JP7349753B1 - Machine tool tool change machine arm - Google Patents

Abstract

The present invention provides a tool changing machine arm for a machine tool that uses electric power as the main power for driving the tool changing machine arm. A tool changing machine arm 100 of a machine tool includes a first motor 50 attached to a device body 10, a transmission configuration, and a rotating seat 30, and the transmission configuration includes a first rotation shaft 41, a second rotation shaft 41, and a rotation seat 30. The first rotating shaft 41 and the second rotating shaft 42 include a shaft 42, a first swinging arm 43, a second swinging arm 44, and an interlocking part 45, and the first rotating shaft 41 and the second rotating shaft 42 are installed in parallel, and the first swinging arm 43 is installed connected to the first rotating shaft 41, the second swinging arm 44 is installed connected to the second rotating shaft 42, and the interlocking part 45 has both ends connected to the first rotating shaft 41. It is pivotally connected to the movable arm 43 and the second swing arm 44, and one end of the second rotation shaft 42 is fixedly connected to the pivot seat 30. When the first motor 50 is driven to rotate the first rotating shaft 41, the rotating seat 30 is interlocked and reversed. [Selection diagram] Figure 1

Description

The present invention relates to a machining center, and more particularly to a tool changing machine arm of a machine tool.

Known machining centers in which a tool magazine is arranged achieve the purpose of rapidly changing the work tools by means of an automatic tool change mechanism. The automatic tool exchange mechanism includes a tool exchange arm configured such that one end of a rotation axis is connected to a tool arm, and the rotation axis is interlocked to rotate the tool arm and exchange tools. It is driven by On the other hand, in order to smoothly exchange tools for the tools located on the spindle of a machining center and the tools in the tool magazine, some types of tool exchange arms are further fixed with two predetermined fixing points. It is necessary to control the point so that it can be displaced between the points.

Mechanisms that require the tool change arm to reciprocate between two fixed points, a 0 degree angle and a 90 degree angle, attach the tool change arm to a pivot seat that can rotate over a 90 degree range. It is something. In order to push the rotating seat smoothly and stably, a known method has been adopted in which a hydraulic cylinder capable of outputting a relatively large amount of power is selected as the power source. However, hydraulic cylinders are subject to limitations such as leakage of hydraulic fluid, environmentally unfriendly problems caused during post-treatment of the hydraulic fluid, and the fact that the temperature of the hydraulic fluid must not be too high during use. I end up getting beaten up. Therefore, there is a need to improve the conventional method of using hydraulic means to push the rotary seat to rotate it. Furthermore, since a hydraulic power source is also used as the power source for driving the rotating shaft of the tool exchange arm, there is a need for improvement as well.

In view of this, it is an object of the present invention to provide a tool changer arm of a machine tool in which electrical power control is the main power for driving the tool changer arm into operation.

To achieve the above object, the present invention provides a tool changing machine arm for a machine tool, which includes an instrument body, a transmission structure, a first motor and a rotating seat. Among them, the transmission configuration includes a first rotating shaft, a second rotating shaft, a first swinging arm, a second swinging arm, and an interlocking part, and the first rotating shaft and the second rotating shaft are respectively connected to the device. The main body is rotatably bored, and a portion of the first rotation shaft and the second rotation shaft are located outside the device main body. The first swing arm is fixedly connected to an external part of the device body at the first rotation axis, and the second swing arm is fixedly connected to an external part of the device body at the second rotation axis. Fixed and connected. Each of the interlocking parts has both ends pivotally connected to the first swing arm and the second swing arm. The first motor is for interlocking to rotate the first rotating shaft. The rotating seat and the second rotating shaft are fixedly connected and are capable of reciprocating rotation between the first position and the second position.

The effect of this invention is that by matching the transmission structure to the first motor, it is possible to output a relatively large power only through the hydraulic cylinder, which prevents hydraulic oil from leaking into the conventional hydraulic cylinder or leaving hydraulic oil behind. This means that problems such as environmentally unfriendly problems that occur during processing can be improved.

1 is a perspective view of a tool changing machine arm of a machine tool according to a preferred embodiment of the invention; FIG. FIG. 2 is a front view of the tool change machine arm of the machine tool shown in FIG. 1; 2 is a rear view of the tool change machine arm of the machine tool shown in FIG. 1; FIG. 2 is an exploded view of the tool change machine arm of the machine tool shown in FIG. 1; FIG. 5 is an exploded view showing a part of the configuration in FIG. 4. FIG. FIG. 3 is a front view showing the operating state of the tool changing machine arm of the machine tool. FIG. 2 is a perspective view of some configurations in a tool changing machine arm of a machine tool. 8 is a right side view of FIG. 7. FIG. This figure shows the reversed state of the rotating seat in the tool changing machine arm of the machine tool in the same way as FIG. 8 . 5 is an exploded view showing a part of the configuration in FIG. 4. FIG. 11 is an exploded view showing a part of the configuration in FIG. 10. FIG. FIG. 2 is a perspective view showing a partial configuration of a tool changing machine arm of a machine tool. 13 is a front view showing a combination of the configurations shown in FIG. 12. FIG.

In order to more clearly explain the present invention, preferred embodiments will be described in detail below with reference to the drawings. As shown in FIGS. 1 to 3, a tool changing machine arm 100 of a machine tool according to a preferred embodiment of the present invention is for changing a tool located in a spindle of a machine tool and a tool in a tool magazine. The tool exchange machine arm 100 includes a device body 10 and a tool exchange arm 20. The device main body 10 is fixed so that it cannot move. The tool exchange arm 20 is connected to the device main body 10 in a manner controlled by a rotating seat 30 to reciprocate between two predetermined fixing points. Also, the selection of the fixing points may be set according to the specific needs of the operation. The tool changing arm 20 according to this embodiment is controlled to reciprocate between two fixed points: a 0 degree (see FIG. 2) angle and a 90 degree (see FIG. 6) angle. Further, the tool exchange arm 20 includes a rotating shaft 22 and a tool arm 24. The rotating shaft 22 can be controlled to rotate. The tool arm 24 is connected to one end of the rotating shaft 22, and has opposite ends for locking a tool rod (not shown) therebetween. The tool arm 24 rotates and switches by 180 degrees in conjunction with the rotating shaft 22.

As shown in FIGS. 4 to 11, the tool changing machine arm 100 according to this embodiment includes a transmission arrangement 40, a first motor 50, a first cam indexing device 60, a position limiting arrangement 70, and a second cam indexing device 80. and a second motor 90.

The transmission structure 40 includes a first rotation shaft 41 , a second rotation shaft 42 , a first swing arm 43 , a second swing arm 44 , and an interlocking section 45 . Of these, the first rotating shaft 41 and the second rotating shaft 42 are rotatable and pass through a through hole in the front side plate 12 of the device main body 10, respectively. It is preferable that a bearing seat 46 is attached to the through hole so that the rotating shaft passes through the bearing seat 46, so that the rotating shaft can be stably supported by the bearing seat 46 and rotated smoothly. Furthermore, one end of the second rotating shaft 42 is fixedly connected to the rotating seat 30 via a plurality of bolts 47 . Further, the second rotating shaft 42 can be interlocked to reverse the rotating seat 30. The first swing arm 43 and the second swing arm 44 have an eccentric configuration. Of these, the first swing arm 43 is fixedly connected to the external part of the device main body 10 at the first rotation shaft 41, and the second swing arm 44 is fixedly connected to the external part of the device main body 10 at the second rotation shaft 42. 10 is fixedly connected to the external part of the 10. The interlocking portion 45 has opposite ends that are each pivotally connected to the first swing arm 43 and the second swing arm 44 to form an interlockable configuration together.

The first rotation shaft 41 and the second rotation shaft 42 are installed in parallel, and as shown in FIGS. 2 and 4, the first swing arm 43 rotates around the axis of the first rotation shaft 41. The second swing arm 44 rotates around the axis of the second rotating shaft 42, and the second swing arm 44 rotates from the pivot center between the first swing arm 43 and the interlocking part 45. 43 is defined as a first distance L1, and the distance from the pivot center of the second swing arm 44 and the interlocking part 45 to the center of rotation of the second swing arm 44 is defined as a second distance L2. When defined as , the first distance L1 is smaller than the second distance L2.

The first motor 50 is for interlocking to rotate the first rotating shaft 41. The first motor 50 according to this embodiment has a reduction gear 52 connected to its tip. The first cam indexing device 60 is installed between the speed reducer 52 and the transmission structure 40. As shown in FIG. 5, the first cam indexing device 60 includes a first input shaft 62, a first output shaft 64, and a first index arrangement 66 installed in a case 61. Among them, the first input shaft 62 is installed parallel to the first output shaft 64, and one end thereof passes through the sheet metal 61a of the case 61. A portion of the first input shaft 62 enters the speed reducer 52, and the first motor 50 is interlocked with the speed reducer 52 so that the first input shaft 62 is rotated. The first output shaft 64 is coaxially connected to the first rotating shaft 41 via a plurality of bolts 63. Moreover, in reality, a system in which the first output shaft 64 and the first rotating shaft 41 are integrated is not excluded. The first index configuration 66 is for interlocking the first input shaft 62 and the first output shaft 64. The first index arrangement 66 according to this embodiment includes a first position change cam 661, a first index head 662 and a plurality of first index parts 663, in which the first input shaft 62 is connected to the first position change cam 661, a first index head 662, and a plurality of first index parts 663. The first position changing cam 661 is bored in a manner that can be interlocked to rotate the first index head 662, and the first index head 662 is interlocked with the first output shaft 64 or the first rotation shaft 41. Depending on the configuration, the first output shaft 64 and the first rotation shaft 41 are provided around a location where they abut against each other. A mode in which the first input shaft 62 and the first position changing cam 661 are interlocked, a mode in which the first index head 662 and the first output shaft 64 are interlocked, or a mode in which the first index head 662 and the first rotation shaft are interlocked. In this embodiment, the mode of interlocking 41 is intended to achieve the purpose of interlocking using a combination mode of a key and a keyway. These first index parts 663 are installed on the first index head 662 at intervals.

In the above description, when the motor 50 drives the first input shaft 62 and rotates the first position changing cam 661, the first position changing cam 661 is connected to the first index portion. By colliding and pushing 663, the first index head 662 is interlocked to rotate the first rotating shaft 41. Both ends of the interlocking part 45 are pivotally connected to the first rotating shaft 41 and the second rotating shaft 42, and the first swinging is performed from the pivot center between the first swinging arm 43 and the interlocking part 45. The distance from the center of rotation of the arm 43 (that is, the first distance L1) is the distance from the pivot center of the second swing arm 44 and the interlocking part 45 to the center of rotation of the second swing arm 44 (that is, the second distance L2), the first swing arm 43 interlocked with the first rotation shaft 41 can swing at a large angle, and the second swing arm 44 can swing within a relatively small angle range. The purpose is to interlock so that the first rotating shaft 41 and the second rotating shaft 42 rotate together with each other in a synchronized manner. In this embodiment, the first swing arm 43 is interlocked to swing between an angle of 0 degrees and an angle of 180 degrees in forward and reverse directions via the first rotation shaft 41 ( (See FIGS. 2 and 6), the second swing arm 44 swings back and forth between an angle of 0 degrees and an angle of 90 degrees. In another embodiment, the first rotating shaft 41 is interlocked to rotate the first swing arm 43 by one rotation, and the second swing arm 44 is moved at an angle of 0 degree by the interlocking part 45. This does not preclude a single back-and-forth swing between and an angle of 90 degrees.

In addition, in order to reduce the entire volume of the first cam indexing device 60, the first index portions 663 according to this embodiment are installed on the front and back sides of the first index head 662, respectively, and The position changing cam 661 includes two cam blocks 661a, and each of the two cam blocks 661a uses a form of relay to interfere with the first index portion 663 installed on the front and back sides of the first index head 662. to rotate the first index head 662 smoothly. Although the first index portion 663 is a bearing with a handle, it is not excluded that the first index portion 663 may be configured to have another equivalent role, such as a roller. The first cam indexing device 60 is a parallel cam indexing device that generates a large torque. Note that the cam indexing device may be installed such that the input shaft and output shaft according to other embodiments are not parallel. For example, when the input shaft has a worm gear, the input shaft and output shaft are installed perpendicularly.

As shown in FIGS. 7 and 8, the rotating seat 30 according to this embodiment is rectangular and has a first side surface 32 and a second side surface 34. As shown in FIGS. According to the above description, the rotating seat 30 is reversed as the second rotating shaft 42 rotates. The position restriction configuration 70 includes a first baffle surface that the first side surface 32 abuts, and a second baffle surface that the second side surface 34 abuts. In this embodiment, the position limiting configuration 70 includes a first blocking rod 72 and a second blocking rod 74 that stand up on the device body 10, and the first blocking rod 72 has a ceiling surface that forms the first blocking surface. The first head portion 721 has a first head portion 721. The second blocking rod 74 has a second head portion 741 whose ceiling surface constitutes the second obstructing surface. Preferably, the first head part 721 and the second head part 741 are designed according to an adjusted configuration such that they are displaceable along the axial direction, for example according to the configuration of a threaded connection to achieve the said purpose. . Moreover, FIG. 8 shows that the first side surface 32 of the rotating seat 30 contacts the first head part 721 but remains at the first position P1, and FIG. This indicates that the second side surface 34 of the rotating seat 30 contacts the second head portion 741 but remains at the second position P2.

As shown in FIGS. 10 and 11, the second cam indexing device 80 is installed between the rotating seat 30 and the tool changing arm 20, and the second motor 90 has a front end connected to the reducer 92. By being connected, it is installed below the second cam indexing device 80. When the rotating seat 30 is rotating, the tool changing arm 20, the second cam indexing device 80, and the second motor 90 change the swinging direction as the rotating seat 30 is reversed. It turns out. The second cam indexing device 80 includes a case 82 , a second input shaft 84 , a second output shaft 86 and a second index arrangement 88 .

The case 82 is fixedly connected to the pivot seat 30 through a plurality of bolts 81 . The second input shaft 84 , the second output shaft 86 , and the second index structure 88 are installed in the case 82 . Moreover, the second input shaft 84 and the second output shaft 86 are installed in parallel. One end of the second input shaft 84 enters the speed reducer 92 , and the second motor 90 is interlocked to rotate the second input shaft 84 via the speed reducer 92 . The second output shaft 86 has one end extending from the case 82 and is coaxially connected to the rotating shaft 22 of the tool exchange arm 20 via a shaft joint 83 .

The second index configuration 88 is for interlocking the second input shaft 84 and the second output shaft 86. The second index configuration 88 according to this embodiment includes a second position change cam 881, a second index head 882, and a plurality of second index parts 883, in which the second input shaft 84 is connected to the second position change cam The second position changing cam 881 is bored according to a form that can be interlocked to rotate the second index head 881, and the second output shaft 86 is also formed according to a form that can be interlocked with the second index head 882. to be drilled. Regarding the interlocking form between the second input shaft 84 and the second position changing cam 881, and the interlocking form between the second output shaft 86 and the second index head 882, other than a mode in which a key and a keyway are combined, there are no integrated modes. The purpose of interlocking may be achieved by a configuration formed by: These second index parts 883 are installed on the second index head 882 at intervals. The second position change cam 881 according to this embodiment similarly has a configuration consisting of two cam blocks 881a, and has a plurality of cam blocks 881a on the front and back sides of the second index head 882, respectively, as handle bearings. When the second index portion 883 is installed and the second motor 90 is driven to rotate the second input shaft 84, the cam block 881a collides with and pushes the second index portion 883, causing the second output. The tool arm 24 is interlocked to rotate the shaft 86 , and is interlocked to rotate the rotary shaft 22 through the second output shaft 86 , which rotates. Interlock so that it moves.

To summarize the above, the tool changing machine arm 100 of a machine tool according to the present invention mainly uses electric power control as a power source for driving the tool changing machine arm to operate, and includes the first motor 50. In accordance with the first cam indexing device 60 and the transmission structure 40, the rotary seat 30 is interlocked with relatively large power (for example, output with large torque), and the tool exchange arm is connected to the rotary seat 30. 20. When loading loads such as the second cam indexing device 80 and the second motor 90, it is still possible to smoothly interlock and reciprocate between the two fixed points. In addition, by matching the second cam indexing device 80 to the second motor 90, the tool arm 24 of the tool exchange arm 20 travels 180 degrees to control rotation and switching for exchanging tools. The first motor 50 and the second motor 90 are three-phase AC motors, and according to the configuration in which the motors are equipped with an indexing device and a transmission structure 40, conventionally, two tool exchange arms are connected via hydraulic cylinders. The structure according to the present invention can solve problems such as leakage of hydraulic oil and environmentally unfriendly problems when post-processing the hydraulic oil when interlocking to move between fixed points. In addition, there is no restriction on use that the temperature of the hydraulic oil must not be too high. Although the loads mounted on the rotating seat 30 according to this embodiment are the tool exchange arm 20 and the second cam indexing device 80, the load is not limited to this load in actual application.

In addition to the single configuration, the interlocking unit 45 according to the embodiment described above may have a length-adjustable configuration. For example, it includes a first rod body 451 and a second rod body 452, and the first rod body 451 and the second rod body 452 are connected according to a configuration in which the butt length can be adjusted (for example, connected by locking). It's okay. Further, one end of the first rod main body 451 is pivotally connected to the first swing arm 43, and one end of the second rod main body 452 is pivotally mounted to the second swing arm 44. Due to the length-adjustable design, the interlocking part 45 has greater flexibility in installation, and can be easily attached even if the center distance between the first rotation shaft 41 and the second rotation shaft 42 changes slightly. may be applied. As shown in FIGS. 12 and 13, in one embodiment, the first rod body 451 is pivoted to the first swing arm 43 by abutting against the first bearing seat 453, and the second rod The main body 452 is pivotally connected to the second swing arm 44 by abutting against the second bearing seat 454, and the other ends of the first rod main body 451 and the second rod main body 452 are each formed into a T-shaped head. portions 451a and 452a, the T-head being received in the adjustment rod sleeve 455 and confining the T-head to the adjustment rod sleeve 455 by a pressure cap 456. Further, a disk spring 457 is installed between the T-shaped head portion 451a and the bottom wall of the adjustment rod sleeve 455, and a disk spring 458 is installed between the T-shaped head portion 452a and the pressure cap 456. By doing so, the configuration for adjusting the length of the interlocking portion 45 has a compensating effect, and the first swing arm 43 and the second swing arm 44 can be rotated more smoothly.

What has been described above are merely preferred embodiments of the present invention, and any equivalent substitutions based on the specification and claims of this invention are included within the scope of the patent of this invention.

100 Tool exchange arm of machine tool 10 Equipment body 12 Front side plate 20 Tool exchange arm 22 Rotating shaft 24 Tool arm 30 Rotating seat 32 First side 34 Second side 40 Transmission configuration 41 First rotating shaft 42 Second rotating shaft 43 First swing arm 44 Second swing arm 45 Interlocking part 451 First rod main body 451a T-shaped head part 452 Second rod main body 452a T-shaped head part 453 First bearing seat 454 Second bearing seat 455 Adjustment rod sleep 456 Pressure Cap 457 Disc spring 458 Disc spring 46 Bearing seat 47 Bolt 50 First motor 52 Reducer 60 First cam indexing device 61 Case 61a Sheet metal 62 First input shaft 63 Bolt 64 First output shaft 66 First index configuration 661 First Position change cam 661a Cam block 662 First index head 663 First index portion 70 Position restriction configuration 72 First blocking rod 721 First head portion 74 Second blocking rod 741 Second head portion 80 Second cam indexing device 81 Bolt 82 Case 83 Shaft coupling 84 Second input shaft 86 Second output shaft 88 Second index configuration 881 Second position conversion cam 881a Cam block 882 Second index head 883 Second index portion 90 Second motor 92 Reducer L1 First distance L2 Second distance P1 First position P2 Second position

Claims (12)

The main body of the device,
It includes a first rotating shaft, a second rotating shaft, a first swinging arm, a second swinging arm, and an interlocking part, and the first rotating shaft and the second rotating shaft are respectively rotatable with respect to the main body of the device. At the same time, a portion of the first rotating shaft and the second rotating shaft are located outside the device main body, and the first swing arm is located outside the device main body at the first rotating shaft. The second swing arm is fixedly connected to the external part of the device body at the second rotation axis, and the interlocking part is fixedly connected to the first swing arm and the second swing arm, respectively. a transmission arrangement having opposite ends pivotally connected to the swing arm;
a first motor for interlocking the first rotating shaft to rotate;
A tool changing machine for a machine tool, comprising a rotating seat that is fixedly connected to the second rotating shaft and is capable of reciprocally rotating between a first position and a second position. arm. The first swing arm rotates around the axis of the first rotation shaft, the second swing arm revolves around the axis of the second rotation shaft, and the first swing arm and the second swing arm rotate around the axis of the second rotation shaft. The first distance is defined as the center of rotation of the first swinging arm from the center of pivoting with the interlocking part, and the distance of the second swinging arm from the center of pivoting of the second swinging arm with the interlocking part. The tool changing machine arm of a machine tool according to claim 1, wherein when the second distance is defined as the second distance to the center of rotation, the first distance is smaller than the second distance. including a first cam indexer;
The first cam indexing device includes a first input shaft, a first output shaft, and a first index configuration, and the first motor is interlocked to rotate the first input shaft, and the first cam indexing device includes a first input shaft, a first output shaft, and a first index configuration. is installed on the first rotating shaft by coaxial connection, and the first index configuration is for interlocking the first input shaft and the first output shaft. Tool change machine arm of machine tool. The first input shaft and the first output shaft are installed in parallel,
The first indexing arrangement includes a first repositioning cam, a first indexing head, and a plurality of first indexing parts;
The first input shaft defines the first position change cam, the first output shaft defines the first index head, and the first index portions are spaced apart from each other. installed in the index head,
4. The tool changing machine arm of a machine tool according to claim 3, wherein the first position change cam is for colliding and pushing the first index part. including position-limited configurations;
The position limiting configuration includes a first baffle surface and a second baffle surface, the pivot seat has a first side surface and a second side surface,
When the first side surface abuts the first baffle surface, the pivot seat is located at the first position, and when the second side surface abuts the second baffle surface, the pivot seat is located at the first position. The tool changing machine arm of a machine tool according to claim 1, characterized in that the pivot seat is located in the second position. The position limiting configuration includes a first blocking rod and a second blocking rod installed in connection with the device body, the first blocking rod having a first head portion, and the second blocking rod having a second blocking rod. It has a head part,
The first head portion and the second head portion are adjustable to be displaced along the axial direction, the first head portion having the first baffle surface, and the second head portion having the first baffle surface. The tool changing machine arm of a machine tool according to claim 5, characterized in that it has two baffles. The interlocking part in the transmission configuration includes a first rod main body and a second rod main body that are connected and installed so that the butt length can be adjusted,
Claim 1, wherein one end of the first rod body is pivotally connected to the first swing arm, and one end of the second rod body is pivotally connected to the second swing arm. Tool change machine arm for the machine tool described. Including a tool changing arm installed connected to the rotating seat,
The tool exchange arm includes a rotating shaft and a tool arm, and the rotating shaft rotates under control;
The tool changer for a machine tool according to claim 1, wherein the tool arm is connected to one end of the rotating shaft and has opposite ends for locking the tool rod therebetween. mechanical arm. including a second cam indexer and a second motor;
The second cam indexing device is installed between the pivot seat and the tool change arm, and includes a second input shaft, a second output shaft, and a second index configuration;
The second motor is interlocked to rotate the second input shaft, and the second output shaft is coaxially connected to the rotation shaft,
9. The tool changing machine arm of a machine tool according to claim 8, wherein the second index arrangement is for interlocking the second input shaft and the second output shaft. The second input shaft and the second output shaft are installed in parallel,
The second index arrangement includes a second position change cam, a second index head, and a plurality of second index parts;
The second input shaft defines the second position change cam, the second output shaft defines the second index head, and the second index portions are spaced apart from each other. installed in the index head,
10. The tool changing machine arm of a machine tool according to claim 9, wherein the second position change cam is for colliding and pushing the second index part. The first motor is interlocked with the first rotation shaft so that the first swing arm swings between 0 degrees and 180 degrees in forward and reverse directions, and the second swing arm is The tool changing machine arm for a machine tool according to claim 1, wherein the arm reciprocates between 0 degrees and 90 degrees in angle due to the interlocking of the interlocking section. When the first swinging arm rotates and swings only once by the first rotating shaft, the second swinging arm rotates at an angle of 0 due to the interlocking of the interlocking part. The tool changer arm of a machine tool according to claim 1, wherein the arm reciprocates only once between 90 degrees and 90 degrees.