Automatic tool changing device, multi-station spring machine and operation method

Abstract

The present invention provides an automatic tool changing device, a multi-station spring machine and an operation method, wherein the automatic tool changing device comprises: a tool releasing device for clamping and releasing a tool assembly; a cutter disc, on which a tool assembly for replacement is arranged; a tool picking and transporting installation device, which is arranged between the tool releasing device and the cutter disc and is used to clamp, transport and install the tool assembly between the tool releasing device and the cutter disc. The present invention realizes automatic tool changing of a multi-station spring machine, greatly reduces the tediousness and inefficiency caused by manual tool changing, shortens the tool changing time and improves production efficiency. The automatic tool changing device has a simple and novel structure, an ingenious design, a low manufacturing cost and is convenient and quick to operate.

Description

Technical Field

[0001] The invention relates to the field of wire forming, and in particular to an automatic tool changing device, a multi-station spring machine and an operating method. Background Art

[0002] The multi-station spring forming machine is a forming equipment suitable for the small-batch production of multiple varieties of springs. It can form and produce various tension, compression, torsion, special-shaped springs. The forming panel of the multi-station spring machine is generally arranged with eight stations around the core shaft, and eight spring machine forming tools can be arranged at the same time.

[0003] At present, the tool is manually clamped on the tool mounting seat on the slide, and bolts are used for positioning and clamping. The bolts adjust the up and down, left and right, and pitch positions of the tool, so that the spring machine tool reaches a position suitable for forming. When the multi-station spring machine changes the forming object, it is necessary to manually remove the tool on the tool mounting seat, and then manually select the appropriate tool and install it on the mounting seat. Because this manual bolt positioning and clamping method requires experienced workers to spend a lot of time on the selection of spring machine tool types, tool position layout, tool disassembly and replacement, processing program debugging, sample testing and other tasks, not only is the level of automation low, it is difficult to get rid of manual dependence, and the spring forming machine does not have the ability to quickly debug and adapt to the needs of multi-variety spring processing. The actual processing time of the spring machine accounts for a relatively small proportion, and it is difficult to give full play to its advantages of multi-variety and small batches, which greatly affects the efficiency of multi-variety spring production.

[0004] Under existing technical conditions, the automatic tool changing system of the machining center is often used for metal cutting processing. Its main feature is that it generally has only one machining spindle. When changing tools, the spindle reaches the tool changing point and exchanges one-to-one with the spare tools in the tool magazine. The characteristics of metal cutting are different from those of spring forming. The multi-station spring forming machine cannot directly use the automatic tool changing system in the machining center.

[0005] In view of this, the present invention is proposed. Summary of the invention

[0006] The problem solved by the present invention is that in the prior art, the multi-station spring machine needs to rely on manual tool replacement, the tool replacement speed is slow, and the production advantage of the multi-station spring machine in small batches of multiple varieties cannot be brought into play.

[0007] In order to solve the above problems, the present invention provides an automatic tool changing device, which can automatically complete the disassembly, transportation, replacement and installation of the tool on the forming panel, and can fix the use angle of the tool, greatly reducing the tediousness and inefficiency caused by manual tool changing.

[0008] The present invention discloses an automatic tool changing device, which comprises: a tool clamping device for clamping and loosening a tool assembly; a tool disc, on which a tool assembly for replacement is arranged; and a tool picking-up and installation device, which is arranged between the tool clamping device and the tool disc and is used for clamping, transporting and installing the tool assembly between the tool clamping device and the tool disc.

[0009] The tool loosening device cooperates with the tool taking-in and installing device to realize the removal and installation of the tool assembly on the forming panel after replacement, and the tool disc is used to place the removed tool assembly and the tool assembly to be replaced.

[0010] Furthermore, the tool loosening device comprises: a tool cylinder, which is a hollow structure and is used to set a tool assembly and a loosening assembly; a tool cylinder clamp, which is used to fix the tool cylinder on a connecting plate, and the connecting plate is used to fix the tool loosening device; a loosening assembly, which is arranged inside the tool cylinder and is used to loosen and clamp the tool assembly; a tool assembly, the end of which is inserted into the tool cylinder and fixedly connected to the head end of the loosening assembly; a first driving device, which is provided with a transmission rod, which is inserted into the end of the tool cylinder and fixedly connected to the end of the loosening assembly; the first driving device is arranged on a first connecting member, and the first connecting member is fixedly arranged on the connecting plate.

[0011] Specifically, the head end is the end of the linear motion slide on the multi-station spring machine that is closer to the core shaft, and the tail end is the end of the linear motion slide that is farther from the core shaft. The knife cylinder is used to fix the tool assembly and accommodate the loosening and clamping assembly, and is also conducive to the loosening and clamping of the loosening and clamping assembly.

[0012] Furthermore, the tool assembly includes a tool, a tool handle and a rivet, the end of the tool is inserted into the tool handle and fixedly connected, and the head end of the rivet is fixedly connected to the end of the tool handle.

[0013] The setting of the tool assembly makes clamping more convenient, and the tool can also be set on the tool handle in advance according to the required angle. The end of the tool is preferably cylindrical to facilitate the adjustment of its angle. Then, when replacing, the use angle adjustment of the tool can be completed by positioning the tool assembly, which can greatly shorten the tool changing time. The pull nail facilitates fixing the tool assembly in the knife barrel or knife sleeve.

[0014] Furthermore, a positioning device is provided between the knife handle and the knife barrel, and the positioning device comprises a positioning groove and a positioning key, and the positioning key is inserted into the positioning groove for positioning.

[0015] Specifically, the positioning groove is arranged on the tool handle, and the positioning key is arranged on the tool barrel. The positioning key and the positioning groove cooperate to realize the rapid positioning of the tool assembly and are used to fix the use angle of the tool, saving the time of manually adjusting the tool angle. The positions of the positioning groove and the positioning key are interchangeable.

[0016] Furthermore, the clamping release assembly includes a pull pin and a pull claw, the pull pin is fixedly arranged at the end of the tool assembly, and the pull claw is fixedly connected to the transmission rod, the transmission rod can move toward the head end of the knife cylinder to control the clamping release assembly, and the transmission rod can move toward the end of the knife cylinder to control the clamping release assembly.

[0017] The rivet pulling claw has a simple structure, and only one driving device is required to realize the loosening and clamping of the tool assembly, which has a simple structure and is easy to operate.

[0018] Furthermore, a first conical inner hole is provided at the front end of the knife barrel, and an outer conical surface is provided at the end of the knife handle, the first conical inner hole is used for the fitting and fixing of the outer conical surface, a tool loosening cavity is provided at the end of the first conical inner hole, the tool loosening cavity is used for loosening the loosening assembly, and a through hole is provided at the end of the tool loosening cavity, the diameter of the through hole is smaller than that of the tool loosening cavity, and the through hole is used for clamping the loosening assembly.

[0019] The circumferential surface of the first conical inner hole is a 7:24 inner conical surface. When the spring is actually formed, the main force acting on the tool is in the direction from the head end to the end of the tool. After the tool handle is tightened, the deformation resistance of the wire will make the axial positioning of the outer conical surface and the first conical inner hole fit more closely, thereby ensuring that the tool will not loosen automatically during use.

[0020] Furthermore, the tool picking and delivering installation device includes: a second driving device, the second driving device is fixedly arranged on the support frame, and a first turntable is arranged on the output end of the second driving device, and the first turntable rotates in a horizontal plane; a third driving device, the third driving device is fixedly arranged on the first turntable, and a second turntable is arranged on the output end of the third driving device, and the rotation axis of the second turntable is perpendicular to the rotation axis of the first turntable; a fourth driving device, the fourth driving device is arranged on the second turntable, and its output end moves along the length direction of the second turntable; a fifth driving device, the fifth driving device is arranged on the output end of the fourth driving device, and the movement direction of the output end of the fifth driving device is perpendicular to the movement direction of the output end of the fourth driving device; a sixth driving device, the sixth driving device is arranged on the output end of the fifth driving device, and the sixth driving device is used for controlling the clamping and release of the tool assembly; a clamping jaw, the clamping jaw is arranged on the output end of the sixth driving device, and is used for clamping and releasing the tool assembly.

[0021] The second drive device and the third drive device realize two rotational movements, so that the tool picking and installing device can move quickly between the forming panel and the cutter disc. The fourth drive device and the fifth drive device realize two linear movements, so that the tool picking and installing device can quickly pull out and install the tool assembly, and safely withdraw from the range of the forming panel or the cutter disc to avoid interference with other components. The sixth drive device controls the clamping jaws to complete the closing and releasing movements, thereby realizing the clamping and releasing of the tool assembly.

[0022] Furthermore, the rotation range of the first turntable is 0°~90°.

[0023] In general, the cutter disc is vertically arranged to the forming panel, and the rotation range of the first turntable is set to 0°~90° to meet the operation of the tool picking and transporting installation device from the cutter disc to the forming panel or from the forming panel to the cutter disc.

[0024] Furthermore, the rotation range of the second turntable is 0°~360°.

[0025] A plurality of linear motion slides are often provided on a multi-station spring machine for installing a plurality of tool assemblies. Therefore, the tool picking and installing device needs to reach all positions of the forming panel to complete the replacement of all tools, and the second turntable needs to be able to rotate 360°.

[0026] Furthermore, the second driving device is a rotary cylinder, the third driving device is a servo motor, the fourth driving device is a linear rodless cylinder, the fifth driving device is a linear three-rod cylinder, and the sixth driving device is a clamping cylinder.

[0027] The second drive device is set as a rotating cylinder to realize the rotation stroke of the first turntable. Of course, the second drive device can also be set as a servo motor. Since the third drive device needs to drive the second turntable to realize 360° rotation, the third drive device is set as a servo motor. The fourth drive device needs to carry the fifth drive device, the sixth drive device, the clamp and the connecting parts therebetween. When replacing the tool, it is also necessary to bear the weight of the tool assembly. Therefore, the selection of a linear rodless cylinder can better bear the load on the one hand, and save a lot of space on the other hand to realize the positioning of the clamp at various positions on the forming panel. The fifth drive device is used to control the clamp to position to the clamping or placement position, which requires higher precision. The selection of a linear three-rod cylinder can accurately control the position of the clamp and control the clamp to quickly exit the range of the forming panel or the tool disc. The sixth drive device is used to realize the functions of clamping and releasing, so a clamp cylinder is selected.

[0028] Furthermore, the tool disc includes a tool disc base and a tool selection platform, the tool selection platform is rotatably arranged on the tool disc base, the tool disc base is provided with a tool taking opening, and the tool taking and installing device completes the clamping or placement of the tool assembly through the tool taking opening.

[0029] The tool selection disc can rotate the tool to be replaced to the tool picking port, and the tool picking and delivery installation device completes the tool picking through the tool picking port, which simplifies the operation route of the tool picking and delivery installation device, thereby simplifying the structure of the tool picking and delivery installation device.

[0030] Furthermore, a knife sleeve is arranged on the knife selection platform, and the knife sleeve can be turned toward the outer circumference of the knife disc. The turned knife sleeve extends out from the knife removal port, and the knife sleeve is used to set the knife assembly.

[0031] This arrangement avoids interference between the tool picking and delivery installation device and the tool disc when placing the tool assembly on the tool disc or removing the tool assembly.

[0032] Furthermore, a positioning portion is provided on the tool sleeve, and the positioning portion cooperates with the tool handle for positioning, so that the tool is also kept at a correct angle on the tool disc, so as to facilitate the use and installation of the tool assembly.

[0033] Specifically, when the tool handle is provided with a positioning groove, the positioning portion is provided with a positioning key; when the tool handle is provided with a positioning key, the positioning portion is provided with a positioning groove. This arrangement makes the tool assembly easy to clamp and install, and can be quickly positioned to the required tool angle.

[0034] The invention also discloses a multi-station spring machine, which comprises the automatic tool changing device as described above.

[0035] The advantages of the multi-station spring machine and the automatic tool changing device described above over the prior art are the same, which will not be described in detail here.

[0036] Furthermore, the multi-station spring machine is provided with a forming panel, the forming panel is provided with a linear motion slide and a core shaft, and the tool unclamping device is fixedly arranged on the linear motion slide.

[0037] The linear motion slide is used to control the position of the tool on the forming panel, thereby controlling the shape of the spring. Fixedly arranging the tool release device on the linear motion slide can reasonably utilize the existing structure and save space.

[0038] Furthermore, the central axis of the core shaft and the rotation axis of the second turntable are in the same horizontal plane.

[0039] This arrangement enables the fourth driving device to transport the clamping jaws to various positions of the forming panel with a minimum stroke.

[0040] The present invention also discloses an operating method of an automatic tool changing device, which is used to operate the automatic tool changing device as described above, and the operating steps are as follows:

[0041] S1: The second drive device and the third drive device are operated to position the clamping jaws to the tool position and angle that needs to be replaced on the forming panel;

[0042] S2: The sixth driving device operates to open the clamping jaws;

[0043] S3: the fourth driving device and the fifth driving device are operated to position the clamping claw to the clamping position;

[0044] S4: The sixth driving device operates, the clamping jaws close, and the tool handle is clamped;

[0045] S5: The first driving device is running, and the rivet pulling claw is released. At this time, the tool, the tool handle, and the rivet are released as a whole;

[0046] S6: the fourth driving device operates to pull the knife handle out of the knife barrel;

[0047] S7: The fifth driving device is operated to withdraw the clamping jaws from the formed panel portion;

[0048] S8: The second driving device and the third driving device are operated to position the clamping claw to the cutting edge of the cutting disc;

[0049] S9: Rotate the empty knife sleeve in the knife disc to the knife removal opening and lay it down;

[0050] S10: The fourth driving device and the fifth driving device are operated to insert the tool handle into the tool sleeve;

[0051] S11: The sixth driving device operates and the clamping jaws are released;

[0052] S12: The fifth driving device is operated to withdraw the clamping claw from the cutting edge;

[0053] S13: Rotate the tool to be replaced to the cutting edge and lay the tool sleeve down;

[0054] S14: The fifth driving operation positions the clamping claw to the clamping position;

[0055] S15: The sixth drive is running, the clamping jaws are closed, and the tool handle is clamped;

[0056] S16: the fourth driving device operates to pull the tool handle out of the tool sleeve;

[0057] S17: The fifth driving device is operated to withdraw the clamping claw from the cutter disc;

[0058] S18: The second driving device and the third driving device are operated to position the clamping jaws to the knife barrel on the forming panel where the knife needs to be installed;

[0059] S19: The fourth driving device and the fifth driving device are operated to insert the knife handle into the knife barrel;

[0060] S20: The first driving device is running, the pulling claw tightens the pulling nail, and the tool is fixed;

[0061] S21: The sixth driving device operates and the clamping jaws are released;

[0062] S22: The fourth driving device and the fifth driving device are in operation, and the tool picking and installing device returns to the initial position.

[0063] This method can quickly and accurately complete the tool changing work of the multi-station spring machine, saving a lot of time and improving production efficiency.

[0064] Compared with the prior art, the automatic tool changing device, multi-station spring machine and operation method of the present invention have the following advantages:

[0065] The present invention can realize the disassembly, transportation, replacement and installation of tools on the forming panel and the cutter disc through the design of an automatic tool replacement device. In this process, the use angle of the tool can also be fixed, which greatly reduces the tediousness and inefficiency caused by manual tool replacement, shortens the tool replacement time of the existing multi-station spring machine, and improves production efficiency. The automatic tool replacement device has a simple and novel structure, ingenious design, low manufacturing cost, and convenient and quick operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0066] Figure 1 This is a schematic diagram of the structure of the automatic tool changing device according to an embodiment of the present invention;

[0067] Figure 2 for Figure 1 A partial enlarged view of the middle A area;

[0068] Figure 3 This is a schematic structural diagram of a tool loosening device according to an embodiment of the present invention;

[0069] Figure 4 It is a front view of the tool loosening device according to an embodiment of the present invention;

[0070] Figure 5 for Figure 4 Cross-section along the middle BB direction;

[0071] Figure 6 It is a front view of the knife barrel according to an embodiment of the present invention;

[0072] Figure 7 for Figure 6 Cross-section along the mid-CC direction;

[0073] Figure 8 This is a schematic diagram of the structure of the tool picking-up and delivery installation device according to an embodiment of the present invention;

[0074] Fig. 9 A three-dimensional diagram of a tool picking and delivery installation device according to an embodiment of the present invention;

[0075] Fig.10 This is a schematic diagram of the cutter head structure according to an embodiment of the present invention;

[0076] Fig.11 It is a front view of the knife sheath according to an embodiment of the present invention;

[0077] Fig.12 for Fig.11 Cross-sectional view along the DD direction.

[0078] Description of reference numerals:

[0079] 1. Multi-station spring machine; 2. Base; 3. Forming panel; 4. Linear motion slide; 401. Sliding block; 5. Tool release device; 501. Tool; 502. Tool handle; 5021. Positioning groove; 5022. External cone; 503. Tool barrel; 5031. Positioning key; 5032. Step; 5033. Positioning key mounting hole; 5034. First conical inner hole; 5035. Tool release cavity; 5036. Through hole; 504. Tool barrel fixture; 505. First driving device; 5051. Transmission rod; 506, first connecting member; 507, connecting plate; 508, rivet; 5081, clamping head; 509, claw; 5091, elastic part; 510, pull rod; 6, tool picking and delivery installation device; 601, second driving device; 6011, first turntable; 6011a, horizontal platform; 6011b, vertical platform; 6011c, first support plate; 602, third driving device; 6021, planetary reducer; 6 022, second turntable; 603, fourth drive device; 604, fifth drive device; 605, sixth drive device; 6051, clamping claw; 7, cutter disc; 701, cutter disc base; 702, cutter selection platform; 703, cutter sleeve; 7031, positioning part; 7032, second conical inner hole; 7033, accommodating part; 704, cutting edge; 705, cutter disc fixing frame; 8, supporting frame; 9, core shaft; 10, wire. DETAILED DESCRIPTION

[0080] To make the purpose, technical solutions and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the described embodiments are part of the embodiments of the present invention, rather than all of the embodiments. The specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention. It should be noted that the embodiments of the present invention and the features in the embodiments can be combined with each other without conflict.

[0081] An automatic tool changing device according to an embodiment of the present invention will be described in detail below with reference to the accompanying drawings.

[0082] Example 1

[0083] This embodiment provides a tool automatic replacement device, such as Figure 1 , Figure 2As shown, the automatic tool replacement device is used for a multi-station spring machine 1, and the multi-station spring machine 1 includes a forming panel 3 arranged on a base 2, and a linear motion slide 4 and a mandrel 9 are arranged on the forming panel 3. A sliding block 401 is arranged on the linear motion slide 4, and the sliding block 401 slides along the linear motion slide 4. The wire 10 passing through the mandrel 9 is processed and formed by a tool 501. The automatic tool replacement device includes: a tool loosening device 5, and the tool loosening device 5 is arranged on the linear motion slide 4. Used to achieve the clamping and loosening of the tool assembly, the tool assembly includes a tool 501, a tool handle 502 and a rivet 508; a tool disc 7, the tool disc 7 is provided with a tool assembly for replacement; a tool picking and installation device 6, the tool picking and installation device 6 is used to clamp, transport and install the tool assembly between the multi-station spring machine 1 and the tool disc 7; specifically, the end of the tool 501 is inserted into the tool handle 502 and fixedly connected, and the head end of the rivet 508 is fixedly connected to the end of the tool handle 502, thereby forming a tool assembly.

[0084] As an embodiment of the present invention, Figure 3 , Figure 4 , Figure 5 As shown, the tool loosening device 5 is fixedly arranged on the sliding block 401 through a connecting plate 507, and the tool loosening device 5 includes a tool 501, a tool handle 502, a tool cylinder 503, a tool cylinder clamp 504, and a first driving device 505, wherein the tool 501 and the tool handle 502 are fixedly connected to form a tool assembly, the end of the tool 501 is fixedly arranged on (in) the tool handle 502, the end of the tool handle 502 is detachably arranged in the tool cylinder 503 through a loosening assembly, the tool cylinder 503 is fixedly arranged on the connecting plate 507 through the tool cylinder clamp 504, the loosening assembly is connected to the first driving device 505, and the first driving device 505 It is arranged on the first connecting member 506, and the first connecting member 506 is fixedly connected to the connecting plate 507. A transmission rod 5051 is arranged on the first driving device 505, and the transmission rod 5051 is fixedly connected to the clamping assembly through a pull rod 510. Specifically, the end of the tool 501 is a cylinder, and a spring chuck is arranged in the tool handle 502. The tool 501 is fixed in the spring chuck of the tool handle 502 by a locking nut. Preferably, the first driving device 505 is a cylinder. In this embodiment, the head end is the end of the linear motion slide 4 that is closer to the core shaft 9, and the end end is the end of the linear motion slide 4 that is farther from the core shaft 9.

[0085] Specifically, Figure 5 , Figure 8As shown, a positioning key 5031 is provided at the front end of the knife barrel 503, and a positioning groove 5021 is provided at the rear end of the knife handle 502. Specifically, the positioning key 5031 is provided with an arc surface. During installation, the knife handle 502 is inserted into the knife barrel 503, and the positioning groove 5021 is fine-tuned and positioned along the arc surface of the positioning key 5031, thereby realizing automatic alignment of the knife handle 502 in the knife barrel 503, and further controlling the angle of the tool 501. A step 5032 is also provided at the front end of the knife barrel 503, and the step 5032 extends outwardly along the circumference of the knife barrel 503, and is used for positioning and limiting when installed on the knife barrel fixture 504. Through the matching of the positioning key 5031 and the positioning groove 5021, the knife barrel 503 is automatically aligned with the knife handle 502 in the knife barrel 503. The combination of the cutter assembly and the tensioning force of the first drive device 505 makes the cutter assembly be fixed in the cutter barrel 503. When the cutter 501 processes the wire 10, it is subjected to the reaction force of the deformation resistance of the wire 10 from the head end to the tail end. The setting of the step 5032 can prevent the cutter barrel 503 from sliding toward the tail end and transmit the force to the cutter barrel clamp 504 to prevent the impact on the first drive device 505. In this embodiment, the positioning key 5031 is fixed to the cutter barrel 503 through the positioning key mounting hole 5033. It should be noted that the positioning key 5031 can also be integrally formed with the cutter barrel 503, and the positions of the positioning key 5031 and the positioning slot 5021 can also be interchanged.

[0086] In this embodiment, if Figure 6 , Figure 7 As shown, the front end of the knife barrel 503 is provided with a first conical inner hole 5034, and the rear end of the knife handle 502 is provided with an outer conical surface 5022. The first conical inner hole 5034 is used for the fitting and fixing of the outer conical surface 5022. The rear end of the first conical inner hole 5034 is provided with a tool loosening cavity 5035. The tool loosening cavity 5035 is used for loosening the front end of the pulling claw 509 in the knife barrel 503. The rear end of the tool loosening cavity 5035 is a through hole 5036. The diameter of the through hole 5036 is smaller than the diameter of the tool loosening cavity 5035. The head end of the through hole 5036 is used to accommodate the clamp release assembly, so as to achieve the tightening of the clamp release assembly. Preferably, the circumferential surface of the first conical inner hole 5034 is a 7:24 inner conical surface. When the spring is actually formed, the main force direction acting on the tool 501 is from the head end of the tool 501 to the end of the tool 501. After the shank 502 is tightened, the deformation resistance of the wire 10 will make the axial positioning of the outer conical surface 5022 and the first conical inner hole 5034 fit more closely, thereby ensuring that the tool 501 will not automatically loosen during use.

[0087] Specifically, Figure 5As shown, the clamping release assembly includes a rivet 508 and a claw 509, the head end of the rivet 508 is fixedly connected to the tool handle 502, the end of the rivet 508 is provided with a clamping head 5081, and the head end of the claw 509 is provided with an elastic part 5091, the clamping head 5081 cooperates with the elastic part 5091 to clamp or loosen, which is used for clamping or loosening the tool assembly. In this embodiment, the end of the claw 509 is fixedly connected to the head end of the pull rod 510, and the end of the pull rod 510 is fixedly connected to the transmission rod 5051, and the transmission rod 5051 moves forward or backward along the head end direction of the knife barrel 503, thereby driving the clamping and loosening of the clamping release assembly. Specifically, when the transmission rod 5051 moves toward the head end direction, it drives the claw 50 9 moves toward the front end of the knife barrel 503, the tension portion 5091 at the front end of the pulling claw 509 enters the tool clamping cavity 5035, the tension portion 5091 expands, and the clamping head 5081 at the end of the pulling nail 508 escapes from the tension portion 5091, so that the tool 501 is released. When the transmission rod 5051 moves toward the end direction of the knife barrel 503, it drives the pulling claw 509 to move toward the end direction, and the tension portion 5091 enters the through hole 5036 at the end of the tool clamping cavity 5035. The tension portion 5091 gradually shrinks and clamps the clamping head 5081 to fix the tool 501. When the tool 501 is disassembled and installed, the tool 501, the tool handle 502, and the pulling nail 508 are synchronously disassembled and installed as a whole.

[0088] As an embodiment of the present invention, Figure 8 , Fig. 9As shown, the tool picking and delivering installation device 6 includes a second driving device 601, and the second driving device 601 is fixedly arranged on the support frame 8. A first turntable 6011 is arranged on the output end of the second driving device 601, and the first turntable 6011 can rotate in a horizontal plane. The first turntable 6011 includes a horizontal platform 6011a and a vertical platform 6011b, and the vertical platform 6011b is vertically arranged with the horizontal platform 6011a, and the horizontal platform 6011a and the vertical platform 6011b are fixedly connected by a first supporting plate 6011c. The second driving device 601 is used to drive the tool picking and delivering installation device 6 to move between the forming panel 3 and the tool disc 7. In the present invention, the tool picking and delivering installation device The device 6 needs to reciprocate in the forming panel 3 and the cutter disc 7, that is, the tool picking and installing device 6 only needs to rotate a fixed angle. Therefore, preferably, the second driving device 601 is a rotary cylinder. Preferably, the stroke range of the rotary cylinder is 90°. When the rotary cylinder is at the 0° position, the tool picking and installing device 6 is parallel to the forming panel 3 and is used to remove the tool 501 from the cutter disc 7. When the rotary cylinder is at the 90° position, the tool picking and installing device 6 is perpendicular to the forming panel 3 and is used to install the tool 501 on the multi-station spring machine 1. It should be noted that the description of the rotary cylinder stroke angle here is only an example of the present invention and is not used to limit the specific protection scope of the present invention.

[0089] In this embodiment, a planetary reducer 6021 is fixedly arranged on the vertical table 6011b, one end of the planetary reducer 6021 is connected to the output end of the third driving device 602, and the other end is provided with a second turntable 6022. The third driving device 602 can drive the second turntable 6022 to rotate through the planetary reducer 6021. The rotation axis of the second turntable 6022 is perpendicular to the rotation axis of the first turntable 6011, and the rotation axis of the second turntable 6022 is in the same horizontal plane as the central axis of the mandrel 9. The second turntable 6022 is used to ensure that the tool picking and installing device 6 reaches each tool 501 installation station on the forming panel 3, so as to realize the replacement of tools 501 on multiple stations. In fact, since multiple stations are arranged on the multi-station spring machine 1, in order to realize the automatic replacement of all tools 501, the second turntable 6022 needs to realize 360-degree free rotation and requires precise position control. On this basis, preferably, the third driving device 602 is a servo motor.

[0090] As an embodiment of the present invention, a fourth driving device 603 is arranged on the second turntable 6022, and a fifth driving device 604 is arranged at the output end of the fourth driving device 603. The fourth driving device 603 is used to drive the fifth driving device 604 to move in the length direction of the second turntable 6022. A sixth driving device 605 is arranged at the output end of the fifth driving device 604. When the output end of the fifth driving device 604 moves, the sixth driving device 605 is driven to move. The movement direction of the sixth driving device 605 is perpendicular to the movement direction of the fifth driving device 604. A clamping claw 6051 is arranged at the output end of the sixth driving device 605. The sixth driving device 605 is used to control The clamping groove 6051 clamps the clamping groove on the outer periphery of the tool handle 502, or is used to release the tool handle 502. Specifically, in the present embodiment, the fourth driving device 603 is a linear rodless cylinder, the fifth driving device 604 is a linear three-rod cylinder, and the sixth driving device 605 is a clamping cylinder. It should be noted that the stroke of the linear three-rod cylinder is based on the ability to achieve the movement of the tool handle 502 after it exits the forming panel 3 without interfering with the components on the forming panel 3. The stroke range can be further fine-tuned by the stroke adjustment bolt thereon. The clamping cylinder can clamp the tool handle 502 when it is retracted. The stroke of the clamping cylinder ensures that the clamping claw 6051 can directly pass through the clamping part after it is opened, and then the clamping claw 6051 is closed to clamp the tool handle 502.

[0091] As an embodiment of the present invention, Figure 1 , Fig.10 As shown, the cutter disc 7 is arranged on the forming panel 3 through a cutter disc fixing frame 705, and the cutter disc 7 includes a cutter disc base 701, and a tool selection platform 702 is rotatably arranged on the cutter disc base 701, and a plurality of tool sleeves 703 are arranged on the tool selection platform 702, and the tool sleeves 703 are flippably arranged on the tool selection platform 702, and the tool sleeves 703 are used to fix the tool handle 502, and a knife picking opening 704 is arranged on the cutter disc base 701, and the flipped tool sleeves 703 extend out of the cutter disc 7, so as to facilitate the tool picking and transporting installation device 6 to clamp and transport the tool 501.

[0092] Preferably, Fig.11 , Fig.12As shown, the tool sleeve 703 is provided with a positioning portion 7031 and a second conical inner hole 7032, and the positioning portion 7031 is used for positioning with the positioning groove 5021. Specifically, when the tool handle 502 is provided with the positioning groove 5021, the positioning portion 7031 is provided as a positioning key 5031, and when the tool handle 502 is provided with the positioning key 5031, the positioning portion 7031 is provided as the positioning groove 5021. This arrangement makes the tool assembly easy to clamp and install, and can be quickly positioned to the required angle of the tool 501, and ensure that the angle of the tool 501 is correct. The second conical inner hole 7032 is used for fitting and fixing the outer cone 5022, and the end of the second conical inner hole 7032 is provided with a receiving portion 7033, and the receiving portion 7033 is used to receive the rivet 508.

[0093] Example 2

[0094] This embodiment discloses a multi-station spring machine, which includes the automatic tool changing device as described in Embodiment 1.

[0095] As an embodiment of the present invention, Figure 1 , Figure 2 As shown, the multi-station spring machine 1 is provided with a forming panel 3, and a linear motion slide 4 and a core shaft 9 are provided on the forming panel 3. The tool loosening device 5 is fixedly arranged on the linear motion slide 4. The linear motion slide 4 is used to control the position of the tool on the forming panel 3, thereby controlling the shape of the spring. Fixedly arranging the tool loosening device 5 on the linear motion slide 4 can reasonably utilize the existing structure and save space. Specifically, the multi-station spring machine 1 is provided with a plurality of linear motion slides 4. Preferably, the linear motion slides 4 have 8, and the plurality of linear motion slides are used to set different tools 501, which further highlights the advantages of the multi-variety and small batch of the multi-station spring machine 1.

[0096] As a preferred embodiment of the present invention, the central axis of the core shaft 9 and the rotation axis of the second turntable 6022 are in the same horizontal plane. Preferably, when the tool picking and installing device 6 removes or installs the tool assembly on the forming panel 3, the rotation axis of the second turntable 6022 is colinear with the central axis of the core shaft 9. This setting can ensure the accuracy of the tool changing action of the tool picking and installing device 6.

[0097] Example 3

[0098] This embodiment discloses an operating method of an automatic tool changing device, and the operating method is used for the automatic tool changing device in Example 1 and / or the automatic tool changing of the multi-station spring machine described in Example 2.

[0099] The operation method comprises the following steps:

[0100] S1: The second drive device and the third drive device are operated to position the clamping jaws to the tool position and angle that needs to be replaced on the forming panel;

[0101] S2: The sixth driving device operates to open the clamping jaws;

[0102] S3: the fourth driving device and the fifth driving device are operated to position the clamping claw to the clamping position;

[0103] S4: The sixth driving device operates, the clamping jaws close, and the tool handle is clamped;

[0104] S5: The first driving device is running, and the rivet pulling claw is released. At this time, the tool, the tool handle, and the rivet are released as a whole;

[0105] S6: the fourth driving device operates to pull the knife handle out of the knife barrel;

[0106] S7: The fifth driving device is operated to withdraw the clamping jaws from the formed panel portion;

[0107] S8: The second driving device and the third driving device are operated to position the clamping claw to the cutting edge of the cutting disc;

[0108] S9: Rotate the empty knife sleeve in the knife disc to the knife removal opening and lay it down;

[0109] S10: The fourth driving device and the fifth driving device are operated to insert the tool handle into the tool sleeve;

[0110] S11: The sixth driving device operates and the clamping jaws are released;

[0111] S12: The fifth driving device is operated to withdraw the clamping claw from the cutting edge;

[0112] S13: Rotate the tool to be replaced to the cutting edge and lay the tool sleeve down;

[0113] S14: The fifth driving operation positions the clamping claw to the clamping position;

[0114] S15: The sixth drive is running, the clamping jaws are closed, and the tool handle is clamped;

[0115] S16: the fourth driving device operates to pull the tool handle out of the tool sleeve;

[0116] S17: The fifth driving device is operated to withdraw the clamping claw from the cutter disc;

[0117] S18: The second driving device and the third driving device are operated to position the clamping jaws to the knife barrel on the forming panel where the knife needs to be installed;

[0118] S19: The fourth driving device and the fifth driving device are operated to insert the knife handle into the knife barrel;

[0119] S20: The first driving device is running, the pulling claw tightens the pulling nail, and the tool is fixed;

[0120] S21: The sixth driving device operates and the clamping jaws are released;

[0121] S22: The fourth driving device and the fifth driving device are in operation, and the tool picking and installing device returns to the initial position.

[0122] The above operation method includes the process of removing the knife from the forming panel, placing it on the knife disc, taking the knife from the knife disc, and installing the knife on the forming panel. Through the mutual cooperation between the driving devices, a single operation of removing the knife from the forming panel and placing the knife on the knife disc or taking the knife from the knife disc and installing the knife on the forming panel can also be achieved, which will not be repeated here.

[0123] It should be noted that all the terms used in the present invention to indicate directionality and positionality, such as "upper", "lower", "left", "right", "front", "back", "vertical", "horizontal", "inside", "outside", "top", "lower", "end", "head end", "center", etc., are only used to explain the relative positional relationship and connection status between the components in a certain state, and are only for the convenience of describing the present invention, rather than requiring the present invention to be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the descriptions of "first", "second", etc. in the present invention are only used for descriptive purposes, and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of the indicated technical features.

[0124] Although the present invention is disclosed as above, the present invention is not limited thereto. Any person skilled in the art can make various changes and modifications without departing from the spirit and scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the scope defined by the claims.

Claims

1. A multi-station spring machine, characterized in that: The invention comprises an automatic tool changing device, wherein a forming panel (3) is arranged on a multi-station spring machine (1), a linear motion slide (4) and a mandrel (9) are arranged on the forming panel (3), and the automatic tool changing device comprises: A tool loosening device (5), the tool loosening device (5) being fixedly arranged on the linear motion slide (4) and being used for clamping and loosening the tool assembly; A cutter disc (7), wherein a replaceable cutter assembly is arranged on the cutter disc (7), and the cutter disc (7) is arranged on the forming panel (3) via a cutter disc fixing frame (705); A tool picking-up, transporting and installing device (6), the tool picking-up, transporting and installing device (6) being arranged between the tool loosening device (5) and the tool disc (7) and being used for clamping, transporting and installing the tool assembly between the tool loosening device (5) and the tool disc (7); The tool loosening device (5) comprises: A knife barrel (503), the knife barrel (503) being a hollow structure, and being used for arranging a knife assembly and a clamp release assembly; A knife barrel clamp (504), the knife barrel clamp (504) being used to fix the knife barrel (503) on a connecting plate (507), the connecting plate (507) being used to fix the knife clamping device (5); A clamping and releasing assembly, the clamping and releasing assembly being arranged inside the knife barrel (503) and used for realizing the loosening and clamping of the knife assembly; A tool assembly, the end of which is inserted into the tool barrel (503) and fixedly connected to the head end of the clamp release assembly; a first driving device (505), wherein a transmission rod (5051) is provided on the first driving device (505), wherein the transmission rod (5051) is inserted into the end of the knife cylinder (503) and is fixedly connected to the end of the clamp release assembly; the first driving device (505) is provided on a first connecting member (506), and the first connecting member (506) is fixedly provided on the connecting plate (507); The tool picking and installing device (6) comprises: A second driving device (601), wherein the second driving device (601) is fixedly arranged on the support frame (8), and a first turntable (6011) is arranged on the output end of the second driving device (601), and the first turntable (6011) rotates in a horizontal plane; a third driving device (602), the third driving device (602) being fixedly arranged on the first turntable (6011), a second turntable (6022) being arranged at an output end of the third driving device (602), and a rotation axis of the second turntable (6022) being perpendicular to a rotation axis of the first turntable (6011); a fourth driving device (603), the fourth driving device (603) being arranged on the second rotating table (6022), and the output end of the fourth driving device (603) moving along the length direction of the second rotating table (6022); a fifth driving device (604), the fifth driving device (604) being arranged on the output end of the fourth driving device (603), the movement direction of the output end of the fifth driving device (604) being perpendicular to the movement direction of the output end of the fourth driving device (603); a sixth driving device (605), the sixth driving device (605) being arranged on the output end of the fifth driving device (604), the sixth driving device (605) being used for controlling the clamping and releasing of the tool assembly; A clamping jaw (6051), the clamping jaw (6051) being arranged on the output end of the sixth driving device (605) and being used for clamping and releasing the tool assembly; The second drive device (601) is a rotary cylinder, the third drive device (602) is a servo motor, the fourth drive device (603) is a linear rodless cylinder, the fifth drive device (604) is a linear three-rod cylinder, and the sixth drive device (605) is a gripper cylinder.

2. A multi-station spring machine according to claim 1, characterized in that: The tool assembly comprises a tool (501), a tool handle (502) and a rivet (508); the end of the tool (501) is inserted into the tool handle (502) for fixed connection, and the head end of the rivet (508) is fixedly connected to the end of the tool handle (502).

3. A multi-station spring machine as claimed in claim 2, characterized in that: A positioning device is provided between the knife handle (502) and the knife cylinder (503), the positioning device comprising a positioning groove (5021) and a positioning key (5031), and the positioning key (5031) is inserted into the positioning groove (5021) for positioning.

4. A multi-station spring machine as claimed in claim 3, characterized in that: The clamping release assembly comprises a pulling claw (509), and the pulling claw (509) is capable of tightening or loosening the pulling nail (508). The pulling claw (509) is fixedly connected to the transmission rod (5051), and the transmission rod (5051) is capable of moving toward the front end of the knife cylinder (503) to control the clamping release assembly to be loosened, and the transmission rod (5051) is capable of moving toward the rear end of the knife cylinder (503) to control the clamping release assembly to be clamped.

5. A multi-station spring machine as claimed in claim 4, characterized in that: A first conical inner hole (5034) is provided at the front end of the knife barrel (503), and an outer conical surface (5022) is provided at the end of the knife handle (502); the first conical inner hole (5034) is used for fitting and fixing the outer conical surface (5022); a tool loosening cavity (5035) is provided at the end of the first conical inner hole (5034); the tool loosening cavity (5035) is used for loosening the loosening assembly; a through hole (5036) is provided at the end of the tool loosening cavity (5035); the diameter of the through hole (5036) is smaller than that of the tool loosening cavity (5035); the through hole (5036) is used for clamping the loosening assembly.

6. A multi-station spring machine as claimed in claim 4, characterized in that: The tool disc (7) comprises a tool disc base (701) and a tool selection platform (702); the tool selection platform (702) is rotatably arranged on the tool disc base (701); a tool removal opening (704) is arranged on the tool disc base (701); and the tool removal and installation device (6) completes the clamping or placement of the tool assembly through the tool removal opening (704).

7. A multi-station spring machine as claimed in claim 6, characterized in that: A knife sleeve (703) is arranged on the knife selection platform (702); the knife sleeve (703) can be turned over toward the outer circumference of the knife disc (7); the turned knife sleeve (703) extends out from the knife removal port (704); and the knife sleeve (703) is used to set a knife assembly.

8. A multi-station spring machine according to claim 7, characterized in that: A positioning portion (7031) is provided on the knife sleeve (703), and the positioning portion (7031) cooperates with the knife handle (502) for positioning, so that the knife (501) is also kept at a correct angle on the knife disc (7), so as to facilitate the use and installation of the knife assembly.

9. A multi-station spring machine as claimed in claim 1, characterized in that: The central axis of the core shaft (9) and the rotation axis of the second turntable (6022) are in the same horizontal plane.

10. The method for operating the automatic tool changing device in the multi-station spring machine according to claim 7 or 8, characterized in that: The steps are as follows: S1: The second drive device and the third drive device are operated to position the clamping jaws to the tool position and angle that needs to be replaced on the forming panel; S2: The sixth driving device operates to open the clamping jaws; S3: the fourth driving device and the fifth driving device are operated to position the clamping claw to the clamping position; S4: The sixth driving device operates, the clamping jaws close, and the tool handle is clamped; S5: The first driving device is running, and the rivet pulling claw is released. At this time, the tool, the tool handle, and the rivet are released as a whole; S6: the fourth driving device operates to pull the knife handle out of the knife barrel; S7: The fifth driving device is operated to withdraw the clamping jaws from the formed panel portion; S8: The second driving device and the third driving device are operated to position the clamping claw to the cutting edge of the cutting disc; S9: Rotate the empty knife sleeve in the knife disc to the knife removal opening and lay it down; S10: The fourth driving device and the fifth driving device are operated to insert the tool handle into the tool sleeve; S11: The sixth driving device operates and the clamping jaws are released; S12: The fifth driving device is operated to withdraw the clamping claw from the cutting edge; S13: Rotate the tool to be replaced to the cutting edge and lay the tool sleeve down; S14: The fifth driving device operates to position the clamping claw to the clamping position; S15: The sixth driving device is running, the clamping jaws are closed, and the tool handle is clamped; S16: the fourth driving device operates to pull the tool handle out of the tool sleeve; S17: The fifth driving device is operated to withdraw the clamping claw from the cutter disc; S18: The second driving device and the third driving device are operated to position the clamping jaws to the knife barrel on the forming panel where the knife needs to be installed; S19: The fourth driving device and the fifth driving device are operated to insert the knife handle into the knife barrel; S20: The first driving device is running, the pulling claw tightens the pulling nail, and the tool is fixed; S21: The sixth driving device operates and the clamping jaws are released; S22: The fourth driving device and the fifth driving device are in operation, and the tool picking and installing device returns to the initial position.

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