TWI632983B - Automatic tool changer - Google Patents
Automatic tool changer Download PDFInfo
- Publication number
- TWI632983B TWI632983B TW106125047A TW106125047A TWI632983B TW I632983 B TWI632983 B TW I632983B TW 106125047 A TW106125047 A TW 106125047A TW 106125047 A TW106125047 A TW 106125047A TW I632983 B TWI632983 B TW I632983B
- Authority
- TW
- Taiwan
- Prior art keywords
- rotating member
- clamp
- frame
- tool
- clamping
- Prior art date
Links
Landscapes
- Automatic Tool Replacement In Machine Tools (AREA)
Abstract
一種自動換刀設備及其方法,以將該刀具結合於該刀桿或使該刀具與該刀桿分離。該刀桿包括有可相對轉動之一第一轉動件與一第二轉動件;該自動換刀設備包含有一機架、結合於該機架之一固定單元與一轉動單元,其中該固定單元包括一第一夾具,且該轉動單元包括一第二夾具;該自動換刀設備執行換刀的方法包含步驟有:以該第一夾具夾固該刀桿之該第一轉動件;以該第二夾具夾固該刀桿之該第二轉動件;驅使該第一轉動件與該第二轉動件產生相對轉動,使得該第二轉動件鬆釋或夾緊該刀具。 An automatic tool change apparatus and method thereof for joining or detaching the tool from the tool bar. The arbor includes a first rotating member and a second rotating member that are relatively rotatable; the automatic tool changing device includes a frame, a fixing unit coupled to the frame, and a rotating unit, wherein the fixing unit comprises a first jig, and the rotating unit includes a second jig; the method of the tool changing device performing the tool changing comprises the steps of: clamping the first rotating member of the arbor with the first jig; The clamp clamps the second rotating member of the arbor; and drives the first rotating member to rotate relative to the second rotating member, so that the second rotating member releases or clamps the cutter.
Description
本發明係與換刀機構有關;特別是指一種自動換刀設備及其方法。 The invention relates to a tool change mechanism; in particular to an automatic tool change device and method therefor.
按,隨著製造、加工產業的蓬勃發展,在加工過程中使用刀具而為切削或研磨者亦為普遍。前述刀具經常是以可拆裝的方式結合於一刀桿上,而透過控制刀桿的可轉動件旋轉,俾可帶動刀具高速旋轉以進行切削或是研磨。前述刀桿可以是裝設於一機具的旋轉主軸上,亦有裝設於一機器手臂的一端。請參圖1所示,係以裝設於機器手臂(圖未示)一端的刀桿1為例,其包括一第一轉動件1a與一第二轉動件1b,刀具2包括一桿部2a與一工作部2b,其中第二轉動件1b係可夾緊刀具2之桿部2a,以使刀具2能受控制而高速旋轉。 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.
已知對刀具2進行拆裝之方法,是使用兩個輔具,例如板手,分別固定第一轉動件1a與第二轉動件1b,接著操作該二輔具帶動該第一轉動件1a與該第二轉動件1b往相異方向樞轉,以達到使刀桿1鬆釋或夾緊刀具2之目的。 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.
然而此種作法不僅耗費人力,且增加作業時間,在需大量生產製造產品時,更是降低生產效率的一大主因,為人們所詬病。 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.
有鑑於此,本發明之目的在於提供一種自動換刀設備及其方法,無須人力介入即可使刀具與刀桿分離或結合。 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.
緣以達成上述目的,本發明提供一種自動換刀設備,用以固定一刀桿,該刀桿包括有相結合且可相對轉動之一第一轉動件與一第二轉動件,其中該第二轉動件係受驅使轉動而鬆釋或夾緊一刀具;該自動換刀設備包含:一機架;一結合於該機架之固定單元,包括一第一夾具用以夾固該第一轉動件;以及一結合於該機架之轉動單元,包括一第二夾具用以夾固該第二轉動件,且該第二夾具受操控轉動以帶動該第二轉動件旋轉。 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.
本發明更提供一種自動換刀設備執行換刀的方法,包含步驟有:以該第一夾具夾固該刀桿之該第一轉動件;以該第二夾具夾固該刀桿之該第二轉動件;驅使該第一轉動件與該第二轉動件產生相對轉動,使得該第二轉動件鬆釋或夾緊該刀具。 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.
本發明之效果在於藉由第一夾具固定該刀桿之第一轉動件,並驅使固定該刀桿第二轉動件之第二夾具轉動,以達到自動將該刀具結合於該刀桿或使該刀具與該刀桿分離之效果,而不必再以人力使用輔具進行裝刀與換刀之步驟,進而達到增加生產效率的效果。 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.
〔本發明〕 〔this invention〕
1‧‧‧刀桿 1‧‧‧Cutter
1a‧‧‧第一轉動件 1a‧‧‧First rotating part
1b‧‧‧第二轉動件 1b‧‧‧second rotating part
2‧‧‧刀具 2‧‧‧Tools
2a‧‧‧桿部 2a‧‧‧ pole
2b‧‧‧工作部 2b‧‧‧Working Department
100‧‧‧自動換刀設備 100‧‧‧Automatic tool changer
10‧‧‧機架 10‧‧‧Rack
11‧‧‧基板 11‧‧‧Substrate
111‧‧‧第一面 111‧‧‧ first side
112‧‧‧第二面 112‧‧‧ second side
11a‧‧‧定位槽 11a‧‧‧ positioning slot
11b‧‧‧第一樞接孔 11b‧‧‧First pivot hole
20‧‧‧固定單元 20‧‧‧Fixed unit
22‧‧‧安座 22‧‧‧Seat
221‧‧‧架腳 221‧‧‧ feet
222‧‧‧橫板 222‧‧‧ horizontal board
22a‧‧‧接孔 22a‧‧‧Contact hole
22b‧‧‧定位孔 22b‧‧‧Positioning holes
24‧‧‧第一夾具 24‧‧‧First fixture
241‧‧‧凸塊 241‧‧‧Bumps
24a‧‧‧第一卡槽 24a‧‧‧first card slot
24b‧‧‧弧形槽 24b‧‧‧ arc slot
26‧‧‧定位件 26‧‧‧ Positioning parts
261‧‧‧螺栓 261‧‧‧ bolt
262‧‧‧螺帽 262‧‧‧ nuts
30‧‧‧偏轉單元 30‧‧‧ deflection unit
31‧‧‧第一底板 31‧‧‧ first bottom plate
31a‧‧‧滑槽 31a‧‧‧Chute
32‧‧‧第一樞轉塊 32‧‧‧First pivoting block
33‧‧‧擋板 33‧‧‧Baffle
34‧‧‧滑桿 34‧‧‧Slider
40‧‧‧轉動單元 40‧‧‧Rotating unit
41‧‧‧第二底板 41‧‧‧second bottom plate
41a‧‧‧第二樞接孔 41a‧‧‧Second pivot hole
42‧‧‧連動件 42‧‧‧ linkages
421‧‧‧第一齧合部 421‧‧‧First meshing
43‧‧‧第一動力源 43‧‧‧First power source
431‧‧‧第一縮壓缸 431‧‧‧First reduction cylinder
432‧‧‧第一伸縮桿 432‧‧‧First telescopic rod
433‧‧‧第二伸縮壓缸 433‧‧‧Second telescopic cylinder
434‧‧‧第二伸縮桿 434‧‧‧Second telescopic rod
44‧‧‧第二夾具 44‧‧‧Second fixture
441‧‧‧第二齧合部 441‧‧‧Second joint
442‧‧‧第二樞轉塊 442‧‧‧Second pivoting block
44a‧‧‧第二卡槽 44a‧‧‧Second card slot
45‧‧‧連接架 45‧‧‧Connecting frame
50‧‧‧卸刀單元 50‧‧‧Unloading unit
51‧‧‧第二動力源 51‧‧‧second power source
511‧‧‧第三伸縮壓缸 511‧‧‧ Third telescopic cylinder
512‧‧‧第三伸縮桿 512‧‧‧3rd telescopic rod
52‧‧‧撥動件 52‧‧‧WD parts
52a‧‧‧卡槽 52a‧‧‧ card slot
521‧‧‧勾部 521‧‧‧Hook
522‧‧‧連接部 522‧‧‧Connecting Department
60‧‧‧送刀單元 60‧‧‧Sketch unit
61‧‧‧刀庫 61‧‧‧Magazine
61a‧‧‧通孔 61a‧‧‧through hole
611‧‧‧固定架 611‧‧‧Retaining frame
612‧‧‧輸送帶 612‧‧‧ conveyor belt
613‧‧‧第二刀座 613‧‧‧second knife seat
62‧‧‧第三動力源 62‧‧‧ Third power source
621‧‧‧第四伸縮壓缸 621‧‧‧4th telescopic cylinder
622‧‧‧第四伸縮桿 622‧‧‧4th telescopic rod
623‧‧‧第五伸縮壓缸 623‧‧‧5th telescopic cylinder
624‧‧‧第五伸縮桿 624‧‧‧5th telescopic rod
63‧‧‧第一刀座 63‧‧‧First knife seat
D1‧‧‧第一方向 D1‧‧‧ first direction
D2‧‧‧第二方向 D2‧‧‧ second direction
P1‧‧‧起始位置 P1‧‧‧ starting position
P2‧‧‧結束位置 P2‧‧‧End position
圖1為刀具結合於刀桿的立體圖;圖2為本發明一較佳實施例之自動換刀設備的立體圖;圖3為圖2的正視圖; 圖4為圖2之局部放大圖;圖5為圖4之分解圖;圖6a為圖4之上視圖;圖6b類似於圖6a;圖7a為圖4部分構件之上視圖;圖7b類似於圖7a;圖8為卸刀單元的立體圖;圖9為送刀單元的局部分解圖;圖10為刀具與刀桿結合於上述較佳實施例之自動換刀設備的立體放大圖;圖11為圖10之局部正視圖;圖12a為圖10之12a-12a方向剖視圖;圖12b類似於圖12a;圖13a為刀桿結合於上述較佳實施例之自動換刀設備的立體放大圖;圖13b類似於圖13a;圖14為上述較佳實施例之自動換刀設備的卸刀流程圖;圖15為上述較佳實施例之自動換刀設備的裝刀流程圖。 1 is a perspective view of a cutter coupled to a cutter bar; 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. Figure 4 is a partial enlarged view of Figure 2; Figure 5 is an exploded view of Figure 4; Figure 6a is a top 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 Figure 7a; Figure 8 is a perspective view of the knife-removing unit; Figure 9 is a partially exploded view of the knife-feeding unit; Figure 10 is a perspective enlarged view of the automatic tool-changing device of the preferred embodiment of the tool and the blade; Figure 11 Figure 12a is a cross-sectional view taken along line 12a-12a of Figure 10; Figure 12b is similar to Figure 12a; Figure 13a is a perspective enlarged view of the automatic tool changer of the preferred embodiment of the arbor; Figure 13b Similar to Fig. 13a; Fig. 14 is a flow chart of the unloading of the automatic tool changer of the above preferred embodiment; Fig. 15 is a flow chart of the loading of the automatic tool changer of the preferred embodiment.
為能更清楚地說明本發明,茲舉一較佳實施例並配合圖式詳細說明如後。請參圖2與圖3所示,為本發明一較佳實施例之自動換刀設備100,其包含一機架10,以及結合於該機架10之一固定單元20、一偏轉單元30、一轉動單元40、一卸刀單元50與一送刀單元60。前述自 動換刀設備100係用以對結合於一刀桿上的刀具進行自動拆裝作業,所述刀桿及刀具在本實施例中係以圖1揭示的刀桿1及刀具2為例。 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 aforementioned self The movable 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.
請配合圖4及圖5所示,該機架10包含有一基板11,且該基板11具有相背對之一第一面111與一第二面112,且該第二面112朝向地面;該基板11具有貫通該第一面111與該第二面112之一定位槽11a與一第一樞接孔11b;其中該定位槽11a呈弧狀,且該第一樞接孔11b一側為開放狀。 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.
該固定單元20包含有一安座22、一第一夾具24與至少一定位件26,其中該安座22包含有結合於該基板11之第一面111之二架腳221,以及連接該二架腳221之橫板222,該二架腳221架高該橫板222,使該橫板222與該基板11距離一預設距離;該橫板222具有一側為開放狀的接孔22a,以及至少一定位孔22b,在本實施例中,該至少一定位孔22b的數量為三個且分布於該接孔22a的周圍。該第一夾具24底部具有與該接孔22a相配合之凸塊241,且該第一夾具24更包含有一第一卡槽24a與三個弧形槽24b,其中該第一卡槽24a與該第一轉動件1a之非圓形外輪廓相配合;該些弧形槽24b設置於第一卡槽24a周圍。本實施例中該至少一定位件26的數量為三個,且每一該定位件26包含有相配合之一螺栓261與一螺帽262。 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.
該第一夾具24之凸塊241嵌入該橫板222之接孔22a,使得該第一夾具24可相對該安座22偏轉地結合於該安座22上(見圖6a與圖6b);每一該定位件26之螺栓261穿設相對應之該弧形槽24b與相對應之該定位孔22b後,再以該螺帽262鎖固該螺栓261,以緊迫該第一夾具24與該橫板222,以將該第一夾具24固定於該安座22且該第一夾具24無法相對該安座22偏轉。 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.
上述實施例之定位件26,以及與其相對亦應之弧形槽24b與定位孔22b的數量以三個為例,係達到較佳的固定效果,但不以此為限制,定位件26、弧形槽24b與定位孔22b之數量可視需求而設置,可皆為單一一個,抑或是更多數量,皆可達到將該第一夾具24固定於該安座22上之功能。 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.
在另一實施例中,該第一夾具24與該安座22之固定方法不以上述為限制,只要該安座22與該第一夾具24之其中一者具有至少一弧形槽24b,另一者具有至少一定位孔22b,並使該定位件26穿設該弧形槽24b與該定位孔22b,皆可達到使該第一夾具24無法相對該安座22偏轉之效果。另外,弧形槽24b之設置係為方便調整該第一夾具24相對該安座22之偏轉角度,使用者僅需將各該定位件26之螺帽262旋鬆(且螺帽262無須與螺栓261分離),該第一夾具24即可受操作相對該安座22偏轉,直到螺栓261抵於弧形槽24b之槽壁而限制該第一夾具24之偏轉角度。 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.
該偏轉單元30包含有一第一底板31、一第一樞轉塊32、一擋板33與一滑桿34,其中該第一底板31係設置於該基板11之第一面111,且該第一底板31頂面設置有相面對之二滑槽31a;該第一樞轉塊32設置於該第一底板31底側,該第一樞轉塊32與該基板11之第一樞接孔11b以弧形相配合且嵌設於該第一樞接孔11b中;該擋板33係設置於該基板11之第二面112且與該第一樞轉塊32相連,又該擋板33之外輪廓大於該第一樞接孔11b之內徑,使該第一樞轉塊32無法自該第二面112脫離該第一樞接孔11b;該滑桿34一端與該第一底板31相連且穿過該基板11之定位槽11a。該滑桿34可受控制帶動該第一底板31以該第一樞轉塊32為軸心相對該基板11轉動(見圖6a與圖6b)。 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).
該轉動單元40包括一第二底板41、一連動件42、一第一動力源43、一第二夾具44與一連接架45。該第二底板41係設置於該第一底板31上,且位於該第一底板31之二該滑槽31a之間,又,該第二底板41具有一第二樞接孔41a;該第一動力源43包括相連接之一第一伸縮壓缸431(即本發明所定義之伸縮壓缸)與一第一伸縮桿432,以及相連接之一第二伸縮壓缸433與一第二伸縮桿434,其中該第一伸縮桿432與該第二伸縮桿434可受操控於一直線上往復移動。 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.
該第一伸縮壓缸431與該連動件42係設置於該第二底板41上,且該連動件42接設於該第一伸縮桿432的一端;該連動件42具有一第一齧合部421沿著直線設置;該第二夾具44設置於該第二底板41上,且具有一弧形的第二齧合部441與該第一齧合部421齧合,該第二夾具44設有一第二卡槽44a與刀桿1之第二轉動件1b之外輪廓相配合,且該第二夾具44底部具有一第二樞轉塊442與該第二樞接孔41a相配合並嵌設於該第二樞接孔41a中。該第二伸縮壓缸433係設置於該第一底板31上,且該第二伸縮桿434藉由該連接架45與該第二底板41相連接。 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.
請配合圖7a與圖7b所示,該第二伸縮桿434可受操作帶動該第二底板41相對該第一底板31前、後移動;該第一伸縮桿432可受操作帶動該連動件42相對該第二底板41前、後移動,又因為該連動件42之第一齧合部421與該第二夾具44之第二齧合部441相齧合,因此當該第一伸縮桿432可帶動該連動件42之第一齧合部421相對該第一底板31往前移動時,亦帶動該第二夾具44以該第二樞轉塊442為軸心相對該第二底板41往一第一方向D1偏轉;反之,當該第一伸縮桿432可帶動該連動件42相對該基板11往後移動時,該第二夾具44則往一第二方向D2偏轉,其中該第一方向D1與該第二方向D2係相反。 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.
請見圖8所示,該卸刀單元50包括一第二動力源51與一撥動件52,其中該第二動力源51係設置於該基板11之第二面112,且該第二動力源51包含有相連接之一第三伸縮壓缸511以及一第三伸縮桿512;該撥動件52具有一勾部521與連接部522,其中該連接部522係連接於該第三伸縮桿512,且該勾部521設有一卡槽52a;該第三伸縮桿512可受操作帶動該撥動件52上、下移動。 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.
請見圖9所示之該送刀單元60包含有一刀庫61、一第三動力源62與一第一刀座63(即本發明所定義之刀座)。該刀庫61用以儲放刀具2,該刀庫61包含有一固定架611、一輸送帶612以及多數個設置於該輸送帶612上之第二刀座613,其中該固定架611與該基板11之第二面112相連接(見圖3),且該固定架611具有一貫穿之通孔61a;該些第二刀座613係可裝設刀具2,該輸送帶612設置於該固定架611上且可帶動該些第二刀座613相對該固定架611轉動。 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.
該第三動力源62包含有相連接之一第四伸縮壓缸621與一第四伸縮桿622,以及相連接之一第五伸縮壓缸623與一第五伸縮桿624,其中該第四伸縮壓缸621與該固定架611相連接,該第四伸縮桿622一端連接該第五伸縮壓缸623,使該第五伸縮壓缸623可受該第四伸縮桿622帶動橫向移動;該第五伸縮桿624一端連接該第一刀座63,且該第五伸縮桿624可受控制該第一刀座63於縱向移動。藉此,該第一刀座63可操作於一起始位置P1與一結束位置P2間移動,其中該起始位置P1位於該通孔61a下方,該結束位置P2位於該第一樞接孔11b下方且接近該基板11(見圖13a與圖13b)。 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).
上述為本創作第一較佳實施例之自動換刀設備100之各部構件及相關位置的說明。茲再敘述其使用方式如後,該自動換刀設備100可將裝設有刀具2之刀桿1與刀具2分離,亦可將刀具2裝設於刀桿1上。 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.
首先,先說明該自動換刀設備100將裝設有刀具2之刀桿1與刀具2分離的方法。請配合圖10、圖11與圖14所示,裝設有刀具2之刀桿1結合於該自動換刀設備100,使該刀桿1之第一轉動件1a固定於該第一夾具24之第一卡槽24a中,該刀桿1之第二轉動件1b固定於該第二夾具44之第二卡槽44a中,且該刀桿1夾緊之刀具2位於該撥動件52勾部521之卡槽52a中。 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.
特別注意的是,若第一轉動件1a卡制於該第一卡槽24a中,而該第二轉動件1b未卡制於該第二卡槽44a時,可藉由操作該第二伸縮桿434推動該連接架45與該第二底板41,以達到調整該第二夾具44之位置,使該第二轉動件1b位於該第二卡槽44a中。此外,該第一夾具24相對該安座22之樞接角度,以及該第一底板31相對該機架10之基板11的角度皆可依需求調整,以達到調整該第一卡槽24a與該第二卡槽44a的朝向,使刀桿1可順利結合於該第一夾具24與該第二夾具44上。 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.
刀桿1之第一轉動件1a被固定於固定單元20上,而轉動單元40之該第一伸縮桿432驅使帶動該連動件42齧合傳動該第二夾具44往該第一方向D1偏轉,使該刀桿1之第二轉動件1b相對該第一轉動件1a轉動,使該刀桿1鬆釋該刀具2之桿部2a。 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.
而後,請見圖12a與圖12b,該第二動力源51驅使該撥動件52向下位移,該撥動件52之勾部521抵於刀具2之工作部2b並對該刀具2之工作部2b施以向下抵推力,而使刀具2脫離刀桿1之第二轉動件1b。值得注意的是,該卸刀單元50係為確保刀具2與刀桿1分離,但不以此為限 制,在一實施例中,即使無該卸刀單元50,該轉動單元40仍可藉由使第二夾具44帶動該第二轉動件1b旋轉,而達到刀具2與刀桿1分離之效果。 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 tool 2 is separated from the tool bar 1, but not limited thereto. In an embodiment, even if the unloading unit 50 is absent, the rotating unit 40 can achieve the effect of separating the cutter 2 from the cutter bar 1 by causing the second clamp 44 to rotate the second rotating member 1b.
接著說明該自動換刀設備100將刀具2裝設於刀桿1上之方法。請配合圖13a、圖13b與圖15所示,同樣先使刀桿1固定於該自動換刀設備100上,使第一轉動件1a與第二轉動件1b分別固定於該第一卡槽24a與第二卡槽44a中。 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.
該輸送帶612轉動而帶動裝設有刀具2之第二刀座613於該固定架611上移動,當其一該第二刀座613移動至該通孔61a上方時,位於該第二刀座613中的刀具2通過該通孔61a而落至位於該起始位置P1之第一刀座63中,而後,該第一刀座63受操作帶動刀具2往該第二轉動件1b的方向移動,直到移至該結束位置P2時,該第五伸縮桿624與該第一刀座63對位於該第一刀座63中的刀具2施以向上頂推力,使刀具2之桿部2a一端位於該刀桿1之第一轉動件1a與第二轉動件1b中。 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.
最後,轉動單元40之該第一伸縮桿432驅使帶動該連動件42齧合傳動該第二夾具44往該第二方向D2偏轉(參見圖7),使該刀桿1之第二轉動件1b相對該第一轉動件1a轉動,即可達到使該刀桿1夾緊該刀具2之功能。 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.
本發明係藉由固定該刀桿1之第一轉動件1a,並驅使該刀桿1之第二轉動件1b相對該第一轉動件1a轉動,以達到無須人力介入即可將該刀具2結合於該刀桿1或使該刀具2與該刀桿1分離之效果,進而達到於加工過程中,降低作業時間與增加生產效率等功能。 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.
以上所述僅為本發明較佳可行實施例而已,舉凡應用本發明說明書及申請專利範圍所為之等效變化,理應包含在本發明之專利範圍內。 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.
Claims (8)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
TW106125047A TWI632983B (en) | 2017-07-26 | 2017-07-26 | Automatic tool changer |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
TW106125047A TWI632983B (en) | 2017-07-26 | 2017-07-26 | Automatic tool changer |
Publications (2)
Publication Number | Publication Date |
---|---|
TWI632983B true TWI632983B (en) | 2018-08-21 |
TW201910040A TW201910040A (en) | 2019-03-16 |
Family
ID=63959682
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
TW106125047A TWI632983B (en) | 2017-07-26 | 2017-07-26 | Automatic tool changer |
Country Status (1)
Country | Link |
---|---|
TW (1) | TWI632983B (en) |
Families Citing this family (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
TWI804101B (en) * | 2021-12-13 | 2023-06-01 | 直得科技股份有限公司 | Tool changing method for robotic arm |
Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN1486815A (en) * | 2002-07-03 | 2004-04-07 | 东芝机械株式会社 | Method for inserting or remocing cutter for machine tool and screw nut driving device |
CN1724211A (en) * | 2004-07-20 | 2006-01-25 | 春南电器制造厂有限公司 | Electric tool with tool holder operating member |
CN201036838Y (en) * | 2007-04-26 | 2008-03-19 | 功阳精机股份有限公司 | Extension head device with blade changing structure |
WO2012018816A2 (en) * | 2010-08-02 | 2012-02-09 | The Johns Hopkins University | Tool exchange interface and control algorithm for cooperative surgical robots |
CN204148615U (en) * | 2014-08-19 | 2015-02-11 | 常州聚美精密工具有限公司 | A kind of clamp structure of milling cutter |
-
2017
- 2017-07-26 TW TW106125047A patent/TWI632983B/en active
Patent Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN1486815A (en) * | 2002-07-03 | 2004-04-07 | 东芝机械株式会社 | Method for inserting or remocing cutter for machine tool and screw nut driving device |
CN1724211A (en) * | 2004-07-20 | 2006-01-25 | 春南电器制造厂有限公司 | Electric tool with tool holder operating member |
CN201036838Y (en) * | 2007-04-26 | 2008-03-19 | 功阳精机股份有限公司 | Extension head device with blade changing structure |
WO2012018816A2 (en) * | 2010-08-02 | 2012-02-09 | The Johns Hopkins University | Tool exchange interface and control algorithm for cooperative surgical robots |
CN204148615U (en) * | 2014-08-19 | 2015-02-11 | 常州聚美精密工具有限公司 | A kind of clamp structure of milling cutter |
Also Published As
Publication number | Publication date |
---|---|
TW201910040A (en) | 2019-03-16 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
CN103286703A (en) | Clamping mechanism | |
JP5956040B1 (en) | Machine Tools | |
TWI632983B (en) | Automatic tool changer | |
CN217122536U (en) | Telescopic hydraulic clamp for combined machine tool | |
CN110605679A (en) | Adjustable clamp | |
CN203092511U (en) | Attachment clamping mechanism and power tool with attachment clamping mechanism | |
TWM554034U (en) | Automatic tool changing system | |
CN114867342A (en) | Grafting device | |
KR20110104717A (en) | Metal cutter bar angle adjustment ismail structure | |
KR102012042B1 (en) | Bending device and screw fastening device for hose fastening band | |
JPH0780739A (en) | Work clamping device | |
CN111515714B (en) | Workpiece holding tool | |
KR20160018314A (en) | Bolt alignent unit for bolting apparatus | |
JP2003181754A (en) | Tubular workpiece notching machine usable for general grinding operations | |
JPH09141576A (en) | Automatic machining device and automatic machining system | |
KR100473543B1 (en) | Appratus for processing saw tooth | |
KR101639951B1 (en) | It hinges processing equipment | |
JP3485589B2 (en) | Rotary device for driven work | |
JP3791733B2 (en) | Machine tool with automatic tool changer | |
CN216759098U (en) | CNC machine | |
JP7280049B2 (en) | Chuck device | |
CN103170955A (en) | Accessory clamping mechanism and power tool with same | |
CN217702366U (en) | Quick clamping mechanism | |
CN220240737U (en) | Workpiece positioning fixture | |
KR101932737B1 (en) | Fixing jig for inspection of supercharger housing |