Automatic tool changers and machine tools

Abstract

A machine tool includes an automatic tool changing device. The automatic tool changing device includes a changing arm with a central portion, two tool locking mechanisms, and a locking control mechanism. The tool locking mechanisms are disposed on the changing arm and are used to hold and lock the two tools. The locking control mechanism is positioned opposite the central portion of the changing arm. By moving the changing arm relative to the locking control mechanism along an axial direction or rotating it in a rotational direction about the axial direction, the locking control mechanism can control the tool locking mechanisms to lock or unlock the tools. The locking, extraction, changing, unlocking, and resetting of tools are performed by moving the changing arm relative to the locking control mechanism along the axial direction or rotating it in the rotational direction, thus allowing for a smooth series of tool changing actions.

Description

Technical Field

[0001] This invention relates to an automatic tool changer (ATC) used in machining centers and the like, and improvements to working machines utilizing the automatic tool changer, particularly to an automatic tool changer and a working machine. Prior Technology

[0002] Automatic tool changing devices, which automatically exchange different types of tools, are devices that automatically exchange multiple tools contained in tool containers or tool trays in accordance with the work content in order to improve productivity, and there are many types of them.

[0003] For example, Japanese Patent Application Publication No. 2015-13318 discloses an automatic tool changing device proposed by the inventor of this application. Its purpose is to reduce the load applied to the locking member during tool locking, while also allowing adjustment of the moving speed. A lifting member extends along the arm axis of an changing arm having a tool holding portion, and a guide portion is provided on the lifting member. Then, one end of a connecting rod that reciprocates along the length of the changing arm is connected by a pin that can slide along the aforementioned guide portion. This reduces the load during locking. In particular, the aforementioned guide portion is formed in a cam shape, causing the connecting rod to move at a non-uniform speed to reduce the impact during locking.

[0004] However, conventional automatic tool changers are designed to lock the tool while it is being removed from the container or spindle. As a result, the locking of the tool may not be complete, and the tool may fall out during the exchange. Summary of the Invention

[0005] Therefore, the object of the present invention is to provide an automatic tool changing device and working machine that can securely lock tools during tool changing and smoothly perform a series of tool changing actions.

[0006] Therefore, the present invention provides an automatic tool exchange device for exchanging two tools. The automatic tool exchange device includes an exchange arm, a two-tool locking mechanism, and a locking control mechanism.

[0007] The exchange arm includes a central portion. A tool locking mechanism is disposed on the exchange arm and used to hold and lock the tools. A locking control mechanism is positioned opposite the central portion of the exchange arm. By moving the exchange arm relative to the locking control mechanism along an axial direction or rotating it about that axial direction, the locking control mechanism can control the tool locking mechanism to lock or unlock the tools.

[0008] The machine tool of the present invention includes the aforementioned automatic tool changing device.

[0009] The advantage of this invention is that the tool can be locked, extracted, exchanged, unlocked, and reset by moving the exchange arm relative to the locking control mechanism along the axis or rotating along the rotation direction, thus enabling a smooth series of tool exchange actions. Simple Explanation of the Diagram

[0010] Other features and effects of the present invention will be clearly presented in the embodiments with reference to the drawings, wherein: Figure 1 shows a planar view of a first embodiment of the automatic tool exchange device of the present invention; Figure 2 shows the main cross-section viewed from the direction of the arrows along line #1-#1 in Figure 1; Figure 3 is an exploded view of the locking control mechanism of the first embodiment. Figures 3(A-1) to (A-3) show the fixed plate, Figures 3(B-1) to (B-3) show the movable plate, and Figures 3(C-1) to (C-5) show the structure in which the fixed plate and the movable plate overlap. Figures 3(A-1), 3(B-1), and 3(C-1) are plan views, and Figure 3(A-2) is a cross-sectional view viewed from the direction of the arrow along line #A2-#A2 in Figure 3(A-1). Figure 3(B-2) is a cross-sectional view viewed from the direction of the arrows along line #B2-#B2 in Figure 3; Figure 3(C-2) is a cross-sectional view viewed from the direction of the arrows along line #C2-#C2 in Figure 3(C-1); Figure 3(C-3) is a cross-sectional view viewed from the direction of the arrows along line #C3-#C3 in Figure 3(C-1); Figure 3(C-4) is a cross-sectional view viewed from the direction of the arrows along line #C4-#C4 in Figure 3(C-1); while Figures 3(A-3), 3(B-3), and 3(C-5) are oblique views. Figure 4 shows the operation of the locking control mechanism of the first embodiment on a plane. Figure 4(A) shows the state when the tool is unlocked, and Figure 4(B) shows the state when the tool is locked. Figure 5 shows the operation of the locking control mechanism in the main cross section of the first embodiment. Figure 5(A) shows the locking control pin abutting against the locking protrusion and driving the spring locking pin to squeeze the annular spring. Figure 5(B) shows the annular spring springing against the spring locking pin and driving the locking protrusion to abut against the locking control pin. Figure 6 illustrates the operation of the tool locking mechanism and locking control mechanism of the first embodiment. Figures 6(A-1) and (A-2) show the state when the tool is unlocked, and Figures 6(B-1) and (B-2) show the state when the tool is locked. Figure 7 shows the state of the locking tool when the switching arm of the first embodiment is rotated 90 degrees; Figure 8 shows the main cross-section of the automatic tool changing device according to a second embodiment of the present invention. Figure 9 shows a main cross-section of a third embodiment of the automatic tool changing device of the present invention; and Figure 10 shows the state of the main plane of a fourth embodiment of the automatic tool exchange device of the present invention. Implementation

[0011] The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0012] Before the invention is described in detail, it should be noted that similar elements are represented by the same numbers in the following description.

[0013] Referring to Figures 1 and 2, a plan view of a first embodiment of the automatic tool changing device 10 of the present invention is shown. The automatic tool changing device 10 is used to perform axial movement and rotational movement about the axial direction to exchange the positions of two tools (not shown). The automatic tool changing device 10 includes an changing arm 100, a locking control mechanism 200 located below the changing arm 100, and a two-tool locking mechanism 300.

[0014] The automatic tool changer 10 is primarily constructed with the changer arm 100. The locking control mechanism 200 is mounted on a base (not shown). The changer arm 100 can rotate about a rotating shaft 110 and can be moved up and down relative to the locking control mechanism 200 by the rotating shaft 110. The aforementioned axial direction refers to the axial direction of the rotating shaft 110, and the aforementioned rotation direction refers to the rotational direction of the rotating shaft 110. The automatic tool changer 10 can perform the following actions a~f.

[0015] Before the operation, the exchange arm 100 is located between a container (not shown) and a main shaft (not shown) of a working machine, with two tools (not shown) to be exchanged on the container and the main shaft respectively.

[0016] Action a: The switching arm 100 rotates 90 degrees from the state shown in Figure 1 in the direction indicated by arrow F1.

[0017] Action b: In this state, the tools before the exchange are respectively held and locked at both ends of the exchange arm 100.

[0018] Action c: The exchange arm 100 rises, causing the tools it holds to be pulled out from the container and the spindle respectively.

[0019] Action d: The exchange arm 100 rotates 180 degrees in the direction indicated by arrow F1, so that the tools are in the exchange position.

[0020] Action e: The exchange arm 100 descends so that the exchanged tools are respectively installed on the spindle and the container.

[0021] Action f: Release the lock and rotate the exchange arm 100 90 degrees in the opposite direction of arrow F1, returning to the state shown in Figure 1.

[0022] All of the above actions are the same as those of known automatic tool changers.

[0023] The exchange arm 100 has a central portion 120 located on the rotation shaft 110, two locking control pins 122 located on the central portion 120, two extension portions 130 extending from the central portion 120 in two opposite directions, and two retaining portions 140 located at the outer ends of the extension portions 130. Each retaining portion 140 has an opening 142. The openings 142 of the retaining portions 140 are oriented in opposite directions.

[0024] Referring to Figure 2, the left side shows the state where the exchange arm 100 and the tool locking mechanism 300 are not locking the tool, and the right side shows the state where the tool is locked.

[0025] Referring to Figures 2 and 3, the locking control mechanism 200 is disposed at the center portion 120 of the exchange arm 100. The locking control mechanism 200 has the function of controlling the locking or unlocking of the holding portions 140 as the exchange arm 100 rotates, and is switched to a locked state or an unlocked state as the locking control pins 122 rotate, which will be described in detail later.

[0026] The locking control mechanism 200 has a fixed plate 210 for being disposed on the base, a movable plate 220 that can rotate relative to the fixed plate 210, and a reset mechanism 257 disposed between the fixed plate 210 and the movable plate 220.

[0027] The fixing plate 210 has an annular portion 212 surrounding the rotation axis 110, and two fan-shaped fixing platforms 214 disposed on the annular portion 212 and symmetrical about the rotation center of the rotation axis 110. Each fan-shaped fixing platform 214 is fan-shaped and has a spring-loaded locking pin 256 at its circumferential end.

[0028] The movable plate 220 has a ring portion 222 rotatably disposed around the ring portion 212 of the aforementioned fixed plate 210. A portion of the ring portion 222 of the movable plate 220 forms two fan-shaped movable platforms 250. The fan-shaped movable platforms 250 are point-symmetrical with respect to the rotation center of the rotation axis 110. The ring portion 222 of the movable plate 220 has two openings 226 near the fan-shaped movable platforms 250. The openings 226 are spaced 180 degrees apart.

[0029] Each of the fan-shaped movable platforms 250 has a locking protrusion 252 near the spring-loaded stop pin 256 on its upper surface and the corresponding fan-shaped fixed platform 214 (at the end opposite to the opening 226). Each fan-shaped movable platform 250 has a spring-loaded stop pin 254 erected at one end of its respective locking protrusion 252 along the circumferential direction. The spring-loaded stop pin 254 on each fan-shaped movable platform 250 faces the spring-loaded stop pin 256 on the corresponding fan-shaped fixed platform 214.

[0030] The movable plate 220 has fan-shaped movable platforms 250 with thickness, which protrude between the fixed platforms 214 of the fixed plate 210. That is, the fixed plate 210 has a rotatable movable plate 220, and the fan-shaped movable platforms 250 of the movable plate 220 protrude between the fixed platforms 214. The rotation of the fan-shaped movable platforms 250 is restricted by the fixed platforms 214, meaning that the fan-shaped movable platforms 250 can only rotate between the fixed platforms 214.

[0031] In other words, by means of the relative rotation of the fan-shaped movable platforms 250 and the fan-shaped fixed platforms 214, a gate-like structure is formed that allows the openings 226 to be exposed or hidden.

[0032] Referring to Figure 4, the reset mechanism 257 has two annular springs 258. Each annular spring 258 is engaged between the spring-loaded stop pin 254 of the corresponding fan-shaped movable platform 250 and the spring-loaded stop pin 256 of the corresponding fan-shaped fixed platform 214. The spring-loaded stop pin 254 on each fan-shaped movable platform 250 is used to engage one end of the corresponding annular spring 258, and the spring-loaded stop pin 256 on the corresponding fan-shaped fixed platform 214 is used to engage the other end of the corresponding annular spring 258.

[0033] Referring to Figures 1 and 2, the tool locking mechanisms 300 are respectively disposed between the center portion 120 and the two extension portions 130 of the exchange arm 100. Each tool locking mechanism 300 has an outer cylinder 302, a spring 304 disposed within the outer cylinder 302, a locking pin 306 disposed within the outer cylinder 302, a connecting piece 308, and a locking wrist 310 slidably disposed within the corresponding extension portion 130. Each locking wrist 310 has a front end portion 312 adjacent to the retaining portion 140 at one end away from the center portion 120.

[0034] Each spring 304 pushes the corresponding locking pin 306 toward the locking control mechanism 200. Each connecting piece 308 is disposed between the corresponding locking pin 306 and the corresponding locking wrist 310. The two opposite ends of each connecting piece 308 are respectively pivotally connected to the corresponding locking pin 306 and the corresponding locking wrist 310. Each connecting piece 308 is a sliding mechanism 307 for sliding the locking wrist 310.

[0035] The locking pins 306 move up and down with the operation of the exchange arm 100, causing the connecting pieces 308 to shift as shown on the left and right sides of FIG2, thereby locking and unlocking the front ends 312 of the locking wrists 310. The front end 312 of each locking wrist 310 protrudes from the corresponding holding portion 140 to lock the tool.

[0036] Referring to Figures 1, 4, and 5, Figure 4 shows that when the exchange arm 100 rotates along arrow F1 in Figure 1, the locking control pins 122 on the side of the exchange arm 100 abut against the locking protrusions 252, causing the fan-shaped movable platform 250 to rotate in the direction of arrow F1. When the fan-shaped movable platform 250 rotates, the hidden openings 226 are exposed from the fan-shaped fixed platforms 214.

[0037] In the state shown in Figure 4(A), the expansion of the annular springs 258 causes the fan-shaped movable platforms 250 to drive in the opposite direction to arrow F1 in Figure 1 (arrow F5), so that the openings 226 are covered by the fan-shaped fixed platforms 214 respectively, showing the gate closed state with the openings 226 hidden.

[0038] Figure 4(B) shows the exchange arm 100 rotating from the state shown in Figure 4(A) in the direction of arrow F1 in Figure 1, opening the gate and exposing the openings 226 of the fan-shaped movable platforms 250. Here, when the locking control pins 122 on the exchange arm 100 slide on the fan-shaped movable platforms 250 and from the fan-shaped fixed platforms 214 respectively, and abut against the locking protrusions 252 of the fan-shaped movable platforms 250, the fan-shaped movable platforms 250 rotate in the direction of arrow F4, causing the annular springs 258 to contract. As a result, the openings 226 of the fan-shaped movable platforms 250 are exposed from the fan-shaped fixed platforms 214.

[0039] On the other hand, when the exchange arm 100 rotates in the opposite direction to arrow F1 in Figure 1, the locking control pins 122 on the side of the exchange arm 100 will disengage from the locking protrusions 252 of the fan-shaped movable stages 250. As a result, the annular springs 258 will expand in diameter, causing the fan-shaped movable stages 250 to return from the state in Figure 4(B) to the state in Figure 4(A). In other words, the annular springs 258 constitute a mechanism for returning the fan-shaped movable stages 250 to their original position.

[0040] Referring to Figures 2 and 5, the locking control pin 122 protrudes toward the locking control mechanism 200 relative to the center portion 120, and Figure 5 shows the state of the above-mentioned action from a cross-section in the circumferential direction, as well as the change in motion of one of the annular springs 258.

[0041] Referring to Figure 5(A), when the locking control pin 122 on the side of the exchange arm 100 abuts against the locking protrusion 252 of the fan-shaped movable platform 250, the fan-shaped movable platform 250 rotates in the direction of arrow F4, causing the spring locking pin 254 to squeeze the annular spring 258, causing the annular spring 258 to shrink in diameter.

[0042] Referring to Figure 5(B), when the exchange arm 100 rotates in the opposite direction of arrow F4, the annular spring 258 expands and drives the fan-shaped movable platform 250 to rotate in the opposite direction of arrow F5, causing the locking protrusion 252 of the fan-shaped movable platform 250 to abut against the locking control pin 122. When the exchange arm 100 rotates further and the fan-shaped movable platforms 250 abut against the fan-shaped fixed platforms 214 and stop, the locking control pins 122 on the side of the exchange arm 100 will disengage from the locking protrusion 252 (see Figure 4(A)).

[0043] Referring to Figure 6, the operation of one of the locking control mechanisms 200 and one of the tool locking mechanisms 300 is explained. Figures 6(A-1) and 6(A-2) show the unlocked state of the tool corresponding to one side of the automatic tool exchange device, and Figures 6(B-1) and 6(B-2) show the locked state of the tool corresponding to one side of the automatic tool exchange device.

[0044] Referring to Figures 6(A-1) and 6(A-2), in the unlocked state, the annular spring 258 is in an expanded state and the opening 226 of the fan-shaped movable platform 250 is not exposed. The locking pin 306 of the tool locking mechanism 300 is located outside the opening 226 and abuts against the fan-shaped fixed platform 214 of the locking control mechanism 200.

[0045] When the exchange arm 100 rotates from this state, the locking control pin 122 on the side of the exchange arm 100 abuts against the locking protrusion 252 of the fan-shaped movable platform 250, causing the fan-shaped movable platform 250 to rotate. The opening 226 of the fan-shaped movable platform 250 will then protrude from the fan-shaped fixed platform 214. In this way, the locking pin 306 of the tool locking mechanism 300 will be driven by the spring 304 to descend in the direction of arrow F3A and engage with the opening 226, changing from the state shown in Figures 6(A-1) and 6(A-2) to the state shown in Figures 6(B-1) and 6(B-2). Consequently, the connecting piece 308 is displaced as shown in Figure 6(B-1), causing the locking wrist 310 to move outward in the direction of arrow F3B, thereby locking the tool with its front end 312. At this time, the annular spring 258 is in a reduced-diameter state as shown in Figure 6(B-2).

[0046] In addition, a plurality of oil seals 190 are provided between the tool locking mechanism 300 and the exchange arm 100 as needed. Specifically, an oil seal 190 is provided between the outer end of each extension 130 and the corresponding locking wrist 310, and another oil seal 190 is provided between each locking pin 306 and the lower end of the exchange arm 100.

[0047] Next, the overall operation of this embodiment will be explained.

[0048] (1) Origin position: The position shown in Figure 1 is set as the origin position of the exchange arm 100. At this time, as shown on the left side of Figure 2 and Figures 6 (A-1) and 6 (A-2), the tool locking mechanism 300 is in a state where the front ends 312 of the locking wrists 310 are not protruding.

[0049] (2) Tool Locking: Next, in order to exchange tools, the exchange arm 100 is rotated 90 degrees in the direction of arrow F1 in Figure 1. The exchange arm 100 changes from the unlocked state to the locked state. The locking control mechanism 200 changes from the left side of Figure 2 to the right side of Figure 2, from Figure 4(A) to Figure 4(B), and from Figure 6(A-2) to Figure 6(B-2). The tool locking mechanism 300 changes from the left side of Figure 2 to the right side of Figure 2, and from Figure 6(A-1) to Figure 6(B-1).

[0050] In other words, when the fan-shaped movable platform 250 rotates in the direction of arrow F1 as the exchange arm 100 rotates, the openings 226 are exposed due to the movement of the fan-shaped movable platform 250, thus opening the gate. As a result, the locking pins 306 of the tool locking mechanism 300 descend and engage with the openings 226 respectively, while the connecting pieces 308 displace and cause the locking arms 310 to move outwards, thereby locking the tool with their front ends 312. On the other hand, the annular springs 258 are in a reduced-diameter state.

[0051] Through this action, the exchange arm 100 changes from the state shown in FIG1 to the state shown in FIG7. That is, the two tools 20A and 20B are respectively engaged in the openings 142 and abut against the retaining portions 140 at both ends of the exchange arm 100. The front ends 312 of the locking wrists 310 of the tool locking mechanism 300 protrude simultaneously to cooperate with the retaining portions 140 to lock the tools 20A and 20B respectively.

[0052] (3) Tool extraction: Next, the rotating shaft 110 slides along the axial direction and pushes the exchange arm 100 upward, so that the exchange arm 100 can pull out the tools 20A and 20B from the tool container and the main shaft of the working machine, respectively. At this time, the locking control pins 122 of the exchange arm 100 move away from the locking protrusions 252 along the axial direction, and the annular springs 258 drive the fan-shaped moving platform 250 to rotate in the opposite direction of arrow F1 to close the openings 226, thus closing the gate. At this time, the annular springs 258 are in an expanded diameter state, and the locking control mechanism 200 changes from the state shown in Figure 4(B) to the state shown in Figure 4(A), and at the same time, it changes from the state shown in Figure 6(B-2) to the state shown in Figure 6(A-2).

[0053] (4) Tool exchange: Next, the rotating shaft 110 is rotated so that the exchange arm 100 is rotated 180 degrees in the direction shown by arrow F6 in Figure 7. At this time, the exchange arm 100 and the tool locking mechanism 300 will rotate, thereby exchanging the positions of the tools 20A and 20B.

[0054] (5) Tool Unlocking: Next, when the exchange arm 100 descends, the locking control pins 122 of the exchange arm 100 abut against the fan-shaped fixing platforms 214 and reset to the unlocked state shown in FIG1. ​​The tool locking mechanism 300 changes from the right side of FIG2 to the left side of FIG2, that is, from FIG6(B-1) to the state shown in FIG6(A-1). The front ends 312 of the locking wrists 310 of the tool locking mechanism 300 will retract simultaneously to release the tools 20A and 20B respectively.

[0055] (6) Origin reset: Then, the exchange arm 100 rotates from the state in Figure 7 in the direction of arrow F7 back to the position shown in Figure 1.

[0056] As described above, according to this embodiment, the tool can be locked, extracted, exchanged, unlocked, and reset by the operation of the exchange arm 100, which moves relative to the locking control mechanism 200 along the axial direction or rotates along the rotation direction. Therefore, this embodiment has the following advantages.

[0057] a. The tool is securely locked before being pulled out, thus preventing it from falling out during exchange.

[0058] b. A series of actions that allow for smooth tool exchange.

[0059] Referring to Figure 8, a second embodiment of the present invention is shown, transitioning from the tool unlocked state shown in Figure 8(A) to the tool locked state shown in Figure 8(C). This embodiment includes an improved tool locking mechanism 350.

[0060] Referring to Figure 2, the tool locking mechanism 350 includes a sliding shaft 360 movably disposed at the center of the outer cylinder 352, a spring 354 disposed within the outer cylinder 352, and a locking pin 356 disposed within the outer cylinder 352 and connected to the sliding shaft 360. Each spring 354 is located around the corresponding sliding shaft 360 and pushes the corresponding locking pin 356 toward the locking control mechanism 200.

[0061] Each locking pin 356 is connected to a corresponding locking wrist 310 by a connecting piece 358. As the switching arm 100 rotates, the locking pins 356 move up and down, causing the connecting pieces 358 to shift sequentially as shown in Figure 8(A)→(B)→(C), thereby locking and unlocking the front ends 312 of the locking wrists 310. Each locking pin 356 can slide along its corresponding sliding shaft 360, allowing for smooth sliding and ensuring the locking action achieved by the connecting pieces 358 is reliably performed.

[0062] Each locking pin 356 is provided with a rotatable ball bearing 362 at one end of the fan-shaped fixing platform 214 of the fixing plate 210, so that the locking pin 356 can smoothly move along the fan-shaped fixing platform 214.

[0063] Referring to Figure 9, which illustrates the third embodiment of the present invention, Figure 9(A) shows the tool in the unlocked state, and Figure 9(B) shows the tool in the locked state. This third embodiment also includes an improved tool locking mechanism 370.

[0064] The tool locking mechanism 370 houses a spring 374 and a locking pin 376 within each outer cylinder 352. An inclined surface 377 is formed on the side of each locking pin 376. Conversely, the inner end of each locking arm 310 is provided with another inclined surface 311 for abutting against the inclined surface 377 of the corresponding locking pin 376. In this embodiment, the sliding mechanism 307 comprises these inclined surfaces 311 and 377.

[0065] A guide mechanism 38 is provided between each extension 130 and the corresponding locking wrist 310. Each guide mechanism 38 has a guide plate 380 provided at the middle position of the corresponding locking wrist 310, and a guide protrusion 384 extending from the corresponding extension 130.

[0066] Each guide plate 380 is movable along the sliding direction of the corresponding locking wrist 310. Each guide plate 380 is provided with a guide hole 382 into which the corresponding guide protrusion 384 extends. This allows each guide plate 380 to slide under the guidance of the corresponding guide protrusion 384.

[0067] In this embodiment, when each locking pin 376 descends, its corresponding inclined surface 377 abuts against the inclined surface 311 of the corresponding locking wrist 310, pushing the corresponding locking wrist 310 towards the tool side to lock the tool. At this time, the corresponding guide plate 380 slides under the guidance of the corresponding guide protrusion 384, thus ensuring a stable and smooth sliding motion of the locking wrist 310 within the corresponding extension 130. In other variations of this embodiment, the guide plate 380 may be provided on the side of the extension 130 of the exchange arm 100, and the guide protrusion 384 may be provided on the side of the locking wrist 310.

[0068] Referring to Figure 10, this is the fourth embodiment of the present invention. In the previous embodiments, the reset mechanism 257 consisted of two annular springs 258 spaced 180 degrees apart around the rotating shaft 110. However, in this embodiment, only one annular spring 258 is provided, and its basic operation is the same as in the above embodiments, which can also achieve the effect of resetting the movable plate 220 relative to the fixed plate 210.

[0069] <Other Embodiments> Furthermore, the present invention is not limited to the embodiments described above, and various changes and modifications can be made without departing from the spirit of the invention. For example, it may include the following forms.

[0070] (1) The shapes and dimensions of the parts shown in the foregoing embodiments are merely illustrative and can be modified appropriately to achieve the same function. For example, in the foregoing embodiments, a ring spring is used to construct the reset mechanism, but other suitable spring mechanisms can also be used, and the arrangement of the spring mechanism can also be designed appropriately.

[0071] (2) In the foregoing embodiments, the exchange arm 100 moves in the up and down direction to exchange tools, but the direction of movement can also be other appropriate directions such as left and right.

[0072] (3) The foregoing embodiments can also be combined with each other. For example, the tool locking mechanisms 350 and 370 of Figures 8 and 9 can be applied to other embodiments, and the structures of Figures 8 and 9 can also be combined with each other.

[0073] (4) The automatic tool changing device 10 of the present invention can be used, for example, in various working machines such as machining centers, CNC (computer numerical control) machines, milling machines, spinning wheels, and laser cutting machines.

[0074] As described above, according to the present invention, the locking, extraction, exchange, unlocking, and reset of tools can be performed by simply actuating the exchange arm 100, by moving the exchange arm 100 relative to the locking control mechanism 200 along the axial direction or rotating along the rotation direction. This allows for a smooth series of actions when exchanging tools and is applicable to automatic tool exchange structures of various working machines.

[0075] However, the above description is merely an embodiment of the present invention and should not be construed as limiting the scope of the present invention. Any simple equivalent changes and modifications made in accordance with the scope of the patent application and the contents of the patent specification of the present invention shall still fall within the scope of the patent of the present invention.

[0076] 10: Automatic tool changer 20A, 20B: Tools 100: Exchange Arm 110: Rotation axis 120: Central Department 130: Extension 140: Fixed Section 142: Opening 122: Locking control pin 190: Oil seal 200: Locking control mechanism 210: Fixing plate 212,222: Ring section 214:Fan-shaped fixed table 256: Spring-loaded locking pin 220: Movable plate 226: Opening 250: Fan-shaped movable stage 252: Locking protrusion 254: Spring-loaded locking pin 257: Reset Mechanism 258: Ring spring 300, 350, 370: Tool locking mechanism 302,352:Outer cylinder 304, 354, 374: Springs 306, 356, 376: Locking pins 310: Locking Wrist 312: Front end 307: Sliding Mechanism 308, 358: Connecting pieces 311,377: Inclined surface 360: Sliding axis 362: Ball bearing 38: Guidance mechanism 380: Guide plate 382: Guide hole 38: Guide protrusion F1, F3A, F3B, F4, F5, F6, F7: Arrows

Claims

1. An automatic tool changing device for changing two tools, the automatic tool changing device comprising: a rotating shaft; and a changing arm including a central portion disposed on the rotating shaft, the changing arm having two extension portions extending from the central portion in two opposite directions, and two retaining portions disposed at the front ends of the extension portions. A two-tool locking mechanism is provided on the exchange arm and used to hold and lock the tools respectively with the holding parts. Each tool locking mechanism has a locking wrist slidably disposed on the extension, a locking pin that moves along the axis of the exchange arm, and a sliding mechanism disposed between the corresponding locking wrist and the corresponding locking pin. A locking control mechanism is provided, having a fixed plate around the rotation axis, a movable plate that can rotate relative to the fixed plate, and a reset mechanism disposed between the fixed plate and the movable plate. The movable plate has two openings for the locking pins to be inserted. The locking control mechanism is positioned relative to the center of the exchange arm. The exchange arm moves relative to the locking control mechanism along an axis or along a direction around the axis. When the locking control mechanism rotates in the direction of rotation, it can control the locking mechanism of the tools to lock or unlock the tools. When the locking control mechanism displaces the locking pins, the locking pins drive the locking wrists to slide through the sliding mechanism, so that each locking wrist and the corresponding holding part hold the corresponding tool. When the exchange arm rotates and drives the movable plate to rotate, so that the exchange arm changes to a locking state, each opening is exposed from the fixed plate and the corresponding locking pin is inserted, so that each locking wrist and the corresponding holding part hold the corresponding tool. When the exchange arm moves away from the locking control mechanism along the axis, the locking pins disengage from the openings. The reset mechanism drives the movable plate to rotate, so that the fixed plate covers the openings.

2. The automatic tool exchange apparatus as described in claim 1, wherein, The reset mechanism is a spring mechanism that, when the exchange arm moves away from the locked state from the locking control mechanism, returns the opening of the movable plate to the pre-locked state covered by the fixed plate.

3. The automatic tool exchange apparatus as described in claim 1, wherein, When the exchange arm is in an unlocked state, the locking pin of each tool locking mechanism abuts against a fan-shaped fixing platform of the fixing plate, and a ball bearing is provided at one end of the locking pin of each tool locking mechanism that abuts against the fan-shaped fixing platform of the fixing plate.

4. The automatic tool exchange apparatus as described in claim 1, wherein, Each sliding mechanism is a connecting piece disposed between the corresponding locking wrist and the corresponding locking pin.

5. The automatic tool changing device as claimed in claim 1, wherein, Each sliding mechanism consists of two inclined surfaces located on the corresponding locking wrist and the corresponding locking pin, respectively.

6. The automatic tool exchange apparatus as claimed in claim 1, wherein, A guide mechanism is provided between the extension of each switching arm and the corresponding locking wrist, and each guide mechanism is used to guide the corresponding locking wrist to slide within the corresponding extension.

7. A machine tool comprising the automatic tool changing device as described in any one of claims 1 to 6.

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