CN216882862U - Tool changing manipulator of processing machine - Google Patents

Abstract

A tool changing manipulator of a processing machine comprises a first motor, a transmission structure and a rotary seat which are arranged on a machine body, wherein the transmission structure comprises a first rotating shaft, a second rotating shaft, a first rocker arm, a second rocker arm and a linkage piece; therefore, when the first motor drives the first rotating shaft to rotate, the rotating seat is driven to turn over. Therefore, the problem of environmental pollution caused by leakage of hydraulic oil and subsequent treatment of the hydraulic oil when the hydraulic cylinder is used as power can be solved by matching the first motor with the transmission structure.

Description

Tool changing manipulator of processing machine

Technical Field

The utility model relates to a machining center, in particular to a tool changing manipulator of a machining machine.

Background

The known machining center machine with a tool magazine achieves the purpose of quickly replacing machining tools through an automatic tool changing mechanism, wherein the automatic tool changing mechanism comprises a tool changing arm, the tool changing arm is formed by connecting a tool arm at one end of a rotating shaft, and the rotating shaft is driven to rotate so as to drive the tool arm to rotate and change the tools. In practice, however, the tool changing arm of some machine types must be further capable of being manipulated and displaced between two fixed points so as to smoothly complete the tool changing between the tool on the spindle (spindle) of the machining center machine and the tool in the tool magazine (tool magazine).

In a mechanism in which a tool changer arm must reciprocate between two fixed points at angles of 0 degree and 90 degrees, the tool changer arm is mounted on a rotating base capable of rotating within a range of ninety degrees, and in order to smoothly and smoothly push the rotating base, a hydraulic cylinder capable of generating large output power is adopted as a power source in a known mode, but the hydraulic cylinder has the problem of environmental pollution caused by leakage of hydraulic oil and subsequent treatment of the hydraulic oil, and is limited by the fact that the temperature of the hydraulic oil is not too high in use. Therefore, the conventional hydraulic means is used to improve the rotation of the rotary seat, and the conventional power source for driving the rotary shaft of the tool changing arm is also used to review the same.

SUMMERY OF THE UTILITY MODEL

In view of the above, an object of the present invention is to provide a tool changing robot of a processing machine, which uses power control as the main power for driving the tool changing robot to actuate.

In order to achieve the above object, the present invention provides a tool changing manipulator of a processing machine, which includes a machine body, a transmission structure, a first motor and a rotary base. The transmission structure comprises a first rotating shaft, a second rotating shaft, a first rocker arm, a second rocker arm and a linkage part, wherein the first rotating shaft and the second rotating shaft respectively penetrate through the machine body in a rotatable mode, and part of the first rotating shaft and part of the second rotating shaft are positioned outside the machine body; the first rocker arm is fixedly connected with the part of the first rotating shaft positioned outside the machine body, and the second rocker arm is fixedly connected with the part of the second rotating shaft positioned outside the machine body; the linkage part is provided with two ends and is respectively pivoted with the first rocker arm and the second rocker arm; the first motor is used for driving the first rotating shaft to rotate; the rotating base is fixedly connected with the second rotating shaft and can rotate between a first position and a second position in a reciprocating manner.

The first rocker arm takes the axis of the first rotating shaft as a rotating center, the second rocker arm takes the axis of the second rotating shaft as a rotating center, a first distance is defined from the pivot joint center of the first rocker arm and the linkage piece to the rotating center of the first rocker arm, a second distance is defined from the pivot joint center of the second rocker arm and the linkage piece to the rotating center of the second rocker arm, and the first distance is smaller than the second distance.

The cam divider comprises a first input shaft, a first output shaft and a first indexing structure, wherein the first input shaft is driven by the first motor to rotate, the first output shaft is coaxially connected with the first rotating shaft, and the first indexing structure is used for linking the first input shaft and the first output shaft.

The first indexing structure comprises a first positioning cam, a first indexing disc and a plurality of first indexing pieces; the first force input shaft penetrates through the first indexing cam, the first force output shaft penetrates through the first indexing disc, the first indexing pieces are arranged on the first indexing disc at intervals, and the first indexing cam is used for pushing the first indexing pieces.

The rotating seat is provided with a first side surface and a second side surface, wherein when the first side surface is abutted against the first abutting surface, the rotating seat is located at the first position, and when the second side surface is abutted against the second abutting surface, the rotating seat is located at the second position.

The limiting structure comprises a first stop lever and a second stop lever which are connected with the machine body, the first stop lever is provided with a first head, the second stop lever is provided with a second head, the first head and the second head can be adjusted to move along the axial direction, the first head is provided with a first resisting surface, and the second head is provided with a second resisting surface.

The linkage part of the transmission structure comprises a first rod body and a second rod body, the first rod body and the second rod body are connected in a mode of adjusting the butt joint length, one end of the first rod body is pivoted with the first rocker arm, and one end of the second rod body is pivoted with the second rocker arm.

The cutter changing arm comprises a rotating shaft and a cutter arm, wherein the rotating shaft is controlled to rotate, and the cutter arm is connected with one end of the rotating shaft and provided with two opposite ends which are used for clamping and buckling a cutter bar respectively.

The second cam divider is arranged between the rotating seat and the tool changing arm and comprises a second force input shaft, a second force output shaft and a second dividing structure, wherein the second motor drives the second force input shaft to rotate, the second force output shaft is coaxially connected with the rotating shaft, and the second dividing structure is used for linking the second force input shaft and the second force output shaft.

The second indexing structure comprises a second indexing cam, a second indexing plate and a plurality of second indexing pieces; the second force input shaft penetrates through the second indexing cam, the second force output shaft penetrates through the second indexing plate, the second indexing parts are arranged on the second indexing plate at intervals, and the second indexing cam is used for abutting against the second indexing parts.

The first motor drives the first rocker arm to swing forward and backward between an angle of 0 degree and an angle of 180 degrees through the first rotating shaft, and the second rocker arm swings back and forth between the angle of 0 degree and the angle of 90 degrees through the linkage of the linkage part.

When the first motor drives the first rocker arm to swing for a circle through the first rotating shaft, the second rocker arm completes one-time reciprocating swing between an angle of 0 degree and an angle of 90 degrees through the linkage of the linkage piece.

The utility model has the advantages that the effect that the oil hydraulic cylinder can generate large output power can be realized by matching the first motor with the transmission structure, and the problem that the existing oil hydraulic cylinder is not environment-friendly due to hydraulic oil leakage and subsequent treatment of the hydraulic oil is solved.

Drawings

FIG. 1 is a perspective view of a tool changing robot of a processing machine according to a preferred embodiment of the present invention;

FIG. 2 is a front view of a tool changing robot of the processing machine of FIG. 1;

FIG. 3 is a rear view of a tool changing robot of the processing machine of FIG. 1;

FIG. 4 is an exploded view of a tool changing robot of the processing machine of FIG. 1;

FIG. 5 is an exploded view of a portion of the components of FIG. 4;

FIG. 6 is a front view showing an operation state of a tool changing robot of the processing machine;

FIG. 7 is a perspective view of a portion of the components of a tool changing robot of a processing machine;

FIG. 8 is a right side view of FIG. 7;

FIG. 9 is similar to FIG. 8 and shows a turning state of a rotary base in a tool changing robot of a processing machine;

FIG. 10 is an exploded view of a portion of the components of FIG. 4;

FIG. 11 is an exploded view of a portion of the components of FIG. 10;

FIG. 12 is a perspective view of a portion of the components of a tool changing robot of a processing machine; and

fig. 13 is a front assembled view of the components of fig. 12.

[ notation ] to show

100 tool changing manipulator of processing machine

10: body

12 front side plate

20, tool changing arm

22 rotating shaft

24: knife arm

30: rotary base

32 first side surface

34 second side surface

40, transmission structure

41 first rotating shaft

42 second rotating shaft

43 first rocker arm

44 second rocker arm

45, a linkage part

451 the first rod body

451a T-shaped head

452 second rod body

452a T-shaped head

453 a first bearing seat

454 second bearing seat

455 adjusting rod sleeve

456 pressing cover

457 disk-shaped elastic sheet

458 disk-shaped elastic sheet

46 bearing seat

47: bolt

50 first motor

52 speed reducer

60 first cam divider

61 casing

61a machine plate

62 first input shaft

63: bolt

64 first output shaft

66 first indexing arrangement

661 first rotation cam

661a cam block

662 first dividing disc

663 first dividing member

70, limiting structure

72 first stop lever

721 first head

74 second stop lever

741 second head

80 second cam divider

81 bolt

82 case

83 connecting shaft sleeve

84 second input shaft

86 second output shaft

88 second degree structure

881 second index cam

881a cam block

882: second scale

883 second indexing member

90: second motor

92 speed reducer

L1 first distance

L2 second distance

P1 first position

P2 second position

Detailed Description

In order to more clearly illustrate the present invention, a preferred embodiment will be described in detail with reference to the accompanying drawings. Referring to fig. 1 to 3, a tool changing robot 100 of a processing machine according to a preferred embodiment of the present invention is used for exchanging a tool on a spindle of the processing machine with a tool in a tool magazine, the tool changing robot 100 includes a machine body 10 and a tool changing arm 20, the machine body 10 is fixed, the tool changing arm 20 is connected to the machine body 10 through a rotating base 30 in a manner capable of being controlled to move back and forth between two fixed points, the selection of the fixed points is set according to actual working requirements, and the tool changing arm 20 of the present embodiment is controlled to turn back and forth between two fixed points with angles of 0 degree (see fig. 2) and 90 degree (see fig. 6); in addition, the tool changing arm 20 includes a rotating shaft 22 and a tool arm 24, the rotating shaft 22 can be driven to rotate, the tool arm 24 is connected to one end of the rotating shaft 22 and has two opposite ends for clamping a tool holder (not shown), and the tool arm 24 is driven by the rotating shaft 22 to perform 180 degrees rotation switching.

Referring to fig. 4 to 11, the tool changing robot 100 of the present embodiment further includes a transmission structure 40, a first motor 50, a first cam divider 60, a limiting structure 70, a second cam divider 80, and a second motor 90.

The transmission structure 40 includes a first rotating shaft 41, a second rotating shaft 42, a first swing arm 43, a second swing arm 44 and a linking member 45. The first rotating shaft 41 and the second rotating shaft 42 respectively pass through the through holes of the front side plate 12 of the machine body 10 in a rotatable manner, preferably, a bearing seat 46 is installed at the through hole, the rotating shaft passes through the bearing seat 46, the bearing seat 46 stably supports the rotating shaft and enables the rotating shaft to rotate smoothly, in addition, one end of the second rotating shaft 42 is fixedly connected to the rotating seat 30 through a plurality of bolts 47, and the second rotating shaft 42 can drive the rotating seat 30 to turn over. The first rocker arm 43 and the second rocker arm 44 are eccentric structures, wherein the first rocker arm 43 is fixedly connected to the portion of the first rotating shaft 41 located outside the machine body 10, and the second rocker arm 44 is fixedly connected to the portion of the second rotating shaft 42 located outside the machine body 10; the linking member 45 has two opposite ends and is pivotally connected to the first swing arm 43 and the second swing arm 44 respectively to form a structure capable of linking.

The first rotating shaft 41 and the second rotating shaft 42 are disposed in parallel, please refer to fig. 2 and fig. 4, the first swing arm 43 uses the axis of the first rotating shaft 41 as a rotation center, the second swing arm 44 uses the axis of the second rotating shaft 42 as a rotation center, thereby defining a first distance L1 from the pivot center of the first swing arm 43 and the linking member 45 to the rotation center of the first swing arm 43, and a second distance L2 from the pivot center of the second swing arm 44 and the linking member 45 to the rotation center of the second swing arm 44, wherein the first distance L1 is smaller than the second distance L2.

The first motor 50 is used to drive the first rotating shaft 41 to rotate, a speed reducer 52 is connected to the front end of the first motor 50 in this embodiment, and the first cam divider 60 is disposed between the speed reducer 52 and the transmission structure 40. As shown in fig. 5, the first cam divider 60 includes a first input shaft 62, a first output shaft 64 and a first indexing structure 66 disposed in a housing 61; the first input shaft 62 and the first output shaft 64 are arranged in parallel, one end of the first input shaft 62 penetrates through a machine plate 61a of the case 61, a part of the first input shaft 62 extends into the speed reducer 52, and the first motor 50 drives the first input shaft 62 to rotate through the speed reducer 52; the first output shaft 64 is coaxially connected to the first rotating shaft 41 through a plurality of bolts 63, but it is not excluded in practice that the first output shaft 64 and the first rotating shaft 41 may be integrally formed; the first indexing structure 66 is used to link the first input shaft 62 and the first output shaft 64, the first indexing structure 66 of this embodiment includes a first indexing cam 661, a first indexing disc 662 and a plurality of first indexing members 663, wherein the first input shaft 62 penetrates the first indexing cam 661 in a manner capable of driving the first indexing cam 661 to rotate, the first indexing disc 662 is sleeved on a portion where the first output shaft 64 and the first rotating shaft 41 are butted in a manner capable of linking the first output shaft 64 or the first rotating shaft 41, the first input shaft 62 and the first indexing cam 661 are linked, and the first indexing disc 662 and the first output shaft 64 or the first indexing disc 662 are linked with the first rotating shaft 41 in this embodiment, which is a mode of key and key slot matching to achieve the purpose of linking; the first indexing members 663 are arranged on the first indexing plate 662 at intervals.

In the above, when the motor 50 drives the first input shaft 62 to drive the first rotating cam 661 to rotate, the first rotating cam 661 drives the first dividing disc 662 to rotate the first rotating shaft 41 by pushing the first dividing member 663, and based on the relationship between the two ends of the linking member 45 pivotally connecting the first rotating shaft 41 and the second rotating shaft 42 and the pivotal connection center between the first rocker arm 43 and the linking member 45 and the rotational center between the first rocker arm 43 (i.e. the first distance L1) being smaller than the relationship between the pivotal connection center between the second rocker arm 44 and the linking member 45 and the rotational center between the second rocker arm 44 (i.e. the second distance L2), the first rocker arm 43 driven by the first rotating shaft 41 can drive the second rocker arm 44 to swing within a smaller angle range by swinging within a large angle, and the purpose that the first rotating shaft 41 synchronously drives the second rotating shaft 42 to rotate is achieved. In the present embodiment, the first rotating shaft 41 drives the first swing arm 43 to swing forward and backward between angles of 0 degree and 180 degrees (please refer to fig. 2 and 6), and the second swing arm 44 swings back and forth between angles of 0 degree and 90 degrees. However, in other embodiments, it is not excluded that when the first rotating shaft 41 drives the first swing arm 43 to swing for one circle, the second swing arm 44 completes one-time reciprocating swing between the angles of 0 degree and 90 degrees through the linkage of the linkage member 45.

In addition, in order to reduce the overall volume of the first cam divider 60, the first indexing member 663 of the present embodiment is respectively disposed on the front and back surfaces of the first dividing plate 662, and the first positioning cam 661 includes two cam blocks 661a respectively pushing against the first indexing member 663 disposed on the front and back surfaces of the first dividing plate 662 in a relay manner, so that the first dividing plate 662 can rotate smoothly. The first indexing member 663 is a shank bearing, but it is not excluded that other equivalent alternative structures, such as rollers, are possible. It should be noted that the first cam divider 60 is a parallel cam divider capable of generating a large torsion force, and the input shaft and the output shaft of the cam divider in other embodiments may be non-parallel, for example, when the input shaft has a worm structure, the input shaft and the output shaft are perpendicular to each other.

As shown in fig. 7 and 8, the rotating base 30 of the present embodiment is substantially rectangular and has a first side surface 32 and a second side surface 34, and as can be seen from the above, the rotating base 30 is turned over along with the rotation of the second rotating shaft 42. The position-limiting structure 70 includes a first abutting surface capable of providing the first side surface 32 to abut against, and a second abutting surface capable of providing the second side surface 34 to abut against, in this embodiment, the position-limiting structure 70 includes a first blocking rod 72 and a second blocking rod 74 vertically connected to the machine body 10, the first blocking rod 72 has a first head portion 721, and a top surface of the first head portion 721 constitutes the first abutting surface; the second stopper rod 74 has a second head 741, and the top surface of the second head 741 constitutes the second stop surface, and preferably, the first head 721 and the second head 741 are designed to be adjustable to move along the axial direction, for example, to be screwed to achieve the aforementioned purpose. Fig. 8 shows that the first side surface 32 of the rotating base 30 abuts against the first head portion 721 to stay at a first position P1, and fig. 9 shows that the second side surface 34 of the rotating base 30, which is turned over, abuts against the second head portion 741 to stay at a second position P2.

As shown in fig. 10 and 11, the second cam divider 80 is disposed between the rotary base 30 and the tool changer arm 20, and the second motor 90 is disposed below the second cam divider 80 through a reducer 92 connected to the front end, so that when the rotary base 30 rotates, the tool changer arm 20, the second cam divider 80 and the second motor 90 also change their swing directions along with the turning of the rotary base 30. The second cam divider 80 includes a housing 82, a second input shaft 84, a second output shaft 86, and a second indexing structure 88.

The chassis 82 is fixedly connected to the rotating base 30 through a plurality of bolts 81, the second input shaft 84, the second output shaft 86 and a second indexing structure 88 are arranged in the chassis 82, wherein the second input shaft 84 and the second output shaft 86 are arranged in parallel, one end of the second input shaft 84 extends into the speed reducer 92, and the second motor 90 drives the second input shaft 84 to rotate through the speed reducer 92; one end of the second output shaft 86 penetrates through the housing 82, and the second output shaft 86 is coaxially connected to the rotary shaft 22 of the tool changer 20 through a coupling sleeve 83.

The second indexing structure 88 is used for linking the second input shaft 84 and the second output shaft 86, the second indexing structure 88 of the present embodiment includes a second indexing cam 881, a second indexing disc 882 and a plurality of second indexing members 883, wherein the second input shaft 84 penetrates the second indexing cam 881 in a manner of driving the second indexing cam 881 to rotate, the second output shaft 86 also penetrates the second indexing disc 882 in a manner of linking with the second indexing disc 882, and the linking manners of the second input shaft 84 and the second indexing cam 881, the second output shaft 86 and the second indexing disc 882 can adopt a mode of matching keys and keyways and can also realize the linking purpose by making an integrally formed structure; the second indices 883 are spaced apart on the second index 882. The second indexing cam 881 of the present embodiment is also composed of two cam blocks 881a, a plurality of second indexing members 883, such as bearings with handles, are respectively disposed on the front and back surfaces of the second indexing plate 882, when the second motor 90 drives the second input shaft 84 to rotate, the cam blocks 881a push the second indexing members 883 to rotate in conjunction with the second output shaft 86, the rotating second output shaft 86 drives the rotating shaft 22 to rotate, and the rotating shaft 22 drives the knife arm 24 to rotate.

In summary, the tool changer 100 of the processing machine of the present invention mainly uses electric control as a power source for driving the tool changer, and includes that the first motor 50 is matched with the first cam divider 60 and the transmission structure 40 to drive the rotating base 30 with a large output power (such as a large torque output), and when the rotating base 30 carries heavy objects such as the tool changing arm 20, the second cam divider 80, and the second motor 90, the rotating base can still be smoothly driven to turn back and forth between two fixed points; and, the second motor 90 is used to control the tool arm 24 of the tool changing arm 20 to perform 180-degree tool changing rotation switching in cooperation with the second cam divider 80. The first motor 50 and the second motor 90 are ac three-phase motor motors, and the motors are matched with the divider and the transmission structure 40, so as to solve the problem of environmental pollution caused by leakage of hydraulic oil and subsequent treatment of hydraulic oil when the hydraulic cylinder is used as a tool changing arm to drive the tool changing arm to move between two fixed points. It should be noted that although the weights mounted on the rotary base 30 of the present embodiment are the tool changer arm 20 and the second cam divider 80, the actual application example is not limited to the weights.

Besides, the linkage 45 of the above embodiment can be a single component, and can also be a structure with adjustable length, for example, including a first rod 451 and a second rod 452, where the first rod 451 and the second rod 452 are connected in a manner (such as locking) capable of adjusting the butt length, where one end of the first rod 451 is pivoted with the first rocker 43, and one end of the second rod 452 is pivoted with the second rocker 44, and through the structural design with adjustable length, the linkage 45 is more flexible in installation, for example, adapted to the situation that the center distance between the first rotating shaft 41 and the second rotating shaft 42 is changed. Referring to fig. 12 and 13, in an embodiment, the first rod 451 is pivotally connected to the first rocker arm 43 by abutting against a first bearing seat 453, the second rod 452 is pivotally connected to the second rocker arm 44 by abutting against a second bearing seat 454, and the other ends of the first rod 451 and the second rod 452 respectively form a T-shaped head 451a and 452a, the T-shaped head is accommodated in an adjusting rod sleeve 455, and is limited in the adjusting rod sleeve 455 by a gland 456, wherein a disc-shaped elastic sheet 457 is disposed between the T-shaped head 451a and the bottom wall of the adjusting rod sleeve 455, and a disc-shaped elastic sheet 458 is disposed between the T-shaped head 452a and the gland 456, so that the length adjusting mechanism of the linkage 45 has a compensation effect, and the first rocker arm 43 and the second rocker arm 44 can rotate more smoothly.

The above description is only a preferred embodiment of the present invention, and all equivalent variations applying the scope of the present invention and the claims should be included in the scope of the present invention.

Claims (12)

1. A tool changing robot for a processing machine, comprising:

a body;

the transmission structure comprises a first rotating shaft, a second rotating shaft, a first rocker arm, a second rocker arm and a linkage piece, wherein the first rotating shaft and the second rotating shaft respectively penetrate through the machine body in a rotatable mode, and part of the first rotating shaft and part of the second rotating shaft are positioned outside the machine body; the first rocker arm is fixedly connected with the part of the first rotating shaft positioned outside the machine body, and the second rocker arm is fixedly connected with the part of the second rotating shaft positioned outside the machine body; the linkage part is provided with two ends and is respectively pivoted with the first rocker arm and the second rocker arm;

a first motor for driving the first rotating shaft to rotate; and

a rotary seat which is fixedly connected with the second rotating shaft and can rotate between a first position and a second position in a reciprocating way.

2. The tool changing robot of claim 1, wherein the first swing arm is pivoted about the axis of the first shaft, and the second swing arm is pivoted about the axis of the second shaft, wherein a first distance is defined between the pivoting center of the first swing arm and the linkage member and the pivoting center of the first swing arm, and a second distance is defined between the pivoting center of the second swing arm and the linkage member and the pivoting center of the second swing arm, and the first distance is smaller than the second distance.

3. The tool changing robot of claim 1, comprising a first cam divider, wherein the first cam divider comprises a first input shaft, a first output shaft and a first indexing structure, wherein the first motor drives the first input shaft to rotate, the first output shaft is coaxially connected to the first rotating shaft, and the first indexing structure is used to link the first input shaft and the first output shaft.

4. The tool changing robot of claim 3, wherein the first input shaft is parallel to the first output shaft, and the first indexing structure comprises a first indexing cam, a first index plate and a plurality of first indexing members; the first force input shaft penetrates through the first indexing cam, the first force output shaft penetrates through the first indexing disc, the first indexing pieces are arranged on the first indexing disc at intervals, and the first indexing cam is used for pushing the first indexing pieces.

5. The tool changing robot of a processing machine as claimed in claim 1, comprising a position limiting structure, the position limiting structure comprising a first abutting surface and a second abutting surface, the rotary base having a first side surface and a second side surface, wherein the rotary base is located at the first position when the first side surface abuts against the first abutting surface, and the rotary base is located at the second position when the second side surface abuts against the second abutting surface.

6. The tool changing robot of claim 5, wherein the position limiting structure comprises a first stop bar and a second stop bar connected to the machine body, the first stop bar having a first head portion and the second stop bar having a second head portion, wherein the first head portion and the second head portion are adjustable to move in the axial direction, and the first head portion has the first stop surface and the second head portion has the second stop surface.

7. The tool changing manipulator of claim 1, wherein the linkage of the transmission structure comprises a first rod and a second rod, the first rod and the second rod are connected in a manner capable of adjusting the length of the butt joint, wherein one end of the first rod is pivotally connected to the first rocker arm, and one end of the second rod is pivotally connected to the second rocker arm.

8. The tool changing robot of claim 1, further comprising a tool changing arm coupled to the rotary base, the tool changing arm including a rotary shaft and a tool arm, the rotary shaft being controlled to rotate, the tool arm being coupled to one end of the rotary shaft and having opposite ends for clamping a tool holder.

9. The tool changing robot of claim 8, comprising a second cam divider and a second motor, wherein the second cam divider is disposed between the rotary base and the tool changing arm, the second cam divider comprises a second input shaft, a second output shaft and a second indexing structure, the second motor drives the second input shaft to rotate, the second output shaft is coaxially connected to the rotating shaft, and the second indexing structure is used for linking the second input shaft and the second output shaft.

10. The tool changing robot of a processing machine as claimed in claim 9, wherein the second input shaft and the second output shaft are arranged in parallel, and the second indexing structure comprises a second indexing cam, a second indexing plate and a plurality of second indexing members; the second force input shaft penetrates through the second indexing cam, the second force output shaft penetrates through the second indexing plate, the second indexing parts are arranged on the second indexing plate at intervals, and the second indexing cam is used for abutting against the second indexing parts.

11. The tool changing robot of claim 1, wherein the first motor drives the first swing arm to swing forward and backward between an angle of 0 degrees and 180 degrees through the first rotating shaft, and the second swing arm swings back and forth between an angle of 0 degrees and 90 degrees through the linkage of the linkage member.

12. The tool changing manipulator of claim 1, wherein when the first motor drives the first swing arm to swing for one turn through the first rotating shaft, the second swing arm is linked by the linking member to swing back and forth at an angle between 0 degree and 90 degrees.

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