Tool changing robot for processing machine

Abstract

A tool-changing robot for a processing machine includes a first motor, a transmission structure, and a rotating base mounted on a machine body, wherein the transmission structure includes a first rotating shaft, a second rotating shaft, a first rocker arm, a second rocker arm, and a linkage. The first rotating shaft and the second rotating shaft are arranged parallel to each other, the first rocker arm is connected to the first rotating shaft, and the second rocker arm is connected to the second rotating shaft. The linkage is pivotally connected to the first rocker arm and the second rocker arm at both ends, respectively, and one end of the second rotating shaft is fixedly connected to the rotating base. Thus, when the first motor drives the first rotating shaft to rotate, the rotating base is driven to flip. Therefore, the combination of the first motor and the transmission structure can improve the existing problems of hydraulic oil leakage and the environmentally unfriendly subsequent treatment of hydraulic oil when using a hydraulic cylinder as the power source.

Description

Technical Field

[0001] The present invention relates to a machining center, in particular to a tool changing manipulator for the machining center. Background Art

[0002] Conventional machining centers equipped with tool magazines utilize an automatic tool changer to rapidly replace machining tools. This automatic tool changer includes a tool changer arm, which consists of a rotary shaft connected to a tool arm at one end. The rotary shaft is driven to rotate the tool arm, enabling tool changes. However, in practice, some machine models require the tool changer arm to be maneuverable between two fixed points to smoothly exchange tools between the machining center's spindle and the tool magazine.

[0003] In a mechanism where a tool changer arm must reciprocate between two fixed points at angles of 0 and 90 degrees, the tool changer arm is mounted on a rotating base capable of rotating within a 90-degree range. To smoothly and steadily propel the rotating base, a conventional method employs a hydraulic cylinder capable of generating high output power as a power source. However, hydraulic cylinders present issues of hydraulic oil leakage and subsequent environmentally unfriendly disposal, and are also subject to limitations on hydraulic oil temperatures. Therefore, while the existing method of using hydraulic pressure to propel the rotating base offers potential for improvement, the existing power source for the rotating shaft of the tool changer arm, which also employs hydraulic pressure, presents a further area for review. Summary of the Invention

[0004] In view of this, an object of the present invention is to provide a tool changing robot for a processing machine, which uses electric power control as the main power to drive the tool changing robot to operate.

[0005] In order to achieve the above-mentioned objectives, the present invention provides a tool-changing robot for a processing machine, comprising a machine body, a transmission structure, a first motor, and a rotating base. The transmission structure comprises a first rotating shaft, a second rotating shaft, a first rocker arm, a second rocker arm, and a linkage. The first rotating shaft and the second rotating shaft are rotatably disposed through the machine body, and a portion of the first rotating shaft and the second rotating shaft are located outside the machine body. The first rocker arm is fixedly connected to the portion of the first rotating shaft located outside the machine body, and the second rocker arm is fixedly connected to the portion of the second rotating shaft located outside the machine body. The linkage has two ends, each pivotally connected to the first rocker arm and the second rocker arm. The first motor is used to drive the first rotating shaft to rotate. The rotating base is fixedly connected to the second rotating shaft and is capable of reciprocating between a first position and a second position.

[0006] The effect of the present invention is that the first motor is matched with the transmission structure, which can achieve the effect of high output power of the hydraulic cylinder, thereby improving the problems of hydraulic oil leakage and environmentally unfriendly subsequent treatment of hydraulic oil in the existing hydraulic cylinder. BRIEF DESCRIPTION OF THE DRAWINGS

[0007] Figure 1 A three-dimensional diagram of a tool changing robot for a processing machine according to a preferred embodiment of the present invention;

[0008] Figure 2 for Figure 1 A front view of the tool changing robot of the processing machine shown;

[0009] Figure 3 for Figure 1 A rear view of the tool changing robot of the processing machine shown;

[0010] Figure 4 for Figure 1 An exploded view of the tool changing robot of the processing machine shown;

[0011] Figure 5 for Figure 4 Exploded views of some of its components;

[0012] Figure 6 It is a front view, showing the action status of the tool changing robot of the processing machine;

[0013] Figure 7 This is a three-dimensional diagram of some components of the tool changing robot of the processing machine;

[0014] Figure 8 for Figure 7 Right side view;

[0015] Figure 9 Similar Figure 8 , revealing the flipping state of the rotary seat in the tool changing robot of the processing machine;

[0016] Figure 10 for Figure 4 Exploded views of some of its components;

[0017] Figure 11 for Figure 10 Exploded views of some of its components;

[0018] Figure 12 A three-dimensional diagram of some components of a tool-changing robot for a processing machine; and

[0019] Figure 13 for Figure 12 Assembled rear and front view of the components shown.

[0020]

Explanation of symbols

[0021] 100: Tool changing robot for processing machine

[0022] 10: Body

[0023] 12:Front side panel

[0024] 20: Tool changing arm

[0025] 22: Rotation axis

[0026] 24: Blade Arm

[0027] 30: Rotating seat

[0028] 32: First side

[0029] 34: Second side

[0030] 40: Transmission structure

[0031] 41: First axis

[0032] 42: Second axis

[0033] 43:First rocker arm

[0034] 44: Second rocker arm

[0035] 45: Linkage

[0036] 451: first rod

[0037] 451a: T-type head

[0038] 452: Second rod

[0039] 452a: T-type head

[0040] 453: First bearing seat

[0041] 454: Second bearing seat

[0042] 455: Adjustment rod sleeve

[0043] 456: gland

[0044] 457: Disc-shaped shrapnel

[0045] 458: Disc-shaped shrapnel

[0046] 46: Bearing seat

[0047] 47: Bolt

[0048] 50: First Motor

[0049] 52: Reducer

[0050] 60: First cam divider

[0051] 61: Chassis

[0052] 61a: Machine plate

[0053] 62: First input shaft

[0054] 63: Bolt

[0055] 64: First output shaft

[0056] 66: First indexing structure

[0057] 661: First index cam

[0058] 661a: Cam block

[0059] 662: First indexing plate

[0060] 663: First indexing piece

[0061] 70: Limiting structure

[0062] 72: First gear lever

[0063] 721: First Head

[0064] 74: Second gear lever

[0065] 741: Second Head

[0066] 80: Second cam divider

[0067] 81: Bolt

[0068] 82: Chassis

[0069] 83: Coupling sleeve

[0070] 84: Second input shaft

[0071] 86: Second output shaft

[0072] 88: Second indexing structure

[0073] 881: Second indexing cam

[0074] 881a: Cam block

[0075] 882: Second indexing plate

[0076] 883: Second indexing piece

[0077] 90: Second motor

[0078] 92: Reducer

[0079] L1: First distance

[0080] L2: Second distance

[0081] P1: First position

[0082] P2: Second position DETAILED DESCRIPTION

[0083] In order to explain the present invention more clearly, a preferred embodiment is given and described in detail with reference to the accompanying drawings. Figures 1 to 3 As shown, a tool changer 100 for a processing machine according to a preferred embodiment of the present invention is used to exchange a tool on the spindle of the processing machine with a tool in a tool magazine. The tool changer 100 includes a body 10 and a tool changer arm 20. The body 10 is fixed and the tool changer arm 20 is connected to the body 10 through a rotating base 30 so as to be controlled to move back and forth between two fixed points. The selection of the fixed points is set according to actual working requirements. In this embodiment, the tool changer arm 20 is controlled at an angle of 0 degrees ( Figure 2 Reference) and 90 degrees ( Figure 6 Reference) reciprocates and flips between two fixed points; in addition, the tool changing arm 20 includes a rotating shaft 22 and a knife arm 24, the rotating shaft 22 can be driven to rotate, the knife arm 24 is connected to one end of the rotating shaft 22 and has two opposite ends for clamping a knife rod (not shown), the knife arm 24 is driven by the rotating shaft 22 to perform a 180-degree rotation switch.

[0084] Please cooperate Figures 4 to 11 As shown, the tool changing robot 100 of this embodiment further includes a transmission structure 40 , a first motor 50 , a first cam divider 60 , a limiting structure 70 , a second cam divider 80 and a second motor 90 .

[0085] The transmission structure 40 includes a first rotating shaft 41, a second rotating shaft 42, a first rocker arm 43, a second rocker arm 44, and a linkage 45. The first rotating shaft 41 and the second rotating shaft 42 are rotatably inserted through holes in the front panel 12 of the housing 10. Preferably, bearing blocks 46 are mounted in these holes. The rotating shafts pass through the bearing blocks 46, which provide stable support and enable smooth rotation. Furthermore, one end of the second rotating shaft 42 is secured to the rotating base 30 via a plurality of bolts 47, and the second rotating shaft 42 is capable of driving the rotating base 30 to rotate. The first rocker arm 43 and the second rocker arm 44 are an eccentric structure, wherein the first rocker arm 43 is fixedly connected to the portion of the first rotating shaft 41 located outside the body 10, and the second rocker arm 44 is fixedly connected to the portion of the second rotating shaft 42 located outside the body 10; the connecting member 45 has opposite ends and is respectively pivotally connected to the first rocker arm 43 and the second rocker arm 44 and together constitutes a structure that can be linked.

[0086] The first rotating shaft 41 and the second rotating shaft 42 are arranged in parallel. Figure 2 and Figure 4As shown, the first rocker arm 43 rotates around the axis of the first rotating shaft 41, and the second rocker arm 44 rotates around the axis of the second rotating shaft 42. The distance from the pivot center of the first rocker arm 43 and the connecting member 45 to the rotation center of the first rocker arm 43 is defined as a first distance L1, and the distance from the pivot center of the second rocker arm 44 and the connecting member 45 to the rotation center of the second rocker arm 44 is defined as a second distance L2, wherein the first distance L1 is smaller than the second distance L2.

[0087] The first motor 50 is used to drive the first rotating shaft 41 to rotate. In this embodiment, a reducer 52 is connected to the front end of the first motor 50. The first cam divider 60 is disposed between the reducer 52 and the transmission structure 40. Figure 5 As shown, the first cam divider 60 includes a first input shaft 62, a first output shaft 64 and a first indexing structure 66 arranged in a chassis 61; wherein, the first input shaft 62 is arranged parallel to the first output shaft 64 and one end passes through a machine plate 61a of the chassis 61, a portion of the first input shaft 62 extends into the reducer 52, and the first motor 50 drives the first input shaft 62 to rotate through the reducer 52; the first output shaft 64 is coaxially connected to the first rotating shaft 41 through a plurality of bolts 63, but in practice it is not ruled out that the first output shaft 64 and the first rotating shaft 41 can be integrally formed; the first indexing structure 66 is used to link the first input shaft 62 and the first output shaft 64. The first indexing structure 66 of this embodiment includes a first A shift cam 661, a first dividing plate 662 and a plurality of first dividing parts 663, wherein the first input shaft 62 is passed through the first shift cam 661 in a manner that can drive the first shift cam 661 to rotate, and the first dividing plate 662 is sleeved on the portion where the first output shaft 64 and the first rotating shaft 41 are connected in a manner that can link the first output shaft 64 or the first rotating shaft 41. The manner in which the first input shaft 62 and the first shift cam 661 are linked, and the manner in which the first dividing plate 662 and the first output shaft 64 or the first dividing plate 662 and the first rotating shaft 41 are linked in this embodiment by adopting a key and keyway matching mode to achieve the purpose of linkage; as for the first dividing parts 663, they are arranged at intervals on the first dividing plate 662.

[0088] In the above, when the first motor 50 drives the first input shaft 62 to drive the first indexing cam 661 to rotate, the first indexing cam 661 pushes the first dividing member 663 to make the first dividing plate 662 drive the first rotating shaft 41 to rotate. Based on the fact that the two ends of the connecting member 45 pivotally connect the first rotating shaft 41 and the second rotating shaft 42, and the relationship that the pivot center of the first rocker arm 43 and the connecting member 45 to the rotation center of the first rocker arm 43 (i.e., the first distance L1) is smaller than the pivot center of the second rocker arm 44 and the connecting member 45 to the rotation center of the second rocker arm 44 (i.e., the second distance L2), the first rocker arm 43 driven by the first rotating shaft 41 can swing at a large angle to drive the second rocker arm 44 to swing at a smaller angle, and achieve the purpose of the first rotating shaft 41 synchronously driving the second rotating shaft 42 to rotate. In this embodiment, the first rotating shaft 41 drives the first rocker arm 43 to swing in the positive and negative directions between 0 degrees and 180 degrees (see Figure 2 and Figure 6 ), the second rocker arm 44 reciprocates between an angle of 0 and 90 degrees. However, in other embodiments, it is not excluded that when the first rotating shaft 41 drives the first rocker arm 43 to rotate once, the second rocker arm 44 completes a single reciprocating swing between an angle of 0 and 90 degrees through the linkage of the linkage member 45.

[0089] In addition, in order to reduce the overall volume of the first cam divider 60, the first indexing member 663 of this embodiment is respectively arranged on the front and back sides of the first indexing plate 662. The first indexing cam 661 includes two cam blocks 661a, which respectively push the first indexing member 663 arranged on the front and back sides of the first indexing plate 662 in a relay manner to allow the first indexing plate 662 to rotate smoothly. The aforementioned first indexing member 663 is a bearing with a handle, but it is not excluded that it can also be other equivalent alternative structures, such as rollers. It can be seen from this that the aforementioned first cam divider 60 is a parallel cam divider that can generate large torque. It should be noted that the input shaft and output shaft of the cam divider in other embodiments can be arranged in non-parallel positions. For example, when the input shaft has a worm gear structure, the input shaft and the output shaft are arranged perpendicularly.

[0090] like Figure 7 and Figure 8As shown, the rotating seat 30 of this embodiment is roughly rectangular and has a first side surface 32 and a second side surface 34. As can be seen from the above, the rotating seat 30 flips over along with the rotation of the second rotating shaft 42. The limiting structure 70 includes a first abutting surface capable of providing abutment for the first side surface 32, and a second abutting surface capable of providing abutment for the second side surface 34. In this embodiment, the limiting structure 70 includes a first baffle 72 and a second baffle 74 vertically connected to the body 10. The first baffle 72 has a first head 721, and the top surface of the first head 721 constitutes the first abutting surface; the second baffle 74 has a second head 741, and the top surface of the second head 741 constitutes the second abutting surface. Preferably, the first head 721 and the second head 741 are designed in a manner that can be adjusted along the axial displacement, for example, by screwing to achieve the above-mentioned purpose. Figure 8 This indicates that the first side surface 32 of the rotating base 30 abuts against the first head 721 and stays at a first position P1. Figure 9 The rotating base 30 that is driven to flip over has its second side surface 34 abutted against the second head 741 and stays at a second position P2 .

[0091] Please cooperate again Figure 10 and Figure 11 As shown, the second cam divider 80 is disposed between the rotating base 30 and the tool change arm 20. The second motor 90 is disposed below the second cam divider 80 through a speed reducer 92 connected to its front end. Therefore, when the rotating base 30 rotates, the tool change arm 20, the second cam divider 80, and the second motor 90 also change direction as the rotating base 30 rotates. The second cam divider 80 includes a housing 82, a second input shaft 84, a second output shaft 86, and a second indexing structure 88.

[0092] The chassis 82 is fixedly connected to the rotating base 30 by a plurality of bolts 81 passing through it. The second input shaft 84, the second output shaft 86 and the second indexing structure 88 are arranged in the chassis 82, wherein the second input shaft 84 is arranged parallel to the second output shaft 86. One end of the second input shaft 84 extends into the reducer 92, and the second motor 90 drives the second input shaft 84 to rotate through the reducer 92; one end of the second output shaft 86 passes through the chassis 82, and the second output shaft 86 is coaxially connected to the rotating shaft 22 of the tool changing arm 20 through a coupling sleeve 83.

[0093] The second indexing structure 88 is used to link the second input shaft 84 and the second output shaft 86. The second indexing structure 88 of this embodiment includes a second indexing cam 881, a second indexing plate 882 and a plurality of second indexing parts 883, wherein the second input shaft 84 is passed through the second indexing cam 881 in a manner that can drive the second indexing cam 881 to rotate, and the second output shaft 86 is also passed through the second indexing plate 882 in a manner that can be linked with the second indexing plate 882. In addition to adopting a key and keyway matching mode, the linkage between the second input shaft 84 and the second indexing cam 881, the second output shaft 86 and the second indexing plate 882 can also be achieved by being made into an integrally formed structure; the second indexing parts 883 are arranged at intervals on the second indexing plate 882. The second indexing cam 881 of this embodiment is also composed of two cam blocks 881a. The front and back sides of the second dividing plate 882 are respectively provided with a plurality of second dividing parts 883, for example, bearings with handles. When the second motor 90 drives the second input shaft 84 to rotate, the cam block 881a pushes the second dividing part 883 to rotate the second output shaft 86. The rotating second output shaft 86 drives the rotating shaft 22 to rotate, and the rotating shaft 22 drives the knife arm 24 to rotate.

[0094] In summary, the tool changer 100 of the processing machine of the present invention primarily utilizes electrical control as a power source to actuate the tool changer. This includes utilizing the first motor 50 in conjunction with the first cam divider 60 and the transmission structure 40 to achieve high output power (e.g., high torque output) to drive the rotating base 30. This allows the rotating base 30 to smoothly rotate back and forth between two fixed points even when carrying heavy objects such as the tool change arm 20, the second cam divider 80, and the second motor 90. Furthermore, utilizing the second motor 90 in conjunction with the second cam divider 80 to control the tool arm 24 of the tool changer 20 for 180-degree tool change rotation. The first motor 50 and the second motor 90 are three-phase AC motors. By combining the motors with the divider and the transmission structure 40, the present invention overcomes the existing issues of hydraulic oil leakage and subsequent environmentally unfriendly hydraulic oil disposal when using a hydraulic cylinder to drive the tool changer arm between two fixed points. Furthermore, the present invention's structure is not limited by the use of excessively high hydraulic oil temperatures. It is worth mentioning that although the heavy objects carried on the rotating base 30 of this embodiment are the tool changing arm 20 and the second cam divider 80 , actual applications are not limited to the aforementioned heavy objects.

[0095] In addition, the linkage 45 of the above embodiment can be a single component or a structure with adjustable length, for example, including a first rod 451 and a second rod 452, wherein the first rod 451 and the second rod 452 are connected in a manner that can adjust the docking length (such as locking), wherein one end of the first rod 451 is pivotally connected to the first rocker arm 43, and one end of the second rod 452 is pivotally connected to the second rocker arm 44. Through the aforementioned length-adjustable structural design, the linkage 45 is more flexible in installation, for example, it can adapt to changes in the center distance between the first rotating shaft 41 and the second rotating shaft 42. Please cooperate again Figure 12 and Figure 13 As shown, in one embodiment, the first rod body 451 is pivotally connected to the first rocker arm 43 by docking with a first bearing seat 453, and the second rod body 452 is pivotally connected to the second rocker arm 44 by docking with a second bearing seat 454. The other ends of the first rod body 451 and the second rod body 452 respectively form a T-shaped head 451a and 452a. The aforementioned T-shaped head is accommodated in an adjustment rod sleeve 455, and a pressure cover 456 is used to confine the T-shaped head in the adjustment rod sleeve 455. A disc-shaped spring piece 457 is provided between the T-shaped head 451a and the bottom wall of the adjustment rod sleeve 455, and a disc-shaped spring piece 458 is provided between the T-shaped head 452a and the pressure cover 456. Thereby, the length adjustment mechanism of the linkage 45 has a compensation effect, which can make the rotation of the first rocker arm 43 and the second rocker arm 44 smoother.

[0096] The above description is only a preferred embodiment of the present invention. Any equivalent changes made by applying the description and claims of the present invention should be included in the patent scope of the present invention.

Claims

1. A tool changing robot for a processing machine, characterized in that: Include: an organism; A transmission structure comprising a first rotating shaft, a second rotating shaft, a first rocker arm, a second rocker arm, and a linkage, wherein the first rotating shaft and the second rotating shaft are rotatably disposed through the housing, and portions of the first rotating shaft and the second rotating shaft are located outside the housing; the first rocker arm is fixedly connected to the portion of the first rotating shaft located outside the housing, and the second rocker arm is fixedly connected to the portion of the second rotating shaft located outside the housing; and the linkage has two ends, each pivotally connected to the first rocker arm and the second rocker arm. a first motor, configured to drive the first rotating shaft to rotate; and a rotating seat fixedly connected to the second rotating shaft and capable of reciprocating between a first position and a second position; A tool changing arm is connected to the rotating seat.

2. The tool changing robot for a processing machine according to claim 1, characterized in that: The first rocker arm has the axis of the first rotating shaft as its rotation center, and the second rocker arm has the axis of the second rotating shaft as its rotation center, wherein the pivot center of the first rocker arm and the connecting member to the rotation center of the first rocker arm is defined as a first distance, and the pivot center of the second rocker arm and the connecting member to the rotation center of the second rocker arm is defined as a second distance, and the first distance is smaller than the second distance.

3. The tool changing robot for a processing machine according to claim 1, characterized in that: It comprises a first cam divider, which includes a first input shaft, a first output shaft and a first dividing structure, wherein the first motor drives the first input shaft to rotate, the first output shaft is coaxially connected to the first rotating shaft, and the first dividing structure is used to link the first input shaft and the first output shaft.

4. The tool changing robot for a processing machine according to claim 3, characterized in that: The first input shaft is arranged in parallel with the first output shaft, and the first indexing structure includes a first indexing cam, a first indexing plate and a plurality of first indexing parts; the first input shaft passes through the first indexing cam, the first output shaft passes through the first indexing plate, and the first indexing parts are arranged at intervals on the first indexing plate, wherein the first indexing cam is used to push the first indexing part.

5. The tool changing robot for a processing machine according to claim 1, characterized in that: It comprises a limiting structure, which includes a first abutting surface and a second abutting surface. The rotating seat has a first side surface and a second side surface. When the first side surface abuts the first abutting surface, the rotating seat is located in the first position, and when the second side surface abuts the second abutting surface, the rotating seat is located in the second position.

6. The tool changing robot for a processing machine according to claim 5, characterized in that: The limiting structure includes a first baffle rod and a second baffle rod connected to the body, the first baffle rod has a first head, and the second baffle rod has a second head, wherein the first head and the second head can be adjusted along the axial displacement, and the first head has the first abutment surface, and the second head has the second abutment surface.

7. The tool changing robot for a processing machine according to claim 1, characterized in that: The linkage of the transmission structure includes a first rod and a second rod, wherein the first rod and the second rod are connected in a manner that allows for adjustment of the docking length, wherein one end of the first rod is pivotally connected to the first rocker arm, and one end of the second rod is pivotally connected to the second rocker arm.

8. The tool changing robot for a processing machine according to claim 1, characterized in that: The tool changing arm includes a rotating shaft and a knife arm. The rotating shaft is controlled to rotate. The knife arm is connected to one end of the rotating shaft and has two opposite ends respectively for clamping a knife rod.

9. The tool changing robot for a processing machine according to claim 8, characterized in that: It includes a second cam divider and a second motor, the second cam divider is arranged between the rotating base and the tool changing arm, the second cam divider includes a second input shaft, a second output shaft and a second indexing structure, wherein the second motor drives the second input shaft to rotate, the second output shaft is coaxially connected to the rotating shaft, and the second indexing structure is used to link the second input shaft and the second output shaft.

10. The tool changing robot for a processing machine according to claim 9, characterized in that: The second input shaft is arranged parallel to the second output shaft, and the second indexing structure includes a second indexing cam, a second indexing plate and a plurality of second indexing parts; the second input shaft passes through the second indexing cam, the second output shaft passes through the second indexing plate, and the second indexing parts are arranged at intervals on the second indexing plate, wherein the second indexing cam is used to push the second indexing part.

11. The tool changing robot for a processing machine according to claim 1, characterized in that: The first motor drives the first rocker arm to swing forward and backward between an angle of 0 degree and 180 degrees through the first rotating shaft, and the second rocker arm swings back and forth between an angle of 0 degree and 90 degrees through the linkage of the linkage member.

12. The tool changing robot for a processing machine according to claim 1, characterized in that: When the first motor drives the first rocker arm to rotate once via the first rotating shaft, the second rocker arm completes a one-time reciprocating swing between an angle of 0 degree and 90 degrees through the linkage of the linkage member.

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