A three-axis drilling and tapping machine using a mechanical hand tool magazine for tool change

Abstract

The present invention belongs to the technical field of drilling and tapping machines, especially a three-axis drilling and tapping machine with a tool changing mechanism using a manipulator tool magazine. The following solutions are now proposed, which specifically include a mounting base. Two movement tracks and a processing table are arranged on the top of the mounting base. 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. In the present invention, a tool changing manipulator structure is formed by a tool picking mechanism, a guide rail bracket, a telescopic arm mechanism, and a rotary actuator motor. First tool brackets and second tool brackets are respectively arranged at both ends of the tool picking mechanism. When the tool picking mechanism grabs a tool in the tool magazine, the tool is clamped and fixed by the first tool bracket and the second tool bracket, and the first tool bracket and the second tool bracket are used to bear the acting force generated when the tool 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 spindle, generally completed through the coordinated actions of a mechanical hand, a tool magazine and the machine tool spindle. At present, the traditional tool change system uses elastic tool claws to realize the grasping action of the tool. When changing tools, 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 moving tracks and a processing table are arranged on the top of the mounting base. A gantry is installed between the two moving tracks. A machine head bracket is installed on the side of the gantry through an electric guide rail. 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. A rotary actuator motor is fixedly installed on one side of the top of the support frame. The end of the output shaft of the rotary actuator motor is installed with a telescopic arm mechanism. 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. 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. A chain-type 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 actuator 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 picking mechanism. An installation groove cooperating with the second tool bracket is provided inside the bracket end, and a rack portion drivingly cooperating with the tool picking mechanism is provided on the side surface of the guide end.

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

[0010] Preferably, in the present invention, the jaw assembly includes two jaws rotatably installed at the end of the tool picking 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 picking 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 connecting rods, and a first bracket is provided at the front end position of the bracket connecting rods. The first tool bracket further includes a rectangular groove provided 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 connecting 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 provided on the inner arc surface of the first bracket. Multiple fan-shaped grooves are provided 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 assembly is provided 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 provided on the inner arc surface of the second bracket. Multiple fan-shaped grooves are provided on the surface of the second elastic sheet.

[0014] Preferably, in the present invention, the linkage assembly includes a linkage rack disposed 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 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 frame, 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 mechanical hand tool magazine for tool change, having the following beneficial effects:

[0017] In the present invention, the tool taking mechanism, the guide rail bracket, the telescopic arm mechanism, and the rotating execution electric machine constitute a tool changing mechanical hand 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, and the first tool bracket and the second tool bracket are used to bear the acting force generated during the movement of the tool. 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 to clamp 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-type 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 rotating execution 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 to insert the new tool into the drilling and tapping head to complete the tool change operation. When the tool changing mechanical hand 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

[0018] Figure 1 is a schematic structural diagram of a three-axis drilling and tapping machine using a mechanical hand tool magazine for tool change proposed by the present invention;

[0019] Figure 2 is a schematic side view structural diagram of a three-axis drilling and tapping machine using a mechanical hand tool magazine for tool change proposed by the present invention;

[0020] Figure 3Schematic diagram of tool change for a three-axis drilling and tapping machine using a robotic arm tool magazine according to the present invention;

[0021] Figure 4 Partial structural schematic diagram of the tool change process for a three-axis drilling and tapping machine using a robotic arm tool magazine according to the present invention;

[0022] Figure 5 Schematic diagram of the telescopic arm mechanism for a three-axis drilling and tapping machine using a robotic arm tool magazine according to the present invention;

[0023] Figure 6 Schematic diagram of the first bracket of the first tool bracket in a three-axis drilling and tapping machine using a robotic arm tool magazine according to the present invention when it is opened;

[0024] Figure 7 Schematic diagram of the second tool bracket structure for a three-axis drilling and tapping machine using a robotic arm tool magazine according to the present invention;

[0025] Figure 8 Schematic diagram when the second tool bracket of a three-axis drilling and tapping machine using a robotic arm tool magazine fixes a tool;

[0026] Figure 9 Schematic diagram of the tool picking mechanism structure for a three-axis drilling and tapping machine using a robotic arm tool magazine according to the present invention;

[0027] Figure 10 Schematic diagram of the jaw assembly structure for a three-axis drilling and tapping machine using a robotic arm tool magazine according to the present invention.

[0028] 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 machining table, 13 movement track, 14 gantry frame, 15 head bracket, 16 drilling and tapping head. Detailed implementation method

[0029] Embodiments of the present invention will be described in detail below. Examples of the embodiments are shown in the accompanying 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 below by referring to the accompanying drawings are exemplary and are only used to explain the present invention and should not be construed as a limitation of the present invention.

[0030] Referring to Figures 1-10 , a three-axis drilling and tapping machine using a manipulator tool magazine for tool change, comprising a mounting base 1. Two moving tracks 13 and a processing table 12 are provided at the top of the mounting base 1. A gantry 14 is installed between the two moving tracks 13. A tool head bracket 15 is installed on the side of the gantry 14 through an electric guide rail. A drilling and tapping tool head 16 is slidably installed in the middle of the tool head bracket 15. A support frame 5 is fixedly installed on the side of the mounting base 1. A rotary actuator motor 8 is fixedly installed on one side at the top of the support frame 5. 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 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.

[0031] 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, and the first tool brackets 10 and the second tool brackets 9 are used to bear the acting force generated during the movement of the tool. During 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 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;

[0032] 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;

[0033] 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;

[0034] 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 end 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 turn, 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 jaw part of the tool taking mechanism 11, and effectively improving the stability during the tool changing operation.

[0035] 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 limit 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 limit tube 72. At the same time, the setting of the limit 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.

[0036] 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 guide end 62 inserted into 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 part for driving cooperation with the tool taking mechanism 11 is arranged on the side of the guide end 62. In the present invention, the tool taking mechanism 11 moves back and forth on the guide end 62. When the tool taking mechanism 11 moves to the middle position of the guide 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 and 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.

[0037] As a further scheme in the present invention, the tool taking mechanism 11 includes a driving seat 111 sleeved outside the guide end 62. A motor and a gear for transmission cooperation with the rack part 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 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 guide end 62, and the rotating motor 112 drives the tool taking bracket 113 and the jaw assembly to change positions.

[0038] As a further aspect of the present invention, the jaw assembly includes two jaws 114 rotatably mounted at the end of the tool - taking 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 - taking bracket 113. A linkage block 116 with a Y - shaped structure 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 towards 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 grasping of the jaws 114.

[0039] As a further aspect of the present invention, the first tool carrier 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 linkages. A first bracket 101 is provided at the front - end position of the bracket linkages. The first tool carrier 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 linkages are rotatably mounted 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 towards the tool magazine direction, after the tool is grasped, when the driving seat 111 moves towards 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 towards the middle. When the driving seat 111 moves to the final position, one end of the tool grasped 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.

[0040] As a further aspect of the present invention, the cross - section of the first bracket 101 is in an arc - shaped structure, and a plurality of layers of first elastic sheets 102 are provided on the inner arc surface of the first bracket 101. A plurality of 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 plurality of layers of first elastic sheets 102 surround. The first elastic sheet 102 deforms when contacting the outside of the tool head, wrapping the tool - head part, thereby forming a plurality of 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 - taking mechanism 11 starts and stops.

[0041] As a further aspect of the present invention, the second tool carrier 9 includes two second carriers 91 slidably mounted at both ends of the mounting groove 63, and a linkage assembly is provided between the two second carriers 91. The cross-section of the second carrier 91 is in an arc structure, and multiple layers of second elastic sheets 94 are provided on the inner arc surface of the second carrier 91. Multiple fan-shaped grooves are provided on the surface of the second elastic sheet 94. In the present invention, when the two second carriers 91 are closed, the multiple layers of second elastic sheets 94 are surrounded. The second elastic sheet 94 deforms when contacting the outside of the tool tip, wrapping the tool tip part, and thus forming multiple elastic protection rings on the outside of the tool tip of the tool, reducing the load borne by the jaw 114, and buffering and protecting the tool tip when the tool taking mechanism 11 starts and stops.

[0042] As a further aspect of the present invention, the linkage assembly includes a linkage rack 93 provided on the second carrier 91. The linkage assembly further includes a linkage cylinder 95 fixedly mounted on the outer side surface of the mounting groove 63, and a linkage gear 92 mounted inside the mounting groove 63 through a torsion spring rotating shaft. The output end of the linkage cylinder 95 is connected to one of the second carriers 91, and the linkage gear 92 is meshed with the linkage rack 93 on the other second carrier 91. In the present invention, when the two second carriers 91 are in a separated state, one of the second carriers 91 is located at one end of the mounting groove 63 under the action of the torsion force of the torsion spring rotating shaft, and the other second carrier 91 is constrained by the linkage cylinder 95 at the other end position of the mounting groove 63. When the tool taken by the tool taking mechanism 11 is located on the second tool carrier 9, at this time, the axis of the tool coincides with the axis of the torsion spring rotating shaft. The linkage cylinder 95 drives one of the second carriers 91 to move towards the tool. Under the transmission action of the linkage gear 92 and the linkage rack 93, the other second carrier 91 synchronously approaches the tool, thereby achieving the effect of surrounding and protecting the tool tip.

[0043] As a further aspect of the present invention, a tool protection cover 3 is further mounted on the side surface of the tool magazine mounting frame 4, and a tool taking slot is provided on the side surface of the tool magazine protection cover 3. In the present invention, the tool magazine protection cover 3 protects the chain-type tool magazine 2 inside, and the chain-type tool magazine 2 is arranged at the back position of the operation area of the drilling and tapping machine, so that the tool is not affected by the machining debris of the drilling and tapping machine.

[0044] In use, the tool taking mechanism 11, the guide rail bracket 6, the telescopic arm mechanism 7 and the rotary actuator motor 8 form a tool changing manipulator structure. First tool brackets 10 and second tool brackets 9 are respectively arranged at both ends of the tool taking mechanism 11. When the tool taking 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, and 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 taking mechanism 11 are in an open state before tool taking. When taking a tool, the tool taking 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 taking mechanism 11 and the guide rail bracket 6 to move forward to pull the tool out of the chain tool magazine 2;

[0045] After that, the tool taking mechanism 11 moves along the guide rail bracket 6 towards the telescopic arm mechanism 7. When the tool taking mechanism 11 moves, it drives the first tool brackets 10 to close, and the first tool brackets 10 are used to clamp and fix the tool grabbed by the tool taking mechanism 11;

[0046] Or after the tool taking mechanism 11 rotates half a circle, the tool taking mechanism 11 moves along the guide rail bracket 6 towards the telescopic arm mechanism 7. One end of the tool taking mechanism 11 that grabs the tool moves to the middle of the second tool brackets 9, and the second tool brackets 9 are used to clamp and fix the grabbed tool;

[0047] When changing the tool, the rotary actuator 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 claws of the tool taking 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 taking mechanism 11 rotates half a circle and inserts the new tool into the drilling and tapping head 16 to complete the tool changing operation.

[0048] The above is only a preferred specific embodiment 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 and inventive concept of the present invention, 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 change, comprising a mounting base (1). At the top of the mounting base (1), there are provided two motion tracks (13) and a processing table (12). A gantry frame (14) is installed between the two motion 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), characterized in that, A support frame (5) is fixedly installed on the side of the mounting base (1), and a rotary actuator motor (8) is fixedly installed on one side of the top of the support frame (5). The end of the output shaft of the rotary actuator motor (8) is equipped with a telescopic arm mechanism (7). The other end of the telescopic arm mechanism (7) is provided with a guide rail bracket (6). A tool picking mechanism (11) that moves left and right is installed on one side of one end of the guide rail bracket (6). A first tool carrier (10) is installed on the other side of one end of the guide rail bracket (6), and the first tool carrier (10) is driven to open and close through the tool picking mechanism (11). A second tool carrier (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), and a chain-type tool magazine (2) is installed on the side of the tool magazine mounting frame (4). The telescopic arm mechanism (7) includes a swing arm bracket (71) fixedly connected to the guide rail bracket (6), and a load-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 load-bearing bracket (74), and a limit tube (72) is sleeved outside the telescopic cylinder (73). The guide rail bracket (6) includes a bracket end (61) with a U-shaped structure and a guide end (62) inserted into the inside of the tool picking mechanism (11). An installation groove (63) that cooperates with the second tool carrier (9) is provided inside the bracket end (61). A rack portion that is drivingly cooperated with the tool picking mechanism (11) is provided on the side of the guide end (62). The tool picking mechanism (11) includes a driving seat (111) sleeved outside the guide end (62). A motor and a gear that are drivingly transmitted with the rack portion are provided inside the driving seat (111). A rotary motor (112) is installed on the side of the driving seat (111), and a tool picking bracket (113) is installed at the end of the output shaft of the rotary motor (112). A jaw assembly is installed at the end of the tool picking bracket (113). The first tool carrier (10) includes two pull rods (103) installed on the guide end (62) through torsion spring rotating shafts. The outer ends of the pull rods (103) are hinged with a bracket connecting rod. A first carrier (101) is provided at the front end of the bracket connecting rod. The first tool carrier (10) further includes a rectangular groove (105) provided on the other side of the driving seat (111), and a pull block (104) is installed in the rectangular groove (105) through a push spring. Both bracket connecting rods are rotatably installed outside the pull block (104). The second tool carrier (9) includes two second carriers (91) slidably installed at both ends of the installation groove (63), and a linkage assembly is provided between the two second carriers (91). The cross-section of the second carrier (91) is in an arc structure, and multiple layers of second elastic sheets (94) are provided on the inner arc surface of the second carrier (91). Multiple fan-shaped grooves are provided on the surface of the second elastic sheet (94).

2. The three-axis drilling and tapping machine using a mechanical hand tool magazine for tool change according to claim 1, characterized in that, The jaw assembly includes two jaws (114) rotatably mounted at the end of the tool pick-up 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 pick-up bracket (113), and 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 of the rear ends of the two jaws (114).

3. The three-axis drilling and tapping machine using a mechanical hand tool magazine for tool change according to claim 1, characterized in that, The cross-section of the first bracket (101) is in an arc-shaped structure, and multiple layers of first elastic sheets (102) are arranged on the inner arc surface of the first bracket (101). Multiple fan-shaped grooves are arranged on the surface of the first elastic sheet (102).

4. A three-axis drilling and tapping machine using a mechanical hand tool magazine for tool change, characterized in that, The linkage assembly includes a linkage rack (93) arranged on the second bracket (91). The linkage assembly further includes a linkage cylinder (95) fixedly installed on the outer side of the installation groove (63), and a linkage gear (92) installed inside the installation groove (63) through a torsion spring rotating 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 with the linkage rack (93) on the other second bracket (91).

5. 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 further installed on the side of the tool magazine mounting frame (4), and a tool pick-up slot is arranged on the side of the tool magazine protection cover (3).

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