Three-axis drilling and tapping machine capable of changing tools through mechanical arm tool magazine

Abstract

The invention belongs to the technical field of drilling and tapping machines, in particular to a three-axis drilling and tapping machine adopting a manipulator tool magazine for tool changing, and provides the following scheme that the three-axis drilling and tapping machine specifically comprises a mounting seat, two movement rails and a machining table are arranged at the top of the mounting seat, and a door-shaped frame is arranged between the two movement rails; a machine head bracket is mounted on the side face of the door-shaped frame through an electric guide rail, a drilling and tapping machine head is slidably mounted in the middle of the machine head bracket, a supporting frame is fixedly mounted on the side face of the mounting base, and a rotating execution motor is fixedly mounted on one side of the top of the supporting frame. The tool taking mechanism, the guide rail support, the telescopic arm mechanism and the rotary execution motor form a tool changing mechanical arm structure, the first tool bracket and the second tool bracket are arranged at the two ends of the tool taking mechanism correspondingly, and when the tool taking mechanism grabs tools in a tool magazine, the tools are clamped and fixed through the first tool bracket and the second tool bracket; the first cutter bracket and the second cutter bracket are used for bearing acting force generated when the cutter moves.

Description

Technical Field

[0001] The present invention relates to the technical field of drilling and tapping machines, and particularly to a three-axis drilling and tapping machine using a mechanical hand tool magazine for tool change. Background Art

[0002] A drilling and tapping center is a machine tool for cutting metals, usually also called a "drilling, milling and tapping center", which is derived from a traditional metal cutting machine tool - a vertical machining center. Its floor area and machining stroke are smaller than those of the traditional vertical machining center. It is mainly used for machining light and small metals and is not suitable for heavy cutting. It is usually equipped with a clamping arm tool magazine or a servo tool magazine.

[0003] The tool change system of a three-axis drilling and tapping machine realizes the tool change requirements for continuous machining of the three-axis drilling and tapping machine between part processes, that is, after each process is completed, a new tool used in the next process is automatically replaced onto the main shaft, which is generally completed through the coordinated actions of a mechanical hand, a tool magazine and the machine tool main shaft. At present, the traditional tool change system uses elastic tool claws to realize the grasping action of the tool. During the tool change action, external force is required to overcome the elastic resistance in the tool claws, and after the tool is grasped, it needs to rotate and move to reach the tool change position. At present, in order to improve the tool change speed, the movement speed of the tool change system is fast, and each time the position is changed, it needs to go through an emergency stop and an instant start. The elastic tool claws need to bear the inertia during the movement and pause in the tool change system, increasing the wear of the components in the elastic tool claws and shortening the service life of the tool change system.

[0004] In view of this, the present invention provides a three-axis drilling and tapping machine using a mechanical hand tool magazine for tool change to solve the technical problems existing in the above-mentioned prior art. Summary of the Invention

[0005] Based on the technical problems existing in the background art, the present invention proposes a three-axis drilling and tapping machine using a mechanical hand tool magazine for tool change.

[0006] The three-axis drilling and tapping machine using a mechanical hand tool magazine for tool change proposed by the present invention includes a mounting base. Two movement tracks and a processing table are arranged on the top of the mounting base, and a gantry is installed between the two movement tracks. A machine head bracket is installed on the side of the gantry through an electric guide rail, and a drilling and tapping machine head is slidably installed in the middle of the machine head bracket. A support frame is fixedly installed on the side of the mounting base, and a rotary actuator motor is fixedly installed on one side of the top of the support frame. The output shaft end of the rotary actuator motor is installed with a telescopic arm mechanism, and the other end of the telescopic arm mechanism is installed with a guide rail bracket. A tool picking mechanism for left and right movement is installed on one side of one end of the guide rail bracket. A first tool bracket is installed on the other side of one end of the guide rail bracket, and the first tool bracket realizes opening and closing drive through the tool picking mechanism. A second tool bracket is installed on the other side of the other end of the guide rail bracket. A tool magazine mounting frame is installed at one end of the top of the mounting base, and a chain tool magazine is installed on the side of the tool magazine mounting frame.

[0007] Preferably, in the present invention, the telescopic arm mechanism includes a swing arm bracket fixedly connected to the guide rail bracket and a bearing bracket connected to the end of the output shaft of the rotary execution motor. A telescopic cylinder is installed between the swing arm bracket and the bearing bracket, and a limiting tube is sleeved outside the telescopic cylinder.

[0008] Preferably, in the present invention, the guide rail bracket includes a bracket end with a U-shaped structure and a guide end inserted into the tool taking mechanism. An installation groove cooperating with the second tool bracket is arranged inside the bracket end, and a rack portion drivingly cooperating with the tool taking mechanism is arranged on the side surface of the guide end.

[0009] Preferably, in the present invention, the tool taking mechanism includes a driving seat sleeved outside the guide end. A motor and a gear drivingly cooperating with the rack portion are arranged inside the driving seat. A rotary motor is installed on the side surface of the driving seat, and a tool taking bracket is installed at the end of the output shaft of the rotary motor. A jaw assembly is installed at the end of the tool taking bracket.

[0010] Preferably, in the present invention, the jaw assembly includes two jaws rotatably installed at the end of the tool taking bracket. The front ends of the two jaws are in a C-shaped structure, and the rear ends of the two jaws are distributed in a Y-shaped structure. The jaw assembly further includes a clamping cylinder installed inside the tool taking bracket, and a Y-shaped linkage block is installed at the front end position of the clamping cylinder. The two sides of the linkage block are slidably connected to the inclined surfaces at the rear ends of the two jaws.

[0011] Preferably, in the present invention, the first tool bracket includes two pull rods installed on the guide end through torsion spring shafts. The outer ends of the pull rods are hinged with bracket link rods, and a first bracket is arranged at the front end position of the bracket link rods. The first tool bracket further includes a rectangular groove arranged on the other side surface of the driving seat, and a pull block is installed in the rectangular groove through a push spring. The two bracket link rods are rotatably installed outside the pull block.

[0012] Preferably, in the present invention, the cross section of the first bracket is in an arc structure, and multiple layers of first elastic sheets are arranged on the inner arc surface of the first bracket. Multiple fan-shaped grooves are arranged on the surface of the first elastic sheet.

[0013] Preferably, in the present invention, the second tool bracket includes two second brackets slidably installed at both ends of the installation groove, and a linkage component is arranged between the two second brackets. The cross section of the second bracket is in an arc structure, and multiple layers of second elastic sheets are arranged on the inner arc surface of the second bracket. Multiple fan-shaped grooves are arranged on the surface of the second elastic sheet.

[0014] Preferably, in the present invention, the linkage assembly includes a linkage rack arranged on the second bracket. The linkage assembly further includes a linkage cylinder fixedly installed on the outer side of the installation groove, and a linkage gear installed inside the installation groove through a torsion spring rotating shaft. The output end of the linkage cylinder is connected to one of the second brackets, and the linkage gear is meshed and connected with the linkage rack on the other second bracket.

[0015] Preferably, in the present invention, a tool protection cover is further installed on the side of the tool magazine mounting rack, and a tool taking groove is provided on the side of the tool magazine protection cover.

[0016] Compared with the prior art, the present invention provides a three-axis drilling and tapping machine using a robot tool magazine for tool change, having the following beneficial effects: In the present invention, the tool taking mechanism, the guide rail bracket, the telescopic arm mechanism and the rotary actuator motor form a tool changing robot structure. First tool brackets and second tool brackets are respectively arranged at both ends of the tool taking mechanism. When the tool taking mechanism grabs a tool in the tool magazine, the tool is clamped and fixed by the first tool bracket and the second tool bracket. The first tool bracket and the second tool bracket are used to bear the acting force generated when the tool moves. During application, the front clamping claws of the tool taking mechanism are in an open state before tool taking. When taking a tool, the tool taking mechanism moves horizontally on the guide rail bracket and clamps the tool from the outside. The telescopic arm mechanism drives the tool taking mechanism and the guide rail bracket to move forward to pull out the tool from the chain tool magazine. Then, the tool taking mechanism moves along the guide rail bracket towards the telescopic arm mechanism. When the tool taking mechanism moves, it drives the first tool bracket to close, and the first tool bracket is used to clamp and fix the tool grabbed by the tool taking mechanism. When changing a tool, the rotary actuator motor drives the tool taking mechanism, the guide rail bracket and the telescopic arm mechanism to rotate clockwise by 270°. At this time, the telescopic arm mechanism is in a vertical state, and the tool taking mechanism is located on the side of the drilling and tapping head. The empty end of the tool taking mechanism moves along the guide rail bracket towards the drilling and tapping head. The front clamping claws of the tool taking mechanism are sleeved outside the tool of the drilling and tapping head. After pulling out the old tool from the drilling and tapping head, the tool taking mechanism rotates half a circle and inserts the new tool into the drilling and tapping head to complete the tool change operation. When the tool changing robot moves, the bearing stress at the end of the tool taking mechanism is reduced, thereby reducing the damage rate of the clamping claw part of the tool taking mechanism and effectively improving the stability during the tool change operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 is a schematic structural diagram of a three-axis drilling and tapping machine using a robot tool magazine for tool change proposed by the present invention; Figure 2 is a side view structural diagram of a three-axis drilling and tapping machine using a robot tool magazine for tool change proposed by the present invention; Figure 3 is a tool change schematic diagram of a three-axis drilling and tapping machine using a robot tool magazine for tool change proposed by the present invention; Figure 4Partial structural schematic diagram of the tool changing process of a three-axis drilling and tapping machine using a manipulator tool magazine according to the present invention; Figure 5 Schematic diagram of the telescopic arm mechanism of a three-axis drilling and tapping machine using a manipulator tool magazine according to the present invention; Figure 6 Schematic diagram of the first bracket opening of the first tool bracket in a three-axis drilling and tapping machine using a manipulator tool magazine according to the present invention; Figure 7 Schematic diagram of the second tool bracket structure of a three-axis drilling and tapping machine using a manipulator tool magazine according to the present invention; Figure 8 Schematic diagram when the second tool bracket of a three-axis drilling and tapping machine using a manipulator tool magazine fixes the tool; Figure 9 Schematic diagram of the tool picking mechanism structure of a three-axis drilling and tapping machine using a manipulator tool magazine according to the present invention; Figure 10 Schematic diagram of the jaw assembly structure of a three-axis drilling and tapping machine using a manipulator tool magazine according to the present invention.

[0018] In the figure: 1 mounting seat, 2 chain tool magazine, 3 tool magazine protective cover, 4 tool magazine mounting frame, 5 support frame, 6 guide rail bracket, 61 bracket end, 62 guiding end, 63 mounting groove, 7 telescopic arm mechanism, 71 swing arm bracket, 72 limiting tube, 73 telescopic cylinder, 74 bearing bracket, 8 rotary actuator motor, 9 second tool bracket, 91 second bracket, 92 linkage gear, 93 linkage rack, 94 second elastic sheet, 95 linkage cylinder, 10 first tool bracket, 101 first bracket, 102 first elastic sheet, 103 pull rod, 104 pull block, 105 rectangular groove, 11 tool picking mechanism, 111 drive seat, 112 rotary motor, 113 tool picking bracket, 114 jaw, 115 clamping cylinder, 116 linkage block, 12 processing table, 13 movement track, 14 gantry frame, 15 head bracket, 16 drilling and tapping head. Detailed implementation manners

[0019] The embodiments of the present invention will be described in detail below. The examples of the embodiments are shown in the drawings, where the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described by referring to the drawings are exemplary and are only used to explain the present invention and should not be construed as a limitation to the present invention.

[0020] Refer to Figures 1-10, A three-axis drilling and tapping machine using a mechanical hand tool magazine for tool change, comprising a mounting base 1. At the top of the mounting base 1, two moving tracks 13 and a machining table 12 are provided. A gantry frame 14 is installed between the two moving tracks 13. A machine head bracket 15 is installed on the side of the gantry frame 14 through an electric guide rail. A drilling and tapping machine head 16 is slidably installed in the middle of the machine head bracket 15. A support frame 5 is fixedly installed on the side of the mounting base 1. At one side of the top of the support frame 5, a rotary actuator motor 8 is fixedly installed. The end of the output shaft of the rotary actuator motor 8 is installed with a telescopic arm mechanism 7. The other end of the telescopic arm mechanism 7 is installed with a guide rail bracket 6. A tool picking mechanism 11 moving left and right is installed on one side of one end of the guide rail bracket 6. A first tool bracket 10 is installed on the other side of one end of the guide rail bracket 6. The first tool bracket 10 is driven to open and close by the tool picking mechanism 11. A second tool bracket 9 is installed on the other side of the other end of the guide rail bracket 6. A tool magazine mounting frame 4 is installed at one end of the top of the mounting base 1. A chain-type tool magazine 2 is installed on the side of the tool magazine mounting frame 4.

[0021] In the present invention, the tool picking mechanism 11, the guide rail bracket 6, the telescopic arm mechanism 7 and the rotary actuator motor 8 constitute a tool changing manipulator structure. First tool brackets 10 and second tool brackets 9 are respectively arranged at both ends of the tool picking mechanism 11. When the tool picking mechanism 11 grabs a tool in the tool magazine, the tool is clamped and fixed by the first tool brackets 10 and the second tool brackets 9. The first tool brackets 10 and the second tool brackets 9 are used to bear the acting force generated when the tool moves. In application, the front clamping claws of the tool picking mechanism 11 are in an open state before tool picking. When picking a tool, the tool picking mechanism 11 moves horizontally on the guide rail bracket 6 and directly clamps the middle part of the tool shank. The telescopic arm mechanism 7 drives the tool picking mechanism 11 and the guide rail bracket 6 to move forward to pull out the tool from the chain-type tool magazine 2; After that, the tool picking mechanism 11 moves along the guide rail bracket 6 towards the telescopic arm mechanism 7. When the tool picking mechanism 11 moves, it drives the first tool bracket 10 to close, and the first tool bracket 10 is used to clamp and fix the tool grabbed by the tool picking mechanism 11; Or after the tool picking mechanism 11 rotates half a circle, the tool picking mechanism 11 moves along the guide rail bracket 6 towards the telescopic arm mechanism 7. One end of the tool picked by the tool picking mechanism 11 moves to the middle of the second tool bracket 9, and the second tool bracket 9 is used to clamp and fix the picked tool; When changing the tool, the rotating execution motor 8 drives the tool taking mechanism 11, the guide rail bracket 6, and the telescopic arm mechanism 7 to rotate clockwise by 270°. At this time, the telescopic arm mechanism 7 is in a vertical state, and the tool taking mechanism 11 is located on the side of the drilling and tapping head 16. The empty end of the tool taking mechanism 11 moves along the guide rail bracket 6 towards the drilling and tapping head 16. The front clamping jaw of the tool taking mechanism 11 is sleeved outside the tool of the drilling and tapping head 16. After pulling out the old tool from the drilling and tapping head 16, the tool taking mechanism 11 rotates half a circle, inserts the new tool into the drilling and tapping head 16, and completes the tool changing operation. When the tool changing manipulator moves, the bearing stress at the end of the tool taking mechanism 11 is reduced, thereby reducing the damage rate of the clamping jaw part of the tool taking mechanism 11, and effectively improving the stability during the tool changing operation.

[0022] As a further scheme in the present invention, the telescopic arm mechanism 7 includes a swing arm bracket 71 fixedly connected to the guide rail bracket 6, and a bearing bracket 74 connected to the end of the output shaft of the rotating execution motor 8. A telescopic cylinder 73 is installed between the swing arm bracket 71 and the bearing bracket 74, and a limiting tube 72 is sleeved outside the telescopic cylinder 73. In the present invention, the telescopic arm mechanism 7 realizes telescopic movement through the telescopic cylinder 73 inside the limiting tube 72. At the same time, the setting of the limiting tube 72 maintains the axial stability of the telescopic arm mechanism 7 and avoids rotational offset between the swing arm bracket 71 and the bearing bracket 74 when the telescopic arm mechanism 7 moves.

[0023] As a further scheme in the present invention, the guide rail bracket 6 includes a bracket end 61 with a U-shaped structure and a guiding end 62 inserted into the inside of the tool taking mechanism 11. An installation groove 63 for cooperating with the second tool bracket 9 is arranged inside the bracket end 61, and a rack portion for driving cooperation with the tool taking mechanism 11 is arranged on the side of the guiding end 62. In the present invention, the tool taking mechanism 11 moves back and forth on the guiding end 62. When the tool taking mechanism 11 moves to the middle position of the guiding end 62, the first tool bracket 10 is in an open state. At this time, the tool taking mechanism 11 can rotate freely. When the tool taking mechanism 11 moves to the side of the bracket end 61, the first tool bracket 10 is in a closed state. At this time, the other end of the tool taking mechanism 11 is located at the middle right side position of the bracket end 61, and the tool grabbed by the tool taking mechanism 11 is located in the central area of the second tool bracket 9.

[0024] As a further scheme in the present invention, the tool taking mechanism 11 includes a driving seat 111 sleeved outside the guiding end 62, and a motor and a gear for transmission cooperation with the rack portion are arranged inside the driving seat 111. A rotating motor 112 is installed on the side of the driving seat 111, and a tool taking bracket 113 is installed at the end of the output shaft of the rotating motor 112. A clamping jaw assembly is installed at the end of the tool taking bracket 113. In the present invention, the motor and the gear in the driving seat 111 drive the tool taking mechanism 11 to move back and forth along the outside of the guiding end 62, and the rotating motor 112 drives the tool taking bracket 113 and the clamping jaw assembly to change positions.

[0025] As a further solution in the present invention, the jaw assembly includes two jaws 114 rotatably mounted at the end of the tool picking bracket 113. The front ends of the two jaws 114 are in a C-shaped structure, and the rear ends of the two jaws 114 are distributed in a Y-shaped structure. The jaw assembly further includes a clamping cylinder 115 installed inside the tool picking bracket 113. A Y-shaped linkage block 116 is installed at the front end position of the clamping cylinder 115. The two sides of the linkage block 116 are slidably connected to the inclined surfaces at the rear ends of the two jaws 114. In the present invention, when the clamping cylinder 115 drives the linkage block 116 to move backward, the linkage block 116 pulls the rear ends of the two jaws 114 toward the middle, thereby causing the jaws 114 to open. When the tool is inserted between the two jaws 114, the clamping cylinder 115 drives the linkage block 116 to move forward, and the linkage block 116 is pushed into the gap between the two jaws 114 to close and position the jaws 114, thereby improving the stability of the jaws 114 for grasping.

[0026] As a further solution in the present invention, the first tool bracket 10 includes two pull rods 103 installed at the guiding end 62 through torsion spring shafts. The outer ends of the pull rods 103 are hinged with bracket connecting rods. A first bracket 101 is provided at the front end position of the bracket connecting rod. The first tool bracket 10 further includes a rectangular groove 105 provided on the other side of the driving seat 111. A pull block 104 is installed inside the rectangular groove 105 through a push spring. The two bracket connecting rods are rotatably installed outside the pull block 104. In the present invention, when the driving seat 111 is at the middle position of the guiding end 62, the pull block 104 is at the middle position of the rectangular groove 105 under the action of the push spring and the torsion spring shaft, and the pull block 104 is not stressed. The two first brackets 101 maintain a fixed opening angle. When the driving seat 111 moves toward the tool magazine direction, after the tool is picked up, when the driving seat 111 moves toward the telescopic arm mechanism 7 direction, after the driving seat 111 passes through the middle position of the guiding end 62, the pull block 104 moves following the action of the push spring, thereby closing the two first brackets 101 toward the middle. When the driving seat 111 moves to the final position, one end of the tool picked up by the jaw assembly is wrapped between the two first brackets 101, providing a stable holding force for the tool, thereby reducing the movement load of the jaw assembly.

[0027] As a further solution in the present invention, the cross-section of the first bracket 101 is in an arc structure, and multiple layers of first elastic sheets 102 are provided on the inner arc surface of the first bracket 101. Multiple fan-shaped grooves are provided on the surface of the first elastic sheet 102. In the present invention, when the two first brackets 101 are closed, the multiple layers of first elastic sheets 102 surround each other. The first elastic sheet 102 deforms when contacting the outside of the tool head, wrapping the tool head part, thereby forming multiple elastic protection rings on the outside of the tool head of the tool, reducing the load borne by the jaws 114, and forming a buffer protection for the tool head when the tool picking mechanism 11 starts and stops.

[0028] As a further solution in the present invention, the second tool bracket 9 includes two second brackets 91 slidably installed at both ends of the installation groove 63, and a linkage component is arranged between the two second brackets 91, the cross-section of the second bracket 91 is an arc-shaped structure, and a plurality of layers of second elastic sheets 94 are arranged on the inner arc surface of the second bracket 91, and a plurality of fan-shaped grooves are arranged on the surface of the second elastic sheet 94. In the present invention, when the two second brackets 91 are closed, the plurality of layers of second elastic sheets 94 are surrounded, and the second elastic sheet 94 contacts the outside of the tool head and deforms, wrapping the tool head part, and then forming a plurality of layers of elastic protective rings on the outside of the tool head, reducing the load of the clamp 114, and forming a buffer protection for the tool head when the tool taking mechanism 11 is started and stopped.

[0029] As a further solution in the present invention, the linkage assembly includes a linkage rack 93 arranged on the second bracket 91, the linkage assembly also includes a linkage cylinder 95 fixedly installed on the outer side of the mounting groove 63, and a linkage gear 92 installed inside the mounting groove 63 through a torsion spring shaft. The output end of the linkage cylinder 95 is connected to one of the second brackets 91, and the linkage gear 92 is meshed and connected with the linkage rack 93 on the other second bracket 91. In the present invention, when the two second brackets 91 are in a separated state, the second bracket 91 at one end Under the torsion of the torsion spring shaft, the second bracket 91 at one end of the mounting slot 63 is restrained at the other end of the mounting slot 63 by the linkage cylinder 95. When the tool grabbed by the tool taking mechanism 11 is located at the second tool bracket 9, the axis of the tool coincides with the axis of the torsion spring shaft. The linkage cylinder 95 drives the second bracket 91 on one side to move toward the tool. Under the transmission action of the linkage gear 92 and the linkage rack 93, the second bracket 91 on the other side synchronously moves toward the tool, thereby achieving the encirclement and protection effect of the tool head.

[0030] As a further solution in the present invention, a tool protection cover 3 is also installed on the side of the tool magazine mounting frame 4, and a tool removal groove is provided on the side of the tool magazine protection cover 3. In the present invention, the tool magazine protection cover 3 protects the chain tool magazine 2 inside, and the chain tool magazine 2 is arranged at the back position of the drilling and tapping machine operation area, so that the tool is not affected by the machining debris of the drilling and tapping machine.

[0031] In use, the tool picking mechanism 11, the guide rail bracket 6, the telescopic arm mechanism 7 and the rotary actuator motor 8 form a tool changing manipulator structure. At both ends of the tool picking mechanism 11, a first tool bracket 10 and a second tool bracket 9 are respectively arranged. When the tool picking mechanism 11 grabs a tool in the tool magazine, the tool is clamped and fixed by the first tool bracket 10 and the second tool bracket 9, and the first tool bracket 10 and the second tool bracket 9 are used to bear the acting force generated during the movement of the tool. In application, the front clamping claws of the tool picking mechanism 11 are in an open state before tool picking. When picking a tool, the tool picking mechanism 11 moves horizontally on the guide rail bracket 6 and clamps the middle position of the tool shank from the outside. The telescopic arm mechanism 7 drives the tool picking mechanism 11 and the guide rail bracket 6 to move forward, and pulls the tool out of the chain-type tool magazine 2; After that, the tool picking mechanism 11 moves along the guide rail bracket 6 towards the telescopic arm mechanism 7. When the tool picking mechanism 11 moves, it drives the first tool bracket 10 to close, and the first tool bracket 10 is used to clamp and fix the tool grabbed by the tool picking mechanism 11; Or after the tool picking mechanism 11 rotates half a circle, the tool picking mechanism 11 moves along the guide rail bracket 6 towards the telescopic arm mechanism 7. One end of the tool picked by the tool picking mechanism 11 moves to the middle of the second tool bracket 9, and the second tool bracket 9 is used to clamp and fix the picked tool; During tool change, the rotary actuator motor 8 drives the tool picking mechanism 11, the guide rail bracket 6 and the telescopic arm mechanism 7 to rotate clockwise by 270°. At this time, the telescopic arm mechanism 7 is in a vertical state, and the tool picking mechanism 11 is located on the side of the drilling and tapping head 16. The empty end of the tool picking mechanism 11 moves along the guide rail bracket 6 towards the drilling and tapping head 16. The front clamping claws of the tool picking mechanism 11 are sleeved outside the tool of the drilling and tapping head 16. After pulling out the old tool from the drilling and tapping head 16, the tool picking mechanism 11 rotates half a circle and inserts the new tool into the drilling and tapping head 16 to complete the tool change operation.

[0032] The above is only the preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present invention, according to the technical solution of the present invention and its inventive concept, makes equivalent substitutions or changes, and should be covered by the protection scope of the present invention.

Claims

1. A three-axis drilling and tapping machine using a manipulator tool magazine for tool changing, comprising a mounting seat (1), wherein the top of the mounting seat (1) is provided with two moving rails (13) and a processing table (12), and a portal frame (14) is installed between the two moving rails (13), a machine head bracket (15) is installed on the side of the portal frame (14) via an electric guide rail, and a drilling and tapping machine head (16) is slidably installed in the middle of the machine head bracket (15), characterized in that: A support frame (5) is fixedly mounted on the side of the mounting seat (1), and a rotary execution motor (8) is fixedly mounted on one side of the top of the support frame (5); a telescopic arm mechanism (7) is mounted on the output shaft end of the rotary execution motor (8); a guide rail bracket (6) is mounted on the other end of the telescopic arm mechanism (7); a tool picking mechanism (11) that moves left and right is mounted on one end of the guide rail bracket (6); a first tool bracket (10) is mounted on the other side of one end of the guide rail bracket (6), and the first tool bracket (10) is driven to open and close by the tool picking mechanism (11); a second tool bracket (9) is mounted on the other end of the guide rail bracket (6); a tool magazine mounting frame (4) is mounted on one end of the top of the mounting seat (1), and a chain tool magazine (2) is mounted on the side of the tool magazine mounting frame (4).

2. A three-axis drilling and tapping machine using a manipulator tool magazine for tool change according to claim 1, characterized in that: The telescopic arm mechanism (7) comprises a swing arm bracket (71) fixedly connected to the guide rail bracket (6), and a bearing bracket (74) connected to the end of the output shaft of the rotary actuator motor (8), a telescopic cylinder (73) is installed between the swing arm bracket (71) and the bearing bracket (74), and a limit tube (72) is sleeved on the outer side of the telescopic cylinder (73).

3. A three-axis drilling and tapping machine using a manipulator tool magazine for tool change according to claim 1, characterized in that: The guide rail bracket (6) comprises a bracket end (61) of a U-shaped structure, and a guide end (62) inserted into the interior of the knife taking mechanism (11); a mounting groove (63) cooperating with the second tool bracket (9) is provided inside the bracket end (61); and a rack portion cooperating with the drive of the knife taking mechanism (11) is provided on the side of the guide end (62).

4. A three-axis drilling and tapping machine using a manipulator tool magazine for tool change according to claim 3, characterized in that: The knife-taking mechanism (11) comprises a driving seat (111) sleeved on the outside of the guide end (62), and a motor and a gear that cooperate with the rack portion for transmission are arranged inside the driving seat (111), a rotating motor (112) is installed on the side of the driving seat (111), and a knife-taking bracket (113) is installed on the end of the output shaft of the rotating motor (112), and a clamping claw assembly is installed on the end of the knife-taking bracket (113).

5. A three-axis drilling and tapping machine using a manipulator tool magazine for tool change according to claim 4, characterized in that: The clamping jaw assembly comprises two clamping jaws (114) rotatably mounted on the end of the knife-taking bracket (113), wherein the front ends of the two clamping jaws (114) are in a C-shaped structure, and the rear ends of the two clamping jaws (114) are in a Y-shaped structure. The clamping jaw assembly also comprises a clamping cylinder (115) mounted inside the knife-taking bracket (113), and a linkage block (116) of a Y-shaped structure is mounted at the front end of the clamping cylinder (115), and the linkage block (116) is slidably connected to the inclined surfaces at the rear ends of the two clamping jaws (114) at both sides.

6. A three-axis drilling and tapping machine using a manipulator tool magazine for tool change according to claim 5, characterized in that: The first tool bracket (10) includes two pull rods (103) installed on the guide end (62) through a torsion spring shaft, and the outer end of the pull rod (103) is hinged with a bracket connecting rod, and the first bracket (101) is arranged at the front end position of the bracket connecting rod. The first tool bracket (10) also includes a rectangular groove (105) arranged on the other side of the driving seat (111), and the interior of the rectangular groove (105) is installed with a pull block (104) through a push spring, and the two bracket connecting rods are rotatably installed on the outside of the pull block (104).

7. A three-axis drilling and tapping machine using a manipulator tool magazine for tool change according to claim 6, characterized in that: The cross section of the first bracket (101) is an arc-shaped structure, and the inner arc surface of the first bracket (101) is provided with multiple layers of first elastic sheets (102), and the surface of the first elastic sheet (102) is provided with a plurality of fan-shaped grooves.

8. The three-axis drilling and tapping machine using a manipulator tool magazine for tool change according to claim 3, characterized in that: The second tool bracket (9) comprises two second brackets (91) slidably mounted at both ends of the mounting groove (63), and a linkage assembly is provided between the two second brackets (91), the cross-section of the second bracket (91) is an arc-shaped structure, and a plurality of layers of second elastic sheets (94) are provided on the inner arc surface of the second bracket (91), and a plurality of fan-shaped grooves are provided on the surface of the second elastic sheet (94).

9. A three-axis drilling and tapping machine using a manipulator tool magazine for tool change according to claim 8, characterized in that: The linkage assembly comprises a linkage rack (93) arranged on the second bracket (91), and the linkage assembly also comprises a linkage cylinder (95) fixedly mounted on the outer side of the mounting groove (63), and a linkage gear (92) mounted inside the mounting groove (63) via a torsion spring rotating shaft, wherein the output end of the linkage cylinder (95) is connected to one of the second brackets (91), and the linkage gear (92) is meshingly connected to the linkage rack (93) on the other second bracket (91).

10. The three-axis drilling and tapping machine using a manipulator tool magazine for tool change according to claim 1, characterized in that: A tool protection cover (3) is also installed on the side of the tool magazine mounting frame (4), and a tool removal groove is provided on the side of the tool magazine protection cover (3).

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