High-speed manipulator for numerical control machine tool

Abstract

The high-speed manipulator for the numerical control machine tool comprises a tool locking assembly, an overturning assembly, a translation assembly, a swinging assembly, a high-speed moving assembly and accessories, the accessories comprise a gas path, a liquid path and a circuit, the high-speed moving assembly comprises a base, a motor and a gear transmission mechanism, the swinging assembly is installed on the base, and the swinging assembly comprises a tool changing supporting frame. The translation assembly is installed on the tool changing supporting frame and comprises a translation base, the overturning assembly is installed on the translation base and comprises an auxiliary tool sleeve support, and the tool locking assembly is installed on the auxiliary tool sleeve support and comprises an auxiliary tool sleeve, a tool locking cylinder and a limiting rod. The mechanical arm is high in integration degree, compact in structure, modularized, low in hydraulic flow requirement, high in tool preparation speed, high in tool changing efficiency and high in flexibility, tool changing points of the mechanical arm can move at a high speed according to actual requirements, and the mechanical arm can be applied to machine types or assembly line services with more tool requirements and is more suitable for machine types with more than 90 tools and assembly line work.

Description

Technical Field

[0001] The invention belongs to the field of tool magazines in functional components of large-scale numerically controlled machine tools, and in particular relates to a high-speed manipulator for numerically controlled machine tools. Background Art

[0002] As the core component of the tool magazine of CNC machine tools to perform tool changing actions, the robot is also an important component of industrial mother machines. It puts forward high-speed, high-precision and complex functional requirements for industries such as automobiles, national defense, and aerospace.

[0003] The main structure of the vertical and horizontal conversion manipulator used in conventional tool magazines is shown in Figure 1 Its main structure includes swing assembly A, translation assembly B, forward and reverse assembly C, flip assembly D and extension assembly E. This vertical-horizontal conversion manipulator can realize a total of five basic actions: swing, left and right translation, telescopic, forward and reverse, and flip. The telescopic action is driven by the piston structure, and the other four actions are driven by the finished oil cylinder. The structure of the vertical-horizontal conversion manipulator is complex, the cost is high, the assembly is difficult, and the flow demand of the hydraulic station is large. In addition, traditional manipulators are all fixedly installed, and the manipulator can only change the tool at a fixed point, and cannot be displaced, and the tool change efficiency is low.

[0004] CN103302537A discloses a tool changing mechanism of a chain tool magazine, comprising a support frame, a fixed platform, a rotary tool loading mechanism, a translation positioning mechanism and an upper tool swinging mechanism, wherein the rotary tool loading mechanism is axially connected to the fixed platform, the support frame is fixedly connected to the rotary tool loading mechanism, the translation positioning mechanism is arranged on the support frame, the upper tool swinging mechanism is installed on the translation positioning mechanism, the upper tool swinging mechanism comprises a swinging driving mechanism, a swinging upper tool arm and a tool changing base frame, the swinging upper tool arm is integrally provided with a swinging gear and a tool buckling groove for fixing the tool, the swinging gear is axially connected in the tool changing base frame, the swinging driving mechanism comprises a driving cylinder and a driving rack, the driving rack is fixedly connected to the piston rod of the driving cylinder, the driving rack is meshed with the swinging gear, and when the piston rod of the driving cylinder pushes the driving rack to move in the vertical direction, the driving rack drives the swinging gear and the swinging upper tool arm to rotate. Although the tool changing mechanism can realize four actions of swinging, translation, telescoping, and forward and reverse rotation, it cannot realize the tool flipping action. In addition, the tool changing mechanism has many parts, a complex structure, high cost, and a long assembly time. The overall tool changing efficiency needs to be further improved. Summary of the invention

[0005] The technical problem to be solved by the present invention is to provide a high-speed manipulator for CNC machine tools in view of the shortcomings of the prior art. The high-speed manipulator has high integration, compact structure, and modularity, low hydraulic flow demand, and fast tool preparation speed. The tool changing point can move at high speed according to actual needs, has high tool changing efficiency and strong flexibility, and is more suitable for models with more than 90 tools and assembly line operations.

[0006] The technical solution adopted by the present invention to solve the above technical problems is: a high-speed manipulator for a CNC machine tool, the high-speed manipulator comprises a tool locking assembly, a flip assembly, a translation assembly, a swing assembly, a high-speed moving assembly and accessories, the tool locking assembly, flip assembly, translation assembly, swing assembly and high-speed moving assembly are respectively used to realize the tool locking, flipping, left and right translation, swing and up and down translation actions of the tool, the accessories include air circuits, liquid circuits and circuits, the high-speed moving assembly comprises a base and a motor and a gear transmission mechanism installed on the base, the gear transmission mechanism comprises a meshing pinion and a large gear, the output end of the motor is connected to the pinion through a reducer, the large gear is meshed with a rack guide rail, the rack guide rail is vertically installed on the column of the Y-axis assembly of the CNC machine tool, the base is slidably installed on the Y-axis assembly through a guide rail slider, and the motor is used to drive the high-speed manipulator as a whole along the CNC machine tool The Y-axis moves at high speed, the swing assembly is installed on the base, the swing assembly includes a tool changing support frame, the translation assembly is installed on the tool changing support frame, the translation assembly includes a translation base, the flip assembly is installed on the translation base, the flip assembly includes an auxiliary tool sleeve bracket, the knife locking assembly is installed on the auxiliary tool sleeve bracket, the knife locking assembly includes an auxiliary tool sleeve, a knife locking cylinder and a limit rod, the auxiliary tool sleeve is fixed to the auxiliary tool sleeve bracket, the tool is installed at the front end of the auxiliary tool sleeve, the pull pin of the tool extends into the auxiliary tool sleeve, the limit rod can be movably arranged in the auxiliary tool sleeve up and down, the knife locking cylinder is fixed at the rear end of the auxiliary tool sleeve, the knife locking cylinder is an oil cylinder, an air cylinder or an electric cylinder, and a top is fixed at the output end of the knife locking cylinder, and the top is used to press or release the limit rod to achieve mechanical limit or release of the pull pin.

[0007] The high-speed manipulator of the present invention has a high-speed moving component, which is installed on the Y-axis component through a guide rail slider, and the large gear is externally connected to the rack guide rail, which can realize high-speed displacement of the entire manipulator under the drive of the motor. The tool changing point of the manipulator is not limited to a fixed position, and the tool changing point can move at high speed according to actual needs. The tool changing efficiency is high and the flexibility is strong, so that the manipulator can be applied to models with more tool requirements or assembly line services.

[0008] The high-speed manipulator of the present invention has high integration, compact structure and modularization, low demand for hydraulic flow and fast tool preparation speed. It can realize the linkage of tool locking, flipping, left and right translation, swinging and up and down translation, and is more suitable for machines with more than 90 tools and assembly line operations.

[0009] Preferably, a first through hole, a second through hole and a third through hole are provided in the auxiliary tool sleeve, the first through hole and the second through hole are arranged in parallel up and down along the length direction of the auxiliary tool sleeve, the center line of the first through hole is collinear with the center line of the top head, the aperture of the first through hole is larger than the outer diameter of the top head, the third through hole is arranged between the first through hole and the second through hole along the width direction of the auxiliary tool sleeve, the second through hole is used to accommodate the rivet, the upper end and the lower end of the third through hole are respectively communicated with the first through hole and the second through hole, the outer diameter of the limit rod is smaller than the aperture of the third through hole, the limit rod can be movably arranged up and down in the third through hole, and two first springs are symmetrically arranged above the limit rod, and the two first springs are respectively vertically installed In the auxiliary tool sleeve, when the tool locking action is performed, after the auxiliary tool sleeve reaches the position of the target tool on the tool magazine of the CNC machine tool, the top head extends into the first through hole under the drive of the tool locking cylinder, and the top head presses the limit rod, and the limit rod presses the pull nail, and the limit rod plays a role of mechanical limit on the pull nail, and the tool locking action is completed at this time; when the tool unlocking action is performed, the top head withdraws from the first through hole under the drive of the tool locking cylinder, and the top head releases the limit rod. When the tool is separated from the auxiliary tool sleeve under the action of external force, the pull nail head of the pull nail drives the limit rod to move up, so that the limit rod releases the limit of the pull nail, and finally the limit rod is pushed downward by the first spring and reset, and the tool unlocking action is completed at this time. The tool locking cylinder and the top head constitute a dynamic tool locking structure to realize dynamic tool locking of the tool, which has a simple and reliable structure and high efficiency of tool locking action. When the tool is dynamically locked, the limit rod is mechanically limited by controlling the top head to extend into the first through hole, thereby mechanically limiting the pull pin through the limit rod; when the tool is unlocked and detached from the auxiliary tool sleeve, the limit rod resets itself through the spring force of the first spring, and the unlocking action is highly efficient.

[0010] As a further preferred embodiment, a side through hole is connected to each of the two sides of the second through hole, the two side through holes are symmetrically arranged and the angle between them is 120°, a steel ball is installed in each side through the second spring, and the two steel balls are used to tighten the outer cylindrical surface of the rivet. The second spring and the steel ball constitute a static knife locking structure, which cooperates with the dynamic knife locking structure composed of the knife locking cylinder and the top head to achieve a more reliable knife locking effect. When performing the unlocking action, after the limit rod loses its mechanical limiting effect, only a small force is needed to make the tool detach from the auxiliary knife sleeve.

[0011] As a further preferred embodiment, a first plug and a second plug are provided in the third through hole, and the first plug and the second plug are respectively provided on both sides of the limit rod, and the first plug and the second plug are used to limit the axial displacement of the limit rod, and a liquid outlet hole is provided on the first plug. The design of the first plug and the second plug can ensure the axial limiting effect on the limit rod. At the same time, the first plug can discharge the cutting fluid brought by the tool during the workpiece processing from the auxiliary tool sleeve, realizing the self-draining function of the auxiliary tool sleeve.

[0012] As a further preference, the front end of the top head is provided with an inclined surface oblique to the center line of the first through hole, and a first switch bracket is installed at the bottom of the auxiliary tool sleeve, and the first switch bracket is used to install a first proximity switch, and the first proximity switch is used to detect whether a tool is installed on the auxiliary tool sleeve.

[0013] Preferably, the translation assembly includes a guide rail, a translation cylinder, a translation cylinder seat, a top sleeve and a buffer sleeve. The tool changing support frame is provided with a guide rail groove, the guide rail is installed in the guide rail groove, the translation cylinder seat is installed on the tool changing support frame, the translation cylinder is an oil cylinder, an air cylinder or an electric cylinder, a slider is fixed on the translation base, and the slider can be slidably installed on the guide rail left and right, the translation cylinder is fixed on one side of the translation cylinder seat, the top sleeve and the buffer sleeve are fixed to the output end of the translation cylinder in sequence, a translation connecting plate is fixed on the top sleeve, the translation connecting plate is arranged between the top sleeve and the buffer sleeve, a plurality of third springs are installed between the buffer sleeve and the translation connecting plate, a translation connecting bracket is fixed on one side of the translation connecting plate, and the translation base is fixed to the bottom of the translation connecting bracket. When executing the left translation action, the translation cylinder drives the top sleeve to move forward, and pushes the translation connecting plate, the translation connecting bracket, the translation base, the auxiliary tool sleeve, the tool and other related parts to translate to the left synchronously through the top sleeve. The translation action is positioned by the slider fixed on the translation base. When the left translation is almost in place, the translation connecting plate is buffered and decelerated by the spring force of the third spring until the translation stops, completing the left translation action; when executing the right translation action, the translation cylinder drives the top sleeve to retreat, and the buffer sleeve presses the third spring to push the translation connecting plate, the translation connecting bracket, the translation base, the auxiliary tool sleeve, the tool and other related parts to translate to the right synchronously. The translation action is positioned by the slider fixed on the translation base. When the right translation is almost in place, the spring force of the third spring continues to push the related parts to slide to the right until the translation connecting plate hits the top sleeve and stops, completing the right translation action. The present invention replaces the extending and retracting actions of the traditional common manipulator by the left and right movements of the translation component, and realizes buffer deceleration by designing a third spring and related supporting structures. At the same time, the fault tolerance of the axial gap during tool change is improved, and the tool return and tool grabbing can be achieved regardless of the larger gap or the smaller gap.

[0014] As a further preference, an adjustment mechanism is provided on the translation base, and the adjustment mechanism is used to adjust the position of the translation base. The adjustment mechanism includes a first adjustment screw, a first adjustment block, a second adjustment screw and a second adjustment block. The first adjustment block is fixed to one side of the translation base through the first adjustment screw, and the second adjustment block is fixed to the bottom of the translation base through the second adjustment screw.

[0015] As a preferred embodiment, the flip assembly comprises a connecting seat, a flip long axis, a flip cylinder, a flip cylinder seat and a fixed seat, wherein the connecting seat and the fixed seat are respectively fixed on the translation base, the flip long axis is horizontally mounted on the connecting seat through two first bearings, one end of the flip long axis is fixed to the auxiliary tool sleeve bracket, a flip connecting block is fixed on one side of the auxiliary tool sleeve bracket, a flip connecting seat is fixed on one side of the fixed seat, the flip cylinder seat is mounted on the inner side of the flip connecting seat through two horizontally arranged flip short axes, the flip cylinder is fixed on one side of the flip cylinder seat, the flip cylinder is an oil cylinder, an air cylinder or an electric cylinder, a cylinder connecting block is fixed on the output end of the flip cylinder, and the cylinder connecting block is rotatably connected to the flip connecting block through a horizontally arranged limit pin. When performing the flip to horizontal action, the flip cylinder drives the cylinder connecting block to move forward, driving the flip connecting block and the auxiliary tool sleeve to flip, and completing the flip to horizontal action; when performing the flip to vertical action, the flip cylinder drives the cylinder connecting block to retreat, driving the flip connecting block and the auxiliary tool sleeve to flip, and completing the flip to vertical action.

[0016] As a further preference, a limiting seat is fixed on the connecting seat, and a limiting push rod is horizontally installed on the limiting seat through a nut, and the limiting push rod is used to adjust the position of the connecting seat.

[0017] Preferably, the swing assembly comprises a swing long axis, a swing upper bracket, a swing lower bracket, a swing cylinder, a swing cylinder seat and a second switch bracket, wherein the swing long axis, the swing lower bracket and the second switch bracket are respectively mounted on the base, the gas path and the circuit pass through the inside of the swing long axis, the tool change support frame is vertically mounted on the swing long axis through two second bearings, a connecting rod is mounted on the upper end of the tool change support frame, a second proximity switch is mounted on the second switch bracket, an angle sensing bracket adapted to the second proximity switch is mounted on the bottom of the tool change support frame, and the second proximity switch is used to detect whether the swing action of the tool is executed in place, the swing upper bracket is fixed on the upper side of the swing lower bracket, the swing cylinder seat is mounted between the swing upper bracket and the swing lower bracket through two vertically arranged swing short shafts, the swing cylinder is fixed on one side of the swing cylinder seat, a swing connecting block is fixed on the output end of the swing cylinder, and the swing connecting block is rotationally connected to the connecting rod through a vertically arranged swing connecting shaft. When the tool is swung toward the spindle side, the swing cylinder drives the swing connecting block forward, and drives the tool changing support frame to rotate toward the spindle side through the connecting rod. During the swinging process, the second proximity switch senses the angle sensing bracket. When the second proximity switch detects that the swinging action of the tool is in place, the swinging action of the tool toward the spindle side is completed; when the tool is swung toward the tool magazine side, the swing cylinder drives the swing connecting block backward, and drives the tool changing support frame to rotate toward the tool magazine side through the connecting rod. During the swinging process, the second proximity switch senses the angle sensing bracket. When the second proximity switch detects that the swinging action of the tool is in place, the swinging action of the tool toward the tool magazine side is completed.

[0018] Compared with the prior art, the present invention has the following advantages:

[0019] 1) The high-speed manipulator of the present invention has a high-speed moving component, which is installed on the Y-axis component through a guide rail slider, and the large gear is externally connected to the rack guide rail, which can realize the high-speed displacement of the entire manipulator under the drive of the motor. The tool change point of the manipulator is not limited to a fixed position, and the tool change point can move at a high speed according to actual needs. The tool change efficiency is high and the flexibility is strong, so that the manipulator can be applied to models or assembly line services with more tool requirements;

[0020] 2) The high-speed manipulator of the present invention has high integration, compact structure, and modularization, low demand for hydraulic flow, and fast tool preparation speed. It can realize the linkage of tool locking, flipping, left and right translation, swinging, and up and down translation, and is more suitable for models with more than 90 tools and assembly line operations. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 This is the main structural diagram of the vertical-horizontal conversion manipulator used on the conventional tool magazine;

[0022] Figure 2 It is a general assembly diagram of components of the high-speed manipulator in the embodiment;

[0023] Figure 3 This is an exploded view of the components of the high-speed manipulator in the embodiment;

[0024] Figure 4 It is a structural exploded diagram of the high-speed component in the embodiment;

[0025] Figure 5 This is a structural exploded view of the knife locking assembly in the embodiment;

[0026] Figure 6 for Figure 5 Enlarged view of point F in the middle;

[0027] Figure 7 It is a structural exploded view of the translation assembly in the embodiment;

[0028] Figure 8 It is a structural exploded view of the flip assembly in the embodiment;

[0029] Fig. 9 It is a structural exploded view of the swing assembly in the embodiment;

[0030] Specific reference numerals in the figure are as follows: 1-locking knife assembly, 11-auxiliary knife sleeve, 12-locking knife cylinder, 13-limiting rod, 14-top head, 141-inclined surface, 15-first switch bracket, 16-first through hole, 17-second through hole, 18-third through hole, 181-first plug, 182-second plug, 183-liquid outlet, 19-first spring, 10-side through hole, 101-second spring, 102-steel ball, 2-flipping assembly, 21-auxiliary knife sleeve bracket, 22-connecting seat, 221-limiting seat, 222-limiting top rod, 23-flipping long axis, 24-flipping cylinder, 25-flipping cylinder seat, 26-fixed seat, 261-flipping connecting seat, 27-first bearing, 28-flipping connecting block, 29-flipping short axis, 20-cylinder connecting block, 201-limiting pin, 3-translation assembly, 31-translation bottom Seat, 311-first adjusting screw, 312-first adjusting block, 313-second adjusting screw, 314-second adjusting block, 32-guide rail, 33-translational cylinder, 34-translational cylinder seat, 35-top sleeve, 36-buffer sleeve, 37-translational connecting plate, 38-third spring, 39-translational connecting bracket, 4-swing assembly, 41-tool changing support frame, 411-guide rail groove, 42-swing long axis, 43-swing upper bracket, 44-swing lower bracket, 45-swing cylinder, 451-swing connecting block, 452-swing connecting shaft, 46-swing cylinder seat, 461-swing short axis, 47-second switch bracket, 48-second bearing, 49-connecting rod, 40-angle sensing bracket, 5-high-speed moving assembly, 51-base, 52-motor, 53-reducer, 54-small gear, 55-large gear, 6-tool. DETAILED DESCRIPTION

[0031] The present invention is further described in detail below in conjunction with the embodiments of the drawings. All devices or components not limited in the present invention adopt conventional technical means in the art.

[0032] The high-speed manipulator for numerically controlled machine tools of the embodiment, such as Figure 2 to Figure 9As shown, it includes a knife locking component 1, a flipping component 2, a translation component 3, a swinging component 4, a high-speed moving component 5 and accessories (not shown in the figure). The knife locking component 1, the flipping component 2, the translation component 3, the swinging component 4 and the high-speed moving component 5 are respectively used to realize the knife locking, flipping, left and right translation, swinging and up and down translation of the tool. The accessories include air circuits, liquid circuits and circuits. The high-speed moving component 5 includes a base 51 and a motor 52 and a gear transmission mechanism installed on the base 51. The gear transmission mechanism includes a meshing pinion 54 and a large gear 55. The output end of the motor 52 is connected to the pinion 54 through a reducer 53, and the large gear 55 is meshed with a rack guide rail (not shown in the figure). The rack guide rail is vertically installed on the column of the Y-axis assembly (not shown in the figure) of the CNC machine tool. The base 51 is slidably installed on the Y-axis assembly through a guide rail slider (not shown in the figure). The motor 52 is used to drive the high-speed manipulator The whole moves at high speed along the Y axis of the CNC machine tool. The swing assembly 4 is installed on the base 51. The swing assembly 4 includes a tool change support frame 41. The translation assembly 3 is installed on the tool change support frame 41. The translation assembly 3 includes a translation base 31. The flip assembly 2 is installed on the translation base 31. The flip assembly 2 includes an auxiliary tool sleeve bracket 21. The tool locking assembly 1 is installed on the auxiliary tool sleeve bracket 21. The tool locking assembly 1 includes an auxiliary tool sleeve 11, a tool locking cylinder 12 and a limit rod 13. The auxiliary tool sleeve 11 is fixed to the auxiliary tool sleeve bracket 21, the tool 6 is installed at the front end of the auxiliary tool sleeve 11, the pull pin of the tool 6 extends into the auxiliary tool sleeve 11, the limit rod 13 is movably arranged in the auxiliary tool sleeve 11, and the tool locking cylinder 12 is fixed at the rear end of the auxiliary tool sleeve 11. The tool locking cylinder 12 is an oil cylinder, an air cylinder or an electric cylinder. A top head 14 is fixed at the output end of the tool locking cylinder 12. The top head 14 is used to tighten or loosen the limit rod 13 to achieve mechanical limiting or releasing of the pull pin.

[0033] In this embodiment, a first switch bracket 15 is installed at the bottom of the auxiliary tool sleeve 11. The first switch bracket 15 is used to install a first proximity switch (not shown in the figure). The first proximity switch is used to detect whether a tool is installed on the auxiliary tool sleeve 11. A first through hole 16, a second through hole 17 and a third through hole 18 are provided in the auxiliary tool sleeve 11. The first through hole 16 and the second through hole 17 are arranged in parallel up and down along the length direction of the auxiliary tool sleeve 11. The center line of the first through hole 16 is colinear with the center line of the plug 14. The front end of the plug 14 is provided with an inclined surface 141 oblique to the center line of the first through hole 16. The aperture of the first through hole 16 is larger than the outer diameter of the plug 14. The third through hole 18 is arranged between the first through hole 16 and the second through hole 17 along the width direction of the auxiliary tool sleeve 11. The second through hole 17 is used to accommodate a rivet. The upper end and the lower end of the third through hole 18 are respectively connected to the first through hole 16 and the second through hole 17. The outer diameter of the limit rod 13 is smaller than the aperture of the third through hole 18. The limit rod 13 can be moved up and down and is arranged on the third through hole 18. In the hole 18, a first plug 181 and a second plug 182 are arranged in the third through hole 18, and the first plug 181 and the second plug 182 are respectively arranged on both sides of the limit rod 13, and the first plug 181 and the second plug 182 are used to limit the axial displacement of the limit rod 13. A liquid outlet 183 is opened on the first plug 181, and two first springs 19 are symmetrically arranged above the limit rod 13. The two first springs 19 are respectively vertically installed in the auxiliary tool sleeve 11, and a side through hole 10 is respectively connected to both sides of the second through hole 17. The two side through holes 10 are symmetrically arranged and the angle between the two is 120°. A steel ball 102 is installed in each side through hole 10 through the second spring 101, and the two steel balls 102 are used to tighten the outer cylindrical surface of the rivet.

[0034] In this embodiment, the translation assembly 3 includes a guide rail 32, a translation cylinder 33, a translation cylinder seat 34, a top sleeve 35 and a buffer sleeve 36. A guide rail groove 411 is provided on the tool change support frame 41. The guide rail 32 is installed in the guide rail groove 411. The translation cylinder seat 34 is installed on the tool change support frame 41. The translation cylinder 33 is an oil cylinder, an air cylinder or an electric cylinder. A slider (not shown in the figure) is fixed on the translation base 31. The slider can be slidably installed on the guide rail 32 left and right. The translation cylinder 33 is fixed on one side of the translation cylinder seat 34. The top sleeve 35 and the buffer sleeve 36 are fixed to the output end of the translation cylinder 33 in sequence. A translation connecting plate 37 is fixed on the top sleeve 35. The translation connecting plate 37 is provided between the top sleeve 35 and the buffer sleeve A plurality of third springs 38 are installed between the punch sleeve 36 and between the buffer sleeve 36 and the translation connection plate 37. A translation connection bracket 39 is fixed to one side of the translation connection plate 37, and the translation base 31 is fixed to the bottom of the translation connection bracket 39. An adjustment mechanism is provided on the translation base 31, and the adjustment mechanism is used to adjust the position of the translation base 31. The adjustment mechanism includes a first adjustment screw 311, a first adjustment block 312, a second adjustment screw 313 and a second adjustment block 314. The first adjustment block 312 is fixed to one side of the translation base 31 through the first adjustment screw 311, and the second adjustment block 314 is fixed to the bottom of the translation base 31 through the second adjustment screw 313.

[0035] In this embodiment, the flip assembly 2 includes a connecting seat 22, a flip long axis 23, a flip cylinder 24, a flip cylinder seat 25 and a fixed seat 26. The connecting seat 22 and the fixed seat 26 are respectively fixed on the translation base 31. The flip long axis 23 is horizontally installed on the connecting seat 22 through two first bearings 27. One end of the flip long axis 23 is fixed to the auxiliary tool sleeve bracket 21. A flip connecting block 28 is fixed on one side of the auxiliary tool sleeve bracket 21. A flip connecting seat 261 is fixed on one side of the fixed seat 26. The flip cylinder seat 25 is fixed on the translation base 31 through two horizontal The set flip short shaft 29 is installed on the inner side of the flip connecting seat 261, and the flip cylinder 24 is fixed on one side of the flip cylinder seat 25. The flip cylinder 24 is an oil cylinder, an air cylinder or an electric cylinder. The output end of the flip cylinder 24 is fixed with a cylinder connecting block 20, and the cylinder connecting block 20 is rotatably connected with the flip connecting block 28 through a horizontally set limit pin 201; a limit seat 221 is fixed on the connecting seat 22, and a limit push rod 222 is horizontally installed on the limit seat 221 through a nut, and the limit push rod 222 is used to adjust the position of the connecting seat 22.

[0036] In this embodiment, the swing assembly 4 includes a swing long shaft 42, a swing upper bracket 43, a swing lower bracket 44, a swing cylinder 45, a swing cylinder seat 46 and a second switch bracket 47. The swing long shaft 42, the swing lower bracket 44 and the second switch bracket 47 are respectively installed on the base 51, and the air circuit and the circuit pass through the inside of the swing long shaft 42. The tool change support frame 41 is vertically installed on the swing long shaft 42 through two second bearings 48. A connecting rod 49 is installed on the upper end of the tool change support frame 41. A second proximity switch (not shown in the figure) is installed on the second switch bracket 47. An angle sensing bracket 40 adapted to the second proximity switch is installed at the bottom of 41. The second proximity switch is used to detect whether the swinging action of the tool is executed in place. The upper swing bracket 43 is fixed on the upper side of the lower swing bracket 44. The swing cylinder seat 46 is installed between the upper swing bracket 43 and the lower swing bracket 44 through two vertically arranged swing short shafts 461. The swing cylinder 45 is fixed on one side of the swing cylinder seat 46. A swing connecting block 451 is fixed at the output end of the swing cylinder 45. The swing connecting block 451 is rotationally connected to the connecting rod 49 through a vertically arranged swing connecting shaft 452.

[0037] The tool lock cylinder 12, translation cylinder 33, and flip cylinder 24 in the above-mentioned high-speed manipulator can be hydraulic cylinders, pneumatic cylinders, or electric cylinders, with diversified power sources. If the current use environment is heavy knives and requires extreme speed, it is preferred to use all hydraulic cylinders. If the current use environment is light knives and requires moderate speed and focuses on cost-effectiveness, it is preferred to replace some with pneumatic cylinders. If the current use environment requires energy saving, cleanliness, and high precision, it is preferred to replace with electric cylinders.

[0038] The main action process of the above high-speed manipulator is as follows:

[0039] When the tool is locked, after the auxiliary tool sleeve 11 reaches the position of the target tool on the tool magazine (e.g., truss tool magazine, not shown in the figure) of the CNC machine tool, the top head 14 extends into the first through hole 16 under the drive of the tool locking cylinder 12, and the top head 14 presses the limit rod 13, and the limit rod 13 presses the pull pin, and the limit rod 13 and the steel ball 102 play a role of mechanical limit on the pull pin, and the tool locking action is completed at this time; when the tool is unlocked, the top head 14 exits the first through hole 16 under the drive of the tool locking cylinder 12, and the top head 14 releases the limit rod 13, and only a small force is needed to make the tool detach from the auxiliary tool sleeve 11. When the tool is detached from the auxiliary tool sleeve 11 under the action of external force, the pull pin head of the pull pin drives the limit rod 13 to move upward, so that the limit rod 13 releases the pull pin, and finally the first spring 19 pushes the limit rod 13 to move downward and reset, and the tool unlocking action is completed at this time.

[0040] When performing the flipping to horizontal, the flip cylinder 24 drives the cylinder connecting block 20 forward, driving the flip connecting block 28 and the auxiliary tool sleeve 11 to flip, and completes the flipping to horizontal action; when performing the flipping to vertical, the flip cylinder 24 drives the cylinder connecting block 20 backward, driving the flip connecting block 28 and the auxiliary tool sleeve 11 to flip, and completes the flipping to vertical action.

[0041] When executing the left translation action, the translation cylinder 33 drives the top sleeve 35 to move forward, and the top sleeve 35 pushes the translation connecting plate 37, the translation connecting bracket 39, the translation base 31, the auxiliary tool sleeve 11, the tool and other related parts to translate to the left synchronously, and the translation action is positioned by the slider fixed on the translation base 31. When the left translation is almost in place, the translation connecting plate 37 is buffered and decelerated by the spring force of the third spring 38 until the translation stops, completing the left translation action; when executing the right translation action, the translation cylinder 33 drives the top sleeve 35 to retreat, and the buffer sleeve 36 presses the third spring 38 to push the translation connecting plate 37, the translation connecting bracket 39, the translation base 31, the auxiliary tool sleeve 11, the tool and other related parts to translate to the right synchronously, and the translation action is positioned by the slider fixed on the translation base 31. When the right translation is almost in place, the spring force of the third spring 38 continues to push the related parts to slide to the right until the translation connecting plate 37 hits the top sleeve 35 and stops, completing the right translation action.

[0042] When the tool is swung toward the spindle side, the swivel cylinder 45 drives the swivel connecting block 451 to move forward, and drives the tool changing support frame 41 to rotate toward the spindle side through the connecting rod 49. During the swivel process, the second proximity switch senses the angle sensing bracket 40. When the second proximity switch detects that the swivel action of the tool is in place, the swivel action of the tool toward the spindle side is completed. When the tool is swung toward the tool magazine side, the swivel cylinder 45 drives the swivel connecting block 451 to move backward, and drives the tool changing support frame 41 to rotate toward the tool magazine side through the connecting rod 49. During the swivel process, the second proximity switch senses the angle sensing bracket 40. When the second proximity switch detects that the swivel action of the tool is in place, the swivel action of the tool toward the tool magazine side is completed.

[0043] When performing high-speed movement, the motor 52 drives the small gear 54 to rotate through the reducer 53, and the small gear 54 drives the large gear 55 to rotate along the rack guide rail, thereby realizing high-speed movement of the high-speed manipulator as a whole along the Y-axis of the CNC machine tool.

[0044] When executing the tool return action on the tool magazine side, there is a tool in the auxiliary tool holder 11, and the single-step action is decomposed as follows: the manipulator swings from the spindle side to the tool magazine side, flips to the horizontal, and translates to the left. By executing high-speed motion, the manipulator is ensured to reach the tool change point tool holder (not shown in the figure), and the tool unlocking action is executed. The tool is constrained by the tool change point tool holder, and the translation to the right action is executed to complete the tool return on the tool magazine side.

[0045] When executing the tool grabbing action on the tool magazine side, there is no tool in the auxiliary tool holder 11. The single-step action is decomposed as follows: the manipulator swings from the spindle side to the tool magazine side, flips to the horizontal, and translates to the right. By executing high-speed motion, the manipulator reaches the axial rear of the target tool, executes the tool unlocking action, executes the translation action to the left, and then executes the tool locking action. By executing high-speed motion, the manipulator is ensured to detach the target tool from the tool holder and complete the tool grabbing on the tool magazine side.

[0046] When executing the tool change action on the spindle side, the single-step action is decomposed as follows: by executing high-speed motion to ensure that the robot reaches the spindle tool change point, the robot swings from the tool magazine side to the spindle side, flips to vertical, and translates to the right, executes the tool unlocking action, waits for the spindle side cam box robot arm to complete the tool change, and finally executes the tool locking action to complete the spindle side tool change.

[0047] The tool change point of the above-mentioned high-speed manipulator can move at high speed according to actual needs, with high tool change efficiency and strong flexibility, so that the manipulator can be applied to models or assembly line services with more tool requirements. The above-mentioned high-speed manipulator has a compact structure, modularization, and fast tool preparation speed. It can realize the linkage of tool locking, flipping, left and right translation, swinging, and up and down translation, and is more suitable for models and assembly line operations with more than 90 tools.

Claims

1. A high-speed manipulator for a CNC machine tool, characterized in that: The high-speed manipulator includes a tool locking component, a flipping component, a translation component, a swinging component, a high-speed moving component and accessories. The tool locking component, flipping component, translation component, swinging component and high-speed moving component are respectively used to realize the tool locking, flipping, left and right translation, swinging and up and down translation of the tool. The accessories include air circuits, liquid circuits and circuits. The high-speed moving component includes a base and a motor and a gear transmission mechanism installed on the base. The gear transmission mechanism includes a meshing pinion and a large gear. The output end of the motor is connected to the pinion through a reducer, and the large gear is meshed with a rack guide rail. The rack guide rail is vertically installed on the column of the Y-axis assembly of the CNC machine tool. The base is slidably installed on the Y-axis assembly through a guide rail slider. The motor is used to drive the high-speed manipulator as a whole to move at high speed along the Y-axis of the CNC machine tool. The swinging component is installed On the base, the swing assembly includes a tool changing support frame, the translation assembly is installed on the tool changing support frame, the translation assembly includes a translation base, the flip assembly is installed on the translation base, the flip assembly includes an auxiliary tool sleeve bracket, the knife locking assembly is installed on the auxiliary tool sleeve bracket, the knife locking assembly includes an auxiliary tool sleeve, a knife locking cylinder and a limit rod, the auxiliary tool sleeve is fixed to the auxiliary tool sleeve bracket, the tool is installed at the front end of the auxiliary tool sleeve, the pull pin of the tool extends into the auxiliary tool sleeve, the limit rod can be movably arranged in the auxiliary tool sleeve up and down, the knife locking cylinder is fixed to the rear end of the auxiliary tool sleeve, the knife locking cylinder is an oil cylinder, an air cylinder or an electric cylinder, and a top is fixed at the output end of the knife locking cylinder, and the top is used to press or release the limit rod to achieve mechanical limiting or releasing of the pull pin.

2. A high-speed manipulator for a CNC machine tool according to claim 1, characterized in that: The auxiliary tool sleeve is provided with a first through hole, a second through hole and a third through hole, the first through hole and the second through hole are arranged in parallel up and down along the length direction of the auxiliary tool sleeve, the center line of the first through hole is collinear with the center line of the top head, the aperture of the first through hole is larger than the outer diameter of the top head, the third through hole is arranged between the first through hole and the second through hole along the width direction of the auxiliary tool sleeve, the second through hole is used to accommodate the rivet, the upper end and the lower end of the third through hole are respectively communicated with the first through hole and the second through hole, the outer diameter of the limit rod is smaller than the aperture of the third through hole, the limit rod can be movably arranged in the third through hole up and down, and two first springs are symmetrically arranged above the limit rod, and the two first springs are respectively vertically mounted on the When the tool is locked in the auxiliary tool sleeve, after the auxiliary tool sleeve reaches the position of the target tool on the tool magazine of the CNC machine tool, the top head extends into the first through hole under the drive of the tool locking cylinder, and the top head presses the limit rod, and the limit rod presses the pull pin, and the limit rod plays a mechanical limiting role on the pull pin, and the tool locking action is completed at this time; when the tool is unlocked, the top head withdraws from the first through hole under the drive of the tool locking cylinder, and the top head releases the limit rod. When the tool is separated from the auxiliary tool sleeve under the action of external force, the pull pin head of the pull pin drives the limit rod to move upward, so that the limit rod releases the pull pin, and finally the limit rod is pushed downward by the first spring and reset, and the tool unlocking action is completed at this time.

3. A high-speed manipulator for a CNC machine tool according to claim 2, characterized in that: A side through hole is respectively connected to both sides of the second through hole, the two side through holes are symmetrically arranged and the angle between them is 120°, a steel ball is installed in each side through the second spring, and the two steel balls are used to tighten the outer cylindrical surface of the rivet.

4. A high-speed manipulator for a CNC machine tool according to claim 2, characterized in that: The third through hole is provided with a first plug and a second plug, the first plug and the second plug are respectively arranged on both sides of the limit rod, the first plug and the second plug are used to limit the axial displacement of the limit rod, and the first plug is provided with a liquid outlet.

5. A high-speed manipulator for a CNC machine tool according to claim 2, characterized in that: The front end of the top head is provided with an inclined surface inclined toward the center line of the first through hole, and the bottom of the auxiliary tool sleeve is installed with a first switch bracket, and the first switch bracket is used to install a first proximity switch, and the first proximity switch is used to detect whether a tool is installed on the auxiliary tool sleeve.

6. A high-speed manipulator for a CNC machine tool according to claim 1, characterized in that: The translation assembly includes a guide rail, a translation cylinder, a translation cylinder seat, a top sleeve and a buffer sleeve. The tool changing support frame is provided with a guide rail groove, the guide rail is installed in the guide rail groove, the translation cylinder seat is installed on the tool changing support frame, the translation cylinder is an oil cylinder, an air cylinder or an electric cylinder, a slider is fixed on the translation base, and the slider can be slidably installed on the guide rail left and right, the translation cylinder is fixed on one side of the translation cylinder seat, the top sleeve and the buffer sleeve are fixed to the output end of the translation cylinder in sequence, a translation connecting plate is fixed on the top sleeve, the translation connecting plate is arranged between the top sleeve and the buffer sleeve, a plurality of third springs are installed between the buffer sleeve and the translation connecting plate, a translation connecting bracket is fixed on one side of the translation connecting plate, and the translation base is fixed to the bottom of the translation connecting bracket.

7. A high-speed manipulator for a CNC machine tool according to claim 6, characterized in that: An adjustment mechanism is provided on the translation base, and the adjustment mechanism is used to adjust the position of the translation base. The adjustment mechanism includes a first adjustment screw, a first adjustment block, a second adjustment screw and a second adjustment block. The first adjustment block is fixed to one side of the translation base through the first adjustment screw, and the second adjustment block is fixed to the bottom of the translation base through the second adjustment screw.

8. The high-speed manipulator for a CNC machine tool according to claim 1, characterized in that: The flip assembly includes a connecting seat, a flip long axis, a flip cylinder, a flip cylinder seat and a fixed seat, the connecting seat and the fixed seat are respectively fixed on the translation base, the flip long axis is horizontally installed on the connecting seat through two first bearings, one end of the flip long axis is fixed to the auxiliary tool sleeve bracket, a flip connecting block is fixed on one side of the auxiliary tool sleeve bracket, a flip connecting seat is fixed on one side of the fixed seat, the flip cylinder seat is installed on the inner side of the flip connecting seat through two horizontally arranged flip short axes, the flip cylinder is fixed on one side of the flip cylinder seat, the flip cylinder is an oil cylinder, an air cylinder or an electric cylinder, the output end of the flip cylinder is fixed with a cylinder connecting block, and the cylinder connecting block is rotatably connected to the flip connecting block through a horizontally arranged limit pin.

9. A high-speed manipulator for a CNC machine tool according to claim 8, characterized in that: A limit seat is fixed on the connecting seat, a limit push rod is horizontally installed on the limit seat through a nut, and the limit push rod is used to adjust the position of the connecting seat.

10. The high-speed manipulator for a CNC machine tool according to claim 1, characterized in that: The swing assembly includes a swing long axis, a swing upper bracket, a swing lower bracket, a swing cylinder, a swing cylinder seat and a second switch bracket. The swing long axis, the swing lower bracket and the second switch bracket are respectively mounted on the base. The gas path and the circuit pass through the inside of the swing long axis. The tool change support frame is vertically mounted on the swing long axis through two second bearings. A connecting rod is mounted on the upper end of the tool change support frame. A second proximity switch is mounted on the second switch bracket. An angle sensing bracket adapted to the second proximity switch is mounted on the bottom of the tool change support frame. The second proximity switch is used to detect whether the swing action of the tool is performed in place. The swing upper bracket is fixed on the upper side of the swing lower bracket. The swing cylinder seat is mounted between the swing upper bracket and the swing lower bracket through two vertically arranged swing short shafts. The swing cylinder is fixed on one side of the swing cylinder seat. A swing connecting block is fixed on the output end of the swing cylinder. The swing connecting block is rotatably connected to the connecting rod through a vertically arranged swing connecting shaft.

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