Multi-axis gang tool changer and method

Abstract

The application provides a multi-axis linkage tool changing device and method, which comprises a first guide rail pair arranged on a fixed base, a first moving seat installed on the first guide rail pair, and a first driving assembly arranged on the fixed base and used for driving the first moving seat to move linearly; a second guide rail pair arranged on the first moving seat, a tool jaw mechanism installed on the second guide rail pair, and a second driving assembly arranged on the first moving seat and used for driving the tool jaw mechanism to move linearly; and the tool jaw mechanism comprises a telescopic device, a rotating device and a tool jaw, the telescopic device is used for controlling the tool jaw to open or clamp, and the rotating device is used for driving the tool jaw to rotate. Through the arrangement of the tool jaw mechanism, the tool jaw mechanism is used for grabbing the tool on the tool disc, the process of directly conveying the large tool disc to the main shaft of the machine tool is omitted, the tool jaw is only used for taking out the tool from the tool disc, and then the tool is conveyed to the main shaft of the machine tool for tool changing, compared with conveying the whole tool disc, the flexibility and efficiency of conveying are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of machine tool tool changing, in particular to a multi-axis linkage tool changing device and method, and more particularly to a large-scale dual five-axis mirror milling multi-axis linkage tool changing device. Background Art

[0002] Traditional machine tool tool changing usually involves the machine tool spindle directly changing the tool on the cutter head. The tool changing structure is simple, and this solution has obvious advantages on small machine tools.

[0003] The existing Chinese patent application document with publication number CN216608159U discloses a tool changing robot moving mechanism and a turning-milling compound machine tool, including: a toothed belt, a stretching assembly and a drive assembly; one end of the toothed belt is fixed to the machine tool, and the other end extends along the length direction of the tool changing robot guide rail and is connected to the machine tool through the stretching assembly, and the stretching assembly is used to tension the toothed belt; the drive assembly is arranged on a drive assembly guide slide, and the drive assembly guide slide is parallel to the tool changing robot guide rail. The drive assembly is connected to the toothed belt transmission and moves on the drive assembly guide slide through the toothed belt; the drive assembly is used to connect to the tool changing robot to drive the tool changing robot to move along the tool changing robot guide rail.

[0004] The tool changing structure in the existing technology, on large machine tools, especially large mirror milling machines, has a large number of tools and a large cutter disc, which makes the cutter disc conveying shaft load heavy, the speed low, and the entire cutter disc movable stroke relatively large, resulting in low cutter disc conveying efficiency. Summary of the Invention

[0005] In view of the defects in the prior art, the purpose of the present invention is to provide a multi-axis linkage tool changing device and method.

[0006] According to the present invention, a multi-axis linkage tool changing device includes a fixed base, a first guide rail pair, a first movable seat, a second guide rail pair and a knife claw mechanism; the first guide rail pair is arranged on the fixed base, the first movable seat is installed on the first guide rail pair, and the fixed base is provided with a first drive component that drives the first movable seat to move back and forth in a straight line; the second guide rail pair is arranged on the first movable seat, the knife claw mechanism is installed on the second guide rail pair, and the first movable seat is provided with a second drive component that drives the knife claw mechanism to move back and forth in a straight line; the knife claw mechanism includes a telescopic device, a rotating device and a knife claw, the telescopic device controls the opening or clamping of the knife claw, and the rotating device drives the knife claw to rotate.

[0007] Preferably, the second guide rail pair is arranged directly above the first guide rail pair, and the first guide rail pair is a long guide rail, and the second guide rail pair is a short guide rail.

[0008] Preferably, the movement direction of the first movable seat and the movement direction of the knife claw mechanism are perpendicular to each other in a horizontal plane.

[0009] Preferably, one telescopic device is provided on each side of the rotating device, and any of the telescopic devices is coupled to a knife claw at a corresponding position.

[0010] Preferably, the knife claw is in a horizontal state when coupled with the telescopic device.

[0011] Preferably, the knife claw extends obliquely from the connection with the rotating device toward a side away from the rotating device; the telescopic rod of the telescopic device and the knife claw are located in the same plane.

[0012] Preferably, a proximity switch is provided on the first movable seat.

[0013] Preferably, a sensing block is provided on the knife claw mechanism.

[0014] Preferably, both the first drive assembly and the second drive assembly include a ball screw nut pair or a pulley transmission device.

[0015] According to a multi-axis linkage tool changing method provided by the present invention, the tool changing method includes the following steps: S1, moving the knife claw mechanism to a specified position through the first drive component and the second drive component; at the same time, controlling one knife claw to open and close to clamp the tool in the machine tool tool disk through the telescopic device; S2, moving the knife claw mechanism to the machine tool spindle end through the first drive component and the second drive component; at the same time, controlling the other knife claw to open and close to clamp the tool on the machine tool spindle through the telescopic device; S3, driving the knife claw mechanism to move through the first drive component and the second drive component, driving the two knife claws to rotate one hundred and eighty degrees through the rotating device, taking out the tool on the machine tool spindle, and sending the tool on the other knife claw to the machine tool spindle; S4, driving the knife claw mechanism to move to the specified position through the first drive component and the second drive component, controlling the knife claw to open through the telescopic device to put the tool back into the machine tool tool disk.

[0016] Compared with the prior art, the present invention has the following beneficial effects:

[0017] 1. The present invention provides a claw mechanism to grab the tool on the cutter disc, eliminating the need to directly transport the larger cutter disc to the machine tool spindle. The claw only needs to remove the tool from the cutter disc and then transport it to the machine tool spindle for tool change. Compared with transporting the entire cutter disc, this helps to improve the flexibility and efficiency of transportation.

[0018] 2. The present invention controls the loosening and clamping of the knife claws by arranging a telescopic device, which is simple and stable to control.

[0019] 3. The present application sets the proximity switch to prevent the knife jaw mechanism from moving beyond the stroke, causing interference and collision. BRIEF DESCRIPTION OF DRAWINGS

[0020] Other features, objects, and advantages of the present application will become more apparent from the following detailed description of non-limiting embodiments thereof, read in conjunction with the accompanying drawings:

[0021] Figure 1 The present application mainly embodies the overall structure diagram of the tool changing device;

[0022] Figure 2 The present application mainly embodies the overall structure diagram of the knife jaw mechanism;

[0023] Figure 3 The present application mainly embodies the overall structure diagram of the rotating device.

[0024] The drawings show:

[0025] Fixed base 1 Knife jaw mechanism 7

[0026] First drive assembly 2 Telescopic device 8

[0027] First guide rail pair 3 Rotating device 9

[0028] First moving seat 4 Moving base 10

[0029] Second guide rail pair 5 Bracket 11

[0030] Second drive assembly 6 Knife jaw 13 DETAILED DESCRIPTION

[0031] The present application will be described in detail below in conjunction with specific embodiments. The following embodiments will help those skilled in the art to further understand the present application, but do not limit the present application in any form. It should be noted that for those skilled in the art, without departing from the concept of the present application, a number of changes and improvements can be made. These all belong to the protection scope of the present application.

[0032] As Figure 1As shown, according to the multi-axis linkage tool changing device provided by the application, it comprises a fixed base 1, a first guide rail pair 3, a first moving seat 4, a second guide rail pair 5 and a tool jaw mechanism 7. The first guide rail pair 3 is arranged on the fixed base 1, the first moving seat 4 is installed on the first guide rail pair 3, and the fixed base 1 is provided with a first driving assembly 2 for driving the first moving seat 4 to move linearly and reciprocally. The second guide rail pair 5 is arranged on the first moving seat 4, the tool jaw mechanism 7 is installed on the second guide rail pair 5, and the first moving seat 4 is provided with a second driving assembly 6 for driving the tool jaw mechanism 7 to move linearly and reciprocally; the tool jaw mechanism 7 comprises a telescopic device 8, a rotating device 9 and a tool jaw 13, the telescopic device 8 controls the tool jaw 13 to open or clamp, and the rotating device 9 drives the tool jaw 13 to rotate.

[0033] The second guide rail pair 5 is arranged directly above the first guide rail pair 3, the first guide rail pair 3 is a long guide rail, the second guide rail pair 5 is a short guide rail, and the movement direction of the first moving seat 4 and the movement direction of the tool jaw mechanism 7 are perpendicular to each other in the horizontal plane. By arranging the second guide rail pair 5 directly above the first guide rail pair 3, the spatial layout of the tool changing device is optimized, and the problem of small tool changing space inside the machine tool can be solved.

[0034] The first driving assembly 2 and the second driving assembly 6 can cooperate to convey the tool jaw mechanism 7 to a specified position, which optimizes the spatial layout of the tool changing device and improves the stability of the control of the tool jaw mechanism 7.

[0035] Specifically, the fixed base 1 is stably placed on the ground, the first guide rail pair 3 is horizontally arranged on the fixed base 1, the first moving seat 4 is slidably installed on the first guide rail pair 3, the first driving assembly 2 drives the first moving seat 4 to move linearly and reciprocally, and the movement direction of the first moving seat 4 is the same as the length direction of the first guide rail pair 3.

[0036] The first moving seat 4 comprises an upwardly extending cantilever, the second guide rail pair 5 is horizontally arranged on the top of the cantilever of the first moving seat 4, the tool jaw mechanism 7 is slidably installed on the second guide rail pair 5, the second driving assembly 6 drives the tool jaw mechanism 7 to move linearly and reciprocally, and the movement direction of the tool jaw mechanism 7 is the same as the length direction of the second guide rail pair 5.

[0037] More specifically, the first driving assembly 2 and the second driving assembly 6 are both linear reciprocating driving members, and the first driving assembly 2 and the second driving assembly 6 both comprise a ball screw nut pair or a pulley transmission device.

[0038] One feasible implementation involves the following: the first drive assembly 2 is a ball screw-nut pair comprising a servo motor, a screw, and a moving nut. The screw is rotatably mounted on the fixed base 1 via a bearing, a bearing seat, and a lock nut. The length of the screw is aligned with the length of the first guide rail pair 3. The servo motor is securely mounted on the fixed base 1 via a motor seat, and the servo motor's output shaft is in transmission connection with the screw to drive its rotation. The moving nut is threadedly mounted on the screw and securely connected to the first movable base 4 via a nut seat.

[0039] The second drive assembly 6 is a pulley transmission device, including a motor, a large pulley, a small pulley, a transmission belt, and a screw drive shaft. The motor is fixedly mounted on the first movable seat 4, the small pulley is coaxially fixedly sleeved on the output shaft of the motor, and the screw drive shaft is rotatably mounted on the first movable seat 4. The length direction of the screw drive shaft is in the same direction as the length direction of the second guide rail pair 5. The large pulley is coaxially fixedly sleeved on the screw drive shaft, and the transmission belt connects the large pulley and the small pulley. A nut is also threadedly sleeved on the screw drive shaft, and the nut is fixedly connected to the claw mechanism 7 via a nut seat. When the motor starts, it drives the small pulley to rotate. The small pulley drives the large pulley to rotate via the transmission belt, thereby driving the screw drive shaft to rotate, and then causing the nut seat to reciprocate along the length direction of the screw drive shaft, that is, realizing the reciprocating motion of the claw mechanism 7 along the length direction of the screw drive shaft.

[0040] The knife claw mechanism 7 further includes a movable base 10 and a bracket 11. The movable base 10 is slidably mounted above the second guide rail pair 5. The movable base 10 is securely connected to the second drive assembly 6. The second drive assembly 6 drives the movable base 10 to reciprocate linearly along the length of the second guide rail pair 5. The bracket 11 is securely mounted above the movable base 10. Both the rotating device 9 and the telescopic device 8 are mounted on the bracket 11.

[0041] There is one telescopic device 8 on each side of the rotating device 9 , and any telescopic device 8 is coupled to the knife claw 13 at the corresponding position.

[0042] Furthermore, the rotating mechanism 9 includes a reduction motor, whose output shaft extends horizontally toward one side of the bracket 11. A telescopic mechanism 8 is provided on either side of the reduction motor output shaft within the horizontal plane. A blade claw 13 is fixedly mounted on the rotating end face of the reduction motor and is horizontal when coupled to the telescopic mechanism 8. The blade claw 13 extends obliquely from its connection with the rotating mechanism 9, away from the rotating mechanism 9. The telescopic rod of the telescopic mechanism 8 and the blade claw 13 are located in the same plane.

[0043] The blade claw 13 of the present application is a conventional clamping claw structure. Normally, the blade claw 13 is in a clamped state and has a certain degree of locking force. When the telescopic rod of the telescopic device 8 is extended into the corresponding position of the blade claw 13, the blade claw 13 opens. When the telescopic device 8 is released from the corresponding position of the blade claw 13, the blade claw 13 is clamped.

[0044] Preferably, a proximity switch is provided on the first movable base 4 and a sensor block is provided on the knife claw mechanism 7. The proximity switch and the sensor block can be used to control the first movable base 4 and the knife claw mechanism 7 to move into place, thereby preventing the knife claw mechanism 7 from moving beyond its travel range and causing interference and collision.

[0045] This specific embodiment also proposes a multi-axis linkage tool changing method, which uses the multi-axis linkage tool changing device. The tool changing method includes the following steps:

[0046] S1, moving the knife claw mechanism 7 to a specified position through the first drive assembly 2 and the second drive assembly 6;

[0047] At the same time, the telescopic device 8 controls one of its claws 13 to first open and then close to clamp the tool in the cutter head of the machine tool.

[0048] S2, moving the claw mechanism 7 to the spindle end of the machine tool through the first drive assembly 2 and the second drive assembly 6;

[0049] At the same time, the telescopic device 8 controls the other claw 13 to first open and then close to clamp the tool on the machine tool spindle.

[0050] S3. Drive the claw mechanism 7 to move through the first drive assembly 2 and the second drive assembly 6, and drive the two claws 13 to rotate 180 degrees through the rotating device 9 to remove the tool on the machine tool spindle, and send the tool on the other claw 13 to the machine tool spindle.

[0051] S4. Drive the knife claw mechanism 7 to a designated position through the first drive assembly 2 and the second drive assembly 6, and control the knife claw 13 to open through the telescopic device 8 to put the tool back into the machine tool cutter head.

[0052] In the description of this application, it should be understood that the terms "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on this application.

[0053] The above describes specific embodiments of the present invention. It should be understood that the present invention is not limited to the specific embodiments described above, and those skilled in the art may make various changes or modifications within the scope of the claims, which do not affect the essence of the present invention. The embodiments of this application and the features in the embodiments may be combined with each other in any manner unless there is a conflict.

Claims

1. A multi-axis linkage tool changing device, characterized in that: It comprises a fixed base (1), a first guide rail pair (3), a first movable base (4), a second guide rail pair (5), and a knife claw mechanism (7); The first guide rail pair (3) is arranged on the fixed base (1), the first movable seat (4) is mounted on the first guide rail pair (3), and the fixed base (1) is provided with a first driving component (2) for driving the first movable seat (4) to perform linear reciprocating motion; The second guide rail pair (5) is arranged on the first movable seat (4), the knife claw mechanism (7) is installed on the second guide rail pair (5), and the first movable seat (4) is provided with a second driving component (6) for driving the knife claw mechanism (7) to perform linear reciprocating motion; The knife claw mechanism (7) comprises a telescopic device (8), a rotating device (9) and a knife claw (13), wherein the telescopic device (8) controls the knife claw (13) to open or clamp, and the rotating device (9) drives the knife claw (13) to rotate; The second guide rail pair (5) is arranged directly above the first guide rail pair (3); The telescopic device (8) is provided on both sides of the rotating device (9), and each of the telescopic devices (8) is coupled to a knife claw (13) at a corresponding position; The knife claw (13) is in a horizontal state when coupled with the telescopic device (8); The knife claw (13) extends obliquely from the connection point with the rotating device (9) toward a side away from the rotating device (9); The telescopic rod of the telescopic device (8) and the knife claw (13) are located in the same plane.

2. The multi-axis linkage tool changing device according to claim 1, characterized in that: The first guide rail pair (3) is a long guide rail, and the second guide rail pair (5) is a short guide rail.

3. The multi-axis linkage tool changing device according to claim 1, characterized in that: The movement direction of the first movable seat (4) and the movement direction of the knife claw mechanism (7) are perpendicular to each other on a horizontal plane.

4. The multi-axis linkage tool changing device according to claim 1, characterized in that: A proximity switch is provided on the first movable seat (4).

5. The multi-axis linkage tool changing device according to claim 1, characterized in that: The knife claw mechanism (7) is provided with a sensing block.

6. The multi-axis linkage tool changing device according to claim 1, characterized in that: Both the first drive assembly (2) and the second drive assembly (6) include a ball screw nut pair or a pulley transmission device.

7. A multi-axis linkage tool changing method, characterized in that: Using the multi-axis linkage tool changing device according to any one of claims 1 to 6, the tool changing method includes the following steps: S1, moving the knife claw mechanism (7) to a specified position through the first drive assembly (2) and the second drive assembly (6); at the same time, controlling one knife claw (13) to first open and then close to clamp the tool in the machine tool cutter head through the telescopic device (8); S2, moving the knife claw mechanism (7) to the end of the machine tool spindle through the first drive assembly (2) and the second drive assembly (6); at the same time, controlling the other knife claw (13) thereof to first open and then close to clamp the tool on the machine tool spindle through the telescopic device (8); S3, driving the knife claw mechanism (7) to move through the first drive assembly (2) and the second drive assembly (6), driving the two knife claws (13) to rotate 180 degrees through the rotating device (9), removing the tool on the machine tool spindle, and delivering the tool on the other knife claw (13) to the machine tool spindle; S4, driving the knife claw mechanism (7) to move to a specified position through the first drive assembly (2) and the second drive assembly (6), and controlling the knife claw (13) to open through the telescopic device (8) to put the tool back into the machine tool cutter head.

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