TW202322962A - Automatic tool changer - Google Patents

Abstract

The present invention relates to an automatic tool changer installed between a magazine of a machining center and a main axis, comprising: a cam box having a drive part mounted thereon; a rotation part installed inside the cam box and receiving power from the drive part to pivot; and a clamping part having a finger installed on an end at both sides to be able to clamp and unclamp a tool, and fixed to a lower end of the rotation part to rotate depending on the rotation of the rotation part. The rotation part includes: an upper arm pivoted by the power of the drive part inside the cam box; and a twin arm having a predetermined length of the upper arm inserted into an inner hollow part to be connected to the upper arm, pivoting depending on the pivoting of the upper arm, and capable of moving in a vertical direction along the length of the upper arm by an external force exerted on the clamping part fixed to a lower end thereof.

Description

Automatic tool changer

The present invention relates to automatic tool changers.

In general, machine tools are widely used for various work purposes such as machining centers, turning centers, electrical discharge machines, and horizontal numerically controlled (NC) boring machines. In particular, a machining center is a machine tool that automatically executes drilling, boring, milling, reaming, tapping, etc., and automatically exchanges the required tools through the CNC system while various tools are arranged in the tool library. Process the processed objects in the prescribed order. In order to automatically realize various types of processing, this kind of machining center needs to selectively exchange multiple tools for processing. Therefore, if the tool installed on the spindle completes the processing for one process, it needs to be able to be installed on the spindle for the next process. Automatic tool changer (ATC, automatic tool changer) that exchanges the tools stored in the tool magazine with the tools stored in the tool magazine.

In short, a machine tool is used to store (accommodate) a tool library suitable for various processing tools, and a program to determine the tool according to the processing process is used to install the tool to the spindle and perform the required processing based on the rotation of the spindle. As a device for supplying tools stored in the tool magazine to the spindle, the automatic tool changer can be configured in various ways.

Known automatic tool changers are classified into a double-arm system with a built-in cam, an integral type without a cam, a turret type, or a sunflower type.

In the case of the built-in roller gear cam structure, the upper arm shaft is rotated by the rotation of the roller gear cam, and the link structure assembled on the roller gear cam moves the tool up and down by moving the double arm shaft linked with the upper arm shaft up and down. That is, in the conventional automatic tool changer, the double arm shaft is rotated by the upper arm shaft rotated by the roller gear cam, and the double arm shaft is moved up and down by the link structure operated by the roller gear cam. And, in the roller gear cam mode of known automatic tool changer structure, in order to transmit the power of motor to double arm and need install a gear (hypoid gear or bevel gear) for receiving motor power on roller gear cam , spur gear), therefore, as the roller gear rotates, the cam follower arranged on the double arm shaft rotates while sliding in the concave portion of the roller gear cam.

In this way, problems such as damage will occur due to the structure of the conventional roller gear cam structure for converting the rotary motion into the linear motion. Specifically, the conventional roller gear cam structure rotates through the rotational motion of the roller gear and the cam follower attached to the double arm shaft. Furthermore, as the double arm moves up and down, the cam follower arranged on the roller gear cam moves the link, and since one side of the link becomes the rotation support point (fixed position of the rotating shaft), the roller When the gear cam rotates, the vertical movement length of the link changes as the opening angle of the link changes, and the cam follower assembled at one end of the link slides into the concave part of the double arm shaft and is in contact with the cam follower. The up and down motion is performed independently of the rotary motion. The cam-follower of the double-arm shaft that is transferred through the groove of the roller gear cam that connects the rotating motion is assembled together and the link structure that moves the double-arm up and down is frequently damaged during the driving process and often fails to work. Moreover, in the case where the double-arm shaft moving up and down is combined with the roller gear cam through the link structure, it is often caused by the force balance point (that is, the "dead point") or the inaccuracy or foreign matter of the linkage work during the work process. There is a problem with damaged connecting rods.

The present invention has been made in consideration of the aforementioned disadvantages, and an object of the present invention is to provide an automatic tool changer having a simple structure and minimizing damage to components.

Furthermore, another object of the present invention is to provide an automatic tool changer that eliminates problems such as malfunction, failure, and damage by simplifying the internal structure of the cam box.

In order to achieve the above purpose, the automatic tool exchange device provided by the present invention is used to be arranged between the tool magazine and the main shaft of the machining center, including: a cam box, equipped with a driving part; a rotating part, arranged inside the cam box, Shaft rotation is performed by receiving power from the driving part; and a clamping part provided with fingers capable of clamping or loosening a tool at both ends, which is fixed to the lower end of the rotating part so as to follow the The rotating part is rotated by the rotation of the rotating part, and the rotating part includes: an upper arm, which is rotated by the power of the driving part in the inside of the cam box; connected to the upper arm with a predetermined length, rotates along with the axis of the upper arm, and can move up and down along the longitudinal direction of the upper arm by an external force applied to the clamp portion fixed at the lower end .

Hereinafter, specific embodiments of the present invention will be described with reference to the drawings. However, this is only an example, and the present invention is not limited thereto.

Referring to Fig. 1 to Fig. 11, an automatic tool exchange device 1 according to an embodiment of the present invention is arranged between the tool magazine of the machining center and the main shaft 3, and the used tools clamped on the main shaft 3 can be exchanged and stored in the tool magazine tools to be used. In other words, between the main shaft 3 and the tool magazine, the automatic tool exchange device 1 according to an embodiment of the present invention allows the used tools of the main shaft 3 to be stored in the tool magazine, and can receive new tools to be used from the tool magazine and supply them to the main shaft 3 .

The automatic tool changer 1 of the present invention rotates its axis through power, and moves up and down through the operation of the main shaft 3 , so it can work up and down through the mechanical device 2 connected to the main shaft 3 .

The automatic tool changer 1 may include: a cam box 10 ; a driving part 20 ; a coupling 30 ; a rotating part 40 ;

The drive unit 20 and the rotation unit 40 may be attached to the cam box 10 . As an example, the driving unit 20 may be attached to the upper side of the cam box 10 , the rotation unit 40 may be attached to the inside of the cam box 10 , and the clamping unit 50 may be attached to the lower side of the cam box 10 .

The cam box 10 may include: a mounting groove 11 ; a pin setting groove 12 ; a position setting pin 13 ; a pin sliding groove 14 ; a position fixing pin 15 ;

Wherein, referring to FIG. 5 , the mounting groove 11 is a hollow part formed inside the cam box 10 , and may be a groove capable of mounting the driving part 20 , the coupling 30 and the rotating part 40 . The installation slot 11 may include: a first installation slot 111 ; a second installation slot 112 ; and a third installation slot 113 .

The driving part 20 may be installed in the first installation groove 111 . For example, the first installation groove 111 is formed inside the upper part of the cam box 10, and the upper part may be formed openly. Specifically, a driving part 20 is provided on the upper side of the cam box 10 , and the driving shaft 23 of the driving part 20 is inserted inside the first installation groove 111 and can be combined with the shaft coupling 30 . The driving shaft 23 inside the first installation groove 111 can be connected with the bearing 411 of the upper arm 41 described below through the coupling 30 .

The roller bearing 42 of the rotation part 40 mentioned later can be attached to the 2nd attachment groove 112. As shown in FIG. The second installation slot 112 is formed between the first installation slot 111 and the third installation slot 113 , and can communicate with the first installation slot 111 and the third installation slot 113 . The diameter of the second installation groove 112 corresponds to the diameter of the roller bearing 42 , and a fixed roller bearing 42 may be provided inside the second installation groove 112 .

The rotation part 40 described below may be installed in the third installation groove 113 . The diameter of the third installation groove 113 formed at the lower part of the cam box 10 is larger than that of the second installation groove 112 , and a rotating part 40 may be provided inside. The rotating part 40 provided inside the third installation groove 113 can perform axial rotation. And, the bottom of the third installation groove 113 is openly formed, therefore, communicates with the outside, the double arm 45 that is positioned at the third installation groove 113 can be positioned in the third installation groove 113, or, double arm 45 can be toward the third installation groove The underside of 113 drops.

Here, referring to FIG. 6 , pin setting grooves 12 may be formed in the cam box 10 . Specifically, the pin disposing groove 12 may be formed at an upper portion of the cam box 10 within a height at which the third installing groove 113 is formed. When the double arm 45 was positioned in the third installation groove 113 due to rising, the position of the pin setting groove 12 formed on the cam box 10 could be the underside of the lower flange 453, and the height of the pin setting groove 12 could be smaller than the lower flange 453. the height of.

A pin setting groove 12 may be formed at an upper portion of the third installation groove 113 of the cam box 10 . Specifically, it may be formed on the upper part of the inner peripheral surface of the third installation groove 113 formed on the cam box 10 . The pin setting groove 12 may be a groove into which the position setting pin 13 can be inserted.

As an example, one pin setting groove 12 may be formed in the upper portion of the cam box 10 at the portion where the double arm 45 is located inside. Specifically, in the initial state before the double arm 45 is lowered (for example, in the state where the double arm 45 is raised to enter the third installation groove 113 ), a The height of the pin setting groove 12 may be formed on the lower side of the lower face of the lower flange 453 of the double arm 45 . Specifically, the upper end of the pin disposing groove 12 may be located at a level below the lower flange 453 of the double arm 45 .

The position setting pin 13 is insertable and arrange|positioned in the pin setting groove 12. As shown in FIG. That is, the position setting pin 13 may be located at an upper portion of the third installation groove 113 of the cam box 10 . The setting pin 13 fixed at the position of the pin setting groove 12 may protrude a predetermined length along the inner side of the third mounting groove 113 . Specifically, the position setting pin 13 is inserted and fixed in the pin setting groove 12, the pin setting groove 12 is formed on the inner peripheral surface of the third mounting groove 113 formed in the cam box 10, and the end portion can protrude along the inner side of the third mounting groove 113 to define length. Wherein, the predetermined length of the position setting pin 13 protruding along the inner side of the third installation groove 113 may protrude adjacent to the inner peripheral surface of the cam box 10 formed with the third installation groove 113 and the outer peripheral surface of the double arm 45 .

The position setting pin 13 protruding along the inner side of the third mounting groove 113 has a predetermined length protruding from the lower side of the lower flange 453 before being lowered, and the lower surface of the lower flange 453 can be placed on the position setting pin 13 . Contacting the upper end (or top) of the position setting pin 13 protruding from the lower side of the lower flange 453 prevents the arms 45 from falling due to the position setting pin 13 when the lower flange 453 is supported by the position setting pin 13 . That is, the position setting pin 13 can prevent the double arm 45 from falling due to gravity by supporting the lower flange 453 on the lower side of the lower flange 453 .

In addition, the position of the position setting pin 13 protruding along the edge of the third mounting groove 113 can be arranged at a position that is offset from the moving groove 455 by a preset angle A based on the center point of the axis when the double arm 45 rotates. Location. This will be described in detail in the description of the rotating unit 40 described below. In the present invention, in the state before the double arms 45 are lowered, the state in which the position setting pin 13 and the moving groove 455 are shifted by a preset angle A is used as an initial state for description.

In the present invention, the pin setting groove 12 is formed on one side of the cam box 10, and the position setting pin 13 is provided in the pin setting groove 12 on one side. That is, in the drawings, although an example in which the position setting pins 13 are respectively arranged on one side of the cam box 10 is shown, it is not limited to this, and the pin setting grooves 12 may also be formed on both sides of the cam box 10, and provided There are two position setting pins 13 . This means that the number of position setting pins 13 can be varied according to the needs of designers or workers (managers).

Wherein, referring to FIG. 7 , the pin slide groove 14 may be formed at a lower portion of the third installation groove 113 of the cam box 10 . Specifically, in the cam box 10 , at a lower portion of the third installation groove 113 , a pin sliding groove 14 may be formed on an inner peripheral surface forming the third installation groove 113 . In the present invention, although an example in which one pin sliding groove 14 is formed on one side of the cam box 10 is shown, it is not limited to this, and two pin sliding grooves can be made according to the needs of designers or workers (managers). 14 are formed opposite to each other along the periphery of the third mounting groove 113 . In the state of descending from the inside of the third installation groove 113 to the double arm 45 (for example, in the state where the lower flange 453 is adjacent to the bottom surface of the cam box 10), the cam box 10 is formed in the lower part of the third installation groove 113. The height of the pin sliding groove 14 may be formed at the upper side of the upper surface of the upper flange 453 of the double arm 45 . More specifically, the height of the upper surface of the spline bushing 44 combined with the upper side of the double arm 45 may be located at the lower end of the pin sliding groove 14 in the lowered state of the double arm 45 . A position fixing pin 15 may be provided in the pin sliding groove 14 so as to be able to enter into the third installation groove 113 or protrude to the outside.

The position-fixing pin 15 is disposed in the pin sliding groove 14 , and can pass through the cylinder 16 to enter or protrude outward along the inner side of the third installation groove 113 . The cylinder 16 can make the position fixing pin 15 enter the third installation groove 113 inside or protrude outside. Specifically, the cylinder 16 is arranged on the outer surface of the cam box 10, so that the position fixing pin 15 can work along the side direction. As an example, the air cylinder 16 may be one of various types of air cylinders such as hydraulic cylinders and pneumatic cylinders.

When the double arm 45 is lowered, the position fixing pin 15 that enters the inner side of the third installation groove 113 through the cylinder 16 can be located on the upper side of the upper flange 452 . Specifically, in the state where the lower flange 453 is adjacent to the bottom of the cam box 10 due to the lowering of the arms 45, when the position fixing pin 15 enters the inside of the third installation groove 113 through the cylinder 16, the position fixing pin 15 can be inserted and fixed. The upper surface of the chassis portion 442 of the splined bushing 44 on the upper surface of the upper flange 452 . Therefore, when the double arms 45 descend, the position fixing pin 15 is located on the upper surface of the upper arm 45. Therefore, even if the double arms 45 are subjected to an external force in the upward direction, the upper flange 452 and the spline fixed on the upper flange 452 will The axle sleeve 44 conflicts with the position fixing pin 15, and can fix the position of the double arm 45 in the descending state by blocking the rise of the double arm 45.

Moreover, in the initial state, when the rotating part 40 is rotating by the preset angle A, the position fixing pin 15 may be located at a position staggered from the position of the moving groove 455 . In addition, the position setting pin 13 and the position fixing pin 15 formed on the inner peripheral surface forming the third installation groove 113 may be formed on vertical lines that are staggered from each other. That is, in the initial state, when the rotating part 40 is rotating by the preset angle A, the moving groove 455 and the position fixing pin 15 may be located on different vertical lines from each other. The drive part 20 may include: a motor 21 ; a speed reducer 22 ; and a drive shaft 23 .

The motor 21 can make the rotary part 40 rotate axially by transmitting power. The speed reducer 22 is connected to the motor 21, and as the power transmitted by the motor 21 is transmitted to the rotation part 40, when the rotation part 40 performs shaft rotation, the rotation speed can be reduced. That is, the speed and angle at which the rotating part 40 rotates by receiving the power transmitted from the motor 21 can be adjusted through the speed reducer 22 .

The driving shaft 23 is connected with the motor 21 and the reducer 22 , protrudes from the lower part of the reducer 22 , and can be connected with the rotating part 40 through the coupling 30 .

The driving part 20 is installed on the upper part of the cam box, and the driving shaft 23 can be located inside the first installation groove 111 .

The coupling 30 can connect the drive shaft 23 with the rotating part 40 . More specifically, the coupling 30 may connect the drive shaft 23 with the bearing 411 of the upper arm 41 . The drive shaft 23 is firmly fixed on the upper part of the shaft coupling 30 , and the bearing 411 can be firmly fixed on the lower part of the shaft coupling 30 .

The drive shaft 23 and the bearing 411 are located on the same line along the vertical direction and can be connected through the coupling 30 .

Therefore, the bearing 411 can rotate together with the rotation of the drive shaft 23 .

The rotating part 40 is disposed in the third installation groove 113 of the cam box 10 and can receive power from the driving part 20 to rotate the shaft. The rotating part 40 may include: an upper arm 41 ; a roller bearing 42 ; a nut part 43 ; a spline boss 44 ;

The upper arm 41 is rotatable within the cam box 10 by the power of the driving unit 20 . That is, the upper arm 41 can pivotally rotate the double arm 45 by receiving the power of the driving part 20 .

The upper arm 41 may include: a bearing 411 ; and a movement guide shaft 412 .

The bearing 411 can be connected with the drive shaft 23 through the coupling 30 . Also, the bearing 411 may be inserted inside the roller bearing 42 installed in the second installation groove 112 . Specifically, the bearing 411 is fastened to the roller bearing 42 installed in the second installation groove 112 , and the upper part can protrude to the first installation groove 111 by a predetermined length. The upper part of the bearing 411 is fastened to the coupling 30 and can be connected with the drive shaft 23 . The bearing 411 located in the second installation groove 112 can be connected with the roller bearing 42 . The bearing 411 receives power from the drive shaft 23 and can stably rotate the shaft inside the roller bearing 42 . Fastening protrusions 4111 and bolts 4112 may be formed on the bearing 411 .

The fastening protrusion 4111 may be formed at the lower portion of the bearing 411 as a portion formed at the lower portion of the bearing 411 , and the diameter of the fastening protrusion 4111 is greater than the length of the upper portion of the bearing 411 . As an example, the diameter of the fastening protrusion 4111 may be the same as that of the second installation groove 112 . And, the size of the fastening protrusion 4111 may be the same as the diameter of the moving guide shaft 412 . That is, the diameters of the fastening protrusion 4111 and the moving guide shaft 412 may be the same or similar to the diameter of the second installation groove 112 . For example, the bearing 411 may be in a “⊥” shape including a part of the fastening protrusion 4111 . The fixed bearing 411 and the moving guide shaft 412 can be connected through the fastening protrusion 4111 . The fastening protrusion 4111 can be located at a lower portion of the second installation groove 112 .

The bolt portion 4112 is a threaded portion and may be formed on the upper portion of the bearing 411 . Specifically, the bolt portion 4112 may be formed on the upper and lower side of the bearing 411 combined with the coupling 30 , and the height between the fastening protrusion 4111 and the bolt portion 4112 may correspond to the height of the roller bearing 42 . The bolt portion 4112 can be screwed to the nut portion 43 described below.

The movement guide shaft 412 may extend downward from the lower end of the bearing 411 and may be inserted into the hollow portion 451 inside the double arm 45 . Specifically, the moving guide shaft 412 extends downward from the lower end of the fastening protrusion 4111 , and may have the same diameter as the fastening protrusion 4111 .

The moving guide shaft 412 is connected to the double arm 45 through the spline bushing 44 and can be inserted into the hollow portion 451 of the double arm 45 . The guide shaft 412 can transmit the shaft rotational force received from the bearing 411 to the double arm 45 through the movement of the spline bushing 44 combined with the double arm 45 .

Specifically, protruding spline portions 4121 may be repeatedly formed on the outer peripheral surface of the moving guide shaft 412 . The spline part 4121 may be a protruding part formed extending in an up-down direction. In this case, a plurality of spline parts 4121 may be formed spaced apart from each other along the outer peripheral surface of the movement guide shaft 412 .

The roller bearing 42 is disposed at a fixed position of the second installation groove 112 , and the bearing 411 is disposed on the inner side to guide the rotation of the shaft of the inner bearing 411 . The roller bearing 42 may be one of commonly used roller bearings 42 such as a cylindrical roller bearing 42 and a tapered roller bearing 42 .

The roller bearing 42 may be installed in the second installation groove 112 to be located between the fastening protrusion part 4111 and the bolt part 4112 of the bearing 411 . Specifically, the size of the roller bearing 42 is the same as that of the second installation groove 112 , and its height may correspond to the height between the fastening protrusion 4111 and the bolt portion 4112 . Therefore, the position (height) of the roller bearing 42 inside the second installation groove 112 can be fixed by the nut portion 43 fastened to the fastening protrusion portion 4111 and the bolt portion 4112 .

The nut portion 43 is fastened to the bolt portion 4112 of the bearing 411 to prevent the roller bearing 42 from moving upward along the bearing 411 due to rotation. As an example, when the roller bearing 42 is located at the upper end of the fastening protrusion 4111 , the roller bearing 42 can be located between the fastening protrusion 4111 and the nut 43 as the nut part 43 is screwed together with the fastening part.

The spline sleeve 44 is inserted and fixed on the upper side of the hollow portion 451 of the double arm 45, so that the moving guide shaft 412 can pass through along the inner side.

The spline bushing 44 may include: a spline groove 441 ; and a chassis portion 442 .

The spline groove 441 may be a groove that engages with the spline portion 4121 formed on the outer peripheral surface of the movement guide shaft 412 on the inner peripheral surface of the spline boss 44 . That is, as the spline portion 4121 is engaged with the spline groove 441 by being inserted, the rotational force of the moving guide shaft 412 can be transmitted to the spline boss 44 . Moreover, the spline groove 441 and the spline portion 4121 are formed to extend along the vertical direction, so the spline portion 4121 can move up and down along the vertical length direction of the spline groove 441 . Therefore, the spline sleeve 44 can be moved up and down along the vertical direction of the moving guide shaft 412 , and when the moving guide shaft 412 rotates, the spline sleeve 44 can also rotate together.

The chassis portion 442 is a portion protruding outward from the upper end outer peripheral surface of the spline boss 44 and can be fastened and fixed to the upper flange 452 of the double arm 45 . Since the spline sleeve 44 is fixed on the upper part of the double arm 45 through the chassis portion 442, the spline sleeve 44 and the double arm 45 can work together as a structure. In this way, when the movable guide shaft 412 is rotated, the spline bushing 44 and the double arm 45 can be fastened and fixed through the chassis part 442 so that the double arm 45 can rotate together. Therefore, the double arm 45 can pass through the spline bushing. 44 moves up and down along the up and down length direction of the moving guide shaft 412.

The double arm 45 is connected to the upper arm 41, and a predetermined length of the upper arm 41 is inserted into the hollow portion 451 inside. The upper arm 41 rotates coaxially with the axis of the upper arm 41. The external force applied to the clamping part 50 fixed at the lower end can Move up and down along the length direction of the upper arm 41 . The double arm 45 can be connected with the main shaft 3 through the clamping part 50 to realize the work. That is, the ascending or descending of the double arm 45 receives the ascending or descending force of the main shaft 3 through the clamping part 50 , and can work together with the main shaft 3 . The operating state of the arms 45 will be described below with reference to FIG. 14 .

Specifically, the double arm 45 is located in the third installation groove 113 , moves up and down based on the moving guide shaft 412 to be located inside the third installation groove 113 or protrudes to the lower side of the third installation groove 113 . As an example, the length of the double arm 45 may be longer than the length of the third installation groove 113 .

The double arm 45 may include: a hollow part 451 ; an upper flange 452 ; a lower flange 453 ; a connection shaft 454 ;

The hollow part 451 may be formed inside the double arm 45 . That is, the double arm 45 may be in the shape of a tube having the hollow portion 451 formed therein. The spline sleeve 44 is inserted and fixed on the upper side of the hollow portion 451 of the double arm 45 , and the moving guide shaft 412 is inserted into the interior of the spline sleeve 44 and inserted into the hollow portion 451 . That is to say, the double arm 45 is mechanically combined with the moving guide shaft 412 of the upper arm 41 through the spline bushing 44, and rotates together with the shaft rotation of the upper arm 41, and can be applied to the clamp fixed on the lower end of the double arm 45 through the connecting shaft 454. The external force of the tight part 50 moves up and down along the spline part 4121 of the moving guide shaft 412 .

The upper flange 452 and the lower flange 453 may protrude outward along the periphery of the upper portion of the double arm 45, and may be separated from each other by a predetermined interval up and down. Since the upper flange 452 protrudes outward along the periphery at the upper end of the double arm 45 , it can be fixed to the chassis portion 442 of the spline boss 44 . The lower flange 453 may protrude from the upper flange 452 at a predetermined interval along the lower side.

The connecting shaft 454 protrudes downward from the lower end of the double arm 45 , is inserted and fixed in the center of the clamping part 50 , and can be connected with the clamping part 50 .

The moving groove 455 may be formed at a predetermined position along the circumference of the upper flange 452 and the lower flange 453 . Specifically, when the rotating part 40 is rotating by the predetermined angle A, the moving groove 455 can be formed around the upper flange 452 and the lower flange 453 so that the moving groove 455 and the position setting pin 13 are located on the same vertical line. Also, when the rotating part 40 is rotating by the preset angle A, the moving groove 455 may be formed at a position deviated from the position of the position fixing pin 15 .

Wherein, referring to FIG. 11 , part (a) of FIG. 11 may be an initial state before the rotating part 40 rotates. The initial state may be a state in which the arms 45 and the main shaft 3 are positioned on the horizontal line along the left-right direction, and the first finger 51 and the second finger 52 are arranged along the front-rear direction.

As shown in part (a) of FIG. 11 , in the initial state before the rotating part 40 rotates, the angle between the moving groove 455 based on the center point of the double arm 45 and the position setting pin 13 may be a preset angle A . In this case, the preset angle A may be 70 degrees. Wherein, when the rotating part 40 rotates, the preset angle A may be an angle at which the first finger part 51 or the second finger part 52 of the clamping part 50 is disposed on the lower side of the main shaft 3 . Specifically, the angle may be such that the first finger 51 or the second finger 52 of the clamping part 50 is on the lower side of the main shaft 3 so that the central axis of the main shaft 3 is aligned with the first finger 51 or the second finger 52 . The central axis of the tool gripped by the fingers 52 lies at an angle on the same line.

Part (b) of FIG. 11 is a state diagram in which the rotating part 40 is rotating by a preset angle A. As shown in FIG. In the present invention, positive rotation may mean a direction in which the movement groove 455 and the position setting pin 13 are located on the same line due to the rotation of the rotation part 40 by the preset angle A. For example, in this embodiment, forward rotation may mean counterclockwise rotation.

As shown in part (b) of FIG. 11 , if the rotating part 40 is rotating by the preset angle A, the moving groove 455 of the double arm 45 can be located on the same vertical line as the position setting pin 13 . Also, the first finger portion 51 or the second finger portion 52 of the clamping portion 50 may be located on the lower side of the main shaft 3 . In this case, the position fixing pin 15 may be located on a vertical line staggered from the moving groove 455 .

Finger parts capable of clamping/releasing the tool are provided on both side ends of the clamping part 50 , fixed on the lower end of the rotating part 40 , and can rotate with the rotation of the rotating part 40 .

Specifically, the clamping part 50 is connected with the connecting shaft 454 of the double arm 45, rotates together with the rotation of the double arm 45, and can rise or fall together with the rise or fall of the double arm 45.

The clamping part 50 may include: a first finger part 51 ; a second finger part 52 ; a first pressing part 53 ; and a second pressing part 54 .

The first finger 51 can be used to grip a new first tool T1 received from the tool magazine to be replaced. The second finger 52 can be used to clamp the second tool T2 after use on the spindle 3 .

The first pressing part 53 is disposed inside the first finger part 51 and can pressurize the first tool T1 located inside the first finger part 51 to increase the fixing force. The second pressing portion 54 is disposed inside the second finger portion 52 and can pressurize the second tool T2 located inside the second finger portion 52 to increase the fixing force.

Referring to FIG. 12 to FIG. 21 , the working method of the automatic tool exchange device 1 according to an embodiment of the present invention will be described.

First, the situation in FIG. 12 is the initial state before the automatic tool changer 1 operates. As described above, the initial state may be a state in which the arms 45 and the main shaft 3 are positioned on the horizontal line along the left-right direction, and the first finger 51 and the second finger 52 are arranged along the front-rear direction. In this case, the first finger 51 may be in a state of clamping the first tool T1 received from the tool magazine to be replaced, and the second finger 52 may be in an empty state.

As shown in FIG. 13 , in this state, the rotating part 40 can be rotated by a preset angle A by receiving the power of the driving part 20 . Wherein, the preset angle A may be 70 degrees. However, it is not limited thereto, and the preset angle A may be determined based on the device characteristics of the manufacturer. Specifically, in the case of generating power from the drive part 20, as the bearing 411 of the upper arm 41 connected to the drive shaft 23 performs positive rotation, if the upper arm 41 is rotated by a preset angle A, the upper arm 41 and the spline structure The connected arms 45 can be rotated at a preset angle A together. In addition, as the double arm 45 rotates, the clamping portion 50 fixed on the connecting shaft 454 at the lower end of the double arm 45 can also positively rotate the preset angle A together.

As mentioned above, if the rotation part 40 is rotated by the preset angle A, the second finger part 52 is located at the lower side of the main shaft 3 . In this case, as shown in part (b) of FIG. 11 , the double arms 45 that are rotating the preset angle A may be in a rotating state so that the moving groove 455 is located on the same vertical line as the position setting pin 13 . Since the moving groove 455 formed on the upper flange 452 and the lower flange 453 is on the same line as the position setting pin 13 vertically, the double arm 45 can be lowered as the moving groove 455 passes the position setting pin 13 .

The second finger portion 52 located on the lower side of the main shaft 3 can clamp the second tool T2 clamped by the main shaft 3 after use and which needs to be replaced.

Wherein, referring to FIGS. 14 to 16 , after the rotating part 40 is positively rotated by the preset angle A, in the state where the second finger part 52 clamps the second tool T2 clamped by the spindle 3 , following The main shaft 3 descends, and the double arms 45 can descend along the length direction of the upper arm 41 .

Specifically, in the state where the second finger portion 52 of the clamping portion 50 fixed on the lower end of the double arm 45 clamps the second tool T2 and the main shaft 3 at the same time, if the main shaft 3 descends, the double arm 45 can descend through the main shaft 3 The force drops together.

The double arms 45 can mechanically work together by receiving the rising or falling force of the main shaft 3 through the clamping part 50 . In this case, the position setting pin 13 passes through the moving groove 455 , and the double arm 45 can be lowered as the spline groove 441 of the spline bushing 44 moves downward along the spline portion 4121 of the moving guide shaft 412 .

In the state where the double arm 45 and the main shaft 3 are clamping the second tool T2 at the same time, the main shaft 3 can gradually release the second tool T2 and descend when the double arm 45 descends with the main shaft 3 . That is, after the second finger portion 52 clamps the second tool T2, the main shaft 3 can release the second tool T during the descending process.

As shown in Figures 15 and 16, if the lower flange 453 is positioned at the bottom of the third mounting groove 113 due to the lowering of the arms 45, the position fixing pin 15 can enter the third mounting groove 113 through the operation of the cylinder 16 and Located on the upper side of the upper flange 453 . Specifically, if the lower flange 453 is adjacent to the bottom surface of the cam box 10, the position fixing pin 15 enters the third installation groove 113, so that the chassis portion 442 of the spline bushing 44 on the upper side of the upper flange 452 can be inserted upward. The height of the double arm 45 can be fixed because the position fixing pin 15 on the upper surface of the spline bushing 44 prevents the double arm 45 from moving upward.

Referring to FIG. 17 , after the second finger 52 clamps the second tool T2 and the spindle 3 releases the second tool T2 , the spindle 3 can be raised. In this case, as shown in FIG. 15 and FIG. 16 , the position fixing pin 15 enters the third installation groove 113, so that the position fixing pin 15 is located on the upper side of the lower flange 453 so that the double arm 45 cannot rise with the rise of the main shaft 3. , since the double arm 45 is in a position-fixed state due to the position-fixing pin 15, the lowered state can be maintained.

As shown in FIG. 18 , after the main shaft 3 is raised, the clamping part 50 can rotate 180 degrees in a state where the first finger 51 clamps the first tool T1 and the second finger 52 clamps the second tool T2 . The state in which the clamping part 50 is rotated by 180 degrees may be a state in which it is rotated by a preset angle A+180 degrees based on the initial state. As an example, in the initial state shown in FIG. 12 , the clamping portion 50 may be rotated by 70°+180°.

In the state shown in FIG. 17, if the clamping part 50 rotates 180 degrees, the first tool T1 clamped by the first finger 51 is located on the lower side of the spindle 3, and the second finger of the second tool T2 is clamped. The portion 52 is located on the side of the tool magazine opposite the spindle 3 .

Referring to FIG. 19 and FIG. 20 , if the first finger portion 51 for clamping the first tool T1 is located on the lower side of the main shaft 3 , the main shaft 3 can be lowered again to clamp the first tool T1 .

As the main shaft 3 clamps the first tool T1 , the position fixing pin 15 can extend outward again in a state where the first finger portion 51 and the main shaft 3 are simultaneously clamping the first tool T1 . That is, if the position fixing pin 15 blocking the movement toward the upper side of the double arm 45 protrudes outside again from the third mounting groove 113 , the movement toward the upper side of the double arm 45 becomes free.

As mentioned above, after the position fixing pin 15 is extended to the outside of the third mounting groove 113, if the main shaft 3 rises, the force of the main shaft 3 rising is transmitted to the double arm 45 through the clamping part 50, and as the double arm 45 rises, the lower part The flange 453 can rise to the upper side of the position setting pin 13 . In other words, in the state where the main shaft 3 and the first finger portion 51 are clamping the first tool T1 at the same time, if the main shaft 3 rises, the first tool T1 and the main shaft 3 rise together to clamp the first finger of the first tool T1. The part 51 also rises together with the main shaft 3, and if the clamping part 50 rises along with the rising of the first finger part 51, the double arms 45 fixed to the clamping part 50 will also rise.

Next, after the lower flange 453 of the double arm 45 rises to the upper side of the position setting pin 13, the first finger 51 releases the first tool T1. Then, as shown in FIG. 21 , the upper arm 41 receiving the power from the driving part 20 reversely rotates by a predetermined angle A, so that the positions of the moving groove 445 and the position setting pin 13 are shifted from each other. That is to say, get back to the initial state again, as the moving groove 455 and the position setting pin 13 are mutually staggered, so that the bottom of the lower flange 453 is supported by the upper end of the position setting pin 13, therefore, the position setting pin 13 can prevent the lower flange 453 from decline.

As mentioned above, the automatic tool changer 1 according to one embodiment of the present invention receives the power of the driving part 20 to rotate the shaft, and the lifting operation is performed by receiving the lifting force from the main shaft 3 through the tool. That is, the tool can be clamped through a mechanical connection to the spindle 3 .

As mentioned above, the embodiment of the present invention achieves a simple structure through the coupling of the driving part and the upper arm to transmit the rotational movement of the shaft to the double arm, and through the mechanical linkage with the main shaft of the machining center, the double arm moves along the vertical axis due to the up and down movement of the main shaft. Therefore, the separation of the conventional rotary motion and the up-and-down motion driven by the complex drive of the roller gear cam can greatly reduce the problems in the working process of the machine by simplifying the internal structure.

Moreover, the internal structure of the cam box can be simplified by removing the roller gear cam and the transmission part inside the cam box that allow the arms to move up and down by using the conventional connecting rod structure. Therefore, problems such as malfunction, failure, and damage can be eliminated.

Above, although specific embodiments of the present invention have been described in detail, it should be understood that those skilled in the art to which the present invention pertains can make various changes to the embodiments without departing from the scope of the present invention. Therefore, the scope of the patent application in this case is not limited to the embodiments described above, and should be defined based on the scope of the patent application and its equivalent technical solutions.

1: Automatic tool changer 2: mechanical device 3: Spindle 10: Cam box 11: Mounting slot 111: The first installation slot 112: the second installation slot 113: The third installation slot 12: Pin setting slot 13: Position setting pin 14: Pin sliding groove 15: Position fixing pin 16: Cylinder 20: Drive Department 21: motor 22: reducer 23: drive shaft 30:Coupling 40:Rotation 41: upper arm 411: Bearing 4111: fastening protrusion 4112: bolt department 412: Guide shaft 4121: spline part 42: Roller bearing 43: nut part 44: Spline shaft sleeve 441: spline groove 442: Chassis Department 45: Arms 451: hollow part 452: Upper flange 453: lower flange 454: Connection shaft 455: Mobile slot 50: clamping part 51: First finger 52: second finger 53: The first pressurized part 54: the second pressurization part T1: first tool T2: Second Tool A: Preset angle

1 and 2 are perspective views respectively showing the state in which an automatic tool exchange device according to an embodiment of the present invention is arranged on the spindle side of a machining center; Fig. 3 is an upper perspective view of an automatic tool exchange device according to an embodiment of the present invention; Fig. 4 is a perspective view of the lower side of the automatic tool exchange device according to an embodiment of the present invention; Fig. 5 is the A-A line sectional view of the automatic tool exchange device shown in Fig. 1; Fig. 6 is a B-B line sectional view of the automatic tool exchange device shown in Fig. 1; Fig. 7 is a C-C line sectional view of the automatic tool exchange device shown in Fig. 1; Fig. 8 is the perspective view of the cross-section of line C-C shown in Fig. 1; 9 is a view showing a driving part, a coupling, a rotating part and a clamping part according to an embodiment of the present invention; Fig. 10 is an exploded perspective view showing the structure shown in Fig. 9; 11 is a schematic diagram showing the positions of the position setting pin, the position fixing pin and the moving groove according to an embodiment of the present invention; Fig. 12 is a diagram showing the initial state before the automatic tool exchange device of an embodiment of the present invention works; Fig. 13 is a view showing a working state in which the second finger of the clamping part is disposed on the lower side of the main shaft through the forward rotation of the rotating part by a preset angle according to an embodiment of the present invention; Fig. 14 is a view showing the working state of the clamping part and the double arms descending due to the descending of the main shaft according to an embodiment of the present invention; Fig. 15 is a sectional view showing the working state of the automatic tool changer shown in Fig. 14; Fig. 16 is a front view showing the working state of the automatic tool changer shown in Fig. 14; Fig. 17 is a state diagram showing that the main shaft rises after releasing the second tool in the working state of the automatic tool changer shown in Fig. 16; Fig. 18 is a state diagram showing a state in which the clamping part is rotated 180 degrees under the condition that the second finger part is clamping the second tool according to an embodiment of the present invention; Fig. 19 is a diagram showing the working state of the main shaft descending to clamp the first tool under the condition that the first finger for clamping the first tool is located on the lower side of the main shaft according to an embodiment of the present invention; Fig. 20 is a view showing the working state of the dual arms rising together with the main shaft according to an embodiment of the present invention; and Fig. 21 is a view showing the working state of the rotation part reversely rotating the preset angle according to an embodiment of the present invention.

1: Automatic tool changer

2: mechanical device

3: Spindle

10: Cam box

16: Cylinder

20: Drive Department

50: clamping part

51: First finger

52: second finger

T1: first tool

Claims (11)

An automatic tool exchange device for being arranged between a tool magazine and a spindle of a machining center, comprising: A cam box is equipped with a driving part; a rotating part provided inside the cam box to receive power from the driving part for shaft rotation; and A clamping part is provided with a finger part capable of clamping or loosening a tool at both ends, and the clamping part is fixed on the lower end of the rotating part so as to rotate with the rotating part rotate, Wherein, the rotating part includes: an upper arm axially rotated inside the cam box by the power of the driving part; and A pair of arms, the hollow part of which is inserted into the predetermined length of the upper arm and connected to the upper arm so as to perform axial rotation along with the axial rotation of the upper arm, can be applied to the fixed lower end of the arm. The external force of the clamping part comes to move up and down along the length direction of the upper arm. The automatic tool exchange device according to claim 1, wherein when the finger part of the clamping part and the main shaft clamp the tool simultaneously, and when the main shaft is raised or lowered, the two The arms are raised or lowered together by the force of the main shaft rising or lowering. The automatic tool changer according to claim 1, wherein the double arms include: an upper flange and a lower flange protruding outward along the circumference of the upper portion and formed at a predetermined interval above and below; and a moving groove is respectively formed at predetermined positions around the upper flange and the lower flange, Wherein, the cam box includes a position setting pin, and the position setting pin protrudes toward the inside of the installation groove when the arms are arranged in an installation groove inside the cam box, and Protruding from a lower side height lower than the height of the lower flange in the state before descending, and is arranged with a predetermined angle staggered from the moving groove based on the shaft center point when the dual-arm shaft rotates, The clamping part includes: a first finger for gripping a new first tool to be replaced received from said tool magazine; and A second finger for gripping a second tool after use on the spindle. The automatic tool exchange device according to claim 3, wherein, when the two arms are rotated so that the moving groove and the position setting pin are staggered by the preset angle, the lower surface of the lower flange and the The upper end of the position setting pin protruding from the cam box contacts, and the lower flange is supported by the position setting pin, so that the position setting pin prevents the arms from falling due to their own weight. The automatic tool exchange device according to claim 3, wherein when the arms and the main shaft are on the horizontal line along the left-right direction, the first finger and the second finger are along the front-rear direction In the configured state and when the rotating part is rotating the preset angle, the second finger part is located on the lower side of the main shaft and is formed on the upper flange and the lower flange. The moving groove and the position setting pin are located on the same line in the vertical direction, so that the moving groove passes the position setting pin and lowers the arms. The automatic tool changer according to claim 3, wherein the cam box comprises: a position fixing pin that enters the inside of the installation groove from the lower part of the installation groove where the arms are disposed; and a cylinder for making the position fixing pin enter the inside of the installation groove or protrude outside, Wherein, in the state where the double arms are lowered, the position fixing pin that enters the inside of the installation groove through the cylinder will be located on the upper side of the upper flange. The automatic tool changer according to claim 6, wherein the position fixing pin is from the mounting groove which is shifted from the position of the moving groove in the state where the rotating part is rotating the preset angle. Enter around a location. The automatic tool exchange device according to claim 7, wherein, when the rotating part is rotating the preset angle, the second finger clamps the second tool clamped by the spindle In the state of , the double arms descend along the length direction of the upper arm with the descending of the main shaft, and when the lower flange is located at the lower part of the installation groove due to the descending of the double arms, by When the air cylinder works, the position fixing pin enters the inside of the installation groove and is located on the upper side of the upper flange. When the main shaft is lifted after releasing the second tool, the first finger In the state where the first tool is clamped by the finger-shaped part and the second tool is clamped by the second finger-shaped part, the clamping part rotates 180 degrees so that the first tool clamped by the first finger-shaped part A tool is located on the underside of the spindle. The automatic tool exchange device according to claim 8, wherein when the main shaft descends again and clamps the first tool clamped by the first finger to make the first finger and the When the main shaft clamps the first tool at the same time, the position fixing pin protrudes to the outside of the installation groove through the cylinder, and as the main shaft rises, the rising force of the main shaft will pass through the clamp The tight part is transmitted to the double arm to make the double arm rise, and the double arm rises so that the moving groove penetrates the position setting groove, so that the lower flange is located on the upper side of the position setting pin, and on the upper side of the position setting pin. After the first finger part releases the first tool, when the upper arm receiving power from the driving part reversely rotates the preset angle so that the position of the moving groove and the position setting pin are staggered , supporting the lower flange through the position setting pin. The automatic tool changer according to claim 1, wherein the upper arm comprises: a bearing connected to a drive shaft of the drive part through a coupling; and a movement guide shaft formed extending downwardly at the lower portion of said bearing to be inserted into said hollow portion inside said double arm, Wherein, the rotating part includes a roller bearing, which is arranged at a fixed position in the cam box, and the bearing is arranged on the inner side for guiding the rotation of the shaft of the bearing. The automatic tool changer according to claim 10, wherein a spline portion is formed on an outer peripheral surface of the movement guide shaft, and The rotating part also includes a spline sleeve for inserting on the upper side of the hollow part of the double arm, so that the moving guide shaft penetrates inside, so that the inner peripheral surface is formed with the spline A spline groove that meshes with each other.

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