TWM627918U - Tool change robot hand of machining center - Google Patents

Abstract

A tool-changing manipulator for a processing machine includes a first motor, a transmission structure and a rotating seat installed on a body, wherein the transmission structure includes a first rotating shaft, a second rotating shaft, a first rocker arm, and a second rocker. an arm and a linking member, the first rotating shaft and the second rotating shaft are arranged in parallel, the first rocker arm is connected to the first rotating shaft, the second rocker arm is connected to the second rotating shaft, the two ends of the linking member are respectively pivoted to the The first rocker arm and the second rocker arm, one end of the second shaft is fixedly connected to the rotating base; thus, when the first motor drives the first rotating shaft to rotate, the rotating base will be driven to turn over. Therefore, by using the first motor with the transmission structure, the existing problems of hydraulic oil leakage and subsequent treatment of the hydraulic oil that are not environmentally friendly when the hydraulic cylinder is used as the power can be improved.

Description

Tool changing manipulator for processing machine

This creation is related to the machining center machine, especially a tool changing manipulator of the machining machine.

It is known that a machining center equipped with a tool magazine realizes the purpose of quickly replacing machining tools through an automatic tool changing mechanism. The aforementioned automatic tool changing mechanism includes a tool changing arm, and the tool changing arm consists of a rotating shaft connected to one end of the tool arm. , the rotating shaft is driven to drive the tool arm to rotate to exchange tools. However, in practice, the tool changer arm of some models must be further able to be manipulated and displaced between two fixed points, so that the tool on the spindle (spindle) of the machining center and the tool in the tool magazine (tool magazine) can be successfully replaced. Knife.

In a mechanism in which the tool changing arm must reciprocate between two fixed points at angles of 0 degrees and 90 degrees, the tool changing arm is installed on a rotating seat that can rotate within a range of 90 degrees, so that the tool change arm can be rotated smoothly and smoothly. It is known to use a hydraulic cylinder that can generate a large output power as a power source to push the rotating seat smoothly. However, the hydraulic cylinder has the problems of hydraulic oil leakage and the subsequent treatment of hydraulic oil, which is not environmentally friendly. The hydraulic oil temperature must not be too high. Therefore, there is an improvement in using hydraulic means as the method of driving the rotating base to rotate. Besides, the existing power source for driving the rotating shaft of the tool change arm also adopts the hydraulic method, which will be reviewed together. place.

In view of this, the purpose of this creation is to provide a tool-changing manipulator for a processing machine, which uses electric control as the main power to drive the tool-changing manipulator to act.

In order to achieve the above purpose, the present invention provides a tool changing manipulator for a processing machine, which includes a body, a transmission structure, a first motor and a rotating seat. Wherein, the transmission structure includes a first rotating shaft, a second rotating shaft, a first rocker arm, a second rocker arm and a linking member, the first rotating shaft and the second rotating shaft respectively pass through the body in a rotatable manner, and the The first rotating shaft and a part of the second rotating shaft are located outside the machine body; the first rocker arm is fixed to the part of the first rotating shaft outside the machine body, and the second rocker arm is fixed to the part of the second rotating shaft outside the machine body ; The linkage has two ends and is pivotally connected with the first rocker arm and the second rocker arm respectively; the first motor is used to drive the first rotating shaft to rotate; the rotating seat is fixedly connected with the second rotating shaft and can be connected to a first Reciprocating rotation between a position and a second position.

The effect of this creation is that the first motor is matched with the transmission structure, that is, the hydraulic cylinder can only produce the effect of high output power, and the existing hydraulic cylinder has the problem of hydraulic oil leakage and the unenvironmental protection of the subsequent treatment of the hydraulic oil.

In order to explain the creation more clearly, a preferred embodiment is given and described in detail with the drawings as follows. Referring to FIGS. 1 to 3 , the tool changing manipulator 100 of the processing machine according to a preferred embodiment of the present invention is used to exchange the tool on the main shaft of the processing machine with the tool in the tool magazine. The aforementioned tool changing machine The hand 100 includes a body 10 and a tool changing arm 20, the body 10 is fixed, the tool changing arm 20 is connected to the body 10 through a rotating seat 30 in a way that can be controlled to reciprocate between two fixed points, The selection of the aforementioned fixed points is set according to the actual work requirements. The tool changer arm 20 of this embodiment is controlled to reciprocate between two fixed points with an angle of 0 degrees (refer to FIG. 2 ) and 90 degrees (refer to FIG. 6 ); In addition, the tool changing arm 20 includes a rotating shaft 22 and a cutting arm 24. The rotating shaft 22 can be driven to rotate. The cutting arm 24 is connected to one end of the rotating shaft 22 and has opposite ends for clamping, respectively. A knife bar (not shown), the knife arm 24 is driven by the rotating shaft 22 to perform a 180-degree rotation switch.

4 to 11 , the tool changing manipulator 100 of this embodiment further includes a transmission structure 40 , a first motor 50 , a first cam divider 60 , a limit structure 70 , and a second cam The divider 80 and a second motor 90 .

The transmission structure 40 includes a first rotating shaft 41 , a second rotating shaft 42 , a first rocker arm 43 , a second rocker arm 44 and a linking member 45 . Wherein, the first rotating shaft 41 and the second rotating shaft 42 are rotatably passed through the perforations on the front side plate 12 of the body 10 respectively. Preferably, a bearing seat 46 is installed at the aforementioned perforations, and the rotating shaft passes through the bearing The seat 46, the bearing seat 46 stably supports the rotating shaft and enables the rotating shaft to rotate smoothly. In addition, one end of the second rotating shaft 42 is fixed to the rotating seat 30 through a plurality of bolts 47, and the second rotating shaft 42 can drive the rotating seat 30 flip. The first rocker arm 43 and the second rocker arm 44 are of an eccentric structure, wherein the first rocker arm 43 is fixed to the part of the first rotating shaft 41 outside the body 10 , and the second rocker arm 44 is fixed to the second rotating shaft 42 is located outside the body 10; the linking member 45 has opposite ends and is pivotally connected with the first rocker arm 43 and the second rocker arm 44 respectively and together form a structure capable of linking.

The first rotating shaft 41 and the second rotating shaft 42 are arranged in parallel. Please refer to FIG. 2 and FIG. 4 . The axes of the two rotating shafts 42 are the centers of rotation. Herein, a first distance L1 is defined between the pivot center of the first rocker arm 43 and the linking member 45 and the rotation center of the first rocker arm 43 . The second rocker arm A second distance L2 is between the pivot center of the link 44 and the linking member 45 and the rotation center of the second rocker arm 44, wherein the first distance L1 is smaller than the second distance L2.

The first motor 50 is used to drive the first rotating shaft 41 to rotate. A reducer 52 is connected to the front end of the first motor 50 in this embodiment, and the first cam divider 60 is disposed between the reducer 52 and the transmission structure 40 . between. As shown in FIG. 5 , the first cam divider 60 includes a first input shaft 62 , a first output shaft 64 and a first indexing structure 66 disposed in a casing 61 ; wherein the first input shaft 62 The first output shaft 64 is arranged in parallel with the first output shaft 64 and one end passes through a machine plate 61a of the casing 61 , a part of the first input shaft 62 extends into the reducer 52 , and the first motor 50 drives the first motor An input shaft 62 rotates; the first output shaft 64 is coaxially connected to the first rotating shaft 41 through a plurality of bolts 63, but in practice it is not ruled out that the first output shaft 64 and the first rotating shaft 41 may be integrally formed ; The first indexing structure 66 is used to link the first input shaft 62 and the first output shaft 64. The first indexing structure 66 of this embodiment includes a first indexing cam 661, a first indexing The plate 662 and the plurality of first indexing members 663, wherein the first input shaft 62 passes through the first indexing cam 661 in a way that can drive the first indexing cam 661 to rotate, and the first indexing plate 662 is The first output shaft 64 or the first rotating shaft 41 is sleeved on the part where the first output shaft 64 and the first rotating shaft 41 are connected in a way that can link the first output shaft 64 and the first rotating shaft 41 . way, and the way that the first indexing plate 662 and the first output shaft 64 or the first indexing plate 662 and the first rotating shaft 41 are linked, in this embodiment, the mode of the key and the keyway is used to realize the linkage As for the first indexing members 663, they are arranged on the first indexing disc 662 at intervals.

In the above, when the motor 50 drives the first input shaft 62 to drive the first indexing cam 661 to rotate, the first indexing cam 661 pushes the first indexing member 663 to make the first indexing The plate 662 drives the first rotating shaft 41 to rotate, and the two ends of the linking member 45 pivot the first rotating shaft 41 and the second rotating shaft 42 , and the pivot center of the first rocker arm 43 and the linking member 45 to the first rotating shaft 41 . The rotation center of a rocker arm 43 (ie the first distance L1 ) is smaller than the relationship between the pivot center of the second rocker arm 44 and the link 45 to the rotation center of the second rocker arm 44 (ie the second distance L2 ), so that The first rocker arm 43 driven by the first rotating shaft 41 can swing in a large angle to drive the second rocker arm 44 to swing in a smaller angle range, and realize that the first rotating shaft 41 drives the second rotating shaft 42 synchronously. purpose of rotation. In this embodiment, the first rotating shaft 41 drives the first rocker arm 43 to swing forward and reverse between an angle of 0° and 180° (please refer to FIG. 2 and FIG. 6 ), and the second rocker arm 44 is located in the Swing back and forth between 0 degrees and 90 degrees. However, in other embodiments, it is not excluded that when the first rotating shaft 41 drives the first rocker arm 43 to swing once, the second rocker arm 44 is linked by the linking member 45 to rotate between the angles of 0° and 90°. Complete a one-time reciprocating swing.

In addition, in order to reduce the overall volume of the first cam divider 60, the first indexing member 663 of this embodiment is arranged on the front and the back of the first indexing plate 662, respectively. The first indexing cam 661 includes a The two cam blocks 661a push against the first indexing members 663 disposed on the front and the back of the first indexing plate 662 in a relay manner, so that the first indexing plate 662 can rotate smoothly. The aforementioned first indexing member 663 is a shank bearing, but it does not exclude other equivalent structures, such as rollers. It can be seen from this that the aforementioned first cam divider 60 is a parallel cam divider that can generate a large torsion force. It should be noted that the input shaft and the output shaft of the cam divider in other embodiments may be arranged non-parallel, for example When the input shaft has a worm structure, the input shaft and the output shaft are vertically arranged.

As shown in FIG. 7 and FIG. 8 , the rotating base 30 of this embodiment is generally rectangular and has a first side surface 32 and a second side surface 34 . It can be seen from the above that the rotating base 30 is along with the second rotating shaft 42 . Turn and flip. The limiting structure 70 includes a first resisting surface capable of providing abutment with the first side surface 32, and a second resisting surface capable of providing abutment with the second side surface 34. In this embodiment, the limiting structure 70 includes a A first blocking rod 72 and a second blocking rod 74 are vertically connected to the body 10 , the first blocking rod 72 has a first head 721 , and the top surface of the first head 721 constitutes the first resisting surface ; The second blocking rod 74 has a second head 741, the top surface of the second head 741 constitutes the second resisting surface, preferably, the first head 721 and the second head 741 are It can be designed in such a way that it can be adjusted to be displaced along the axial direction, for example by screwing to achieve the aforementioned purpose. 8 shows that the first side surface 32 of the rotating base 30 abuts against the first head 721 and stays at a first position P1 , and FIG. 9 shows that the rotating base 30 driven to turn over has its second side surface 34 abutting against the first position P1 . The two heads 741 stay at a second position P2.

10 and 11 again, the second cam divider 80 is disposed between the rotating seat 30 and the tool changing arm 20, and the second motor 90 is disposed in the Below the second cam divider 80 , when the rotating base 30 rotates, the tool changing arm 20 , the second cam divider 80 and the second motor 90 will also change the swing direction with the turning of the rotating base 30 . The aforementioned second cam divider 80 includes a case 82 , a second input shaft 84 , a second output shaft 86 and a second indexing structure 88 .

The casing 82 is fixedly connected to the rotating base 30 by passing through a plurality of bolts 81 . The casing 82 is provided with the second input shaft 84 , the second output shaft 86 and the second indexing structure 88 , wherein the second input shaft 84 and The second output shaft 86 is arranged in parallel, one end of the second input shaft 84 extends into the reducer 92 , and the second motor 90 drives the second input shaft 84 to rotate through the reducer 92 ; One end penetrates out of the case 82 , and the second output shaft 86 is coaxially connected to the rotating shaft 22 of the tool changing arm 20 through a connecting shaft sleeve 83 .

The second indexing structure 88 is used to link the second input shaft 84 and the second output shaft 86 . The second indexing structure 88 in this embodiment includes a second indexing cam 881 and a second indexing plate 882 With the plurality of second indexing members 883, the second input shaft 84 passes through the second index cam 881 in a manner that can drive the second index cam 881 to rotate, and the second output shaft 86 is also able to The second indexing plate 882 is threaded through the second indexing plate 882 in a linked manner. The aforementioned second input shaft 84 and the second indexing cam 881 and the second output shaft 86 and the second indexing plate 882 are interlocked except for In addition to the mode of key and key slot matching, the interlocking purpose can also be achieved by making an integrally formed structure; the second indexing members 883 are arranged on the second indexing plate 882 at intervals. The second indexing cam 881 of this embodiment is also composed of two cam blocks 881a. The front and the back of the second indexing plate 882 are respectively provided with a plurality of second indexing members 883 such as shank bearings. When the second motor 90 drives the second input shaft 84 to rotate, the cam block 881a pushes against the second indexing member 883 to drive the second output shaft 86 to rotate, and the rotating second output shaft 86 drives the rotating shaft 22 to rotate. The shaft 22 drives the cutter arm 24 to rotate.

To sum up the above, the tool changing manipulator 100 of the processing machine of the present invention mainly uses electric control as the power source for driving the tool changing manipulator to act, including the first motor 50 cooperating with the first cam divider 60 and the transmission The structure 40 realizes driving the rotating base 30 with a large output power (such as large torque output). It can still be smoothly driven to reciprocate between two fixed points; and, the second motor 90 cooperates with the second cam divider 80 to control the tool arm 24 of the tool change arm 20 to perform a 180-degree tool change rotation switch . The aforementioned first motor 50 and second motor 90 are AC three-phase motor motors. By combining the motors with the splitter and the transmission structure 40, the existing hydraulic cylinders are used to drive the tool changing arm to move between two fixed points. There are problems of hydraulic oil leakage and unenvironmental protection of the subsequent treatment of hydraulic oil, and the structure of this creation is not restricted by the use of excessive hydraulic oil temperature. It is worth mentioning that although the heavy objects mounted on the rotary base 30 in this embodiment are the tool changing arm 20 and the second cam divider 80 , the actual application example is not limited to the aforementioned heavy objects.

In addition, the linking member 45 of the above-mentioned embodiment may be a single member, and may also have a length-adjusting structure, for example, including a first rod body 451 and a second rod body 452, the first rod body 451 and the The second rod body 452 is connected in a manner that can adjust the docking length (eg, locking), wherein one end of the first rod body 451 is pivotally connected to the first rocker arm 43 , and one end of the second rod body 452 is connected to the second rocker arm 43 . The arm 44 is pivotally connected, and through the aforementioned structural design of adjustable length, the linkage 45 is more flexible in installation, for example, when the center distance between the first rotating shaft 41 and the second rotating shaft 42 is changed. 12 and FIG. 13 , in one embodiment, the first rod body 451 is pivotally connected to the first rocker arm 43 by butting with a first bearing seat 453 , and the second rod body 452 is connected to the first rocker arm 43 by butting a first bearing seat 453 . The second bearing seat 454 is pivotally connected to the second rocker arm 44. The other ends of the first rod body 451 and the second rod body 452 respectively form a T-shaped head 451a and 452a. The aforementioned T-shaped head accommodates an adjustment rod sleeve 455, and a pressure cover 456 is used to confine the T-shaped head in the adjustment rod sleeve 455, wherein a disc-shaped elastic piece 457 is arranged between the T-shaped head 451a and the bottom wall of the adjustment rod sleeve 455, and in the adjustment rod sleeve 455 A disc-shaped elastic piece 458 is disposed between the T-shaped head 452a and the pressing cover 456, whereby the length adjustment mechanism of the linking member 45 has a compensation function, which can make the rotation of the first rocker arm 43 and the second rocker arm 44 more stable. smooth.

The above is only a preferred feasible embodiment of this creation, and all equivalent changes made by applying the description of this creation and the scope of the patent application should be included in the patent scope of this creation.

100: Tool changing manipulator for processing machine 10: Body 12: Front side panel 20: Tool changer arm 22: Rotary axis 24: Knife Arm 30: Rotary seat 32: The first side 34: Second side 40: Transmission structure 41: The first reel 42: The second reel 43: The first rocker arm 44: Second rocker arm 45: Linkage 451: The first rod body 451a: T-head 452: Second rod body 452a: T-head 453: The first bearing seat 454: Second bearing seat 455: Adjusting rod cover 456: Gland 457: Disc Shrapnel 458: Disc Shrapnel 46: Bearing seat 47: Bolts 50: The first motor 52: Reducer 60: First cam divider 61: Chassis 61a: Machine sheet 62: The first input shaft 63: Bolts 64: The first output shaft 66: The first indexing structure 661: First index cam 661a: Cam Block 662: First Dial 663: First indexing piece 70: Limit structure 72: First gear lever 721: First Head 74:Second lever 741: Second Head 80: Second cam divider 81: Bolts 82: Chassis 83: even shaft sleeve 84: The second input shaft 86: The second output shaft 88: Second indexing structure 881: Second index cam 881a: Cam Block 882: Second Dial 883: Second indexing piece 90: Second motor 92: Reducer L1: first distance L2: Second distance P1: first position P2: Second position

1 is a perspective view of a tool changing manipulator of a processing machine according to a preferred embodiment of the invention; Fig. 2 is the front view of the tool changing manipulator of the processing machine shown in Fig. 1; Fig. 3 is the rear view of the tool changing manipulator of the processing machine shown in Fig. 1; Fig. 4 is an exploded view of the tool changing manipulator of the processing machine shown in Fig. 1; Figure 5 is an exploded view of some components in Figure 4; Fig. 6 is a front view, revealing the action state of the tool changing manipulator of the processing machine; FIG. 7 is a perspective view of some components in the tool changing manipulator of the processing machine; Fig. 8 is the right side view of Fig. 7; Fig. 9 is similar to Fig. 8, and shows the turned state of the rotary seat in the tool changing manipulator of the processing machine; Figure 10 is an exploded view of some components in Figure 4; Figure 11 is an exploded view of some components in Figure 10; FIG. 12 is a perspective view of some components in the tool changing manipulator of the processing machine; and FIG. 13 is an assembled rear front view of the components shown in FIG. 12 .

100: Tool changing manipulator for processing machine

10: Body

20: Tool changer arm

22: Rotary axis

24: Knife Arm

30: Rotary seat

41: The first reel

42: The second reel

43: The first rocker arm

44: Second rocker arm

45: Linkage

50: The first motor

74:Second lever

80: Second cam divider

90: Second motor

92: Reducer

Claims (12)

A tool changing manipulator for a processing machine, comprising: a body; A transmission structure includes a first rotating shaft, a second rotating shaft, a first rocker arm, a second rocker arm and a linking member, wherein the first rotating shaft and the second rotating shaft are respectively rotatably penetrated the body, and a part of the first rotating shaft and the second rotating shaft are located outside the body; the first rocker arm is fixed to the part of the first rotating shaft located outside the body, and the second rocker arm is fixed to the second rotating shaft and is located outside the body The part outside the machine body; the linking member has two ends and is pivotally connected with the first rocker arm and the second rocker arm respectively; a first motor for driving the first shaft to rotate; and A rotating seat is fixedly connected with the second rotating shaft and can reciprocate between a first position and a second position. The tool changing manipulator for a processing machine as claimed in claim 1, wherein the first rocker arm takes the axis of the first rotating shaft as the center of rotation, and the second rocker arm takes the axis of the second rotating shaft as the center of rotation, A first distance is defined between the pivot center of the first rocker arm and the linking member to the rotation center of the first rocker arm, and the pivot center of the second rocker arm and the link member is defined to the second rocker arm The rotation center of is a second distance, and the first distance is smaller than the second distance. The tool changing manipulator for a processing machine as claimed in claim 1, comprising a first cam divider, the first cam divider comprising a first input shaft, a first output shaft and a first indexing structure, wherein The first motor drives the first input shaft to rotate, the first output shaft is coaxially connected to the first rotating shaft, and the first indexing structure is used to link the first input shaft and the first output shaft. The tool changing manipulator for a processing machine according to claim 3, wherein the first input shaft and the first output shaft are arranged in parallel, and the first indexing structure includes a first indexing cam and a first indexing plate and a plurality of first indexing pieces; the first input shaft passes through the first indexing cam, the first output shaft passes through the first indexing plate, and the first indexing pieces are arranged at intervals on the first indexing plate On the indexing plate, the first indexing cam is used to push the first indexing piece. The tool-changing manipulator for a processing machine as claimed in claim 1 includes a limiting structure, the limiting structure includes a first resisting surface and a second resisting surface, and the rotating seat has a first side surface and a second side surface. The side surface, wherein when the first side surface abuts the first resisting surface, the rotating seat is located at the first position, and when the second side surface contacts the second resisting surface, the rotating seat is located at the second position. The tool changing manipulator for a processing machine as claimed in claim 5, wherein the limiting structure includes a first stop lever and a second stop lever connected to the body, and the first stop lever has a first head part, the second blocking rod has a second head part, wherein the first head part and the second head part can be adjusted to be displaced along the axial direction, and the first head part has the first abutting surface, the The second head has the second abutting surface. The tool changing manipulator for a processing machine as claimed in claim 1, wherein the linking member of the transmission structure includes a first rod body and a second rod body, and the first rod body and the second rod body can be adjusted Connected in a way of butt length, wherein one end of the first rod body is pivotally connected to the first rocker arm, and one end of the second rod body is pivotally connected to the second rocker arm. The tool-changing manipulator of a processing machine as claimed in claim 1, comprising a tool-changing arm connected to the rotating seat, the tool-changing arm comprising a rotating shaft and a tool arm, the rotating shaft is controlled to rotate, and the tool arm receives It is arranged at one end of the rotating shaft and has opposite ends for clamping a cutter bar respectively. The tool changing manipulator of a processing machine as claimed in claim 8, comprising a second cam divider and a second motor, the second cam divider is arranged between the rotating seat and the tool changing arm, the second cam divider The cam divider includes a second input shaft, a second output shaft and a second indexing structure, wherein the second motor drives the second input shaft to rotate, the second output shaft is coaxially connected to the rotating shaft, and the The second indexing structure is used to link the second input shaft and the second output shaft. The tool changing manipulator for a processing machine as claimed in claim 9, wherein the second input shaft and the second output shaft are arranged in parallel, and the second indexing structure includes a second indexing cam and a second indexing plate and a plurality of second indexing pieces; the second input shaft passes through the second indexing cam, the second output shaft passes through the second indexing plate, and the second indexing pieces are arranged at intervals on the second indexing plate On the indexing plate, the second indexing cam is used to push the second indexing piece. The tool changing manipulator for a processing machine as claimed in claim 1, wherein the first motor drives the first rocker arm to swing forward and reverse between an angle of 0° and 180° through the first rotating shaft, and the second rocker arm Through the interlocking of the interlocking piece, it swings back and forth between angles of 0 degrees and 90 degrees. The tool changing manipulator for a processing machine as claimed in claim 1, wherein when the first motor drives the first rocker arm to swing for one revolution through the first rotating shaft, the second rocker arm is linked to the linking member to move in A one-time reciprocating swing is completed between 0 degrees and 90 degrees.

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