WO2016106681A1 - Numerical control machine and automatic tool-changing device thereof - Google Patents

Abstract

Provided is a numerical control machine automatic tool-changing device, comprising a frame (22), a linear drive mechanism, a spline bushing (20), a spline shaft (19), a rotational drive device, and a tool change arm (29); the linear drive mechanism drives the spline bushing (20), and the spline bushing (20) drives the tool change arm (29) in linear motion along the direction of the axis of the spline shaft (19), rotating the drive device to drive the spline shaft (19); the spline shaft (19) drives the spline bushing (20) and the tool change arm (29) to rotate about the axis of the spline shaft (19). Also disclosed is a numerical control machine. The automatic tool-changing device has a simple structure and a low degree of design difficulty; it is easily machined, has a low failure rate, and effectively reduces costs.

Description

CNC machine tool and its automatic tool changer

[Technical Field]

The invention relates to the technical field of numerically controlled machine tools, in particular to an automatic tool changing device and a numerically controlled machine tool using the same.

 【Background technique】

At present, the automatic tool changer used by the machining centers at home and abroad is mainly cam linkage type, and the cam linkage automatic tool changer has good reliability and high tool change speed. Therefore, the cam-linked automatic tool changer is most easily introduced to the market independently, forming a specialized and industrialized production.

The basic principle of the cam-linked automatic tool changer used in the machining center is mainly divided into two parts: 1. The rotary indexing action of the manipulator, including the gripping knife, the 180° tool change and the zero return action; 2. The linear translation of the manipulator Actions, including drawing and inserting. The rotary indexing action of the manipulator is realized by a vertical indexing mechanism of a worm cam (also known as a hobbing cam). The robot is driven by the same motor in a straight line, and the design of the cam curve allows the robot to operate in a tool change cycle. Continuously complete the gripping, drawing, 180° tool change, inserting knife and zero return action, realize the cam linkage tool change of the automatic tool changer.

However, it is well known that a cam curve is a kind of reverse engineering, which is composed of a plurality of sections of curves formed by actual physical motion fitting and connected. The design cam curve involves many pressure angle calculations, the angle of rotation technology and the dead point calculation of the motion. The design of the cam linkage automatic tool change device should be related to the structural design, dynamic analysis and the action linkage relationship of the automatic tool changer. Comprehensive consideration, and repeated calculations to achieve better design results, to ensure that the tool change of the automatic tool changer is continuous, high speed, smooth and reliable. It is precisely because of the structure and principle of the cam-linked automatic tool change device that the cam-linked automatic tool change device has a complicated structure, high manufacturing precision requirements, high design difficulty, difficult processing, high failure rate and high cost.

In summary, it is necessary to provide an automatic tool changer and a numerically controlled machine tool to which the automatic tool changer is applied to solve the above problems.

 [Summary of the Invention]

The technical problem mainly solved by the present invention is to provide a numerical control machine tool and an automatic tool changing device thereof, which has a simple structure and can effectively reduce the cost.

In order to solve the above technical problem, a technical solution adopted by the present invention is to provide an automatic tool changing device for a numerical control machine tool, which comprises: a frame; a linear driving mechanism, a linear driving mechanism is disposed on the frame; a spline sleeve, a spline sleeve Rotating connection with the linear driving mechanism; the spline shaft and the spline shaft are disposed in the spline sleeve; the rotating driving device is disposed on the frame and connected to the spline shaft; the changing arm is sleeved on the spline sleeve Up and perpendicular to the spline sleeve; wherein the linear drive mechanism drives the spline sleeve, and the spline sleeve drives the cutter arm to move linearly along the axial direction of the spline shaft, and the rotary drive device drives the spline shaft and is driven by the flower The key shaft drives the spline sleeve and the tool change arm rotates about the axial direction of the spline shaft.

The linear driving mechanism comprises: a linear guide rail fixed on the frame and arranged along the axial direction of the spline shaft; a slider, the sliding block is slidably supported on the linear guide rail; the bearing seat and the bearing seat are fixed on the slider; the rolling bearing The outer ring of the rolling bearing is fixed on the bearing seat, the spline sleeve is fixed on the inner ring of the rolling bearing; the linear drive, the linear driver is fixed on the frame and connected with the sliding block, thereby driving the sliding block, the bearing seat, the rolling bearing and the spline sleeve Linear motion along linear guides.

Among them, the linear drive is a cylinder.

Wherein, the inside of the frame forms a first accommodating cavity, the linear guide, the slider, the bearing seat, the rolling bearing and the spline sleeve are disposed in the first accommodating cavity, and the linear driver is disposed on the outer side of the frame and passes through the first on the frame The through hole is connected to the slider.

Wherein, the tool change arm is disposed on the outer side of the frame, and the automatic tool change device further comprises a connecting arm rod, the connecting arm rod is disposed in the second through hole on the frame, and the tool change arm and the spline sleeve are connected.

Wherein, the bearing seat is provided with an inner hole, the rolling bearing is disposed in the inner hole, and the linear driving mechanism further comprises an outer ring gland and an inner ring gland, wherein the outer ring gland and the inner ring gland are respectively used for the outer ring of the rolling bearing and The inner ring is held in the inner hole.

Wherein, the linear drive mechanism comprises a transition sleeve disposed between the spline sleeve and the inner ring of the rolling bearing and forming a tight fit with the spline sleeve and the inner ring of the rolling bearing, respectively.

The linear drive mechanism further includes a bearing seat pad, and the bearing seat is fixedly connected to the slider through the bearing seat pad.

Wherein, the rotary driving device comprises: a coupling, one end of the coupling is connected with the spline shaft; the reducer, one end of the reducer is connected with the other end of the coupling; and the rotary drive is connected to the other end of the reducer And, by the speed reducer and the coupling, the spline shaft is driven to rotate about the axis of the spline shaft.

Wherein, the rotary drive is a servo motor, the inside of the frame forms a second accommodating cavity, the coupling, the reducer and the rotary drive are disposed on the outer side of the frame, the spline shaft is disposed in the second accommodating cavity, and passes through the frame The hole is connected to the coupling.

In order to solve the above technical problem, another technical solution adopted by the present invention is to provide a numerical control machine tool including an automatic tool change device, the automatic tool change device comprising: a frame; a linear drive mechanism, and a linear drive mechanism disposed on the frame The spline sleeve and the spline sleeve are rotatably connected with the linear driving mechanism; the spline shaft and the spline shaft are disposed in the spline sleeve; and the rotating driving device is disposed on the frame and connected with the spline shaft; The cutter arm is sleeved on the spline sleeve and is perpendicular to the spline sleeve; wherein the linear drive mechanism drives the spline sleeve, and the spline sleeve drives the cutter arm to linearly move along the axial direction of the spline shaft, and is driven by rotation The device drives the spline shaft, and the spline shaft drives the spline sleeve and the tool change arm rotates about the axial direction of the spline shaft.

The linear driving mechanism comprises: a linear guide rail fixed on the frame and arranged along the axial direction of the spline shaft; a slider, the sliding block is slidably supported on the linear guide rail; the bearing seat and the bearing seat are fixed on the slider; the rolling bearing The outer ring of the rolling bearing is fixed on the bearing seat, the spline sleeve is fixed on the inner ring of the rolling bearing; the linear drive, the linear driver is fixed on the frame and connected with the sliding block, thereby driving the sliding block, the bearing seat, the rolling bearing and the spline sleeve Linear motion along linear guides.

Among them, the linear drive is a cylinder.

Wherein, the inside of the frame forms a first accommodating cavity, the linear guide, the slider, the bearing seat, the rolling bearing and the spline sleeve are disposed in the first accommodating cavity, and the linear driver is disposed on the outer side of the frame and passes through the first on the frame The through hole is connected to the slider.

Wherein, the tool change arm is disposed on the outer side of the frame, and the automatic tool change device further comprises a connecting arm rod, the connecting arm rod is disposed in the second through hole on the frame, and the tool change arm and the spline sleeve are connected.

Wherein, the bearing seat is provided with an inner hole, the rolling bearing is disposed in the inner hole, and the linear driving mechanism further comprises an outer ring gland and an inner ring gland, wherein the outer ring gland and the inner ring gland are respectively used for the outer ring of the rolling bearing and The inner ring is held in the inner hole.

Wherein, the linear drive mechanism comprises a transition sleeve disposed between the spline sleeve and the inner ring of the rolling bearing and forming a tight fit with the spline sleeve and the inner ring of the rolling bearing, respectively.

The linear drive mechanism further includes a bearing seat pad, and the bearing seat is fixedly connected to the slider through the bearing seat pad.

Wherein, the rotary driving device comprises: a coupling, one end of the coupling is connected with the spline shaft; the reducer, one end of the reducer is connected with the other end of the coupling; and the rotary drive is connected to the other end of the reducer And, by the speed reducer and the coupling, the spline shaft is driven to rotate about the axis of the spline shaft.

Wherein, the rotary drive is a servo motor, the inside of the frame forms a second accommodating cavity, the coupling, the reducer and the rotary drive are disposed on the outer side of the frame, the spline shaft is disposed in the second accommodating cavity, and passes through the frame The hole is connected to the coupling.

The invention has the beneficial effects that the automatic tool change device of the numerical control machine tool of the invention comprises a frame, a linear drive mechanism, a spline sleeve, a spline shaft, a rotary drive device and a tool change arm, linear drive, different from the prior art. The mechanism is disposed on the frame, the spline sleeve is rotatably connected with the linear driving mechanism, the spline shaft is disposed in the spline sleeve, the rotating driving device is disposed on the frame and connected to the spline shaft, and the tool changing arm is connected with the spline sleeve. Wherein, the linear drive mechanism drives the spline sleeve, and the spline sleeve drives the tool change arm to move linearly along the axial direction of the spline shaft, the rotary drive device drives the spline shaft, and the spline shaft drives the spline sleeve and the tool changer The arm rotates about the axial direction of the spline shaft. The automatic tool change device of the invention has a simple structure, low design difficulty, easy processing, low failure rate, and can effectively reduce the cost.

 [Description of the Drawings]

1 is a schematic perspective view showing the automatic tool changer of the present invention;

Figure 2 is a cross-sectional view showing the automatic tool changer of the present invention;

Figure 3 is a partial exploded view of the automatic tool changer of the present invention.

 【detailed description】

The invention discloses a numerical control machine tool, wherein the numerical control machine tool comprises an automatic switching device. As shown in FIGS. 1-3, the automatic tool changer includes a frame 22, a linear drive mechanism, a spline sleeve 20, a spline shaft 19, a rotary drive, a tool change arm 29, and a link arm 4.

The frame 22 is the main body, the frame 22 supports all the components, the linear drive mechanism is disposed on the frame 22, the spline sleeve 20 is rotatably coupled to the linear drive mechanism, and the spline shaft 19 is threaded into the spline sleeve 20.

The linear drive mechanism includes a linear guide 10, a slider 9, a bearing housing 5, a bearing pad 1, a rolling bearing 34, a linear drive 2, a transition sleeve 25, an outer ring gland 11, and an inner ring gland 12.

The linear guide 10 and the slider 9 constitute a guide unit, and the linear guide 10 is fixed to the frame 22 and disposed along the axial direction of the spline shaft 19. Further, the frame 22 is provided with a guide substrate 23, and the linear guide 10 is fixed on the guide substrate 23. . The slider 9 is slidably supported on the linear guide 10, that is, the slider 9 is reciprocally slidable along the linear guide 10 in the axial direction of the spline shaft 19. The bearing housing 5 is fixed to the slider 9, and preferably, the bearing housing 5 is fixedly coupled to the slider 9 via the bearing housing pad 1.

The outer ring of the rolling bearing 34 is fixed to the bearing housing 5, the spline sleeve 20 is fixed to the inner ring of the rolling bearing 34, and the spline sleeve 20 is fitted over the spline shaft 19. The transition sleeve 25 is disposed between the spline sleeve 20 and the inner race of the rolling bearing 34 and forms a tight fit with the spline sleeve 20 and the inner race of the rolling bearing 34, respectively. In the present embodiment, the bearing housing 5 is provided with an inner hole (not shown), the rolling bearing 34 is disposed in the inner hole, and the outer ring gland 11 and the inner ring gland 12 are respectively used for the outer ring and the inner side of the rolling bearing 34. The ring is held in the inner hole.

The linear actuator 2 is fixed to the frame 22 and connected to the slider 9. In the present embodiment, the linear drive 2 is a cylinder, and the piston rod of the cylinder is connected to the bearing pad 1 through the cylinder connecting bracket 3. It should be understood that in other embodiments, the linear drive 2 is a hydraulic ram.

In this embodiment, the inside of the frame 22 forms a first accommodating cavity (not shown), and the linear guide 10, the slider 9, the bearing housing 5, the rolling bearing 34, and the spline sleeve 20 are disposed in the first accommodating cavity. The linear actuator 2 is disposed outside the frame 22 and connected to the slider 9 through a first through hole (not shown) on the frame 22.

The tool change arm 29 is disposed on the outer side of the frame 22, sleeved on the spline sleeve, and is perpendicular to the spline sleeve. The connecting arm 4 is disposed in a second through hole (not shown) of the frame 22, and is distributed and connected to the tool changing arm 29 and the spline sleeve 20. In the present embodiment, the connecting arm 4 is fixedly coupled to the spline sleeve 20 by screws, and the tool changing arm 29 is attached to the end of the connecting arm 4. It should be understood that the tool change arm 29 of the present embodiment is disposed on one side of the frame 22, the linear drive 2 is disposed on the other side of the frame 22, and the tool change arm 29 and the linear drive 2 are disposed opposite to each other.

The rotary drive device includes a coupling 33, a speed reducer 30, and a rotary drive 31. One end of the coupling 33 is connected to the spline shaft 19, the other end of the coupling 33 is connected to one end of the speed reducer 30, and the other end of the speed reducer 31 is connected to the rotary actuator 31. The speed reducer 30 is connected to the spline shaft 19 via a coupling 33, and the rotary drive 31 is directly connected to the speed reducer 30. Preferably, the speed reducer 30 is mounted on the frame 22 via the motor base 7. In the present embodiment, the rotary actuator 31 is a servo motor. It should be understood that in other embodiments, the rotary driver 31 is not limited to the servo motor, and the rotary driver 31 may also be a stepper motor.

In this embodiment, the inside of the frame 22 is further formed with a second accommodating cavity (not shown), the coupling 33, the reducer 30 and the rotary drive 31 are disposed outside the frame 22, and the spline shaft 19 is disposed at the The two are housed in the cavity and connected to the coupling 33 through the through holes in the frame 22. It should be understood that the coupling 33, the speed reducer 30, and the rotary drive 31 are disposed on the same side of the frame 22 as the linear drive 2.

Next, the working principle of the automatic tool changer of the present invention will be described.

The reciprocating movement of the piston rod of the cylinder can drive the slider 9, the bearing housing 5, the rolling bearing 34 and the spline sleeve 20 to linearly move along the linear guide 10, thereby driving the tool change arm 29 and the connecting arm 4 along the axis of the spline shaft 19. The linear motion is performed to form a linear translation motion of the robot of the automatic tool changer, so that the function of the tool extraction and the knife insertion function can be realized.

The servo motor drives the spline shaft 19 to rotate about the axis of the spline shaft 19 through the speed reducer 30 and the coupling 33, and the rotational torque of the servo motor passes through the speed reducer 31, the coupling 33, the spline shaft 19, and the spline sleeve. 20 is transmitted to the tool change arm 29 and the connecting arm 4 to form a robot rotation indexing operation of the automatic tool changer, thereby realizing the grasping knife, the 180° tool change and the zero return function.

In this embodiment, the function of the automatic cam changer is realized by the function decomposition and analysis of the conventional cam linkage type automatic tool changer, and the simple cylinder reciprocating motion and the precise and controllable rotation, indexing and positioning functions of the servo motor are realized. The indexing action and the linear translation of the robot.

In summary, the automatic tool change device of the numerical control machine tool of the present invention comprises a frame, a linear drive mechanism, a spline sleeve, a spline shaft, a rotary drive device and a tool change arm, and the linear drive mechanism is disposed on the frame, and the spline sleeve is The linear drive mechanism is rotatably connected, the spline shaft is disposed in the spline sleeve, the rotary driving device is disposed on the frame and connected to the spline shaft, and the tool change arm is coupled to the spline sleeve, wherein the linear drive mechanism drives the spline sleeve, The spline sleeve drives the tool change arm to move linearly along the axial direction of the spline shaft, and the rotary driving device drives the spline shaft, and the spline shaft drives the spline sleeve and the tool change arm rotates around the axial direction of the spline shaft. . The automatic tool changing device of the invention has the advantages of simple structure, low manufacturing precision requirement, low design difficulty, easy processing and low failure rate, and ensures continuous, high-speed, stable and reliable tool change movement of the automatic tool change device, and can effectively reduce cost.

The above are only the embodiments of the present invention, and are not intended to limit the scope of the invention, and the equivalent structure or equivalent process transformations made by the description of the present invention and the drawings are directly or indirectly applied to other related technical fields. The same is included in the scope of patent protection of the present invention.

Claims (20)

1. An automatic tool change device for a numerically controlled machine tool, wherein the automatic tool change device comprises:

   frame;

   a linear drive mechanism, the linear drive mechanism is disposed on the frame;

   a spline sleeve, the spline sleeve being rotatably coupled to the linear drive mechanism;

   a spline shaft, the spline shaft is disposed in the spline sleeve;

   Rotating a driving device, the rotating driving device is disposed on the frame and connected to the spline shaft;

   a tool change arm, the tool change arm is sleeved on the spline sleeve and perpendicular to the spline sleeve;

   Wherein the linear drive mechanism drives the spline sleeve, and the spline sleeve drives the cutter arm to move linearly along the axial direction of the spline shaft, and the rotary drive device drives the spline a shaft, and the spline sleeve is driven by the spline shaft and the tool change arm rotates about an axial direction of the spline shaft.
2. The automatic tool changer of claim 1 wherein said linear drive mechanism comprises:

   a linear guide rail fixed to the frame and disposed along an axial direction of the spline shaft;

   a slider, the slider is slidably supported on the linear guide;

   a bearing seat, the bearing seat being fixed on the slider;

   a rolling bearing, an outer ring of the rolling bearing is fixed on the bearing seat, and the spline sleeve is fixed on an inner ring of the rolling bearing;

   a linear actuator fixed to the frame and coupled to the slider to drive the slider, the bearing housing, the rolling bearing, and the spline sleeve to linearly move along the linear guide .
3. The automatic tool changer of claim 2 wherein said linear actuator is a cylinder.
4. The automatic tool changer according to claim 2, wherein the inside of the frame forms a first accommodating cavity, the linear guide, the slider, the bearing housing, the rolling bearing, and the spline sleeve The linear actuator is disposed outside the frame and connected to the slider through a first through hole on the frame.
5. The automatic tool changer according to claim 4, wherein said tool change arm is disposed outside said frame, said automatic tool change device further comprising a connecting arm, said connecting arm being threaded through said frame In the upper second through hole, and connecting the tool change arm and the spline sleeve.
6. The automatic tool change device according to claim 2, wherein the bearing housing is provided with an inner hole, the rolling bearing is disposed in the inner hole, and the linear drive mechanism further comprises an outer ring gland and an inner ring gland The outer ring gland and the inner ring gland are respectively used to press the outer ring and the inner ring of the rolling bearing into the inner hole.
7. The automatic tool changer according to claim 6, wherein the linear drive mechanism comprises a transition sleeve disposed between the spline sleeve and the inner ring of the rolling bearing and respectively associated with the spline A tight fit is formed between the sleeve and the inner ring of the rolling bearing.
8. The automatic tool changer according to claim 7, wherein said linear drive mechanism further comprises a bearing housing pad, said bearing housing being fixedly coupled to said slider by said bearing housing pad.
9. The automatic tool changer of claim 1 wherein said rotational drive comprises:

   a coupling, one end of the coupling being coupled to the spline shaft;

   a reducer, one end of the reducer is connected to the other end of the coupling;

   Rotating the drive, the rotary drive being coupled to the other end of the reducer, and thereby rotating the spline shaft about the axis of the spline shaft by the reducer and the coupling.
10. The automatic tool changer according to claim 9, wherein said rotary actuator is a servo motor, an interior of said frame forms a second accommodating cavity, said coupling, said reducer and said rotary drive are arranged On the outer side of the frame, the spline shaft is disposed on the second receiving cavity and connected to the coupling through a through hole in the frame.
11. A numerical control machine tool, wherein the numerical control machine tool comprises an automatic tool change device, the automatic tool change device comprising:

    frame;

    a linear drive mechanism, the linear drive mechanism is disposed on the frame;

    a spline sleeve, the spline sleeve being rotatably coupled to the linear drive mechanism;

    a spline shaft, the spline shaft is disposed in the spline sleeve;

    Rotating a driving device, the rotating driving device is disposed on the frame and connected to the spline shaft;

    a tool change arm, the tool change arm is sleeved on the spline sleeve and perpendicular to the spline sleeve;

    Wherein the linear drive mechanism drives the spline sleeve, and the spline sleeve drives the cutter arm to move linearly along the axial direction of the spline shaft, and the rotary drive device drives the spline a shaft, and the spline sleeve is driven by the spline shaft and the tool change arm rotates about an axial direction of the spline shaft.
12. The numerically controlled machine tool according to claim 11, wherein said linear drive mechanism comprises:

    a linear guide rail fixed to the frame and disposed along an axial direction of the spline shaft;

    a slider, the slider is slidably supported on the linear guide;

    a bearing seat, the bearing seat being fixed on the slider;

    a rolling bearing, an outer ring of the rolling bearing is fixed on the bearing seat, and the spline sleeve is fixed on an inner ring of the rolling bearing;

    a linear actuator fixed to the frame and coupled to the slider to drive the slider, the bearing housing, the rolling bearing, and the spline sleeve to linearly move along the linear guide .
13. The numerically controlled machine tool according to claim 12, wherein said linear actuator is a cylinder.
14. The numerical control machine tool according to claim 12, wherein an inner portion of the frame forms a first accommodating cavity, and the linear guide, the slider, the bearing housing, the rolling bearing, and the spline sleeve are disposed on In the first accommodating cavity, the linear driver is disposed outside the frame and connected to the slider through a first through hole on the frame.
15. The numerical control machine tool according to claim 14, wherein the tool change arm is disposed outside the frame, the automatic tool change device further includes a connecting arm rod, the connecting arm rod is disposed on the frame The second through hole is connected to the tool change arm and the spline sleeve.
16. The numerical control machine tool according to claim 12, wherein said bearing housing is provided with an inner bore, said rolling bearing being disposed in said inner bore, said linear drive mechanism further comprising an outer ring gland and an inner ring gland, wherein The outer ring gland and the inner ring gland are used to press the outer ring and the inner ring of the rolling bearing into the inner hole, respectively.
17. The numerical control machine tool according to claim 16, wherein said linear drive mechanism comprises a transition sleeve disposed between said spline sleeve and said inner ring of said rolling bearing and respectively said spline sleeve and A tight fit is formed between the inner races of the rolling bearing.
18. The numerically controlled machine tool according to claim 17, wherein said linear drive mechanism further comprises a bearing housing pad, said bearing housing being fixedly coupled to said slider by said bearing housing pad.
19. The numerically controlled machine tool according to claim 11, wherein said rotational driving means comprises:

    a coupling, one end of the coupling being coupled to the spline shaft;

    a reducer, one end of the reducer is connected to the other end of the coupling;

    Rotating the drive, the rotary drive being coupled to the other end of the reducer, and thereby rotating the spline shaft about the axis of the spline shaft by the reducer and the coupling.
20. The numerical control machine tool according to claim 19, wherein said rotary actuator is a servo motor, and a inside of said frame forms a second accommodating cavity, said coupling, said reducer and said rotary drive being disposed at said On the outer side of the frame, the spline shaft is disposed on the second receiving cavity and connected to the coupling through a through hole in the frame.