Knife Claw to Knife Claw Tool Taking Mechanism

Abstract

The present invention is applicable to the technical field of tool magazine tool picking devices, and provides a tool claw to tool claw tool picking mechanism, which includes a main frame body. A rotary tool magazine and a tool picking mechanism are provided on the top of the main frame body. The tool picking mechanism includes: a mounting seat slidably connected to the main frame body, and a sliding driving member is fixedly provided on the main frame body; a tool clamping assembly rotatably mounted on the mounting seat, a rotation driving member is provided on the mounting seat, the tool clamping assembly includes a housing and a clamping head, a top column is arranged inside the clamping head. When the tool is first pushed into the inside of the clamping head, the top column retracts and presses the clamping head against the clamped tool. When the tool is pressed against the root of the clamping head again, the top column retracts and rotates 90°. At this time, the clamping head releases the tool. Therefore, by setting a new type of tool clamping assembly, the present invention ensures that the tool can be clamped without the need for a cylinder or an electric cylinder. At the same time, the assembly adopts a pure mechanical structure, which increases the safety and reliability of tool clamping and reduces the processing cost of the equipment.

Description

Technical Field

[0001] The present invention relates to the technical field of tool magazine tool picking devices, and particularly to a tool claw-to-tool claw tool picking mechanism. Background Art

[0002] Currently, for the tool changing technology of machine tools, in the industry, a flat tool magazine is commonly used. After a transfer tool sleeve transfers and clamps a tool from above and then transfers it to the tool arm in the tool waiting area and disengages from the tool sleeve, the tool arm then transfers the tool to the spindle end for tool changing (see the structures shown in Attachment Figure 1 and Attachment Figure 2 ). During machining, this structure requires a large number of piston-type cylinders or electric cylinders to be attached and installed for clamping the tool. Two independent cylinders need to be set up just for tool clamping to ensure the tool clamping operation. Such a tool clamping mechanism has a high cost, increasing the processing cost of the entire device. Moreover, when the air supply or power supply is cut off, the clamped tool will fall off, affecting subsequent working steps and having low reliability.

[0003] In summary, it is obvious that the prior art has inconveniences and defects in actual use, so it is necessary to be improved. Summary of the Invention

[0004] Aiming at the above defects, the purpose of the present invention is to provide a tool claw-to-tool claw tool picking mechanism, which can clamp the tool without the need for cylinders or electric cylinders by setting a new type of tool clamping component. At the same time, this component adopts a pure mechanical structure, and can always maintain the tool clamping state when the power is cut off or the air supply is cut off, increasing the safety and reliability of tool clamping and reducing the processing cost of the device.

[0005] To achieve the above purpose, the present invention provides a tool claw-to-tool claw tool picking mechanism, including a main frame body. A rotary tool magazine is provided at the top of the main frame body. A tool picking mechanism is provided on one side of the main frame body where the rotary tool magazine is located. The tool picking mechanism includes: a mounting seat slidably connected to the main frame body, and a sliding driving member fixed on the main frame body for driving the main frame body to slide; a tool clamping component rotatably installed on the mounting seat, and a rotating driving member provided on the mounting seat for driving the tool clamping component to rotate. The tool clamping component includes a housing and clamping heads rotatably connected to both ends of the housing. A top column is provided inside the clamping space formed by the clamping heads. When the tool is first pushed into the inside of the clamping head, the top column retracts and presses against the clamping head to clamp the tool. When the tool is pressed against the root of the clamping head again, the top column retracts and rotates 90°, and at this time the clamping head releases the tool.

[0006] The tool claw to tool claw tool picking mechanism according to the present invention, installation spaces for installing the clamping heads are provided at both ends of the housing, a sliding portion for the ejector pin to slide is provided inside the installation space, a sliding hole is provided inside the sliding portion, and four uniformly arranged guide grooves are provided on the inner wall of the sliding hole.

[0007] The tool claw to tool claw tool picking mechanism according to the present invention, a guiding convex column that cooperates with the guide groove is slidably provided on the outer wall of the ejector pin, a first thrust spring for extending the guiding convex column out of the ejector pin is provided at the bottom of the guiding convex column, and each time the ejector pin is forced to retract into the sliding hole, the ejector pin rotates 90°, a clamping spring for extending the ejector pin is provided between the ejector pin and the bottom of the installation space, a guiding column is provided at the bottom of the installation space, a guiding hole that slidably cooperates with the guiding column is provided at the front end of the ejector pin, and the clamping spring is sleeved outside the guiding column.

[0008] The tool claw to tool claw tool picking mechanism according to the present invention, the guide groove includes a vertical guide groove parallel to the axis of the sliding hole and an inclined groove connecting the two vertical guide grooves, a limiting protrusion for restricting the movement direction of the guiding convex column is provided at the position of the initial end of the inclined groove of the vertical guide groove, and the limiting protrusion includes an inclined surface portion, and the inclined surface portion is located on the side of the limiting protrusion away from the inclined groove.

[0009] The tool claw to tool claw tool picking mechanism according to the present invention, rotating pins are provided on both sides of the ejector pin inside the installation space, the clamping head is rotatably installed on the rotating pins, and the clamping head includes a clamping portion located outside the installation space and a force receiving portion located inside the installation space.

[0010] The tool claw to tool claw tool picking mechanism according to the present invention, force receiving heads are slidably provided on both sides of the installation space, a pressing spring for extending the force receiving head into the installation space is provided at the bottom of the force receiving head, the top of the force receiving head abuts against the force receiving portion, and under the action of the force receiving head, the clamping portions of the two clamping heads move away from each other.

[0011] The tool claw to tool claw tool picking mechanism according to the present invention, a cam is provided at one end of the ejector pin located inside the installation space, the force receiving portion of the clamping head is always in contact with the outer wall of the cam on the side away from the force receiving head, and when the ejector pin rotates, it pushes the force receiving portion to swing around the rotating pin.

[0012] The tool claw to tool claw tool picking mechanism according to the present invention, a plurality of uniformly arranged tool placement heads are included in the rotary tool magazine, the tool placement head includes two cooperating clamping blocks, and a second thrust spring is provided at one end of the two clamping blocks away from the tool.

[0013] According to the tool claw tool picking mechanism of the present invention, the clamping portion includes an arc segment and a straight segment that cooperate with the outer wall of the tool, and the straight segment is used to supply the tool with force to press the ejector pin to expand and contract.

[0014] The present invention provides a tool claw tool picking mechanism, including a main frame body. A rotary tool magazine is provided at the top of the main frame body, and the tool magazine stores and conveys tools, facilitating subsequent tool picking and placing operations. A tool picking mechanism is provided on one side of the main frame body where the rotary tool magazine is located. The driving mechanism picks and places the tools on the tool placement head inside the rotary tool magazine, realizing the automation of tool picking and placing in the tool magazine. The tool picking mechanism includes: a mounting seat slidably connected to the main frame body, and a sliding driving member fixed on the main frame body to drive the sliding of the main frame body. By driving the mounting seat to slide through the sliding driving member, it is ensured that the tool clamping assembly on the mounting seat can normally pick, place, and clamp the tool; a tool clamping assembly rotatably mounted on the mounting seat, and a rotation driving member provided on the mounting seat to drive the rotation of the tool clamping assembly. The tool clamping assembly includes a housing and clamping heads rotatably connected to both ends of the housing. After one clamping head at one end of the tool clamping assembly clamps the tool, the clamping head at the other end can rotate 180° under the action of the rotation driving member and then clamp the tool, realizing the operation of clamping multiple tools simultaneously. An ejector pin is provided inside the clamping space formed by the clamping heads. When the tool is first pushed into the clamping head, the ejector pin retracts and presses the clamping head to clamp the tool. When the tool is pressed to the root of the clamping head again, the ejector pin retracts and rotates 90°. At this time, the clamping head releases the tool, realizing the intermittent clamping operation of the tool through the mechanical structure and optimizing the structure of the tool clamping assembly. In summary, the technical effect produced by the present invention is that by setting a new type of tool clamping assembly, it is ensured that the tool can be clamped without the need for a cylinder or an electric cylinder. At the same time, the assembly adopts a pure mechanical structure, and when the power is off or the air is cut off, it can always maintain the clamping state of the tool, increasing the safety and reliability of tool clamping and reducing the processing cost of the equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 is a three-dimensional structural schematic diagram of a prior art tool picking device;

[0016] Figure 2 is a structural schematic diagram of a traditional fixture in the prior art;

[0017] Figure 3 is a three-dimensional structural schematic diagram of the tool clamping assembly of the present invention;

[0018] Figure 4 is a sectional structural schematic diagram of the tool clamping assembly of the present invention;

[0019] Figure 5 isFigure 4 Schematic diagram of the cross-sectional structure along A-A;

[0020] Figure 6 Schematic diagram of the internal structure of the housing of the tool clamping assembly of the present invention;

[0021] Figure 7 is Figure 6 Schematic diagram of the enlarged structure of part B in;

[0022] Figure 8 Schematic diagram of the ejector pin structure of the present invention;

[0023] Figure 9 Schematic diagram of the three-dimensional structure of the clamping head of the present invention;

[0024] Figure 10 Schematic diagram of the three-dimensional structure of the tool of the present invention;

[0025] Figure 11 Schematic diagram of the mating structure of the tool clamping assembly and the tool placement head of the present invention;

[0026] In the figure, 1 - main frame body, 2 - rotary tool magazine, 3 - sliding drive member, 4 - traditional fixture, 41 - fixture cylinder, 42 - fixture head, 43 - positioning block, 44 - fixture housing, 5 - tool, 6 - mounting seat, 7 - tool placement head, 71 - clamping block, 72 - second thrust spring, 8 - tool clamping assembly, 81 - housing, 811 - sliding hole, 812 - guide groove, 813 - guide post, 814 - limit projection, 815 - inclined groove, 816 - vertical guide groove, 82 - mounting hole, 83 - clamping head, 831 - arc section, 832 - straight section, 833 - pin hole, 834 - force-bearing part, 84 - ejector pin, 841 - guide hole, 842 - cam, 85 - compression spring, 86 - force-bearing head, 87 - guide projection, 88 - first thrust spring, 89 - clamping spring. Detailed implementation manners

[0027] In order to make the objectives, technical solutions and advantages of the present invention clearer and more understandable, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0028] See Figure 1 , Figure 3 , Figure 4 and Figure 5, the present invention provides a tool claw-to-tool claw tool taking mechanism. The tool claw-to-tool claw tool taking mechanism includes a main frame body 1. A rotary tool magazine 2 is provided at the top of the main frame body 1. The rotary tool magazine 2 stores and conveys tools 5, facilitating the subsequent taking and placing operations of the tools 5. A tool taking mechanism is provided on one side of the main frame body 1 relative to the rotary tool magazine 2. The tool taking mechanism performs taking and placing operations on the tools 5 on the tool placement head 7 inside the rotary tool magazine 2, realizing the automation of tool taking and placing in the tool magazine. The tool taking mechanism includes: a mounting seat 6 slidably connected to the main frame body 1. A sliding driving member 3 (which can be an electric cylinder or a pneumatic cylinder) for driving the sliding of the main frame body 1 is fixedly provided on the main frame body 1. The mounting seat 6 is driven to slide by the sliding driving member 3, ensuring that the tool clamping assembly 8 on the mounting seat 6 can normally take, place, and clamp the tool 5. A tool clamping assembly 8 rotatably mounted on the mounting seat 6. A rotation driving member (which can be a rotation motor or a pneumatic cylinder) for driving the rotation of the tool clamping assembly 8 is provided on the mounting seat 6. The output shaft of the rotation driving member is fixedly fitted with the mounting hole 82 on the housing. The tool clamping assembly 8 includes a housing 81 and clamping heads 83 rotatably connected to both ends of the housing 81. After the clamping head 83 at one end of the tool clamping assembly 8 clamps the tool 5, the clamping head 83 at the other end can rotate 180° under the action of the rotation driving member and then clamp the tool 5, realizing the operation of clamping multiple tools 5. A top column 84 is provided inside the clamping space formed by the clamping heads 83. When the tool 5 is first pushed into the inside of the clamping head 83, the top column 84 retracts and presses against the clamping head 83 to clamp the tool 5. When the tool 5 is pressed against the root of the clamping head 83 again, the top column retracts and rotates 90°. At this time, the clamping head 83 releases the tool 5, realizing the intermittent clamping operation of the tool 5 through a mechanical structure and optimizing the structure of the tool clamping assembly 8.

[0029] See Figure 1 , Figure 3 , Figure 4 , Figure 5 , Figure 6 , Figure 7 and Figure 8, Preferably, both ends of the housing 81 of the present invention are provided with installation spaces for installing the clamping heads 83. The interior of the installation spaces is provided with a sliding portion for the sliding of the ejector pins 84. A sliding hole 811 is provided inside the sliding portion to ensure that the ejector pins 84 can be contracted by the force of the tool 5. At the same time, the ejector pins 84 cooperate with the slots on the tool 5 to position the tool 5 and prevent the tool 5 from shifting. Four uniformly arranged guide grooves 812 are provided on the inner wall of the sliding hole 811 to ensure that the four guide grooves 812 can guide the ejector pins 84, so that the ejector pins 84 rotate 90° when they are extended and retracted once. A guiding convex column 87 that cooperates with the guide grooves 812 is slidably provided on the outer wall of the ejector pin 84. A first thrust spring 88 that extends the guiding convex column 87 out of the ejector pin 84 is provided at the bottom of the guiding convex column 87. The guiding convex column 87 and the guide grooves 812 cooperate. Each time the ejector pin 84 is forced to retract into the interior of the sliding hole 811, the ejector pin 84 rotates 90°. It is ensured that when the tool 5 is forced to enter the clamping area inside the clamping head 83 for the first time, the ejector pin 84 rotates under force and acts on the clamping head 83, so that the clamping head 83 clamps the tool 5. At the same time, when the ejector pin 84 is compressed and extended for the second time by force, the clamping head 83 is loosened and does not clamp the tool 5, and this is repeated alternately. A clamping spring 89 that extends the ejector pin 84 is provided between the ejector pin 84 and the bottom of the installation space. A guide post 813 is provided at the bottom of the installation space. A guide hole 841 that slidably cooperates with the guide post 813 is provided at the front end of the ejector pin 84. The clamping spring 89 is sleeved outside the guide post 813. Through the cooperation of the guide post 813 and the guide hole 841, the deviation of the ejector pin 84 is prevented, and at the same time, the clamping spring 89 is provided to ensure that the ejector pin 84 can extend and retract normally.

[0030] In addition, the guide grooves 812 of the present invention include vertical guide grooves 816 parallel to the axis of the sliding hole 811 and inclined grooves 815 connecting the two vertical guide grooves 816. Through the inclined grooves 815, when the ejector pin 84 retracts into the interior of the sliding hole 811, the guiding convex column 87 cooperates with the inclined grooves 815 to make the ejector pin 84 rotate 90°. Then, when the ejector pin 84 is not under force, the guiding convex column 87 on the ejector pin 84 slides along the corresponding vertical guide groove 816 to guide and position the rotation of the ejector pin 84. A limit protrusion 814 that restricts the movement direction of the guiding convex column 87 is provided at the position of the initial end of the vertical guide groove 816 located at the inclined groove 815. The limit protrusion 814 includes an inclined surface, and the inclined surface is located on the side of the limit protrusion 814 away from the inclined groove 815. It is ensured that when the ejector pin 84 extends, the guiding convex column 87 always slides along the vertical guide groove 816. When the ejector pin 84 retracts, the guiding convex column 87 can slide along the inclined groove 815 and rotate the ejector pin 84 by 90°, realizing the guiding and positioning operation of the ejector pin 84.

[0031] SeeFigure 8 , Figure 9 and Figure 10 , further, on both sides of the interior of the installation space of the present invention, there are rotating pins located on both sides of the top column 84. The clamping head 83 is rotatably mounted on the rotating pins through pin holes 833 to ensure the normal rotation process of the clamping head 83. The clamping head 83 includes a clamping portion located outside the installation space and a force-receiving portion 834 located inside the installation space. On both sides of the installation space, there are sliding force-receiving heads 86. At the bottom of the force-receiving head 86, there is a pressing spring 85 that extends the force-receiving head 86 towards the interior of the installation space. The top of the force-receiving head 86 abuts against the force-receiving portion 834. Under the action of the force-receiving head 86, the clamping portions of the two clamping heads 83 move away from each other. At one end of the top column 84 located inside the installation space, there is a cam 842. The side of the force-receiving portion 834 of the clamping head 83 away from the force-receiving head 86 always abuts against the outer wall of the cam 842. When the top column 84 rotates, it pushes the force-receiving portion 834 to swing around the rotating pin, thereby controlling the clamping and loosening operations of the tool 5 by the clamping portion at the top.

[0032] Preferably, at one end of the top column 84 located inside the installation space of the present invention, there is a cam 842. The side of the force-receiving portion 834 of the clamping head 83 away from the force-receiving head 86 always abuts against the outer wall of the cam 842. When the top column 84 rotates, it pushes the force-receiving portion 834 to swing around the rotating pin. By setting the cam 842 structure, when the top column 84 expands and contracts and rotates, every time the top column 84 rotates 90°, the cam 842 can act on the force-receiving portion 834 on the clamping head 83, alternately clamping and loosening the tool 5.

[0033] More preferably, the clamping portion of the present invention includes an arc segment 831 that cooperates with the outer wall of the tool 5 and a straight segment 832. The straight segment 832 is used to provide a space for the tool 5 to apply force to press the top column 84 to expand and contract, providing a certain moving space for the tool 5 to prevent the tool 5 from being stuck and unable to push the top column 84 to expand and contract.

[0034] In the comparative example of the present invention, in combination with Figure 1 and Figure 2 , the traditional fixture 4 uses a plurality of fixture cylinders 41 to control each fixture cylinder 41 to control a fixture head 42 to ensure the normal clamping and loosening operations of the fixture head 42. Inside the traditional fixture 4, there is also a positioning block 43 that cooperates with the positioning groove on the tool 5 to clamp and position the tool. The setting of the traditional fixture 4 greatly increases the processing cost of the fixture. At the same time, it is necessary to increase the volume of the fixture housing 44 to ensure that the fixture cylinder 41 can be normally installed on the fixture housing 44, increasing the manufacturing cost of the traditional fixture 4.

[0035] In this embodiment, in combination with Figures 1 to 11 , when in use, the sliding driving member 3 (which can be a cylinder or an electric cylinder) provided on the main frame 1 drives the mounting seat 6 to slide. By the sliding of the mounting seat 6, the clamping tool assembly 8 is matched with the corresponding tool placement head 7 on the rotary tool magazine 2. Each of the several tool placement heads 7 on the rotary tool magazine 2 includes two cooperating clamping blocks 71. A positioning block 43 is also provided between the two clamping blocks 71 to position the tool 5. At one end of the two clamping blocks 71 away from the tool 5, a second thrust spring 72 is provided. When the corresponding clamping tool assembly 8 is aligned with the tool placement head 7, the tool 5 on the tool placement head 7 at this time enters the inside of the clamping area of the clamping tool assembly 8. The tool 5 pushes the ejector pin 84 to slide. At this time, the ejector pin 84 rotates 90° under the action of the inclined groove 815. Then, the protruding part of the cam 842 on the ejector pin 84 acts on the force-receiving part 834 of the clamping head 83. The force-receiving part 834 of the clamping head 83 is forced to swing outwards. At the same time, the clamping part of the clamping head 83 clamps the tool 5. At this time, the ejector pin 84 is kept in the current state under the action of the vertical guide groove 816 and pushes the tool 5 to cooperate with the clamping part to clamp the tool 5. At this time, the mounting seat 6 slides to directly take out the tool 5 from the tool placement head 7. Since the clamping force on the tool 5 by the tool placement head 7 is the elastic force of the second thrust spring 72, when taking out the tool 5 through the clamping tool assembly 8, only the elastic force of the spring needs to be overcome. When the tool 5 needs to be placed at a predetermined position, by the sliding of the mounting seat 6, the tool 5 is pushed into the predetermined position again. At this time, the tool 5 forces the ejector pin 84 to retract again. At this time, the ejector pin 84 rotates 90° again. The small-diameter position of the cam 842 abuts against the force-receiving part 834 of the clamping head 83, and the clamping part of the clamping head 83 releases the tool 5, completing the operation of taking and placing the tool 5. At the same time, this structure no longer needs to use driving members such as cylinders or electric cylinders, greatly reducing the manufacturing cost. At the same time, when the equipment is powered off, the clamping head 83 can always maintain the current state, increasing the reliability of the equipment.

[0036] In summary, the present invention provides a tool claw-to-tool claw tool taking mechanism, including a main frame body. A rotary tool magazine is provided at the top of the main frame body, which stores and conveys tools through the rotary tool magazine, facilitating the subsequent taking and placing operations of the tools. A tool taking mechanism is provided on one side of the rotary tool magazine of the main frame body, and a driving mechanism takes and places the tools on the tool placement head inside the rotary tool magazine, realizing the automation of tool taking and placing in the tool magazine. The tool taking mechanism includes: a mounting seat slidably connected to the main frame body, and a sliding driving member for driving the sliding of the main frame body is fixedly provided on the main frame body. The mounting seat is driven to slide through the sliding driving member to ensure that the tool clamping component on the mounting seat can normally take, place, and clamp the tool; a tool clamping component rotatably mounted on the mounting seat, and a rotation driving member for driving the rotation of the tool clamping component is provided on the mounting seat. The tool clamping component includes a housing and clamping heads rotatably connected to both ends of the housing, ensuring that after the clamping head at one end of the tool clamping component clamps the tool, the clamping head at the other end can rotate 180° under the action of the rotation driving member and then clamp the tool, realizing the operation of clamping multiple tools. A top column is provided inside the clamping space formed by the clamping heads. When the tool is first pushed into the inside of the clamping head, the top column retracts and presses the clamping head to clamp the tool. When the tool is pressed to the root of the clamping head again, the top column retracts and rotates 90°. At this time, the clamping head releases the tool, realizing the intermittent clamping operation of the tool through a mechanical structure and optimizing the structure of the tool clamping component. In summary, the technical effect produced by the present invention is that by setting a new type of tool clamping component, it is ensured that the tool can be clamped without a cylinder or an electric cylinder. At the same time, this component adopts a pure mechanical structure, and can always maintain the clamping state of the tool when power is off or air is cut off, increasing the safety and reliability of tool clamping and reducing the processing cost of the equipment.

[0037] Of course, the present invention can also have many other embodiments. Without departing from the spirit and essence of the present invention, those skilled in the art can make various corresponding changes and deformations according to the present invention. However, these corresponding changes and deformations should all fall within the protection scope of the appended claims of the present invention.

[0038] In the description of the present invention, it should be understood that the orientation or positional relationship indicated by the terms "center", "longitudinal", "transverse", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation on the present invention. In addition, the terms "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the quantity of the indicated technical features. Thus, features defined with "first", "second", etc. may explicitly or implicitly include one or more of such features. In the description of the present invention, unless otherwise specified, the meaning of "a plurality" is two or more.

Claims

1. A knife claw to knife claw tool taking mechanism, characterized in that It includes a main frame body. A rotary tool magazine is provided at the top of the main frame body. A tool picking mechanism is provided on one side of the main frame body where the rotary tool magazine is located. The tool picking mechanism includes: A mounting seat slidably connected to the main frame body, and a sliding driving member for driving the sliding of the mounting seat is fixedly provided on the main frame body; A tool clamping assembly rotatably mounted on the mounting seat. A rotating driving member for driving the rotation of the tool clamping assembly is provided on the mounting seat. The tool clamping assembly includes a housing and clamping heads rotatably connected to both ends of the housing. A top column is provided inside the clamping space formed by the clamping heads. When the tool is first pushed into the inside of the clamping head, the top column retracts and presses the clamping head to clamp the tool. When the tool is pressed to the root of the clamping head again, the top column retracts and rotates 90°. At this time, the clamping head releases the tool; Both ends of the housing are provided with mounting spaces for mounting the clamping heads. A sliding portion for the top column to slide is provided inside the mounting space. A sliding hole is provided inside the sliding portion. Four uniformly arranged guide grooves are provided on the inner wall of the sliding hole. A guiding convex column cooperating with the guide grooves is slidably provided on the outer wall of the top column. A first thrust spring for protruding the guiding convex column out of the top column is provided at the bottom of the guiding convex column. Each time the top column is forced to retract into the inside of the sliding hole, the top column rotates 90°. A clamping spring for protruding the top column is provided between the bottom of the top column and the bottom of the mounting space. A guiding column is provided at the bottom of the mounting space. A guiding hole slidably cooperating with the guiding column is provided at the front end of the top column. The clamping spring is sleeved on the outside of the guiding column.

2. The tool claw-to-tool claw tool picking mechanism according to claim 1, wherein, The guide groove includes a vertical guide groove parallel to the axis of the sliding hole and an inclined groove connecting the two vertical guide grooves. A limiting protrusion for restricting the movement direction of the guiding convex column is provided at the position of the initial end of the inclined groove of the vertical guide groove. The limiting protrusion includes an inclined surface portion, and the inclined surface portion is located on the side of the limiting protrusion away from the inclined groove.

3. The knife claw-to-knife claw tool-taking mechanism according to claim 1, wherein Rotating pins are provided on both sides of the top column inside the mounting space. The clamping head is rotatably mounted on the rotating pins. The clamping head includes a clamping portion located outside the mounting space and a force receiving portion located inside the mounting space.

4. The knife claw-to-knife claw tool taking mechanism according to claim 3, wherein, Force receiving heads are slidably provided on both sides of the mounting space. A pressing spring for protruding the force receiving heads into the inside of the mounting space is provided at the bottom of the force receiving heads. The top of the force receiving heads abuts against the force receiving portion. Under the action of the force receiving heads, the clamping portions of the two clamping heads are separated from each other.

5. The knife claw to knife claw tool taking mechanism according to claim 4, characterized in that A cam is provided at one end of the top column inside the mounting space. The force receiving portion of the clamping head is always in contact with the outer wall of the cam on the side away from the force receiving head. When the top column rotates, it pushes the force receiving portion to swing around the rotating pin.

6. The tool claw to tool claw tool taking mechanism according to any one of claims 1 to 5, characterized in that, The rotary tool magazine includes a number of uniformly arranged tool placement heads. The tool placement head includes two cooperating clamping blocks. Second thrust springs are provided at the ends of the two clamping blocks away from the tool.

7. The tool claw to tool claw tool taking mechanism according to any one of claims 3 to 5, characterized in that, The clamping portion includes an arc segment cooperating with the outer wall of the tool and a straight segment for applying force to the tool to press the top column to expand and contract.

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