FMS flexible line multi-shaft hanging disc type central tool magazine system

Abstract

The invention relates to the technical field of machining tool magazines, in particular to an FMS flexible line multi-shaft hanging disc type central tool magazine system which comprises a tool magazine frame, tool rest mechanisms on the two sides of the inner wall of the tool magazine frame and a first driving mechanism in the tool magazine frame. The first driving mechanism is composed of a first X-axis driving module, a first Y-axis driving module, a first Z-axis driving module and a rotating motor, and a first manipulator is arranged on the first Y-axis driving module; a tool changing opening is formed in the tool magazine frame, and a tool temporary placing mechanism is arranged at the tool changing opening. The position of the first mechanical arm is adjusted through the first driving mechanism, tools on the tool rest mechanisms on the two sides in the tool magazine frame and tools on the tool temporary storage mechanism are taken and placed, and the problems that due to fixed layout of a traditional tool magazine system, the tool storage number is limited, and the space utilization rate is low are solved.

Description

Technical Field

[0001] The present invention relates to the technical field of machining tool magazines, and more particularly to an FMS flexible line multi-axis hanging tray type central tool magazine system. Background Art

[0002] In the field of advanced manufacturing, as the automation and intelligence levels of processing equipment continue to improve, cutting tools, as core consumables in the processing process, have a decisive impact on overall production efficiency and product quality due to their replacement efficiency and ease of management. As the manufacturing industry transitions to a high-precision, high-efficiency, high-variety, small-batch production model, processing equipment needs to frequently and accurately replace cutting tools of different specifications and models to adapt to diverse processing tasks. However, existing processing tool magazine systems have many design limitations, mainly manifested in the following aspects: Limited tool storage capacity: Traditional tool magazine systems typically utilize a fixed mechanical layout, with tool holders located only on the side of the robot that corresponds to the tool holder. This significantly limits the number of tools that can be stored within the magazine. This limited storage capacity makes it difficult to meet actual production needs for large-scale production tasks or complex machining scenarios requiring frequent tool changes.

[0003] Low space utilization: The mechanical structure of the traditional tool magazine system has obvious deficiencies in space utilization. The space inside the tool magazine has not been fully and reasonably utilized, and a large amount of space is idle. However, the area for storing tools cannot be further expanded due to the limitations of the mechanical structure.

[0004] In order to solve the above problems, an FMS flexible line multi-axis hanging tray type central tool magazine system was proposed. Summary of the Invention

[0005] In response to the problems existing in the prior art, the present invention provides an FMS flexible line multi-axis hanging tray type central tool magazine system to solve the problems of limited tool storage quantity and low space utilization caused by the fixed layout of the traditional tool magazine system mentioned in the background technology.

[0006] To achieve the above objectives, the present invention provides the following technical solution: an FMS flexible line multi-axis hanging tray type central tool magazine system, comprising a tool magazine frame, tool holder mechanisms on both sides of the inner wall of the tool magazine frame, a first drive mechanism inside the tool magazine frame, and the first drive mechanism is composed of a first X-axis drive module, a first Y-axis drive module, a first Z-axis drive module and a rotating motor, and a first manipulator is provided on the first Y-axis drive module; The tool magazine frame is provided with a tool replacement opening, and a tool temporary placement mechanism is provided at the tool replacement opening; The first manipulator adjusts its position through the first driving mechanism to pick up and place the tools on the tool holder mechanisms on both sides of the tool magazine frame and the tools on the tool temporary placement mechanism.

[0007] The present invention is further configured such that the tool temporary placement mechanism is provided at a position on one side of the first manipulator close to the tool replacement port, for temporarily placing tools to be installed and removed.

[0008] The present invention is further configured such that the tool temporary placement mechanism includes a support assembly arranged at the tool replacement port, a temporary placement assembly arranged on the support assembly, and a stabilizing assembly arranged on the temporary placement assembly.

[0009] The present invention is further configured such that the support assembly includes a crossbar disposed at the tool replacement port, and a pad disposed below the crossbar; Both ends of the bottom of the crossbar are provided with pads, and the temporary assembly is fixedly installed on the bottom of the two pads.

[0010] The present invention is further configured such that the temporary assembly includes a horizontal plate fixedly mounted on the bottom end of the pad, side plates disposed at both ends of the bottom of the horizontal plate, and placement plates disposed on opposite sides of two sets of side plates; There is a gap between the two groups of placement plates, and the gap is large enough for the tool slot section to enter; The stabilizing component is movably installed below the transverse plate, and the stabilizing component corresponds to the gap between the two groups of placement plates.

[0011] The present invention is further configured such that a movable hole is provided on the transverse plate, and the stabilizing component movably passes through the movable hole; The stabilizing assembly includes a limiting rod movably inserted in the movable hole, a return spring sleeved on the outer circumferential wall of the limiting rod, a blocking piece arranged at the top end of the limiting rod, and a pressure stabilizing plate arranged at the bottom end of the limiting rod.

[0012] The present invention is further configured such that limit blocks are fixedly installed on both sides of the bottom end of the pressure stabilizing plate, and the distance between the limit blocks corresponds to the diameter of the top end of the tool; The outer sides of the two groups of limit blocks are both provided with cylinders, and the inner sides of the two groups of side plates are both rotatably installed with cam parts, and the cam parts push the cylindrical linkage stabilizing plates to move up and down.

[0013] The present invention is further configured such that the cam member includes a push plate rotatably mounted on the side plate, and a cam arranged on a side of the push plate away from the side plate.

[0014] The present invention is further configured such that the push plate annular arrays are provided in three groups, and the cam is composed of four arc-shaped convex surface arrays.

[0015] Compared with the existing technology, the present invention provides an FMS flexible line multi-axis hanging plate type central tool magazine system, which has the following beneficial effects: 1. In the present invention, tool holders are arranged on both sides of the inner wall of the tool magazine, and a rotating motor is used to enable the first manipulator to rotate and grab the tools on the tool holders on both sides, thereby effectively increasing the number of tools stored in the tool magazine, significantly improving space utilization, and greatly improving tool replacement efficiency, meeting the needs of diversified processing tasks under high-precision, high-efficiency, multi-variety, and small-batch production modes.

[0016] 2. The stabilizing component and the cam member in the present invention work together in the tool temporary placement mechanism to significantly improve the stability of tool placement and the accuracy of grasping by automatically pressing and releasing the tool. At the same time, the system's automation level is enhanced, space utilization and structural design are optimized, thereby effectively improving the operating efficiency and reliability of the tool magazine system. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 This is a schematic diagram of the overall appearance and structure of the FMS flexible line multi-axis hanging tray type central tool magazine system.

[0018] Figure 2 This is a schematic diagram of the internal structure of the FMS flexible line multi-axis hanging tray type central tool magazine system.

[0019] Figure 3 Schematic diagram of the structure of the first driving mechanism.

[0020] Figure 4 This is a schematic diagram of the tool temporary placement mechanism structure.

[0021] Figure 5 Schematic diagram of the explosion structure of temporary components and stable components.

[0022] Figure 6 Schematic diagram of the positional relationship between the cylinder and the cam.

[0023] In the figure: 1. Tool magazine frame; 101. Tool changing port; 2. Tool holder mechanism; 3. First drive mechanism; 301. First X-axis drive module; 302. First Y-axis drive module; 303. First Z-axis drive module; 304. Rotating motor; 4. First manipulator; 5. Tool temporary placement mechanism; 8. Bracket assembly; 801. Crossbar; 802. Pad; 9. Temporary placement assembly; 901. Cross plate; 902. Side plate; 903. Placement plate; 904. Movable hole; 10. Stabilizing assembly; 1001. Limit rod; 1002. Return spring; 1003. Baffle; 1004. Pressure stabilizing plate; 1005. Limit block; 1006. Cylinder; 11. Cam member; 1101. Push plate; 1102. Cam. DETAILED DESCRIPTION

[0024] It should be noted that, in the absence of conflict, the embodiments and features of the embodiments in this application can be combined with each other. The present invention will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0025] It should be noted that, unless otherwise specified, all technical and scientific terms used in this application have the same meaning as commonly understood by ordinary technicians in the technical field to which this application belongs.

[0026] In the present invention, unless otherwise specified, directions such as "up" and "down" are generally used with respect to the directions shown in the drawings, or with respect to the vertical, perpendicular or gravity directions; similarly, for ease of understanding and description, "left" and "right" are generally used with respect to the left and right shown in the drawings; "inside" and "outside" refer to the inside and outside relative to the outline of each component itself, but the above-mentioned directions are not used to limit the present invention.

[0027] For examples, see Figure 1 - Figure 6 The FMS flexible line multi-axis hanging tray type central tool magazine system includes a tool magazine frame 1, and a tool holder mechanism 2 on both sides of the inner wall of the tool magazine frame 1, a first drive mechanism 3 inside the tool magazine frame 1, and the first drive mechanism 3 is composed of a first X-axis drive module 301, a first Y-axis drive module 302, a first Z-axis drive module 303 and a rotating motor 304. The first Y-axis drive module 302 is provided with a first manipulator 4; A tool changing port 101 is provided on the tool magazine frame 1, and a tool temporary placement mechanism 5 is provided at the tool changing port 101; The first manipulator 4 adjusts its position through the first driving mechanism 3 to pick up and place the tools on the tool holder mechanisms 2 on both sides of the tool magazine frame 1 and the tools on the tool temporary placement mechanism 5 .

[0028] The tool temporary placement mechanism 5 is provided on the first manipulator 4 at a position close to the tool replacement port 101 and is used for temporarily placing tools to be installed or removed.

[0029] The tool holder mechanism 2 is a prior art for placing tools, so it is not described again. The first X-axis drive module 301 is provided with two groups, which are respectively located at the upper and lower ends of the first Z-axis drive module 303. A support plate is installed on the slide of the first X-axis drive module 301. The upper and lower ends of the first Z-axis drive module 303 are rotatably installed with the support plate. The rotating motor 304 is fixedly connected to the support plate, and the output shaft of the rotating motor 304 passes through the support plate and is fixedly connected to the top axis position of the first Z-axis drive module 303. The first Y-axis drive module 302 is fixedly installed on the slide of the first Z-axis drive module 303. The first manipulator 4 is fixedly installed on the slide of the first Y-axis drive module 302. The first manipulator 4 is driven by the first X-axis drive module 301, the first Y-axis drive module 302, and the first Z-axis drive module 303 to perform three-dimensional adjustment. The tool holder mechanism 2 in the present invention is composed of tool holders on opposite sides, which are here referred to as the first tool holder and the second tool holder. Figure 2 As shown, the first driving mechanism 3 is located between the first tool holder and the second tool holder. Therefore, when the rotating motor 304 does not drive the first Z-axis driving module 303 to rotate, the first manipulator 4 can only pick up the tools on the first tool holder or the second tool holder. Therefore, the number of tools placed is not large. The present invention enables the first Z-axis driving module 303 to rotate by setting the rotating motor 304, thereby driving the first Y-axis driving module 302 and the first manipulator 4 located on the first Y-axis driving module 302 to convert the angle, so that the first manipulator 4 can pick up and place the tools on the tool holder mechanisms 2 on both sides, thereby increasing the number of tools in the tool magazine and making it more applicable.

[0030] It should be noted that the tool temporary placement mechanism 5 is provided with two tool placement positions, one for placing the tool to be taken from the tool holder mechanism by the first manipulator 4, and the other for placing the tool to be removed from the processing equipment.

[0031] Specifically, the first manipulator 4 grabs the corresponding tool on the tool holder mechanism 2 and places it on the tool temporary mechanism 5 through the first driving mechanism 3 according to demand, and then the first manipulator 4 grabs the tool removed from the processing equipment on the tool temporary mechanism 5 and places it back to the corresponding coded position of the tool holder mechanism 2.

[0032] The tool temporary placement mechanism 5 includes a support assembly 8 disposed at the tool replacement port 101 , a temporary placement assembly 9 disposed on the support assembly 8 , and a stabilizing assembly 10 disposed on the temporary placement assembly 9 .

[0033] There are two groups of temporary components 9, one for placing the tool to be installed and the other for placing the removed tool. The bracket component 8 is used to install the temporary components 9. Both groups of temporary components 9 are equipped with a stabilizing component 10. The stabilizing component 10 is used to press and stably place the tool on the temporary component 9 to prevent the first manipulator 4 from vibrating during operation and causing the tool to fall off the temporary component 9, or when the first manipulator 4 grabs the tool on the temporary component 9, the tool has poor stability, resulting in a deflection of the tool grabbing angle, which makes it impossible to align when placed on the tool holder mechanism 2.

[0034] The support assembly 8 includes a crossbar 801 provided at the tool replacement port 101 and a pad 802 provided below the crossbar 801; Pads 802 are provided at both ends of the bottom of the crossbar 801 , and the temporary assembly 9 is fixedly installed on the bottom of the two pads 802 .

[0035] The crossbar 801 is fixedly installed on both sides of the tool changing port 101 on the tool magazine frame 1, and is connected to the temporary assembly 9 through the pad 802 so that the stabilizing assembly 10 on the temporary assembly 9 has a movable gap, and the spacing is the distance from the crossbar 801 to the top of the temporary assembly 9.

[0036] The temporary assembly 9 includes a horizontal plate 901 fixedly mounted on the bottom end of the pad 802, side plates 902 disposed at both ends of the bottom of the horizontal plate 901, and placement plates 903 disposed on opposite sides of the two sets of side plates 902; There is a gap between the two sets of placement plates 903, and the gap is large enough for the tool slot section to enter; The stabilizing assembly 10 is movably installed below the horizontal plate 901 , and the stabilizing assembly 10 corresponds to the gap between the two sets of placement plates 903 .

[0037] In the initial state of the stabilizing component 10, the distance between its bottom and the placement plate 903 is smaller than the distance between the top of the tool and the placement plate 903 after the tool is placed on the temporary component 9. Therefore, when the tool is placed in the gap between the two sets of placement plates 903, the tool will be pressed by the stabilizing component 10, thereby maintaining a stable state and preventing the tool from falling.

[0038] Among them, it should be noted that the tool Figure 6 As shown, a slot section is provided on the tool, and the slot section is the clamping part of the first manipulator 4, and the height of the slot section is greater than the thickness of the placement plate 903. Because after the first manipulator 4 places the tool on the temporary component 9 and detaches, the tool will be pressed downward by the stabilizing component 10, so that the top of the placement plate 903 fits the top of the slot section. Therefore, when the first manipulator 4 takes the tool from the temporary component 9, the first manipulator 4 needs to clamp the slot section of the tool from under the placement plate 903, thereby achieving the grabbing of the tool.

[0039] A movable hole 904 is formed on the horizontal plate 901, and the stabilizing assembly 10 is movable through the movable hole 904; The stabilizing assembly 10 includes a limiting rod 1001 movably inserted into the movable hole 904 , a return spring 1002 sleeved on the outer circumferential wall of the limiting rod 1001 , a baffle 1003 arranged at the top of the limiting rod 1001 , and a pressure stabilizing plate 1004 arranged at the bottom of the limiting rod 1001 .

[0040] There are two groups of movable holes 904, and two groups of limit rods 1001 are also provided. The two ends of the baffle 1003 are connected to the top of the two groups of limit rods 1001, and the baffle 1003 is located above the horizontal plate 901. The two groups of limit rods 1001 are both sleeved with return springs 1002, and the two groups of return springs 1002 are both set at the bottom end of the horizontal plate 901. One end of the return spring 1002 abuts against the bottom end of the horizontal plate 901, and the other end of the return spring 1002 abuts against the top of the voltage stabilizing plate 1004.

[0041] Limit blocks 1005 are fixedly installed on both sides of the bottom of the voltage stabilizing plate 1004, and the distance between the limit blocks 1005 corresponds to the diameter of the top of the tool; Cylinders 1006 are provided on the outside of the two sets of limit blocks 1005, and cam components 11 are rotatably installed inside the two sets of side plates 902. The cam components 11 push the cylinders 1006 to move up and down in conjunction with the voltage stabilizing plate 1004.

[0042] After the first manipulator 4 clamps the tool, the end of its clamp protrudes from the tool. That is, after the first manipulator 4 clamps the tool and sends it to the temporary assembly 9, the end of the clamp will first contact and push the cam member 11, so that the cam member 11 pushes the cylinder 1006, thereby driving the pressure stabilizing plate 1004 to move upward, so that before the tool enters the temporary assembly 9, the pressure stabilizing plate 1004 moves to above the top of the tool and will not interfere with the tool.

[0043] The cam member 11 includes a push plate 1101 rotatably mounted on the side plate 902 , and a cam 1102 disposed on a side of the push plate 1101 away from the side plate 902 .

[0044] There are three groups of push plates 1101 in annular arrays, and the cams 1102 are composed of four arc-shaped convex arrays.

[0045] The intersection point of the four arc-shaped convex surfaces of the cam 1102 is the initial low point, that is, when the tool is not placed in the initial state, the pressure stabilizing plate 1004 is at the low point, and the midpoint of the four arc-shaped convex surfaces of the cam 1102 is the highest point, that is, when the midpoint of the four arc-shaped convex surfaces of the cam 1102 conflicts with the cylinder 1006, the pressure stabilizing plate 1004 is at the highest point, avoiding interference between the tool and the pressure stabilizing plate 1004 when entering.

[0046] Furthermore, the push plate 1101 contacts the clamp end of the first manipulator 4. Therefore, when placing the tool, the clamp end of the first manipulator 4 will first push the push plate 1101, thereby driving the cam 1102 to rotate, thereby causing the cylinder 1006 to move from the initial low point to the midpoint of the arc convex surface. Among them, the three groups of push plates 1101 are arranged in a circular array, so the angle between the push plates 1101 is 120 degrees, so that the push plates 1101 can be adjusted. Figure 6 The description is shown as follows. The three push plates 1101 are marked as follows according to their positions. The push plate 1101 pointing vertically downward is plate No. 1, the push plate 1101 on the upper left is plate No. 2, and the push plate 1101 on the upper right is plate No. 3. When the clamp end of the first manipulator 4 pushes the plate No. 1, the three push plates 1101 will rotate clockwise. When it rotates 45 degrees, the cylinder 1006 reaches the highest point of the arc-shaped convex surface of the cam 1102. At this time, as the clamp end of the first manipulator 4 continues to push, the three push plates 1101 rotate at an angle greater than 45 degrees, from This causes the cylinder 1006 to pass over the high point and enter the downslope section of the arc-shaped convex surface of the cam 1102. What needs to be noted at this time is that after the cylinder 1006 passes over the high point, under the action of the reset spring 1002, the pressure stabilizing plate 1004 will be pressed down, thereby achieving downward pressure on the tool. When the pressure stabilizing plate 1004 contacts the tool to achieve initial clamping, first, the cylinder 1006 is in the downslope section of the arc-shaped convex surface of the cam 1102, and secondly, the end of the No. 1 plate away from the rotation axis is located below the end of the clamp of the first manipulator 4, and there is also a distance between the No. 3 plate and the top end of the clamp of the first manipulator 4.

[0047] It should be further explained that Figure 6 As shown, after the tools are installed and taken out multiple times, plate No. 1 will be in a vertically upward position, plate No. 2 will be in a lower right position, and plate No. 3 will be in a lower left position. The ends of plate No. 2 and plate No. 3 away from the rotation axis are on the same horizontal line, and the height of the positions on the same horizontal line is lower than the top end of the clamp end of the first manipulator 4, so that the clamp end of the first manipulator 4 can push the push plate 1101 normally, thereby driving the cam 1102 to rotate, so that the tools can be placed in and taken out stably.

[0048] In addition, it should be noted that the length of the placement plate 903 (i.e. the insertion direction of the clamp end of the first manipulator 4) is long enough to allow the clamp end of the first manipulator 4 to be inserted, so that after the voltage stabilizing plate 1004 moves up, the tool can be placed normally.

[0049] After the pressure stabilizing plate 1004 presses the tool downward, the first manipulator 4 releases the tool, and the return spring 1002 pushes the pressure stabilizing plate 1004 downward, so that the tool is stably stored on the temporary assembly 9.

[0050] In all the schemes mentioned above, the connection between the two parts can be selected according to actual conditions by welding, bolt and nut connection, bolt or screw connection or other well-known connection methods, which will not be described here one by one. In the above, all fixed connections are preferably welded. Although the embodiments of the present invention have been shown and described, it can be understood by those skilled in the art that various changes, modifications, substitutions and deformations can be made to these embodiments without departing from the principles and spirit of the present invention. The scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. FMS flexible line multi-axis hanging plate type central tool magazine system, its characteristics are: It comprises a tool magazine frame (1), a tool holder mechanism (2) on both sides of the inner wall of the tool magazine frame (1), a first drive mechanism (3) inside the tool magazine frame (1), and the first drive mechanism (3) is composed of a first X-axis drive module (301), a first Y-axis drive module (302), a first Z-axis drive module (303) and a rotating motor (304), and a first manipulator (4) is provided on the first Y-axis drive module (302); The tool magazine frame (1) is provided with a tool replacement opening (101), and a tool temporary placement mechanism (5) is provided at the tool replacement opening (101); The first manipulator (4) adjusts its position through the first driving mechanism (3) to pick up and place the tools on the tool holder mechanisms (2) on both sides of the tool magazine frame (1) and the tools on the tool temporary placement mechanism (5); The tool temporary placement mechanism (5) comprises a support assembly (8) arranged at the tool replacement port (101), a temporary placement assembly (9) arranged on the support assembly (8), and a stabilizing assembly (10) arranged on the temporary placement assembly (9).

2. The FMS flexible line multi-axis hanging tray type central tool magazine system according to claim 1 is characterized by: The tool temporary placement mechanism (5) is arranged at a position on one side of the first manipulator (4) close to the tool replacement port (101) and is used for temporarily placing tools to be installed and removed.

3. The FMS flexible line multi-axis hanging tray type central tool magazine system according to claim 2 is characterized by: The support assembly (8) comprises a crossbar (801) arranged at the tool replacement port (101), and a pad (802) arranged below the crossbar (801); Both ends of the bottom of the crossbar (801) are provided with cushion blocks (802), and the temporary assembly (9) is fixedly mounted on the bottom of the two cushion blocks (802).

4. The FMS flexible line multi-axis hanging tray type central tool magazine system according to claim 3 is characterized by: The temporary assembly (9) includes a horizontal plate (901) arranged at the bottom end of the pad (802), side plates (902) arranged at both ends of the bottom of the horizontal plate (901), and placement plates (903) arranged on opposite sides of two sets of side plates (902); There is a gap between the two groups of placement plates (903), and the gap is large enough for the tool slot section to enter; The stabilizing component (10) is movably installed below the transverse plate (901), and the stabilizing component (10) corresponds to the gap between the two groups of placement plates (903).

5. The FMS flexible line multi-axis hanging tray type central tool magazine system according to claim 4 is characterized by: A movable hole (904) is provided on the transverse plate (901), and the stabilizing component (10) movably passes through the movable hole (904); The stabilizing assembly (10) includes a limiting rod (1001) movably plugged into the movable hole (904), a return spring (1002) sleeved on the circumferential outer wall of the limiting rod (1001), a blocking piece (1003) arranged at the top end of the limiting rod (1001), and a pressure stabilizing plate (1004) arranged at the bottom end of the limiting rod (1001).

6. The FMS flexible line multi-axis hanging tray type central tool magazine system according to claim 5 is characterized by: Limiting blocks (1005) are fixedly installed on both sides of the bottom end of the pressure stabilizing plate (1004), and the spacing between the limiting blocks (1005) corresponds to the diameter of the top end of the tool; The outer sides of the two groups of limit blocks (1005) are both provided with cylinders (1006), and the inner sides of the two groups of side plates (902) are both rotatably installed with cam members (11), and the cam members (11) push the cylinders (1006) to move up and down in conjunction with the pressure stabilizing plate (1004).

7. The FMS flexible line multi-axis hanging tray type central tool magazine system according to claim 6 is characterized by: The cam member (11) comprises a push plate (1101) rotatably mounted on the side plate (902), and a cam (1102) arranged on a side of the push plate (1101) away from the side plate (902).

8. The FMS flexible line multi-axis hanging tray type central tool magazine system according to claim 7 is characterized by: The push plates (1101) are arranged in three annular arrays, and the cams (1102) are composed of four arc-shaped convex arrays.

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