A machine tool tool changing device, machine tool and machine tool tool changing method

Abstract

The present invention discloses a machine tool tool changing device, a machine tool and a machine tool tool changing method, wherein the machine tool tool changing device comprises: a manipulator, a manipulator mounting arm, a manipulator mounting seat, a manipulator rotation driving mechanism, a manipulator swing driving mechanism and a manipulator horizontal movement driving mechanism; the manipulator is mounted on the manipulator mounting arm, and the manipulator mounting arm is equipped with a manipulator rotation driving mechanism for driving the manipulator to rotate around a horizontal axis, the manipulator mounting arm is mounted on the manipulator mounting seat, and the manipulator mounting seat is equipped with a manipulator swing driving mechanism for driving the manipulator mounting arm to swing around a horizontal axis, and the manipulator mounting seat is also equipped with a manipulator horizontal movement driving mechanism for driving the manipulator mounting seat to move horizontally so that the manipulator is close to or away from the machine tool processing spindle. The machine tool tool changing device disclosed by the present invention has the advantages of simple structure, short tool changing time, and the ability to improve machine tool processing efficiency.

Description

Technical Field

[0001] The invention relates to the technical field of machine tools, and in particular to a machine tool tool changing device, a machine tool and a machine tool tool changing method. Background Art

[0002] At present, tool changes on machine tools are all carried out at fixed tool change points on both sides of the machine tool. That is, when the machine tool machining spindle completes the mechanical tool change of the current machining sequence, the machine tool machining spindle needs to move to the fixed tool change area, and the robot will change the tool on the machine tool machining spindle and the tool magazine. After the tool change is completed, the machine tool machining spindle moves to the machining area again to process the workpiece. For small-stroke machine tools, the machine tool machining spindle moves to the tool change point for tool change, and the time required to complete the tool change is relatively short, which has little impact on the machining efficiency. For large-stroke lathes, especially those with a stroke of more than 3 meters, the machine tool moves from the machining area (especially when the machining area is at the farthest end from the tool magazine) to the tool change area for tool change, and then moves to the machining area. The tool change time is time-consuming, and the machining efficiency of parts that frequently change tools is greatly reduced. Summary of the invention

[0003] In view of the above problems, the present invention proposes a tool changing device for a machine tool.

[0004] The technical means adopted by the present invention are as follows:

[0005] A machine tool tool changing device comprises: a manipulator, a manipulator mounting arm, a manipulator mounting seat, a manipulator rotation drive mechanism, a manipulator swing drive mechanism and a manipulator horizontal movement drive mechanism;

[0006] The manipulator is mounted on the manipulator mounting arm, and the manipulator mounting arm is equipped with the manipulator rotation drive mechanism for driving the manipulator to rotate around a horizontal axis. The manipulator mounting arm is mounted on the manipulator mounting seat, and the manipulator mounting seat is equipped with a manipulator swing drive mechanism for driving the manipulator mounting arm to swing around a horizontal axis. The manipulator mounting seat is also equipped with a manipulator horizontal movement drive mechanism for driving the manipulator mounting seat to move horizontally so that the manipulator is close to or away from the machine tool machining spindle.

[0007] Furthermore, the manipulator horizontal movement drive mechanism includes a guide rail slider, a rack, a gear and a first drive motor;

[0008] The guide rail slider is installed on the manipulator mounting seat and connected to the guide rail arranged on the machine tool bed. The first drive motor is installed on the manipulator mounting seat. The first drive motor is connected to the gear, and the gear is meshed with the rack arranged on the machine tool bed.

[0009] Further, the manipulator mounting seat includes a guide rail slider mounting portion, a first drive motor mounting portion and a manipulator mounting arm mounting portion;

[0010] The guide rail slider is installed on the guide rail slider installation part, the first drive motor is installed on the first drive motor installation part, the upper part of one end of the guide rail slider installation part is the manipulator mounting arm installation part, and the manipulator mounting arm is hinged on the manipulator mounting arm installation part.

[0011] Furthermore, the manipulator mounting arm is hinged on the manipulator mounting seat, and the manipulator swing drive mechanism is a linear drive device, one end of the linear drive device is hinged to the manipulator mounting arm or the manipulator mounting seat, and the other end is fixedly connected to the manipulator mounting seat or the manipulator mounting arm.

[0012] Furthermore, the manipulator includes a main tool changing claw, a main clamping claw and a main clamping claw driving mechanism, the main tool changing claw is provided with a tool handle slot, the main clamping claw driving mechanism is arranged at one end of the clamping mouth of the tool handle slot of the main tool changing claw, the main clamping claw is fixed on the main clamping claw driving mechanism, and the main clamping claw driving mechanism can drive the main clamping claw to move toward one side of the tool handle slot to clamp or release the tool handle placed in the tool handle slot.

[0013] Furthermore, the manipulator rotation drive mechanism is a second drive motor.

[0014] Furthermore, a travel switch is also installed on the manipulator mounting seat.

[0015] A machine tool comprises: a machine tool bed, a machine tool processing spindle, a tool magazine and the machine tool tool changing device disclosed in the present invention;

[0016] The machine tool processing spindle is installed on the machine tool bed, the tool magazine is provided at one end of the machine tool bed, the machine tool tool changing device is installed on the machine tool bed, and the manipulator horizontal movement drive mechanism can drive the machine tool tool changing device to move horizontally on the machine tool bed so that the manipulator approaches or moves away from the machine tool processing spindle.

[0017] Furthermore, the guide rail connected to the guide rail slider of the manipulator horizontal movement drive mechanism is the same guide rail as the guide rail for the horizontal movement of the machine tool processing spindle.

[0018] A machine tool tool changing method for a machine tool disclosed in the present invention comprises the following steps:

[0019] When the machine tool processing spindle is processing a workpiece, the manipulator horizontally moves the driving mechanism to drive the machine tool tool changer to move to the end of the bed where the tool magazine is provided, so that the machine tool tool changer is away from the machine tool processing area;

[0020] When the machine tool processing spindle needs to change the tool, the machine tool processing spindle stops processing, and the manipulator is driven by the manipulator rotation drive mechanism to flip around the horizontal axis to clamp the corresponding tool in the tool magazine, and then the machine tool tool changing device is driven by the manipulator horizontal movement drive mechanism to move along the guide rail of the machine tool processing spindle horizontal movement, so that the manipulator moves horizontally to the machine tool processing spindle;

[0021] The manipulator swing drive mechanism drives the manipulator mounting arm to swing around the horizontal axis toward the side close to the machine tool processing spindle, so that the position of the manipulator corresponds to the position of the machine tool processing spindle;

[0022] Then, the manipulator is driven by the manipulator rotation driving mechanism to rotate the manipulator around the horizontal axis, so as to realize the switching between the tool on the manipulator and the tool on the machining spindle of the machine tool;

[0023] After the robot and the machine tool processing spindle tool are switched, the robot swing drive mechanism drives the robot mounting arm to swing around the horizontal axis to the side away from the machine tool processing spindle, and the robot horizontal movement drive mechanism drives the machine tool tool changing device to the end of the machine tool bed where the tool magazine is provided, so that the robot is away from the processing area of ​​the machine tool processing spindle.

[0024] Compared with the prior art, the machine tool tool changing device disclosed in the present invention has the following beneficial effects: since the machine tool tool changing device disclosed in the present invention is provided with a manipulator horizontal movement drive mechanism, and the machine tool tool changing device is arranged on a guide rail coaxial with the machine tool slide, the manipulator horizontal movement drive mechanism can drive the manipulator to move horizontally along the machine tool bed, thereby realizing rapid tool change, improving the tool change speed, and thus improving the machine tool processing efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 It is a front view of the machine tool tool changing device disclosed in the present invention;

[0026] Figure 2 It is a rear view of the machine tool tool changing device disclosed in the present invention;

[0027] Figure 3 It is a left side view of the machine tool tool changing device disclosed in the present invention;

[0028] Figure 4 It is an isometric view of the tool changing device for a machine tool disclosed in the present invention;

[0029] Figure 5 It is a structural diagram of the machine tool disclosed in the present invention.

[0030] In the figure: 1, manipulator; 10, main tool change claw; 11, main clamping claw; 12, main clamping claw drive mechanism; 13, tool handle slot; 2, manipulator mounting arm; 21, mounting arm hinge; 22, first mounting arm connection; 23, second mounting arm connection; 24, third mounting arm connection; 25, fourth mounting arm connection; 26, manipulator rotation drive mechanism mounting; 27, second drive motor mounting cavity; 3, manipulator mounting seat; 30, guide rail slider mounting; 3 1. First drive motor mounting part; 32. Manipulator mounting arm mounting part; 4. Manipulator rotation drive mechanism; 40. Second drive motor; 5. Manipulator swing drive mechanism; 6. Manipulator horizontal movement drive mechanism; 60. Guide rail slider; 61. Rack; 62. Gear; 63. First drive motor; 7. Travel switch; 80. Guide rail; 81. Machine tool bed; 82. Machine tool processing spindle; 83. Tool magazine; 84. Truss; 85. Machine tool slide; 9. Machine tool tool changing device. DETAILED DESCRIPTION

[0031] Example 1

[0032] like Figures 1 to 4 The figure shows a machine tool tool changing device disclosed in the present invention, comprising: a manipulator 1, a manipulator mounting arm 2, a manipulator mounting seat 3, a manipulator rotation drive mechanism 4, a manipulator swing drive mechanism 5 and a manipulator horizontal movement drive mechanism 6;

[0033] The manipulator 1 is installed on the manipulator mounting arm 2, and the manipulator mounting arm 2 is equipped with the manipulator rotation drive mechanism 4 for driving the manipulator 1 to rotate around a horizontal axis. The manipulator mounting arm 2 is installed on the manipulator mounting seat 3, and the manipulator mounting seat 3 is equipped with a manipulator swing drive mechanism 5 for driving the manipulator mounting arm 2 to swing around a horizontal axis. The manipulator mounting seat 3 is also equipped with a manipulator horizontal movement drive mechanism 6 for driving the manipulator mounting seat 3 to move horizontally so that the manipulator 1 is close to or away from the machine tool machining spindle.

[0034] Specifically, Figure 4As shown, the manipulator mounting seat 3 includes a guide rail slider mounting portion 30, a first drive motor mounting portion 31 and a manipulator mounting arm mounting portion 32; in the present embodiment, the guide rail slider mounting portion 30 is a metal plate structure, the first drive motor mounting portion 31 is arranged on one side of the guide rail mounting portion 30 and the two are arranged at a certain angle to each other. In the present embodiment, the guide rail slider mounting portion 30 and the first drive motor mounting portion 31 are vertically arranged, and the upper part of one end of the guide rail slider mounting portion 30 extends outward to form a manipulator mounting arm mounting portion 32. Preferably, the guide rail slider mounting portion 30, the first drive motor mounting portion 31 and the manipulator mounting arm mounting portion 32 are an integral casting structure, and the manipulator mounting seat 3 is also provided with structures such as reinforcing ribs and weight-reducing holes for improving its strength and reducing its weight.

[0035] The manipulator horizontal movement driving mechanism 6 is installed on the manipulator mounting seat 3. Figure 1 and Figure 2 As shown, the manipulator horizontal movement drive mechanism 6 includes a guide rail slider 60, a rack 61, a gear 62 and a first drive motor 63;

[0036] The guide rail slider 60 is installed on the manipulator mounting seat 3 and connected to the guide rail 80 set on the machine tool bed 81. The first drive motor 63 is installed on the manipulator mounting seat 3. The first drive motor 63 is connected to the gear 62. The gear 62 is meshed with the rack 61 set on the machine tool bed 81. In this embodiment, the first drive motor is a servo motor.

[0037] Specifically, the guide rail slider 60 is installed on the bottom surface of the guide rail slider installation portion 30. In this embodiment, there are multiple guide rail sliders 60, and the guide rail slider 60 is connected to the guide rail 80 set on the machine tool bed 81. Preferably, the guide rail installed on the guide rail slider 60 is the same guide rail as the guide rail used to realize the horizontal movement of the machine tool processing spindle, that is, the machine tool tool changing device and the machine tool slide (the machine tool processing spindle is installed on the guide rail on the machine tool bed through the machine tool slide) share the same horizontal guide rail, and the first drive motor 63 is installed On the first drive motor mounting portion 31, the first drive motor 63 is connected to a gear 62 through a reducer. In this embodiment, the first drive motor 63, the reducer and the gear 62 are located in the space below the guide rail slider 60. The gear 62 is meshed with a rack 61 provided on the machine tool bed 81. The rack is arranged parallel to the guide rail on the machine tool bed. The first drive motor 63 drives the gear 62 to rotate through the reducer. The gear is meshed with the rack, thereby driving the manipulator mounting seat to reciprocate horizontally on the guide rail of the machine tool bed. The upper part of one end of the manipulator mounting seat is the manipulator mounting arm mounting portion 32. The manipulator mounting arm 2 is hinged on the manipulator mounting arm mounting portion 32. A manipulator is installed on the manipulator mounting arm. The horizontal movement of the manipulator mounting seat can drive the manipulator to approach or move away from the machine tool machining spindle.

[0038] like Figure 4 As shown, the manipulator mounting arm 2 includes a mounting arm hinge portion 21, a first mounting arm connecting rod portion 22, a second mounting arm connecting rod portion 23, a third mounting arm connecting rod portion 24, a fourth mounting arm connecting rod portion 25 and a manipulator rotation drive mechanism mounting portion 26; the manipulator mounting arm mounting portion 32 is installed with a fixed shaft 33, the mounting arm hinge portion 21 is installed on the fixed shaft 33 through a bearing, the mounting arm hinge portion 21 is provided with a first mounting arm connecting rod portion 22, the other end of the first mounting arm connecting rod portion 22 is provided with a second mounting arm connecting rod portion 23, the first mounting arm connecting rod portion 22 and the second mounting arm connecting rod portion 23 form a certain angle, and the axis of the fixed shaft 33 is perpendicular to the plane formed by the first mounting arm connecting rod portion 22 and the second mounting arm connecting rod portion 23, and the other end of the second mounting arm connecting rod portion 23 is provided with a third The mounting arm connecting rod portion 24, the setting direction of the third mounting arm connecting rod portion 24 is parallel to the axial direction of the fixed shaft 33, the other end of the third mounting arm connecting rod portion 24 is provided with a fourth mounting arm connecting rod portion 25, the fourth mounting arm connecting rod portion 25 is parallel to the plane formed by the first mounting arm connecting rod portion 22 and the second mounting arm connecting rod portion 23, the other end of the fourth mounting arm connecting rod portion 25 is the manipulator rotation drive mechanism mounting portion 24, the manipulator mounting arm 2 can be assembled from a plurality of connecting rod structures, or it can be an integrally processed structure. In the present embodiment, the mounting arm connecting rod portions are all shell structures with a cavity inside, so as to facilitate the arrangement of various electrical or hydraulic pipelines, etc. At the same time, the manipulator mounting arm of this structure eliminates the movement interference with the tool magazine and the machine tool machining spindle during the operation of the machine tool tool changing device.

[0039] The manipulator mounting arm 2 is mounted on the fixed shaft 33 on the manipulator mounting seat 3 through a bearing. The manipulator swing drive mechanism 5 is a linear drive device, one end of which is hinged to the manipulator mounting arm 2 or the manipulator mounting seat 3, and the other end is fixedly connected to the manipulator mounting seat 3 or the manipulator mounting arm 2. Specifically, in this embodiment, the linear drive device is a hydraulic cylinder, and one end of the piston rod of the hydraulic cylinder is hinged to the manipulator mounting seat 3. In the figure, one end of the piston rod of the hydraulic cylinder is hinged to the upper edge of the mounting portion of the manipulator mounting arm, and one end of the hydraulic cylinder body is fixedly connected to the manipulator mounting arm through a hydraulic cylinder fixing frame. The movement of the hydraulic cylinder piston rod can drive the manipulator mounting arm to rotate around the fixed axis ( Figure 4 The middle axis BB) swings.

[0040] The free end of the fourth mounting arm connecting rod portion 25 is a manipulator rotation drive mechanism mounting portion 26, and a second drive motor mounting cavity 27 is provided in the manipulator rotation drive mechanism mounting portion 26. A second drive motor is installed in the second drive motor mounting cavity. The second drive motor is connected to the manipulator through a reducer to drive the manipulator to rotate around the central axis ( Figure 3 AA) rotates, in this embodiment, the reducer adopts an RV reducer, and the second drive motor adopts a servo motor.

[0041] The manipulator 1 includes a main tool changing claw 10, a main clamping claw 11 and a main clamping claw driving mechanism 12. The main tool changing claw 10 is provided with a tool handle slot 13. The main clamping claw driving mechanism 12 is arranged at one end of the tool handle slot 13 of the main tool changing claw 10. The main clamping claw 11 is fixed to the main clamping claw driving mechanism 12. The main clamping claw driving mechanism 12 can drive the main clamping claw 11 to move toward the tool handle slot 13 to clamp or release the tool handle placed in the tool handle slot 13. Specifically, a hydraulic chamber is provided at one end of the main tool changing claw close to the tool handle slot. The hydraulic chamber is connected to the hydraulic pump station through a pipeline. The main clamping claw is a metal plate structure. The main clamping claw is placed in the hydraulic chamber through a travel limit pin. The high-pressure liquid of the hydraulic pump station can drive the main clamping claw to move in the hydraulic chamber to clamp or release the tool handle placed in the tool handle slot 13.

[0042] Furthermore, a travel switch 7 is also installed on the manipulator mounting seat 3 to facilitate the control and position detection of the machine tool tool changing device. Specifically, by setting the travel switch, the current position of the manipulator can be obtained in real time and the controller can perform acceleration and deceleration or uniform speed movement, so that the manipulator can accurately move to the current position of the machine tool processing spindle to realize the tool change of the machine tool processing spindle.

[0043] The tool changing device for a machine tool disclosed in the present invention shares a guide rail with the machine tool slide 85, so that the tool changing robot can move horizontally along the machine tool bed conveniently and quickly, and is further used to switch tools for the machine tool processing spindle. The tool changing device for a machine tool disclosed in the present invention makes it possible for the machine tool processing spindle to no longer need the machine tool processing spindle (machine tool slide) to move horizontally on the machine tool bed to the tool changing area or to the processing area when changing tools, thereby enabling the machine tool processing spindle to change tools at any horizontal position in the machine tool processing area. Therefore, the workpiece can be processed immediately after the tool is changed on the machine tool processing spindle, and the machine tool processing spindle (machine tool slide) does not need to perform idle stroke movement, which greatly shortens the tool changing time and improves the processing efficiency. At the same time, the machine tool processing spindle no longer needs the reciprocating motion of the machine tool slide when changing tools, which reduces the wear of the guide rails and the slide and increases the service life of the machine tool. Furthermore, the machine tool tool tool changing device has a small weight, is easy to control and run at high speed, and further improves the tool changing efficiency.

[0044] Example 2

[0045] like Figure 5 The figure shows the machine tool disclosed in the present invention, comprising: a machine tool bed 81, a machine tool processing spindle 82, a tool magazine 83 and the machine tool tool changing device disclosed in the present invention;

[0046] The machine tool processing spindle 82 is installed on the machine tool bed 81, and the tool magazine 83 is provided at one end of the machine tool bed 81. The machine tool tool changing device is installed on the machine tool bed 81. The manipulator horizontal movement drive mechanism 6 can drive the machine tool tool changing device to move horizontally on the machine tool bed 81 to make the manipulator 1 approach or move away from the machine tool processing spindle 82.

[0047] Specifically, the machine tool processing spindle device is set on a guide rail arranged horizontally along the bed, and can move horizontally along the guide rail to process the workpiece. A tool magazine is set at one end of the machine tool bed. In this embodiment, the tool magazine is a disc type tool magazine. A truss 84 is set between the machine tool bed and the tool magazine. The truss is provided with an extended guide rail that is connected to the horizontal guide rail on the machine tool bed. The machine tool tool changing device can move horizontally along the horizontal guide rail or the extended guide rail on the machine tool bed, that is, the guide rail slider of the machine tool tool changing device is installed on the guide rail, and a truss 84 is set to reduce the length of the machine tool bed, so as to save materials for the machine tool bed and reduce the manufacturing cost of the machine tool.

[0048] Furthermore, the guide rail 80 connected to the guide rail slider 60 of the manipulator horizontal movement drive mechanism 6 is the same guide rail as the guide rail for the horizontal movement of the machine tool processing spindle 82, so as to further simplify the structure and facilitate installation and adjustment.

[0049] Example 3

[0050] A machine tool tool changing method for a machine tool disclosed in the present invention comprises the following steps:

[0051] When the machine tool processing spindle is processing a workpiece, the manipulator horizontally moves the driving mechanism to drive the machine tool tool changer to move to the end of the bed where the tool magazine is provided, so that the machine tool tool changer is away from the machine tool processing area;

[0052] Specifically, before the machining spindle of the machine tool processes the workpiece, the manipulator horizontal movement drive mechanism drives the machine tool tool changer to move to one end of the bed where the tool magazine is provided, so that the machine tool tool changer is away from the machining area of ​​the machine tool, and then the machine tool processes the workpiece;

[0053] When the machine tool processing spindle needs to change the tool, the machine tool processing spindle stops processing, and the manipulator is driven by the manipulator rotation drive mechanism to flip around the horizontal axis to clamp the corresponding tool in the tool magazine, and then the machine tool tool changing device is driven by the manipulator horizontal movement drive mechanism to move along the guide rail of the machine tool processing spindle horizontal movement, so that the manipulator moves horizontally to the machine tool processing spindle;

[0054] Specifically, when the machine tool processing spindle needs to change tools, the machine tool processing spindle stops processing, and the CNC system modulates the posture of the processing spindle so that the tool on the processing spindle is parallel to the machine tool bed. After the manipulator swing drive mechanism drives the manipulator mounting arm to swing around the horizontal axis to the side close to the tool magazine, the manipulator rotation drive mechanism (second drive motor) drives the manipulator to flip 180°, so that the manipulator can clamp the corresponding tool in the tool magazine. When the manipulator and the tool magazine change tools, it includes the flipping of the manipulator and the horizontal movement of the manipulator driven by the manipulator horizontal movement drive mechanism. The flipping of the manipulator is used to realize the mechanical The hand clamps and releases the tool. The horizontal movement drive mechanism of the manipulator drives the horizontal movement of the manipulator to enable the manipulator to pull out the tool from the tool magazine or insert the tool into the tool magazine. After the manipulator clamps the tool, the manipulator swing drive mechanism drives the manipulator mounting arm to swing around the horizontal axis to the side away from the tool magazine to the initial position of the manipulator. Then, the manipulator horizontal movement drive mechanism drives the machine tool tool changing device to move along the guide rail of the horizontal movement of the machine tool processing spindle, so that the manipulator moves horizontally to the position where the machine tool processing spindle is located. At this time, the manipulator and the machine tool processing spindle are in corresponding positions in the horizontal direction;

[0055] The manipulator swing drive mechanism drives the manipulator mounting arm to swing around the horizontal axis toward the side close to the machine tool processing spindle, so that the position of the manipulator corresponds to the position of the machine tool processing spindle;

[0056] Specifically, when the manipulator moves horizontally to the position of the machine tool processing spindle, the manipulator swing drive mechanism drives the manipulator mounting arm to swing around the horizontal axis to the side close to the machine tool processing spindle, so that the manipulator and the machine tool processing spindle correspond to each other in the vertical space. Then, the manipulator rotation drive mechanism drives the manipulator to flip, so that the tool on the manipulator is switched with the tool on the machine tool processing spindle. The tool exchange between the manipulator and the processing spindle includes the flipping of the manipulator and the horizontal movement of the manipulator driven by the manipulator horizontal movement drive mechanism ( Figure 5 The turning of the manipulator is used to realize the clamping and releasing of the tool by the manipulator, and the horizontal movement driving mechanism of the manipulator drives the horizontal movement of the manipulator to realize the manipulator pulling the tool out of the machine tool processing spindle or inserting the tool into the machine tool processing spindle;

[0057] After the manipulator and the machine tool spindle tool are switched, the manipulator swing drive mechanism drives the manipulator mounting arm to swing around the horizontal axis to the side away from the machine tool spindle, and the manipulator horizontal movement drive mechanism drives the machine tool tool changing device to move to the end of the machine tool bed where the tool magazine is provided, so that the manipulator is away from the processing area of ​​the machine tool spindle;

[0058] Specifically, after the robot switches tools with the machine tool processing spindle, the robot swing drive mechanism drives the robot mounting arm to swing around the horizontal axis toward the side away from the machine tool processing spindle, so that the robot moves to the corresponding position in the vertical space to avoid interference with the movement of the machine tool or other components during horizontal movement of the robot, and the machine tool tool changing device is driven by the robot horizontal movement drive mechanism to move to the end of the machine tool bed where the tool magazine is provided, so that the robot is away from the processing area of ​​the machine tool processing spindle, that is, the robot moves to the reset position.

[0059] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical scheme and inventive concept of the present invention within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A tool changing device for a machine tool, characterized in that: include: A manipulator, a manipulator mounting arm, a manipulator mounting seat, a manipulator rotation drive mechanism, a manipulator swing drive mechanism, and a manipulator horizontal movement drive mechanism; The manipulator is mounted on the manipulator mounting arm, and the manipulator mounting arm is equipped with the manipulator rotation drive mechanism for driving the manipulator to rotate around a horizontal axis. The manipulator mounting arm is mounted on the manipulator mounting seat, and the manipulator mounting seat is equipped with a manipulator swing drive mechanism for driving the manipulator mounting arm to swing around a horizontal axis. The manipulator mounting seat is also equipped with a manipulator horizontal movement drive mechanism for driving the manipulator mounting seat to move horizontally so that the manipulator is close to or away from a machining spindle of a machine tool. The manipulator horizontal movement driving mechanism comprises a guide rail slider, a rack, a gear and a first driving motor; The guide rail slider is installed on the manipulator mounting seat and connected to the guide rail arranged on the machine tool bed, the first drive motor is installed on the manipulator mounting seat, the first drive motor is connected to the gear, and the gear is meshed with the rack arranged on the machine tool bed; The manipulator mounting seat includes a guide rail slider mounting portion, a first drive motor mounting portion and a manipulator mounting arm mounting portion; The guide rail slider is installed on the guide rail slider installation part, the first drive motor is installed on the first drive motor installation part, the upper part of one end of the guide rail slider installation part is the manipulator mounting arm installation part, and the manipulator mounting arm is hinged on the manipulator mounting arm installation part; The manipulator mounting arm is hinged on the manipulator mounting seat, and the manipulator swing drive mechanism is a linear drive device, one end of the linear drive device is hinged to the manipulator mounting arm or the manipulator mounting seat, and the other end is fixedly connected to the manipulator mounting seat or the manipulator mounting arm.

2. The machine tool tool changing device according to claim 1, characterized in that: The manipulator comprises a main tool changing claw, a main clamping claw and a main clamping claw driving mechanism, wherein the main tool changing claw is provided with a tool handle slot, and the main clamping claw driving mechanism is arranged at one end of the clamping mouth of the tool handle slot of the main tool changing claw, and the main clamping claw is fixed on the main clamping claw driving mechanism, and the main clamping claw driving mechanism can drive the main clamping claw to move toward one side of the tool handle slot to clamp or release the tool handle placed in the tool handle slot.

3. The tool changing device for a machine tool according to claim 1, characterized in that: The manipulator rotation driving mechanism is a second driving motor.

4. The tool changing device for a machine tool according to claim 1, characterized in that: A travel switch is also installed on the manipulator mounting seat.

5. A machine tool, characterized in that: include: A machine tool bed, a machine tool processing spindle, a tool magazine, and a machine tool tool changing device according to any one of claims 1 to 4; The machine tool processing spindle is installed on the machine tool bed, the tool magazine is provided at one end of the machine tool bed, the machine tool tool changing device is installed on the machine tool bed, and the manipulator horizontal movement drive mechanism can drive the machine tool tool changing device to move horizontally on the machine tool bed so that the manipulator approaches or moves away from the machine tool processing spindle.

6. The machine tool according to claim 5, characterized in that: The guide rail connected to the guide rail slider of the manipulator horizontal movement driving mechanism is the same guide rail as the guide rail for the horizontal movement of the machine tool processing spindle.

7. A tool changing method for a machine tool according to claim 5 or 6, characterized in that: The following steps are involved: When the machine tool processing spindle is processing a workpiece, the manipulator horizontally moves the driving mechanism to drive the machine tool tool changer to move to one end of the machine tool bed where the tool magazine is provided, so that the machine tool tool changer is away from the machine tool processing area; When the machine tool processing spindle needs to change the tool, the machine tool processing spindle stops processing, and the manipulator is driven by the manipulator rotation drive mechanism to flip around the horizontal axis to clamp the corresponding tool in the tool magazine, and then the machine tool tool changing device is driven by the manipulator horizontal movement drive mechanism to move along the guide rail of the machine tool processing spindle horizontal movement, so that the manipulator moves horizontally to the machine tool processing spindle; The manipulator swing drive mechanism drives the manipulator mounting arm to swing around the horizontal axis toward the side close to the machine tool processing spindle, so that the position of the manipulator corresponds to the position of the machine tool processing spindle; Then, the manipulator rotation drive mechanism drives the manipulator to rotate around the horizontal axis, so as to realize the switching between the tool on the manipulator and the tool on the machining spindle of the machine tool; After the robot and the machine tool processing spindle tool are switched, the robot swing drive mechanism drives the robot mounting arm to swing around the horizontal axis to the side away from the machine tool processing spindle, and the robot horizontal movement drive mechanism drives the machine tool tool changing device to the end of the machine tool bed where the tool magazine is provided, so that the robot is away from the processing area of ​​the machine tool processing spindle.

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