A tool changing arm tool loosening structure and control method thereof

Abstract

The present invention relates to the field of mechanical processing technology, and in particular to a tool-changing arm tool-releasing structure and a control method thereof, wherein the structure comprises a tool-changing arm, which is used for bearing components and has an energy storage mechanism arranged therein; two knife claws, both rotatably arranged on the tool-changing arm; a support spring arranged between the two knife claws; an unlocking slider, which slides in the tool-changing arm; a first return spring is arranged at one end of the unlocking slider away from the knife claws; an unlocking push rod, which is fixedly arranged at the tool-changing position and is used to drive the unlocking slider to move; a lock core rotating block, which is rotatably arranged in the tool-changing arm; a lock head is arranged at one end of the lock core rotating block, and the lock head extends between the two knife claws; two relative locking sections and two relative unlocking sections are arranged circumferentially on the lock head, and the spacing between the two locking sections is greater than the spacing between the two unlocking sections; a driving mechanism, which is used to drive the rotation of the lock core rotating block; and a stop mechanism, which is used to lock the rotation of the lock core rotating block. The present invention can effectively solve the problem that the existing tool-changing arm is easy to fall off when it reaches the tool-changing position.

Description

Technical Field

[0001] The invention relates to the technical field of mechanical processing, and in particular to a tool-changing arm tool-releasing structure and a control method thereof. Background Art

[0002] The tool changer arm is a common mechanical device on CNC machine tools. It clamps the tool through the tool claws and is used to automatically change the tool on the machine tool. It can greatly improve the automation level of the machine tool, improve production efficiency and processing accuracy.

[0003] In the prior art, in order to ensure that the tool claw can firmly clamp the tool during the movement of the tool change arm, a locking mechanism is usually installed on the tool change arm, and the unlocking operation is performed after the tool claw reaches the tool change position, at which time the tool claw can be released so that the tool can be stored or taken out. Since the tool change arm needs to move over a large span and the tool change arm as a whole will rotate, it is impossible to install an additional power source on the tool change arm to control the action of the locking mechanism (for example, the wires and pipes connected to the power source will be entangled with the rotation of the tool change arm). Therefore, the locking mechanism on the tool change arm is usually a simple mechanical mechanism. When the tool change position is reached, it will be unlocked by the unlocking device set there. At this time, due to the sudden stop of the movement of the tool change arm, a certain impact will be generated, and the tool will also have a tendency to continue moving under the action of inertia. The combination of these two reasons will cause the tool to fall easily when it reaches the tool change position, seriously affecting production. Summary of the invention

[0004] The present invention provides a tool-releasing structure of a tool-changing arm and a control method thereof, which can effectively solve the problem that the existing tool-changing arm is easy to fall off when reaching a tool-changing position.

[0005] In order to achieve the above object, the technical solution adopted by the present invention is:

[0006] The present invention provides a tool changing arm tool releasing structure, comprising:

[0007] The tool changing arm is used to carry the components and has an energy storage mechanism arranged inside;

[0008] Two knife claws are both rotatably arranged on the knife changing arm; a supporting spring is arranged between the two knife claws;

[0009] The unlocking slide block slides towards and away from the knife claw in the tool changing arm; a first return spring is arranged at the end of the unlocking slide block away from the knife claw;

[0010] The unlocking push rod is fixedly arranged at the tool changing position and is used to drive the unlocking slide to move;

[0011] The lock core rotating block is rotatably arranged in the tool changing arm; a lock head is arranged at one end of the lock core rotating block, and the lock head extends between the two tool claws; two opposite locking sections and two opposite unlocking sections are arranged circumferentially of the lock head, and the spacing between the two locking sections is greater than the spacing between the two unlocking sections;

[0012] A driving mechanism, used to drive the lock core rotating block to rotate;

[0013] A stop mechanism, used to lock the rotation of the lock core rotating block;

[0014] When locking, the unlocking slide block is separated from the unlocking push rod, the lock core rotating block stops so that the two locking sections are aligned with the two knife claws, and the stop mechanism locks the rotation of the lock core rotating block;

[0015] When unlocking, the tool changing arm moves toward the unlocking push rod, so that the unlocking push rod drives the unlocking slider to move; during the movement of the unlocking slider, the energy storage mechanism accumulates energy, and the stopping mechanism keeps the lock cylinder rotating block from rotating; when the unlocking slider reaches the limit position, the stopping mechanism releases the lock of the lock cylinder rotating block, so that the energy accumulated in the energy storage mechanism can be released to drive the driving mechanism, so that the driving mechanism drives the rotation of the lock cylinder rotating block, and the lock cylinder rotating block rotates until the two unlocking sections are aligned with the two knife claws.

[0016] Furthermore, the energy storage mechanism comprises:

[0017] A first oil passage is provided at an end of the unlocking slide away from the knife claw;

[0018] The energy storage piston slides in the first oil passage at one end away from the unlocking slide block;

[0019] An energy storage spring is arranged in the first oil passage and is located on a side of the energy storage piston away from the unlocking slide block;

[0020] a second oil passage, one end of which is connected to the first oil passage and the other end of which extends to the driving mechanism and is used to drive the driving mechanism;

[0021] The unlocking slide block is provided with an unlocking piston, and the unlocking piston extends into the first oil passage.

[0022] Furthermore, the driving mechanism comprises:

[0023] The driving slide rod slides vertically in the tool changing arm; a rack is arranged on the driving slide rod; a driving piston is arranged at one end of the driving slide rod, and the driving piston extends into the second oil passage;

[0024] A second return spring is arranged at the other end of the driving slide rod;

[0025] A gear is arranged at one end of the lock core rotating block away from the lock head, and the gear is meshed with the rack.

[0026] Furthermore, a stop slot is provided on the tool changing arm, a stop surface is provided in the stop slot, and the stop mechanism comprises:

[0027] A follower rod, one end of which is fixedly connected to the unlocking slider and the other end of which is provided with an interception plate;

[0028] The stop slide block is sleeved on the follower rod and slides in the stop slide groove; a clamping block is arranged on the side of the stop slide block;

[0029] A third return spring is sleeved on the follower rod and arranged between the stop slider and the unlocking slider;

[0030] A bayonet is arranged on the driving slide bar;

[0031] When locking, the stop slider abuts against the stop surface, and the clamping block extends into the clamping opening;

[0032] When unlocking, the follower rod moves with the unlocking slider. After the unlocking slider reaches the limit position, the intercepting plate drives the stop slider to move to a position where the clamping block completely leaves the clamping port.

[0033] Furthermore, the energy storage mechanism also includes an adjusting nut screwed into the tool changing arm, and the adjusting nut abuts against the energy storage spring.

[0034] Further, the width of the gear is greater than the width of the rack.

[0035] Furthermore, a first annular block is provided at one end of the unlocking slide block facing the knife claw, and a first inclined surface is provided on the first annular block; a second annular block is provided at one end of the lock core rotating block away from the knife claw, and a second inclined surface is provided on the second annular block;

[0036] When locked, the first inclined surface and the second inclined surface fit together.

[0037] Furthermore, the distance between the two locking sections gradually decreases in the direction toward the knife claws; and the two knife claws are provided with third inclined surfaces corresponding to the locking sections.

[0038] Furthermore, the contact surface between the unlocking slider and the unlocking push rod is a planar structure.

[0039] The present invention also provides a control method for a tool changing arm tool releasing structure, which is used for the tool changing arm tool releasing structure, comprising:

[0040] Installation steps: Install the unlocking push rod at the tool changing position; install other components away from the tool changing position so that the two locking sections of the lock core rotating block are aligned with the knife claws so that the two knife claws cannot be opened;

[0041] Tool loosening steps: the tool changing arm moves to the tool changing position, so that the unlocking push rod drives the unlocking slider to move, and the unlocking is completed when the unlocking slider moves to the limit position. The lock core rotating block rotates until the two unlocking sections are aligned with the knife claws, so that the two knife claws can be opened, and the tool changing arm is continuously forced to keep the unlocking slider at this limit position;

[0042] Tool taking and changing steps: Move the tool along the extension direction of the two tool claws to complete tool taking and changing;

[0043] Locking steps: The tool changing arm moves away from the tool changing position, and the lock core rotating block rotates until the two locking sections are aligned with the knife claws, so that the two knife claws cannot be opened, and the locking is completed.

[0044] The technical solution of the present invention can achieve the following technical effects:

[0045] During the movement of the tool changing arm, the tool releasing structure uses an energy storage mechanism to store energy first, so that the tool claw remains in a locked state at the moment the tool changing arm stops at the tool changing position. After that, the driving mechanism can use the energy stored in the energy storage mechanism to drive the rotation of the lock core rotating block to complete the unlocking, thereby solving the problem of the tool falling due to impact. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0047] Figure 1 It is a structural schematic diagram of the tool loosening structure of the tool changing arm in the present invention;

[0048] Figure 2 It is a schematic diagram of the splitting of the knife claw of the knife loosening structure of the knife changing arm in the present invention;

[0049] Figure 3 It is a schematic structural diagram of a cutaway portion of the tool changing arm of the tool releasing structure of the tool changing arm in the present invention;

[0050] Figure 4 It is a schematic diagram of the disassembly of the stop mechanism of the tool-changing arm and the tool-releasing structure of the present invention (the tool-changing arm has been cut open);

[0051] Figure 5 A top view of the tool loosening structure of the tool changing arm in the present invention;

[0052] Figure 6 When the tool change arm loosening structure of the present invention is in the locked state Figure 5 A sectional view of the

[0053] Figure 7 When the tool change arm loosening structure of the present invention is in the locked state Figure 5 A cross-sectional view at point B;

[0054] Figure 8 When the tool changing arm of the tool changing arm loosening structure of the present invention moves to the tool changing position Figure 5 A sectional view of the

[0055] Fig. 9 When the tool changing arm of the tool changing arm loosening structure of the present invention moves to the tool changing position Figure 5 A cross-sectional view at point B;

[0056] Fig.10 When the tool change arm tool release structure of the present invention is unlocked Figure 5 A sectional view of the

[0057] Fig.11 When the tool change arm tool release structure of the present invention is unlocked Figure 5 A cross-sectional view at point B;

[0058] Fig.12 When the tool changing arm of the tool changing arm loosening structure of the present invention moves away from the tool changing position Figure 5 A sectional view of the

[0059] Fig.13 When the tool changing arm of the tool changing arm loosening structure of the present invention moves away from the tool changing position Figure 5 A cross-sectional view at point B;

[0060] Fig.14 It is a structural schematic diagram of the driving slide rod in the present invention;

[0061] 1. Tool changing arm; 1a. First oil channel; 1b. Energy storage piston; 1c. Energy storage spring; 1d. Second oil channel; 1e. Stop slide groove; 1f. Stop surface; 1g. Adjusting nut; 2. Claw; 2a. Third inclined surface; 3. Support spring; 4. Unlocking slider; 4a. Unlocking piston; 5. First return spring; 6. Unlocking push rod; 4b. First annular block; 4c. First inclined surface; 7. Lock core rotating block; 7a. Lock head; 7b. Locking section; 7c. Unlocking section; 7d. Gear; 7e. Second annular block; 7f. Second inclined surface; 8. Driving slide rod; 8a. Rack; 8b. Driving piston; 8c. Bayonet; 9. Second return spring; 10. Follower rod; 10a. Interceptor plate; 11. Stop slider; 11a. Block; 12. Third return spring. DETAILED DESCRIPTION

[0062] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0063] In the description of the present invention, it should be noted that the orientations or positional relationships indicated by “center”, “up”, “down”, “left”, “right”, “vertical”, “horizontal”, “inside” and “outside”, etc., are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0064] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0065] The present invention relates to a tool-changing arm tool-releasing structure, such as Figures 1 to 5 As shown, including:

[0066] The tool changing arm 1 is used to carry the components and has an energy storage mechanism inside. The tool changing arm 1 is usually arranged on a moving table of the tool magazine. The moving table is a two-axis moving system that can move the tool changing arm 1 in the horizontal direction. The moving table is provided with a rotating motor that can drive the tool changing arm 1 to rotate so that different tool stations face the tool changing position.

[0067] Two knife claws 2 are both rotatably arranged on the tool changing arm 1; a support spring 3 is arranged between the two knife claws 2, the support spring 3 is located at the end of the knife claw 2 away from the clamping tool, and the support spring 3 is in a compressed state, so as to provide the knife claw 2 with a clamping force on the tool;

[0068] The unlocking slide block 4 slides in the tool changing arm 1 toward and away from the knife claw 2; a first return spring 5 is provided at the end of the unlocking slide block 4 away from the knife claw 2;

[0069] The unlocking push rod 6 is fixedly arranged at the tool changing position and is used to drive the unlocking slide block 4 to move;

[0070] The lock core rotating block 7 is rotatably arranged in the tool changing arm 1; a lock head 7a is arranged at one end of the lock core rotating block 7, and the lock head 7a extends between the two knife claws 2 and is located at the end of the knife claws 2 away from the tool; the lock head 7a is circumferentially arranged with two opposite locking sections 7b and two opposite unlocking sections 7c, and the spacing between the two locking sections 7b is greater than the spacing between the two unlocking sections 7c;

[0071] A driving mechanism, used to drive the lock core rotating block 7 to rotate;

[0072] The stop mechanism is used to lock the rotation of the lock core rotating block 7.

[0073] The specific principle of this loose knife structure is as follows:

[0074] When the tool changing arm 1 moves and transports the tool in the tool magazine, or rotates to switch the workstation, it is necessary to keep the tool claw 2 locked on the tool, that is, it is necessary to ensure that the two tool claws 2 cannot open, or can only open a small range, so that the tool cannot be moved out of the clamping of the two tool claws 2. Figures 6 and 7 As shown, the unlocking slider 4 and the unlocking push rod 6 in the present structure are in a separated state, and the lock core rotating block 7 will stop to align the two locking sections 7b with the two knife claws 2. Since the distance between the two locking sections 7b is relatively large, when inserted between the ends of the two knife claws 2 away from the clamping tool, the rotation angle of the two knife claws 2 will be limited, so that the two knife claws 2 can only open a very small range or even cannot open, thereby forming a locking effect on the tool; at this time, the stop mechanism will also lock the rotation of the lock core rotating block 7 to ensure the locking effect on the knife claws 2.

[0075] When it is necessary to take out or change the tool held on the knife claw 2, the lock of the knife claw 2 must be released so that the knife claw 2 can be released. The traditional knife loosening and unlocking structure is usually directly pushed and unlocked by the mechanical mechanism when the tool changing arm 1 moves to the tool changing position. At this time, due to the sudden stop of the movement of the tool changing arm, a certain impact will be generated, and the tool will also have a tendency to continue moving under the action of inertia. The combination of these two reasons will cause the tool to easily fall when it reaches the tool changing position, seriously affecting production. In order to solve this problem, the present knife loosening structure uses an energy storage mechanism to store energy first, so that the knife claw 2 remains in a locked state at the moment when the tool changing arm 1 stops at the tool changing position. After that, the driving mechanism can use the energy stored in the energy storage mechanism to drive the rotation of the lock core rotating block 7 to complete the unlocking, thereby solving the problem of the tool falling due to the impact. The specific implementation principle is as follows:

[0076] When unlocking is required, the tool changing arm 1 will move toward the tool changing position driven by the tool magazine movable table, and the unlocking push rod 6 fixed at the tool changing position will intercept the unlocking slide 4, so that the unlocking push rod 6 drives the unlocking slide 4 to move relative to the tool changing arm 1.

[0077] During the movement of the unlocking slider 4, Figures 8 and 9 As shown, with the movement of the unlocking slider 4, the unlocking slider 4 will push the components in the energy storage mechanism, causing the energy storage mechanism to begin to accumulate energy. The accumulated energy will cause the driving mechanism to have a tendency to drive the lock cylinder rotary block 7 to rotate. Therefore, it is necessary to keep the locking mechanism from rotating the lock cylinder rotary block 7 during the movement of the unlocking slider 4 until the unlocking slider 4 is fully moved into place.

[0078] When the unlocking slider 4 reaches the limit position (i.e., when the unlocking slider 4 is fully moved into position), as shown in FIG. Figures 10-11 As shown, the locking mechanism will release the lock on the lock core rotary block 7, so that the energy stored in the energy storage mechanism can be released to drive the driving mechanism, so that the driving mechanism drives the lock core rotary block 7 to rotate, and the lock core rotary block 7 is rotated until the two unlocking sections 7c are aligned with the two knife claws 2. There will be a certain hysteresis in the release of this energy, that is: at the moment when the unlocking slider 4 is in place, the lock core rotary block 7 has not had time to rotate, so the knife claws 2 cannot be opened at this time, and the impact and inertia of the sudden stop of the tool changing arm 1 will not cause the tool to fall; and after that, with the release of the energy stored in the energy storage mechanism, the driving mechanism will start to drive the rotary block 7 to rotate to unlock.

[0079] The energy storage mechanism can adopt a pure mechanical structure composed of levers and springs, but this structure is usually difficult to process and maintain due to its relatively complex shape and matching relationship. Therefore, the energy storage mechanism is realized by hydraulic means in this structure, such as Figure 3 As shown, the specific structure includes:

[0080] The first oil passage 1a is L-shaped and is disposed at an end of the unlocking slide 4 away from the knife claw 2;

[0081] The energy storage piston 1b slides in the first oil passage 1a at one end away from the unlocking slide 4;

[0082] An energy storage spring 1c is arranged in the first oil passage 1a and is located on a side of the energy storage piston 1b away from the unlocking slider 4;

[0083] A second oil passage 1d, one end of which is connected to the first oil passage 1a and the other end of which extends to the driving mechanism, for driving the driving mechanism;

[0084] The unlocking slide 4 is provided with an unlocking piston 4 a , and the unlocking piston 4 a extends into the first oil passage 1 a .

[0085] The specific working process is as follows: when not at the tool-changing position, the unlocking slider 4 will stop on the outer side under the restriction of the energy storage spring 1c. When the tool-changing arm 1 moves to the tool-changing position, the unlocking slider 4 will move inward under the interception of the unlocking push rod 6, so that the unlocking piston 4a pushes the hydraulic oil in the first oil channel 1a to move toward the energy storage piston 1b, and because the lock of the lock head 7a has not been unlocked at this time, the hydraulic oil cannot flow to the drive mechanism through the second oil channel 1d temporarily, so the hydraulic oil will push the energy storage piston 1b to move and compress the energy storage spring 1c, thereby realizing energy storage. When the unlocking slider 4 moves inward to the limit position, the lock of the lock head 7a will be released. At this time, the energy storage spring 1c will push the energy storage piston 1b to push the hydraulic oil, so that the hydraulic oil reaches the drive mechanism through the second oil channel 1d, and then drive the drive mechanism to drive the lock head 7a to rotate to complete the unlocking. At this time, the unlocking slider 4 is still kept in the inner limit position under the interception limit of the unlocking push rod 6. When the tool changing arm 1 is moved away, the first return spring 5 will push the unlocking slider 4 outward, so that the space on one side of the unlocking piston 4a is increased, and the hydraulic oil will be sucked back again, so that the above-mentioned components are reset, thereby realizing the function of re-locking the lock head 7a. The energy storage and driving functions realized by hydraulic oil will be more stable than the purely mechanical structure, and can effectively reduce the vibration during the working process.

[0086] The energy storage mechanism can also be provided with an adjusting nut 1g screwed into the tool changing arm 1, and the adjusting nut 1g presses against the energy storage spring 1c. By adjusting the screwing depth of the adjusting nut 1g, the compression amplitude of the energy storage spring 1c is changed, and finally the force applied by the hydraulic oil to the driving mechanism is adjusted.

[0087] The driving mechanism can be realized by using a variety of existing hydraulic actuators such as hydraulic motors, but these existing actuators are inconvenient to maintain and have high costs. Therefore, this structure proposes a simple driving mechanism, and the specific structure includes:

[0088] The slide bar 8 is driven to slide vertically in the tool changing arm 1; Fig.14 As shown, a rack 8a is provided on the driving slide rod 8; a driving piston 8b is provided at one end of the driving slide rod 8, and the driving piston 8b extends into the second oil passage 1d;

[0089] A second return spring 9 is arranged at the other end of the driving slide rod 8;

[0090] A gear 7d is disposed at one end of the lock core rotating block 7 away from the lock head 7a, and the gear 7d is meshed with the rack 8a. The width of the gear 7d is preferably greater than the width of the rack 8a to ensure the reliability of the rack 8a driving the gear 7d.

[0091] Its specific working process is as follows: after the hydraulic oil reaches the driving mechanism through the second oil channel 1d, it will push the driving piston 8b of the driving slide rod 8 to move, thereby driving the rotation of the lock core rotating block 7 through the engagement of the rack 8a and the gear 7d; and when the hydraulic oil is sucked back through the second oil channel 1d, the driving piston 8b will move in the opposite direction, thereby driving the lock core rotating block 7 to rotate in the opposite direction.

[0092] The present tool loosening structure also provides a preferred stopping mechanism, which requires a stopping groove 1e to be provided on the tool changing arm 1, and a stopping surface 1f to be provided in the stopping groove 1e. The stopping mechanism specifically includes:

[0093] A follower rod 10, one end of which is fixedly connected to the unlocking slider 4, and the other end of which is provided with an interception plate 10a;

[0094] The stopper slide block 11 is sleeved on the follower rod 10 through the central through hole, the diameter of the through hole is smaller than the diameter of the interception plate 10a, and the stopper slide block 11 slides in the stopper slide groove 1e, and the length of the stopper slide block 11 is smaller than the follower rod 10; a clamping block 11a is provided on the side of the stopper slide block 11;

[0095] A third return spring 12 is sleeved on the follower rod 10 and arranged between the stop slider 11 and the unlocking slider 4;

[0096] The driving slide bar 8 is provided with a bayonet 8c.

[0097] The specific working process is: when locking, Figures 6 and 7 As shown, the stop slider 11 abuts against the stop surface 1f, and the block 11a extends into the bayonet 8c, thereby limiting the up and down movement of the driving slide bar 8;

[0098] When unlocking, the follower rod 10 moves along with the unlocking slider 4. Figures 8 and 9 As shown, after moving a certain distance, the intercepting plate 10a will abut against the end surface of the stop slider 11, and then the block 11a on the stop slider 11 will be gradually moved away from the bayonet 8c as the follower rod 10 moves. However, at this time, the block 11a and the bayonet 8c are still in contact, so the up and down movement of the driving slide bar 8 is still in a restricted state;

[0099] After the unlocking slider 4 reaches the limit position, Figures 10-11 As shown, the intercepting plate 10a will drive the stop slider 11 to move to a position where the block 11a completely leaves the bayonet 8c. At this time, the restriction of the block 11a is lost, and the driving slide rod 8 can move under the push of the hydraulic oil, thereby pushing the lock core rotating block 7 to rotate and unlock.

[0100] When reset, if Figures 12-13As shown, when the unlocking slider 4 moves outward as mentioned above, the hydraulic oil will be sucked back into the first oil channel 1a, and the driving slide bar 8 will rise as the unlocking slider 4 slides outward. However, since the bayonet 8c has not yet been aligned with the block 11a, the block 11a will be pressed against the block 11a by the side of the driving slide bar 8, and the third return spring 12 will be compressed as the unlocking slider 4 continues to move; after the unlocking slider 4 has completely slid outward into place, the hydraulic oil will be completely sucked back into the first oil channel 1a, and the second return spring 9 will push the driving slide bar 8 upward to the limit position. At this time, the bayonet 8c will be aligned with the block 11a, and the block 11a can be quickly pushed into the bayonet 8c under the push of the third return spring 12, re-locking the sliding of the driving slide bar 8, as shown in FIG. Figures 6 and 7 shown.

[0101] Preferably Figure 4 As shown, a first annular block 4b is provided at the end of the unlocking slider 4 facing the knife claw 2, and a first inclined surface 4c is provided on the first annular block 4b; a second annular block 7e is provided at the end of the lock core rotating block 7 away from the knife claw 2, and a second inclined surface 7f is provided on the second annular block 7e; when in the locked state, the unlocking slider 4 will slide to the outermost side, at which time the first inclined surface 4c will fit with the second inclined surface 7f, and if the lock core rotating block 7 fails to rotate to the correct angle, the first inclined surface 4c will push the second inclined surface 7f until the two are completely fitted together, thereby ensuring that the lock core rotating block 7 can stop at the correct angle in the locked state, and also assisting in positioning the angle of the lock core rotating block 7 during installation.

[0102] Preferably, the spacing between the two locking segments 7b is set to gradually decrease in the direction toward the knife claw 2, and a third inclined surface 2a corresponding to the locking segment 7b is provided on the two knife claws 2. When the knife claw 2 contacts the locking segment 7b, the friction force of the knife claw 2 on the locking segment 7b is increased, thereby improving the locking effect.

[0103] The contact surface between the unlocking slider 4 and the unlocking push rod 6 is preferably set to a planar structure to prevent the unlocking push rod 6 from sliding to the side during the contact process between the unlocking slider 4 and the unlocking push rod 6, thereby ensuring the reliability of the contact between the two.

[0104] The present invention also provides a control method for a tool changing arm tool releasing structure, which is used for the tool changing arm tool releasing structure, comprising:

[0105] Installation steps: install the unlocking push rod 6 at the tool changing position; stop the tool changing arm 1 away from the tool changing position, and then install other components. During installation, the two locking sections 7b of the lock core rotating block 7 need to be aligned with the knife claws 2 so that the two knife claws 2 cannot be opened;

[0106] Knife loosening step: when the tool needs to be changed, the tool changing arm 1 moves to the tool changing position, so that the unlocking push rod 6 drives the unlocking slide block 4 to move, and the knife claw 2 is unlocked when the unlocking slide block 4 moves to the limit position. At this time, the lock core rotating block 7 will rotate until the two unlocking sections 7c are aligned with the knife claws 2, so that the two knife claws 2 can be opened, and the tool changing arm 1 is continuously forced to keep the unlocking slide block 4 at this limit position, ensuring that the knife claw 2 is continuously in an unlocked state;

[0107] Tool taking and changing step: moving the tool along the extension direction of the two tool claws 2 to complete tool taking and changing;

[0108] Locking steps: the tool changing arm 1 moves away from the tool changing position, and the lock core rotating block 7 will rotate again until the two locking sections 7b are aligned with the knife claws 2, so that the two knife claws 2 cannot be opened, and the locking is completed.

[0109] The above shows and describes the basic principles, main features and advantages of the present invention. It should be understood by those skilled in the art that the present invention is not limited to the above embodiments. The above embodiments and descriptions are only for explaining the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, which fall within the scope of the present invention to be protected. The scope of protection of the present invention is defined by the attached claims and their equivalents.

Claims

1. A tool changing arm tool loosening structure, characterized in that: include: The tool changing arm (1) is used for carrying components and has an energy storage mechanism arranged inside; Two knife claws (2) are both rotatably arranged on the knife changing arm (1); a supporting spring (3) is arranged between the two knife claws (2); An unlocking slide block (4) slides in the tool changing arm (1) toward and away from the knife claw (2); a first return spring (5) is provided at one end of the unlocking slide block (4) away from the knife claw (2); An unlocking push rod (6) is fixedly arranged at the tool changing position and is used to drive the unlocking slide block (4) to move; A lock core rotating block (7) is rotatably arranged in the tool changing arm (1); a lock head (7a) is arranged at one end of the lock core rotating block (7), and the lock head (7a) extends between the two tool claws (2); the lock head (7a) is circumferentially arranged with two opposite locking sections (7b) and two opposite unlocking sections (7c), and the spacing between the two locking sections (7b) is greater than the spacing between the two unlocking sections (7c); A driving mechanism, used for driving the lock core rotating block (7) to rotate; A stop mechanism, used for locking the rotation of the lock core rotating block (7); When locking, the unlocking slide block (4) is separated from the unlocking push rod (6), the lock core rotating block (7) stops at a position where the two locking sections (7b) are aligned with the two knife claws (2), and the stop mechanism locks the rotation of the lock core rotating block (7); When unlocking, the tool changing arm (1) moves toward the unlocking push rod (6), so that the unlocking push rod (6) drives the unlocking slider (4) to move; during the movement of the unlocking slider (4), the energy storage mechanism accumulates energy, and the stop mechanism keeps locking the rotation of the lock core rotating block (7); when the unlocking slider (4) reaches the limit position, the stop mechanism releases the lock of the lock core rotating block (7), so that the energy stored in the energy storage mechanism can be released to drive the driving mechanism, so that the driving mechanism drives the rotation of the lock core rotating block (7), and the lock core rotating block (7) is rotated until the two unlocking sections (7c) are aligned with the two knife claws (2).

2. The tool changing arm tool loosening structure according to claim 1, characterized in that: The energy storage mechanism comprises: A first oil passage (1a) is arranged at an end of the unlocking slide block (4) away from the knife claw (2); An energy storage piston (1b) slides in the first oil passage (1a) at one end away from the unlocking slide block (4); An energy storage spring (1c) is arranged in the first oil passage (1a) and is located on a side of the energy storage piston (1b) away from the unlocking slide block (4); a second oil passage (1d), one end of which is connected to the first oil passage (1a) and the other end of which extends to the driving mechanism and is used to drive the driving mechanism; An unlocking piston (4a) is provided at one end of the unlocking slide block (4), and the unlocking piston (4a) extends into the first oil passage (1a).

3. The tool changing arm tool loosening structure according to claim 2, characterized in that: The driving mechanism comprises: A driving slide rod (8) slides vertically in the tool changing arm (1); a rack (8a) is arranged on the driving slide rod (8); a driving piston (8b) is arranged at one end of the driving slide rod (8), and the driving piston (8b) extends into the second oil passage (1d); A second return spring (9) is arranged at the other end of the driving slide rod (8); A gear (7d) is provided at one end of the lock core rotating block (7) away from the lock head (7a), and the gear (7d) is meshed with the rack (8a).

4. The tool changing arm tool releasing structure according to claim 3, characterized in that: The tool changing arm (1) is provided with a stop groove (1e), a stop surface (1f) is provided in the stop groove (1e), and the stop mechanism comprises: A follower rod (10), one end of which is fixedly connected to the unlocking slider (4), and the other end of which is provided with an interception plate (10a); A stop slide block (11) is sleeved on the follower rod (10) and slides in the stop slide groove (1e); a clamping block (11a) is provided on the side of the stop slide block (11); A third return spring (12), which is sleeved on the follower rod (10) and is arranged between the stop slider (11) and the unlocking slider (4); The driving slide bar (8) is provided with a bayonet (8c); When locking, the stop slide block (11) abuts against the stop surface (1f), and the clamping block (11a) extends into the clamping opening (8c); When unlocking, the follower rod (10) moves following the unlocking slider (4), and after the unlocking slider (4) reaches the limit position, the interception plate (10a) drives the stop slider (11) to move to a position where the clamping block (11a) completely leaves the clamping port (8c).

5. The tool changing arm tool loosening structure according to claim 2, characterized in that: The energy storage mechanism also includes an adjusting nut (1g) screwed into the tool changing arm (1), and the adjusting nut (1g) abuts against the energy storage spring (1c).

6. The tool loosening structure of the tool changing arm according to claim 3, characterized in that: The width of the gear (7d) is greater than the width of the rack (8a).

7. The tool changing arm tool releasing structure according to claim 1, characterized in that: A first annular block (4b) is provided at one end of the unlocking slide block (4) facing the knife claw (2), and a first inclined surface (4c) is provided on the first annular block (4b); a second annular block (7e) is provided at one end of the lock core rotating block (7) away from the knife claw (2), and a second inclined surface (7f) is provided on the second annular block (7e); When locked, the first inclined surface (4c) and the second inclined surface (7f) fit together.

8. The tool loosening structure of the tool changing arm according to claim 1, characterized in that: The distance between the two locking sections (7b) gradually decreases in the direction toward the knife claw (2); and a third inclined surface (2a) corresponding to the locking section (7b) is provided on the two knife claws (2).

9. The tool changing arm tool releasing structure according to claim 1, characterized in that: The contact surface between the unlocking slide block (4) and the unlocking push rod (6) is a planar structure.

10. A control method for a tool-changing arm tool-releasing structure, characterized in that: The tool loosening structure for a tool changing arm as claimed in any one of claims 1 to 9 comprises: Installation steps: installing an unlocking push rod (6) at the tool changing position; installing other components away from the tool changing position so that the two locking sections (7b) of the lock core rotating block (7) are aligned with the knife claws (2) so that the two knife claws (2) cannot be opened; The knife loosening step: the knife changing arm (1) moves to the knife changing position, so that the unlocking push rod (6) drives the unlocking slide block (4) to move, and the unlocking is completed when the unlocking slide block (4) moves to the limit position, and the lock core rotating block (7) rotates until the two unlocking sections (7c) are aligned with the knife claws (2), so that the two knife claws (2) can be opened, and force is continuously applied to the knife changing arm (1) so that the unlocking slide block (4) can be maintained at this limit position; Tool taking and changing step: moving the tool along the extension direction of the two tool claws (2) to complete tool taking and changing; Locking steps: the tool changing arm (1) moves away from the tool changing position, and the lock core rotating block (7) rotates until the two locking sections (7b) are aligned with the knife claws (2), so that the two knife claws (2) cannot be opened, and the locking is completed.

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