A disc type manipulator lifting mechanism

Abstract

The present invention discloses a disc-type manipulator lifting mechanism, and relates to the field of manipulator lifting technology. The present invention comprises a shell, a driving rod is rotatably arranged in the shell, an incomplete gear ring, an incomplete gear, and a driving gear are rotatably arranged on the top of the shell, the driving gear and the driving rod are fixedly connected, a moving sleeve is arranged on the driving rod, a reciprocating spiral groove is provided on the driving rod, an abutment ball is arranged in the moving sleeve, and an abutment frame is fixedly arranged on the outer peripheral surface of the moving sleeve; the connection relationship between the moving sleeve and the driving rod can be stably switched by rotating the abutment frame, and the first abutment arc plate is driven to move to rotate the corresponding tool sleeve, and the annular tool holder is locked by two tooth plates, and when the driving rod drives the moving sleeve to restore the initial position, the annular tool holder can also be driven to rotate by the abutment frame at the same time, so that the tool changes position, thereby greatly reducing the use of the driving source, reducing the production cost, and reducing the tool change time, and increasing the processing efficiency.

Description

Technical Field

[0001] The invention relates to the technical field of manipulator lifting, and in particular to a disc type manipulator lifting mechanism. Background Art

[0002] Robot fingers are automatic operating devices that can imitate certain movements and functions of human hands and arms and are used to grasp, move objects or operate tools according to a fixed procedure.

[0003] It is mainly composed of three parts: actuator, drive mechanism and control system. It can replace people to do heavy labor to achieve mechanization and automation of production. It is widely used in machinery manufacturing, light industry and atomic energy and other departments. Its characteristic is that it can complete various expected operations through programming. Its structure and performance combine the advantages of both human and mechanical machines.

[0004] For example, the invention patent with publication number CN107962437A and name "A disc-type manipulator lifting device" includes a base, a support beam, and a manipulator arm. A support plate is provided at the lower end of the base, a groove is provided in the middle of the lower end of the support plate, a second slide plate is provided at the upper end of the base, slide bars are provided on both sides of the lower end of the second slide plate, a first slide plate is provided at the upper end of the second slide plate, pulleys are provided on both sides of the lower end of the first slide plate, a support beam is provided in the middle of the upper end of the base away from the first and second slide plates, a cylinder, a strut, a control motor, a transmission, and a plunger are provided in the support beam, a rotating shaft is provided on one side of the upper end of the support beam, a manipulator arm is provided on the side of the rotating shaft away from the support beam, a fixing groove, a fixing ring, a tool, and a clamping hole are provided in the manipulator arm, and automatic lifting and rotation of the manipulator arm can be realized through the rotating shaft and the support beam.

[0005] When using a machining center to process parts, it is usually necessary to perform multiple steps on the same part, such as drilling, tapping, chamfering, etc. Different tools are required for different operation steps in the machining center. In CNC machine tools, tools are usually replaced by a manipulator that can be raised and lowered and rotated. As shown in the above-mentioned patent, the existing manipulator for replacing tools is usually driven by a motor to rotate, and then the manipulator is driven to rise and fall by a cylinder or a hydraulic cylinder. At the same time, another motor is required to control the rotation of the tool magazine, and then the motor is used to rotate the tool from a horizontal state to a vertical state. Multiple drive sources are required to complete the lifting, rotation and tool changing of the manipulator, which greatly increases the production cost. Summary of the invention

[0006] The purpose of the present invention is to provide a disc type manipulator lifting mechanism to solve the above-mentioned deficiencies in the prior art.

[0007] In order to achieve the above-mentioned objectives, the present invention provides the following technical solutions: a disc-type manipulator lifting mechanism comprises a shell, a driving rod is rotatably arranged in the shell, a tool storage mechanism and a processing spindle are respectively arranged on both sides of the driving rod, an incomplete gear ring and an incomplete gear are rotatably arranged on the top of the shell, the incomplete gear ring is fixedly connected to the incomplete gear, a driving gear is rotatably arranged between the incomplete gear ring and the incomplete gear, the driving gear and the driving rod are fixedly connected, a movable sleeve is arranged on the driving rod, a reciprocating spiral groove for lifting the movable sleeve is opened on the driving rod, an abutment ball adapted to the reciprocating spiral groove is fixedly arranged in the movable sleeve, an abutment frame is fixedly arranged on the outer circumferential surface of the movable sleeve, two first abutment plates and two second abutment plates are fixedly arranged in the shell, a locking structure for fixedly connecting the movable sleeve to the driving rod is arranged on the movable sleeve, and a rotating tool mechanism for rotating the tool is arranged on the tool storage mechanism.

[0008] Preferably, the locking mechanism includes a slide plate slidably arranged on an abutment frame, a first spring is fixedly arranged between the slide plate and the outer wall of the movable sleeve, an insertion rod is slidably arranged inside the movable sleeve, the insertion rod is fixedly connected to a section of the slide plate close to the movable sleeve, and two sockets are fixedly arranged on the outer peripheral surface of the driving rod.

[0009] Preferably, V-shaped movable plates are rotatably provided on both sides of the abutment frame, and one end of the two V-shaped movable plates close to the movable sleeve is rotatably connected to the abutment frame, and one end of the two V-shaped movable plates away from the movable sleeve is rotatably connected to one end of the slide plate away from the movable sleeve.

[0010] Preferably, the knife storage mechanism comprises a fixed disk fixedly arranged in the housing, an annular knife holder is rotatably arranged on the outer peripheral surface of the fixed disk, and a plurality of knife sleeves are rotatably arranged on the annular knife holder.

[0011] Preferably, the knife rotating mechanism comprises rotating gear rings rotatably arranged on both sides of each knife sleeve, a torsion spring is fixedly arranged between each rotating gear ring and the annular knife holder, and two tooth plates are slidably arranged on the fixed disk.

[0012] Preferably, a movable groove is provided on the fixed plate, a sliding block is slidably arranged in the movable groove, a lower pressure rod is fixedly arranged at the bottom of the sliding block, and the two tooth plates are fixedly arranged at the bottom of the lower pressure rod, a fixed rod is fixedly arranged on the fixed plate, and a first abutment arc plate is slidably arranged at one end of the fixed rod away from the fixed plate, a push plate is slidably arranged on the fixed rod, a second spring is fixedly arranged between the push plate and the fixed plate, the push plate is fixedly connected to the first abutment arc plate, a hinged plate is rotatably arranged at the bottom of the push plate, the end of the hinged plate away from the push plate is rotatably connected to the sliding block, and the first abutment arc plate is slidably connected to the first abutment plate close to the fixed plate.

[0013] Preferably, a movable plate is slidably arranged on the fixed plate, a third spring is fixedly arranged between an end of the movable plate away from the slider and the fixed plate, and an end of the slider away from the fixed rod is arranged as an inclined surface.

[0014] Preferably, a pull rod is fixedly provided on one side of the movable plate away from the fixed rod, a cross rod is fixedly provided on the pull rod, and a second abutting arc plate is fixedly provided on one end of the cross rod away from the pull rod.

[0015] Preferably, a plurality of ball heads are movably arranged on the annular tool holder, a lever is fixedly arranged on each of the ball heads, and a fourth spring is fixedly arranged between each of the levers and the annular tool holder.

[0016] Preferably, a plurality of limit racks are fixedly arranged on the annular tool holder.

[0017] In the above technical scheme, the present invention provides a disc-type manipulator lifting mechanism, which has the following beneficial effects: the driving rod is driven to rotate forward and reverse by the incomplete gear and the incomplete gear ring, so as to control the forward and reverse rotation of the tool changing plate. During the rotation process, the driving rod can drive the tool changing plate to lift and rotate through the cooperation of the movable sleeve, the abutment frame, the first abutment plate and the second abutment plate. The rotation of the abutment frame can stably switch the connection relationship between the movable sleeve and the driving rod, and drive the first abutment arc plate to move to rotate the corresponding tool sleeve, and lock the annular tool holder through the two tooth plates. When the driving rod drives the movable sleeve to restore the initial position, the annular tool holder can also be driven to rotate through the abutment frame at the same time to change the position of the tool, thereby greatly reducing the use of the driving source, reducing production costs, and at the same time reducing tool change time and increasing processing efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments 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 also be obtained based on these drawings.

[0019] Figure 1 A schematic diagram of the overall structure provided for an embodiment of the present invention;

[0020] Figure 2 A schematic diagram of the structure of an incomplete gear ring provided by an embodiment of the present invention;

[0021] Figure 3 A schematic structural diagram of a second abutment plate provided in an embodiment of the present invention;

[0022] Figure 4 A schematic diagram of the structure of a tool changing plate provided in an embodiment of the present invention;

[0023] Figure 5 A schematic diagram of the structure of a driving rod provided by an embodiment of the present invention;

[0024] Figure 6 A schematic diagram of the structure of an abutment frame provided by an embodiment of the present invention;

[0025] Figure 7 A schematic structural diagram of a first abutting arc plate provided in an embodiment of the present invention;

[0026] Figure 8 A schematic diagram of the structure of the annular tool holder provided in an embodiment of the present invention;

[0027] Fig. 9 A schematic diagram of the structure of a rotating gear ring provided in an embodiment of the present invention;

[0028] Fig.10 A schematic diagram of the structure of a second abutting arc plate provided in an embodiment of the present invention;

[0029] Fig.11 The embodiment of the present invention provides Figure 8 A magnified view of the structure at center A;

[0030] Fig.12 The embodiment of the present invention provides Fig.10 A magnified view of the structure at point B.

[0031] Description of reference numerals:

[0032] 1. Housing; 2. Processing spindle; 3. Servo motor; 4. Incomplete gear ring; 5. Incomplete gear; 6. Driving gear; 11. Driving rod; 111. Reciprocating spiral groove; 12. Moving sleeve; 13. Abutment ball; 14. Connecting rod; 15. Tool change plate; 16. Clamping groove; 21. Abutment frame; 22. V-shaped movable plate; 23. Slide plate; 24. First spring; 25. Insertion rod; 26. Insertion hole; 27. First abutment plate; 28. Second abutment plate; 31. Fixed Disk; 32, annular tool holder; 33, first abutting arc plate; 34, fixed rod; 35, push plate; 36, second spring; 37, hinged plate; 38, slider; 41, movable plate; 42, third spring; 43, pull rod; 44, cross bar; 45, second abutting arc plate; 51, tool sleeve; 52, rotating gear ring; 53, torsion spring; 54, pressing rod; 55, gear plate; 56, movable groove; 61, lever; 611, ball head; 62, limit frame; 63, fourth spring. DETAILED DESCRIPTION

[0033] In order to enable those skilled in the art to better understand the technical solution of the present invention, the present invention will be further described in detail below with reference to the accompanying drawings.

[0034] See also Figure 1-12A disc-type manipulator lifting mechanism, a disc-type manipulator lifting mechanism, comprises a shell 1, a driving rod 11 is rotatably arranged in the shell 1, a tool storage mechanism and a processing spindle 2 are respectively arranged on both sides of the driving rod 11, an incomplete gear ring 4 and an incomplete gear 5 are rotatably arranged on the top of the shell 1, the incomplete gear ring 4 is fixedly connected with the incomplete gear 5, a driving gear 6 is rotatably arranged between the incomplete gear ring 4 and the incomplete gear 5, the driving gear 6 is fixedly connected to the driving rod 11, a moving sleeve 12 is arranged on the driving rod 11, a reciprocating spiral groove 111 for lifting the moving sleeve 12 is opened on the driving rod 11, an abutment ball 13 adapted to the reciprocating spiral groove 111 is fixedly arranged in the moving sleeve 12, an abutment frame 21 is fixedly arranged on the outer peripheral surface of the moving sleeve 12, and two first abutment plates 27 and two second abutment plates 28 are fixedly arranged in the shell 1 , a locking structure for fixedly connecting the movable sleeve 12 with the driving rod 11 is provided on the movable sleeve 12, and a rotating tool mechanism for rotating the tool is provided on the tool storage mechanism; the tool storage mechanism is a tool magazine, and a tool changing plate 15 is rotatably provided at the bottom of the driving rod 11, and two connecting rods 14 are fixedly provided between the tool changing plate 15 and the movable sleeve 12, and clamping grooves 16 for clamping the tool are provided at both ends of the tool changing plate 15. The tool storage mechanism is used to store the tool, and the machining spindle 2 is used to clamp the tool to process the workpiece. The incomplete gear 5 is arranged in the incomplete gear ring 4, and the driving gear 6 is meshed with the incomplete gear ring 4 and the incomplete gear 5. The abutment ball 13 in the movable sleeve 12 is in the reciprocating spiral groove 111, and the two first abutment plates 27 have the same length, and the two second abutment plates 28 have the same length, and the length of the two first abutment plates 27 is smaller than the length of the two second abutment plates 28. Figure 3 As shown, one of the first abutment plates 27 is fixedly arranged at a position close to the tool storage mechanism, and the first abutment plate 27 close to the tool storage mechanism rotates counterclockwise, and the arrangement order of the two first abutment plates 27 and the two second abutment plates 28 is respectively: the first abutment plate 27, the first abutment plate 27, the second abutment plate 28, and the second abutment plate 28; in the initial state, the movable sleeve 12 is at the top of the reciprocating spiral groove 111, at this time, the tool changing plate 15 is between the tool storage mechanism and the machining spindle 2 and does not contact the two, and the locking mechanism fixes the movable sleeve 12 to the driving rod 11, as shown in FIG. Figure 3As shown, the abutment frame 21 abuts against a side of the second abutment plate 28 away from the tool storage mechanism and close to the tool storage mechanism. When the tool needs to be changed, the incomplete gear 5 is rotated, and the incomplete gear 5 drives the incomplete gear ring 4 to rotate. The incomplete gear 5 first meshes with the driving gear 6, and the incomplete gear 5 drives the driving rod 11 to rotate through the driving gear 6. The driving rod 11 drives the movable sleeve 12, the abutment frame 21 and the tool changing plate 15 to rotate around the axis of the driving rod 11. When the abutment frame 21 rotates, it drives the horizontal tool in the tool storage mechanism to rotate into a vertical state. The abutment frame 21 first abuts against the first abutment plate 27 close to the tool storage mechanism. At this time, the vertical tool on the tool storage mechanism and the tool on the machining spindle 2 are stuck in the two clamping grooves 16 on the tool changing plate 15, and the two tools are unlocked and fixed. The tool storage mechanism 11 is fixed in the clamping groove 16 (this is the prior art and will not be described here), and then the locking structure is unlocked, and the driving rod 11 moves the movable sleeve 12 downward through the cooperation of the reciprocating spiral groove 111 and the abutment ball 13, thereby pulling the tool out of the tool storage mechanism and the machining spindle 2. As the movable sleeve 12 moves downward, the abutment frame 21 moves to the lower end of the first abutment plate 27 close to the tool storage mechanism. When the abutment frame 21 is separated from the first abutment plate 27 close to the tool storage mechanism, the locking mechanism again fixes the movable sleeve 12 and the driving rod 11 together. At this time, the driving rod 11 rotates again to drive the tool changing plate 15 to rotate 180 degrees, so that the tool removed from the tool storage mechanism and the tool removed from the machining spindle 2 are exchanged in position. At this time, the abutment frame 21 is connected to the second abutment plate 27 far away from the tool storage mechanism. The connecting plate 28 abuts, the movable sleeve 12 moves to the bottom of the reciprocating spiral groove 111, and the locking mechanism is unlocked again. At this time, the rotation of the driving rod 11 will drive the movable sleeve 12 to move up, and then the tool changing plate 15 moves up. The tool changing plate 15 moves up to insert the tool removed from the tool storage mechanism into the machining spindle 2, and the tool removed from the machining spindle 2 is inserted into the tool storage mechanism. As the driving rod 11 rotates, the movable sleeve 12 moves up to the top of the reciprocating spiral groove 111. At this time, the tool storage mechanism and the machining spindle 2 clamp the corresponding tool (this is the prior art, but no further details are given), and the incomplete gear 5 is separated from the driving gear 6, and the incomplete gear ring 4 is meshed with the driving gear 6. At this time, the driving rod 11 is driven to flip through the incomplete gear ring 4. When the driving rod 11 reverses, the abutment frame 21 and the far When the abutment frame 21 moves to the lower end of the first abutment plate 27 away from the knife storage mechanism, the abutment frame 21 separates from the first abutment plate 27 away from the knife storage mechanism. At this time, the locking mechanism is locked again, and the movable sleeve 12 is reversed 180 degrees and returned to the initial position through the driving rod 11. In the process of the abutment frame 21 rotating from the first abutment plate 27 away from the knife storage mechanism to the initial position, the knife storage mechanism is driven to rotate a certain angle through the abutment frame 21, thereby changing the tool position.

[0035] Furthermore, the locking mechanism includes a slide plate 23 slidably arranged on the abutment frame 21, a first spring 24 is fixedly arranged between the slide plate 23 and the outer wall of the movable sleeve 12, an insertion rod 25 is slidably arranged in the movable sleeve 12, the insertion rod 25 is fixedly connected to a section of the slide plate 23 close to the movable sleeve 12, and two insertion holes 26 are fixedly arranged on the outer peripheral surface of the driving rod 11; the insertion hole 26 on the upper side of the driving frame is at the upper end of the reciprocating spiral groove 111, and is symmetrical with the top inflection point of the reciprocating spiral groove 111, and the insertion hole 26 on the lower side of the driving frame is fixedly arranged on the outer peripheral surface of the driving rod 11. It is located at the lower end of the reciprocating spiral groove 111 and is symmetrical with the inflection point at the bottom of the reciprocating spiral groove 111. In the initial state, the insertion rod 25 is inserted into the socket 26 at the top of the driving rod 11. At this time, the rotation of the driving rod 11 will drive the abutment frame 21 to rotate together, so that the abutment frame 21 abuts against the corresponding first abutment plate 27. When the abutment frame 21 abuts against the first abutment plate 27 or the second abutment plate 28, the insertion rod 25 moves out of the corresponding socket 26. At this time, the rotation of the driving rod 11 will drive the movable sleeve 12 to move up and down.

[0036] Furthermore, V-shaped movable plates 22 are rotatably provided on both sides of the abutment frame 21, and one end of the two V-shaped movable plates 22 close to the movable sleeve 12 is rotatably connected to the abutment frame 21, and one end of the two V-shaped movable plates 22 away from the movable sleeve 12 is rotatably connected to the end of the slide plate 23 away from the movable sleeve 12; the slide plate 23 enables the ends of the two V-shaped movable plates 22 away from the movable sleeve 12 to slide on the abutment frame 21, and each V-shaped movable plate 22 is composed of two rotatably connected rectangular plates. In the initial state, the first spring 24 is used to make the two V-shaped movable plates 22 form a V shape. At this time, the insertion rod 25 is inserted into the corresponding insertion hole 26, and when the movable sleeve 12 rotates, it drives the abutment frame 2 The V-shaped movable plates 22 on both sides rotate. When the V-shaped movable plates 22 abut against the corresponding first abutting plates 27 or the second abutting plates 28, the V-shaped movable plates 22 are gradually squeezed into a straight line. At this time, the end of the V-shaped movable plates 22 away from the movable sleeve 12 moves in a direction away from the movable sleeve 12, so that the insertion rod 25 is pulled out of the corresponding insertion hole 26 through the slide plate 23, so that the movable sleeve 12 can move on the driving rod 11. When the abutting frame 21 is separated from the corresponding first abutting plate 27 or the second abutting plate 28, the two V-shaped movable plates 22 are restored to their initial state through the second spring 36, and at this time, the insertion rod 25 is inserted into the corresponding insertion hole 26 again.

[0037] In another embodiment of the present invention, the tool storage mechanism includes a fixed disk 31 fixedly arranged in the housing 1, and an annular tool holder 32 is rotatably arranged on the outer circumference of the fixed disk 31, and a plurality of tool sleeves 51 are rotatably arranged on the annular tool holder 32; in the initial state, each tool sleeve 51 is perpendicular to the side of the annular tool holder 32, which is the prior art. The bottom end of the machining spindle 2 also has a clamping device for clamping the tool, and the tool is clamped on the annular tool holder 32 through the tool sleeve 51. When the tool on the machining spindle 2 needs to be replaced, the tool sleeve 51 at the bottom of the annular tool holder 32 is rotated from a horizontal state to a vertical state. The tool holder 51 is in a straight state, thereby changing the tool in the tool sleeve 51 to a vertical state. At this time, when the tool changing plate 15 rotates, the clamping groove 16 can be used to clamp the tool in the vertical state. At the same time, another clamping groove 16 on the tool changing plate 15 can clamp the tool on the machining spindle 2. When the tool is clamped, the tool changing plate 15 moves down and then rotates, thereby exchanging the position of the used tool with the unused tool. After the tool exchange is completed, the tool changing plate 15 is raised to insert the used tool into the corresponding tool sleeve 51, and insert the unused tool into the bottom end of the machining spindle 2.

[0038] Specifically, the knife rotating mechanism includes a rotating gear ring 52 rotatably arranged on both sides of each knife sleeve 51, a torsion spring 53 is fixedly arranged between each rotating gear ring 52 and the annular knife holder 32, and two tooth plates 55 are slidably arranged on the fixed disk 31; the two tooth plates 55 are slidably arranged on the side of the fixed disk 31 away from the driving rod 11, and the ports of each knife sleeve 51 are all facing the side away from the driving rod 11, and a rectangular groove (not marked in the figure) for the two tooth plates 55 to slide is opened at the position above each knife sleeve 51, and the rectangular groove is opened. The width of each rectangular groove on the annular tool holder 32 is matched with the distance between the two tooth plates 55. When the tool on the machining spindle 2 needs to be replaced, the two tooth plates 55 are first moved downward. During the downward movement of the two tooth plates 55, they engage with the corresponding rotating tooth rings 52. As the tooth plates 55 move downward, the two rotating tooth rings 52 drive the tool sleeve 51 to rotate from a horizontal state to a vertical state. At this time, the corresponding torsion spring 53 is twisted. When the corresponding tool sleeve 51 rotates to a vertical state, the tooth plate 55 no longer moves downward.

[0039] In another embodiment of the present invention: a movable groove 56 is provided on the fixed plate 31, a slider 38 is slidably provided in the movable groove 56, a lower pressure rod 54 is fixedly provided at the bottom of the slider 38, two tooth plates 55 are fixedly provided at the bottom of the lower pressure rod 54, a fixed rod 34 is fixedly provided on the fixed plate 31, a first abutting arc plate 33 is slidably provided at one end of the fixed rod 34 away from the fixed plate 31, a push plate 35 is slidably provided on the fixed rod 34, a second spring 36 is fixedly provided between the push plate 35 and the fixed plate 31, the push plate 35 is fixedly connected to the first abutting arc plate 33, a hinge plate 37 is rotatably provided at the bottom of the push plate 35, one end of the hinge plate 37 away from the push plate 35 is rotatably connected to the slider 38, and the first abutting arc plate 33 is slidably connected to the first abutting plate 27 close to the fixed plate 31; the fixed rod 34 is fixedly provided on a side of the fixed plate 31 close to the driving rod 11, such as Figure 3 As shown, the first abutting arc plate 33 is between the first abutting plate 27 close to the fixed disk 31 and the second abutting plate 28 close to the fixed disk 31. When the tool needs to be replaced, the driving rod 11 first drives the abutting frame 21 to rotate counterclockwise. When the abutting frame 21 rotates counterclockwise, it first abuts against the first abutting arc plate 33, thereby pushing the first abutting arc plate 33 to move in the direction close to the fixed disk 31. When the first abutting arc plate 33 approaches the fixed disk 31, it pushes the push plate 35 to move. When the push plate 35 moves, it pushes the hinge plate 3 The end away from the slider 38 approaches the fixed plate 31, so that the end of the hinge plate 37 away from the push plate 35 moves downward, so that the slider 38 moves downward. When the slider 38 moves downward, the two tooth plates 55 are driven downward by the downward pressing rod 54, and then the corresponding knife sleeve 51 is driven to move by the rotating gear ring 52. When the abutting frame 21 is separated from the first abutting arc plate 33, the slider 38 is quickly moved upward by the second spring 36 and the corresponding torsion spring 53, so that the first abutting arc plate 33 returns to the initial position.

[0040] The second spring 42 is provided on the support plate 31 to prevent the second spring 42 from sliding on the support plate 31 and causing the second spring 42 to slide against the support plate 31. The spring 42 is provided on the support plate 31 to move the second spring 42 away from the support plate 31. The spring 42 is provided on the support plate 31 to move the second spring 42 away from the support plate 31. The spring 42 is provided on the support plate 31 to move the second spring 42 away from the support plate 31. The annular tool holder 32 can be locked by the abutment of the two tooth plates 55 and the rectangular groove, thereby preventing the annular tool holder 32 from rotating accidentally, thereby facilitating the insertion of the tool on the machining spindle 2 into the vertical tool holder 51. There is a certain friction between the annular tool holder 32 and the fixed disk 31, and there is also a certain friction between the abutment ball 13 and the reciprocating spiral groove 111. When the tool changing plate 15 completes the tool change, the driving rod 11 is reversed by the incomplete gear ring 4. When the abutment frame 21 moves from the second abutment plate 28 away from the fixed disk 31 to the first abutment plate 27 away from the fixed disk 31, the movable plate 41 is moved in the direction away from the fixed rod 34 through the abutment frame 21, so that the slider 38 can move upward. At this time, the tool holder 51 that completes the tool change rotates from the vertical state to the horizontal state.

[0041] Specifically, a pull rod 43 is fixedly provided on one side of the movable plate 41 away from the fixed rod 34, a cross bar 44 is fixedly provided on the pull rod 43, and a second abutting arc plate 45 is fixedly provided on one end of the cross bar 44 away from the pull rod 43; the second abutting arc plate 45 is slidably connected to the first abutting plate 27 away from the fixed plate 31, and the first abutting arc plate 33 and the second abutting arc plate 45 are both in the same horizontal line with the upper end of the reciprocating spiral groove 111. When the movable sleeve 12 drives the tool changing plate 15 to insert the unused tool upward into the machining spindle 2, the abutting frame 21 moves up to contact with the first abutting arc plate 33 and the second abutting arc plate The plates 45 are on the same horizontal line. At this time, the driving rod 11 that completes the tool change drives the movable sleeve 12 and the abutment frame 21 to flip over, so that the abutment frame 21 moves from the second abutment plate 28 away from the fixed disk 31 to the first abutment plate 27 away from the fixed disk 31. During the movement, the abutment frame 21 abuts against the second abutment arc plate 45, thereby pushing the second abutment arc plate 45 to move away from the fixed rod 34, and then the movable plate 41 moves away from the fixed rod 34, so that the movable plate 41 is separated from the slider 38. At this time, the slider 38 moves up, and the tool sleeve 51 is restored from the vertical state to the horizontal state.

[0042] In another embodiment of the present invention: a plurality of ball heads 611 are movably arranged on the annular tool holder 32, a lever 61 is fixedly arranged on each ball head 611, and a fourth spring 63 is fixedly arranged between each lever 61 and the annular tool holder 32; as the driving rod 11 drives the movable sleeve 12 and the abutment frame 21 to reverse, when the movable sleeve 12 reverses to abut against the first abutment plate 27 away from the fixed disk 31, the movable sleeve 12 can be lifted and lowered along the driving rod 11, and at this time, the driving rod 11 reverses to make the movable sleeve 12 move downward, and when the abutment frame 21 is separated from the bottom of the first abutment plate 27 away from the fixed disk 31, the tool change has been completed. The tool sleeve 51 also returns to a horizontal state, the tooth plate 55 moves out of the corresponding rectangular groove on the annular tool holder 32, and the annular tool holder 32 can rotate. At this time, the driving rod 11 will drive the abutment frame 21 to rotate 180 degrees along the axis of the driving rod 11. When the abutment frame 21 rotates, the abutment frame 21 abuts against the corresponding lever 61, and the abutment frame 21 pushes the lever 61 to move, thereby causing the annular tool holder 32 to rotate, thereby moving the next tool to the bottom of the fixed plate 31, which is convenient for subsequent tool changing. The lever 61 is always kept in a horizontal state by the fourth spring 63, and the lever 61 is set between two adjacent tool sleeves 51.

[0043] Specifically, a plurality of limit frames 62 are fixedly disposed on the annular tool holder 32; the number of the limit frames 62 is the same as that of the levers 61. Figure 7 As shown, the limit frame 62 is fixedly arranged on the counterclockwise side of the corresponding lever 61; Figure 3As shown, when the incomplete gear 5 drives the driving rod 11 to rotate counterclockwise to change the tool, the abutment frame 21 first abuts against the first abutment arc plate 33, so that the two tooth plates 55 are inserted into the corresponding rectangular grooves and mesh with the corresponding rotating gear rings 52. As the driving rod 11 rotates, the abutment frame 21 moves down and rotates 180 degrees counterclockwise. When the abutment frame 21 rotates counterclockwise, the abutment frame 21 abuts against the corresponding shifting rod 61. At this time, the shifting rod 61 is rotated by the ball head 611, thereby preventing the abutment frame 21 and the shifting rod 61 from being stuck. When the tool changing plate 15 completes the tool changing, the driving rod 11 is driven by the incomplete gear ring 4 to rotate clockwise, thereby causing the abutment frame 21 to abut against the second abutment arc plate 45. At this time, the tooth plate 55 moves out of the corresponding rectangular groove, and as the abutment frame 21 separates from the first abutment plate 27 away from the fixed disk 31, the abutment frame 21 will rotate 180 degrees. During the process, it will abut against the corresponding lever 61. At this time, the lever 61 will not rotate through the limit frame 62, thereby driving the annular tool holder 32 to rotate a certain angle, moving the next tool to the bottom of the fixed plate 31, which is convenient for the next tool change. When the abutment frame 21 rotates 180 degrees clockwise, it abuts against the second abutment plate 28 close to the fixed plate 31. With the rotation of the driving rod 11, the driving rod 11 drives the movable sleeve 12 and the abutment frame 21 to move up to the top of the reciprocating spiral groove 111. At this time, the incomplete gear ring 4 is separated from the driving gear 6, and the incomplete gear 5 is meshed with the driving gear 6. A servo motor 3 is fixedly arranged on the housing 1, and the output end of the servo motor 3 is fixedly connected to the incomplete gear 5. The incomplete gear ring 4 and the incomplete gear 5 are driven to rotate by the servo motor 3, and an avoidance groove (not marked in the figure) for avoiding the lever 61 is opened on the upper side of the first abutment plate 27.

[0044] The above description is only by way of illustration of certain exemplary embodiments of the present invention. It is undoubted that those skilled in the art can modify the described embodiments in various ways without departing from the spirit and scope of the present invention. Therefore, the above drawings and descriptions are illustrative in nature and should not be construed as limiting the scope of protection of the claims of the present invention.

Claims

1. A disc-type manipulator lifting mechanism, comprising a housing (1), characterized in that: A driving rod (11) is rotatably arranged in the housing (1), and a tool storage mechanism and a processing spindle (2) are respectively arranged on both sides of the driving rod (11). An incomplete gear ring (4) and an incomplete gear (5) are rotatably arranged on the top of the housing (1), and the incomplete gear ring (4) is fixedly connected to the incomplete gear (5). A driving gear (6) is rotatably arranged between the incomplete gear ring (4) and the incomplete gear (5), and the driving gear (6) is fixedly connected to the driving rod (11). A moving sleeve (12) is arranged on the driving rod (11). (11) is provided with a reciprocating spiral groove (111) for lifting and lowering the movable sleeve (12); an abutment ball (13) adapted to the reciprocating spiral groove (111) is fixedly arranged in the movable sleeve (12); an abutment frame (21) is fixedly arranged on the outer peripheral surface of the movable sleeve (12); two first abutment plates (27) and two second abutment plates (28) are fixedly arranged in the shell (1); a locking mechanism for fixedly connecting the movable sleeve (12) and the driving rod (11) is provided on the movable sleeve (12); and a knife rotating mechanism for rotating the knife is provided on the knife storage mechanism; The knife storage mechanism comprises a fixed disk (31) fixedly arranged in the housing (1); an annular knife holder (32) is rotatably arranged on the outer peripheral surface of the fixed disk (31); and a plurality of knife sleeves (51) are rotatably arranged on the annular knife holder (32); The knife rotating mechanism comprises rotating toothed rings (52) rotatably arranged on both sides of each knife sleeve (51), a torsion spring (53) is fixedly arranged between each rotating toothed ring (52) and the annular knife holder (32), and two toothed plates (55) are slidably arranged on the fixed disk (31); The fixed plate (31) is provided with a movable groove (56), a slider (38) is slidably arranged in the movable groove (56), a pressing rod (54) is fixedly arranged at the bottom of the pressing rod (38), the two tooth plates (55) are fixedly arranged at the bottom of the pressing rod (54), a fixed rod (34) is fixedly arranged on the fixed plate (31), a first abutting arc plate (33) is slidably arranged at one end of the fixed rod (34) away from the fixed plate (31), and the fixed rod (34) slides upward. A push plate (35) is rotatably provided, a second spring (36) is fixedly provided between the push plate (35) and the fixed disk (31), the push plate (35) is fixedly connected to the first abutting arc plate (33), a hinge plate (37) is rotatably provided at the bottom of the push plate (35), one end of the hinge plate (37) away from the push plate (35) is rotatably connected to a slider (38), and the first abutting arc plate (33) is slidably connected to a first abutting plate (27) close to the fixed disk (31); A movable plate (41) is slidably disposed on the fixed plate (31); a third spring (42) is fixedly disposed between an end of the movable plate (41) away from the slider (38) and the fixed plate (31); and an end of the slider (38) away from the fixed rod (34) is arranged as an inclined surface; A pull rod (43) is fixedly provided on one side of the movable plate (41) away from the fixed rod (34), a cross rod (44) is fixedly provided on the pull rod (43), and a second abutting arc plate (45) is fixedly provided on one end of the cross rod (44) away from the pull rod (43); A plurality of ball heads (611) are movably arranged on the annular tool holder (32), a lever (61) is fixedly arranged on each of the ball heads (611), and a fourth spring (63) is fixedly arranged between each of the levers (61) and the annular tool holder (32).

2. A disc type manipulator lifting mechanism according to claim 1, characterized in that: The locking mechanism comprises a slide plate (23) slidably arranged on an abutment frame (21); a first spring (24) is fixedly arranged between the slide plate (23) and an outer wall of the movable sleeve (12); an insertion rod (25) is slidably arranged in the movable sleeve (12); the insertion rod (25) is fixedly connected to an end of the slide plate (23) close to the movable sleeve (12); and two insertion holes (26) are fixedly arranged on the outer peripheral surface of the driving rod (11).

3. A disc type manipulator lifting mechanism according to claim 2, characterized in that: V-shaped movable plates (22) are rotatably provided on both sides of the abutment frame (21); one end of the two V-shaped movable plates (22) close to the movable sleeve (12) is rotatably connected to the abutment frame (21); and one end of the two V-shaped movable plates (22) away from the movable sleeve (12) is rotatably connected to one end of the slide plate (23) away from the movable sleeve (12).

4. A disc type manipulator lifting mechanism according to claim 3, characterized in that: A plurality of limit frames (62) are fixedly arranged on the annular tool holder (32).

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