CN221389989U

CN221389989U - Automatic tool changing manipulator for machining center

Info

Publication number: CN221389989U
Application number: CN202323571677.4U
Authority: CN
Inventors: 李小国
Original assignee: Kunshan Taimaji Precision Machinery Technology Co ltd
Current assignee: Kunshan Taimaji Precision Machinery Technology Co ltd
Priority date: 2023-12-26
Filing date: 2023-12-26
Publication date: 2024-07-23
Anticipated expiration: 2033-12-26

Abstract

The utility model discloses an automatic tool changing manipulator for a machining center, belonging to the technical field of machining center mechanical manufacturing and aiming at solving the problem of cost rise caused by complex structure of a direct-drive disc type tool magazine in the prior art. The tool changing device comprises a mounting bracket, wherein a mounting plate is arranged on the mounting bracket in a sliding manner along the horizontal direction, a first driving mechanism for driving the mounting plate to reciprocate along the horizontal direction is further arranged on the mounting bracket, a tool changing module is arranged on the mounting plate, the tool changing module comprises a rotary cylinder fixedly arranged on the mounting plate, a clamping jaw cylinder is arranged at the output end of the rotary cylinder, and clamping jaws which can be mutually close to or far away from are arranged at the output end of the clamping jaw cylinder; the utility model can directly take the cutter from the direct-drive disc type cutter magazine, and carry the cutter to the mounting station for mounting after rotating the cutter by 90 degrees, thereby being beneficial to simplifying the function of the cutter magazine and reducing the design cost of the cutter magazine and having good economic benefit.

Description

Automatic tool changing manipulator for machining center

Technical Field

The utility model relates to an automatic tool changing manipulator for a machining center, and belongs to the technical field of machining center mechanical manufacturing.

Background

Along with the iteration of technology, the processing of numerical control machining center has gradually tended to automatic operation, in order to be convenient for change the cutter of processing operation, set up corresponding tool magazine in machining center in order to be convenient for automatic change cutter when carrying out different operations in the machining center, common tool magazine category has direct drive disc type tool magazine and chain manipulator tool magazine, direct drive disc type tool magazine is in order to save provincial treasury's volume, generally adopt the axis to rotate the transportation to the cutter with the parallel mode of horizontal direction, but this kind of mode is in the in-process of changing the sword, need rotate 90 with the spare cutter of tool magazine and make the cutter just can normally install after facing down, traditional rotatory mode is that every tool magazine all can be rotated alone and carry to the mounted position by the manipulator again, but this kind of mode needs the drive quantity that sets up more, the cost is great, be unfavorable for satisfying diversified user demand.

Disclosure of Invention

The utility model aims to overcome the defects in the prior art, and provides an automatic tool changing manipulator for a machining center, which is used for tool changing work of the machining center, and the manipulator can directly take a tool from a direct-drive disc type tool magazine and convey the tool to a mounting station for mounting after rotating the tool by 90 degrees, thereby being beneficial to simplifying the function of the tool magazine so as to reduce the design cost of the tool magazine and having good economic benefit.

In order to achieve the above purpose, the utility model is realized by adopting the following technical scheme:

The utility model provides an automatic tool changing manipulator for a machining center, which comprises a mounting bracket, wherein a mounting plate is arranged on the mounting bracket in a sliding manner along the horizontal direction, a first driving mechanism for driving the mounting plate to reciprocate along the horizontal direction is further arranged on the mounting bracket, a tool changing module is arranged on the mounting plate, the tool changing module comprises a rotary cylinder fixedly arranged on the mounting plate, a clamping jaw cylinder is arranged at the output end of the rotary cylinder, and clamping jaws which can be mutually close to or far away from each other are arranged at the output end of the clamping jaw cylinder.

Specifically, the installing support is the U type wholly, the mounting panel is mirror symmetry and locates the both sides of installing support, two connect through the slide bar between the mounting panel, the slide bar slides and runs through the installing support, tool changing module number has two and locates respectively on the corresponding mounting panel, the installing support passes through rotation center and is connected with manipulator or lift module, two clamping jaw and rotation center are located same straight line.

Specifically, be provided with two U type photoelectric sensor on the installing support, install the response piece that is used for removing between two U type photoelectric sensor on the slide bar.

Specifically, be equipped with the spacing mouth on the installing support, through limiting plate fixed connection between first actuating mechanism's the output and the slide bar, the limiting plate passes from the spacing mouth.

Specifically, the middle part position of installing support fixed mounting has the center seat, the overall structure C type of center seat, center of rotation is located on the center seat.

Specifically, the flexible gasket is installed through the guide plate on the both sides of installing support, wear to offer on the guide plate with slide bar diameter assorted perforation.

Specifically, two limiting joints are fixedly arranged on the mounting plate, the output end of the rotary cylinder is fixedly provided with a stop bar, and the two limiting joints are used for limiting the rotation angle of the stop bar to be 90+/-0.5 degrees.

Compared with the prior art, the utility model has the beneficial effects that:

According to the application, the mounting bracket is provided with the slidable mounting plate for pushing the mounting plate to the position of the tool magazine where the tool is required to be taken, the tool is taken by utilizing the clamping action of the clamping jaw cylinder, the tool is retracted after being taken, the tool orientation is adjusted by the rotation action of the rotating cylinder, and finally the taken tool is mounted on the equipment by utilizing the corresponding action mechanism;

The setting mounting panel sets up with the tool changing module relatively, can be when one of them gets the sword another module and go on down the sword, uses in turn can be used for when the tool magazine takes the cutter with the cutter that will use put down and wait for reserve storage, and the continuity of cutter change is effectively and be favorable to the guarantee, protection cutter itself that can be fine.

Drawings

Fig. 1 is a schematic diagram of the overall structure of a tool changing manipulator provided by the utility model;

Fig. 2 is a schematic structural diagram of a tool changing manipulator according to the present utility model;

FIG. 3 is a side view of a tool changing manipulator provided by the present utility model;

FIG. 4 is a cross-sectional view in the A-A direction of a tool changing manipulator provided in accordance with the embodiment of FIG. 3;

reference numerals: 1. a mounting bracket; 2. a mounting plate; 3. a first driving mechanism; 4. a rotary cylinder; 5. a clamping jaw cylinder; 6. a clamping jaw; 7. an induction piece; 8. a U-shaped photoelectric sensor; 9. a center seat; 10. a limiting plate; 11. a slide bar; 12. a limit joint; 13. the threading plate.

Description of the embodiments

The utility model is further described below with reference to the accompanying drawings. The following examples are only for more clearly illustrating the technical aspects of the present utility model, and are not intended to limit the scope of the present utility model.

In the description of the present utility model, it should be understood that the terms "center", "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are merely for convenience in describing the present utility model and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present utility model. Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first", "a second", etc. may explicitly or implicitly include one or more such feature.

In the description of the present utility model, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present utility model can be understood by those of ordinary skill in the art in a specific case.

Examples

The automatic tool changing manipulator for the machining center is used for directly taking tools from a direct-drive disc type tool magazine and carrying the tools to a mounting station for mounting after rotating the tools by 90 degrees, is beneficial to simplifying the functions of the tool magazine so as to reduce the design cost of the tool magazine, has good economic benefits, and in order to achieve the function of the manipulator, the automatic tool changing manipulator comprises a mounting bracket 1, as shown in fig. 1, the mounting bracket 1 is provided with a mounting plate 2 in a sliding manner along the horizontal direction, the mounting bracket 1 is also provided with a first driving mechanism 3 (which can be used as a cylinder directly, and has low control and use cost) for driving the mounting plate 2 to reciprocate along the horizontal direction, the mounting plate 2 is provided with a tool changing module, and particularly, the tool changing module comprises a rotary cylinder 4 fixedly arranged on the mounting plate 2, the output end of the rotary cylinder 4 is provided with a clamping jaw cylinder 5, and the output end of the clamping jaw cylinder 5 is provided with a clamping jaw 6 which can be mutually close to or far away from each other, so that the clamping position of the tool is locked by utilizing the function of the clamping jaw 6 so as to realize the picking of a replacement tool. When the device is used, the cutter head in the direct-drive disc type cutter magazine is ejected by one end distance so that the device can clamp the cutter head when moving, when clamping operation is performed, the mounting plate 2 is driven by the first driving mechanism 3 to move to a position close to the cutter magazine, at the moment, the clamping jaw 6 is lifted up as shown in the state shown in fig. 1, the clamping jaw cylinder 5 moves after moving to the cutter taking position, after clamping the cutter is realized, the first driving mechanism 3 is retracted again, the rotating cylinder 4 controls the clamping jaw cylinder 5 to rotate ninety degrees so as to rotate the cutter in the original horizontal state to the vertical state, and finally, the corresponding mechanical arm or other action units drive the mounting bracket 1 to integrally rotate 180 degrees (other angles) and then correspondingly lift, so that the mounting action of the cutter for taking is realized.

According to the automatic tool changing manipulator for the machining center, in consideration of the fact that a tool after executing actions is required to be lowered during tool taking, in order to avoid gaps among actions, the whole mounting bracket 1 is designed to be U-shaped, the mounting plates 2 are arranged on two sides of the mounting bracket 1 in a mirror symmetry mode, the two mounting plates 2 are connected through the sliding rods 11, the sliding rods 11 penetrate through the mounting bracket 1 in a sliding mode, at the moment, the number of the tool changing modules is two and are respectively arranged on the corresponding mounting plates 2, the mounting bracket 1 is connected with the manipulator or the lifting module through the rotation center, the two clamping jaws 6 and the rotation center are designed to be located on the same straight line, through the design, the two clamping jaws 6 can still move to corresponding material taking or material discharging positions after rotating 180 degrees, the action modes of the mechanisms are similar, the two mounting plates 2 are connected through the sliding rods 11, the first driving mechanism 3 can simultaneously control the mounting plates 2 on two sides to move correspondingly, the driving quantity can be saved, and accordingly production cost is further reduced.

In order to facilitate detection of whether the mounting plate 2 drives the clamping jaw cylinder 5 to move in place, the two U-shaped photoelectric sensors 8 are arranged on the mounting bracket 1, and the sensing piece 7 for moving between the two U-shaped photoelectric sensors 8 is arranged on the sliding rod 11, so that the first driving mechanism 3 can correspond to one driving position no matter which mounting plate 2 is driven, and the number of the U-shaped photoelectric sensors 8 can be set to be multiple according to the use conditions of different positions and can be used for controlling multiple sections of distances. In some other embodiments, as shown in fig. 1, a limiting opening may be provided on the mounting bracket 1, at this time, the output end of the first driving mechanism 3 and the sliding rod 11 are fixedly connected through a limiting plate 10, the limiting plate 10 passes through the limiting opening, at this time, two ends of the limiting opening can realize the control of the limiting position when the mounting plate 2 moves to two sides (i.e. the edges of the limiting plate 10 and the limiting opening are in contact), the two modes can also be combined for use, the control signal transmitted by the U-shaped photoelectric sensor 8 is mainly used as a protection means, and the limiting opening is used for guaranteeing the safe braking distance.

In order to facilitate the installation of complex structures such as the limiting plate 10 on the installation support 1, the automatic tool changing manipulator for the machining center provided by the embodiment of the utility model can be provided with the center seat 9 fixedly arranged in the middle of the installation support 1, as shown in fig. 2, the whole structure C-shaped of the center seat 9 is designed, and the rotation center is arranged on the center seat 9 instead of the installation support 1. As shown in fig. 4, the position of the center seat 9 can be used for installing the components such as the cylinder or the slide rod 11, and the collision between the rotation center and the position of the required installation component can be prevented, so that the structure has better space utilization rate.

In order to prevent the sliding rod 11 from being blocked during threading, the threading plates 13 are arranged on two sides of the mounting bracket 1 through flexible gaskets, namely, the threading plates 13 are arranged on the mounting bracket 1 through flexible gaskets in a certain self-adaptive position amplitude variation mode, at the moment, through holes matched with the diameter of the sliding rod 11 are formed in the two threading plates 13, the through holes are smooth, and arc chamfers are arranged on the periphery of the through holes. If standard components are selected, the corresponding linear bearings can be used for replacement.

In order to prevent the deviation of the rotation angle of the rotary cylinder 4 from being too large, two limiting joints 12 are fixedly arranged on the mounting plate 2, as shown in fig. 1, a barrier strip (the barrier strip can also be fixedly arranged on one side of the clamping jaw cylinder 5 and is not shown in the figure) is fixedly arranged at the output end of the rotary cylinder 4, and the two limiting joints 12 are used for limiting the rotation angle of the barrier strip to 90 degrees plus or minus 0.5 degrees and ensuring the rotation in place and simultaneously ensuring the better transmission accuracy.

The foregoing is merely a preferred embodiment of the present utility model, and it should be noted that modifications and variations could be made by those skilled in the art without departing from the technical principles of the present utility model, and such modifications and variations should also be regarded as being within the scope of the utility model.

Claims

1. The utility model provides an automatic tool changing manipulator for machining center, its characterized in that, including installing support (1), it is provided with mounting panel (2) to follow the horizontal direction slip on installing support (1), still be equipped with on installing support (1) and be used for driving mounting panel (2) along horizontal direction reciprocating motion's first actuating mechanism (3), be provided with the tool changing module on mounting panel (2), the tool changing module is including fixed revolving cylinder (4) that set up on mounting panel (2), the output of revolving cylinder (4) is provided with clamping jaw cylinder (5), the output of clamping jaw cylinder (5) is equipped with clamping jaw (6) that can be close to each other or keep away from.

2. The automatic tool changing manipulator for the machining center according to claim 1, wherein the mounting bracket (1) is integrally in a U shape, the mounting plates (2) are arranged on two sides of the mounting bracket (1) in a mirror symmetry mode, two mounting plates (2) are connected through a sliding rod (11), the sliding rod (11) penetrates through the mounting bracket (1) in a sliding mode, two tool changing modules are respectively arranged on the corresponding mounting plates (2), the mounting bracket (1) is connected with the manipulator or the lifting module through a rotation center, and two clamping jaws (6) and the rotation center are positioned on the same straight line.

3. The automatic tool changing manipulator for the machining center according to claim 2, wherein two U-shaped photoelectric sensors (8) are arranged on the mounting bracket (1), and an induction piece (7) for moving between the two U-shaped photoelectric sensors (8) is arranged on the sliding rod (11).

4. The automatic tool changing manipulator for the machining center according to claim 3, wherein the mounting bracket (1) is provided with a limiting opening, the output end of the first driving mechanism (3) is fixedly connected with the sliding rod (11) through a limiting plate (10), and the limiting plate (10) penetrates through the limiting opening.

5. The automatic tool changing manipulator for the machining center according to claim 4, wherein a center seat (9) is fixedly arranged in the middle of the mounting bracket (1), the center seat (9) is of an integral structure C-shaped, and the rotating center is arranged on the center seat (9).

6. The automatic tool changing manipulator for the machining center according to claim 2, wherein the two sides of the mounting bracket (1) are provided with penetrating plates (13) through flexible gaskets, and the penetrating plates (13) are provided with through holes matched with the diameter of the sliding rod (11).

7. The automatic tool changing manipulator for a machining center according to any one of claims 1 to 6, wherein two limiting joints (12) are fixedly arranged on the mounting plate (2), a stop bar is fixedly arranged at the output end of the rotary cylinder (4), and the two limiting joints (12) are used for limiting the rotation angle of the stop bar to be 90 ° ± 0.5 °.