TW201910040A - Automatic tool changing device for combining a tool with a tool arbor or separating the tool from the tool arbor - Google Patents

Abstract

The present invention provides an automatic tool changing device and a method thereof, in order to combine the tool with the tool arbor or separate the tool from the tool arbor. The tool arbor includes a first rotating member and a second rotating member that rotate relative to each other. The automatic tool changing device comprises a rack, a fixing unit and a rotating unit coupled to the rack, wherein the fixing unit includes a first fixture, and the rotating unit comprises a second fixture. The method for performing a tool change by the automatic tool changing device includes the steps of: clamping the first rotating member of the tool arbor by the first fixture; clamping the second rotating member of the tool arbor by the second fixture; driving the first rotating member and the second rotating member to rotate relative to each other, so as to enable the second rotating member to release or clamp the tool.

Description

Automatic tool changing device and method thereof

The invention relates to a tool change mechanism; in particular to an automatic tool change device and method therefor.

According to the vigorous development of the manufacturing and processing industries, it is also common to use cutters for cutting or grinding during the machining process. The cutters are often detachably coupled to a shank and rotated by a rotatable member that controls the shank, which can drive the cutter to rotate at a high speed for cutting or grinding. The cutter bar may be mounted on a rotating main shaft of an implement or at one end of a robot arm. As shown in FIG. 1 , the cutter bar 1 mounted on one end of a robot arm (not shown) is taken as an example, and includes a first rotating member 1 a and a second rotating member 1 b . The cutter 2 includes a rod portion 2 a . And a working portion 2b, wherein the second rotating member 1b can clamp the rod portion 2a of the cutter 2 to enable the cutter 2 to be controlled to rotate at a high speed.

It is known that the tool 2 is disassembled by using two auxiliary tools, such as a wrench, respectively fixing the first rotating member 1a and the second rotating member 1b, and then operating the two auxiliary members to drive the first rotating member 1a and The second rotating member 1b is pivoted in a different direction to achieve the purpose of releasing the cutter bar 1 or clamping the cutter 2.

However, this method not only consumes manpower, but also increases the working time. When it is required to mass-produce the manufactured products, it is a major cause of reducing production efficiency and is criticized by people.

In view of the above, it is an object of the present invention to provide an automatic tool changer and method thereof for separating or combining a tool and a tool bar without human intervention.

In order to achieve the above object, the present invention provides an automatic tool changing device for fixing a cutter bar, the cutter bar comprising a first rotating member and a second rotating member coupled to each other and rotatable relative to each other, wherein the second rotation The piece is driven to rotate to release or clamp a tool; the automatic tool changing device comprises: a frame; a fixing unit coupled to the frame, comprising a first clamp for clamping the first rotating member; And a rotating unit coupled to the frame, comprising a second clamp for clamping the second rotating member, and the second clamp is controlled to rotate to drive the second rotating member to rotate.

The present invention further provides a method for performing a tool change by an automatic tool changing apparatus, comprising the steps of: clamping the first rotating member of the arbor with the first clamp; clamping the second of the arbor with the second clamp a rotating member; driving the first rotating member to rotate relative to the second rotating member, so that the second rotating member releases or clamps the cutter.

The effect of the invention is that the first rotating member of the arbor is fixed by the first clamp, and the second clamp for fixing the second rotating member of the arbor is driven to automatically bind the cutter to the arbor or to The effect of separating the tool from the tool bar eliminates the need to manually use the auxiliary tool to perform the steps of loading and changing the tool, thereby increasing the production efficiency.

In order to explain the present invention more clearly, a preferred embodiment will be described in detail with reference to the drawings. 2 and FIG. 3, an automatic tool change device 100 according to a preferred embodiment of the present invention includes a frame 10, and a fixed unit 20 and a deflection unit 30 coupled to the frame 10. A rotating unit 40, a unloading unit 50 and a feeding unit 60 are provided. The automatic tool changing device 100 is used for automatically disassembling a tool coupled to a tool bar. In the present embodiment, the tool bar 1 and the tool 2 disclosed in FIG. 1 are taken as an example.

As shown in FIG. 4 and FIG. 5 , the frame 10 includes a substrate 11 , and the substrate 11 has a first surface 111 and a second surface 112 opposite to each other, and the second surface 112 faces the ground; The substrate 11 has a positioning groove 11a and a first pivot hole 11b extending through the first surface 111 and the second surface 112. The positioning groove 11a is curved, and the first pivot hole 11b is open. shape.

The fixing unit 20 includes a mounting seat 22, a first clamp 24 and at least one positioning member 26, wherein the mounting seat 22 includes two legs 221 coupled to the first surface 111 of the substrate 11, and connecting the two legs 221 The horizontal plate 222, the two legs 221 are raised by the horizontal plate 222, the horizontal plate 222 is spaced apart from the substrate 11 by a predetermined distance; the horizontal plate 222 has an opening 22a with an open side, and at least one The positioning hole 22b, in the embodiment, the number of the at least one positioning hole 22b is three and distributed around the receiving hole 22a. The bottom of the first clamp 24 has a protrusion 241 that cooperates with the hole 22a, and the first clamp 24 further includes a first slot 24a and three arcuate slots 24b, wherein the first slot 24a and the first slot 24a The non-circular outer contour of the first rotating member 1a is matched; the arcuate grooves 24b are disposed around the first card slot 24a. In this embodiment, the number of the at least one positioning member 26 is three, and each of the positioning members 26 includes a matching bolt 261 and a nut 262.

The protrusion 241 of the first clamp 24 is embedded in the contact hole 22a of the horizontal plate 222, so that the first clamp 24 can be flexibly coupled to the mount 22 relative to the mount 22 (see FIGS. 6a and 6b); After the bolt 261 of the positioning member 26 is inserted through the corresponding arcuate groove 24b and the corresponding positioning hole 22b, the bolt 261 is locked by the nut 262 to press the first clamp 24 and the horizontal plate 222. The first clamp 24 is fixed to the mount 22 and the first clamp 24 cannot be deflected relative to the mount 22.

The positioning member 26 of the above embodiment, and the number of the arcuate grooves 24b and the positioning holes 22b corresponding thereto are three, for example, achieving a better fixing effect, but not limited thereto, the positioning member 26, the arc The number of the positioning grooves 24b and the positioning holes 22b can be set as needed, and can be a single one, or a larger number, and the function of fixing the first jig 24 to the seat 22 can be achieved.

In another embodiment, the fixing method of the first clamp 24 and the seat 22 is not limited to the above, as long as the seat 22 and the first clamp 24 have at least one curved groove 24b, and the other Having at least one positioning hole 22b and allowing the positioning member 26 to pass through the arcuate groove 24b and the positioning hole 22b can achieve the effect that the first clamp 24 cannot be deflected relative to the seat 22. In addition, the arcuate groove 24b is arranged to facilitate the adjustment of the deflection angle of the first clamp 24 relative to the seat 22. The user only needs to loosen the nut 262 of each of the positioning members 26 (and the nut 262 does not need to be connected with the bolt 261). Separately, the first clamp 24 is operatively deflected relative to the mount 22 until the bolt 261 abuts the groove wall of the arcuate slot 24b to limit the deflection angle of the first clamp 24.

The deflection unit 30 includes a first bottom plate 31, a first pivoting block 32, a baffle 33 and a sliding bar 34. The first bottom plate 31 is disposed on the first surface 111 of the substrate 11, and the The top surface of the bottom plate 31 is provided with two facing sliding slots 31a; the first pivoting block 32 is disposed on the bottom side of the first bottom plate 31, and the first pivoting block 32 and the first pivoting hole of the substrate 11 The baffle 11 is matched and embedded in the first pivot hole 11b. The baffle 33 is disposed on the second surface 112 of the substrate 11 and connected to the first pivot block 32. The outer contour is larger than the inner diameter of the first pivot hole 11b, so that the first pivoting block 32 cannot be separated from the second surface 112 by the first pivot hole 11b; the end of the sliding bar 34 and the first bottom plate 31 Connected and passed through the positioning groove 11a of the substrate 11. The slider 34 can be controlled to rotate the first bottom plate 31 relative to the substrate 11 with the first pivot block 32 as an axis (see FIGS. 6a and 6b).

The rotating unit 40 includes a second bottom plate 41, a linking member 42, a first power source 43, a second clamp 44 and a connecting bracket 45. The second bottom plate 41 is disposed on the first bottom plate 31 and is located between the two sliding slots 31a of the first bottom plate 31. Further, the second bottom plate 41 has a second pivot hole 41a. The power source 43 includes a first telescopic cylinder 431 (ie, a telescopic cylinder defined by the present invention) connected to a first telescopic rod 432, and a second telescopic cylinder 433 and a second telescopic rod connected thereto. 434, wherein the first telescopic rod 432 and the second telescopic rod 434 are controlled to reciprocate in a straight line.

The first telescopic cylinder 431 and the linking member 42 are disposed on the second bottom plate 41, and the linking member 42 is connected to one end of the first telescopic rod 432. The linking member 42 has a first engaging portion. The second clamp 44 is disposed on the second bottom plate 41, and has a second second engagement portion 441 engaging with the first engagement portion 421. The second clamp 44 is provided with a second clamp 44. The second latching groove 44a is matched with the outer contour of the second rotating component 1b of the arbor 1, and the second clamping block 442 has a second pivoting block 442 and the second pivoting hole 41a. The second pivot hole 41a is in the middle. The second telescopic cylinder 433 is disposed on the first bottom plate 31, and the second telescopic rod 434 is connected to the second bottom plate 41 by the connecting bracket 45.

As shown in FIG. 7a and FIG. 7b, the second telescopic rod 434 can be operated to move the second bottom plate 41 forward and backward relative to the first bottom plate 31. The first telescopic rod 432 can be operated to drive the linking member 42. The front and rear sides of the second bottom plate 41 are moved, and the first engaging portion 421 of the linking member 42 is engaged with the second engaging portion 441 of the second clamp 44, so that the first telescopic rod 432 can be When the first engaging portion 421 of the linking member 42 is moved forward relative to the first bottom plate 31, the second clamping member 44 is also driven to the second bottom plate 41 with the second pivoting block 442 as an axis. When the first telescopic rod 432 can move the linkage 42 backward relative to the substrate 11, the second clamp 44 is deflected in a second direction D2, wherein the first direction D1 is This second direction D2 is reversed.

As shown in FIG. 8 , the unloading unit 50 includes a second power source 51 and a dialing member 52 , wherein the second power source 51 is disposed on the second surface 112 of the substrate 11 , and the second power is The source 51 includes a third telescopic cylinder 511 and a third telescopic rod 512 connected thereto; the dial 52 has a hook portion 521 and a connecting portion 522, wherein the connecting portion 522 is coupled to the third telescopic rod 512, the hook portion 521 is provided with a card slot 52a; the third telescopic rod 512 can be operated to drive the dial member 52 to move up and down.

The tool feeding unit 60 shown in FIG. 9 includes a tool magazine 61, a third power source 62 and a first tool holder 63 (ie, the tool holder defined by the present invention). The tool magazine 61 is used for storing the tool 2, the tool magazine 61 includes a fixing frame 611, a conveyor belt 612 and a plurality of second tool holders 613 disposed on the conveyor belt 612, wherein the fixing frame 611 and the substrate The second surface 112 of the 11 is connected (see FIG. 3), and the fixing frame 611 has a through hole 61a. The second holder 613 is provided with a cutter 2, and the conveyor belt 612 is disposed on the fixing frame. The second tool holder 613 is 611 and is rotatable relative to the holder 611.

The third power source 62 includes a fourth telescopic cylinder 621 and a fourth telescopic rod 622 connected thereto, and a fifth telescopic cylinder 623 and a fifth telescopic rod 624 connected thereto, wherein the fourth telescopic rod 624 The cylinder 621 is connected to the fixing frame 611, and the fourth telescopic rod 622 is connected to the fifth telescopic cylinder 623 at one end, so that the fifth telescopic cylinder 623 can be laterally moved by the fourth telescopic rod 622; One end of the telescopic rod 624 is coupled to the first seat 63, and the fifth telescopic rod 624 is controlled to move the first seat 63 in the longitudinal direction. Thereby, the first blade holder 63 is operable to move between a starting position P1 and an ending position P2, wherein the starting position P1 is located below the through hole 61a, and the ending position P2 is located below the first pivoting hole 11b. And close to the substrate 11 (see Figures 13a and 13b).

The above is a description of the various components and related positions of the automatic tool change apparatus 100 of the first preferred embodiment of the present invention. Further, the mode of use is as follows. The automatic tool changer 100 can separate the tool holder 1 on which the tool 2 is mounted from the tool 2, or the tool 2 can be mounted on the tool holder 1.

First, a method of separating the tool holder 1 on which the tool 2 is mounted from the tool 2 will be described. As shown in FIG. 10, FIG. 11 and FIG. 14, the shank 1 to which the cutter 2 is attached is coupled to the automatic tool changer 100, and the first rotating member 1a of the shank 1 is fixed to the first clamp 24. In the first card slot 24a, the second rotating member 1b of the arbor 1 is fixed in the second slot 44a of the second clamp 44, and the cutter 2 clamped by the arbor 1 is located at the hook portion of the ejector 52 521 in the card slot 52a.

It is particularly noted that if the first rotating member 1a is engaged in the first card slot 24a and the second rotating member 1b is not engaged in the second slot 44a, the second telescopic rod can be operated by The connecting frame 45 and the second bottom plate 41 are pushed to adjust the position of the second clamp 44 so that the second rotating member 1b is located in the second locking slot 44a. In addition, the pivotal angle of the first clamp 24 relative to the mount 22 and the angle of the first bottom plate 31 relative to the base 11 of the frame 10 can be adjusted according to requirements to adjust the first card slot 24a and the first The orientation of the two card slots 44a enables the cutter bar 1 to be smoothly coupled to the first clamp 24 and the second clamp 44.

The first rotating member 1a of the arbor 1 is fixed to the fixing unit 20, and the first telescopic rod 432 of the rotating unit 40 drives the linking member 42 to engage and displace the second clamping member 44 to the first direction D1. The second rotating member 1b of the arbor 1 is rotated relative to the first rotating member 1a, so that the shank 1 releases the shank 2a of the cutter 2.

Then, as shown in FIG. 12a and FIG. 12b, the second power source 51 drives the dial member 52 to be displaced downward, and the hook portion 521 of the dial member 52 abuts against the working portion 2b of the cutter 2 and works on the cutter 2. The portion 2b applies a downward thrust to release the cutter 2 from the second rotating member 1b of the holder 1. It should be noted that the unloading unit 50 is to ensure that the cutter 2 is separated from the cutter bar 1, but is not limited thereto. In an embodiment, even without the unloading unit 50, the rotating unit 40 can still be used. The second clamp 44 is caused to rotate the second rotating member 1b to achieve the effect of separating the cutter 2 from the cutter bar 1.

Next, a method in which the automatic tool changer 100 mounts the cutter 2 on the cutter bar 1 will be described. Referring to FIG. 13a, FIG. 13b and FIG. 15, the cutter bar 1 is first fixed to the automatic tool changer 100, and the first rotating component 1a and the second rotating component 1b are respectively fixed to the first card slot 24a. With the second card slot 44a.

The conveyor belt 612 rotates to drive the second seat 613 on which the cutter 2 is mounted to move on the fixed frame 611. When the second seat 613 moves over the through hole 61a, the second seat is located at the second seat. The cutter 2 in 613 falls through the through hole 61a to the first seat 63 located at the initial position P1, and then the first seat 63 is operated to drive the cutter 2 to move in the direction of the second rotary member 1b. When moving to the end position P2, the fifth telescopic rod 624 and the first holder 63 apply upward thrust to the cutter 2 located in the first holder 63, so that the rod 2a of the cutter 2 is located at one end. The first rotating member 1a and the second rotating member 1b of the arbor 1 are.

Finally, the first telescopic rod 432 of the rotating unit 40 drives the linking member 42 to engage and displace the second clamp 44 to the second direction D2 (see FIG. 7), so that the second rotating member 1b of the cutting rod 1 The function of causing the cutter bar 1 to clamp the cutter 2 can be achieved by rotating the first rotary member 1a.

The invention is to fix the first rotating member 1a of the arbor 1 and drive the second rotating member 1b of the shank 1 to rotate relative to the first rotating member 1a, so that the cutter 2 can be combined without human intervention. The effect of the cutter bar 1 or the separation of the cutter 2 from the cutter bar 1 further achieves functions such as reduced working time and increased production efficiency during the machining process.

The above is only a preferred embodiment of the present invention, and equivalent changes to the scope of the present invention and the scope of the patent application are intended to be included in the scope of the present invention.

[this invention]

1‧‧‧Cutter

1a‧‧‧First rotating part

1b‧‧‧second rotating part

2‧‧‧Tools

2a‧‧‧ pole

2b‧‧‧Working Department

100‧‧‧Automatic tool changer

10‧‧‧Rack

11‧‧‧Substrate

111‧‧‧ first side

112‧‧‧ second side

11a‧‧‧ positioning slot

11b‧‧‧First pivot hole

20‧‧‧Fixed unit

22‧‧‧Seat

221‧‧‧ feet

222‧‧‧ horizontal board

22a‧‧‧Contact hole

22b‧‧‧Positioning holes

24‧‧‧First fixture

241‧‧‧Bumps

24a‧‧‧first card slot

24b‧‧‧ arc slot

26‧‧‧ Positioning parts

261‧‧‧ bolt

262‧‧‧ nuts

30‧‧‧ deflection unit

31‧‧‧ first bottom plate

31a‧‧‧Chute

32‧‧‧First pivoting block

33‧‧‧Baffle

34‧‧‧Slider

40‧‧‧Rotating unit

41‧‧‧second bottom plate

41a‧‧‧Second pivot hole

42‧‧‧ linkages

421‧‧‧First meshing

43‧‧‧First power source

431‧‧‧First reduction cylinder

432‧‧‧First telescopic rod

433‧‧‧Second telescopic cylinder

434‧‧‧Second telescopic rod

44‧‧‧Second fixture

441‧‧‧Second joint

442‧‧‧Second pivoting block

44a‧‧‧Second card slot

45‧‧‧Connecting frame

50‧‧‧Unloading unit

51‧‧‧second power source

511‧‧‧ Third telescopic cylinder

512‧‧‧3rd telescopic rod

52‧‧‧WD parts

52a‧‧‧ card slot

521‧‧‧Hook

522‧‧‧Connecting Department

60‧‧‧Sketch unit

61‧‧‧Magazine

61a‧‧‧through hole

611‧‧‧Retaining frame

612‧‧‧ conveyor belt

613‧‧‧second knife seat

62‧‧‧ Third power source

621‧‧‧4th telescopic cylinder

622‧‧‧4th telescopic rod

623‧‧‧5th telescopic cylinder

624‧‧‧5th telescopic rod

63‧‧‧First knife seat

D1‧‧‧ first direction

D2‧‧‧ second direction

P1‧‧‧ starting position

P2‧‧‧End position

1 is a perspective view of a cutter coupled to a arbor; FIG. 2 is a perspective view of an automatic tool changer according to a preferred embodiment of the present invention; FIG. 3 is a front view of FIG. 2; Figure 6a is an upper view of Figure 4; Figure 6b is similar to Figure 6a; Figure 7a is a top view of a portion of Figure 4; Figure 7b is similar to Figure 7a; Figure 8 is a perspective view of the unloading unit; Figure 9 is a partially exploded view of the knife feed unit; Figure 10 is a perspective enlarged view of the tool changer coupled to the automatic tool changer of the preferred embodiment; Figure 11 is a partial front elevational view of Figure 10; Figure 12a is Figure 10 12a-12a is a cross-sectional view; FIG. 12b is similar to FIG. 12a; FIG. 13a is an enlarged perspective view of the automatic tool changer of the above preferred embodiment; FIG. 13b is similar to FIG. 13a; For example, a flow chart of unloading of an automatic tool changing device; Fig. 15 is a flow chart of loading of the automatic tool changing device of the above preferred embodiment.

Claims (12)

An automatic tool changing device for fixing a shank, the arbor includes a first rotating member and a second rotating member that are combined and relatively rotatable, wherein the second rotating member is driven to release and release Clamping a tool; the automatic tool changing device comprises: a frame; a fixing unit coupled to the frame, comprising a first clamp for clamping the first rotating member; and a rotation coupled to the frame The unit includes a second clamp for clamping the second rotating member, and the second clamp is controlled to rotate to drive the second rotating member to rotate. The automatic tool changing device of claim 1, wherein the fixing unit comprises a seat, the seat is coupled to the frame, the first clamp is coupled to the seat in a deflectable manner, and the first clamp is provided with a first a card slot, the first card slot mates with a non-circular outer contour of the first rotating member. The automatic tool changing device of claim 2, wherein the seat has an opening, the bottom of the first clamp has a protrusion that fits into the hole, so that the first clamp can be flexibly coupled to the seat The seat is on. The automatic tool changing device of claim 2 or 3, wherein the fixing unit comprises at least one positioning member, the seat and the first clamp have at least one arcuate groove, and the other has at least one positioning hole. The positioning member penetrates the arcuate groove and the positioning hole, and the first clamp cannot be deflected relative to the seat. The automatic tool changing device of claim 1, wherein the rotating unit comprises a linking member and a first power source, the linking member has a first engaging portion, and the second clamp has an arc-shaped second biting The engaging portion is engaged with the first engaging portion; wherein the first power source drives the linking member to mesh and displace the second clamp, the second clamp is provided with a second card slot, the second card slot and the second The non-circular outer contours of the two rotating members cooperate. The automatic tool change device of claim 5, wherein the first power source comprises a telescopic cylinder having a telescopic rod; the linkage member is connected to one end of the telescopic rod, and the first meshing portion is tied Set in a straight line. The automatic tool changing device of claim 1, comprising a unloading unit, the unloading unit comprising a second power source and a dialing member, wherein the second power source drives the dialing member to move up and down, One of the dial members extends below the second clamp and urges the cutter away from the second rotating member when moving downward. The automatic tool changing device of claim 1, comprising a knife feeding unit coupled to the frame for driving the tool to move in the direction of the second rotating member. The automatic tool changing device of claim 9, wherein the knife feeding unit comprises a tool magazine, a third power source and a tool holder; the tool magazine comprises a fixing frame and a conveyor belt, wherein the fixing frame and the machine The frame is connected, and the holder has a through hole through which the tool is driven to move relative to the holder; the third power source can push the holder to move between a starting position and an ending position Wherein the starting position is located below the through hole; when the tool is driven by the conveyor belt to the through hole, the tool passes through the through hole and is located in the tool holder, and the third power source drives the tool to The direction of the second rotating member moves. A method for performing a tool change by the automatic tool change device of claim 1, comprising the steps of: clamping the first rotating member of the arbor with the first jig; clamping the arbor with the second jig The second rotating member drives the first rotating member to rotate relative to the second rotating member, so that the second rotating member releases or clamps the cutter. The method of claim 10, comprising applying a downward thrust to the tool after the tool is released, such that the tool is disengaged from the second rotating member. The method of claim 10, comprising applying an upward thrust to the tool prior to clamping the tool such that one end of the tool is located in the second rotating member.