a beam, or an integral saddle. The tool magazine 110 is provided with a plurality of tool rests 111, and the tool magazine 110 is connected with a transmission device to drive the tool rests 111 to move. Tool changing cantilever 200, including center seat 210 and jack catch 220, center seat 210 connects in jack catch 220, jack catch 220 is equipped with fixed slot 221 and jump ring 222, jump ring 222 cooperates the centre gripping handle of a knife with fixed slot 221, center seat 210 is connected with pivot 500, pivot 500 rotates and connects in support 100, pivot 500 is connected with drive arrangement, in order to drive center seat 210 to rotate and predetermine the angle, predetermine the angle and be greater than 180 but be less than 360, it can be understood, refer to fig. 6, center seat 210 drives tool changing cantilever 200 and rotates and has a spacing angle L1, the spacing angle L1 that can empty is greater than zero at least.
Referring to fig. 1, 2 and 3, the tool magazine 110 can be connected with a tool changing cantilever 200, and the tool changing cantilever 200 rotates to detach and mount the main shaft and take and place the tool in the tool magazine 110. The tool changing cantilever 200 is extended and connected with the clamping jaw 220 on only one side to form a single-arm tool changing structure, and specifically, the tool magazine 110 drives the tool rest 111 to move through self-transmission. And at least one empty tool holder is arranged on the tool magazine 110 to ensure the normal operation of tool changing.
Before the tool changing procedure is started, the tool changing cantilever 200 is located at an initial position, which does not interfere with the machining of the spindle and the rotation of the tool magazine 110. When a tool changing program is started, the tool changing cantilever 200 is driven by the center seat 210 to rotate, the clamping jaw 220 moves to the position of the main shaft, the clamping jaw 220 clamps a tool shank on the main shaft, an empty tool holder on the tool magazine 110 rotates to a tool changing position, the tool changing cantilever 200 places a tool on the main shaft in the empty tool holder, the tool magazine 110 rotates again to move the tool holder 111 to be subjected to tool changing to the tool changing position, the clamping jaw 220 clamps the tool shank to be subjected to tool changing, moves to the position of the main shaft, and installs a new tool. The double-arm tool changer is banned, at least half of the space occupied by the original double-arm tool changer is saved, the limited angle rotation can further save the space, the tool changing speed is increased, and the processing efficiency is improved. When the tool changing procedure is finished, the tool changing cantilever 200 is reset to the initial position, and the next processing is continued. The tool magazine 110 is more compact in assembly distance with the spindle, the cost of the whole machining center is lower, and the use experience of a user is facilitated. Preferably, referring to fig. 6, the rotation limit angle L1 of the center base 210 is 145 °, so that the space is greatly saved, the tool changing efficiency is increased, and the machining efficiency is ensured.
Referring to fig. 4, the rotating shaft 500 is in hole-shaft fit connection with the bracket 100, the top end of the rotating shaft 500 is connected with a driving device such as a motor 300 and a hydraulic cylinder 400, and this part is in clearance fit connection with the bracket 100 to ensure that the driving device can drive the rotating shaft 500 to move. A clearance fit is a fit with a clearance. At this point, the tolerance band of the hole is above the tolerance band of the shaft, i.e., the actual size of the hole is always greater than or equal to the actual size of the shaft. In order to ensure the service life of the rotating shaft 500, the invention adopts an oil lubrication mode, the peripheral wall of the rotating shaft 500 is spirally provided with a lubrication groove 505, the rotating shaft 500 is connected with a transmission gear, the inner teeth of the transmission gear are meshed with the transmission groove 501, the outer teeth of the transmission gear are meshed with the driving gear 301, the driving gear 301 rotates, and the driven gear 504 drives the rotating shaft 500 to rotate. It can be understood that, in order to implement tool changing, in the same plane, the tool changing cantilever 200 needs to be able to rotate clockwise and counterclockwise, so the rotating shaft 500 also rotates clockwise and counterclockwise to drive the transmission gear to move up and down. Under the driving of the transmission gear, the center base 210 completes the rotation action, and drives the tool changing cantilever 200 to rotate for tool changing. It will be appreciated that the portion of the shaft 500 provided with the drive slot 501 is in a clearance fit connection with the bracket 100. The bottom end of the rotating shaft 500 is connected to the center base 210 and is connected with the center base in an interference fit manner, the interference fit is that the hole is expanded and deformed by the elasticity of the material and is sleeved on the shaft, and when the hole is restored, the tightening force for the shaft is generated, so that the two parts are connected. I.e. the tolerance band of the bore is below the tolerance band of the shaft. The installation during convenient assembly also can prevent that lubricating oil from revealing.
Referring to fig. 2 and 5, the number of the jaws 220 is one, so that a single-arm type tool changer is formed, and space is saved. The distance from the jaws 220 to the center of the center base 210, the distance from the spindle to the center of the center base 210, and the distance from the tool changing position to the center base 210 are equal, the jaws 220 can clamp the tool on the tool magazine 110, or the jaws 220 can clamp the tool on the spindle, so that the tool changing efficiency is ensured.
Specifically, the driving device includes a motor 300, a driving shaft, a driving gear 301 and a driven gear 504, specifically, the motor 300 is mounted on the column or the beam, the driving shaft is connected to the motor 300, a transmission is disposed between the motor 300 and the main shaft, and the transmission is often used as a reduction transmission device between the driving member and the working machine. The function of matching the rotational speed and transmitting torque between the prime mover and the working machine or actuator. The motor or other high-speed running power can be meshed with the big gear on the output shaft through the gear with less teeth on the input shaft of the speed changer to achieve the purpose of speed reduction, and the stability of the output torque of the motor 300 is ensured. The driving gear 301 is connected to the driving shaft, the driven gear 504 is engaged with the driving gear 301, and the driven gear 504 is connected to the rotating shaft 500. The tool changing procedure is started, the motor 300 operates to drive the driving shaft to rotate, the driving gear 301 is further driven to rotate, the driving gear 301 is meshed with the driven gear 504 to rotate, the rotating shaft 500 is further driven to rotate, and the center seat 210 rotates to complete tool changing. The cam transmission of the prior art is replaced by the gear transmission, so that the structure of the whole tool changing device is more compact, and the use experience of a user is improved.
Referring to fig. 4, a hydraulic cylinder 400 is connected to the top of the rotating shaft 500, and the hydraulic cylinder 400 can drive the rotating shaft 500 to extend and retract. It can be understood that the height of the initial position of the tool changing cantilever 200 is flush with the height of the tool changing position of the main shaft, so that the main shaft can be furthest free from the influence of the tool changing cantilever 200 during processing, the processing efficiency is increased, and the damage can be prevented. When a tool changing program is started, the hydraulic cylinder 400 is started, a push rod of the hydraulic cylinder 400 is inserted into the rotating shaft 500, the connecting part of the push rod and the rotating shaft 500 is sleeved through the thrust ball bearing 502, the thrust ball bearing 502 adopts a design capable of bearing thrust load during high-speed operation, and the thrust ball bearing is composed of a gasket-shaped ferrule with a ball rolling raceway groove so as to prevent the hydraulic cylinder 400 from being damaged due to overlarge thrust. It should be noted that the thrust ball bearing 502 can only carry axial loads. The rotating shaft 500 is pushed by the hydraulic cylinder 400, the tool changing cantilever 200 is pushed to move downwards for tool changing, a tool changing program is stopped, the hydraulic cylinder 400 is started again, and the tool changing cantilever 200 is pulled to reset.
Specifically, the transmission device comprises a driving shaft 113 and a conveyor belt 112, the driving shaft 113 is rotatably connected to the support 100, the conveyor belt 112 is connected to the driving shaft 113, the driving shaft 113 can drive the conveyor belt 112 to rotate around the tool magazine 110, and the tool holders 111 are uniformly arranged on the conveyor belt 112. It can be understood that the tool magazine 110 can be rotated, the driving shaft 113 is arranged on two inner sides of the tool magazine, the conveying belt 112 is arranged on the outer side of the tool magazine, the tool holders 111 are uniformly arranged on the conveying belt 112, the tool holders 111 are provided with tool sleeves, and the driving shaft 113 drives the tool holders 111 on the driving shaft to move when rotating so as to drive the tool changing cantilever 200 to rotate and insert and remove tools
Referring to fig. 3, the magazine 110 is provided with an empty tool holder, which is attached to a conveyor belt 112. It can be understood that the single-arm tool changing cantilever 200 cannot simultaneously perform tool pulling and tool loading, so that at least one empty tool holder of the tool magazine 110 ensures normal operation of tool changing, and prevents the tool changing from being blocked, which results in manual tool changing. The processing efficiency is ensured.
Referring to fig. 5, the snap spring 222 has an arc shape, the inner edge of the fixing groove 221 has a semi-arc shape, the snap spring 222 is coupled to the fixing groove 221, and the outer arc surface of the snap spring 222 faces away from the inner arc surface of the fixing groove 221. The knife handle is clamped by the fixing groove 221 and the clamp spring 222 together, and the cambered surface of the clamp spring 222 supports against the knife handle in the fixing groove 221, so that clamping force on the knife is guaranteed, and normal operation of knife changing is further guaranteed.
Specifically, the center base 210 has a sealing groove therein, and an oil seal is installed in the sealing groove. It should be noted that, the peripheral wall of the rotating shaft 500 is provided with a lubricating groove 505, so as to realize oil lubrication, ensure the service life of the rotating shaft 500, and reduce the cost caused by damage. It is understood that the portion of the shaft 500 having the lubrication groove 505 is in clearance fit with the bracket 100 to maintain a lubrication area for the lubrication oil, and the openings at both ends of the lubrication groove 505 are provided with the deep groove ball bearings 503 in fit, and the deep groove ball bearings 503 mainly bear radial load and also bear radial load and axial load at the same time. When it is subjected to only radial loads, the contact angle is zero. When the deep groove ball bearing 503 has a large radial play, the deep groove ball bearing has the performance of an angular contact bearing, can bear a large axial load, and has a small friction coefficient and a high limit rotation speed of the deep groove ball bearing 503. The rotation shaft 500 can be further fixed to prevent slipping on the premise of ensuring the operation of the rotation shaft 500. The center seat 210 connected to the bottom end of the rotating shaft 500 is provided with a sealing groove for installing an oil seal in a matching manner, so that the leakage of lubricating oil is prevented from affecting tool changing.
The invention also provides a vertical machining center which comprises a main shaft, a workbench, a drainage device and a movement device, wherein the tool changing device is arranged on the support 100, the movement device is connected to the workbench, the workbench is positioned below the main shaft, and the movement device is arranged on the support 100. The vertical machining center of the single-arm type tool changer ensures tool changing and machining efficiency, is more compact in overall structure, can improve the efficiency of workers during installation, and reduces the assembling steps. The machine tool with compact structure is also beneficial to transportation, cost control and marketing. For a user, a machine tool with smaller occupied area can be used more effectively, the machining efficiency is increased, the yield is improved, and the use experience of the user is facilitated. The embodiments of the present invention have been described in detail with reference to the accompanying drawings, but the present invention is not limited to the above embodiments, and various changes can be made within the knowledge of those skilled in the art without departing from the gist of the present invention.
Claims (10)
1. Tool changer, its characterized in that includes:
the tool magazine is connected with a support, the tool magazine is provided with a driving shaft, the side wall of the tool magazine is connected with a conveyor belt, the conveyor belt is connected with a plurality of tool rests and used for placing tools, the conveyor belt is connected with the driving shaft, the driving shaft can drive the conveyor belt to rotate along the edge of the tool magazine so as to drive the tool rests to move, the tool magazine is provided with at least one empty tool rest, the tool magazine is connected with a tool changing groove, and the tool rests can abut against the groove wall of the tool changing groove;
the tool changing cantilever comprises a center seat and a clamping jaw, wherein the center seat is connected to the clamping jaw, the clamping jaw is provided with a fixing groove and a clamping spring, the clamping spring is matched with a clamping tool handle through the fixing groove, the center seat is connected with a rotating shaft, the rotating shaft is rotatably connected to the support, the rotating shaft is connected with a driving device to drive the center seat to rotate a preset angle, and the preset angle is 200-250 degrees.
2. The tool changer of claim 1, wherein a linear distance from the tool changer to the center base is a tool feeding distance, a linear distance from the center base to the spindle is a tool loading distance, and the tool feeding distance is equal to the tool loading distance.
3. The tool changer of claim 2, wherein the preset angle is 215 °.
4. The tool changer according to claim 2, characterized in that the number of the jaws is one, and the jaws can grip a tool on the magazine or the jaws can grip a tool on the spindle.
5. The tool changer of claim 2, wherein the driving device comprises a motor, a driving shaft, a driving gear and a driven gear, the motor is disposed on the support, the driving shaft is connected to the motor, the driving gear is connected to the driving shaft, the driven gear is engaged with the driving gear, and the driven gear is connected to the rotating shaft.
6. The tool changing device as claimed in claim 2, wherein a hydraulic cylinder is connected to the rotary shaft and can drive the rotary shaft to extend and retract.
7. The tool changer according to claim 2, wherein the peripheral wall of the rotating shaft is spirally provided with a lubricating groove, and the groove wall of the lubricating groove is filled with lubricating oil.
8. The tool changer of claim 2, wherein the clamp spring is arc-shaped, the inner edge of the fixing groove is semi-arc-shaped, the clamp spring is connected to the fixing groove, and the outer arc surface of the clamp spring faces away from the inner arc surface of the fixing groove.
9. The tool changer of claim 2, wherein a seal groove is provided inside the center base, and an oil seal is installed in the seal groove.
10. A vertical machining center is characterized by comprising a main shaft, a workbench, a drainage device, a movement device and the tool changing device as claimed in any one of claims 1 to 9, wherein the main shaft is mounted on the bracket, the movement device is connected to the workbench, the workbench is positioned below the main shaft, and the movement device is arranged on the bracket.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111617696.9A CN114310424A (en) | 2021-12-27 | 2021-12-27 | Tool changing device and vertical machining center |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111617696.9A CN114310424A (en) | 2021-12-27 | 2021-12-27 | Tool changing device and vertical machining center |
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| CN114310424A true CN114310424A (en) | 2022-04-12 |
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| CN202111617696.9A Pending CN114310424A (en) | 2021-12-27 | 2021-12-27 | Tool changing device and vertical machining center |
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| CN116000682A (en) * | 2023-03-28 | 2023-04-25 | 浙大城市学院 | Shared tool changing device of vertical-horizontal combined pentahedron machining center |
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