A flat-type manipulator chain servo tool magazine

Abstract

The present invention discloses a horizontally placed manipulator chain servo tool magazine in the field of machining technology, comprising a machining machine, a machining arm is installed in the machining machine, a tool changing mechanism is fixedly arranged on the side of the machining machine, a storage tool magazine and a tool rotating mechanism are fixedly arranged in the tool changing mechanism, and a power shaft and a tool storage mechanism are arranged on the machining arm; the tool rotating mechanism is used to transfer the tool on the storage tool magazine to the tool storage mechanism, and the tool storage mechanism installs the tool on the power shaft at a predetermined angle by mechanical alignment; the tool is aligned by mechanical alignment, which has low requirements on equipment compared with traditional CNC alignment, reduces the production cost of the equipment, and the mechanical alignment method has high stability and is easy to maintain.

Description

Technical Field

[0001] The invention relates to the technical field of machining, in particular to a horizontally placed manipulator chain servo tool magazine. Background Art

[0002] The automatic tool changing system is an important part of CNC machine tools. It mainly transfers the tools required for processing from the tool magazine to the spindle clamping mechanism. The structural characteristics of the tool clamping element and the connection method of the machine tool spindle will directly affect the processing performance of the machine tool. The structure of the tool magazine and the working mode of the tool changing device will affect the tool changing efficiency of the machine tool. The complexity of the automatic tool changing system itself and related structures will have a direct impact on the cost of the machine tool.

[0003] The servo tool magazine uses a servo motor as the tool magazine motor. It is controlled by a precision servo motor. The motor selects tools by angle. It has strong controllability and accurate positioning. Compared with ordinary tool magazines, it has the characteristics of fast speed and can prevent tool chaos caused by abnormal signals.

[0004] During the tool changing process of traditional CNC machine tools, the machining arm needs to be moved to the tool magazine position first, and then the tool magazine uses CNC to align the position and angle of the tool to be used with the machining arm (during machining, the actual action point of the tool is the tool tip position, the rotation angle of the tool is different, and the simulated coordinates of the actual cutting point are different. Therefore, when changing the tool, the angle of the tool needs to be aligned), and then installed on the machining arm; during the tool changing process, the machining arm moves back and forth to the tool magazine, which increases the moving distance of the machining arm, making the error accumulation larger, and the increase in the moving distance increases the workload of the machining arm, affecting the machining efficiency and the work intensity of the programmer.

[0005] Based on this, the present invention designs a horizontally placed manipulator chain servo tool magazine to solve the above problems. Summary of the invention

[0006] 1. Technical issues to be solved

[0007] The present invention is aimed at the above-mentioned defects existing in the prior art, and specifically proposes a horizontal manipulator chain servo tool magazine to solve the problem proposed in the above background technology that in the process of tool changing of traditional CNC machine tools, it is necessary to first move the processing arm to the tool magazine position, and then the tool magazine aligns the position and angle of the tool to be used with the processing arm through CNC (during machining, the actual action point of the tool is the tool tip position, the rotation angle of the tool is different, and the simulated coordinates of the actual cutting point are different, so when replacing the tool, it is necessary to align the angle of the tool), and then install it on the processing arm; during the tool changing process, the processing arm moves back and forth to the tool magazine, which increases the moving distance of the processing arm, makes the error accumulation larger, and the increase in the moving distance increases the workload of the processing arm, affecting the processing efficiency and the work intensity of the programmer.

[0008] 2. Technical Solution

[0009] A horizontally mounted manipulator chain servo tool magazine comprises a processing machine tool, a processing arm is installed in the processing machine tool, a tool changing mechanism is fixedly arranged on the side of the processing machine tool, a storage tool magazine and a tool rotating mechanism are fixedly arranged in the tool changing mechanism, and a power shaft and a tool storage mechanism are arranged on the processing arm; the tool rotating mechanism is used to transfer the tool on the storage tool magazine to the tool storage mechanism, and the tool storage mechanism installs the tool on the power shaft at a predetermined angle by mechanical alignment.

[0010] The processing machine tool comprises a casing, the inner wall of the front end of the casing is rotatably connected to a main shaft, a processing arm is arranged in the casing, both ends of the processing arm are sleeved with a first telescopic arm, the bottom of the first telescopic arm is slidably connected to the bottom of the casing, the front and rear ends of the first telescopic arm are fixedly connected to a second telescopic arm, the second telescopic arm is slidably connected to the bottom of the casing, and the second telescopic arm is fixedly connected to the side wall of the casing;

[0011] The processing arm includes a turntable, which is sleeved with a first telescopic arm on the left side, a first motor for driving the turntable to rotate and slide laterally is fixedly connected to the left end of the turntable, the first motor is fixedly connected to a fixing frame, the fixing frame is fixedly connected to the second telescopic arm on the left side, a shell is fixedly connected to the right end of the turntable, a power shaft and a tool storage mechanism are fixedly connected to the lower end of the inner wall of the shell, a cylindrical shell is fixedly connected to the right end of the shell, the right end of the cylindrical shell is completely penetrated and extends into the tool changing mechanism, a through groove is opened on the left side wall of the cylindrical shell, and the cylindrical shell is sleeved with the first telescopic arm on the right side;

[0012] The tool changing mechanism includes a protective shell, which is fixedly connected to the right end of the casing, a storage tool magazine is fixedly connected to the inner wall of the protective shell, a driving mechanism is fixedly connected to the bottom of the protective shell, and a chain servo tool magazine is fixedly connected to the upper end of the driving mechanism. The driving mechanism is used to drive the chain servo tool magazine fixedly connected thereto to move and rotate up, down, left, right, front, back and in reverse.

[0013] The storage tool magazine is composed of a plurality of chain servo tool magazines which are arranged vertically and fixedly connected to the inner wall of the protective shell.

[0014] Among them, the chain servo tool magazine includes a fixed plate, the upper end of the fixed plate is fixedly connected to the first servo motor, the upper end of the first servo motor is fixedly connected to the first transmission chain, the outer side wall of the first transmission chain is fixedly connected to a plurality of equidistantly arranged first connecting rods, and the first connecting rods are fixedly connected to the gripper.

[0015] The gripper comprises a U-shaped block, one end of the U-shaped block opposite to the opening is fixedly connected to the first connecting rod, both sides of the U-shaped block are fixedly connected to spring telescopic rods, and both spring telescopic rods are fixedly connected to wedge-shaped blocks; the slope of the wedge-shaped block on the side facing the inside of the U-shaped block is larger, and the slope on the side facing the opening of the U-shaped block is smaller;

[0016] The tool comprises a mounting plate, a first mounting column is fixedly connected to the upper end of the mounting plate, a calibration mechanism is fixedly connected to the upper end of the first mounting column, a second mounting column is fixedly connected to the upper end of the calibration mechanism, and a blade is fixedly connected to the upper end of the second mounting column.

[0017] Among them, the power shaft includes a driving motor, the driving motor is fixedly connected to the bottom of the inner wall of the shell, the driving motor is fixedly connected to a clamping plate, and a track bar is arranged on the clamping plate; the knife storage mechanism includes a second servo motor, the second servo motor is fixedly connected to the bottom of the inner wall of the shell, the upper end of the second servo motor is fixedly connected to a second transmission chain, the outer side wall of the second transmission chain is fixedly connected to a plurality of equidistantly arranged second connecting rods, the second connecting rod is fixedly connected to a clamp, and the lower end of the second connecting rod is fixedly connected to the side wall of the U-shaped block; a track groove is opened at the bottom of the mounting plate, and the track groove can be engaged with the track bar.

[0018] Among them, a stopper is slidably connected to the side wall of the clamping plate, and a control mechanism is externally connected to the stopper. The control mechanism is used to control the stopper to retract and give way when the tool is separated from the clamping plate, and to pop out of the limit position when the tool is engaged with the clamping plate.

[0019] Among them, the calibration mechanism includes a half-gear plate, the lower end of the half-gear plate is fixedly connected to the upper end of the first mounting column, the upper end of the half-gear plate is fixedly connected with a locking plate, the upper end of the locking plate is fixedly connected to the lower end of the second mounting column, and the locking plate is elastically slidably connected with four blocks in a circular array; the upper and lower ends of the shell are fixedly connected with the first guide rail and the second guide rail; the first guide rail is aligned with the running trajectory of the clamping hand on the knife storage mechanism The locking plate, and the spacing between the upper and lower first guide rails is equal to the diameter of the locking plate; the second guide rail is aligned with the running trajectory of the clamping hand on the knife storage mechanism The half-gear plate, and the outer tooth circle diameter of the half-gear plate, and a rack that can mesh with the half-gear plate is arranged on the upper second guide rail.

[0020] Among them, the storage tool magazine, tool rotating mechanism and tool storage mechanism are all connected to the PLC in the CNC system through DriveCLIQ cable to perform CNC operations.

[0021] 3. Beneficial Effects

[0022] Compared with the prior art, the present invention provides a tool storage mechanism on the processing arm and mounts the tool on the power shaft at a predetermined angle by mechanical alignment, so that the tool to be used can be moved to the processing arm in advance during the processing, avoiding the reciprocating motion of the processing arm to change the tool, reducing the accumulation of movement errors of the processing arm, and aligning the tool by mechanical alignment has lower equipment requirements than traditional CNC alignment, reducing the production cost of the equipment, and the mechanical alignment method has high stability and is easy to maintain.

[0023] Since the present invention adopts mechanical alignment to change tools, the accuracy requirement during the tool movement process is low, and there is no need to accurately control the position of the tool during the entire process, so that the movement range of the tool transfer mechanism is increased. Furthermore, after the storage tool magazine is divided into upper and lower layers, the transfer mechanism will not cause error accumulation when moving up and down, so that the equipment can adopt an upper and lower layered storage tool magazine, so that the space utilization rate of the storage tool magazine is higher, and when the tool is selected, the chain displacement in the storage tool magazine is smaller, thereby improving efficiency and reducing error accumulation.

[0024] The tool and the power shaft are connected by rail engagement, which avoids the phenomenon of rotational dislocation of the tool during machining, improves the machining accuracy, and has a simple structure and is easy to produce and maintain. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0026] Figure 2 This is a half-section schematic diagram of the overall structural protective shell of the present invention;

[0027] Figure 3 for Figure 2 The enlarged schematic diagram at A in the middle;

[0028] Figure 4 This is a schematic diagram of the coordination between the gripper and the tool;

[0029] Figure 5 for Figure 4 A schematic cross-sectional view of the middle engagement disc;

[0030] Figure 6 for Figure 4 A schematic cross-sectional view of the middle half gear plate;

[0031] Figure 7 for Figure 4 A cross-sectional schematic diagram of the first mounting column;

[0032] Figure 8 for Figure 7 A schematic cross-sectional view of

[0033] Fig. 9 It is a cross-sectional schematic diagram of the overall structure of the present invention at the processing machine tool;

[0034] Fig.10 for Fig. 9 The enlarged schematic diagram of point B in the middle;

[0035] Fig.11 This is a schematic diagram of the front section of the robotic arm;

[0036] Fig.12 for Fig.11 The enlarged schematic diagram at C in the middle;

[0037] Fig.13 It is a structural schematic diagram of the knife storage mechanism and the power shaft;

[0038] Fig.14 for Fig.13 Enlarged schematic diagram at point D in the middle.

[0039] In the accompanying drawings, the components represented by the reference numerals are listed as follows:

[0040] Casing 1-1, spindle 1-2, first telescopic arm 1-3, second telescopic arm 1-4, turntable 2-1, first motor 2-2, fixing frame 2-3, housing 2-4, cylindrical housing 2-5, through slot 2-5-1, protective housing 3-1, driving mechanism 3-2, fixing plate 4-1, first servo motor 4-2, first transmission chain 4-3, first connecting rod 4-4, U-shaped block 5-1, spring telescopic rod 5-2, wedge block 5-3, Mounting plate 6-1, track groove 6-1-1, first mounting column 6-2, half gear plate 6-3-1, engaging plate 6-3-2, clamping block 6-3-3, second mounting column 6-4, blade 6-5, drive motor 7-1, clamping plate 7-2, block 7-2-1, track bar 7-3, second servo motor 8-1, second transmission chain 8-2, second connecting rod 8-3, first guide rail 9-1, second guide rail 9-2, rack 9-3. DETAILED DESCRIPTION

[0041] The specific implementation of the present invention is further described in detail below in conjunction with the accompanying drawings and examples. The following examples are used to illustrate the present invention, but are not intended to limit the scope of the present invention.

[0042] Embodiment 1:

[0043] See also Figure 1-14 The horizontal manipulator chain servo tool magazine of this embodiment includes a processing machine tool, a processing arm is installed in the processing machine tool, a tool changing mechanism is fixedly arranged on the side of the processing machine tool, a storage tool magazine and a tool rotating mechanism are fixedly arranged in the tool changing mechanism, and a power shaft and a tool storage mechanism are arranged on the processing arm; the tool rotating mechanism is used to transfer the tool on the storage tool magazine to the tool storage mechanism, and the tool storage mechanism installs the tool on the power shaft at a predetermined angle by mechanical alignment.

[0044] During the tool changing process of traditional CNC machine tools, the machining arm needs to be moved to the tool magazine position first, and then the tool magazine uses CNC to align the position and angle of the tool to be used with the machining arm (during machining, the actual action point of the tool is the tool tip position, the rotation angle of the tool is different, and the simulated coordinates of the actual cutting point are different. Therefore, when changing the tool, the angle of the tool needs to be aligned), and then installed on the machining arm; during the tool changing process, the machining arm moves back and forth to the tool magazine, which increases the moving distance of the machining arm, making the error accumulation larger, and the increase in the moving distance increases the workload of the machining arm, affecting the machining efficiency and the work intensity of the programmer.

[0045] The present invention provides a tool storage mechanism on the processing arm and mounts the tool on the power shaft at a predetermined angle by mechanical alignment, so that the tool to be used can be moved to the processing arm in advance during the processing, avoiding the reciprocating motion of the processing arm to change the tool, reducing the accumulation of movement errors of the processing arm, and aligning the tool by mechanical alignment has lower requirements on the equipment than traditional CNC alignment, reducing the production cost of the equipment, and the mechanical alignment method has high stability and is easy to maintain.

[0046] As a further solution of the present invention, the processing machine tool includes a casing 1-1, the inner wall of the front end of the casing 1-1 is rotatably connected to a spindle 1-2, a processing arm is arranged in the casing 1-1, both ends of the processing arm are sleeved with a first telescopic arm 1-3, the bottom of the first telescopic arm 1-3 is slidably connected to the bottom of the casing 1-1, the front and rear ends of the first telescopic arm 1-3 are fixedly connected to a second telescopic arm 1-4, the second telescopic arm 1-4 is slidably connected to the bottom of the casing 1-1, and the second telescopic arm 1-4 is fixedly connected to the side wall of the casing 1-1;

[0047] The processing arm includes a turntable 2-1, which is sleeved with the first telescopic arm 1-3 on the left side. The left end of the turntable 2-1 is fixedly connected with a first motor 2-2 for driving the turntable 2-1 to rotate and slide laterally. The first motor 2-2 is fixedly connected with a fixing frame 2-3. The fixing frame 2-3 is fixedly connected with the second telescopic arm 1-4 on the left side. The right end of the turntable 2-1 is fixedly connected with a shell 2-4. The lower end of the inner wall of the shell 2-4 is fixedly connected with a power shaft and a tool storage mechanism. The right end of the shell 2-4 is fixedly connected with a cylindrical shell 2-5. The right end of the cylindrical shell 2-5 is completely penetrated and extends into the tool changing mechanism. A through groove 2-5-1 is opened on the left side wall of the cylindrical shell 2-5. The cylindrical shell 2-5 is sleeved with the first telescopic arm 1-3 on the right side.

[0048] The tool changing mechanism includes a protective shell 3-1, which is fixedly connected to the right end of the casing 1-1, a storage tool magazine is fixedly connected to the inner wall of the protective shell 3-1, a driving mechanism 3-2 is fixedly connected to the bottom of the protective shell 3-1, and a chain servo tool magazine is fixedly connected to the upper end of the driving mechanism 3-2. The driving mechanism 3-2 is used to drive the chain servo tool magazine fixedly connected thereto to move and rotate up, down, left, right, front, and back in reverse.

[0049] like Figure 2 As shown, the storage tool magazine is composed of a plurality of chain servo tool magazines arranged vertically and fixedly connected to the inner wall of the protective shell 3-1. Since the present invention adopts mechanical alignment to change tools, the precision requirement in the tool movement process is low, and there is no need to accurately control the position of the tool during the entire process, so that the movement range of the tool transfer mechanism becomes larger. Furthermore, after the storage tool magazine is divided into upper and lower layers, the transfer mechanism will not generate error accumulation when moving up and down, so that the device can use a storage tool magazine with upper and lower layers, so that the space utilization rate of the storage tool magazine is higher, and when selecting a tool, the chain displacement in the storage tool magazine is smaller, thereby improving efficiency and reducing error accumulation.

[0050] As a further solution of the present invention, the chain servo tool magazine includes a fixed plate 4-1, the upper end of the fixed plate 4-1 is fixedly connected to a first servo motor 4-2, the upper end of the first servo motor 4-2 is fixedly connected to a first transmission chain 4-3, the outer side wall of the first transmission chain 4-3 is fixedly connected to a plurality of equidistantly arranged first connecting rods 4-4, and the first connecting rod 4-4 is fixedly connected to a gripper.

[0051] As a further solution of the present invention, the gripper comprises a U-shaped block 5-1, one end of the U-shaped block 5-1 opposite to the opening is fixedly connected to the first connecting rod 4-4, both sides of the U-shaped block 5-1 are fixedly connected to spring telescopic rods 5-2, and the spring telescopic rods 5-2 are fixedly connected to wedge blocks 5-3; the slope of the wedge block 5-3 on the side facing the inside of the U-shaped block 5-1 is larger, and the slope on the side facing the opening of the U-shaped block 5-1 is smaller;

[0052] The tool includes a mounting plate 6-1, the upper end of which is fixedly connected to a first mounting column 6-2, the upper end of which is fixedly connected to a calibration mechanism, the upper end of which is fixedly connected to a second mounting column 6-4, and the upper end of which is fixedly connected to a blade body 6-5.

[0053] The method of squeezing the tool into the U-shaped block 5-1 by the wedge block 5-3 ensures the position of the tool relative to the clamp, and relative to the method of recording coordinates of the CNC, there is no need to repeatedly perform the error elimination process, the structure has good stability and low cost.

[0054] like Figure 12 to Figure 14As shown, the power shaft includes a driving motor 7-1, which is fixedly connected to the bottom of the inner wall of the shell 2-4, and the driving motor 7-1 is fixedly connected to a clamping plate 7-2, on which a track bar 7-3 is arranged; the knife storage mechanism includes a second servo motor 8-1, which is fixedly connected to the bottom of the inner wall of the shell 2-4, and the upper end of the second servo motor 8-1 is fixedly connected to a second transmission chain 8-2, and the outer side wall of the second transmission chain 8-2 is fixedly connected to a plurality of equidistantly arranged second connecting rods 8-3, and the second connecting rod 8-3 is fixedly connected to a clamp, and the lower end of the second connecting rod 8-3 is fixedly connected to the side wall of the U-shaped block 5-1; a track groove 6-1-1 is provided at the bottom of the mounting plate 6-1, and the track groove 6-1-1 can be engaged with the track bar 7-3.

[0055] The tool and the power shaft are connected by rail engagement, which avoids the phenomenon of rotational dislocation of the tool during machining, improves the machining accuracy, and has a simple structure and is easy to produce and maintain.

[0056] The side wall of the clamping plate 7-2 is slidably connected with a stopper 7-2-1, and the stopper 7-2-1 is externally connected with a control mechanism, which is used to control the stopper 7-2-1 to retract and give way when the tool is separated from the clamping plate 7-2, and to pop out to limit the position when the tool is clamped with the clamping plate 7-2. The stopper 7-2-1 limits the position of the tool when the tool is clamped with the clamping plate 7-2, ensuring that the tool and the clamping plate 7-2 are completely aligned, thereby improving the position accuracy of the tool and thus improving the processing quality of the product.

[0057] As a further solution of the present invention, the storage tool magazine, the tool rotating mechanism and the tool storing mechanism are all connected to the PLC in the numerical control system through the Drive-CLIQ cable to perform numerical control operations.

[0058] Compared with the use of I / O boards, the wiring is greatly reduced. Only one Drive-CLIQ cable is needed, which saves labor costs, material costs, and time. The use of I / O boards is reduced, which saves costs. The use of relays is reduced, which reduces the possibility of failure, improves reliability, and makes it easier to troubleshoot problems.

[0059] During specific work, the storage tool magazine, tool rotating mechanism and tool storage mechanism all interact with the CNC system through the Drive-CLIQ cable for information and linkage;

[0060] During the processing, the tool rotating mechanism takes out the tools to be used from the chain servo tool magazine on the storage tool magazine in the order of use and stores them in itself, then the tool rotating mechanism moves to the tool storage mechanism of the robot arm, transfers the tools to the tool storage mechanism in turn, then the tool storage mechanism installs the tools on the power shaft at a predetermined angle by mechanical alignment, and finally the used tools in the tool storage mechanism are placed back into the storage tool magazine by the tool rotating mechanism;

[0061] In this process (such as Figure 2 ) The chain servo tool magazine where the tool to be transferred in the tool magazine is located controls the first transmission chain 4-3 through the first servo motor 4-2 to drive the gripper where the tool is located to move to the leftmost end of the chain servo tool magazine (the first mounting column 6-2 for the gripper in the storage tool magazine to grip the tool), and then the driving mechanism 3-2 in the tool rotating mechanism drives the chain servo tool magazine in the tool rotating mechanism to maintain a horizontal state and move to the left end of the first transmission chain 4-3 where the tool is located, and the right end point of the gripper's moving trajectory line on the chain servo tool magazine in the tool rotating mechanism coincides with the left end point of the gripper's moving trajectory line on the first transmission chain 4-3 where the tool is located, and the gripper in the tool rotating mechanism is aligned with the second mounting column 6-4 of the tool; then the first servo motor 4-2 in the tool rotating mechanism controls The first transmission chain 4-3 is controlled to rotate counterclockwise, and the first transmission chain 4-3 drives the U-shaped block 5-1 on the clamp to move counterclockwise, so that the second mounting column 6-4 of the tool enters the inside of the U-shaped block 5-1 from the opening of the U-shaped block 5-1. During this process, the second mounting column 6-4 will squeeze the wedge block 5-3 on the U-shaped block 5-1, so that the wedge block 5-3 moves toward the side wall of the U-shaped block 5-1 to make way, so that the second mounting column 6-4 enters the U-shaped block 5-1 (when the second mounting column 6-4 squeezes the wedge block 5-3, the wedge block 5-3 will generate a reaction force on the second mounting column 6-4; further, the reaction force makes the first mounting column 6-2 have a tendency to break away from the U-shaped block 5-1 where it is located, and exerts a pressure on the U-shaped block where it is located. The wedge-shaped block 5-3 of 5-1 is squeezed; since the first mounting column 6-2 squeezes the side of the wedge block 5-3 toward the inside of the U-shaped block 5-1 from the inside of the U-shaped block 5-1, and the second mounting column 6-4 squeezes the side of the wedge block 5-3 toward the opening of the U-shaped block 5-1 from the opening of the U-shaped block 5-1, and the slope of the side of the wedge block 5-3 toward the inside of the U-shaped block 5-1 is larger, and the slope of the side toward the opening of the U-shaped block 5-1 is smaller, the force required for the first mounting column 6-2 to break away from the U-shaped block 5-1 is greater than the force required for the second mounting column 6-4 to enter the U-shaped block 5-1; further, the second mounting column 6-4 can enter the U-shaped block 5-1 on the premise of ensuring that the first mounting column 6-2 does not break away from the U-shaped block 5-1. The second mounting post 6-4 is fixed in the U-shaped block 5-1 and fixed by the wedge-shaped block 5-3 in the U-shaped block 5-1), and then the U-shaped block 5-1 where the second mounting post 6-4 is located continues to move counterclockwise under the drive of the first servo motor 4-2 in the tool rotating mechanism, and further the U-shaped block 5-1 drives the second mounting post 6-4 to move counterclockwise and leave the storage tool magazine (when leaving the storage tool magazine, the inner wall of the U-shaped block 5-1 where the second mounting post 6-4 is located squeezes the second mounting post 6-4, and the first mounting post 6-2 is driven by the second mounting post 6-4 to squeeze the wedge-shaped block 5-3 of the U-shaped block 5-1 where the first mounting post 6-2 is located, and finally the first mounting post 6-2 presses down the wedge-shaped block 5-3 and leaves the U-shaped block 5-1 from the opening of the U-shaped block 5-1);

[0062] This process is repeated to transfer the tools to be used in the tool magazine to the tool rotating mechanism in the order of use.

[0063] After the tool rotating mechanism collects the stored tool, the driving mechanism 3-2 drives the chain servo tool magazine to move toward the tool storage mechanism through the fixed plate 4-1, and during the movement, the driving mechanism 3-2 drives the chain servo tool magazine to rotate until the leftmost gripper on the chain servo tool magazine is aligned with the movement trajectory of the gripper on the right end of the rear side of the second transmission chain 8-2, and then the second transmission chain 8-2 rotates and drives the gripper on it to take out the tool on the leftmost gripper on the chain servo tool magazine; then the chain servo tool magazine rotates to move the gripper where the next tool is located to the leftmost end of the chain servo tool magazine, and then the second transmission chain 8-2 rotates to take out the tool on the chain servo tool magazine again, and this is repeated to transfer the tools in the tool rotating mechanism to the tool storage mechanism for standby use in turn;

[0064] During the process of the knife storage mechanism receiving the knife, the half gear plate 6-3-1 and the engaging plate 6-3-2 in the knife at the front side of the knife storage mechanism begin to enter the first guide rail 9-1 and the second guide rail 9-2. Fig.12 ) In the process of the half gear plate 6-3-1 moving to the right between the second guide rail 9-2, the half gear plate 6-3-1 is meshed with the rack 9-3. As the half gear plate 6-3-1 moves to the right, the half gear plate 6-3-1 rotates under the action of the rack 9-3 and drives the tool to rotate until the toothless part of the half gear plate 6-3-1 reaches the rack 9-3. At this time, the rack 9-3 no longer actively drives the half gear plate 6-3-1 to rotate, and correspondingly, (such as Fig.14 ) The block 6-3-3 on the engaging disk 6-3-2 is completely ejected under the action of its own elastic member and abuts against the first guide rail 9-1, so that the engaging disk 6-3-2 cannot rotate, and then the half gear disk 6-3-1 cannot rotate when it is not affected by the rack 9-3, and then the tool cannot rotate, so that after each tool passes through the first guide rail 9-1 and the second guide rail 9-2, the toothless part of the half gear disk 6-3-1 of each tool is facing the rack 9-3, so as to adjust the angle of the tool;

[0065] When changing the tool on the power axis, (combined with Fig.12 and Fig.14) After the tool passes through the first guide rail 9-1 and the second guide rail 9-2, the angle of the tool completes the alignment action. At this time, the track groove 6-1-1 on the mounting plate 6-1 is just opposite to the track bar 7-3 on the clamping plate 7-2. Driven by the second transmission chain 8-2, the track groove 6-1-1 on the mounting plate 6-1 on the tool is clamped with the track bar 7-3 on the clamping plate 7-2 (the block 7-2-1 limits the tool when the tool is clamped with the clamping plate 7-2, ensuring that the tool and the clamping plate 7-2 are completely aligned, thereby improving the positioning accuracy of the tool and thereby improving the processing quality of the product); the entire tool changing process is completed in this way.

[0066] Embodiment 2:

[0067] Compared with Example 1, in this embodiment, the calibration mechanism includes a half gear plate 6-3-1, the lower end of the half gear plate 6-3-1 is fixedly connected to the upper end of the first mounting column 6-2, the upper end of the half gear plate 6-3-1 is fixedly connected to a clamping plate 6-3-2, the upper end of the clamping plate 6-3-2 is fixedly connected to the lower end of the second mounting column 6-4, and the clamping plate 6-3-2 is elastically slidably connected to four clamping blocks 6-3-3 in a circular array; the upper and lower ends of the housing 2-4 are fixedly connected to the first guide rail 9-1 and the second guide rail Rail 9-2; the first guide rail 9-1 is aligned with the running track of the clamping hand on the knife storage mechanism, and the distance between the upper and lower first guide rails 9-1 is equal to the diameter of the locking disk 6-3-2; the second guide rail 9-2 is aligned with the running track of the clamping hand on the upper half gear disk 6-3-1 of the knife storage mechanism, and the distance between the upper and lower second guide rails 9-2 is equal to the outer tooth circle diameter of the half gear disk 6-3-1, and a rack 9-3 that can mesh with the half gear disk 6-3-1 is provided on the upper second guide rail 9-2.

[0068] The above are only preferred embodiments of the present invention. It should be pointed out that, for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the technical principles of the present invention. These improvements and modifications should also be regarded as within the scope of protection of the present invention.

Claims

1. A horizontal type manipulator chain servo tool magazine, including a processing machine tool, characterized in that: A processing arm is installed in the processing machine tool, a tool changing mechanism is fixedly arranged on the side of the processing machine tool, a tool storage magazine and a tool rotating mechanism are fixedly arranged in the tool changing mechanism, and a power shaft and a tool storage mechanism are arranged on the processing arm; the tool rotating mechanism is used to transfer the tool on the tool storage magazine to the tool storage mechanism, and the tool storage mechanism installs the tool on the power shaft at a predetermined angle by mechanical alignment; The processing machine tool comprises a casing (1-1), the tool changing mechanism comprises a protective casing (3-1), the protective casing (3-1) is fixedly connected to the right end of the casing (1-1), a storage tool magazine is fixedly connected to the inner wall of the protective casing (3-1), a driving mechanism (3-2) is fixedly connected to the bottom of the protective casing (3-1), a chain servo tool magazine is fixedly connected to the upper end of the driving mechanism (3-2), and the driving mechanism (3-2) is used to drive the chain servo tool magazine fixedly connected thereto to move and rotate in the up, down, left, right, front and back directions; The storage tool magazine is composed of a plurality of chain servo tool magazines arranged vertically and fixedly connected to the inner wall of the protective shell (3-1); The chain servo tool magazine comprises a fixed plate (4-1), the upper end of the fixed plate (4-1) is fixedly connected to a first servo motor (4-2), the upper end of the first servo motor (4-2) is fixedly connected to a first transmission chain (4-3), the outer side wall of the first transmission chain (4-3) is fixedly connected to a plurality of first connecting rods (4-4) arranged at equal distances, and the first connecting rod (4-4) is fixedly connected to a gripper; The cutting tool comprises a mounting plate (6-1), the upper end of the mounting plate (6-1) is fixedly connected to a first mounting column (6-2), the upper end of the first mounting column (6-2) is fixedly connected to a calibration mechanism, the upper end of the calibration mechanism is fixedly connected to a second mounting column (6-4), and the upper end of the second mounting column (6-4) is fixedly connected to a blade (6-5); The power shaft comprises a driving motor (7-1), the driving motor (7-1) is fixedly connected to the bottom of the inner wall of the shell (2-4), the driving motor (7-1) is fixedly connected to a clamping plate (7-2), and a track bar (7-3) is arranged on the clamping plate (7-2); the knife storage mechanism comprises a second servo motor (8-1), the second servo motor (8-1) is fixedly connected to the bottom of the inner wall of the shell (2-4), the upper end of the second servo motor (8-1) is fixedly connected to a second transmission chain (8-2), the outer side wall of the second transmission chain (8-2) is fixedly connected to a plurality of second connecting rods (8-3) arranged at equal distances, the second connecting rod (8-3) is fixedly connected to a clamp, and the lower end of the second connecting rod (8-3) is fixedly connected to the side wall of the U-shaped block (5-1); a track groove (6-1-1) is provided at the bottom of the mounting plate (6-1), and the track groove (6-1-1) can be clamped with the track bar (7-3).

2. The horizontal type manipulator chain servo tool magazine according to claim 1 is characterized in that: The inner wall of the front end of the casing (1-1) is rotatably connected to a main shaft (1-2); a processing arm is arranged in the casing (1-1); first telescopic arms (1-3) are sleeved at both ends of the processing arm; the bottom of the first telescopic arm (1-3) is slidably connected to the bottom of the casing (1-1); the front and rear ends of the first telescopic arm (1-3) are fixedly connected to second telescopic arms (1-4); the second telescopic arm (1-4) is slidably connected to the bottom of the casing (1-1); and the second telescopic arm (1-4) is fixedly connected to a side wall of the casing (1-1); The processing arm comprises a rotating disk (2-1), the rotating disk (2-1) being sleeved with a first telescopic arm (1-3) on the left side, the left end of the rotating disk (2-1) being fixedly connected with a first motor (2-2) for driving the rotating disk (2-1) to rotate and slide laterally, the first motor (2-2) being fixedly connected with a fixing frame (2-3), the fixing frame (2-3) being fixedly connected with a second telescopic arm (1-4) on the left side, the right end of the rotating disk (2-1) being fixedly connected with a shell (2-4), the lower end of the inner wall of the shell (2-4) being fixedly connected with a power shaft and a tool storage mechanism, the right end of the shell (2-4) being fixedly connected with a cylindrical shell (2-5), the shell (2-4) completely passing through the right end of the cylindrical shell (2-5) and the shell (2-4) extending into the tool changing mechanism, the left side wall of the cylindrical shell (2-5) being provided with a through slot (2-5-1), the cylindrical shell (2-5) being sleeved with the first telescopic arm (1-3) on the right side.

3. The horizontal type manipulator chain servo tool magazine according to claim 1 is characterized in that: The gripper comprises a U-shaped block (5-1); one end of the U-shaped block (5-1) opposite to the opening is fixedly connected to a first connecting rod (4-4); both sides of the U-shaped block (5-1) are fixedly connected to spring telescopic rods (5-2); the spring telescopic rods (5-2) are fixedly connected to wedge-shaped blocks (5-3); the slope of the wedge-shaped block (5-3) on the side facing the inside of the U-shaped block (5-1) is larger, and the slope of the side facing the opening of the U-shaped block (5-1) is smaller.

4. The horizontal type manipulator chain servo tool magazine according to claim 1 is characterized in that: The side wall of the clamping plate (7-2) is slidably connected to a stopper (7-2-1), and the stopper (7-2-1) is externally connected to a control mechanism, the control mechanism being used to control the stopper (7-2-1) to retract and give way when the tool is separated from the clamping plate (7-2), and to pop out to a limit position when the tool is engaged with the clamping plate (7-2).

5. The horizontal type manipulator chain servo tool magazine according to claim 4 is characterized in that: The calibration mechanism comprises a half gear disc (6-3-1), the lower end of the half gear disc (6-3-1) is fixedly connected to the upper end of a first mounting column (6-2), the upper end of the half gear disc (6-3-1) is fixedly connected to a locking disc (6-3-2), the upper end of the locking disc (6-3-2) is fixedly connected to the lower end of a second mounting column (6-4), and the locking disc (6-3-2) is elastically slidably connected to four locking blocks (6-3-3) in a circular array; the upper and lower ends of the housing (2-4) are both fixedly connected to a first guide rail (9-1) and a second guide rail (9-2); The first guide rail (9-1) is aligned with the running track of the engaging disk (6-3-2) on the clamp on the knife storage mechanism, and the spacing between the upper and lower first guide rails (9-1) is equal to the diameter of the engaging disk (6-3-2); the second guide rail (9-2) is aligned with the running track of the half gear disk (6-3-1) on the clamp on the knife storage mechanism, and the spacing between the upper and lower second guide rails (9-2) is equal to the outer tooth circle diameter of the half gear disk (6-3-1), and the upper second guide rail (9-2) is provided with a rack (9-3) that can mesh with the half gear disk (6-3-1).

6. The horizontal type manipulator chain servo tool magazine according to claim 1 is characterized by: The tool storage magazine, tool rotating mechanism and tool storage mechanism are all connected to the PLC in the numerical control system through the Drive-CLIQ cable to perform numerical control operations.

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