CN117754337A - Automatic tool changing device and tool changing method of heavy gantry numerical control milling machine - Google Patents

Abstract

Providing an automatic tool changing device and a tool changing method of a heavy numerical control planer type milling machine, running a tool loading or unloading instruction, and moving a numerical control milling machine main shaft to a tool changing mechanism according to an instruction coordinate address; the main shaft drives the cutter to translate outwards or inwards; the cutter exits or enters the space of the clamping jaw, the cutter exits or pushes the sliding iron to linearly stretch out and draw back, and the sliding iron in the linear stretch out and draw back displacement can be used for loosening or clamping the cutter through the hinge linkage clamping jaw. The tool changing mechanism with the pure mechanical structure, which is disclosed by the invention, cooperates with the detection element, has the advantages of high automation degree, high safety coefficient, large bearing capacity, convenience in maintenance and the like, and has higher popularization value.

Description

Automatic tool changing device and tool changing method of heavy gantry numerical control milling machine

Technical Field

The invention belongs to the technical field of tool clamping and supporting devices of operation conveying machine tools, and particularly relates to an automatic tool changing device and a tool changing method of a heavy gantry numerical control milling machine.

Background

The III-generation high manganese steel frog developed by the present company is a super wear-resistant forged high manganese steel assembled frog formed by forging, explosion hardening, forming processing and precise assembly.

The existing numerical control planer-type milling machine is matched with a BT60 cutter handle, and the weight of the cutter handle is about 20KG. After the cutter handle is provided with the cutter body, the weight is 30-50KG, and after each workpiece is positioned and clamped once, 8-10 cutters are needed to finish all working procedures. All tool changing operations are completed manually by operators, so that the safety is poor, the auxiliary time is long, and the loading and positioning precision is low. In this regard, the following improvements have been proposed.

Disclosure of Invention

The invention solves the technical problems that: the automatic tool changing device and the tool changing method thereof for the heavy gantry numerical control milling machine are provided, replace manpower to realize tool changing, and solve a series of problems of poor safety, labor and time consumption.

The invention adopts the technical scheme that: a tool changing method of an automatic tool changing device of a heavy planer type numerical control milling machine operates a tool loading or unloading command, and a numerical control milling machine main shaft moves to a tool changing mechanism according to a command coordinate address of the loading or unloading command; the numerical control milling machine main shaft drives the cutter to translate outwards or inwards; the cutter exits or enters the space of the clamping jaw, the cutter exits or pushes the sliding iron to linearly stretch out and draw back, and the sliding iron in the linear stretch out and draw back displacement can be used for loosening or clamping the cutter through the hinge linkage clamping jaw.

In the above technical solution, further: including a tool loading method and a tool unloading method,

the cutter loading method comprises the following steps:

step 1: and running a cutter loading instruction, and rapidly moving a spindle of the numerical control milling machine to the position above a cutter changing mechanism of the loaded cutter according to the coordinate address in the loading instruction.

Step 2: after the key block of the main shaft of the numerical control milling machine is oriented to a specified angle, the internal pull claw of the main shaft of the numerical control milling machine is opened, the main shaft of the numerical control milling machine is lowered to a specified height, the key block of the main shaft of the numerical control milling machine is clamped into the key groove of the cutter, the pull claw of the main shaft of the numerical control milling machine is used for clamping the cutter pull nail, and the main shaft of the numerical control milling machine is used for preparing to drive the cutter to translate outwards.

Step 3: the electromagnetic switch adsorbs the electromagnetic switch pin shaft to reset and fall back to below the upper end surface of the bottom plate, and the main shaft of the numerical control milling machine drives the cutter to start to translate towards the outer side of the cutter changing mechanism.

Step 4: along with the gradual withdrawal of the cutter from the jaw space, the sliding iron gradually stretches out under the reset elasticity of the compression spring, and meanwhile, the sliding iron is linked with the jaw through the hinge to gradually open until the cutter completely withdraws from the cutter changing mechanism, so that the cutter loading is completed.

The cutter unloading method comprises the following steps:

step 1: and running a cutter unloading command, and carrying a cutter on a spindle of the numerical control milling machine according to a coordinate address in the unloading command, and rapidly moving to the right front side of a vacant cutter changing mechanism with a specified coordinate.

Step 2: the spindle of the numerical control milling machine drives the cutter to slowly translate and gradually enter the cutter loading and replacing mechanism, and in the process that the spindle of the numerical control milling machine drives the cutter to translate, the cutter moves backwards against the sliding iron, and the sliding iron moving backwards clamps and holds the cutter tightly through the hinge linkage clamping jaws.

Step 3: the cutter detection element and the sliding iron detection element simultaneously send feedback signals to the controller, the controller controls the electromagnetic switch to drive the electromagnetic switch pin shaft to pop out of the upper end face of the bottom plate, the popped-out electromagnetic switch pin shaft limiting clamp is arranged on the outer side of each claw, and the claw is limited to loosen the cutter in a mechanical limiting mode.

Step 4: the controller controls the key block of the spindle of the numerical control milling machine to be oriented to a specified angle, the pull claw of the spindle of the numerical control milling machine loosens the pull nail of the cutter and separates the cutter from the pull nail of the cutter, and the spindle of the numerical control milling machine is lifted to a safe height, so that the unloading of the cutter is completed.

In the above technical solution, further: the automatic tool changing device of the heavy planer type numerical control milling machine is provided with a bracket and a plurality of tool changing mechanisms arranged on the bracket; the tool changing mechanism comprises a bottom plate, and a sliding iron is arranged on the bottom plate along the telescopic straight line position of the bottom plate; the front ends of the sliding irons are respectively hinged and symmetrical through a pair of hinges and are claw rear ends of a thickened clamping block type structure; when the slide iron moves backwards, the claw is linked with the front end of the claw through the hinge to clamp and hold the cutter tightly; a compression spring is concentrically arranged between the rear end of the sliding iron and the fixed seat; when the cutter exits from the jaw space, the reset elastic force of the compression spring pushes the sliding iron to reset and extend, and the extending sliding iron is linked with the jaw to open; the claw and the sliding iron are respectively provided with a detection element; the detection element of the claw is used for detecting whether the cutter is in place or not; the detection element of the slide is used for detecting the position of the slide.

In the above technical solution, further: the electromagnetic switch also comprises an electromagnetic switch and an electromagnetic switch pin shaft; the electromagnetic switch drives the electromagnetic switch pin shaft to pop up from the upper end surface of the bottom plate; the ejected electromagnetic switch pin shafts are blocked and arranged on the outer sides of the clamping jaws of each holding tool, and the clamping jaws are limited to be loosened when the tools are clamped by the electromagnetic switch pin shafts in a mechanical limiting mode.

In the above technical solution, further: the sliding sleeve is also included; the sliding sleeve is fixedly arranged on the bottom plate, and the sliding iron is in sliding fit with the sliding sleeve and linearly stretches out and draws back under the linear guide of the sliding sleeve.

In the above technical solution, further: the sliding iron end cover is also included; the sliding iron end cover is fixedly connected with the rear end of the sliding iron; and a compression spring is concentrically arranged between the sliding iron end cover and the fixed seat.

In the above technical solution, further: the inner side surface of the clamping jaw is provided with a positioning boss; the positioning boss is matched with the knife handle groove of the knife in a positioning way.

In the above technical solution, further: the detecting elements for detecting the position of the slide include a loading detecting element and an unloading detecting element.

In the above technical solution, it is preferable that: the detection element is a proximity switch; the system composed of the detection element and the control system of the numerical control milling machine is a closed-loop control system; when the signal is wrong in the operation process of the closed-loop control system, the system is triggered to stop operation immediately, and the output end of the controller is connected with the alarm triggering alarm device for alarm.

In the above technical solution, further: the bracket is made of section steel through splice welding; a plurality of cutter changing mechanisms are arranged at the top end of the bracket; the coordinate position of each tool changing mechanism is input into a controller of a numerical control milling machine control system.

The invention further discloses an automatic tool changing device of the heavy-duty planer type numerical control milling machine, and the device is an automatic tool changing device of the heavy-duty planer type numerical control milling machine used by any method.

Compared with the prior art, the invention has the advantages that:

1. according to the invention, the cutter is longitudinally translated into the open jaw space of the device, the cutter handle longitudinally translated pushes the sliding iron to move backwards, the sliding iron which moves backwards drives the hinge and the jaw to be linked so as to clamp the cutter handle, and the jaw mechanism of the pure mechanical hinge linkage structure is combined with the combined action of the detection element, so that the cutter replacing is realized by replacing manpower, and the labor and time are saved; on the other hand, the claw mechanism with a pure mechanical structure has simple and compact structure, is convenient to process, and is economical and practical.

2. The sliding iron end of the invention is provided with the sliding iron reset compression spring, when the cutter exits from the jaw space, the compression spring powerless resets and ejects the sliding iron to automatically reset the sliding iron, the jaws are restored to be opened, and the pure mechanical reset structure of the jaw sliding iron has simple structure, is economical and practical, and is suitable for popularization.

3. According to the invention, the electromagnetic switch and the electromagnetic switch pin shaft are arranged on the outer side of the claw, when the claw clamps the cutter handle, the detection element sends out a cutter detection signal, the electromagnetic switch drives the electromagnetic switch pin shaft to pop out, the popped electromagnetic switch pin shaft is clamped in the pin shaft limiting groove on the outer side of the claw, the claw is prevented from being opened by mechanical safety restriction, the cutter is prevented from falling, and the safety and reliability of cutter clamping are improved.

4. The clamping jaw is provided with a position detection element which is in communication connection with a control system of the numerical control milling machine and is used for detecting whether the type and the position of a cutter are correct or not; the slide iron is provided with the two-position detection element, and the position of the slide iron is clear, so that the jaw is accurately judged to be in an open state or a closed state, a stable and reliable trigger signal is provided for action switching, the position judgment accuracy is guaranteed, the automation degree is high, and the safety coefficient is reliable.

5. According to the invention, the position of the main shaft displacement loading and unloading cutter is positioned according to the coordinate address in the instruction, so that the accuracy of the loading and unloading position is ensured; the cooperative detection element closed-loop control system is used for effectively avoiding collision between the cutter and other parts and avoiding the occurrence of hard pulling in the cutter assembling and disassembling process.

6. The clamping jaw is provided with the positioning boss on the inner side surface, and the positioning boss is matched with the groove of the cutter handle in a positioning manner, so that the clamping positioning precision of the cutter is improved.

7. The tool changing operation is automatic and efficient, labor and time are saved, the loading precision is high, the tool unloading is stable and reliable, and the processing quality is effectively ensured; the tool changing mechanism has clear mechanical principle, is easy to process and manufacture, is easy to maintain, has low cost and is suitable for popularization.

Drawings

FIG. 1 is an overall axial side view of the device of the present invention;

FIG. 2 is an isometric view of a tool changing mechanism of the apparatus of FIG. 1 according to the present invention;

FIG. 3 is an isometric view of the removal tool of FIG. 2 in accordance with the present invention;

FIG. 4 is a top view of the tool changing mechanism of the present invention;

FIG. 5 is a side view of the tool changing mechanism of the present invention;

in the figure: the tool comprises a 1-support, a 2-tool changing mechanism, a 3-bottom plate, a 4-slide iron, a 5-hinge, a 6-claw, a 61-positioning boss, a 7-tool, a 71-tool shank groove, an 8-fixing seat, a 9-compression spring, a 10-electromagnetic switch, a 11-electromagnetic switch pin shaft, a 12-sliding sleeve, a 13-slide iron end cover, a 14-loading detection element, a 15-unloading detection element and a 16-tool detection element.

Detailed Description

The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to fig. 1 to 5 of the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.

The tool changing method of the automatic tool changing device of the heavy planer type numerical control milling machine is characterized in that (as shown in figure 1), a loading or unloading instruction of a tool 7 is operated, and a numerical control milling machine spindle moves to a tool changing mechanism 2 according to an instruction coordinate address of the loading or unloading instruction; the numerical control milling machine main shaft drives the cutter 7 to translate outwards or inwards; the cutter 7 is withdrawn from or enters the space of the clamping jaw 6, the cutter 7 is withdrawn from or pushed to linearly expand and contract the sliding iron 4, and the sliding iron 4 with the linear expansion and contraction moves to link the clamping jaw 6 through the hinge 5 to loosen or clamp the cutter 7.

In the above technical solution, further: the invention discloses a tool changing method of an automatic tool changing device of a heavy gantry numerical control milling machine, which comprises a tool loading method and a tool unloading method, and the tool loading method and the tool unloading method are also the working principles of the invention.

The cutter loading method comprises the following steps:

step 1: and (3) running a cutter loading command, and rapidly moving the spindle of the numerical control milling machine to the position above the cutter changing mechanism 2 with the cutter 7 loaded as shown in fig. 2 according to the coordinate address in the loading command, namely moving the spindle of the numerical control milling machine to the position according to the coordinate to prepare for loading the cutter 7.

Step 2: after the key block of the numerical control milling machine spindle is oriented to a specified angle, the internal pull claw of the numerical control milling machine spindle is opened, the numerical control milling machine spindle is lowered to a specified height, the key block of the numerical control milling machine spindle is clamped into the key groove of the cutter 7, the pull claw of the numerical control milling machine spindle is used for clamping the cutter 7 and pulling nails, and the numerical control milling machine spindle is used for preparing to drive the cutter 7 to translate outwards so as to be separated from the cutter changing mechanism 2.

Step 3: before disengaging, after the control system of the numerical control milling machine receives a determining signal that the cutter 7 is clamped in place, the electromagnetic switch 10 adsorbs the electromagnetic switch pin shaft 11 to reset and fall back to below the upper end surface of the bottom plate 3, and the limit of the electromagnetic switch pin shaft 11 on the claw 6 is relieved; and then the spindle of the numerical control milling machine drives the cutter 7 to start to translate towards the outer side of the cutter changing mechanism 2.

Step 4: when the device is separated from the body: along with the gradual withdrawal of the cutter 7 from the space of the claw 6, the sliding iron 4 gradually and automatically stretches out under the reset elastic force of the compression spring 9, the sliding iron 4 is reset and ejected without a driving piece, and meanwhile, the sliding iron 4 is linked with the claw 6 through the hinge 5 to gradually open until the cutter 7 completely withdraws from the cutter changing mechanism 2, and the cutter loading is completed.

The cutter unloading method comprises the following steps:

step 1: and (3) running a cutter unloading command, and carrying a cutter 7 on a spindle of the numerical control milling machine according to a coordinate address in the unloading command, and rapidly moving to the right front side of the vacancy cutter changing mechanism 2 with the designated coordinate, namely preparing for unloading the cutter 7.

Step 2: the spindle of the numerical control milling machine drives the cutter 7 to slowly translate and gradually enter the cutter replacing mechanism 2, and in the process of the spindle of the numerical control milling machine drives the cutter 7 to translate, as the claw 6 is kept in an open state under the action of the compression spring 9, the cutter 7 directly contacts the sliding iron 4 and moves backwards against the sliding iron 4, and the sliding iron 4 which moves backwards links the claw 6 through the hinge 5 to clamp the cutter 7 tightly; the linear rollback displacement of the slide iron 4 also does not need an electric driving piece, so that the clamping of the clamping jaw 6 to the cutter 7 can be realized, and the clamping jaw 6 is tightly held by a pure mechanical linkage structure of the cutter 7, so that the structure is simple, the maintenance is convenient, and the device is economical and practical.

Step 3: after the claws 6 clamp the cutter 7, the cutter 7 detection element and the slide iron 4 detection element send feedback signals to the controller simultaneously, namely the cutter detection element detects that the cutter 7 is in place, the controller controls the electromagnetic switch 10 to drive the electromagnetic switch pin shafts 11 to pop out of the upper end face of the bottom plate 3, the popped-up electromagnetic switch pin shafts 11 are limited and blocked in pin shaft limiting grooves formed in the outer side of each claw 6, the claws 6 are limited in a mechanical limiting mode through the electromagnetic switch pin shafts 11, and the claws 6 can be prevented from loosening the cutter 7 even under the condition that the claws 6 are not electrified, so that the cutter 7 is prevented from falling.

Step 4: the controller controls the spindle key block of the numerical control milling machine to be oriented to a specified angle and to be separated from the cutter 7; and the pull claw of the numerical control milling machine main shaft loosens the pull nail of the cutter 7 and is separated from the cutter 7, and the numerical control milling machine main shaft is lifted to a safe height, so that the cutter unloading is completed.

Therefore, the method replaces manpower to finish tool changing, so that labor and time are saved; on the other hand, the jaw mechanism of the pure mechanical hinge linkage structure used by the method of the invention combines the combined action of the detection elements, has simple and compact mechanism structure, is convenient to process, is economical and practical, has simple maintenance and is suitable for popularization.

(as shown in fig. 1) in the above embodiment, further: the automatic tool changing device of the heavy gantry numerical control milling machine in the method is provided with a bracket 1 and a plurality of tool changing mechanisms 2 arranged on the bracket 1. It should be understood that: the bracket 1 comprises any one of a linear bracket structure, a semicircular bracket structure and a circular ring bracket structure; the tool changing mechanisms 2 can be uniformly distributed and arranged on the support 1, or can be arranged above the support 1 in another regular mode.

In the above embodiment, further: (embodiment shown in FIG. 1) the bracket 1 is formed by welding profile steel; the support 1 is made of the section steel, and the section steel is economical and practical, simple and easy to obtain. A plurality of tool changing mechanisms 2 are arranged at the top end of the bracket 1; the coordinate position of each tool changing mechanism 2 is input into a controller of a numerical control milling machine control system, so that accurate coordinate positioning is provided for the displacement of a main shaft of the numerical control milling machine, and clamping reliability and clamping accuracy are ensured.

The tool changing mechanism 2 (shown in fig. 2, 3 and 4) comprises a bottom plate 3, and the bottom plate 3 is of a horizontal plate body structure. The bottom plate 3 is provided with a sliding iron 4 at a telescopic linear position along the bottom plate 3; it should be understood that: the linear telescopic displacement of the sliding iron 3 can realize the linear guiding displacement of the sliding iron 4 through a structure that a sliding block is arranged at the bottom of the sliding iron and a sedimentation linear groove is arranged on a bottom plate body of the sliding iron, and can also realize the linear guiding of the linear displacement of the sliding iron 4 through a sliding sleeve 12 described later.

In the above embodiment, further: (in connection with fig. 4) also includes a sliding sleeve 12; the sliding sleeve 12 has a longitudinal length. The sliding sleeve 12 is fixedly installed on the bottom plate 3, the sliding iron 4 is in sliding fit with the sliding sleeve 12 and linearly stretches out and draws back the displacement under the linear guide of the sliding sleeve 12, the sliding sleeve 12 is adopted to guide, compared with the sinking groove and the sliding block guide structure described above, the component is convenient to process and manufacture, easy to realize, economical and practical.

On the basis of the method, the device comprises the following steps: the front ends of the sliding irons 4 are respectively hinged and symmetrical through a pair of hinges 5 and are rear ends of clamping claws 6 with thickened clamping block structures. It should be noted that: the hinge 5 (shown in fig. 4) consists of a first pin shaft, a connecting rod and a second pin shaft; the upper end face of the sliding iron 4 is rotationally connected with one end of a connecting rod through a first pin shaft, the other end of the connecting rod is rotationally connected with the rear end of the claw 6 through a second pin shaft, and the sliding iron 4 in telescopic displacement drives the connecting rod to rotate and swing; wherein the link is as short in size as possible to ensure structural rigidity and strength of connection. The clamping jaw 6 of the thickened clamping block type structure is of an arc transition L-shaped block structure, and the structural strength and rigidity of the clamping jaw 6 are ensured by increasing the transverse width and the vertical thickness of the clamping jaw 6; the clamping jaw 6 of the thickened clamping block structure is provided with a transverse circular arc chute at the front position of the middle part of the block body; the circular sliding block is arranged in the transverse circular arc sliding groove, the bottom of the circular sliding block is vertically and fixedly connected with the bottom plate 3 into a whole, the top of the circular sliding block is restrained to slide in the transverse circular arc sliding groove, and the action of the front part of the clamping jaw 6 is limited through the transverse circular sliding groove, so that the switching of the clamping and opening swing actions of the front part of the clamping jaw 6 is realized.

In order to improve the positioning accuracy of the claw 6 and the cutter 7: (as shown in fig. 3) in the above embodiment, further: the clamping claw 6 clamps the inner side surface to form a positioning boss 61; the positioning boss 61 is matched with a knife handle groove 71 of the knife 7 in a positioning manner, so that the positioning accuracy of the knife 7 and the clamping jaw 6 in the clamping process is ensured. During the use process: when the slide iron 4 moves backwards, the claw 6 is linked with the front end of the claw 6 through the hinge 5 to clamp and hold the cutter 7 tightly.

In addition to this: to realize the pure mechanical automatic reset operation of the non-electric driving piece of the slide iron 4: a compression spring 9 is concentrically arranged between the rear end of the sliding iron 4 and the fixed seat 8 (as shown in fig. 4); when the cutter 7 is withdrawn from the space of the claw 6, the restoring elasticity of the compression spring 9 pushes the sliding iron 4 to restore and extend, and the extending sliding iron 4 is linked with the claw 6 through the hinge 5 to open.

For the convenience of the cooperative detection element, the accurate detection of the position of the slide iron 4 is realized: in the above embodiment, further: (as shown in fig. 4) also includes a slider end cap 13; the sliding iron end cover 13 is fixedly connected with the rear end of the sliding iron 4; the compression spring 9 is arranged between the sliding iron end cover 13 and the fixed seat 8. By the arrangement of the slide end cap 13, mounting support points are provided for mounting of the detection element of the slide 4 and detection of the position of the slide 4, which will be described later.

The claw 6 and the slide iron 4 are respectively provided with detection elements; the detection element of the jaw 6 is a knife detection element 16, and the knife detection element 16 is used for detecting whether the knife 7 is in place or not and detecting whether the knife type is correct or not. The detection element of the slide 4 is used for detecting the position of the slide 4. It should be understood that: the detection element comprises one or two or more types of detection elements, such as limit switches, photoelectric switches, laser ranging sensors and the like.

In the above embodiment, it is preferable that: the detection element is preferably a proximity switch; the detection element selects the proximity switch, senses an object approaching the detection element through the proximity switch, and realizes the starting or closing of the switch through an electric signal, thereby having the advantages of quick response, safety, convenience, economy and practicability.

On the basis of the method, the device comprises the following steps: the system formed by the detection element and the control system of the numerical control milling machine is a closed-loop control system; the closed-loop control system is triggered to stop running immediately when the signal is wrong in the running process, and the output end of the controller is connected with the alarm triggering alarm device for alarm. Namely, the detection element is not only connected with the input end of the controller, but also can return a signal to the controller, so that the running reliability of the system is ensured by adopting a closed-loop control mode. In addition, the controller not only has program control function, but also has an output end connected with an alarm device, and can stop the machine and realize alarm under any error condition of the system. The controller mainly refers to a controller of a milling machine, and is generally a PLC controller.

(as shown in fig. 3) in order to avoid the occurrence of the risk of falling the cutter 7, the claw 6 holding the cutter 7 is released in order to avoid the power failure: in the above embodiment, further: also comprises an electromagnetic switch 10 and an electromagnetic switch pin 11. The electromagnetic switch 10 and the electromagnetic switch pin 11 are vertically arranged penetrating through the bottom plate 3, wherein the electromagnetic switch 10 is arranged on the back surface of the bottom plate 3, and the electromagnetic switch pin 11 is driven to pop up by the electromagnetic switch 10; or is absorbed by the electromagnetic switch pin 11 through the electromagnetic switch 10 to be retracted. When in use, the utility model is characterized in that: when the claw 6 holds the cutter 7 tightly, the cutter detection element 16 detects that the cutter 7 is in place, and meanwhile, the detection element of the sliding iron 4 detects that the sliding iron 4 is in a contracted state, and the double insurance determines that the claw 6 clamps the cutter 7 in place; at the moment, a controller in a numerical control milling machine control system controls the electromagnetic switch 10 to drive the electromagnetic switch pin shaft 11 to pop up from the upper end surface of the bottom plate 3; the spring-out electromagnetic switch pin shaft 11 is blocked in a pin shaft limiting groove formed in the outer side of each claw 6 holding the cutter, the electromagnetic switch pin shaft 11 adopts a mechanical limiting mode as shown in fig. 2, and the claw 6 is limited to prevent the claw 6 from loosening when the cutter 7 is clamped, so that the cutter 7 is prevented from falling accidentally under the condition of power failure.

In the above embodiment, further: to improve detection reliability: the detection elements that detect the position of the slide 4 (as shown in fig. 4) include a loading detection element 14 and an unloading detection element 15. Specifically, the loading detection element 14 is fixedly installed on the sliding sleeve 12 described above and fixedly connected with the sliding sleeve 12 into a whole; the unloading detection element 15 is fixedly arranged on the fixed seat 8 and fixedly connected with the fixed seat 8 into a whole. The slide end cover 13 described above has a laterally extending plate, and the load detection element 14 is disposed vertically toward the front end surface of the slide end cover 13; the unloading detecting element 15 is arranged vertically towards the rear end face of the slide end cover 13. The loading detecting element 14 and the unloading detecting element 15 are proximity switches, and the advantages of selecting proximity switches are described above and will not be described again. When in use, the utility model is characterized in that: the loading detecting element 14 can detect and determine whether the slide 4 is in telescopic displacement, and similarly, the unloading detecting element 15 can also detect and determine whether the slide 4 is in telescopic displacement; the value of the telescopic displacement of the loading detection element 14 should be correspondingly matched with the detection value of the unloading detection element 15, so that the position of the slide iron 4 is accurately judged by adopting a double-detection double-insurance mode, and the detection reliability is improved.

The working principle of the invention is described with reference to the steps of the method, and is not repeated.

From the above description it can be found that: according to the invention, the cutter 7 is longitudinally translated into the open jaw space of the device, the cutter handle of the cutter 7 longitudinally translated pushes the slide iron 4 to move backwards, the slide iron 4 which moves backwards drives the hinge 5 and the jaw 6 to link so as to clamp the cutter handle of the cutter 7, and the jaw mechanism 2 of a purely mechanical hinge linkage structure is combined with the combined action of the detection element, so that on one hand, the cutter replacement is completed instead of manpower, and the labor and time are saved; on the other hand, the claw mechanism with a pure mechanical structure has simple and compact structure, is convenient to process, and is economical and practical.

The tail end of the sliding iron is provided with the sliding iron reset compression spring 9, when the cutter 7 exits from the space of the claw 6, the compression spring 9 is unpowered to reset and pop up the sliding iron 4, so that the sliding iron 4 is automatically reset, the claw 6 is restored to be opened, and the structure of the cutter 7 is clamped or loosened purely mechanically, so that the novel sliding iron is simple in structure, economical and practical and suitable for popularization.

According to the invention, the electromagnetic switch 10 and the electromagnetic switch pin shaft 11 are arranged on the outer side of the claw 6, when the claw 6 clamps the cutter handle of the cutter 7, the detection element sends out a detection signal of the cutter 7, the electromagnetic switch 10 drives the electromagnetic switch pin shaft 11 to pop out, the popped electromagnetic switch pin shaft 11 is clamped in the pin shaft limiting groove on the outer side of the claw 6, mechanical limiting can safely limit and prevent the claw 6 from opening even under the condition of no power-on, the cutter 7 is prevented from falling, and the whole cutter 7 clamping device is safer and more reliable.

The claw 6 is provided with a position detection element which is in communication connection with a control system of the numerical control milling machine and is used for detecting whether the model and the position of the cutter 7 are correct or not; the slide iron 4 is also provided with a double-position detection element, and the double insurance clearly detects the position of the slide iron 4, so that the jaw 6 is accurately judged to be in an open state or a closed state, a stable and reliable trigger signal is provided for action switching, the position judgment accuracy is ensured, the degree of automation is high, and the safety coefficient is reliable.

According to the invention, the position of the main shaft displacement loading and unloading cutter 7 is positioned according to the coordinate address in the instruction, so that the accuracy of the loading and unloading position is ensured; the cooperative detection element closed-loop control system is used for effectively avoiding collision between the cutter 7 and other parts and avoiding the occurrence of the problem of hard pulling in the process of assembling and disassembling the cutter 7.

The clamping inner side surface of the clamping jaw 6 is provided with the positioning boss 61, the positioning boss 61 is in positioning fit with the shank groove 71 of the cutter 7, and the clamping positioning precision of the cutter 7 is improved.

In conclusion, the tool changing operation is automatic and efficient, labor and time are saved, the loading precision is high, the tool unloading is stable and reliable, and the processing quality is effectively ensured; the tool changing mechanism has clear mechanical principle, is easy to process and manufacture, is easy to maintain, has low cost and is suitable for popularization; the invention has the advantages of high automation degree, high safety coefficient, large bearing capacity, convenient maintenance and the like, and has higher popularization value.

In this specification, each embodiment is described in a related manner, and identical and similar parts of each embodiment are all referred to each other, and each embodiment mainly describes differences from other embodiments.

The foregoing description is only of the preferred embodiments of the present invention and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention are included in the protection scope of the present invention.

Claims (11)

1. A tool changing method of an automatic tool changing device of a heavy gantry numerical control milling machine is characterized by comprising the following steps of: running a cutter loading or unloading command, and moving a spindle of the numerical control milling machine to a cutter changing mechanism (2) according to a command coordinate address of the loading or unloading command; the numerical control milling machine main shaft drives the cutter (7) to translate outwards or inwards; the cutter (7) exits or enters the space of the clamping jaw (6), the cutter (6) exits or pushes the sliding iron (4) to linearly stretch out and draw back, and the sliding iron (4) with the linear stretch out and draw back displacement is linked with the clamping jaw (6) through the hinge (5) to loosen or clamp the cutter (7).

2. The tool changing method of the automatic tool changing device of the heavy gantry numerical control milling machine, according to claim 1, is characterized in that: including a tool loading method and a tool unloading method,

the cutter loading method comprises the following steps:

step 1: running a cutter loading instruction, and rapidly moving a spindle of the numerical control milling machine to the position above a cutter changing mechanism (2) loaded with a cutter (7) according to a coordinate address in the loading instruction;

step 2: after the key block of the numerical control milling machine main shaft is oriented to a specified angle, the internal pull claw of the numerical control milling machine main shaft is opened, the numerical control milling machine main shaft is lowered to a specified height, the key block of the numerical control milling machine main shaft is clamped into the key groove of the cutter (7), the pull claw of the numerical control milling machine main shaft grasps the pull nail of the cutter (7), and the numerical control milling machine main shaft is ready to drive the cutter (7) to translate outwards;

step 3: the electromagnetic switch (10) adsorbs the electromagnetic switch pin shaft (11) to reset and retract below the upper end surface of the bottom plate (3), and the numerical control milling machine main shaft drives the cutter (7) to start to translate towards the outer side of the cutter changing mechanism (2);

step 4: along with the gradual withdrawal of the cutter (7) from the space of the clamping jaw (6), the sliding iron (4) gradually stretches out under the reset elasticity of the compression spring (9), and meanwhile, the sliding iron (4) is linked with the clamping jaw (6) through the hinge (5) to gradually open until the cutter (7) completely withdraws from the cutter changing mechanism (2), so that the cutter loading is completed;

the cutter unloading method comprises the following steps:

step 1: running a cutter unloading command, and carrying a cutter (7) on a spindle of the numerical control milling machine according to a coordinate address in the unloading command, and rapidly moving to the right front side of a vacant cutter changing mechanism (2) with a specified coordinate;

step 2: the numerical control milling machine main shaft drives the cutter (7) to slowly translate and gradually enter the cutter replacing mechanism (2), and in the process that the numerical control milling machine main shaft drives the cutter (7) to translate, the cutter (7) moves backwards against the sliding iron (4), and the sliding iron (4) moving backwards clamps and holds the cutter (7) tightly through the linkage claw (6) of the hinge (5);

step 3: the detection element of the cutter (7) and the detection element of the slide iron (4) simultaneously send feedback signals to the controller, the controller controls the electromagnetic switch (10) to drive the electromagnetic switch pin shaft (11) to pop out of the upper end surface of the bottom plate (3), the popped-out electromagnetic switch pin shaft (11) is limited and blocked outside each claw (6), and the claw (6) is limited to loosen the cutter (7) in a mechanical limiting mode;

step 4: the controller controls the key block of the spindle of the numerical control milling machine to be oriented to a specified angle, the pull claw of the spindle of the numerical control milling machine loosens the pull nail of the cutter (7) and separates from the cutter, and the spindle of the numerical control milling machine is lifted to a safe height, so that the unloading of the cutter is completed.

3. The tool changing method of the automatic tool changing device of the heavy gantry numerical control milling machine according to claim 1 or 2, characterized by comprising the following steps: the automatic tool changing device of the heavy planer type numerical control milling machine is provided with a bracket (1) and a plurality of tool changing mechanisms (2) arranged on the bracket (1); the tool changing mechanism (2) comprises a bottom plate (3), and the bottom plate (3) is provided with a sliding iron (4) at a telescopic linear position along the bottom plate (3); the front end of the sliding iron (4) is respectively hinged and symmetrical through a pair of hinges (5) and is the rear end of a claw (6) with a thickened clamping block structure; when the slide iron (4) moves backwards, the clamping jaw (6) is linked with the front end of the clamping jaw (6) through the hinge (5) to clamp and hold the cutter (7); a compression spring (9) is concentrically arranged between the rear end of the sliding iron (4) and the fixed seat (8); when the cutter (7) is withdrawn from the space of the clamping jaw (6), the return elastic force of the compression spring (9) pushes the sliding iron (4) to return and extend, and the extending sliding iron (4) is linked with the clamping jaw (6) to open; the clamping jaw (6) and the sliding iron (4) are respectively provided with detection elements; the detection element of the claw (6) is used for detecting whether the cutter (7) is in place or not; the detection element of the slide iron (4) is used for detecting the position of the slide iron (4).

4. A tool changing method of an automatic tool changing device of a heavy gantry numerical control milling machine according to claim 3, characterized in that: the electromagnetic switch also comprises an electromagnetic switch (10) and an electromagnetic switch pin shaft (11); the electromagnetic switch (10) drives the electromagnetic switch pin shaft (11) to pop up from the upper end surface of the bottom plate (3); the ejected electromagnetic switch pin shafts (11) are blocked and arranged on the outer sides of the clamping claws (6) of each holding tool (7), and the clamping claws (6) are limited to be loosened when the tools are clamped by the electromagnetic switch pin shafts (11) in a mechanical limiting mode.

5. A tool changing method of an automatic tool changing device of a heavy gantry numerical control milling machine according to claim 3, characterized in that: also comprises a sliding sleeve (12); the sliding sleeve (12) is fixedly arranged on the upper end face of the bottom plate (3), and the sliding iron (4) is in sliding fit with the sliding sleeve (12) and linearly stretches out and draws back under the linear guide of the sliding sleeve (12).

6. A tool changing method of an automatic tool changing device of a heavy gantry numerical control milling machine according to claim 3, characterized in that: also comprises a sliding iron end cover (13); the sliding iron end cover (13) is fixedly connected with the rear end of the sliding iron (4); the compression spring (9) is concentrically arranged between the sliding iron end cover (13) and the fixed seat (8).

7. A tool changing method of an automatic tool changing device of a heavy gantry numerical control milling machine according to claim 3, characterized in that: the clamping claw (6) clamps the inner side surface to form a positioning boss (61); the positioning boss (61) is in positioning fit with a shank groove (71) of the cutter (7).

8. A tool changing method of an automatic tool changing device of a heavy gantry numerical control milling machine according to claim 3, characterized in that: the detection elements for detecting the position of the slide (4) comprise a loading detection element (14) and an unloading detection element (15).

9. A tool changing method of an automatic tool changing device of a heavy gantry numerical control milling machine according to claim 3, characterized in that: the detection element is a proximity switch; the system formed by the detection element and the control system of the numerical control milling machine is a closed-loop control system; the closed-loop control system is triggered to stop running immediately when the signal is wrong in the running process, and the output end of the controller is connected with the alarm triggering alarm device for alarm.

10. A tool changing method of an automatic tool changing device of a heavy gantry numerical control milling machine according to claim 3, characterized in that: the bracket (1) is manufactured by splicing and welding profile steel; a plurality of tool changing mechanisms (2) are arranged at the top end of the bracket (1); the coordinate position of each tool changing mechanism (2) is input into a controller of a numerical control milling machine control system.

11. An automatic tool changing device of a heavy planer type numerical control milling machine is characterized in that: the device is a heavy gantry numerical control milling machine automatic tool changing device used by the method of any one of claims 1-10.