CN111590370A - An integrated chain-type tool magazine for self-pickup tool change - Google Patents

Abstract

The invention relates to an integrated chain tool magazine for self-picking and changing tools, and aims to provide an integrated chain tool magazine with simple structure, small space occupation, low manufacturing cost, fast tool changing speed and low tool changing impact force , which can be set directly behind the machine tool to realize the symmetrical arrangement of the machine tool, avoid the loss of machine tool accuracy caused by eccentricity, and facilitate the arrangement of automated production lines. It consists of a base, a chain mechanism, a chain drive unit, a tool changing manipulator, a manipulator rotation drive unit, a manipulator moving push-out mechanism and a moving push-out drive unit. Under the action of rotation; the tool changing manipulator is installed on the base through the manipulator moving and pushing out mechanism. On the one hand, it can perform linear reciprocating movement of pushing and retracting under the action of the moving push-out drive unit, and on the other hand, it can rotate 180 degrees under the action of the manipulator rotating drive unit. , to realize tool position exchange.

Description

An integrated chain-type tool magazine for self-pickup tool change

technical field

The invention belongs to the field of numerical control machining, and particularly relates to an integrated chain-type tool magazine for self-picking and changing tools.

Background technique

Chain-type tool magazines have been more and more widely used in CNC machining centers due to their large capacity. The existing chain-type tool magazine is mostly used with a tool-changing manipulator to realize tool exchange. The tool-changing manipulator and the chain-type tool magazine are designed independently. The tool-changing manipulator is located between the chain-type tool magazine and the machine tool spindle. The translation movement of the machine tool spindle and the tool change The rotary motion of the manipulator arm completes tool fetching, tool preparation and tool exchange. On the one hand, this structure is complex in structure, occupies a large space, requires high positioning accuracy, and has high production and manufacturing costs; At the same time, in order to prevent the tool changing robot from occupying the moving space of the worktable, the chain-type tool magazine is usually installed on one side of the machine tool, which is easy to cause the center of gravity of the machine tool to shift, which has a great impact on the accuracy of the machine tool; and the tool magazine occupies the side space of the machine tool. , When the automatic production line is laid out, the site utilization rate is low, which is not conducive to the layout of the machine tool production line. In addition, in the process of tool exchange, an asynchronous motor is used, and the tool is deducted. The tool change process is uncontrolled, and the impact force is large. Long-term tool change is likely to cause loss of spindle accuracy and affect the overall processing performance of the machine tool.

SUMMARY OF THE INVENTION

The purpose of the present invention is to overcome the deficiencies of the prior art, and to provide an integrated chain-type tool magazine with simple structure, small space occupation, low manufacturing cost, fast tool changing speed and low tool changing impact force, which can be arranged directly behind the machine tool. , realize the symmetrical arrangement of machine tools, avoid the loss of machine tool accuracy caused by eccentricity, and facilitate the arrangement of automated production lines.

In order to solve the above technical problems, the present invention is achieved through the following technical solutions: an integrated chain tool magazine for self-picking and changing tools, which consists of a base, a chain mechanism, a chain drive unit, a tool changing manipulator, a manipulator rotation drive unit, The manipulator moves and pushes out the mechanism and the move and pushes the drive unit. The chain mechanism for accommodating the tool is arranged on the base and can be rotated under the action of the chain drive unit; Under the action of the moving push-out drive unit, the push-out and retraction linear reciprocating movement can be performed. On the other hand, it can be rotated 180 degrees under the action of the manipulator rotation drive unit to realize the exchange of tool positions.

In the above-mentioned one-piece chain-type tool magazine for self-pickup and tool change, an annular slide rail and a guide groove are respectively provided on the base, and the chain mechanism is arranged around the annular slide rail, and can move along the annular slide rail under the action of the chain drive unit. Rotate and guide through the full stroke of the guide groove.

The above-mentioned one-piece chain-type tool magazine for self-pickup and tool change, the chain mechanism is formed by connecting multiple sets of single-link assemblies in series, and the single-link assemblies include a single-link, a lifting rod and a tool sleeve assembly, and the single-link passes through the The rollers are respectively matched with the annular slide rail and the guide groove, and can rotate in the circumferential direction along the annular slide rail under the action of the chain drive unit; the knife sleeve assembly is connected with the single chain link through the lifting rod, and the knife sleeve assembly and the lifting rod are fixed as Integral, lift rod slide fit with single link.

In the above-mentioned one-piece chain-type tool magazine for self-pickup and tool change, the tool sleeve assembly is composed of a tool sleeve, a steel ball, a locking shaft, a spring and a ball sleeve, the tool sleeve is fixed on the lifting rod; the steel ball is arranged on the ball inside the sleeve, and squeeze the ball sleeve through the spring and the locking shaft; the ball sleeve is installed in the knife sleeve, and can cooperate with the knife handle to fix the knife handle in the knife sleeve.

In the above-mentioned one-piece chain-type tool magazine for self-pickup and tool change, the base is provided with a tool-changing lifting mechanism, including a lifting cylinder, a cylinder fixing plate, a lifting pressure plate and a linear guide rail, and the lifting cylinder is installed on the base through the cylinder fixing plate. On the seat, the lifting pressure plate is installed on the moving end of the lifting cylinder, and slides on the linear guide rail, and can move up and down along the linear guide rail under the action of the lifting cylinder.

In the above-mentioned one-piece chain-type tool magazine for self-pickup and tool change, when the single-link assembly moves to the tool-changing position, its lifting rod cooperates with the lifting pressure plate, and can reciprocate up and down together with the lifting pressure plate.

In the above-mentioned one-piece chain-type tool magazine for self-pickup and tool change, the manipulator moves and pushes out the mechanism including the push-out slide and the push-out slide, the push-out slide is installed on the base, and the push-out slide is installed in the push-out slide through the slide rail, It can move back and forth linearly along the slide rail under the action of the moving push-out drive unit.

The above-mentioned one-piece chain-type tool magazine for self-picking and changing tools, the tool-changing manipulator is composed of a rotating arm and a split-type tool claw. The manipulator rotates and drives the unit to be fixed on the end of the push-out slide; two split-type knife claws are respectively arranged at both ends of the rotating arm, and a spring is arranged in the split-type knife claw.

In the above-mentioned one-piece chain-type tool magazine for self-pickup and tool change, the split-type tool claw realizes taking and placing the tool through the Z-direction movement of the main shaft of the machine tool.

In the above-mentioned integrated chain-type tool magazine for self-pickup and tool change, the base is provided with a position sensor, which can provide accurate position feedback to the initial position of the tool magazine and the position of the tool change.

Compared with the prior art, the beneficial effects of the present invention are as follows: the present invention adopts the integrated design of the tool changing manipulator and the chain tool magazine, and has the advantages of simple structure, less space occupation, convenient installation and debugging, easy guarantee of precision, and low manufacturing cost; The linear movement and rotary motion of the tool manipulator realizes the tool exchange, and the tool change manipulator can move to the position closest to the machine tool spindle. The chain-type tool magazine can be set directly behind the machine tool, which is beneficial to the symmetrical design of the machine tool, avoids the loss of precision caused by eccentricity, and is easy to arrange the automatic production line. At the same time, the chain mechanism adopts the form of ring guide and full-stroke guide, which effectively reduces the vibration and noise of the tool magazine during the tool change process, and can realize the high-speed operation and high-precision positioning of the tool magazine. In addition, the split-type tool claw is used to cooperate with the Z-direction movement of the spindle to realize self-pickup tool change, which makes full use of the advantages of Z-axis servo drive, effectively reduces the impact of tool change on the spindle, protects the spindle accuracy, and has high reliability. The invention also adopts the modular design of the knife sleeve and the single chain link, and the knife sleeve and the single chain link are connected in one-to-one correspondence to form an independent module, which effectively avoids the phenomenon of the knife sleeve being thrown out during the movement process, and greatly reduces the shutdown caused by the knife sleeve failure. failure rate.

Description of drawings

Figure 1 is a schematic diagram of the overall structure of the present invention.

Figure 2 is a schematic diagram of the chain mechanism of the present invention.

3 is a schematic structural diagram of the lifting mechanism and the single chain link assembly of the present invention.

FIG. 4 is a schematic structural diagram of the tool changing manipulator of the present invention.

Detailed ways

The present invention will be described in further detail below with reference to the accompanying drawings and specific embodiments.

1 to 2, an integrated chain tool magazine for self-pickup and tool change of the present invention is composed of a base 1, a chain mechanism 2, a chain drive unit 3, a tool changing manipulator 4, and a manipulator rotation drive unit 5. , push out the sliding seat 6, push out the sliding plate 7, move the push out drive unit 8, the annular slide rail 9 and the guide groove 10 are composed.

The annular slide rail 9 is fixed on the base 1, and the chain mechanism 2 is arranged around the annular slide rail 9, which can be rotated along the circumferential direction of the annular slide rail 9 under the action of the chain drive unit 3, and guided by the guide groove 10 for the full stroke, effectively reducing the Noise and chatter during rotation of chain mechanism 2.

The push-out sliding seat 6 and the push-out slide plate 7 constitute a manipulator moving push-out mechanism, which is used to push the tool-changing manipulator 4 to move between the chain-type tool magazine and the machine tool spindle. Among them, the push-out slide 6 is installed on the base, and the push-out slide 7 is installed in the push-out slide 6 through the slide rail, and can be pushed out and returned under the action of the moving push-out drive unit 8 . The tool changing manipulator 4 is mounted on the end of the push-out slide plate 7 through the manipulator rotation driving unit 5 , and can rotate under the action of the manipulator rotation driving unit 5 .

2 and 3, the chain mechanism 2 is composed of twenty-five sets of single chain link assemblies 20 connected in series, each set of single chain link assemblies 20 includes a single chain link 21, a lifting rod 22, a knife sleeve 23, and The rollers 24 and the single chain link 21 are matched with the outer ring surface of the annular slide rail 9, the lower end surface of the annular slide rail 9 and the guide groove 10 through the three sets of rollers 24 respectively, and can move along the annular slide rail 9 under the action of the chain drive unit 3. Circumferential movement. The knife sleeve 23 is connected with the single chain link 21 through the lifting rod 22 , wherein the knife sleeve 23 and the lifting rod 22 are fixed as a whole, and the lifting rod 22 is slidingly matched with the single chain link 21 . The knife sleeve 23 is also provided with a ball sleeve 25 matched with the knife handle 29 .

In order to realize the self-removal of the knife sleeve 23, a knife-changing lifting mechanism 11 is arranged on the base 1 corresponding to the tool-changing position, and is composed of a lifting cylinder 12, a cylinder fixing plate 13, a lifting pressure plate 14 and a linear guide 15. The lifting cylinder 14 is installed on the base 1 through the cylinder fixing plate 13; When the single chain link 21 moves to the tool changing position, the lifting pressure plate 14 can clamp the lifting rod 22, and the tool sleeve 23 is lifted or pressed with the action of the lifting cylinder 12, so as to realize the separation of the tool sleeve 23 and the tool handle 29 or jam.

1 and 4, the tool changing manipulator 4 is composed of a rotating arm 41 and a split tool claw 42. The rotating arm 41 is installed at the output end of the manipulator rotating drive unit 5, and can perform 180 operations under the action of the manipulator rotating drive unit 5. The split-type knife claws 42 are respectively arranged at both ends of the rotating arm 41, and can achieve position exchange with the rotating motion of the rotating arm 41; the split-type knife claw 42 is provided with a spring 43, which can be clamped under the elastic force of the spring 43 hilt.

In order to ensure the positioning accuracy of the tool change, a position sensor 16 is also provided on the base 1. The initial position of the tool magazine can be accurately determined through the signal triggering of the position sensor and the setting of internal parameters. At the same time, with the absolute servo control system, each The precise positioning of the second tool change position ensures the safe and error-free completion of the tool change.

When in use, the present invention can be installed directly behind the machine tool. During the machining process of the machine tool, the tool magazine prepares the tool, that is, the single chain link 21 of the tool used in the next processing program moves to the tool magazine tool change position, and the tool change manipulator 4 grabs the tool. When the handle is lifted, the lifting cylinder 14 moves, and the tool sleeve 23 is lifted upward through the lifting pressure plate 14 and the lifting rod 22 in turn, so that the tool handle is separated from the tool sleeve 23 . After the machining is completed, the main shaft of the machine tool moves to the tool changing position of the machine tool along the X axis and the Z axis respectively. The tool claw grabs the tool shank on the machine tool spindle, the machine tool spindle releases the tool, and moves upward to disengage the tool shank from the spindle. The manipulator rotation drive unit 5 drives the rotating arm 41 to rotate 180 degrees to realize the position exchange of the two tool holders. The machine tool spindle moves down along the Z axis and grabs the knife, the manipulator moves the push-out mechanism back, and the tool holder 23 moves down and grabs the tool change manipulator. 4, the manipulator moves the push-out mechanism to return to zero, and the tool magazine continues to search for the tool for the next tool change.

The tool changing manipulator and the chain tool magazine of the present invention have an integral structure, the structure is simple, the installation and debugging are convenient, and the accuracy is easy to ensure. The installation at the rear of the machine tool is not only conducive to the symmetrical design of the machine tool, but also greatly reduces the tool change. The X-axis travel of the spindle, the tool change takes up less space, and the tool change speed is fast.

Although the present invention has been described in detail above, the present invention is not limited thereto, and various modifications can be made by those skilled in the art according to the principles of the present invention. Therefore, all modifications made in accordance with the principles of the present invention should be understood as falling within the protection scope of the present invention.

Claims (10)

1. An integrated chain type tool magazine for self-picking tool changing is characterized by comprising a base, a chain mechanism, a chain driving unit, a tool changing manipulator, a manipulator rotation driving unit, a manipulator movement push-out mechanism and a movement push-out driving unit, wherein the chain mechanism for accommodating tools is arranged on the base and can rotate under the action of the chain driving unit; the tool changing manipulator is arranged on the base through the manipulator moving push-out mechanism, on one hand, the tool changing manipulator can do push-out and return linear reciprocating movement under the action of the moving push-out driving unit, and on the other hand, the tool changing manipulator can rotate 180 degrees under the action of the manipulator rotating driving unit, so that the position exchange of tools is realized.

2. The integrated chain type tool magazine capable of self-picking and tool changing is characterized in that the base is provided with an annular slide rail and a guide groove respectively, and the chain mechanism is arranged around the annular slide rail, can rotate along the annular slide rail under the action of the chain driving unit and is guided by the guide groove in a full-stroke mode.

3. The self-picking tool-changing integrated chain type tool magazine is characterized in that the chain mechanism is formed by connecting a plurality of single chain joint assemblies in series, each single chain joint assembly comprises a single chain joint, a lifting rod and a tool sleeve assembly, and the single chain joints are respectively matched with the annular slide rail and the guide groove through rollers and can do circumferential rotation motion along the annular slide rail under the action of the chain driving unit; the knife pouch assembly is connected with the single chain link through a lifting rod, the knife pouch assembly and the lifting rod are fixed into a whole, and the lifting rod is in sliding fit with the single chain link.

4. The self-picking tool-changing integrated chain type tool magazine is characterized in that the tool sleeve assembly consists of a tool sleeve, a steel ball, a locking shaft, a spring and a ball sleeve, and the tool sleeve is fixed on the lifting rod; the steel ball is arranged in the ball sleeve and extrudes the ball sleeve through the spring and the locking shaft; the ball sleeve is arranged in the cutter sleeve and can be matched with the cutter handle to fix the cutter handle in the cutter sleeve.

5. The integrated chain type tool magazine capable of self-picking up and replacing tools as claimed in claim 3 or 4, wherein a tool changing lifting mechanism is arranged on the base and comprises a lifting cylinder, a cylinder fixing plate, a lifting pressing plate and a linear guide rail, the lifting cylinder is mounted on the base through the cylinder fixing plate, the lifting pressing plate is mounted at a moving end of the lifting cylinder and acts on the linear guide rail in a sliding manner, and the lifting cylinder can move up and down along the linear guide rail under the action of the lifting cylinder.

6. The integrated chain tool magazine for self-picking tool changing of claim 5, wherein when the single link assembly moves to the tool changing position, the lifting rod of the single link assembly is matched with the lifting pressure plate and can reciprocate up and down along with the lifting pressure plate.

7. The integrated chain magazine of self-picking tool changers according to claim 1, wherein the robot moving push-out mechanism comprises a push-out slide mounted on the base and a push-out slide mounted in the push-out slide via a slide rail and linearly reciprocated along the slide rail by a moving push-out driving unit.

8. The integrated chain type tool magazine for self-picking tool changing according to claim 7, wherein the tool changing manipulator is composed of a rotating arm and a split type tool claw, the rotating arm is arranged at the output end of a manipulator rotating driving unit and can rotate under the action of the manipulator rotating driving unit, and the manipulator rotating driving unit is fixed at the end part of the push-out sliding plate; two split type tool claws are respectively arranged at two ends of the rotating arm, and springs are arranged in the split type tool claws.

9. The integrated chain type tool magazine capable of self-picking and tool changing is characterized in that the split type tool claw achieves tool taking and tool placing through Z-direction movement of a machine tool spindle.

10. The integrated chain tool magazine capable of self-picking tool changing according to claim 1, wherein a position sensor is arranged on the base, and the initial position of the tool magazine and the tool changing position can be accurately fed back.

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