KR20230033384A - Ring-type automatic tool changer with gripper and lightweight structures with improved grip - Google Patents

Abstract

The present invention relates to a ring-type automatic tool changing device having a gripper with improved gripping force and a lightweight structure, which comprises: a plurality of magazines (110); a tool port (111) including a pair of holder blocks (112) and an elastic member (114); and a tool shifter (120) including an inclined block body (121) and a rotating body (122).

Description

Ring-type automatic tool changer with gripper and lightweight structures with improved grip}

The present invention relates to an automatic tool changer for a machine tool, and more specifically, to reduce the load of a servo motor, which is a drive system of the automatic tool changer, by reducing the weight of a tool port, etc., thereby improving driving force and improving gripper grip. The present invention relates to a ring-type automatic tool changer having a 'gripper with improved gripping force' and a lightweight structure, which can contribute to improving the structural safety and durability of the entire automatic tool changer, along with increasing the gripping force of the holder block.

Machining Center, which is one of the equipment that processes workpieces into various shapes and dimensions by cutting or non-cutting processing methods, can continuously perform milling, drilling, boring, tapping, reaming, etc. while automatically exchanging tools. It is a numerically controlled machine tool.

Machine tools such as the machining center include an automatic tool changer, and the automatic tool changer is an essential device for high-speed, high-efficiency, reduction of non-cutting time, reduction of processing time, and increase of processing efficiency.

Conventional automatic tool changers are generally divided into drum-type and chain-type.

1 is a cross-sectional view of a conventional drum-type automatic tool changer, and FIG. 2 is a plan view of the drum-type automatic tool changer of FIG. 1 .

As shown, in the conventional drum-type automatic tool changer, the outer periphery of the drum 4 is formed on a truncated conical casing 6 and a base 5 engaged with the guide rail 3 of the head so as to move up and down. A casing (6) is installed, and a disk (8) freely rotatable on a fixed shaft (7) protruding obliquely downward from the center of the base (5) and a drum at the tip of the fixed shaft (7) ( An annular groove 10 is formed between the casing 6 and both peripheries of the disk 8 by fixing the front wall 9 forming the front surface of the drum 4, A rotary tool drum 4 is known in which a plurality of movable plates 12 rotatably support an arbor 11 for holding a tool in an annular groove 10, respectively. .

However, in the conventional drum-type automatic tool changer as described above, the weight of the tool magazine increases, the cost increases due to the increase in the specification of the servo motor operating the tool magazine, and the mechanical efficiency decreases due to the increase in the moment of inertia. There is a problem.

Registered Patent Publication No. 1981-0000032 (Announced on February 2, 1981)

The present invention is to solve the above problems, and by reducing the weight of the tool port, etc., the load of the servo motor, which is the driving system of the automatic tool changer, is reduced, the driving force is improved, the grip force of the gripper is improved, and the holder block In addition to increasing the gripping force of the automatic tool changer, it is intended to provide a 'ring-type automatic tool changer having a gripper with improved gripper and a lightweight structure' that can contribute to the improvement of structural safety and durability of the entire automatic tool changer.

The ring-type automatic tool changer having a gripper with improved gripping force and a lightweight structure according to the present invention is provided as a ring-shaped rotating body, and a plurality of toll ports in which tools are stored are spaced at equal angles along the circumference of the circumferential surface. A pair of holder blocks spaced apart from each other so that the provided magazine and tool storage space for storing tools are formed inside, and the pair of holder blocks are disposed outside the pair of holder blocks and are elastic in a direction in which the pair of holder blocks are narrowed to each other. A tool port including an elastic member that is pressed by a tool port, an inclined block body having an inclined surface formed on one side, and formed to be inclined at an angle corresponding to the inclined angle of the inclined surface, one end of which is rotatably coupled to the inclined block body, and the other end of the inclined block body. A tool shifter including a rotating body having a first rotary gripper and a second rotary gripper for gripping tools at both ends is provided; The elastic member has a curvature of the same trajectory as the circular arc direction of the moving trajectory of the holder block, one side is fixed to one holder block, and the other side is a curved rod coupled to a structure capable of sliding inside a curved cylinder, It is a cylindrical structure with a hollow inside, a curved cylinder provided on the inner surface of the holder block in the opposite direction to which the curved bar is fixed, and a disk-shaped structure, built into the curved cylinder, and a ventilation hole is formed on some surfaces, A guide plate provided at the end of the curved bar, a conical guide provided on the bottom of the curved cylinder, and a conical coil spring having a structure surrounding the conical guide while being provided between the bottom of the guide plate and the bottom of the curved cylinder. It is characterized by including.

In addition, it is characterized in that the lattice-shaped reinforcing part is provided in the through hole of the rotating body.

In addition, a hollow portion is formed inside the holder block, and a reinforcing plate having a truss structure is provided in the shape of a partition wall inside the hollow portion.

In addition, a grip reinforcing device is further provided; The grip reinforcing device includes a body formed of a space formed therein, a step provided around a through hole formed on the bottom of the space, and a depression formed in a depression on the bottom, a shape inserted into the depression or a protruding shape. A support plate provided with a disc-shaped structure, a first moving plate installed so as to be able to slide inside, a first guide rod provided between the bottom surface of the first moving plate and the upper surface of the support plate, and the bottom surface of the first cylinder A first cylinder including a first guide plate installed on the first guide rod between the steps and a compression spring provided between the bottom surface of the first guide plate and the step, having a cylindrical shape with a hollow part formed therein, and installed on the upper side of the space part , a second moving plate having a disk-shaped structure and installed so as to be able to slide inside, a second guide rod installed on the lower surface of the second moving plate and protruding through the lower surface of the second cylinder; It includes a second guide plate installed at one end of the second guide rod, has a cylindrical shape with a hollow inside, and has the same curvature as the gripping part to grip the second cylinder and tool installed inside the gripping part, It is provided on the bottom surface of the second guide plate, and includes a protruding bar protruding or being inserted into the through hole of the holding part, and a 'passage' connecting the first cylinder and the second cylinder.

The present invention has an effect capable of reducing the weight of the entire magazine.

In addition, since the moment of inertia generated during magazine rotation can be reduced, up to 60 tools of BT50 level can be installed, and the manufacturing cost can be reduced because the manufacturing area is minimized compared to the drum type.

In addition, since the magazine rotation is less affected by the moment of inertia, the maximum tool weight can be increased with the performance of the existing servo motor, and the maximum tool moment can be increased.

In addition, there is an effect of improving the gripping force of the tool port.

In addition, there is an effect of improving the gripping force of the gripper.

1 is a cross-sectional view of a conventional drum-type automatic tool changer.
2 is a plan view of the drum type automatic tool changer of FIG. 1;
3 is a perspective view of a ring-type automatic tool changer according to the present invention;
Figure 4 is an enlarged view of a main part of Figure 3;
5 is an operating state diagram of a ring-type automatic tool changer;
Figure 6 is a plan view and AA 'line sectional view of the tool port holder block.
7 is a plan view of a rotating body provided with a lattice-type reinforcement part;
Figure 8 is a schematic view of the elastic member installation state.
9 is a cross-sectional view of a curved cylinder.
10 is a state diagram in which rubber coating layers are laminated on first and second rotary grippers;
Figure 11 is an enlarged cross-sectional view of the grip strengthening device.
Figure 12 is an enlarged cross-sectional view of another embodiment of the grip strengthening device.

A preferred embodiment of the present invention will be described in detail with reference to the accompanying drawings. For reference, the size of components, the thickness of lines, etc. shown in the drawings referred to in describing the present invention may be somewhat exaggerated for convenience of understanding.

In addition, the terms used in the description of the present invention are defined in consideration of the functions in the present invention, and may vary depending on the user, operator's intention, convention, and the like. Therefore, the definition of this term deserves to be made based on the contents throughout this specification.

And in this application, terms such as 'include' and 'have' refer to the existence of a specific number, step, operation, component, part, or combination thereof described in the specification, but one or more other It should be understood that the presence or addition of features, numbers, steps, operations, components, parts, or combinations thereof is not precluded.

In addition, the present invention is not limited to the embodiments disclosed below, but will be implemented in a variety of different forms, and only this embodiment makes the disclosure of the present invention complete, and the scope of the invention to those skilled in the art. It is provided for complete information.

Therefore, since the present invention can have various changes and various forms, implementation examples (態樣, aspects) (or embodiments) will be described in detail in the specification. However, this is not intended to limit the present invention to a specific disclosed form, and it should be understood to include all changes, equivalents, and substitutes included in the technical spirit of the present invention, and the singular expression used in this specification is clearly different from the context. Include plural expressions unless otherwise indicated.

However, in describing the present invention, detailed descriptions of known or known functions or configurations will be omitted to clarify the gist of the present invention.

Hereinafter, specific embodiments of the present invention will be described with reference to the drawings.

3 is a perspective view of the ring-type automatic tool changer according to the present invention, FIG. 4 is an enlarged view of main parts of FIG. 3, and FIG. 5 is an operating state diagram of the ring-type automatic tool changer.

As shown, the ring-type automatic tool changer of the present invention includes a magazine 110, a tool shifter 120 for exchanging tools T1 and T2, and a toll port 111.

The magazine 110 is provided as a ring-shaped rotating body, forms a process of rotating once when the tools T1 and T2 are exchanged, and the tool T1 is accommodated on the circumferential surface of the magazine 110. A plurality of toll ports 111 are provided at regular intervals along the circumferential direction.

The tool port 111 is provided to protrude from a pair of holder blocks 112 spaced apart from each other and the inner walls of the holder blocks 112 so that a tool storage space 111a in which the tool T1 is stored is formed therein. The insertion rail 113 inserted into the groove G formed in the neck N of the tool T1 and the pair of holder blocks 112 disposed outside the pair of holder blocks 112 are mutually narrowed. It includes an elastic member 114 that elastically presses in the losing direction.

Since such a tool port 111 is lighter than a conventional recessed frame port, it is less affected by the moment of inertia during magazine rotation, so that the maximum tool weight can be increased with the performance of an existing servo motor, It is possible to increase the maximum tool moment.

The tool shifter 120 exchanges the tool T1 while linearly moving along the radial direction of the magazine 110 by the driving unit 140, and a servo motor is applied as a driving source of the driving unit 140. .

In addition, the tool shifter 120 is rotatably coupled to the inclined block body 121 having the inclined surface 121a formed on one side and the inclined surface 121a of the inclined block body 121 by the rotary drive unit 128. ; A first rotary gripper 125 formed to be inclined at an angle corresponding to the inclination angle of the inclined surface 121a, one end rotatably coupled to the inclined block body 121, and gripping a tool at both ends of the other end, and The rotary body 122 having the second rotary gripper 126 is formed to be inclined at a preset first angle so as to face each other, and is formed to be bent at a preset second angle with respect to the inclined surface 121a. It includes first and second rotary grippers 125 and 126 gripping T1.

The inclined block body 121 is configured to rotatably support the first and second rotary grippers 125 and 126 .

The rotary drive unit 128 serves to rotate the rotating body 122 and is driven by a servo motor.

Since the through hole 122a is formed inside the rotating body 122, power loss caused by rotating the first and second rotary grippers 125 and 126 can be reduced.

Looking at the working relationship of the ring-type automatic tool changer as described above,

The magazine 110 rotates to place the second tool T2 to be used next to the first tool T1 in front of the tool shifter 120 . Then, the tool shifter 120 is operated by the driving unit 140 to advance to the position where the first tool T1 is exchanged. At this time, among the first and second rotary grippers 125 and 126, the first rotary gripper 125 coaxial with the first tool T1 grabs the first tool T1 and moves it to the exchange position.

Next, the rotary drive unit 128 is operated in one direction so that the empty second rotary gripper 126 comes to the front, and then moves to the main shaft (not shown) of the machine tool to attach the second rotary gripper 126 to the second rotary gripper 126. After mounting and unclamping the tool (T2), it is raised.

Then, the rotary drive unit 128 is operated in the reverse direction so that the first tool T1 is positioned forward, and then descends to the main axis of the machine tool to clamp the first tool T1, and then replace the tool. get out of position

Then, the second rotary type gripping the second tool T2 is operated by the rotary driving unit 128.

After bringing the gripper 126 forward, the drive unit 140 is operated to move the tool shifter 120 backward. While moving backward, the tool shifter 120 stores the new second tool T2 in the tool port 111 of the magazine 110 and returns to its original position before tool exchange.

The ring-type automatic tool changer that operates as above can reduce the weight of the entire magazine and reduce the moment of inertia generated during magazine rotation, so up to 60 tools of BT50 can be installed. As it is minimized, the effect of reducing manufacturing cost, and being less affected by the moment of inertia during magazine rotation, the maximum tool weight can be increased with the performance of the existing servo motor, and the effect and tool that can increase the maximum tool moment Not only can the replacement time be remarkably shortened, but also the process of tool replacement is simplified, which has the effect of improving the reliability of operation.

In the following embodiments, the lightweight structure of the holder block will be described.

6 is a plan view and A-A' cross-sectional view of the toolport holder block.

As shown, the inside of the holder block 112 is formed with a hollow, and the inside of the hollow is characterized in that the reinforcing plate 400 having a truss structure is provided in the shape of a partition wall.

The holder block 112 of the toolport having such a structure does not easily deform due to shock or vibration, and the triangular structure reinforcing plate 400 is axially in equilibrium with an external force so that no bending or shearing force occurs. It can lighten the holder block 112, reduce the overall weight of the tall port, and have a function that can maintain high strength.

Hereinafter, other embodiments of the rotating body will be described.

7 is a plan view of a rotating body provided with a lattice-type reinforcement part.

As shown, the present embodiment is characterized in that the lattice-shaped reinforcement part 122-1 is provided in the through hole 122a of the rotating body 122.

Since the reinforcement efficiency of the rotating body 122 having such a structure is remarkably improved by the lattice-shaped reinforcement part 122-1, the thickness of the rotating body 122 can be reduced while maintaining the reinforcement function. Yes, weight reduction is possible.

In addition, since the through hole 122a is prevented from being deformed by an external load or the like by the lattice-shaped reinforcement part 122-1, structural stability is remarkably improved.

Hereinafter, other embodiments of the elastic member will be described.

8 is a schematic view of an elastic member installed state, and FIG. 9 is a cross-sectional view of a curved cylinder.

Since the holder block 112 as shown moves while drawing a trajectory of an arc, the elastic member 114 having the shape of a conventional rod-shaped coil spring installed between the holder block 112 has a buckling phenomenon. occurs, and there is a problem that significantly reduces the gripping force of the holder block 112, and this embodiment is intended to solve the above problem.

The elastic member 114 installed between the holder block 112 of the present embodiment includes a curved bar 114-1, a curved cylinder 114-2, a guide plate 114-3, and a conical guide portion 114-1. 4), and a conical coil spring 114-5.

The curved rod 114-1 has a structure of a rod having a curvature, one side is fixed to one holder block 112, and the other side has a structure capable of sliding inside a curved cylinder 114-2 to be described later. It is coupled, and a curvature corresponding to the same trajectory as the arc direction of the moving trajectory of the holder block 112 is formed.

The curved cylinder 114-2 has a cylindrical structure with a hollow inside, and is provided on the inner surface of the holder block 112 in the opposite direction to which the curved rod 114-1 is fixed.

Of course, the curved cylinder 114-2 has a curvature corresponding to the same trajectory as the circular arc direction, which is the trajectory in which the holder block 112 moves.

The guide plate 114-3 is embedded in the curved cylinder 114-2, has a disk-shaped structure, and has ventilation holes formed on some surfaces to facilitate the flow of air, while the curved rod ( 114-1) is provided at the end.

The conical guide part 114-4 has a protruding conical structure and is provided on the lower surface of the curved cylinder 114-2.

The conical coil spring 114-5 has a spiral structure of a conical shape, and is provided between the bottom surface of the guide plate 114-3 and the bottom surface of the curved cylinder 114-2, and the conical guide part 114 -4) has a structure that encloses it.

Since the elastic member 114 having the above structure moves the curved rod 114-1 while drawing the same trajectory as the moving trajectory of the holder block 112, a buckling shape occurs in the curved rod 114-1 It is obvious that it is not, and since the conical coil spring 114-5 provided inside the curved cylinder 114-2 is stretched along the conical guide part 114-4, the conical coil spring 114-5 Also, buckling does not occur.

Therefore, the holder block 112 having the elastic member 114 having the above structure smoothly moves horizontally along an arcuate trajectory, improves the directionality, and does not cause buckling, so the holder block 112 It has the action and effect of remarkably improving the gripping power of.

In the following embodiments, the anti-slip structure of the first and second rotary grippers will be described.

10 is a state diagram in which rubber coating layers are stacked on first and second rotary grippers.

As shown, rubber coating layers are formed on inner surfaces of the first and second rotary grippers 125 and 126 .

The rubber coating layer is formed of a material having excellent mechanical properties, and the rubber coating layer contains 20 to 45 parts by weight of carbon black, 8 to 10 parts by weight of zinc oxide, 0.2 to 3 parts by weight of sulfur, and calcium stea based on 100 parts by weight of rubber. It is characterized in that it comprises a composition of 0.5 to 5 parts by weight of late and 3 to 15 parts by weight of a silicone-organic rubber copolymer.

The rubber coating layer made of such a composition has improved heat resistance and heat-resistant deterioration characteristics, and has excellent mechanical properties such as hardness and tensile strength, so that the durability period is extended and the efficiency of the elastic restoring force can be improved, so that the tool (T1, T2), while minimizing the slipping phenomenon, it has the effect of maximizing the efficiency of the grip.

In the following embodiments, a structure capable of enhancing the gripping force of the gripper will be described.

11 is an enlarged cross-sectional view of the grip reinforcing device.

As shown, the grip strengthening device 200 includes a support plate 210, a first cylinder 220, a second cylinder 230, a protruding bar 240, a body 250, a compression spring, and a 'pass'. contains

The body 250 is provided on one side of the first and second rotary grippers 125 and 126, and includes a space portion 251, a stepped portion 252, and a recessed portion 253.

The space portion 251 is formed inside the body 250, and components such as the first cylinder 220 described later are embedded therein.

The step 252 refers to the periphery of the through hole formed on the lower surface of the space portion 251 .

The recessed portion 253 is provided in a recessed shape on the bottom surface of the body 250, and a support plate 210 to be described later is inserted thereto.

The support plate 210 is provided in a shape inserted into the recessed portion 253 or protruded, and a first guide bar 223 is provided on the upper surface, and the first guide bar 223 is a space portion 251 ) It is provided in a shape passing through a through hole provided on the bottom surface of the.

The first cylinder 220 has a cylindrical shape with a hollow inside, is installed on the upper side of the space 251, and includes a first moving plate 221, a first guide plate 222, and a first guide rod. (223).

Of course, air or fluid is sealed and built into the hollow of the first cylinder 220.

The first movable plate 221 has a disk-shaped structure, is installed to be able to slide inside the first cylinder 220, and moves up and down of the first movable plate 221 to control the motion. Pressure is formed or released inside one cylinder 220 .

The first guide bar 223 is provided between the lower surface of the first moving plate 221 and the upper surface of the support plate 210 .

The first guide plate 222 has a disk-shaped structure, is installed on the first guide rod 223 between the bottom surface of the first cylinder 220 and the step 252, and the bottom surface of the first guide plate 222. A compression spring is provided between the and the step 252, and an elastic force is applied in a direction in which the first guide rod 223 protrudes from the recessed portion 253.

That is, by the elastic force of the compression spring, the support plate 210 is provided in a shape protruding from the recessed portion 253 .

The second cylinder 230 has a cylindrical shape with a hollow inside, is installed inside the gripper, and includes a second moving plate 231, a second guide plate 232, and a second guide bar 233. contains

The second movable plate 231 has a disk-shaped structure, is installed so as to be able to slide inside the second cylinder 230, and moves up and down the second movable plate 231 to control the movement. Pressure is formed or released inside the two cylinders 230.

The second guide rod 233 is installed on the lower surface of the second moving plate 231, protrudes through the lower surface of the second cylinder 230, and has the same curvature as the gripping part.

The second guide plate 232 is installed at one end of the second guide rod 233 protruding through the bottom surface of the second cylinder 230 .

The engagement rod 240 has the same curvature as the gripping portion so as to grip the tools T1 and T2, is provided on the bottom surface of the second guide plate 232, and is provided on the bottom surface of the second guide plate 232, and the second moving plate in the second cylinder 230. 231 is interlocked with being moved up and down by pressure, and protrudes or is inserted into the through hole of the gripping part.

The 'flow path' is formed in a structure connecting the first cylinder 220 and the second cylinder 230, and has a function of moving air or fluid in the first and second cylinders 220 and 230.

Looking at the operating relationship of the grip strengthening device having the above structure,

When the gripping part is narrowed to grip the tools (T1 and T2, not shown) by a driving means (motor, hydraulic cylinder, etc.) not shown, the tools T1 and T2 provided inside the gripping part are the support plate ( 210) is pressurized.

When the support plate 210 is pressed and inserted into the depression 253, the first guide rod 223 provided on the upper surface of the support plate 210 expands the compression spring and the first moving plate in the first cylinder 220. (221) is pressed to form a compression pressure inside the first cylinder (220).

When compression pressure is formed in the first cylinder 220, the pressure is transferred to the inside of the second cylinder 230 through the 'passage', expansion pressure is formed inside the second cylinder 230, and the expansion pressure is formed. The second moving plate 231 is moved inside the second cylinder 230 by the pressure, and the second guide rod 233 and the second guide plate 232 connected to the second moving plate 231 are also pulled out.

When the second guide plate 232 is withdrawn, the engagement protruding bar 240 provided on the upper surface of the second guide plate 232 protrudes into the through hole of the gripping part to additionally grip the outer surfaces of the tools T1 and T2, thereby providing a tool ( It has the action and effect that can remarkably improve the efficiency of gripping T1 and T2).

When the gripping part is widened to release the gripping of the tools (T1, T2), the hydraulic pressure proceeds in the reverse order of the process of gripping the tools (T1, T2) by the elastic restoring force of the compression spring, so that the engagement protrusion (240) Of course, it is inserted into the inside of.

That is, the contact area of the gripping portion gripping the tools T1 and T2 is widened by the grip reinforcing device operated as described above, and the effect of gripping the tools T1 and T2 is remarkably increased.

In the following embodiments, other embodiments of the grip reinforcing device will be described.

12 is an enlarged cross-sectional view of another embodiment of a grip reinforcing device.

As shown, the grip strengthening device 300 of another embodiment includes a housing 310, a diaphragm 320, a support plate 330, a movable plate 340, a cam 350, a guide rod 360, and a protruding rod for engagement. 240, and includes a spring.

The housing 310 has a cylindrical shape with a hollow part formed therein, and is provided inside the gripping part.

The diaphragm 320 is provided in a shape protruding from the inner surface of the housing 310, and a through hole is formed in the central portion.

The guide rod 360 is coupled to a through hole provided at the center of the diaphragm 320 in a structure capable of sliding movement.

The movable plate 340 has a disk shape and is provided at the upper end of the guide bar 360 .

The support plate 330 has a disk shape and is provided at the lower end of the guide bar 360 .

The cam 350 is provided in a shape in contact with the upper surface of the movable plate 340 and moves the movable plate 340 in the up and down directions by being rotated by a driving means (not shown).

Of course, the cam can be selectively driven according to the position of the tool by a controller (not shown).

The engagement rod 240 has the same curvature as the gripping part to grip the tools T1 and T2, is provided on the bottom surface of the support plate 330, and is interlocked with the cam 350 to drive the gripping part. It protrudes or is inserted into the through hole.

The spring is provided between the lower surface of the movable plate 340 and the upper surface of the diaphragm 320 , and elastic force is applied to the movable plate 340 in a direction away from the diaphragm 320 .

Looking at the operation relationship of the grip reinforcing device 300,

When the cam 350 rotates, the movable plate 340 in contact with the long shaft of the cam 350 moves downward and compresses the spring. When the movable plate 340 moves, the guide rod 360 and the support plate 330 connected to the movable plate 340 also move downward.

When the support plate 330 moves downward, the engagement protruding rod 240 provided on the lower surface of the support plate 330 protrudes into the through hole of the gripping part to widen the contact area with the tools T1 and T2, so the tool T1 , the efficiency of gripping T2) is improved.

When inserting the embracing protruding rod 240 into the gripping part, drive the cam 350 so that the short axis comes into contact with the movable plate 340, and the embracing protruding rod 240 moves into the gripping part by the elastic restoring force of the spring. inserted

That is, by the grip reinforcing device 300 operating as described above, the contact area of the gripping portion gripping the tools T1 and T2 is widened, and the effect of gripping the tools T1 and T2 is remarkably increased.

110: Magazine 111: Toolport
112: holder block 114; elastic member
114-1: curved bar 114-2: curved cylinder
114-3: guide plate 114-4: conical guide part
114-5: conical coil spring 121: inclined block body
121a: inclined surface 122: rotating body
122a: through hole 122-1: lattice type reinforcement
125: first rotary gripper 126: second rotary gripper
200,300: grip strengthening device 210: support plate
220: first cylinder 221: first moving plate
222: first guide plate 223: first guide rod
230: second cylinder 231: second moving plate
232: second guide plate 233: second guide rod
240: embrace protruding rod 250: body
251: space part 252: step
253: depression 310: housing
320: diaphragm 330: support plate
340: movable plate 350: cam
360: guide bar 400: reinforcing plate
N: Neck G: Groove
T1, T2: Tool

Claims (4)

A magazine 110 provided in a ring-shaped rotating body and provided with a plurality of toll ports 111 in which tools are stored on the circumferential surface at equal angular intervals along the circumferential direction,
A pair of holder blocks 112 spaced apart from each other so that a tool storage space 111a in which tools are stored is formed inside, and a pair of holder blocks 112 disposed outside the pair of holder blocks 112 A tool port 111 including an elastic member 114 that elastically presses in the mutually narrowing direction;
The inclined block body 121 having an inclined surface 121a formed on one side and inclined at an angle corresponding to the inclined angle of the inclined surface 121a, one end is rotatably coupled to the inclined block body 121, and the other end A tool shifter 120 including a rotating body 122 having a first rotary gripper 125 and a second rotary gripper 126 for gripping a tool is provided at both ends of the doedoe;
The elastic member 144,
The curvature of the same trajectory as the circular arc direction of the moving trajectory of the holder block 112 is formed, one side is fixed to one holder block 112, and the other side is slidable inside the curved cylinder 114-2 A curved bar 114-1 combined into a structure;
A curved cylinder 114-2 having a cylindrical structure with a hollow inside and provided on the inner surface of the holder block 112 in the opposite direction to which the curved rod 114-1 is fixed,
A guide plate 114-3 having a disk-shaped structure, embedded in a curved cylinder 114-2, having ventilation holes formed on some surfaces, and provided at the end of the curved rod 114-1;
A conical guide portion 114-4 provided on the lower surface of the curved cylinder 114-2;
It is provided between the bottom surface of the guide plate 114-3 and the bottom surface of the curved cylinder 114-2 and includes a conical coil spring 114-5 having a structure surrounding the conical guide part 114-4. A ring-type automatic tool changer with a gripper with improved grip and a lightweight structure.
According to claim 1,
A ring-type automatic tool changer having a gripper with improved gripping force and a lightweight structure, characterized in that the grid-shaped reinforcement part 122-1 is provided in the through hole 122a of the rotating body 122.
According to claim 2,
A hollow part is formed inside the holder block 112, and a ring-type automatic tool changer having a gripper with improved grip force and a lightweight structure, characterized in that a reinforcing plate 400 having a truss structure is provided in the shape of a partition wall inside the hollow part. Device.
The method of claim 3,
The grip reinforcing device 200 is further provided;
The grip strengthening device 200,
A body 250 composed of a space 251 formed inside, a step 252 provided around a through hole formed on the bottom of the space 251, and a depression 253 provided in a recessed shape on the bottom. ),
The support plate 210 provided in a shape inserted into the recessed portion 253 or a protruding shape,
A first movable plate 221 having a disk-shaped structure and installed to be slidable inside, and a first guide rod 223 provided between the bottom surface of the first movable plate 221 and the upper surface of the support plate 210 And, a first guide plate 222 installed on the first guide rod 223 between the bottom surface of the first cylinder 220 and the step 252, and provided between the bottom surface of the first guide plate 222 and the step 252 A first cylinder 220 having a cylindrical shape with a hollow part formed therein and installed above the space part 251, including a compressed spring,
The second movable plate 231 has a disk-shaped structure and is installed to slide inside, and is installed on the lower surface of the second movable plate 231 and protrudes through the lower surface of the second cylinder 230. It has a cylindrical shape with a hollow inside, including a second guide rod 233 provided with a second guide rod 233 and a second guide plate 232 installed at one end of the second guide rod 233, and inside the gripping part. Installed second cylinder 230,
An engagement protruding bar 240 having the same curvature as the gripping part to grip the tools T1 and T2, provided on the bottom surface of the second guide plate 232, and protruding or being inserted into the through hole of the gripping part,
A ring-type automatic tool changer having a gripper with improved grip force and a lightweight structure, characterized in that it includes a 'passage' connecting the first cylinder 220 and the second cylinder 230.

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