Tool magazine for vertically accessing tools

Abstract

The application discloses a tool magazine of vertical access tool, four first vertical columns of each storage space are fixed with a pair of horizontal supporting plates for supporting a rectangular tool disc, and a plurality of tool hole seats are arranged on each rectangular tool disc; the taking and placing system further comprises a tool intermediate transfer mechanism for taking vertical state tools from the rectangular tool disc transferred from the bidirectional telescopic fork and placing on the annular chain conveying mechanism, or taking vertical state tools from the annular chain conveying mechanism and placing on the tool hole seats of the rectangular tool disc transferred from the bidirectional telescopic fork; the annular chain conveying mechanism is located at one end of the two vertical grid-shaped storage magazines, and vertically forwards and backwards conveys the vertical state tools between the tool intermediate transfer mechanism and the tool manual taking and placing place. The tool magazine can greatly reduce the height required in the process of storing or taking the vertical state tools, greatly increase the number of tools stored in the tool magazine, and greatly reduce the waiting time of people when taking or placing a plurality of tools each time.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of machining tool storage and retrieval equipment, in particular to a tool magazine for vertically storing and retrieving tools. BACKGROUND

[0002] With the increasing variety of machining tools, the increasing amount of tools, and the increasing frequency of tool use, people have increasingly high requirements for the automation of tool magazine management.

[0003] There are many types of tool magazines or tool cabinets in the prior art, with different structures, each having its own advantages and disadvantages.

[0004] For example, some tools are stored or retrieved vertically, such as numerical control tools. The tool magazine for vertically storing and retrieving tools in the prior art directly inserts the vertically stored tools into the tool holes of the storage plates of the several layers of the three-dimensional magazine and stores or retrieves them through the retrieval system. The tool can only be moved horizontally, i.e. retrieved, after being lifted from the tool hole by a certain height and having the bottom end of the tool higher than the top end surface of the tool hole, and the mechanical gripper itself and the operation also require a considerable height space. It is not difficult to understand that such a structure is at the cost of reducing the number of layers of vertically stored tools in a unit space, i.e. the number of stored tools in a unit space is reduced by a geometric multiple. Moreover, although the control system of the tool magazine in the prior art can receive the input of the mobile phone remote control to the input end of the control system with respect to the tool information, if multiple tools are needed to be retrieved at one time, the tool magazine in the prior art still needs to be manually placed at the tool retrieval position to wait for the retrieval system of the tool magazine to run the required tools one by one from different storage spaces of the tool magazine to the tool retrieval position, which requires a long waiting time. Conversely, if multiple tools need to be stored at one time, the tools need to be manually placed one by one at the tool retrieval position, and the retrieval system of the tool magazine needs to be waited for to take away the tools, then the second tool needs to be placed, and the retrieval system of the tool magazine needs to be waited for to run the tool to the predetermined tool hole of the predetermined storage plate in the predetermined storage space, and then the above operation needs to be repeated to store the second tool. The waiting time for multiple tools to be retrieved or stored at one time is too long, and this technical problem has not been well solved in the technical field of tool magazines in the prior art. SUMMARY

[0005] The technical problem to be solved by the present application is to provide a tool magazine for vertically storing and retrieving tools, which can greatly reduce the height required during the storage or retrieval of tools in a vertical state, greatly increase the number of tools stored in the tool magazine, and greatly reduce the waiting time of people when multiple tools need to be retrieved or stored at one time.

[0006] The technical solution of the present application is to provide a tool magazine for vertically accessing tools, comprising a storage system, a taking and placing system and a control system; the storage system comprises two vertically symmetrical grid-shaped storage libraries, the storage spaces of each vertical grid-shaped storage library are equally spaced in each column and each row, and the entrances and exits of all the storage spaces are towards the middle of the two vertical grid-shaped storage libraries; the horizontal driving mechanism, vertical lifting mechanism and bidirectional telescopic forks of the taking and placing system are arranged in the middle of the two vertical grid-shaped storage libraries.

[0007] A pair of horizontal supporting plates for supporting a rectangular tool disc are fixed on the four first vertical columns of each storage space, a plurality of tool hole seats are arranged on each rectangular tool disc, and a large-small conical hole on each tool hole seat is used for accommodating a large-small conical body of a vertical state tool.

[0008] The sliding plate of the bidirectional telescopic fork of the taking and placing system is a first H-shaped plate with an opening upwards, which is matched with the shape of the bottom of the rectangular tool disc and leaves a downward extending height of the vertical state tool.

[0009] The taking and placing system further comprises a circular chain conveying mechanism and a tool transfer mechanism for taking the vertical state tools from the tool disc transferred from the bidirectional telescopic fork and placing them on the circular chain conveying mechanism, or taking the vertical state tools from the circular chain conveying mechanism and placing them in the tool hole seats of the rectangular tool disc transferred from the bidirectional telescopic fork.

[0010] The circular chain conveying mechanism is located at one end of the two vertical grid-shaped storage libraries, and vertically forwards and backwards conveys the vertical state tools between the tool transfer mechanism and the tool manual taking and placing place; the tool transfer mechanism is located at the rear side of the inner end of the circular chain conveying mechanism.

[0011] After adopting the above structure, the tool magazine for vertically accessing tools has the following advantages:

[0012] Since the rectangular tool disc with a plurality of tool hole seats is used to store a plurality of vertical state tools, when the rectangular tool disc is taken or placed, the top surface of the first H-shaped plate of the bidirectional telescopic fork only needs to support the bottom surface of the rectangular tool disc, and slightly moves upwards or is directly placed horizontally, so that the tool disc with vertical state tools can be moved out of the storage space, and the tool disc only needs to be placed in the reverse direction, that is, the bottom surface of the tool disc is slightly higher than the horizontal supporting plate, so that the process of taking out or storing the vertical state tools does not require additional height space, and the taking and placing system itself and the operation also do not require additional height space, and only a small gap between the top and bottom ends of the tools is required between the layers, so that the number of layers of the tool disc can be doubled or multiplied, and the number of stored vertical state tools such as vertical state stored numerical control tools can be doubled or multiplied in the same storage space.

[0013] Also, when multiple tools are needed at one time, the information of the multiple tools needed can be sent to the input end of the tool library control system in advance on the mobile phone, and the main controller of the control system controls the taking and placing system to arrange the required tools on the ring chain conveying mechanism of the taking and placing system in turn, i.e. on the tool seats of the ring chain conveying mechanism as described below, so that the ring chain conveying mechanism can temporarily store multiple vertical tools, and after a person arrives at the manual tool taking and placing place, only needs to input the required tool information at the input end of the tool library, and then the required tools can be taken out one by one, such as from the tool seats of the manual tool taking and placing place as described below, which greatly reduces the waiting time of the person for taking multiple tools, such as 2-3 seconds for taking one tool, and less than 1 minute for taking multiple tools such as 10 tools at one time, and the waiting time is almost negligible. The same is true for storing multiple tools at one time, only needs to input the tool information to be stored at the input end of the tool library, such as scanning the two-dimensional code on the tool to be stored by using the code scanner connected with the main control system of the control system, and then inserting the tools in turn into the multiple tool seats of the ring chain conveying mechanism as described below, and the person can leave and basically does not need to wait during the process of storing the tools. The technical problem of long waiting time for taking and placing multiple tools at one time in the technical field of the tool library of the prior art is solved.

[0014] Further, the tool transfer mechanism includes a bottom plate fixed with the vertical grid-shaped storage library, two side plates for vertical guide rails and a vertical first drive cylinder fixed on the bottom plate, the free end of the piston rod of the vertical first drive cylinder is connected with a second H-shaped plate which is open upward and has two inwardly curled edges at the top and is used for placing a rectangular tool disc, the two side plates constitute a sliding cavity for the upward and downward sliding of the second H-shaped plate with two inwardly curled edges; the top of the two side plates has a pair of clamping plates driven by respective transverse second drive cylinders and used for clamping the rectangular tool disc; the bottom plate is also provided with a transfer device for bidirectional conveying of vertical tools between the clamped rectangular tool disc and the ring chain conveying mechanism. After adopting the above structure, the tool disc in the sliding cavity formed by the two side plates can first enter the bottom layer and then rise to the transfer device operation layer, so that the tool transfer process can be continuously carried out, thereby effectively ensuring that the horizontal drive mechanism, the vertical lifting mechanism, the bidirectional telescopic forks upstream of the transfer mechanism and the ring chain conveying mechanism downstream can continuously, stably and smoothly operate, and further ensuring the technical effects of greatly increasing the tool storage quantity and greatly reducing the waiting time of the person for storing multiple tools at one time.

[0015] Further, the transfer device comprises a second vertical column fixed on the bottom plate, a horizontal guide rail mounted on the top end of the second vertical column and perpendicular to the first horizontal drive structure at the end of the vertical grid-shaped storage, a second horizontal drive mechanism perpendicular to the first horizontal drive structure on the first horizontal drive structure, a vertical lifting structure on the second horizontal drive structure, and a pneumatic gripper on the free end of the lifting rod of the vertical lifting structure, which is radially opened and closed and used to grab or release the vertical state tool. After adopting the above structure, the transfer device can smoothly and reliably operate during the tool taking or storing operation between the tool disc and the ring chain conveying mechanism, further ensuring the technical effects of greatly increasing the tool storage quantity and greatly reducing the waiting time for taking or placing multiple tools at a time.

[0016] Further, the ring chain conveying mechanism comprises a bracket at one end of the two vertical grid-shaped storages, a rectangular top plate extending from front to back on the top of the bracket, a tool manual taking and placing position at the front end of the rectangular top plate, and a tool taking and placing position of the transfer device of the tool intermediate transfer mechanism at the rear end of the rectangular top plate. The ring chain conveying mechanism further comprises a driving sprocket and a driven sprocket rotatably fitted on the rectangular top plate, and a ring chain meshed on the driving sprocket and the driven sprocket. The outer side of the ring chain is fixed with a plurality of tool seats for accommodating and conveying the vertical state tools. After adopting the above structure, the ring chain conveying mechanism not only serves as a part of the taking and placing system, enabling the taking and placing process of the vertical state tools to be smooth, flexible, stable and reliable, but also serves as a temporary storage point for manual tool taking and placing, enabling a plurality of vertical state tools to be temporarily stored at a time, further ensuring the technical effects of greatly increasing the tool storage quantity and greatly reducing the waiting time for taking or placing multiple tools at a time.

[0017] Further, the ring chain is a runway-shaped ring chain extending in the front-rear length direction. The outer side of each tool seat has a horizontal roller, the rear end of the rectangular top plate has a clamping block driven by a third driving cylinder and clamping the tool seat for inserting the vertical state tool or releasing the tool seat so that the tool seat can rotate with the ring chain, and the free end of the clamping block has a semicircular notch matched with the horizontal roller. After adopting the above structure, the structure and layout of the ring chain conveying mechanism are more reasonable, and the relative positioning of the tool seat is realized by the mutual clamping of the clamping block and the horizontal roller during the process of inserting the vertical state tool into the center hole of the tool seat or taking the vertical state tool from the tool seat, enabling the taking and placing process of the vertical state tool to be faster, more stable and more reliable, and further ensuring the technical effect of greatly reducing the waiting time for taking or placing multiple tools at a time.

[0018] Further, the two sides of the rectangular top plate each have a guide plate parallel to the straight section of the endless chain, the rolling surface of the horizontal roller rolls on the vertical guide surface of the guide plate, the length of the guide plate is equal to or greater than the length of the straight section of the endless chain, and the two ends of the guide plate have inclined surfaces to facilitate the rolling surface of the horizontal roller to fit the vertical guide surface of the guide plate. After adopting the above structure, the straight section of the chain with multiple or several tool holders is prevented from being inclined, the endless chain conveying mechanism is always in a flexible, stable and reliable running state, and the technical effect of greatly reducing the waiting time for manually taking or placing multiple tools at a time is further ensured.

[0019] Further, the tool holder includes a support seat composed of a horizontal plate and two vertical plates, the inner vertical plate of the two vertical plates has a plurality of holes for screwing and fixing with the endless chain, the top of the outer vertical plate is lower than or equal to the top surface of the horizontal plate, a horizontal roller is installed in the middle of the width of the upper part of the outer vertical plate, and two vertical rollers for rolling on the top surface of the rectangular top plate are installed on both sides of the lower part of the outer vertical plate. After adopting the above structure, the endless chain conveying mechanism is always in a flexible, stable and reliable running state, and the technical effect of greatly reducing the waiting time for manually taking or placing multiple tools at a time is further ensured.

[0020] Further, the tool holder includes a support seat composed of a horizontal plate and two vertical plates, the inner vertical plate of the two vertical plates has a plurality of holes for screwing and fixing with the endless chain, the top of the outer vertical plate is lower than or equal to the top surface of the horizontal plate, a horizontal roller is installed in the middle of the width of the upper part of the outer vertical plate, and two vertical rollers for rolling on the top surface of the rectangular top plate are installed on both sides of the lower part of the outer vertical plate. After adopting the above structure, the endless chain conveying mechanism is always in a flexible, stable and reliable running state, and the technical effect of greatly reducing the waiting time for manually taking or placing multiple tools at a time is further ensured. BRIEF DESCRIPTION OF DRAWINGS

[0021] Figure 1 is a structural schematic view of the tool magazine of the present application, which has a shell, an operation panel, a manual tool taking and placing opening or place, and a foot plate.

[0022] Figure 2 is Figure 1 is an enlarged structural schematic view of A in FIG.

[0023] Figure 3 is a structural schematic diagram of the vertical column of multiple storage spaces of the rectangular tool tray of the tool magazine of the present application (only one vertical rectangular tool tray is shown; only one vertical state tool is shown in each rectangular tool tray).

[0024] Figure 4 is Figure 3 an enlarged structural schematic diagram of B in

[0025] Figure 5 is a structural schematic diagram of the tool magazine of the present application showing the overall frame of the vertical grid-shaped tool magazine storage space, the horizontal drive mechanism, the vertical lifting mechanism, the tool transfer mechanism, and the ring chain conveying mechanism, etc. (only a few of the continuously arranged rectangular tool seats are shown schematically; the following Figure 11 , Figure 12 , Figure 13 are the same).

[0026] Figure 6 is a structural schematic diagram of the tool transfer mechanism of the tool magazine of the present application Figure 1 (the tool tray shows twelve tool hole seats; the upper tool tray shows two vertical state tools; the lower tool tray shows one vertical state tool).

[0027] Figure 7 is a structural schematic diagram of the tool transfer mechanism of the tool magazine of the present application Figure 2 .

[0028] Figure 8 is a structural schematic diagram of the tool transfer mechanism of the tool magazine of the present application Figure 3 .

[0029] Figure 9 is Figure 8 an enlarged structural schematic diagram of C in

[0030] Figure 10 is a vertical top view structural schematic diagram of the ring chain conveying mechanism of the tool magazine of the present application.

[0031] Figure 11 is a horizontal side view structural schematic diagram of the ring chain conveying mechanism of the tool magazine of the present application.

[0032] Figure 12 is Figure 11 an enlarged structural schematic diagram of D in

[0033] Figure 13 is a horizontal top view structural schematic diagram of the ring chain conveying mechanism of the tool magazine of the present application.

[0034] Figure 14 is an exploded structural schematic diagram of the connection relationship between the tool seat and the local chain, i.e. the individual chain body, of the ring chain conveying mechanism of the tool magazine of the present application.

[0035] Figure 15 This is a schematic diagram showing the structure of the chuck, outer vertical plate, and rollers in the ring chain conveyor mechanism of the tool magazine of the present invention.

[0036] Figure 16 This is a schematic diagram of the horizontal drive mechanism, vertical lifting structure, and bidirectional telescopic forks in the tool magazine's loading and unloading system of the present invention. Figure 1 .

[0037] Figure 17 This is a schematic diagram of the horizontal drive mechanism, vertical lifting structure, and bidirectional telescopic forks in the tool magazine's loading and unloading system of the present invention. Figure 2 .

[0038] The diagram shows: 1. Outer casing; 2. Control panel with display screen; 3. Manual tool loading / unloading area; 4. Base plate; 5. Tool holder; 6. Vertically positioned tool; 7. Horizontal support plate; 8. First column; 9. Storage space; 10. Rectangular tool tray; 11. Tool hole holder; 12. Vertical grid-like storage tank; 13. Vertical lifting mechanism; 14. Horizontal guide rail; 15. Circular chain conveyor mechanism; 16. End horizontal rod; 17. Horizontal drive mechanism; 18. Bracket; 19. Side horizontal rod; 20. First drive cylinder; 21. First reinforcing plate; 22. Side plate; 23. Tool transfer mechanism. 24. Second horizontal drive structure; 25. First horizontal drive structure; 26. Vertical lifting structure; 27. Base plate; 28. Second U-shaped plate; 29. ​​Transfer device; 30. Second column; 31. Connecting disc; 32. Second drive cylinder; 33. Clamping plate; 34. Pneumatic gripper; 35. Rectangular top plate; 36. Tool pick-and-place area of ​​the transfer device; 37. Drive sprocket; 38. Ring chain; 39. Driven sprocket; 40. Straight section of ring chain; 41. Guide plate; 42. Second reinforcing plate; 43. Vertical guide surface; 44. Inclined surface; 45. First belt; 46. Clamping block; 47. Third drive cylinder; 48. Semi-circular notch; 49. Horizontal roller; 50. Drive sprocket motor; 51. First through hole; 52. Horizontal plate threaded hole; 53. Inner vertical plate. 54. Inner vertical plate threaded hole; 55. Second through hole; 56. Chain body; 57. Angle steel connecting block; 58. Horizontal plate; 59. Outer vertical plate; 60. Mounting plate; 61. Second central circular hole; 62. Guide post; 63. Polygonal chuck; 64. Clamping block; 65. Radial slide; 66. First central circular hole; 67. Support spring; 68. Roller seat; 69. Vertical roller; 70. Second belt; 71. Bidirectional telescopic fork; 72. First U-shaped plate. Detailed Implementation

[0039] The specific embodiments of the present application will be further described in conjunction with the accompanying drawings. It is to be understood that the description of the specific embodiments is intended to help understand the present application, but does not constitute a limitation of the present application. In addition, the technical features involved in the various embodiments of the present application described below can be combined with each other as long as they do not conflict with each other.

[0040] As Figures 1-17 indicated.

[0041] The tool magazine of the vertical access tool includes a storage system, a taking and placing system, and a control system. The storage system includes two vertically symmetrical grid-shaped storage magazines 12, and multiple vertical access tool storage spaces 9 of each vertical grid-shaped storage magazine 12 are evenly distributed in each column and each row, and the entrances and exits of all storage spaces 9 are towards the middle of the two vertical grid-shaped storage magazines 12. The horizontal driving mechanism 17, the vertical lifting mechanism 13, and the bidirectional telescopic fork 71 of the taking and placing system are arranged in the middle of the two vertical grid-shaped storage magazines 12. In other words, for each vertical grid-shaped storage magazine 12, the entrances and exits of all storage spaces 9 are on the inner side, also known as the horizontal driving mechanism 17, the vertical lifting mechanism 13, and the bidirectional telescopic fork 71 of the taking and placing system in the middle, that is, the entrances and exits of all storage spaces 9 are oppositely arranged.

[0042] As Figure 3 , Figure 4 , Figure 5 indicated, a pair of horizontal supporting plates 7 for supporting a rectangular tool disc 10 are fixed on the four first vertical columns 8 of each storage space 9, and multiple tool hole seats 11 are arranged on each rectangular tool disc 10, such as twelve tool hole seats 11 arranged in four rows and three columns on each rectangular tool disc 10. The large-small conical hole on each tool hole seat 11 is used to accommodate the large-small conical body of the vertical state tool 6. It is not difficult to understand that every four first vertical columns 8 of each vertical grid-shaped storage magazine 12 constitute a column of multiple storage spaces 9 in the vertical direction, and each pair of two horizontal supporting plates 7 constitute a layer or a storage space 9, as Figure 3 indicated, five layers or five storage spaces 9 can be arranged, and each storage space 9 has a rectangular tool disc 10. The horizontal supporting plate 7 can be made of angle steel. It is not difficult to understand that since the vertical state tool such as a numerical control tool also extends at the bottom of the tool disc, each storage space 9 not only accommodates the vertical state tool 6 above the rectangular tool disc 10 itself, but also accommodates the downward extending part of the vertical state tool 6 of the rectangular tool disc 10 of the upper storage space 9.

[0043] As Figure 17The sliding plate of the two-way telescopic fork 71 of the pick-and-place system is a first H-shaped plate 72 with its bottom opening upward and matching the shape of the bottom of the rectangular tool tray 10 and leaving a space for the downward extension of the vertical state tool 6. The sliding plate of the two-way telescopic fork 71 is also called a moving plate.

[0044] As shown in Figure 5 , Figure 6 , Figure 7 , Figure 8 , Figure 9 as shown.

[0045] The pick-and-place system further comprises a circular chain conveying mechanism 15 and a tool transfer mechanism 23 for picking up the vertical state tool 6 from the rectangular tool tray 10 turned from the two-way telescopic fork 71 and placing it on the circular chain conveying mechanism 15, or picking up the vertical state tool 6 from the circular chain conveying mechanism 15 and placing it in the tool hole seat 11 of the rectangular tool tray 10 turned from the two-way telescopic fork 71.

[0046] The circular chain conveying mechanism 15 is located at one end of the two vertical grid-shaped storage libraries 12 and horizontally conveys the vertical state tool 6 forward and backward between the tool transfer mechanism 23 and the tool manual pick-and-place station 3. The tool transfer mechanism 23 is located at the rear side of the inner end of the circular chain conveying mechanism 15.

[0047] The tool transfer mechanism 23 comprises a bottom plate 27 fixed with the vertical grid-shaped storage library 12, the bottom plate 27 is fixed with two side plates 22 for vertical guide rails and a vertical first driving cylinder 20, which can also be expressed as the bottom plate 27 is fixed with the vertical first driving cylinder 20 and the two side plates 22 for vertical guide rails. The free end of the piston rod of the vertical first driving cylinder 20 is connected to a second H-shaped plate 28 with its top opening upward and having two inwardly curled edges for resting the rectangular tool tray 10. The second H-shaped plate 28 can be composed of a rectangular plate and two H-shaped plates with their openings inward symmetrically arranged on both sides and connected by a plurality of screws. A connecting disc 31 can be provided on the free end of the piston rod of the first driving cylinder 20 and fixed with the rectangular plate of the second H-shaped plate 28 by a plurality of screws. The two side plates 22 form a sliding cavity for the upward and downward sliding of the second H-shaped plate 28 with the two inwardly curled edges. The top of the two side plates 22 has a pair of clamping plates 33 driven by respective transverse second driving cylinders 32 and used for clamping the rectangular tool tray 10. The bottom plate 27 is also provided with a transfer device 29 for bi-directionally conveying the vertical state tool 6 between the clamped rectangular tool tray 10 and the circular chain conveying mechanism 15. It is not difficult to understand that, in order to enhance the connection firmness of the two side plates 22 and the bottom plate 27 and the strength of the two side plates 22, a plurality of first reinforcing plates 21 can be fixed on the outer sides of the two side plates 22 and the bottom plate 27, such as two first reinforcing plates 21 on the outer side of each side plate 22 and the bottom plate 27.

[0048] The transfer device 29 can include a second vertical column 30 fixed on the base plate 27, a first horizontal drive structure 25 installed on the top end of the second vertical column 30 and perpendicular to the horizontal bar 16 at the end of the vertical grid-shaped storage 12, a second horizontal drive structure 24 perpendicular to the first horizontal drive structure 25, and a vertical lifting structure 26 on the second horizontal drive structure 24. The free end of the lifting bar of the vertical lifting structure 26 has a radial opening and closing air claw 34 for grabbing or releasing the vertical state tool 6. For example, the two claws of the air claw 34 can hold the horizontal circular groove of the vertical state tool 6, and can also be released in the opposite direction.

[0049] As shown in Figure 5 , Figures 10-15 .

[0050] The ring chain conveying mechanism 15 includes a bracket 18 at one end of the two vertical grid-shaped storages 12, and a rectangular top plate 35 extending from front to back on the top of the bracket 18. The front end of the rectangular top plate 35 is the tool manual taking and placing place 3 or tool manual taking and placing opening, and the rear end of the rectangular top plate 35 is the tool taking and placing place 36 of the transfer device of the tool transfer mechanism 23. The ring chain conveying mechanism 15 also includes a driving sprocket 37 and a driven sprocket 39 rotatingly fitted on the rectangular top plate 35, and a ring chain 38 engaged with the driving sprocket 37 and the driven sprocket 39. The driving sprocket 37 can be driven by a motor such as a driving sprocket motor 50 fixed on the bottom surface of one end of the rectangular top plate 35. The motor shaft of the driving sprocket motor 50 extends upward through the through hole in the rectangular top plate 35 and is fixed with the horizontal driving sprocket 37 on the upward extending portion. The driven sprocket 39 is arranged at the other end, i.e. the front end, of the rectangular top plate 35. The outer side of the ring chain 38 is fixed with a plurality of tool seats 5 for accommodating and conveying the vertical state tools 6. The plurality of tool seats 5 can be, for example, ten, dozens, and dozens of tool seats 5.

[0051] The ring chain 38 is preferably a ring chain 38 extending in the front-rear length direction and in the shape of a running track for movement. The outer side of each tool seat 5 has a horizontal roller 49, and the rear end of the rectangular top plate 35 has a clamping block 46 driven by a third driving cylinder 47 and clamped to the tool seat 5 for inserting the vertical state tool 6 or releasing the tool seat 5 so that the tool seat 5 can rotate with the ring chain 38. In other words, the rear end of the rectangular top plate 35 has a third driving cylinder 47, and the free end of the piston rod of the third driving cylinder 47 is fixed with a clamping block 46. The clamping block 46 can be clamped to the tool seat for inserting the vertical state tool 6, and the clamping block 46 can also be released from the tool seat 5 so that the tool seat 5 can rotate with the ring chain 38. The free end of the clamping block 46 has a semicircular notch 48 matched with the horizontal roller 49. The clamping or releasing refers to the clamping or releasing of the semicircular notch 48 and the horizontal roller 49.

[0052] As shown in Figure 14 ,Figure 15 As shown, the tool seat 5 comprises a support seat composed of a horizontal plate 58 and two vertical plates, the inner vertical plate 53 of the two vertical plates has a plurality of holes for screwing and fixing the endless chain 38, such as four inner vertical plate threaded holes 54 on the inner vertical plate 53, the endless chain 38 comprises a plurality of chain bodies 56 and a steel angle connecting block 57 fixed, such as screwed, on each two chain bodies 56, each steel angle connecting block 57 has two screw through holes, such as second through hole 55, one by one corresponding four screws are screwed into the inner vertical plate threaded hole 54 through the respective second through hole 55. The inner vertical plate 53 can also have two through holes, such as first through hole 51, for the screws to pass through and screw the inner vertical plate 53 to the horizontal plate threaded hole 52 of the horizontal plate 58. The top of the outer vertical plate 59 is lower than or equal to the top surface of the horizontal plate 58, and a horizontal roller 49 is installed in the middle of the width of the upper part of the outer vertical plate 59, such as a roller seat 68 with a horizontal roller 49 rotatingly matched is screwed on the outer vertical plate 59. The lower part of the outer vertical plate 59 has two vertical rollers 69 rotatingly matched with roller shafts and axial gland for rolling on the top surface of the rectangular top plate 35, and the lower part here can also be understood as the bottom part. The chain body 56 can also be understood as a chain body segment or a chain body section.

[0053] As shown, Figure 11 The rectangular top plate 35 has a guide plate 41 on each side parallel to the endless chain straight section 40 of the endless chain 38, the rolling surface of the horizontal roller 49 is rolling matched on the vertical guide surface 43 of the guide plate 41, the length of the guide plate 41 can be equal to or greater than the length of the endless chain straight section 40, and the two ends of the guide plate 41 have inclined surfaces 44 for the rolling surface of the horizontal roller 49 to fit the vertical guide surface 43 of the guide plate 41. It is not difficult to understand that in order to enhance the connection firmness of the guide plate 41 and the rectangular top plate 35 and the strength of the guide plate 41, the outer side of each guide plate 41 can be fixed with a plurality of second reinforcing plates 42, such as two second reinforcing plates 42, such as steel angles.

[0054] As shown, Figure 14 , Figure 15As shown, the cross plate 58 has a first central circular hole 66, and a polygonal chuck 63 or a circular chuck is mounted or fixed on the cross plate 58, the polygonal chuck 63 or the circular chuck has a second central circular hole 61 and a plurality of, for example, four radial slides 65 uniformly distributed in the circumferential direction, each of the plurality of radial slides 65 is slidingly fitted with a clamping block 64, for example, four clamping blocks 64, which is pushed into the second central circular hole 61, i.e., the gap of the second central circular hole 61, by a spring 67, and can be expanded and clamped to the cylindrical portion of the vertical state tool 6 above the conical rod of the vertical state tool 6. In the figure, the polygonal chuck is preferably octagonal, and the line connecting the width bisector of each of the two radial slides 65 and the line connecting the width bisector of the other two radial slides 65 are perpendicular to each other. The outer side of the clamping block 64 can have a threaded hole, and each of the four mounting plates 60 spaced apart from each other in the octagon has a guide hole, a guide column 62 formed by an internal hexagonal screw is slidingly fitted in the guide hole and the threaded hole at the front end is screwed into the threaded hole of the clamping block 64, the spring 67 or the compression spring is sleeved on the guide column 62 and the two ends are respectively abutted to the clamping block 64 and the mounting plate 60. The plurality of components constituting the octagonal chuck can be fixed by a plurality of screws.

[0055] As shown in Figures 5-7 , the driving cylinders, such as the first driving cylinder 20, the second driving cylinder 32 and the third driving cylinder 47, are preferably commercially available air cylinders, and can also be commercially available hydraulic cylinders, i.e., oil cylinders.

[0056] The fixing, such as welding or screwing with a plurality of screws or bolts.

[0057] As shown in Figures 5-7 , Figures 16-17 , the horizontal driving mechanism 17, the vertical lifting mechanism 13, the first horizontal driving structure 25, the second horizontal driving structure 24 and the vertical lifting structure 26 are all very mature prior art, and the specific structure itself is not the point of the present application. The first horizontal driving structure 25 can be described as an X-direction linear driving structure, the second horizontal driving structure 24 can be described as a Y-direction linear driving structure, and the vertical lifting structure 26 can be described as a Z-direction linear driving structure. The mechanisms and structures described in this paragraph can all use linear motion pairs of prior art, such as Figure 16 and Figure 17As shown, the horizontal driving mechanism 17 can adopt a motor to drive a ring-shaped belt such as the first belt 45 to rotate, and the ring-shaped belt such as the first belt 45 drives the base of the vertical lifting mechanism 13 to move horizontally and linearly. As shown, the vertical lifting mechanism 13 can also adopt a motor to drive a ring-shaped belt such as the second belt 70 to rotate, and the ring-shaped belt such as the second belt 70 drives the bidirectional telescopic fork 71 to move vertically and linearly, i.e., to lift vertically. The bidirectional telescopic fork 71 described is also a very mature prior art, which can adopt a bidirectional telescopic fork in the prior patent application No. 202020619927.4 of the applicant, and only the sliding plate adopts the first Z-shaped plate 72 of the present application. It is not difficult to understand that the bidirectional telescopic fork 71 is driven by a motor. As shown, the first horizontal driving structure 25 of the transfer device 29 in the tool transfer mechanism 23 of the taking and placing system can adopt a ball screw pair provided on the horizontal guide rail 14 and driven by a motor; the second horizontal driving structure 24 can still adopt a ball screw pair provided on the horizontal guide rail and driven by a motor; the vertical lifting structure 26 can adopt a gear and rack structure driven by a motor; and the air claw 34 is a commercially available product and can also be replaced by a commercially available mechanical claw. The linear motion pair of the prior art has other names.

[0058] The motors described can adopt servo motors or stepper motors, etc.

[0059] As shown, Figures 1-5 As shown.

[0060] The control system is a prior art, which generally includes a main controller such as a PLC chip or a single-chip microcomputer or a computer host, etc. A control panel 2 with a display screen can be provided on the panel of the housing 1. The control system can also include a plurality of control components electrically connected to the main controller, such as a code scanner, a plurality of sensors, and a plurality of relays, etc., for controlling the start or stop of the motors and the driving cylinders, thereby controlling the horizontal driving mechanism 17, the vertical lifting mechanism 13, the bidirectional telescopic fork 71, the tool transfer mechanism 23, and the ring chain conveying mechanism 15 of the taking and placing system to store or take the vertical state tools 6. Each vertical state tool 6, i.e., each tool, can be pre-provided with a two-dimensional code, which can contain relevant information of the tool, such as a numerical number or a digital code of the numerical control tool, and can also have other relevant information of the tool such as the numerical control tool, such as the model of the tool, the specification of the tool, the size of the tool, the purpose of the tool, the performance parameter of the tool, the manufacturer of the tool, the production date of the tool, etc.

[0061] The tool magazine of the application can also be called a tool cabinet, which can include a shell 1, which can make the entire tool magazine have the functions of dustproof, waterproof, rustproof and tool loss prevention. The upper middle part of the front panel of the shell 1 can be provided with a control panel 2 with a display screen, and one side of the front panel of the shell 1 can also be provided with a tool manual taking and placing opening or tool manual taking and placing place 3. Each vertical grid-shaped storage library 12 includes a plurality of first columns 8, which are arranged in two rows from inside to outside. For two vertical grid-shaped storage libraries 12 arranged face to face, the first columns 8 are arranged in four rows, the front two rows, the rear two rows, and the horizontal driving mechanism 17 in the middle. The bottom of the plurality of first columns 8 can be fixed with the bottom plate of the tool magazine, and the top can be fixed with the top plate of the tool magazine. A plurality of can be understood as dozens or dozens of etc. The tool magazine of the application for vertically accessing tools can also include a plurality of end horizontal rods 16 and a plurality of side horizontal rods 19 on the outside, and a top frame can be provided at the top and a bottom frame can also be provided at the bottom. The bottom of the tool magazine can be provided with a bottom foot plate 4 for supporting and adjusting the height.

[0062] The above-mentioned fixing is generally achieved by screwing or welding. The ball screw pair is also called a ball screw pair or a nut screw pair.

[0063] The plurality of vertical tool storage spaces 9 of each vertical grid-shaped storage library 12 can be understood as a plurality, such as dozens, dozens of etc., such as five to eight vertically per column and four to seven horizontally per row.

[0064] As shown in Figures 1-17 The specific steps for taking out tools from the tool magazine of the application for vertically accessing tools can be:

[0065] (1) Input the relevant information of the rectangular tool tray 10 where the tool to be taken out is located and the tool hole seat 11 of the vertical state tool 6 on the rectangular tool tray 10 at the input end of the control system. The input can be mobile phone information input, or manual input on the control panel 2 with a display screen.

[0066] (2) The main controller of the control system controls the horizontal driving mechanism 17 and the vertical lifting mechanism 13 to align the first H-shaped plate 72 of the bidirectional telescopic fork 71 with a certain storage space 9 in a certain column and a certain row of the vertical grid-shaped storage library 12.

[0067] (3) The main controller of the control system controls the first H-shaped plate 72 of the bidirectional telescopic fork 71 to horizontally insert the rectangular tool tray 10 in the storage space 9 directly below, and then lift the first H-shaped plate 72 to hold the rectangular tool tray 10 with the required vertical state tool 6 and make the bidirectional telescopic fork 71 retract to the initial position.

[0068] (4) The main controller of the control system controls the horizontal driving mechanism 17 and the vertical lifting mechanism 13 to align the first H-shaped plate 72 of the two-way telescopic fork 71 with the second H-shaped plate 28 in the two side plates 22 of the tool transfer mechanism 23, and to make the bottom surface of the rectangular tool disc 10 higher than the two inwardly curled top surfaces of the second H-shaped plate 28.

[0069] (5) The main controller of the control system controls the first H-shaped plate 72 of the two-way telescopic fork 71 to place the rectangular tool disc 10 on the two inwardly curled top surfaces of the second H-shaped plate 28, and then makes the two-way telescopic fork 71 retract to the initial position.

[0070] (6) The main controller of the control system controls the first driving cylinder 20 to lift the rectangular tool disc 10 placed on the second H-shaped plate 28 to the top end of the two side plates 22, and controls the two second driving cylinders 32 to clamp the horizontally placed rectangular tool disc 10.

[0071] (7) The main controller of the control system controls the first horizontal driving structure 25 and the second horizontal driving structure 24 of the transfer device 29 of the tool transfer mechanism 23 to move the vertical lifting structure 26 to the vertical state tool 6 above the position where the tool is needed to be taken.

[0072] (8) The main controller of the control system controls the vertical lifting structure 26 of the transfer device 29 of the tool transfer mechanism 23 to lower and radially open the air claw 34, and then radially grab the vertical state tool 6. The main controller of the control system controls the vertical lifting structure 26, the second horizontal driving structure 24 and the first horizontal driving structure 25 of the transfer device 29 of the tool transfer mechanism 23 to insert the vertical state tool 6 into the center circular hole, i.e. the second center circular hole 61 and the first center circular hole 66 of the tool seat 5 at the rear end of the circular chain conveying mechanism 15. At the same time, the main controller of the control system controls the third driving cylinder 47 to drive the clamping block 46 or the clamping plate to clamp the semicircular notch 48 of the horizontal roller 49 of the tool seat 5 to position the tool seat 5 for the insertion of the vertical state tool 6, and controls the third driving cylinder 47 to drive the clamping block 46 to release after the vertical state tool 6 is inserted. Then, the main controller of the control system controls the second horizontal driving structure 24 and the first horizontal driving structure 25 to move the vertical lifting structure 26 and the air claw 34 back to the top of the second H-shaped plate 28 of the tool transfer mechanism 23.

[0073] (9) The main controller of the control system controls the circular chain conveying mechanism 15 to run the tool seat 5 at the rear end, which has inserted the vertical state tool 6, to the front end of the tool manual taking and placing position 3 for manual taking.

[0074] If multiple tools need to be taken at the same time, only the relevant information such as sending information through a mobile phone needs to be input in advance, and then the information needs to be input again at the tool manual taking and placing position 3 in front of the tool warehouse, and multiple vertical state tools 6 can be taken in turn.

[0075] The step of storing the tool into the tool magazine of the vertical tool access tool is:

[0076] (1) Scanning the two-dimensional code on the tool to be stored, such as a numerical control tool, with a code scanner connected to the main control of the control system.

[0077] (2) Manually inserting the tool to be stored into the center circular hole of the tool seat 5 of the tool manual taking and placing place 3 located at the front end of the ring chain conveying mechanism 15; if multiple tools need to be stored at the same time, just scan them one by one and insert them into the center circular hole of the tool seat 5 of the tool manual taking and placing place 3 in turn.

[0078] (3) The main controller of the control system controls the taking and placing system of the tool magazine to operate in reverse or reverse direction according to the above-mentioned specific steps of taking out the tool, that is, the tool to be stored can be stored in the corresponding tool hole seat 11 of the rectangular tool tray 10 in the corresponding storage space 9 of the pre-set vertical grid-shaped storage 12.

[0079] The parts, structures, quantities, etc. not marked above are not shown in the drawings. The drawings are only schematic, and if there is any inconsistency between the drawings and the written description, or between the drawings and each other, the written description shall prevail.

[0080] The above is only the preferred embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application can have various modifications and changes. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present application shall be included within the protection scope of the present application.

Claims

1. A vertical access tool magazine, comprising a storage system, a taking and placing system and a control system; the storage system comprises two symmetrical vertical grid-shaped storage magazines, a plurality of vertical access tool storage spaces of each vertical grid-shaped storage magazine are equally spaced in each column and each row, and the entrances and exits of all the storage spaces are towards the middle of the two vertical grid-shaped storage magazines; the horizontal driving mechanism, vertical lifting mechanism and bidirectional telescopic forks of the taking and placing system are arranged in the middle of the two vertical grid-shaped storage magazines; characterized in that: a pair of horizontal supporting plates for supporting a rectangular tool tray are fixed on four first vertical columns of each storage space, a plurality of tool hole seats are arranged on each rectangular tool tray, and a large-small conical hole on each tool hole seat is used for accommodating a large-small conical body of a vertical state tool; the sliding plate of the bidirectional telescopic fork of the taking and placing system is a first " " shaped plate with an opening upwards, which is matched with the shape of the bottom of the rectangular tool tray and leaves a downward extending height of the vertical state tool; the taking and placing system further comprises a circular chain conveying mechanism and a tool transfer mechanism which takes the vertical state tool from the tool tray transferred from the bidirectional telescopic fork and places it on the circular chain conveying mechanism, or takes the vertical state tool from the circular chain conveying mechanism and places it in the tool hole seat of the rectangular tool tray transferred from the bidirectional telescopic fork; the circular chain conveying mechanism is located at one end of the two vertical grid-shaped storage magazines, and vertically forwards and backwards conveys the vertical state tool between the tool transfer mechanism and the tool manual taking and placing place; the tool transfer mechanism is located at the rear side of the inner end of the circular chain conveying mechanism; the circular chain conveying mechanism comprises a support located at one end of the two vertical grid-shaped storage magazines, the top of the support has a rectangular top plate extending from front to back, the front end of the rectangular top plate is the tool manual taking and placing place, and the rear end of the rectangular top plate is the tool taking and placing place of the transfer device of the tool transfer mechanism; the circular chain conveying mechanism further comprises a driving sprocket and a driven sprocket which are rotatably matched on the rectangular top plate, and a circular chain which is meshed with the driving sprocket and the driven sprocket; the outer side of the circular chain is fixed with a plurality of tool seats for accommodating and conveying the vertical state tool; the circular chain is a runway-shaped circular chain extending along the front-rear length direction; the outer side of each tool seat has a horizontal roller, the rear end of the rectangular top plate has a clamping block driven by a third driving cylinder and clamping the tool seat for inserting the vertical state tool or releasing the tool seat so that the tool seat can rotate with the circular chain, and the free end of the clamping block has a semicircular notch matched with the horizontal roller; each side of the rectangular top plate has a guide plate parallel to the straight line segment of the circular chain, the rolling surface of the horizontal roller is rotatably matched on the vertical guide surface of the guide plate, the length of the guide plate is equal to or greater than the length of the straight line segment of the circular chain, and the two ends of the guide plate have inclined surfaces facilitating the rolling surface of the horizontal roller to fit the vertical guide surface of the guide plate. ​ ​ ​ ​ ​ ​ ​ 2. A tool magazine for a vertically accessing tool according to claim 1, characterized in that: The tool transfer mechanism comprises a bottom plate fixed with the vertical grid-shaped storage, two side plates for vertical guide rails and vertical first driving cylinders fixed on the bottom plate, a second H-shaped plate with an open upward and two inward flanging top parts for placing the rectangular tool disc connected with the free end of the piston rod of the vertical first driving cylinder, and the two side plates form a sliding cavity for the upward and downward sliding of the second H-shaped plate with the two inward flanging top parts; the top part of the two side plates has a pair of clamping plates driven by the respective horizontal second driving cylinders and used for clamping the rectangular tool disc; the bottom plate is further provided with a transfer device for bidirectional transfer of the vertical state tool between the clamped rectangular tool disc and the annular chain conveying mechanism.

3. A tool magazine for a vertically accessing tool according to claim 2, characterized in that: The transfer device comprises a second column fixed on the bottom plate, a first horizontal driving structure installed at the top end of the second column and perpendicular to the horizontal end rod of the vertical grid-shaped storage, a second horizontal driving mechanism perpendicular to the first horizontal driving structure, a vertical lifting structure on the second horizontal driving structure, and a pneumatic gripper radially opened and closed and used for grabbing or releasing the vertical state tool on the free end of the lifting rod of the vertical lifting structure.

4. The tool magazine of the vertical access tool according to claim 1, characterized in that: The tool seat comprises a support seat composed of a horizontal plate and two vertical plates, and the inner vertical plate of the two vertical plates has a plurality of holes for screwing and fixing with the annular chain; the top part of the outer vertical plate is lower than or equal to the top surface of the horizontal plate, a horizontal roller is installed in the middle of the width of the upper part of the outer vertical plate, and two vertical rollers for rolling on the top surface of the rectangular top plate are installed on both sides of the lower part of the outer vertical plate.

5. The tool magazine of the vertical access tool according to claim 1, characterized in that: The tool seat comprises a support seat composed of a horizontal plate and two vertical plates, and the inner vertical plate of the two vertical plates has a plurality of holes for screwing and fixing with the annular chain; the horizontal plate has a first center circular hole, a polygonal chuck or a circular chuck is installed on the horizontal plate, the polygonal chuck or the circular chuck has a second center circular hole and a plurality of radial slides uniformly distributed in the circumferential direction, and a plurality of radial slides are respectively slidably fitted with a holding block supported by a spring to the second center circular hole and capable of being expanded by the cylindrical part of the vertical state tool above the conical rod of the vertical state tool and clamping the conical rod.

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