CN116944930A - Tool magazine for vertical tool storage and retrieval - Google Patents

Abstract

The application discloses a tool magazine for vertically storing and taking tools, wherein a pair of horizontal supporting plates for supporting a rectangular tool tray are fixed on four first upright posts of each storage space, and a plurality of tool hole seats are arranged on each rectangular tool tray; the picking and placing system further comprises a cutter transferring mechanism for picking and placing the vertical state cutters from the cutter disc rotated by the bidirectional telescopic fork on the annular chain conveying mechanism or picking and placing the vertical state cutters from the annular chain conveying mechanism on the cutter hole seat of the rectangular cutter disc rotated by the bidirectional telescopic fork; the annular chain conveying mechanism is positioned at one end of the two vertical grid-shaped storage libraries, and the vertical state cutter is horizontally conveyed forwards and backwards in a bidirectional manner between the cutter transfer mechanism and the cutter manual picking and placing position. The tool magazine can greatly reduce the height required in the process of storing or taking tools in a vertical state, can greatly increase the number of tools stored in the tool magazine, and greatly reduce the waiting time of people when a plurality of tools are needed to be taken or put each time.

Description

Tool magazine for vertical tool storage and retrieval

Technical Field

The application relates to the technical field of machining tool storage and taking equipment, in particular to a tool library for vertically storing and taking tools.

Background

Along with the increasing variety of machining tools, the use amount of the tools is increased, the use frequency of the tools is increased, and the requirements of people on the automation degree of tool library management are also increased.

The prior art tool magazine or tool cabinet has various types, different structures, various advantages and various defects.

Some tools are stored or taken out vertically, such as numerical control tools. In the tool magazine for vertically storing or taking tools in the prior art, the tools stored vertically are directly inserted into the tool holes of a plurality of layers of storage plates of the three-dimensional magazine, and are stored or taken by a taking and placing system. The cutter can be taken out only by lifting a section of height from the cutter hole and enabling the bottom end of the cutter to be higher than the top end face of the cutter hole and then horizontally moving, and the mechanical gripper needs to occupy a considerable height space during operation. It will be appreciated that such a configuration comes at the cost of reducing the number of stored vertically placed tools, i.e. the number of stored tools per unit space is reduced by a geometric multiple. Furthermore, although the control system of the tool magazine in the prior art can receive the input of the information about tools at the input end of the control system by the remote control of the mobile phone, if a plurality of tools need to be fetched at a time, the tool magazine in the prior art still needs to stand at the position of manually fetched and placed tools, and the fetching and placing system of the tool magazine needs to wait for a long time to run the required tools from different storage spaces of the tool magazine to the position of manually fetched and placed tools; otherwise, if a plurality of cutters need to be stored at a time, one cutter needs to be manually placed at the position of manually taking and placing the cutters, the taking and placing system of the cutter library takes the cutters away, then the second cutter is placed, the taking and placing system of the cutter library waits for running the cutters into the preset cutter holes of the preset storage plate of the preset storage space, and then the above operation is repeated again to store the second cutter; the technical problem that a plurality of cutters are manually waited for each time is overlong, and the technical problem is not solved well in the technical field of cutter libraries in the prior art.

Disclosure of Invention

The application aims to solve the technical problem of providing the vertical cutter storage which can greatly reduce the height required in the process of storing or taking the cutters in the vertical state, greatly increase the number of the cutters stored in the cutter storage and greatly reduce the waiting time of a person when a plurality of cutters are needed to be taken or put each time.

The technical scheme of the application is that a tool library for vertically accessing tools is provided, and comprises a storage system, a picking and placing system and a control system; the storage system comprises two vertical grid-shaped storage libraries which are symmetrically arranged, the storage spaces of a plurality of vertical access cutters of each vertical grid-shaped storage library are distributed at equal intervals in each row and each line, and the inlets and outlets of all the storage spaces face to the middle of the two vertical grid-shaped storage libraries; the horizontal driving mechanism, the vertical lifting mechanism and the bidirectional telescopic fork of the picking and placing system are arranged in the middle of the two vertical grid-shaped storage libraries;

a pair of horizontal supporting plates for supporting a rectangular cutter disc are fixed on four first upright posts of each storage space, a plurality of cutter hole seats are arranged on each rectangular cutter disc, and conical holes with big upper parts and small lower parts are used for accommodating conical bodies with big upper parts and small lower parts of cutters in vertical states;

the sliding plate of the bidirectional telescopic fork of the picking and placing system is a first rectangular plate which is matched with the bottom shape of the rectangular cutter disc and is provided with an opening with a vertical cutter extending downwards;

the picking and placing system also comprises an annular chain conveying mechanism and a cutter transfer mechanism, wherein the cutter transfer mechanism is used for picking and placing a vertical cutter on the annular chain conveying mechanism from a cutter disc rotated by the bidirectional telescopic fork, or picking and placing a vertical cutter on the annular chain conveying mechanism from a cutter hole seat of a rectangular cutter disc rotated by the bidirectional telescopic fork;

the annular chain conveying mechanism is positioned at one end of the two vertical grid-shaped storage libraries, and the vertical state cutter is horizontally conveyed forwards and backwards in a bidirectional manner between the cutter transfer mechanism and the manual cutter picking and placing position; the cutter transfer mechanism is positioned at the rear side of the inner end of the annular chain conveying mechanism.

After the structure is adopted, the tool magazine for vertically storing and taking tools has the following advantages:

because a plurality of vertical state cutters are stored by adopting the rectangular cutter disc with a plurality of cutter hole seats, when the rectangular cutter disc is taken or placed, the top surface of the first character-shaped plate of the bidirectional telescopic fork is only required to support the bottom surface of the rectangular cutter disc, the cutter disc with the vertical state cutters can be moved out of the storage space by slightly upwards moving or directly flatly dragging, the cutter disc with the vertical state cutters is reversely placed in the storage space, the bottom surface of the cutter disc is only required to be slightly higher than the horizontal supporting plate, the vertical state cutters are taken or stored, the cutter does not occupy additional height space, the taking and placing system does not occupy additional height space and the operation, only a small gap between the top ends and the bottom ends of the upper cutter and the lower cutter is required to be reserved between layers, the number of layers for placing the cutter disc can be increased by times or a plurality of times, and the number of stored numerical control cutters in the vertical state such as the number of vertical state cutters can be increased by times in the same storage space.

When a plurality of cutters are needed at a time, the information of the needed cutters can be sent to the input end of the control system of the cutter library in advance on the mobile phone, the main controller of the control system controls the taking and placing system to sequentially arrange the needed cutters on the cutter seats of the annular chain conveying mechanism of the taking and placing system, namely, the annular chain conveying mechanism can play a role of temporarily storing the plurality of cutters in a vertical state, after a person arrives at the manual cutter taking and placing position, only the needed cutter information is needed to be input again at the input end of the cutter library, the needed cutters can be taken from the manual cutter taking and placing position one by one, for example, the cutter seats described below at the manual cutter taking and placing position are taken away, the manual waiting time for taking a plurality of cutters, for example, the cutters within 10 seconds, is greatly reduced, the total waiting time is less than 1 minute, and the waiting time is almost negligible. The method is characterized in that a plurality of cutters are stored at one time, only the information of the cutters to be stored is input at the input end of the cutter library, for example, a code scanner electrically connected with a main control system is used for scanning two-dimension codes on the cutters to be stored, then the cutters are sequentially inserted into a plurality of cutter seats of an annular chain conveying mechanism on the annular chain conveying mechanism, such as the annular chain conveying mechanism below, so that people can leave, and manual waiting is basically not needed in the process of storing the cutters. The technical problem that a plurality of cutters need to wait for a long time for taking and placing at one time which is not solved in the technical field of cutter libraries in the prior art is well solved.

Further, the cutter transfer mechanism comprises a bottom plate fixed with the vertical grid-shaped storage warehouse, two side plates serving as vertical guide rails and a vertical first driving cylinder are fixed on the bottom plate, the free end of a piston rod of the vertical first driving cylinder is connected with a second -shaped plate with an upward opening, two inward curled edges are arranged at the top of the second -shaped plate, and the two side plates form a sliding cavity for the second -shaped plate with the two inward curled edges to slide up and down; the tops of the two side plates are provided with a pair of clamping plates which are driven by respective transverse second driving cylinders and are used for clamping the rectangular cutter disc; and a transfer device for bidirectionally conveying the vertical cutter between the clamped rectangular cutter disc and the annular chain conveying mechanism is also arranged on the bottom plate. After the structure is adopted, the cutter disc in the sliding cavity formed by the two side plates can firstly enter the bottom layer and then rise to the operation layer of the transfer device, so that the cutter transfer process can be continuously carried out, and the technical effects that the horizontal driving mechanism, the vertical lifting mechanism and the bidirectional telescopic fork at the upstream of the transfer mechanism and the annular chain conveying mechanism at the downstream can continuously, stably, smoothly and reliably run are effectively ensured, the storage quantity of the cutters is greatly increased, and the waiting time of manually storing a plurality of cutters at one time is greatly reduced.

Further, the transfer device includes: a second upright post is fixed on the bottom plate, a first horizontal driving structure which is perpendicular to the horizontal guide rail and the horizontal rod at the end part of the vertical grid-shaped storage warehouse is arranged at the top end of the second upright post, a second horizontal driving mechanism which is perpendicular to the first horizontal driving structure is arranged on the first horizontal driving structure, a vertical lifting structure is arranged on the second horizontal driving structure, and a gas claw which is radially opened and closed and used for grasping or loosening a vertical cutter is arranged at the free end of the lifting rod of the vertical lifting structure. After the structure is adopted, the transfer device can smoothly and reliably run in the cutter taking operation or cutter storing operation process between the cutter disc and the annular chain conveying mechanism, so that the technical effects of greatly increasing the cutter storage quantity and greatly reducing the waiting time of manually taking or storing a plurality of cutters at one time are further ensured.

Further, the annular chain conveying mechanism comprises a bracket positioned at one end of the two vertical grid-shaped storage libraries, a rectangular top plate extending from front to back is arranged at the top of the bracket, the front end of the rectangular top plate is a cutter manual picking and placing position, and the rear end of the rectangular top plate is a cutter picking and placing position of a transfer device of the cutter transfer mechanism; the annular chain conveying mechanism also comprises a driving sprocket and a driven sprocket which are rotatably matched with the rectangular top plate, and an annular chain meshed with the driving sprocket and the driven sprocket; the outer side surface of the annular chain is fixedly provided with a plurality of cutter seats for accommodating and transmitting cutters in a vertical state. After the structure is adopted, the annular chain conveying mechanism is used as a part of a picking and placing system, so that the picking and placing process of the vertical state cutters is smooth, flexible, stable and reliable, the annular chain conveying mechanism is used as a temporary storage point for picking and placing the manual cutters, and the plurality of vertical state cutters needing to be picked away can be temporarily stored at one time, so that the technical effects of greatly increasing the storage quantity of the cutters and greatly reducing the waiting time of manually picking and placing a plurality of cutters at one time are further ensured.

Further, the annular chain is an annular chain which extends along the front-back length direction and takes the shape of a track for sports; the outer side surface of each cutter seat is provided with a horizontal idler wheel, the rear end of the rectangular top plate is provided with a clamping block which is driven by a third driving cylinder and clamps the cutter seat for inserting a vertical cutter or disconnecting the cutter seat so that the cutter seat can rotate along with the annular chain, and the free end of the clamping block is provided with a semicircular notch matched with the horizontal idler wheel. After the structure is adopted, the structure and the layout of the annular chain conveying mechanism are more reasonable, and in the process of inserting or removing the vertical state cutter into or from the central hole of the cutter seat, the cutter seat is relatively positioned due to the mutual clamping of the clamping block and the horizontal roller, so that the vertical state cutter taking and placing process is quicker, more stable and more reliable, and the technical effect of greatly reducing the waiting time of manually taking or placing a plurality of cutters once is further ensured.

Further, two sides of the rectangular top plate are respectively provided with a guide plate parallel to the straight line section of the annular chain, the rolling surfaces of the horizontal rollers are in rolling fit on the vertical guide surfaces of the guide plates, the length of the guide plates is equal to or greater than that of the straight line section of the annular chain, and two ends of the guide plates are provided with inclined surfaces which are convenient for the rolling surfaces of the horizontal rollers to be attached to the vertical guide surfaces of the guide plates. After the structure is adopted, the straight-line chain side inclination of the chain fixed with a plurality of or called a plurality of cutter seats can be prevented, so that the annular chain conveying mechanism is always in a flexible, stable and reliable running state, and the technical effect of greatly reducing waiting time of manually taking or placing a plurality of cutters at one time is further ensured.

Further, the cutter seat comprises a supporting seat formed by a transverse plate and two vertical plates, wherein a plurality of holes for being in threaded connection and fixation with the annular chain are formed in the inner vertical plate of the two vertical plates; the top of outside riser is less than or equal to the top surface of diaphragm, installs a horizontal gyro wheel in the middle of the width of the upper portion of outside riser, and two vertical gyro wheels that are used for rolling at rectangle roof top surface are installed to the width both sides of the lower part of outside riser. After the structure is adopted, the annular chain conveying mechanism is further in a flexible, stable and reliable running state all the time, and the technical effect of greatly reducing waiting time of manually taking or placing a plurality of cutters at one time is further ensured.

Further, the cutter seat comprises a supporting seat formed by a transverse plate and two vertical plates, wherein a plurality of holes for being in threaded connection and fixation with the annular chain are formed in the inner vertical plate of the two vertical plates; the transverse plate is provided with a first central round hole, the transverse plate is provided with a polygonal chuck or a circular chuck, the polygonal chuck or the circular chuck is provided with a second central round hole and a plurality of radial slide ways uniformly distributed along the circumferential direction, and the plurality of radial slide ways are respectively provided with a holding block which is supported in the second central round hole by a spring in a sliding fit manner and can be expanded by a conical rod of the vertical state cutter and clamp a cylindrical part of the vertical state cutter above the conical rod. After the structure is adopted, the central hole for the vertical state cutter to enter or exit the cutter seat is flexible, smooth and reliable, and in the chain operation process, the cutter seat always holds the vertical state cutter under the holding action force of the plurality of supporting springs and the holding blocks, so that the annular chain conveying mechanism is further in a flexible, stable and reliable operation state all the time in the process of conveying the vertical state cutter, and the technical effect of greatly reducing the waiting time of manually taking or placing a plurality of cutters once is further ensured.

Drawings

Fig. 1 is a schematic view of a structure of a tool magazine of the present application provided with a housing, an operation panel, a manual tool taking-in/out opening or a manual tool taking-in/out position, and a foot plate.

Fig. 2 is an enlarged schematic view of the structure of fig. 1 a.

Fig. 3 is a schematic view of the structure of rectangular cutter discs in a vertical column of a plurality of storage spaces (only a vertical rectangular cutter disc is shown; each rectangular cutter disc is only schematically provided with a vertical cutter).

Fig. 4 is an enlarged schematic view of the structure of fig. 3B.

Fig. 5 is a schematic structural view of the tool magazine of the present application showing the overall frame of the storage space of the vertical grid-like tool magazine and the horizontal driving mechanism, vertical lifting mechanism, tool transfer mechanism, endless chain conveyor mechanism, etc. (the rectangular tool holders arranged in succession are only schematically shown in several of them; the same applies to fig. 11, 12, 13 below).

Fig. 6 is a schematic structural view of a tool relay mechanism of the tool magazine of the present application (the tool tray shows twelve tool receptacles; the upper tool tray shows two vertical state tools; the lower tool tray shows one vertical state tool).

Fig. 7 is a schematic diagram of a tool transferring mechanism of the tool magazine according to the second embodiment of the present application.

Fig. 8 is a schematic diagram of a tool transfer mechanism of the tool magazine according to the present application.

Fig. 9 is an enlarged schematic view of the structure of C in fig. 8.

Fig. 10 is a schematic vertical view of the endless chain conveyor of the tool magazine of the present application.

Fig. 11 is a schematic view of the endless chain conveyor of the tool magazine of the present application in a cross-sectional top view.

Fig. 12 is an enlarged schematic view of the structure of D in fig. 11.

Fig. 13 is a schematic view of the endless chain conveyor of the tool magazine of the present application in a side-to-side view.

Fig. 14 is a schematic view of an exploded structure of the connection relationship between a cutter holder and a partial chain, i.e., an individual chain body, in the endless chain conveyor mechanism of the cutter magazine of the present application.

Fig. 15 is a schematic view showing the structure of the chucks and the outer risers and rollers of the cutter shoes in the endless chain conveyor of the magazine of the present application.

Fig. 16 is a schematic view of a horizontal driving mechanism, a vertical lifting structure and a bidirectional telescopic fork in the picking and placing system of the tool magazine according to the present application.

Fig. 17 is a schematic diagram of a horizontal driving mechanism, a vertical lifting structure and a bidirectional telescopic fork in the picking and placing system of the tool magazine according to the present application.

The figure shows: 1. the device comprises a shell, 2 parts of a control panel with a display screen, 3 parts of a manual cutter taking and placing part, 4 parts of a foot plate, 5 parts of a cutter seat, 6 parts of a vertical cutter, 7 parts of a horizontal supporting plate, 8 parts of a first upright post, 9 parts of a storage space, 10 parts of a rectangular cutter plate, 11 parts of a cutter hole seat, 12 parts of a vertical grid-shaped storage warehouse, 13 parts of a vertical lifting mechanism, 14 parts of a horizontal guide rail, 15 parts of an annular chain conveying mechanism, 16 parts of an end horizontal rod, 17 parts of a horizontal driving mechanism, 18 parts of a bracket, 19 parts of a lateral horizontal rod, 20 parts of a first driving cylinder, 21 parts of a first reinforcing plate, 22 parts of a side plate, 23 parts of a cutter transferring mechanism, 24 parts of a second horizontal driving mechanism, 25 parts of a first horizontal driving mechanism, 26 parts of a vertical lifting mechanism, 27 parts of a bottom plate, 28 parts of a second parts of a character-shaped plate, 29 parts of a transferring device, 30 parts of a second upright post, 31 parts of a connecting disc, 32 parts of a second driving cylinder, 33, clamping plates, 34, pneumatic claws, 35, rectangular top plates, 36, tool pick-up positions of a transfer device, 37, driving sprockets, 38, endless chains, 39, driven sprockets, 40, endless chain straight sections, 41, guide plates, 42, second reinforcing plates, 43, vertical guide surfaces, 44, inclined surfaces, 45, first belts, 46, clamping blocks, 47, third driving cylinders, 48, semicircular notches, 49, horizontal rollers, 50, driving sprocket motors, 51, first through holes, 52, diaphragm threaded holes, 53, inner risers, 54, inner riser threaded holes, 55, second through holes, 56, chain bodies, 57, angle steel connecting blocks, 58, cross plates, 59, outer risers, 60, mounting plates, 61, second central round holes, 62, guide posts, 63, polygonal chucks, 64, holding blocks, 65, radial slide ways 66, first central round holes, 67, support springs, 68. roller seat, 69, vertical roller, 70, second belt, 71, two-way flexible fork, 72, first word shaped plate.

Detailed Description

The following describes the embodiments of the present application further with reference to the drawings. It should be noted that the description of these embodiments is for aiding in understanding the present application, but is not to be construed as limiting the application. In addition, the technical features of the embodiments of the present application described below may be combined with each other as long as they do not collide with each other.

As shown in fig. 1-17.

The application discloses a tool magazine for vertically accessing tools, which comprises a storage system, a picking and placing system and a control system. The storage system comprises two vertical grid-shaped storage libraries 12 which are symmetrically arranged, the storage spaces 9 of a plurality of vertical access cutters of each vertical grid-shaped storage library 12 are distributed at equal intervals in each row and each line, and the inlets and outlets of all the storage spaces 9 face to the middle of the two vertical grid-shaped storage libraries 12. The horizontal drive mechanism 17, the vertical lift mechanism 13 and the bi-directional telescoping forks 71 of the pick-and-place system are disposed intermediate the two vertical grid-like storage libraries 12. In other words, for each vertical grid-like storage store 12, the access to all storage spaces 9 is provided on the inside, also called the horizontal drive 17, the vertical lift 13 and the bi-directional telescopic fork 71 of the pick-and-place system, all facing the middle, i.e. the access to all storage spaces 9.

As shown in fig. 3, 4 and 5, a pair of horizontal supporting plates 7 for supporting a rectangular cutter disc 10 are fixed on four first upright posts 8 of each storage space 9, and a plurality of cutter hole seats 11 are arranged on each rectangular cutter disc 10, for example, each rectangular cutter disc 10 has twelve cutter hole seats 11, and are arranged in four rows and three columns. The conical hole with the big upper part and the small lower part of each cutter hole seat 11 is used for accommodating the conical body with the big upper part and the small lower part of the cutter 6 in the vertical state. It will be appreciated that each four first columns 8 of each vertical grid-like storage 12 form a vertical column of a plurality of storage spaces 9, while each pair, i.e. two, of horizontal pallets 7 form a layer or "storage space 9", five layers, i.e. five storage spaces 9, may be provided, as shown in fig. 3, with a rectangular cutter disc 10 in each storage space 9. The horizontal supporting plate 7 can be made of angle steel. It will be appreciated that since the vertical state knives, such as the number of digital knives, also extend partially at the bottom of the knife tray, each storage space 9 accommodates not only the vertical state knives 6 of the rectangular knife tray 10 itself, but also the downward extension of the vertical state knives 6 of the rectangular knife tray 10 of the previous storage space 9.

As shown in fig. 17, the sliding plate of the bi-directional telescopic fork 71 of the picking and placing system is a first -shaped plate 72 which is matched with the bottom shape of the rectangular cutter disc 10 and leaves an opening upward for the downward extending height of the cutter 6 in the vertical state. The sliding plate of the bi-directional telescopic fork 71 is also called a moving plate.

As shown in fig. 5, 6, 7, 8, and 9.

The picking and placing system further comprises an annular chain conveying mechanism 15 and a cutter transferring mechanism 23 for picking and placing the vertical state cutters 6 on the annular chain conveying mechanism 15 or picking and placing the vertical state cutters 6 on the cutter hole seats 11 of the rectangular cutter disc 10 transferred from the bidirectional telescopic fork 71 on the annular chain conveying mechanism 15.

The annular chain conveying mechanism 15 is positioned at one end of the two vertical grid-shaped storage libraries 12, and horizontally conveys the vertical cutter 6 forwards and backwards in a bidirectional manner between the cutter transfer mechanism 23 and the cutter manual picking and placing position 3. The cutter transferring mechanism 23 is positioned at the rear side of the inner end of the annular chain conveying mechanism 15.

The tool transferring mechanism 23 includes a bottom plate 27 fixed to the vertical grid-shaped storage 12, two side plates 22 for vertical guide rails and a vertical first driving cylinder 20 are fixed to the bottom plate 27, which can also be expressed as that the bottom plate 27 is fixed with the vertical first driving cylinder 20 and the two side plates 22 for vertical guide rails, the free end of the piston rod of the vertical first driving cylinder 20 is connected with a second rectangular plate 28 with an upward opening and two inward curled edges at the top for placing the rectangular tool tray 10. The second rectangular plate 28 can be formed by screwing a rectangular plate and two inward -shaped plates symmetrically arranged at two sides through a plurality of screws. A connecting disc 31 may be provided at the free end of the piston rod of the first driving cylinder 20 and screwed to the rectangular plate of the second rectangular plate 28 by a plurality of screws. The side panels 22 form a sliding cavity for the second letter shaped panel 28 with two inward curls to slide up and down. The top of the two side plates 22 is provided with a pair of clamping plates 33 which are driven by respective transverse second drive cylinders 32 and which are used to clamp the rectangular cutter disc 10. The base plate 27 is also provided with a transfer device 29 for transferring the vertical state cutter 6 in both directions between the clamped rectangular cutter disc 10 and the endless chain conveyor 15. It will be understood that, in order to enhance the connection firmness between the two side plates 22 and the bottom plate 27 and the strength of the two side plates 22, a plurality of first reinforcing plates 21 may be fixed to the bottom plate 27 and the outer sides of the two side plates 22, for example, a plurality of first reinforcing plates 21 may be fixed to the bottom plate 27 and the outer sides of each side plate 22.

The transfer device 29 may include: a second upright post 30 is fixed on the bottom plate 27, a first horizontal driving structure 25 which is mutually perpendicular to the horizontal guide rail 14 and the horizontal rod 16 at the end part of the vertical grid-shaped storage warehouse 12 is arranged at the top end of the second upright post 30, a second horizontal driving structure 24 which is mutually perpendicular is arranged on the first horizontal driving structure 25, a vertical lifting structure 26 is arranged on the second horizontal driving structure 24, a gas claw 34 which is radially opened and closed and used for grasping or loosening the vertical state cutter 6 is arranged at the free end of the lifting rod of the vertical lifting structure 26, and the two claws of the gas claw 34 can grasp the horizontal round groove of the vertical state cutter 6 and can reversely loosen.

As shown in fig. 5, 10-15.

The annular chain conveying mechanism 15 comprises a bracket 18 positioned at one end of two vertical grid-shaped storage libraries 12, a rectangular top plate 35 extending from front to back is arranged at the top of the bracket 18, the front end of the rectangular top plate 35 is a cutter manual taking and placing position 3 or a cutter manual taking and placing opening, and the rear end of the rectangular top plate 35 is a cutter taking and placing position 36 of a transfer device of the cutter transfer mechanism 23. The endless chain conveying mechanism 15 further comprises a driving sprocket 37 and a driven sprocket 39 rotatably fitted on the rectangular top plate 35, and an endless chain 38 engaged on the driving sprocket 37 and the driven sprocket 39, wherein the driving sprocket 37 can be driven by a motor fixed on the bottom surface of one end of the rectangular top plate 35, such as a driving sprocket motor 50, and a horizontal driving sprocket 37 is fixed on an upward extending portion of a motor shaft of the driving sprocket motor 50 penetrating through a through hole in the rectangular top plate 35, and the driven sprocket 39 is arranged on the other end, i.e., the front end, of the rectangular top plate 35. A plurality of cutter holders 5 for accommodating and transmitting cutters 6 in a vertical state are fixed to the outer side surface of the endless chain 38. The above-mentioned plural number is, for example, ten or more, several tens or more, etc.

The endless chain 38 is preferably an endless chain 38 extending in the longitudinal direction and having a racetrack shape for sport. The outer side of each tool holder 5 has a horizontal roller 49, and the rear end of the rectangular top plate 35 has a block 46 driven by a third driving cylinder 47 and clamping the tool holder 5 for inserting the tools 6 in a vertical state or for releasing the tool holder 5 so that the tool holder 5 can rotate with the endless chain 38. In other words, the rear end of the rectangular top plate 35 has a third driving cylinder 47, and a clamping block 46 is fixed on the free end of the piston rod of the third driving cylinder 47, where the clamping block 46 can clamp the tool holder for inserting the tool 6 in the vertical state, and the clamping block 46 can also be disengaged from the tool holder 5 so that the tool holder 5 can rotate along with the endless chain 38. The free end of the clamping block 46 is provided with a semicircular notch 48 matched with the horizontal roller 49, and the clamping or releasing means that the semicircular notch 48 is clamped or released with the horizontal roller 49.

As shown in fig. 14 and 15, the tool holder 5 includes a transverse plate 58 and a support seat formed by two vertical plates, wherein the inner vertical plate 53 of the two vertical plates is provided with a plurality of holes for being screwed and fixed with the annular chain 38, for example, the inner vertical plate 53 is provided with four inner vertical plate threaded holes 54, the annular chain 38 includes a plurality of chain bodies 56 and each angle steel connecting block 57 fixed on each of the two chain bodies 56, for example, in a screwed and fixed manner, each angle steel connecting block 57 is provided with two through holes for screws, for example, second through holes 55, and four screws are screwed in the inner vertical plate threaded holes 54 through the respective second through holes 55 in a one-to-one correspondence manner. The inner riser 53 may also have two through holes, such as the first through hole 51, for screws to pass through to screw the inner riser 53 into the cross-plate threaded hole 52 of the cross-plate 58. The top of the outer riser 59 is lower than or equal to the top surface of the cross plate 58, and one of the above-mentioned horizontal rollers 49 is mounted in the middle of the width of the upper portion of the outer riser 59, such as by screwing a roller seat 68 having the horizontal roller 49 rotatably fitted thereto, onto the outer riser 59. The lower portion of the outer riser 59, which is also referred to herein as the bottom, is provided on both sides of its width with two vertical rollers 69 for rolling on the top surface of the rectangular top plate 35, such as by roller shafts and axial compression caps. The chain body 56 may also be understood as a chain body segment or chain body section.

As shown in fig. 11, two sides of the rectangular top plate 35 are respectively provided with a guide plate 41 parallel to the straight line section 40 of the annular chain 38, the rolling surface of the horizontal roller 49 is in rolling fit with the vertical guide surface 43 of the guide plate 41, the length of the guide plate 41 can be equal to or longer than that of the straight line section 40 of the annular chain, and two ends of the guide plate 41 are provided with inclined surfaces 44 which are convenient for the rolling surface of the horizontal roller 49 to be attached to the vertical guide surface 43 of the guide plate 41. It will be appreciated that, to enhance the connection firmness of the guide plates 41 and the rectangular top plate 35 and the strength of the guide plates 41, a plurality of, e.g., two, second reinforcing plates 42, e.g., angle steel, may be fixed to the outer side of each guide plate 41 and the rectangular top plate 35.

As shown in fig. 14 and 15, a first central circular hole 66 is formed in the transverse plate 58, a polygonal chuck 63 or a circular chuck is mounted or fixed on the transverse plate 58, a second central circular hole 61 and a plurality of, for example, four radial slide ways 65 uniformly distributed along the circumferential direction are formed in the polygonal chuck 63 or the circular chuck, and each of the plurality of radial slide ways 65 is slidably matched with a holding block 64, for example, four holding blocks 64, which is supported by a supporting spring 67 to the inside of the second central circular hole 61, namely, a gap of the second central circular hole 61 and can be expanded by a conical rod of the vertical state cutter 6 and clamp a cylindrical part of the vertical state cutter 6 above the conical rod. The preferred octagon chuck in the figure has two radial slides 65 with the bisector of the width intersecting perpendicularly to the bisector of the width of the other two radial slides 65. The outer side of the enclasping block 64 can be provided with a threaded hole, each of the four eight mutually-spaced mounting plates 60 is provided with a guide hole, a guide post 62 formed by an inner hexagonal screw is in sliding fit in the guide hole, the threads at the front end are screwed in the threaded hole of the enclasping block 64, a supporting spring 67 or a compression spring is sleeved on the guide post 62, and two ends of the supporting spring respectively abut against the enclasping block 64 and the mounting plate 60. The parts forming the octagonal chuck can be fixed by adopting a plurality of screws.

As shown in fig. 5-7, the driving cylinders, such as the first driving cylinder 20, the second driving cylinder 32, and the third driving cylinder 47, are preferably commercially available cylinders, and may be commercially available hydraulic cylinders, i.e., oil cylinders.

The fixing is for example welded or screwed by a plurality of screws or bolts.

As shown in fig. 5-7 and fig. 16-17, the horizontal driving mechanism 17, the vertical lifting mechanism 13, the first horizontal driving structure 25, the second horizontal driving structure 24 and the vertical lifting structure 26 are all mature prior art, and the specific structure is not the application. The first horizontal driving structure 25 may be expressed as an X-direction linear driving structure, the second horizontal driving structure 24 may be expressed as a Y-direction linear driving structure, and the vertical elevating structure 26 may be expressed as a Z-direction linear driving structure. The mechanisms and structures described in this paragraph can all adopt linear motion pairs in the prior art, as shown in fig. 16 and 17, for example, the horizontal driving mechanism 17 can adopt a motor to drive an annular belt such as the first belt 45 to rotate, and the annular belt such as the first belt 45 drives the base of the vertical lifting mechanism 13 to move horizontally and linearly. For example, the vertical lifting mechanism 13 may also adopt a motor to drive an annular belt, such as the second belt 70, to rotate, and the annular belt, such as the second belt 70, drives the bidirectional telescopic fork 71 to move vertically and linearly, i.e. lift vertically. The bi-directional telescoping fork 71 is also well known in the art, as may be used with one of the bi-directional telescoping forks of the inventor's prior patent application No. 202020619927.4, except that the sliding plate is used with the first -shaped plate 72 of the present application, as will be appreciated, the bi-directional telescoping fork 71 is driven by a motor. As another example, the first horizontal driving structure 25 of the transfer device 29 in the tool transfer mechanism 23 of the pick-and-place system may employ a ball screw pair disposed on the horizontal guide rail 14 and driven by a motor; the second horizontal driving structure 24 can still adopt a ball screw pair which is arranged on a horizontal guide rail and driven by a motor; the vertical lifting structure 26 can adopt a motor-driven gear rack structure; the air jaw 34 is commercially available, or alternatively, a commercially available mechanical jaw. The linear motion pair of the prior art has other various names.

The motors can be servo motors or stepping motors and the like.

As shown in fig. 1-5.

The control system is a prior art, and generally comprises a main controller, such as a PLC chip, a single chip microcomputer, a computer host, etc., a control panel 2 with a display screen can be arranged on a panel of the housing 1, and the control system may further comprise a plurality of control components electrically connected with the main controller, such as a code scanner, a plurality of sensors, a plurality of relays, etc., for controlling the start or stop of the motor and the driving cylinder, thereby controlling the horizontal driving mechanism 17, the vertical lifting mechanism 13, the bidirectional telescopic fork 71, the cutter transferring mechanism 23, the annular chain conveying mechanism 15, etc. of the picking and placing system to store or pick up the vertical cutter 6. Each vertical cutter 6, namely, each cutter, can be provided with a two-dimensional code in advance, wherein the two-dimensional code can contain relevant information of the cutter, such as a digital number or a digital code of the digital cutter, and can also contain other relevant information of the cutter, such as a model number of the digital cutter, a specification of the cutter, a size of the cutter, a purpose of the cutter, performance parameters of the cutter, a manufacturer of the cutter, a production date of the cutter and the like.

The tool magazine can also be called a tool cabinet, and can comprise a shell 1, wherein the shell 1 can enable the whole tool magazine to have the functions of dust prevention, water prevention, rust prevention and tool loss prevention. The control panel 2 with a display screen can be arranged at the middle upper part of the front panel of the shell 1, and the manual cutter taking and placing opening or the manual cutter taking and placing position 3 can be arranged at one side of the front panel of the shell 1. Each vertical grid-shaped storage warehouse 12 comprises a plurality of first upright posts 8, the plurality of first upright posts 8 are arranged in two rows inside and outside, for two vertical grid-shaped storage warehouses 12 arranged face to face, the first upright posts 8 are arranged in four rows, the first two rows, the second two rows, the middle is a horizontal driving mechanism 17 and the like. The bottoms of the first upright posts 8 can be fixed with the bottom plate of the tool magazine, and the tops of the first upright posts can be fixed with the top plate of the tool magazine. Several can be understood as several tens, or several tens, etc. The tool magazine for vertically storing and taking tools according to the application can also comprise a plurality of outer end horizontal bars 16 and a plurality of side horizontal bars 19, the top of which can be provided with a top frame and the bottom of which can be provided with a bottom frame. A foot plate 4 for supporting and adjusting the height can be arranged at the bottom of the tool magazine.

The above-mentioned fixing is generally performed by screw-fastening or welding. The ball screw pair is also called a ball screw pair or a nut screw pair.

The above plural vertical access knife storage spaces 9 of plural vertical grid-like storages 12 are understood to be plural, such as several tens, etc., such as five to eight in each vertical column, four to seven in each horizontal column, etc.

As shown in fig. 1-17, the specific steps for retrieving tools from the tool magazine of the vertical access tools of the present application may be:

(1) The input end of the control system inputs the related information of the rectangular cutter disc 10 where the cutter to be taken out is positioned and the cutter hole seat 11 of the cutter 6 in the vertical state on the rectangular cutter disc 10. The input can be the input of information sent by the mobile phone or the input can be the manual input on the control panel 2 with a display screen.

(2) The main controller of the control system controls the horizontal drive mechanism 17 and the vertical lift mechanism 13 to align the first -shaped plate 72 of the bi-directional telescoping fork 71 to a storage space 9 in a column and row of the vertical grid bank 12.

(3) The main controller of the control system controls the first rectangular plate 72 of the bi-directional telescoping fork 71 to horizontally extend right below the rectangular knife plate 10 inserted into the storage space 9, and then lifts the first rectangular plate 72 to lift the rectangular knife plate 10 with the knife 6 in the desired vertical state and retract the bi-directional telescoping fork 71 to the initial position.

(4) The main controller of the control system controls the horizontal driving mechanism 17 and the vertical lifting mechanism 13 to align the first -shaped plate 72 of the bi-directional telescopic fork 71 which has supported the rectangular cutter disc 10 with the second -shaped plates 28 in the two side plates 22 of the cutter transferring mechanism 23, and to make the bottom surface of the rectangular cutter disc 10 higher than the top surfaces of the two inward curled edges of the second -shaped plates 28.

(5) The main controller of the control system controls the first -shaped plate 72 of the bi-directional telescoping fork 71 to rest the rectangular knife tray 10 on the two inwardly curled top surfaces of the second -shaped plate 28 and then retract the bi-directional telescoping fork 71 to its original position.

(6) The main controller of the control system controls the first drive cylinders 20 to push the rectangular cutter discs 10 resting on the second rectangular plates 28 to the top ends of the two side plates 22 and controls the two second drive cylinders 32 to clamp the rectangular cutter discs 10 in the horizontal direction.

(7) The main controller of the control system controls the first horizontal driving structure 25 and the second horizontal driving structure 24 of the transfer device 29 of the tool transfer mechanism 23 to move the vertical lifting structure 26 to the position right above the vertical state tool 6 to be taken.

(8) The main controller of the control system controls the vertical lifting structure 26 of the transfer device 29 of the cutter transfer mechanism 23 to descend and radially open the air claw 34 and then radially grasp the vertical state cutter 6, the main controller of the control system controls the vertical lifting structure 26, the second horizontal driving structure 24 and the first horizontal driving structure 25 of the transfer device 29 of the cutter transfer mechanism 23 to insert the vertical state cutter 6 into the central round hole, namely the second central round hole 61 and the first central round hole 66, of the cutter seat 5 at the rear end of the annular chain conveying mechanism 15, and at the same time, the main controller of the control system controls the third driving cylinder 47 to drive the clamping block 46 or the semicircular notch 48 of the clamping plate to clamp the horizontal roller 49 of the cutter seat 5 so as to position the cutter seat 5 to facilitate the insertion of the vertical state cutter 6, and controls the third driving cylinder 47 to drive the clamping block 46 to be disengaged after the vertical state cutter 6 is inserted; the main controller of the control system then controls the second horizontal drive structure 24 and the first horizontal drive structure 25 to move the vertical lift structure 26 and the air fingers 34 back over the second rectangular plate 28 of the tool transfer mechanism 23.

(9) The main controller of the control system controls the annular chain conveying mechanism 15 to move the cutter seat 5 of the cutter 6 in the vertical state at the rear end to the cutter manual taking and placing position 3 at the front end for manual taking.

If multiple cutters are required to be fetched simultaneously, the multiple vertical cutters 6 can be sequentially fetched only by inputting related information in advance, such as sending information through a mobile phone, and inputting information once again at the manual fetching and placing position 3 of the cutter before a waiting person arrives at the cutter warehouse.

The step of storing the cutter into the cutter library for vertically storing and taking the cutter comprises the following steps:

(1) And scanning the two-dimensional code on a cutter to be stored, such as a numerical control cutter, by using a code scanner electrically connected with a main control system.

(2) Manually inserting a cutter to be stored into a central round hole of a cutter seat 5 of the cutter manual pick-and-place 3 positioned at the front end of the annular chain conveying mechanism 15 from a cutter pick-and-place window, namely, a manual cutter pick-and-place position 3; if a plurality of cutters are required to be stored simultaneously, the cutters are only required to be scanned sequentially and inserted into the central round holes of the cutter seats 5 of the cutter manual picking and placing positions 3 sequentially.

(3) The main controller of the control system controls the picking and placing system of the tool magazine to reversely operate or reverse operate according to the specific steps for picking up tools, so that the tools to be stored can be stored in the corresponding tool hole seats 11 on the rectangular cutterhead 10 in the corresponding storage space 9 of the preset vertical grid-shaped storage magazine 12.

The above-noted components or structures or numbers are not shown in the figures. The drawings are schematic only, and the text descriptions will be followed if the drawings do not coincide with the text descriptions or if the drawings do not coincide with each other.

The above description is only of the preferred embodiments of the present application and is not intended to limit the present application, and various modifications and variations of the present application will be apparent to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the protection scope of the present application.

Claims (8)

1. A tool magazine for vertically storing and taking tools comprises a storage system, a picking and placing system and a control system; the storage system comprises two vertical grid-shaped storage libraries which are symmetrically arranged, the storage spaces of a plurality of vertical access cutters of each vertical grid-shaped storage library are distributed at equal intervals in each row and each line, and the inlets and outlets of all the storage spaces face to the middle of the two vertical grid-shaped storage libraries; the horizontal driving mechanism, the vertical lifting mechanism and the bidirectional telescopic fork of the picking and placing system are arranged in the middle of the two vertical grid-shaped storage libraries; the method is characterized in that:

a pair of horizontal supporting plates for supporting a rectangular cutter disc are fixed on four first upright posts of each storage space, a plurality of cutter hole seats are arranged on each rectangular cutter disc, and conical holes with big upper parts and small lower parts are used for accommodating conical bodies with big upper parts and small lower parts of cutters in vertical states;

the sliding plate of the bidirectional telescopic fork of the picking and placing system is a first rectangular plate which is matched with the bottom shape of the rectangular cutter disc and is provided with an opening with a vertical cutter extending downwards;

the picking and placing system also comprises an annular chain conveying mechanism and a cutter transfer mechanism, wherein the cutter transfer mechanism is used for picking and placing a vertical cutter on the annular chain conveying mechanism from a cutter disc rotated by the bidirectional telescopic fork, or picking and placing a vertical cutter on the annular chain conveying mechanism from a cutter hole seat of a rectangular cutter disc rotated by the bidirectional telescopic fork;

the annular chain conveying mechanism is positioned at one end of the two vertical grid-shaped storage libraries, and the vertical state cutter is horizontally conveyed forwards and backwards in a bidirectional manner between the cutter transfer mechanism and the manual cutter picking and placing position; the cutter transfer mechanism is positioned at the rear side of the inner end of the annular chain conveying mechanism.

2. The tool magazine for vertical access tools according to claim 1, wherein: the cutter transfer mechanism comprises a bottom plate fixed with the vertical grid-shaped storage warehouse, two side plates serving as vertical guide rails and a vertical first driving cylinder are fixed on the bottom plate, the free end of a piston rod of the vertical first driving cylinder is connected with a second -shaped plate with an upward opening, two inward curled edges are arranged at the top of the second -shaped plate, and the two side plates form a sliding cavity for the second -shaped plate with the two inward curled edges to slide up and down; the tops of the two side plates are provided with a pair of clamping plates which are driven by respective transverse second driving cylinders and are used for clamping the rectangular cutter disc; and a transfer device for bidirectionally conveying the vertical cutter between the clamped rectangular cutter disc and the annular chain conveying mechanism is also arranged on the bottom plate.

3. The tool magazine for vertical access tools according to claim 2, wherein: the transfer device comprises: a second upright post is fixed on the bottom plate, a first horizontal driving structure which is perpendicular to the horizontal guide rail and the horizontal rod at the end part of the vertical grid-shaped storage warehouse is arranged at the top end of the second upright post, a second horizontal driving mechanism which is perpendicular to the first horizontal driving structure is arranged on the first horizontal driving structure, a vertical lifting structure is arranged on the second horizontal driving structure, and a gas claw which is radially opened and closed and used for grasping or loosening a vertical cutter is arranged at the free end of the lifting rod of the vertical lifting structure.

4. The tool magazine for vertical access tools according to claim 1, wherein: the annular chain conveying mechanism comprises a bracket positioned at one end of two vertical grid-shaped storage libraries, a rectangular top plate extending from front to back is arranged at the top of the bracket, the front end of the rectangular top plate is a cutter manual picking and placing position, and the rear end of the rectangular top plate is a cutter picking and placing position of a transfer device of the cutter transfer mechanism; the annular chain conveying mechanism also comprises a driving sprocket and a driven sprocket which are rotatably matched with the rectangular top plate, and an annular chain meshed with the driving sprocket and the driven sprocket; the outer side surface of the annular chain is fixedly provided with a plurality of cutter seats for accommodating and transmitting cutters in a vertical state.

5. The tool magazine for vertical access tools of claim 4, wherein: the annular chain extends along the front-back length direction and is in a runway shape for movement; the outer side surface of each cutter seat is provided with a horizontal idler wheel, the rear end of the rectangular top plate is provided with a clamping block which is driven by a third driving cylinder and clamps the cutter seat for inserting a vertical cutter or disconnecting the cutter seat so that the cutter seat can rotate along with the annular chain, and the free end of the clamping block is provided with a semicircular notch matched with the horizontal idler wheel.

6. The tool magazine for vertical access tools of claim 5, wherein: the two sides of the rectangular top plate are respectively provided with a guide plate parallel to the straight line section of the annular chain, the rolling surfaces of the horizontal rollers are in rolling fit on the vertical guide surfaces of the guide plates, the length of the guide plates is equal to or greater than that of the straight line section of the annular chain, and the two ends of the guide plates are provided with inclined surfaces which are convenient for the rolling surfaces of the horizontal rollers to be attached to the vertical guide surfaces of the guide plates.

7. The tool magazine for vertical access tools of claim 4, wherein: the cutter seat comprises a supporting seat formed by a transverse plate and two vertical plates, wherein a plurality of holes for being in threaded connection and fixation with the annular chain are formed in the inner vertical plate of the two vertical plates; the top of outside riser is less than or equal to the top surface of diaphragm, installs a horizontal gyro wheel in the middle of the width of the upper portion of outside riser, and two vertical gyro wheels that are used for rolling at rectangle roof top surface are installed to the width both sides of the lower part of outside riser.

8. The tool magazine for vertical access tools of claim 4, wherein: the cutter seat comprises a supporting seat formed by a transverse plate and two vertical plates, wherein a plurality of holes for being in threaded connection and fixation with the annular chain are formed in the inner vertical plate of the two vertical plates; the transverse plate is provided with a first central round hole, the transverse plate is provided with a polygonal chuck or a circular chuck, the polygonal chuck or the circular chuck is provided with a second central round hole and a plurality of radial slide ways uniformly distributed along the circumferential direction, and the plurality of radial slide ways are respectively provided with a holding block which is supported in the second central round hole by a spring in a sliding fit manner and can be expanded by a conical rod of the vertical state cutter and clamp a cylindrical part of the vertical state cutter above the conical rod.