CN209737132U - Integrated chain type tool magazine capable of automatically picking up and changing tools - Google Patents
Integrated chain type tool magazine capable of automatically picking up and changing tools Download PDFInfo
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- CN209737132U CN209737132U CN201920220271.6U CN201920220271U CN209737132U CN 209737132 U CN209737132 U CN 209737132U CN 201920220271 U CN201920220271 U CN 201920220271U CN 209737132 U CN209737132 U CN 209737132U
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Abstract
The utility model relates to a from picking up integral type chain tool magazine of tool changing aims at providing a simple structure, the space occupies little, low in manufacturing cost, tool changing is fast, the integral type chain tool magazine that the tool changing impact force is little, can set up directly the rear in the lathe, realizes the symmetrical arrangement of lathe, avoids the lathe loss of precision because of off-centre arouses to easily the automation is produced arranging of line. The automatic tool changing device comprises a base, a chain mechanism, a chain driving unit, a tool changing manipulator, a manipulator rotation driving unit, a manipulator movement push-out mechanism and a movement push-out driving unit, wherein the chain mechanism for accommodating the tool is arranged on the base and can rotate under the action of the chain driving unit; the tool changing manipulator is arranged on the base through the manipulator moving push-out mechanism, on one hand, the tool changing manipulator can do push-out and return linear reciprocating movement under the action of the moving push-out driving unit, and on the other hand, the tool changing manipulator can rotate 180 degrees under the action of the manipulator rotating driving unit, so that the position exchange of tools is realized.
Description
Technical Field
The utility model belongs to the numerical control processing field, in particular to from integral type chain tool magazine of picking up tool changing.
Background
Chain tool magazines are becoming more and more widely used in numerically controlled machining centers due to their large capacity. The existing chain type tool magazine is matched with a tool changing manipulator for realizing tool exchange, the tool changing manipulator and the chain type tool magazine are designed independently, the tool changing manipulator is located between the chain type tool magazine and a machine tool spindle, and tool taking, standby tools and tool exchange are completed through translation motion of the machine tool spindle and rotation motion of a tool changing manipulator arm. On one hand, the structure is complex, the whole occupied space is large, the requirement on positioning precision is high, and the production and manufacturing cost is high; on the other hand, the process of changing and replacing the cutter is complicated, and the cutter changing speed is difficult to increase. Meanwhile, in order to prevent the tool changing mechanical arm from occupying the moving space of the workbench, the chain type tool magazine is usually arranged on one side of the machine tool, so that the gravity center of the machine tool is easy to shift, and the retentivity of the machine tool precision is greatly influenced; and the tool magazine occupies the side space of the machine tool, and when the layout of the automatic production line is adopted, the field utilization rate is lower, so that the production line layout of the machine tool is not facilitated. In addition, an asynchronous motor is adopted to drive in the cutter exchange process, the cutter is grabbed in a buckling mode, the cutter changing process is not controlled, the impact force is large, the precision loss of a main shaft is easily caused by long-time cutter changing, and the integral machining performance of a machine tool is influenced.
Disclosure of Invention
An object of the utility model is to overcome prior art not enough, provide a simple structure, space occupy little, low in manufacturing cost, the quick, the little integral type chain tool magazine of tool changing impact force of tool changing, can set up in the lathe directly behind, realize the symmetrical arrangement of lathe, avoid the lathe loss of precision because of eccentric arouses to easily arrange of line is produced in the automation.
In order to solve the technical problem, the utility model discloses a realize through following technical scheme: an integrated chain type tool magazine for self-picking tool changing comprises a base, a chain mechanism, a chain driving unit, a tool changing manipulator, a manipulator rotation driving unit, a manipulator movement push-out mechanism and a movement push-out driving unit, wherein the chain mechanism for accommodating tools is arranged on the base and can rotate under the action of the chain driving unit; the tool changing manipulator is arranged on the base through the manipulator moving push-out mechanism, on one hand, the tool changing manipulator can do push-out and return linear reciprocating movement under the action of the moving push-out driving unit, and on the other hand, the tool changing manipulator can rotate 180 degrees under the action of the manipulator rotating driving unit, so that the position exchange of tools is realized.
Above-mentioned from integral type chain tool magazine of picking up tool changing, be provided with annular slide rail and guide way on the base respectively, chain mechanism encircles and sets up in annular slide rail, can rotate along annular slide rail under the chain drive unit effect to through the guide way full stroke direction.
According to the self-picking tool changing integrated chain type tool magazine, the chain mechanism is formed by connecting a plurality of single chain joint assemblies in series, each single chain joint assembly comprises a single chain joint, a lifting rod and a tool sleeve assembly, and the single chain joints are respectively matched with the annular slide rail and the guide groove through the rollers and can do circumferential rotary motion along the annular slide rail under the action of the chain driving unit; the knife pouch assembly is connected with the single chain link through a lifting rod, the knife pouch assembly and the lifting rod are fixed into a whole, and the lifting rod is in sliding fit with the single chain link.
According to the self-picking tool changing integrated chain type tool magazine, the tool sleeve component consists of a tool sleeve, a steel ball, a locking shaft, a spring and a ball sleeve, and the tool sleeve is fixed on the lifting rod; the steel ball is arranged in the ball sleeve and extrudes the ball sleeve through the spring and the locking shaft; the ball sleeve is arranged in the cutter sleeve and can be matched with the cutter handle to fix the cutter handle in the cutter sleeve.
Above-mentioned from picking up integral type chain tool magazine of tool changing, be provided with tool changing hoist mechanism on the base, including promoting cylinder, cylinder fixed plate, promotion clamp plate and linear guide, promote the cylinder and pass through the cylinder fixed plate and install on the base, promote the clamp plate and install in the removal end that promotes the cylinder to slide and act on linear guide, can reciprocate along linear guide under the effect of promotion cylinder.
When the single link assembly moves to the tool changing position, the lifting rod of the single link assembly is matched with the lifting pressing plate and can reciprocate up and down along with the lifting pressing plate.
According to the integrated chain type tool magazine capable of automatically picking up tool changing, the manipulator moving and pushing mechanism comprises a pushing sliding seat and a pushing sliding plate, the pushing sliding seat is installed on the base, the pushing sliding plate is installed in the pushing sliding seat through a sliding rail, and the pushing sliding plate can linearly reciprocate along the sliding rail under the action of the moving pushing driving unit.
According to the integrated chain type tool magazine capable of automatically picking up and changing tools, the tool changing manipulator is composed of the rotating arm and the split type tool claw, the rotating arm is installed at the output end of the manipulator rotation driving unit and can rotate under the action of the manipulator rotation driving unit, and the manipulator rotation driving unit is fixed at the end part of the push-out sliding plate; two split type tool claws are respectively arranged at two ends of the rotating arm, and springs are arranged in the split type tool claws.
Above-mentioned integral type chain tool magazine of tool changing from picking up, split type sword claw is moved through the Z of lathe main shaft and is realized getting the sword and putting the sword.
Above-mentioned integral type chain tool magazine from picking up tool changing, be provided with position sensor on the base, can carry out accurate position feedback to tool magazine initial position and tool changing position.
Compared with the prior art, the beneficial effects of the utility model reside in that: the utility model adopts the integrated design of the tool changing manipulator and the chain type tool magazine, has simple structure, small occupied space, convenient installation and debugging, easy guarantee of precision and low manufacturing cost; the tool exchange is realized through the linear movement and the rotary movement of the tool changing manipulator, the tool changing manipulator can move to the position closest to the machine tool spindle, the tool changing radius is small, the tool changing speed is high, and the occupation of the tool changing action on the machining space of the machine tool is effectively reduced; the chain type tool magazine can be arranged right behind the machine tool, so that the symmetrical design of the machine tool is facilitated, the precision loss caused by eccentricity is avoided, and the arrangement of an automatic production line is easy. Meanwhile, the chain mechanism adopts an annular guide rail and a full-stroke guiding mode, so that the vibration and noise of the tool magazine in the tool changing process are effectively reduced, and the high-speed operation and high-precision positioning of the tool magazine can be realized. In addition, the split type tool claw is matched with the Z-direction movement of the main shaft to realize self-picking tool changing, the advantage of Z-axis servo driving is fully utilized, the impact of the tool changing on the main shaft is effectively reduced, the precision of the main shaft is protected, and the reliability is high. The utility model discloses still adopt knife sheath and single link modularized design, the independent module is constituteed with the hookup of single link one-to-one to the knife sheath, has effectively avoided the knife sheath in the motion process to throw away the phenomenon, and greatly reduced is by the shut down fault rate that the knife sheath trouble arouses.
Drawings
Fig. 1 is a schematic view of the overall structure of the present invention.
Fig. 2 is a schematic view of the chain mechanism of the present invention.
Fig. 3 is the schematic structural diagram of the lifting mechanism and the single chain section assembly of the present invention.
Fig. 4 is a schematic structural view of the tool changing manipulator of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
With reference to fig. 1 to 2, the utility model discloses a from integral type chain tool magazine of picking up tool changing comprises base 1, chain mechanism 2, chain drive unit 3, tool changing manipulator 4, manipulator rotary drive unit 5, release slide 6, release slide 7, removal release drive unit 8, annular slide rail 9 and guide way 10.
On annular slide rail 9 was fixed in base 1, chain mechanism 2 surrounded in the setting of annular slide rail 9, can follow annular slide rail 9 circumferential direction under the chain drive unit 3 effect to through the direction of guide way 10 full stroke, effectively reduce the noise of chain mechanism 2 rotation in-process and vibrate.
The push-out sliding seat 6 and the push-out sliding plate 7 form a manipulator moving push-out mechanism for pushing the tool changing manipulator 4 to move between the chain type tool magazine and the machine tool spindle. The pushing slide seat 6 is arranged on the base, the pushing slide plate 7 is arranged in the pushing slide seat 6 through a slide rail, and the pushing and withdrawing actions can be carried out under the action of the movable pushing drive unit 8. The tool changing robot 4 is attached to an end of the push-out slide 7 via a robot rotation driving unit 5, and is rotatable by the robot rotation driving unit 5.
Referring to fig. 2 and 3, the chain mechanism 2 is formed by connecting twenty-five sets of single-link assemblies 20 in series, each set of single-link assembly 20 includes a single-link 21, a lifting rod 22, a cutter sleeve 23, and a roller 24, and the single-link 21 is respectively matched with the outer annular surface of the annular slide rail 9, the lower end surface of the annular slide rail 9, and the guide groove 10 through three sets of rollers 24, and can move along the circumferential direction of the annular slide rail 9 under the action of the chain driving unit 3. The knife sleeve 23 is connected with the single chain link 21 through the lifting rod 22, wherein the knife sleeve 23 and the lifting rod 22 are fixed into a whole, and the lifting rod 22 is in sliding fit with the single chain link 21. The knife sleeve 23 is also internally provided with a ball sleeve 25 matched with the knife handle 29, and the knife handle can be fixed in the knife sleeve 23 through the force increasing action of a spring 26, a locking shaft 27 and a steel ball 28.
In order to realize the self-taking type clamping and placing of the knife sleeve 23, a knife changing lifting mechanism 11 is arranged on the base 1 corresponding to a knife changing position and consists of a lifting cylinder 12, a cylinder fixing plate 13, a lifting pressing plate 14 and a linear guide rail 15, and the lifting cylinder 14 is arranged on the base 1 through the cylinder fixing plate 13; the lifting pressure plate 14 is mounted at the moving end of the lifting cylinder 12, and is slidably acted on the linear guide rail 15, and can move up and down along the linear guide rail 15 under the action of the lifting cylinder 12. When the single chain joint 21 moves to the tool changing position, the lifting pressure plate 14 can clamp the lifting rod 22, and the tool sleeve 23 is lifted or pressed down along with the action of the lifting air cylinder 12, so that the tool sleeve 23 is separated from or clamped with the tool shank 29.
Referring to fig. 1 and 4, the tool changing manipulator 4 is composed of a rotating arm 41 and a split type tool claw 42, the rotating arm 41 is installed at the output end of the manipulator rotation driving unit 5, and can rotate 180 degrees under the action of the manipulator rotation driving unit 5; the split type cutter claws 42 are respectively arranged at two ends of the rotating arm 41 and can realize position exchange along with the rotating motion of the rotating arm 41; the split type cutter claw 42 is internally provided with a spring 43 which can clamp the cutter handle under the elastic force action of the spring 43.
In order to ensure the tool changing positioning precision, the base 1 is also provided with a position sensor 16, the initial position of the tool magazine can be accurately determined through signal triggering of the position sensor and internal parameter setting, and meanwhile, by matching with an absolute servo control system, the accurate positioning of the tool changing position at each time can be realized, and the tool changing action is ensured to be completed safely and inerrably.
During the use, can with the utility model discloses install directly the rear in the lathe, the tool magazine is equipped with the sword in the machine tool course of working, and the single link 21 of the used cutter of next procedure moves to the tool magazine and trades the sword position promptly, and tool changing manipulator 4 snatchs the handle of a knife, and the action of lift cylinder 14 is upwards mentioned the broach shell 23 through promoting clamp plate 14, lift bar 22 in proper order, makes the handle of a knife break away from broach shell 23. After the machining is finished, the machine tool spindle moves to a machine tool changing position along the X axis and the Z axis respectively, meanwhile, the manipulator moving and pushing mechanism pushes the tool changing manipulator 4 out under the action of the moving and pushing driving unit 8, a tool shank on the machine tool spindle is grabbed by a free tool claw of the tool changing manipulator 4, and the machine tool spindle loosens the tool and moves upwards to enable the tool shank to be separated from the spindle. The manipulator rotation driving unit 5 drives the rotation arm 41 to rotate 180 degrees, position exchange of the two tool shanks is achieved, the machine tool spindle moves downwards along the Z axis and grabs the tool, the manipulator moves the pushing mechanism to return, the tool sleeve 23 moves downwards and grabs the tool shank on the tool changing manipulator 4, the manipulator moves the pushing mechanism to return to zero, the tool magazine continues to search the tool, and the next tool changing tool is prepared.
The utility model discloses a tool changing manipulator and chain tool magazine structure as an organic whole, simple structure, installation and debugging are convenient, and the precision is easily guaranteed, installs in the lathe rear, not only is favorable to the symmetrical design of lathe, when having reduced the tool changing greatly moreover, the X axle stroke of lathe main shaft, tool changing occupation space is little, and the tool changing is fast.
Although the present invention has been described in detail, the present invention is not limited thereto, and those skilled in the art can make various modifications according to the principle of the present invention. Therefore, modifications made in accordance with the principles of the present invention should be understood to fall within the scope of the present invention.
Claims (10)
1. An integrated chain type tool magazine for self-picking tool changing is characterized by comprising a base, a chain mechanism, a chain driving unit, a tool changing manipulator, a manipulator rotation driving unit, a manipulator movement push-out mechanism and a movement push-out driving unit, wherein the chain mechanism for accommodating tools is arranged on the base and can rotate under the action of the chain driving unit; the tool changing manipulator is arranged on the base through the manipulator moving push-out mechanism, on one hand, the tool changing manipulator can do push-out and return linear reciprocating movement under the action of the moving push-out driving unit, and on the other hand, the tool changing manipulator can rotate 180 degrees under the action of the manipulator rotating driving unit, so that the position exchange of tools is realized.
2. The integrated chain type tool magazine capable of self-picking and tool changing is characterized in that the base is provided with an annular slide rail and a guide groove respectively, and the chain mechanism is arranged around the annular slide rail, can rotate along the annular slide rail under the action of the chain driving unit and is guided by the guide groove in a full-stroke mode.
3. The self-picking tool-changing integrated chain type tool magazine is characterized in that the chain mechanism is formed by connecting a plurality of single chain joint assemblies in series, each single chain joint assembly comprises a single chain joint, a lifting rod and a tool sleeve assembly, and the single chain joints are respectively matched with the annular slide rail and the guide groove through rollers and can do circumferential rotation motion along the annular slide rail under the action of the chain driving unit; the knife pouch assembly is connected with the single chain link through a lifting rod, the knife pouch assembly and the lifting rod are fixed into a whole, and the lifting rod is in sliding fit with the single chain link.
4. The self-picking tool-changing integrated chain type tool magazine is characterized in that the tool sleeve assembly consists of a tool sleeve, a steel ball, a locking shaft, a spring and a ball sleeve, and the tool sleeve is fixed on the lifting rod; the steel ball is arranged in the ball sleeve and extrudes the ball sleeve through the spring and the locking shaft; the ball sleeve is arranged in the cutter sleeve and can be matched with the cutter handle to fix the cutter handle in the cutter sleeve.
5. The integrated chain type tool magazine capable of self-picking up and replacing tools as claimed in claim 3 or 4, wherein a tool changing lifting mechanism is arranged on the base and comprises a lifting cylinder, a cylinder fixing plate, a lifting pressing plate and a linear guide rail, the lifting cylinder is mounted on the base through the cylinder fixing plate, the lifting pressing plate is mounted at a moving end of the lifting cylinder and acts on the linear guide rail in a sliding manner, and the lifting cylinder can move up and down along the linear guide rail under the action of the lifting cylinder.
6. The integrated chain tool magazine for self-picking tool changing of claim 5, wherein when the single link assembly moves to the tool changing position, the lifting rod of the single link assembly is matched with the lifting pressure plate and can reciprocate up and down along with the lifting pressure plate.
7. The integrated chain magazine of self-picking tool changers according to claim 1, wherein the robot moving push-out mechanism comprises a push-out slide mounted on the base and a push-out slide mounted in the push-out slide via a slide rail and linearly reciprocated along the slide rail by a moving push-out driving unit.
8. The integrated chain type tool magazine for self-picking tool changing according to claim 7, wherein the tool changing manipulator is composed of a rotating arm and a split type tool claw, the rotating arm is arranged at the output end of a manipulator rotating driving unit and can rotate under the action of the manipulator rotating driving unit, and the manipulator rotating driving unit is fixed at the end part of the push-out sliding plate; two split type tool claws are respectively arranged at two ends of the rotating arm, and springs are arranged in the split type tool claws.
9. The integrated chain type tool magazine capable of self-picking and tool changing is characterized in that the split type tool claw achieves tool taking and tool placing through Z-direction movement of a machine tool spindle.
10. The integrated chain tool magazine capable of self-picking tool changing according to claim 1, wherein a position sensor is arranged on the base, and the initial position of the tool magazine and the tool changing position can be accurately fed back.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920220271.6U CN209737132U (en) | 2019-02-21 | 2019-02-21 | Integrated chain type tool magazine capable of automatically picking up and changing tools |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920220271.6U CN209737132U (en) | 2019-02-21 | 2019-02-21 | Integrated chain type tool magazine capable of automatically picking up and changing tools |
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| CN209737132U true CN209737132U (en) | 2019-12-06 |
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| CN201920220271.6U Active CN209737132U (en) | 2019-02-21 | 2019-02-21 | Integrated chain type tool magazine capable of automatically picking up and changing tools |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111015320A (en) * | 2019-12-09 | 2020-04-17 | 深圳模德宝科技有限公司 | Cutter clamping equipment |
| CN111136492A (en) * | 2020-02-19 | 2020-05-12 | 深圳市盛利达数控设备有限公司 | Numerical control machine tool with knife bin device |
| CN111251039A (en) * | 2020-03-30 | 2020-06-09 | 北京博鲁斯潘精密机床有限公司 | Flexible self-adaptive machining center tool magazine |
| CN111976028A (en) * | 2020-08-20 | 2020-11-24 | 江西衡源智能装备有限公司 | Multi-cutter synchronous taking and replacing device, cutter magazine device and multi-spindle machining machine tool |
-
2019
- 2019-02-21 CN CN201920220271.6U patent/CN209737132U/en active Active
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111015320A (en) * | 2019-12-09 | 2020-04-17 | 深圳模德宝科技有限公司 | Cutter clamping equipment |
| CN111136492A (en) * | 2020-02-19 | 2020-05-12 | 深圳市盛利达数控设备有限公司 | Numerical control machine tool with knife bin device |
| CN111136492B (en) * | 2020-02-19 | 2021-04-20 | 深圳市盛利达数控设备有限公司 | Numerical control machine tool with knife bin device |
| CN111251039A (en) * | 2020-03-30 | 2020-06-09 | 北京博鲁斯潘精密机床有限公司 | Flexible self-adaptive machining center tool magazine |
| CN111976028A (en) * | 2020-08-20 | 2020-11-24 | 江西衡源智能装备有限公司 | Multi-cutter synchronous taking and replacing device, cutter magazine device and multi-spindle machining machine tool |
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