TWI655993B - Shaft rotation and linear displacement control system and automatic tool change mechanism having the same - Google Patents
Shaft rotation and linear displacement control system and automatic tool change mechanism having the same Download PDFInfo
- Publication number
- TWI655993B TWI655993B TW107123581A TW107123581A TWI655993B TW I655993 B TWI655993 B TW I655993B TW 107123581 A TW107123581 A TW 107123581A TW 107123581 A TW107123581 A TW 107123581A TW I655993 B TWI655993 B TW I655993B
- Authority
- TW
- Taiwan
- Prior art keywords
- sleeve
- shaft
- motor
- transmission unit
- spindle
- Prior art date
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q3/00—Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine
- B23Q3/155—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling
- B23Q3/1552—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling parts of devices for automatically inserting or removing tools
- B23Q3/15526—Storage devices; Drive mechanisms therefor
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q3/00—Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine
- B23Q3/155—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling
- B23Q3/15513—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling the tool being taken from a storage device and transferred to a tool holder by means of transfer devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q3/00—Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine
- B23Q3/155—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling
- B23Q3/1552—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling parts of devices for automatically inserting or removing tools
- B23Q3/1554—Transfer mechanisms, e.g. tool gripping arms; Drive mechanisms therefore
- B23Q2003/155414—Transfer mechanisms, e.g. tool gripping arms; Drive mechanisms therefore the transfer mechanism comprising two or more grippers
- B23Q2003/155418—Transfer mechanisms, e.g. tool gripping arms; Drive mechanisms therefore the transfer mechanism comprising two or more grippers the grippers moving together
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Automatic Tool Replacement In Machine Tools (AREA)
- Transmission Devices (AREA)
- Finish Polishing, Edge Sharpening, And Grinding By Specific Grinding Devices (AREA)
Abstract
一種軸之轉動及直線位移控制系統及具有該軸之自動換刀機構,其中控制系統包括主軸、第一傳動單元及第二傳動單元。主軸同時穿過第一傳動單元之第一軸套與第二傳動單元之第二軸套,其中主軸與第一軸套以滑動對配合而與第二軸套以螺旋對配合,透過有效控制驅使第一軸套及/或第二軸套轉動,即能操控主軸轉動及/或軸向移動。自動換刀機構進一步包括換刀臂組裝於主軸一端,換刀臂隨著主軸的轉動及/或軸向移動而完成換刀動作。A shaft rotation and linear displacement control system and an automatic tool change mechanism having the same, wherein the control system comprises a main shaft, a first transmission unit and a second transmission unit. The main shaft simultaneously passes through the first sleeve of the first transmission unit and the second sleeve of the second transmission unit, wherein the main shaft and the first sleeve cooperate with the second sleeve in a spiral pair, and are driven by effective control. The rotation of the first sleeve and/or the second sleeve can control the rotation and/or axial movement of the spindle. The automatic tool change mechanism further includes a tool change arm assembled at one end of the main shaft, and the tool change arm completes the tool change action as the main shaft rotates and/or moves axially.
Description
本發明係與軸的應用有關;特別是指一種軸之轉動及直線位移控制系統及具有該軸之自動換刀機構。The invention relates to the application of a shaft; in particular to a shaft rotation and linear displacement control system and an automatic tool change mechanism having the shaft.
已知軸的運用廣泛,其可被以轉動或是直線位移的方式控制著。以加工機之自動換刀機構為例,係設置在刀具庫與加工機之主軸頭之間,其包括有主軸及結合於主軸一端的換刀臂,主軸透過兩個馬達而被控制著產生轉動或是直線位移,藉此以帶動換刀臂對刀具庫及主軸頭上的刀具進行交換。如 臺灣公告第I310717號「刀庫換刀機構」發明專利即公開使用兩個馬達分別用於驅使主軸轉動或是直線位移,然而該專利技術因結構體積大而占用空間,且其傳動構件多徒增檢修不便,更使得部分連接構件間潛藏負載過大而有受剪力破壞之虞。 Axials are known to be widely used, and they can be controlled in a rotational or linear displacement manner. Taking the automatic tool change mechanism of the processing machine as an example, it is disposed between the tool magazine and the spindle head of the processing machine, and includes a spindle and a tool change arm coupled to one end of the spindle, and the spindle is controlled to rotate by the two motors. Or linear displacement, in order to drive the tool changer to exchange the tool on the tool magazine and the spindle head. As in Taiwan Publication No. I310717 'tool magazine mechanism' patent discloses the use of two motors, respectively, i.e., for driving the spindle rotation or linear displacement, however, the patent art and due to a large volume of space structure, and which only multiple transmission member Incremental inspection and repair is inconvenient, and the hidden load between some of the connecting members is too large and the shearing force is destroyed.
本案發明人為改善上述缺失而有 臺灣公告第I375604號「軸之轉動及直線位移控制系統及具有該軸之加工機自動換刀機構」發明專利在案,惟發明人本於精益求精的態度,認為在換刀時序上可以再強化以縮短換刀時間,並且在結構空間上可以再改善以減縮體積,遂有本發明的產生。 Case inventors improved the above-described deletion in Taiwan Publication No. I375604 'and the linear displacement of the rotary shaft and having a control system for automatic processing of the shaft of the tool change mechanism "patents on file, but the present inventors to better attitude, in that The tool change timing can be re-strengthened to shorten the tool change time, and the structure space can be further improved to reduce the volume, and the present invention is produced.
有鑑於此,本發明之目的在於提供一種軸之轉動及直線位移控制系統及具有該軸之自動換刀機構,係可縮短換刀時間,並改善結構體積。In view of the above, an object of the present invention is to provide a shaft rotation and linear displacement control system and an automatic tool change mechanism having the same, which can shorten the tool change time and improve the structural volume.
緣以達成上述目的,本發明提供一種軸之轉動及直線位移控制系統,包含機座、主軸、第一傳動單元及第二傳動單元。其中主軸可轉動地安裝於機座並可沿著軸向往復移動;第一傳動單元包括第一軸套及第一動力源,主軸穿設第一軸套且與第一軸套以滑動對方式配合,第一動力源驅使第一軸套帶動主軸旋轉;第二傳動單元包括第二軸套及第二動力源,主軸穿設第二軸套且與第二軸套以螺旋對方式配合,第二動力源驅使第二軸套轉動以使主軸相對第二軸套於軸向上移動。In order to achieve the above object, the present invention provides a shaft rotation and linear displacement control system including a base, a main shaft, a first transmission unit and a second transmission unit. The main shaft is rotatably mounted to the base and reciprocally movable along the axial direction; the first transmission unit includes a first sleeve and a first power source, and the main shaft passes through the first sleeve and slides with the first sleeve Cooperating, the first power source drives the first sleeve to drive the spindle to rotate; the second transmission unit includes a second sleeve and a second power source, the spindle passes through the second sleeve and cooperates with the second sleeve in a spiral pair manner, The two power sources drive the second sleeve to rotate to move the spindle in the axial direction relative to the second sleeve.
本發明另提供的一種自動換刀機構,係包括上述軸之轉動及直線位移控制系統,並且於主軸穿出機座的一端結合換刀臂。The invention further provides an automatic tool change mechanism comprising the above-mentioned shaft rotation and linear displacement control system, and the tool change arm is coupled to one end of the main shaft penetrating the machine base.
本發明結構在換刀時序中適時使第一馬達及第二馬達同步作動而達成縮短換刀時間之目的,且透過主軸與第一軸套為滑動對配合,主軸與第二軸套為螺旋對的配合,俾可收減縮結構體積之效果。In the tool change sequence, the first motor and the second motor are synchronously actuated in time to achieve the purpose of shortening the tool change time, and the through shaft and the first sleeve are slidingly matched, and the main shaft and the second sleeve are spiral pairs. The cooperation can reduce the volume of the structure.
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。合先敘明,本發明軸之轉動及直線位移控制系統於以下實施例中是以應用於中心切削加工機為例,但不以此為限,其中,控制系統係構成加工機的自動換刀機構的一部分,所述自動換刀機構尚包括一換刀臂。In order to explain the present invention more clearly, a preferred embodiment will be described in detail with reference to the drawings. It is to be noted that the rotation and linear displacement control system of the shaft of the present invention is exemplified in the following embodiments, but is not limited thereto, wherein the control system constitutes an automatic tool change of the processing machine. A portion of the mechanism, the automatic tool change mechanism further includes a tool change arm.
請參圖1至圖3所示,本發明較佳實施例之控制系統100包括機座10、主軸20、第一傳動單元30及第二傳動單元40。其中,機座10由自上而下依序對接而成的上蓋12、馬達座14、本體16及底座18組成,主軸20以可轉動的方式穿設於上蓋12、馬達座14、本體16及底座18之間,且可受操作而沿著軸向往復移動,另,主軸20的頂端為上蓋12遮掩,底端則向下穿出底座18並固接換刀臂200。Referring to FIGS. 1 through 3, the control system 100 of the preferred embodiment of the present invention includes a base 10, a main shaft 20, a first transmission unit 30, and a second transmission unit 40. The base 10 is composed of an upper cover 12, a motor base 14, a body 16 and a base 18 which are sequentially butted from top to bottom. The main shaft 20 is rotatably disposed on the upper cover 12, the motor base 14, and the body 16 and Between the bases 18, and operable to reciprocate along the axial direction, the top end of the main shaft 20 is covered by the upper cover 12, and the bottom end is passed downwardly out of the base 18 and fixed to the tool change arm 200.
主軸20為經過特殊加工處理而具有良好剛性與耐磨性之圓柱體,在本實施例中,主軸20上半段表面具有外螺旋結構22及多數道沿著軸向凹設的直向溝槽24,其中,外螺旋結構22為沿著軸向繞設的螺旋溝槽,直向溝槽24劃切外螺旋結構22,然而在其他的實施例中,不排除外螺旋結構與直向溝槽可以是採分段設置而沒有交集的。The main shaft 20 is a cylinder having good rigidity and wear resistance after special processing. In the embodiment, the upper half surface of the main shaft 20 has an outer spiral structure 22 and a plurality of straight grooves which are recessed along the axial direction. 24, wherein the outer spiral structure 22 is a spiral groove wound along the axial direction, and the straight groove 24 is cut to the outer spiral structure 22. However, in other embodiments, the outer spiral structure and the straight groove are not excluded. It can be set in sections without intersection.
第一傳動單元30用以驅使主軸20轉動,第二傳動單元40用以驅使主軸20沿著軸向移動。在本實施例中,第一傳動單元30包括一第一軸套31,第二傳動單元40包括一第二軸套41,其中,主軸20穿設第一軸套31與第二軸套41,且主軸20與第一軸套31以滑動對(sliding pair)方式配合,主軸20與第二軸套41以螺旋對(screw pair)方式配合。The first transmission unit 30 is used to drive the main shaft 20 to rotate, and the second transmission unit 40 is used to drive the main shaft 20 to move in the axial direction. In the present embodiment, the first transmission unit 30 includes a first sleeve 31, and the second transmission unit 40 includes a second sleeve 41. The main shaft 20 passes through the first sleeve 31 and the second sleeve 41. The main shaft 20 and the first sleeve 31 are matched in a sliding pair manner, and the main shaft 20 and the second sleeve 41 are engaged in a screw pair manner.
請參圖4至圖6所示,第一傳動單元30尚包括第一軸座32、保持器33、多數個鋼珠34、以第一馬達35為例的第一動力源、二第一皮帶輪36, 36’及第一皮帶37。其中,第一軸座32透過多數個螺栓38穿過穿孔32a後鎖固於機座10之本體16內部,第一軸套31穿設於第一軸座32中且與第一軸座32之間設置有保持器33,保持器33包括有多數個滾珠33a及油封33b,使得第一軸套31得以順暢地相對第一軸座32於原處旋轉;另,第一軸套31內壁亦具有多數道沿著軸向凹設的直向溝槽31a,該些鋼珠34填充於第一軸套31之直向溝槽31a與主軸20的直向溝槽24之間,且鋼珠34受到油封34a的限制而不散落,至此,主軸20得以相對第一軸套31作軸向的滑動。另外說明的是,上述螺旋溝槽與直向溝槽的槽底可以是凹弧面也可以是V型槽底或是梯型槽底。前述第一軸套31與主軸20之間係透過填充鋼珠34而彼此連動,然其等連動方式另可採取凸肋與溝槽的配合方式,如圖7所示的結構,第一軸套31A內壁設置有數量與主軸20之直向溝槽24數量相當的凸肋31B,凸肋31B位於直向溝槽24中且在第一軸套31A被控制轉動時可推動主軸20旋轉。Referring to FIG. 4 to FIG. 6 , the first transmission unit 30 further includes a first axle seat 32 , a retainer 33 , a plurality of steel balls 34 , a first power source with the first motor 35 as an example, and two first pulleys 36 . , 36' and the first belt 37. The first shaft seat 32 is inserted into the body 16 of the machine base 10 through a plurality of bolts 38 , and the first shaft sleeve 31 is disposed in the first shaft seat 32 and is opposite to the first shaft seat 32 . A retainer 33 is disposed between the retainer 33 and the retainer 33 includes a plurality of balls 33a and an oil seal 33b such that the first bushing 31 is smoothly rotated relative to the first axle block 32. Further, the inner wall of the first bushing 31 is also a straight groove 31a having a plurality of grooves recessed in the axial direction, the steel balls 34 being filled between the straight groove 31a of the first bushing 31 and the straight groove 24 of the main shaft 20, and the steel ball 34 is oil-sealed The restriction of 34a does not scatter, and thus the spindle 20 is axially slidable relative to the first sleeve 31. In addition, the groove bottom of the spiral groove and the straight groove may be a concave curved surface or a V-shaped groove bottom or a ladder groove bottom. The first sleeve 31 and the main shaft 20 are interlocked with each other through the filling steel ball 34. However, the manner of coupling the ribs and the grooves may be adopted in the manner of interlocking, as shown in FIG. 7, the first sleeve 31A The inner wall is provided with a number of ribs 31B corresponding to the number of straight grooves 24 of the main shaft 20, and the ribs 31B are located in the straight grooves 24 and can urge the main shaft 20 to rotate when the first sleeve 31A is controlled to rotate.
第一馬達35固接在本體16外部,其具有可轉動且伸入至本體16內部的第一輸出軸35a;該二第一皮帶輪36, 36’係具有不同的齒數比,其中第一皮帶輪36透過多數個螺栓39穿過穿孔36a而鎖固在第一軸套31底部並與第一軸套31同軸心設置,主軸20穿過第一皮帶輪36,另一個第一皮帶輪36’則透過連結於第一輸出軸35a一端而位在本體16內部的一側;該第一皮帶37繞設第一皮帶輪36與第一皮帶輪36’。藉此,當第一馬達35之第一輸出軸35a被驅使轉動時,將透過第一皮帶37同步帶動第一軸套31轉動,第一軸套31再因鋼珠34的關係而牽動主軸20旋轉。The first motor 35 is fixed to the outside of the body 16 and has a first output shaft 35a that is rotatable and extends into the interior of the body 16; the two first pulleys 36, 36' have different gear ratios, wherein the first pulley 36 The plurality of bolts 39 are inserted through the through holes 36a to be locked at the bottom of the first sleeve 31 and disposed coaxially with the first sleeve 31. The main shaft 20 passes through the first pulley 36, and the other first pulley 36' is coupled through One end of the first output shaft 35a is located on one side of the inside of the body 16; the first belt 37 is wound around the first pulley 36 and the first pulley 36'. Thereby, when the first output shaft 35a of the first motor 35 is driven to rotate, the first sleeve 31 is synchronously driven to rotate by the first belt 37, and the first sleeve 31 is further rotated by the relationship of the steel balls 34. .
請再參圖8至圖10所示,第二傳動單元40尚包括第二軸座42、保持器43、多數個鋼珠44、以第二馬達45為例的第二動力源、二第二皮帶輪46, 46’及第二皮帶47。其中,第二軸座42透過多數個螺栓48穿過穿孔42a後鎖固於機座10之馬達座14內,第二軸套41穿設於第二軸座42中,且透過結構相同於保持器33的保持器43居間設置而得以相對第二軸座42於原處旋轉;另外,第二軸套41具有與主軸20之外螺旋結構22配合而同為螺旋溝槽的內螺旋結構41a,該些鋼珠44填充於外螺旋結構22與內螺旋結構41a的螺旋溝槽之間,並可於內、外螺旋結構中循環滾動。Referring to FIG. 8 to FIG. 10 again, the second transmission unit 40 further includes a second axle seat 42 , a retainer 43 , a plurality of steel balls 44 , a second power source with the second motor 45 as an example, and two second pulleys. 46, 46' and the second belt 47. The second shaft seat 42 is inserted into the motor seat 14 of the base 10 through a plurality of bolts 48. The second sleeve 41 is inserted into the second shaft seat 42 and has the same transmission structure. The holder 43 of the device 33 is disposed in the middle to be rotated relative to the second shaft base 42; in addition, the second sleeve 41 has an inner spiral structure 41a which cooperates with the outer spiral structure 22 of the main shaft 20 and is a spiral groove. The steel balls 44 are filled between the outer spiral structure 22 and the spiral groove of the inner spiral structure 41a, and can be cyclically rolled in the inner and outer spiral structures.
第二馬達45固接在馬達座14外部,其具有可轉動且伸入至馬達座14內部的第二輸出軸45a;該二第二皮帶輪46, 46’ 具有不同的齒數比,其中第二皮帶輪46透過多數個螺栓49穿過穿孔46a並鎖入第二軸套41的螺孔41b中而與第二軸套41同軸心設置,主軸20並穿過第二皮帶輪46,至於另一個第二皮帶輪46’則連結於第二輸出軸45a一端,第二皮帶47繞設第二皮帶輪46與第二皮帶輪46’。藉此,當第二馬達45之第二輸出軸45a被驅使轉動時,第二皮帶47將間接帶動第二軸套41原處轉動,轉動的第二軸套41將使得鋼珠44在內螺旋結構41a與外螺旋結構22之間循環滾動,據以導推主軸20上升或是下降。The second motor 45 is fixed to the outside of the motor base 14 and has a second output shaft 45a rotatably extending into the interior of the motor base 14; the second pulleys 46, 46' have different gear ratios, wherein the second pulley 46 is disposed concentrically with the second bushing 41 through a plurality of bolts 49 passing through the through holes 46a and locked into the screw holes 41b of the second bushing 41, the main shaft 20 passing through the second pulley 46, and the other second pulley 46' is coupled to one end of the second output shaft 45a, and the second belt 47 is wound around the second pulley 46 and the second pulley 46'. Thereby, when the second output shaft 45a of the second motor 45 is driven to rotate, the second belt 47 will indirectly drive the second sleeve 41 to rotate in the original position, and the rotating second sleeve 41 will cause the steel ball 44 to be in the inner spiral structure. The 41a and the outer spiral structure 22 are cyclically rolled, and accordingly the guide shaft 20 is raised or lowered.
上述即為本發明之控制系統100的結構敘述,以下以操控主軸20的轉動及直線移動來說明其可應用於加工機之自動換刀機構的換刀程序,所述換刀程序即驅使換刀臂200依序進行包括:旋轉扣刀、鬆刀下降、旋轉換刀、上升夾刀及旋轉歸位等動作,在此聲明,以下所述第一轉向係以逆時針方向為例,第二轉向則為順時針方向。The above is the structure of the control system 100 of the present invention. The following is a description of the tool change program that can be applied to the automatic tool change mechanism of the processing machine by controlling the rotation and linear movement of the spindle 20, and the tool change program drives the tool change. The arm 200 sequentially performs operations such as a rotary knives, a loose knife lowering, a rotary tool change, a rising knives, and a rotary homing. Here, it is stated that the first steering system described below takes the counterclockwise direction as an example, and the second steering It is clockwise.
請配合圖1所示,係表示換刀臂200處於待命狀態。而當控制系統100接收到換刀指令時,第一個步驟即是同步啟動第一馬達35及第二馬達45,其中第一馬達35之第一輸出軸35a係以第一轉向旋轉,而透過上述結構說明可知,隨之轉動的第一軸套31將因鋼珠34居間位於第一軸套31之直向溝槽31a與主軸20的直向溝槽24之間,而得以帶動主軸20亦作第一轉向旋轉,然而,因主軸20同時與第二軸套41以螺旋對方式配合,而為了避免旋轉的主軸20因之產生軸向移位,選擇同步啟動第二馬達45以驅使第二軸套41作第二轉向的轉動,即可促使主軸20不產生軸向移位,如圖11所示,主軸20即是以原處轉動的方式來帶動換刀臂200進行旋轉扣刀的動作,此時換刀臂200的兩端分別扣住刀具庫(圖未示)提供的刀具A以及加工機主軸頭(圖未示)上的刀具B。Please refer to FIG. 1 to indicate that the tool change arm 200 is in a standby state. When the control system 100 receives the tool change command, the first step is to synchronously activate the first motor 35 and the second motor 45, wherein the first output shaft 35a of the first motor 35 is rotated by the first steering. As can be seen from the above description, the first sleeve 31 that rotates with the steel ball 34 is located between the straight groove 31a of the first sleeve 31 and the straight groove 24 of the main shaft 20, so that the spindle 20 can also be driven. The first steering rotation, however, because the main shaft 20 is simultaneously engaged with the second sleeve 41 in a spiral pair manner, and in order to avoid axial displacement of the rotating main shaft 20, the second motor 45 is selectively activated to drive the second shaft. When the sleeve 41 is rotated by the second steering, the spindle 20 can be prevented from being displaced axially. As shown in FIG. 11, the spindle 20 is rotated in the original position to drive the tool changer 200 to rotate the knife. At this time, both ends of the tool change arm 200 respectively hold the tool A provided by the tool magazine (not shown) and the tool B on the machine spindle head (not shown).
請續配合圖12所示,當換刀臂200完成旋轉扣刀後,第一馬達35旋即停止作動而使主軸20不再轉動,於此同時,第二馬達45持續驅使第二軸套41作第二轉向轉動,因主軸20與第二軸套41是以螺旋對方式配合,且主軸20與第一軸套31為滑動對配合,故原處轉動的第二軸套41將驅使主軸20往下移動而使換刀臂200執行鬆刀下降的動作。As shown in FIG. 12, after the tool changer 200 completes the rotary knives, the first motor 35 is immediately stopped and the spindle 20 is no longer rotated. At the same time, the second motor 45 continues to drive the second sleeve 41. The second steering rotation is because the main shaft 20 and the second sleeve 41 are matched in a spiral pair manner, and the main shaft 20 and the first sleeve 31 are slidably engaged, so that the second rotating sleeve 41 in the original position will drive the main shaft 20 to Moving downward causes the tool change arm 200 to perform the action of lowering the knife.
圖13揭示換刀臂200進行旋轉換刀的動作。在此程序中,第一馬達35再次被啟動且維持控制第一軸套31作第一轉向的旋轉,使得換刀臂200作出旋轉180度的換刀動作,而在此期間,第二馬達45先是快速地驅使第二軸套41作第一轉向轉動,緊接著又驅使第二軸套41改變為第二轉向的轉動,前者係使得主軸20再為往下沉移,後者則是帶動主軸20上移,換句話說,換刀臂200的180度旋轉被區分出兩個階段:第一階段的換刀臂200在轉動90度的同時隨著主軸20下降,第二階段的換刀臂200則是在續轉90度的同時隨著主軸20而上升,前述第一階段及第二階段的轉換時點即在於主軸20下降至最低點位置時,而達成前述動作者係有賴於第一馬達35及第二馬達45的同步動作,如此更能有效率地加快旋轉換刀的速度。從圖13中可以看出刀具A及刀具B的位置已被交換。FIG. 13 discloses the action of the tool changer 200 performing a rotary tool change. In this procedure, the first motor 35 is again activated and maintains control of the rotation of the first bushing 31 for the first steering such that the tool changer 200 makes a tool change of 180 degrees of rotation, during which time the second motor 45 Firstly, the second sleeve 41 is quickly driven to perform the first steering rotation, and then the second sleeve 41 is driven to change to the second steering rotation. The former causes the spindle 20 to sink downward again, and the latter drives the spindle 20 Upward, in other words, the 180 degree rotation of the tool change arm 200 is distinguished by two stages: the first stage of the tool change arm 200 is rotated 90 degrees while the main shaft 20 is descending, and the second stage of the change arm 200 Then, the spindle 20 is raised while continuing to rotate 90 degrees, and the transition point of the first stage and the second stage is when the spindle 20 is lowered to the lowest position, and the achievement of the above-mentioned actor is dependent on the first motor 35. And the synchronous action of the second motor 45, so that the speed of the rotary tool change can be more efficiently accelerated. It can be seen from Fig. 13 that the positions of the tool A and the tool B have been exchanged.
圖14揭示換刀臂200的上升夾刀動作。在此程序中,第一馬達35被控制停止作動以避免對主軸20造成轉動,而第二馬達45仍是維持著作動但其驅使第二軸套41改變為第一轉向的轉動,同樣因主軸20與第二軸套41為螺旋對配合、與第一軸套31為滑動對配合的關係,使得主軸20不轉動地被往上帶至夾刀位置。亦即刀具A被交換至加工機的主軸頭所夾持,而刀具B則插入刀具庫的對應刀套中。FIG. 14 illustrates the ascending clamping action of the tool changer arm 200. In this procedure, the first motor 35 is controlled to stop actuating to avoid causing rotation of the main shaft 20, while the second motor 45 is still maintaining the motion but driving the second sleeve 41 to change to the first steering, also due to the spindle The second sleeve 41 is in a spiral pair and is in a sliding engagement with the first sleeve 31 so that the spindle 20 is brought up to the clamp position without rotation. That is, the tool A is exchanged to the spindle head of the processing machine, and the tool B is inserted into the corresponding tool pocket of the tool magazine.
當完成夾刀動作之後,再次啟動第一馬達35,不同的是,第一馬達35係驅使第一軸套31改變為第二轉向的轉動,而第二馬達45仍持續作動但改變第二軸套41為第一轉向的轉動,此一程序在於促使主軸20不會產生軸向的移位,同時主軸20以第二轉向旋轉可使換刀臂200反向旋轉歸位至如圖15所示的狀態,以待下一次的換刀。亦即換刀臂200的兩端能在不撞擊刀具的情況下與刀具A及刀具B脫離。When the knife clamping action is completed, the first motor 35 is activated again, except that the first motor 35 drives the first bushing 31 to change to the second steering rotation, while the second motor 45 continues to operate but changes the second axis. The sleeve 41 is the rotation of the first steering, and the procedure is to cause the spindle 20 to not cause an axial displacement, while the spindle 20 is rotated by the second steering to reverse the rotation of the tool changer 200 to the position shown in FIG. The state of the next time to change the knife. That is, both ends of the tool changer 200 can be separated from the tool A and the tool B without hitting the tool.
在上述的換刀程序中,係以極短的時間完成旋轉扣刀、鬆刀下降、旋轉換刀、上升夾刀及旋轉歸位等動作,且本發明在部分的程序中透過同步啟動第一馬達35及第二馬達45以使主軸20同時產生轉動及軸向移動的方式,將更為縮短換刀時間以提升效率。另外,由於主軸20同時與第一軸套31為滑動對配合、與第二軸套41為螺旋對配合,又第一軸套31及第二軸套41分別為第一馬達35及第二馬達45所驅轉,故而可收減縮控制系統100體積之效果。In the above-described tool change program, the rotary knives, the loose knives, the rotary knives, the ascending knives, and the rotational homing are completed in a very short time, and the present invention is first activated by a synchronous process in part of the program. The motor 35 and the second motor 45 reduce the tool change time to improve the efficiency in such a manner that the spindle 20 simultaneously rotates and moves axially. In addition, since the main shaft 20 is slidably engaged with the first sleeve 31 and is spirally coupled with the second sleeve 41, the first sleeve 31 and the second sleeve 41 are respectively the first motor 35 and the second motor. 45 drives, so the effect of reducing the size of the control system 100 volume.
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.
[本發明][this invention]
100‧‧‧控制系統100‧‧‧Control system
10‧‧‧機座10‧‧‧ machine base
12‧‧‧上蓋12‧‧‧Upper cover
14‧‧‧馬達座14‧‧‧Motor seat
16‧‧‧本體16‧‧‧Ontology
18‧‧‧底座18‧‧‧Base
20‧‧‧主軸20‧‧‧ Spindle
22‧‧‧外螺旋結構22‧‧‧External spiral structure
24‧‧‧直向溝槽24‧‧‧ Straight groove
30‧‧‧第一傳動單元30‧‧‧First transmission unit
31‧‧‧第一軸套31‧‧‧First bushing
31a‧‧‧直向溝槽31a‧‧‧ Straight groove
32‧‧‧第一軸座32‧‧‧First shaft seat
32a‧‧‧穿孔32a‧‧‧Perforation
33‧‧‧保持器33‧‧‧ Keeper
33a‧‧‧滾珠33a‧‧‧ balls
33b‧‧‧油封33b‧‧‧ oil seal
34‧‧‧鋼珠34‧‧‧ steel balls
34a‧‧‧油封34a‧‧‧Oil seal
35‧‧‧第一馬達35‧‧‧First motor
35a‧‧‧第一輸出軸35a‧‧‧First output shaft
36‧‧‧第一皮帶輪36‧‧‧First pulley
36a‧‧‧穿孔36a‧‧‧Perforation
36’‧‧‧第一皮帶輪36’‧‧‧First Pulley
37‧‧‧第一皮帶37‧‧‧First belt
38‧‧‧螺栓38‧‧‧ bolt
39‧‧‧螺栓39‧‧‧Bolts
31A‧‧‧第一軸套31A‧‧‧First bushing
31B‧‧‧凸肋31B‧‧‧ rib
40‧‧‧第二傳動單元40‧‧‧Second transmission unit
41‧‧‧第二軸套41‧‧‧Second bushing
41a‧‧‧內螺旋結構41a‧‧‧ inner spiral structure
41b‧‧‧螺孔41b‧‧‧ screw hole
42‧‧‧第二軸座42‧‧‧Second axle seat
43‧‧‧保持器43‧‧‧ Keeper
44‧‧‧鋼珠44‧‧‧ steel balls
45‧‧‧第二馬達45‧‧‧second motor
45a‧‧‧第二輸出軸45a‧‧‧second output shaft
46‧‧‧第二皮帶輪46‧‧‧Second pulley
46a‧‧‧穿孔46a‧‧‧Perforation
46’‧‧‧第二皮帶輪46’‧‧‧Second pulley
47‧‧‧第二皮帶47‧‧‧Second belt
48‧‧‧螺栓48‧‧‧ bolt
49‧‧‧螺栓49‧‧‧ bolt
200‧‧‧換刀臂200‧‧‧changing arm
A、B‧‧‧刀具A, B‧‧‧Tools
圖1為本發明較佳實施例之自動換刀機構的立體圖; 圖2為本發明較佳實施例之控制系統當中的機座與主軸立體圖; 圖3為圖1的前視圖; 圖4為圖1的部分構件立體圖; 圖5為圖4中的部分構件分解圖; 圖6為圖4中的部分構件剖視圖; 圖7為本發明之控制系統當中的部分構件的另一種實施態樣; 圖8為圖1的部分構件立體圖; 圖9為圖8中的部分構件分解圖; 圖10為圖8中的部分構件剖視圖; 圖11至圖15為本發明較佳實施例之自動換刀機構的換刀動作示意圖。1 is a perspective view of an automatic tool change mechanism according to a preferred embodiment of the present invention; FIG. 2 is a perspective view of a base and a spindle in a control system according to a preferred embodiment of the present invention; FIG. 3 is a front view of FIG. FIG. 5 is an exploded view of a portion of the components of FIG. 4; FIG. 6 is a cross-sectional view of a portion of the components of FIG. 4; FIG. 7 is another embodiment of the control system of the present invention; FIG. 9 is an exploded view of a portion of the components of FIG. 8; FIG. 10 is a cross-sectional view of a portion of the components of FIG. 8; FIGS. 11 to 15 are diagrams of an automatic tool change mechanism of the preferred embodiment of the present invention. Schematic diagram of the knife action.
Claims (13)
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
TW107123581A TWI655993B (en) | 2018-07-06 | 2018-07-06 | Shaft rotation and linear displacement control system and automatic tool change mechanism having the same |
JP2019069405A JP6773834B2 (en) | 2018-07-06 | 2019-03-29 | A system that controls the rotation and linear displacement of the shaft and an automatic tool change mechanism equipped with the shaft. |
KR1020190044112A KR20200005430A (en) | 2018-07-06 | 2019-04-16 | Shaft rotational and linear movements control system and automatic tool change mechanism with the shaft |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
TW107123581A TWI655993B (en) | 2018-07-06 | 2018-07-06 | Shaft rotation and linear displacement control system and automatic tool change mechanism having the same |
Publications (2)
Publication Number | Publication Date |
---|---|
TWI655993B true TWI655993B (en) | 2019-04-11 |
TW202005741A TW202005741A (en) | 2020-02-01 |
Family
ID=66996279
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
TW107123581A TWI655993B (en) | 2018-07-06 | 2018-07-06 | Shaft rotation and linear displacement control system and automatic tool change mechanism having the same |
Country Status (3)
Country | Link |
---|---|
JP (1) | JP6773834B2 (en) |
KR (1) | KR20200005430A (en) |
TW (1) | TWI655993B (en) |
Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP1525945A1 (en) * | 1998-12-23 | 2005-04-27 | Gebr. Heller Maschinenfabrik GmbH | Drive for machine units, such as carriages, gripping devices and the like |
TWI310717B (en) * | 2007-03-28 | 2009-06-11 | Gifu Entpr Co Ltd | Knife switching mechanism for a knife storage device |
TWM383464U (en) * | 2009-12-09 | 2010-07-01 | Sanjet Int Co Ltd | Automatic knife exchange cutting machine |
TWM559219U (en) * | 2017-12-13 | 2018-05-01 | Poju Precision Machinery Co Ltd | Transmission device of tool changer arm |
CN108161534A (en) * | 2018-03-23 | 2018-06-15 | 昆山北钜机械有限公司 | The tool changing shaft drive of automatic tool changer |
Family Cites Families (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH084989Y2 (en) * | 1990-05-25 | 1996-02-14 | オークマ株式会社 | NC control automatic tool changer |
JPH0653851U (en) * | 1990-12-28 | 1994-07-22 | 均 降幡 | Linear drive actuator |
JPH0596606U (en) * | 1992-05-27 | 1993-12-27 | 株式会社三協精機製作所 | 1-axis compound motion unit |
JPH11138377A (en) * | 1997-11-13 | 1999-05-25 | Toshiba Mach Co Ltd | Automatic tool replacement device |
JP2000193062A (en) * | 1998-12-25 | 2000-07-14 | Honda Motor Co Ltd | Method for controlling displacement in axial direction of thread shaft |
JP2002039312A (en) * | 2000-07-24 | 2002-02-06 | Okuma Corp | Drive for pivot |
JP6279432B2 (en) * | 2014-08-26 | 2018-02-14 | Dmg森精機株式会社 | Tool changing method and tool changing device |
-
2018
- 2018-07-06 TW TW107123581A patent/TWI655993B/en not_active IP Right Cessation
-
2019
- 2019-03-29 JP JP2019069405A patent/JP6773834B2/en active Active
- 2019-04-16 KR KR1020190044112A patent/KR20200005430A/en not_active Application Discontinuation
Patent Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP1525945A1 (en) * | 1998-12-23 | 2005-04-27 | Gebr. Heller Maschinenfabrik GmbH | Drive for machine units, such as carriages, gripping devices and the like |
TWI310717B (en) * | 2007-03-28 | 2009-06-11 | Gifu Entpr Co Ltd | Knife switching mechanism for a knife storage device |
TWM383464U (en) * | 2009-12-09 | 2010-07-01 | Sanjet Int Co Ltd | Automatic knife exchange cutting machine |
TWM559219U (en) * | 2017-12-13 | 2018-05-01 | Poju Precision Machinery Co Ltd | Transmission device of tool changer arm |
CN108161534A (en) * | 2018-03-23 | 2018-06-15 | 昆山北钜机械有限公司 | The tool changing shaft drive of automatic tool changer |
Also Published As
Publication number | Publication date |
---|---|
JP6773834B2 (en) | 2020-10-21 |
TW202005741A (en) | 2020-02-01 |
KR20200005430A (en) | 2020-01-15 |
JP2020006503A (en) | 2020-01-16 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
JPH0310442B2 (en) | ||
JPS5949122B2 (en) | Quill drive mechanism for machine tools | |
JPH0398716A (en) | Machine tool | |
TWI650201B (en) | Tool change control method of automatic tool change mechanism | |
KR840007844A (en) | Auto Stud Drive Tool | |
CN110682141B (en) | Rotation and linear displacement control system of shaft and automatic tool changing mechanism with shaft | |
TWI655993B (en) | Shaft rotation and linear displacement control system and automatic tool change mechanism having the same | |
TW201536447A (en) | R-[theta] TABLE DEVICE, INTERNAL-THREAD PROCESSING DEVICE, AND VARIABLE CRANK DEVICE | |
TWM569269U (en) | Shaft rotation and linear displacement control system and automatic tool changing mechanism having the shaft | |
CN208663220U (en) | The rotation of axis and Linear displacement control system and automatic tool changer with the axis | |
CN110682140B (en) | Tool changing control method of automatic tool changing mechanism | |
US4808047A (en) | Variable speed motor tapping attachment | |
US5233887A (en) | Quick return mechanism for a drilling machine | |
TWI403382B (en) | Turning on and off device of a splash guard of a machine tool | |
TWM553238U (en) | Deep-drilling machine | |
US20160243689A1 (en) | Multi-mode drive mechanisms and tools incorporating the same | |
CN206622889U (en) | A kind of upright drill | |
CN108437092B (en) | A kind of firm cutting robot | |
CN108838442A (en) | A kind of drilling robot | |
CN110871287B (en) | Internal surface milling equipment | |
CN207914708U (en) | A kind of gradual staving press reamer device | |
KR930012188A (en) | Tool changer | |
CN108339993A (en) | A kind of adjustable drilling robot | |
CN219805412U (en) | Cylindrical metal piece drilling tool | |
JP2017100269A (en) | Deburring device |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
MC4A | Revocation of granted patent |