A hydraulically controlled tool changing mechanism for a composite tool magazine

Abstract

The present invention relates to the technical field of composite tool magazines, and in particular to a hydraulically controlled tool changing mechanism for a composite tool magazine, comprising: a movable base, movable between a tool chain and a spindle; a tool changing arm, rotatably mounted on the movable base; a hydraulic motor, configured to drive the tool changing arm to rotate; a hydraulic system, comprising, sequentially connected: a first oil circuit, a first controller, a hydraulic motor, a second controller, and a second oil circuit; a third oil circuit connected to an oil tank; the first controller and the second controller having identical structures, comprising: a first throttle valve, with both ends connecting the hydraulic motor and the first oil circuit or the second oil circuit; a first check valve, connected in parallel with the first throttle valve; a first branch, connected in parallel with the first throttle valve; a second check valve disposed in the first branch; a second branch, one end connected to the first branch; a second throttle valve disposed in the second branch; and the second branches of the first and second controllers both connected to the third oil circuit. The present invention can effectively reduce the volume of the tool magazine and reduce control complexity.

Description

Technical Field

[0001] The present invention relates to the technical field of composite tool magazines, and in particular to a hydraulically controlled tool changing mechanism of a composite tool magazine. Background Art

[0002] A composite tool magazine is an advanced tool storage and exchange system for CNC machining centers (particularly multi-tasking or large machining centers) that combines the advantages of different types of tool magazines. Combining a high-speed disc magazine with a high-capacity chain magazine, this system is a key technology for improving production efficiency, machining complexity, and automation in high-end CNC machining centers.

[0003] The compound tool magazine mainly stores multiple tools through the tool chain, and stores the tools in the tool chain and replaces the tools on the spindle through the tool changing arm. In the existing structure, the rotation of the tool changing arm is usually achieved by a motor, gear rack and other structures. However, in the actual use of this type of existing structure, the supporting components are combined into a large volume. For example, the motor needs to be equipped with a reduction gearbox, a steering box, a lubrication system and a cooling system, etc., and these components must be set on the movable parts to be able to move with the tool changing arm. Therefore, not only a large moving space is required, but also the movement is not smooth due to the large number of components, weight and volume. In addition, the existing structure also needs to set up a variety of detection and feedback systems to control the operation and stop of the actuator. Not only are the installation and maintenance costs high, but the control process is complicated and the actuator needs to be constantly updated and controlled, so the control difficulty is relatively high. Summary of the Invention

[0004] The present invention provides a hydraulically controlled tool changing mechanism for a composite tool magazine, which can effectively solve the problems in the background art of a large tool magazine volume, space occupation, and a complex control process.

[0005] The present invention provides a composite tool magazine hydraulically controlled tool changing mechanism, comprising:

[0006] Moving seat, moving between the knife chain and the spindle;

[0007] The tool changing arm is rotatably arranged on the movable seat;

[0008] Hydraulic motor, used to drive the tool changing arm to rotate;

[0009] A hydraulic system for providing power to a hydraulic motor, comprising: a first oil circuit, a first controller, a hydraulic motor, a second controller, and a second oil circuit connected in sequence; and a third oil circuit connected to an oil tank;

[0010] The first controller and the second controller have the same structure, including:

[0011] a first throttle valve, with both ends connected to the hydraulic motor and the first oil circuit or the second oil circuit;

[0012] a first one-way valve connected in parallel with the first throttle valve;

[0013] The first branch is connected in parallel with the first throttle valve; a second one-way valve is provided in the first branch;

[0014] A second branch, one end of which is connected to the first branch; a second throttle valve is provided in the second branch;

[0015] The second branches of the first controller and the second controller are both connected to the third oil circuit;

[0016] When the motor rotates forward 90°, oil flows into the first oil circuit, the first branch of the first controller is closed, and the second branch is opened;

[0017] When the motor rotates forward 180°, oil flows into the first oil circuit, the first branch of the first controller is opened, and the second branch is closed;

[0018] When the rotation is reversed by 90°, oil flows into the second oil circuit, the first branch of the second controller is closed, and the second branch is opened;

[0019] When the rotation is reversed 180°, oil flows into the second oil circuit, the first branch of the second controller is opened, and the second branch is closed.

[0020] Furthermore, the first branch and the second branch are both connected to a one-way control valve.

[0021] Furthermore, the third oil circuit is provided with an oil accumulator, a hydraulically controlled on-off valve and a normally closed valve in the order of heading toward the oil tank;

[0022] The hydraulic system also includes:

[0023] The fourth oil circuit has one end connected between the oil accumulator and the hydraulically controlled switch valve of the third oil circuit and the other end connected to the hydraulic motor; a first normally open valve is provided on the fourth oil circuit;

[0024] The fifth oil circuit has one end connected to the hydraulic motor and the other end connected to the oil tank; a second normally open valve is provided on the fourth oil circuit;

[0025] The first control circuit has one end connected between the oil accumulator of the third oil circuit and the hydraulically controlled on-off valve, and the other end connected to the hydraulically controlled on-off valve; the first control circuit is provided with a first relief valve;

[0026] The second control circuit has one end connected to the oil inlet circuit and the other end connected to the hydraulically controlled on-off valve;

[0027] During operation, the normally closed valve, the first normally open valve and the second normally open valve are all energized to switch working states.

[0028] Furthermore, a third one-way valve is provided on the second branch of the first controller and the second controller, and the third one-way valve is located between the second throttle valve and the third oil circuit.

[0029] Furthermore, the hydraulic system further includes a second overflow valve and a third overflow valve, both of which are connected in parallel with the hydraulic motor, and the second overflow valve and the third overflow valve are in opposite directions.

[0030] Furthermore, the hydraulic system also includes a stop valve connected in parallel with the hydraulic motor.

[0031] Furthermore, the hydraulic system further includes a fourth one-way valve and a fifth one-way valve; the fourth one-way valve is arranged between the first controller and the hydraulic motor, and the fifth one-way valve is arranged between the second controller and the hydraulic motor;

[0032] a first unlocking path, one end of which is connected between the fourth one-way valve and the first controller, and the other end of which is connected to the fifth one-way valve;

[0033] One end of the second unlocking path is connected between the fifth one-way valve and the second controller, and the other end is connected to the fourth one-way valve.

[0034] Furthermore, the hydraulic system further comprises two flexible pipelines, one being arranged between the fourth one-way valve and the hydraulic motor, and the other being arranged between the fifth one-way valve and the hydraulic motor.

[0035] Furthermore, an unlocking block is provided on the side of the movable seat facing the knife chain for unlocking the knife claw on the tool changing arm.

[0036] Furthermore, a proximity switch is provided on the movable seat, and when the tool changing arm rotates to a vertical direction, the proximity switch is triggered.

[0037] The technical solution of the present invention can achieve the following technical effects:

[0038] The present tool changing mechanism realizes the control of the rotation of the tool changing arm through the hydraulic system. When setting up the components, it is only necessary to arrange the actuator hydraulic motor on the moving seat, thereby greatly reducing the components that need to be moved, which can effectively save the activity space, and the overall volume and weight of the moving seat can be reduced, making the tool magazine more stable when operating. At the same time, all components of the hydraulic system are standard parts, so it can save more manufacturing and maintenance costs. In addition, the present tool changing mechanism controls the rotation of the tool changing arm by a specific amount through the hydraulic system. Each time it rotates, it is only necessary to switch each component to the corresponding working state, and the hydraulic system only needs to provide a fixed amount of oil regardless of forward and reverse rotation, or rotation of various angles. Therefore, there is no need to add additional feedback and detection systems, nor is there a need to frequently control each component during operation, which can further save manufacturing costs and reduce the difficulty of control during operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments recorded in the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0040] Figure 1 A schematic diagram of the first step of tool changing by the hydraulically controlled tool changing mechanism of the composite tool magazine of the present invention;

[0041] Figure 2 Schematic diagram of the second step of tool changing of the hydraulically controlled tool changing mechanism of the composite tool magazine in the present invention;

[0042] Figure 3 A schematic diagram of the third step of tool changing by the hydraulically controlled tool changing mechanism of the composite tool magazine of the present invention;

[0043] Figure 4 Schematic diagram of the fourth step of tool changing by the hydraulically controlled tool changing mechanism of the composite tool magazine in the present invention;

[0044] Figure 5 Schematic diagram of the fifth step of tool changing by the hydraulically controlled tool changing mechanism of the composite tool magazine in the present invention;

[0045] Figure 6 Schematic diagram of the sixth step of tool changing by the hydraulically controlled tool changing mechanism of the composite tool magazine in the present invention;

[0046] Figure 7 Schematic diagram of the seventh step of tool changing of the hydraulically controlled tool changing mechanism of the composite tool magazine in the present invention;

[0047] Figure 8 It is the principle diagram of the hydraulic system in the present invention;

[0048] Figure 9 Schematic diagram of the hydraulic system of the present invention when the tool changing arm rotates 90° forward;

[0049] Figure 10 Schematic diagram of the hydraulic system of the present invention when the tool changing arm rotates 180° forward;

[0050] Figure 11 This is a schematic diagram of the hydraulic system of the present invention when the tool changing arm is in the horizontal direction;

[0051] Figure 12 It is a schematic diagram of the hydraulic system of the present invention when the tool changing arm is vertical;

[0052] Figure 13 Schematic diagram of the hydraulic system of the present invention when power is off;

[0053] Figure 14 Schematic diagram of the hydraulic system of the present invention when the tool changing arm is hit;

[0054] Figure 15 This is a structural diagram of the unlocking block in the present invention.

[0055] Figure numerals: 1, spindle; 2, knife chain; 3, moving seat; 31, unlocking block; 4, tool changing arm; 5, hydraulic motor; 6a, first oil circuit; 6b, second oil circuit; 7a, first controller; 7b, second controller; 71, first throttle valve; 72, first one-way valve; 73, first branch; 74, second one-way valve; 75, second branch; 76, second throttle valve; 77, one-way control valve; 8, third oil circuit; 9, oil accumulator; 10, hydraulically controlled switching valve; 11, normally closed valve; 12, fourth oil circuit; 13, first normally open valve; 14, fifth oil circuit; 15, second normally open valve; 16, first control circuit; 17, second control circuit; 18, second overflow valve; 19, third overflow valve; 20, stop valve; 21, fourth one-way valve; 22, fifth one-way valve; 23, first unlocking circuit; 24, second unlocking circuit; 25, flexible pipeline. DETAILED DESCRIPTION

[0056] The basic principles and main features of the technical solution of the present invention will be described below in conjunction with the accompanying drawings in the embodiments of the present invention. The following will be described more intuitively through one or more embodiments, and the described embodiments are only part of the embodiments of the present invention, not all embodiments.

[0057] In the description of the present invention, words indicating directions or positional relationships (such as up, down, left, right, etc.) are based on the directions shown in the drawings or some conventional positional relationships. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the features referred to must have a specific direction, be constructed and operated in a specific direction. Therefore, they should not be understood as limiting the present invention.

[0058] The present invention relates to a hydraulically controlled tool changing mechanism for a composite tool magazine, comprising:

[0059] The movable seat 3 moves between the knife chain 2 and the main shaft 1;

[0060] The tool changing arm 4 is rotatably arranged on the movable base 3; both ends of the tool changing arm 4 have semi-arc-shaped clamping claws for clamping the tool;

[0061] The specific structure and working principle of each of the above components are prior art and will not be described in detail here.

[0062] The tool changing process of this tool changing mechanism is as follows Figures 1 to 7 As shown, the details are as follows:

[0063] First, the knife chain 2 selects the new tool, and then the moving seat 3 drives the tool changing arm 4 to move to the knife chain 2, and then Figure 1 As shown, the tool changing arm 4 rotates forward (counterclockwise in the figure) 90 degrees from the vertical direction, so that the tool claw at one end of the tool changing arm 4 is buckled on the new tool to grab the new tool;

[0064] Afterwards, the moving seat 3 drives the tool changing arm 4 to move, and the new tool is pulled out from the tool chain 2, and then Figure 2 As shown, the tool changing arm 4 rotates 90° from the horizontal direction to the vertical direction;

[0065] Afterwards, the moving seat 3 drives the tool changing arm 4 to move to the spindle 1, and then Figure 3 As shown, the tool changing arm 4 rotates 90° from the vertical direction, so that the tool claw at the other end of the tool changing arm 4 is buckled on the old tool to grab the old tool;

[0066] Afterwards, the moving seat 3 drives the tool changing arm 4 to move, pulls out the old tool from the spindle 1, and then Figure 4 As shown, the tool changing arm 4 rotates 180° to swap the positions of the new tool and the old tool;

[0067] After that, the moving seat 3 drives the tool changing arm 4 to move, puts the new tool into the spindle 1, and then Figure 5 As shown, the tool changing arm 4 is reversed 90° from the horizontal direction, so that the tool claw of the tool changing arm 4 is disengaged from the new tool;

[0068] Afterwards, the moving seat 3 drives the tool changing arm 4 to move to the knife chain 2, and then Figure 6 As shown, the tool changing arm 4 is reversed 90° from vertical to horizontal so that the old tool is aligned with the tool chain 2;

[0069] Afterwards, the moving seat 3 drives the tool changing arm 4 to move, puts the new tool into the tool chain 2, and then Figure 7 As shown, the tool changing arm 4 is reversed 90 degrees from the horizontal direction, so that the tool claw of the tool changing arm 4 is separated from the old tool, thereby completing a tool changing process.

[0070] Unlike the traditional power system that needs to be directly installed on the moving base 3, this tool changing mechanism uses a hydraulic system to drive the rotation of the tool changing arm 4: the terminal actuator of the hydraulic system is the hydraulic motor 5, which is fixedly installed in the moving base 3 and is used to drive the tool changing arm 4 to rotate; the rest of the hydraulic system is combined to provide power to the hydraulic motor 5.

[0071] Hydraulic system such as Figure 8 As shown, the main body includes: a first oil circuit 6a, a first controller 7a, a hydraulic motor 5, a second controller 7b and a second oil circuit 6b connected in sequence;

[0072] The first controller 7a and the second controller 7b are connected to the two oil ports of the hydraulic motor 5 respectively. When oil enters from different oil ports of the hydraulic motor 5, the rotating shaft of the hydraulic motor 5 will produce different directions, thereby making the tool changing arm 4 realize forward and reverse rotation.

[0073] The first oil circuit 6a and the second oil circuit 6b are connected to the oil inlet circuit and the oil return circuit of the hydraulic system through the electromagnetic reversing valve. The electromagnetic reversing valve can control whether the oil flowing out of the oil inlet circuit enters the first oil circuit 6a or the second oil circuit 6b.

[0074] The connection between the oil inlet and return oil lines and the oil tank, the oil pumping and return components, etc. are all existing technologies and will not be described in detail here.

[0075] The hydraulic system is also provided with a third oil circuit 8 connected to the oil tank. The end of the third oil circuit 8 can be directly connected to the oil tank or connected to the oil return circuit.

[0076] The first controller 7a and the second controller 7b have the same structure and both include:

[0077] A first throttle valve 71 , one end of the first throttle valve 71 of the two controllers is connected to the hydraulic motor 5 , the other end of the first throttle valve 71 of the first controller 7a is connected to the first oil circuit 6a , and the other end of the first throttle valve 71 of the second controller 7b is connected to the second oil circuit 6b ;

[0078] The first one-way valve 72 is connected in parallel with the first throttle valve 71 to intercept the incoming oil and circulate the returning oil;

[0079] The first branch 73 is connected in parallel with the first throttle valve 71; a second one-way valve 74 is provided in the first branch 73 to intercept the return oil and circulate the inlet oil;

[0080] The second branch 75 has one end connected to the first branch 73; a second throttle valve 76 is provided in the second branch 75, and the flow rates of the first throttle valve 71 and the second throttle valve 76 are the same;

[0081] The second branches 75 of the first controller 7 a and the second controller 7 b are both connected to the third oil passage 8 .

[0082] The control process of the hydraulic system during tool change is as follows:

[0083] According to the aforementioned Figures 1 to 7During the tool-changing process, it can be seen that the main movements of the tool-changing arm 4 are 90° forward rotation, 180° forward rotation, 90° reverse rotation, and 180° reverse rotation. This hydraulic system achieves each of these movements by switching operating states. Each time the tool-changing arm 4 performs any of the aforementioned movements, the hydraulic system provides a fixed amount of oil, P. This allows for precise control of the oil level and avoids frequent changes in the oil level that would cause errors due to frequent switching of the oil supply system. If all of this oil were to flow through the hydraulic motor 5, it would be sufficient to rotate the tool-changing arm 4 180°.

[0084] When the tool changing arm 4 needs to rotate forward 90 degrees, the hydraulic system switches to the first working state, the first oil circuit 6a is fed with oil, the first branch 73 of the first controller 7a is closed, and the second branch 75 is opened; at this time, the oil flow direction will be as follows Figure 9 As shown, after the oil flows from the first oil circuit 6a into the first controller 7a, the first throttle valve 71 and the second throttle valve 76 are both connected to the oil circuit, and the oil will be evenly divided into two parts, one part flows into the third oil circuit 8, and the other part flows through the hydraulic motor 5. The amount of oil flowing through the hydraulic motor 5 is P / 2, thereby causing the tool changing arm 4 to rotate 90°.

[0085] When the tool changing arm 4 needs to rotate 180° forward, the hydraulic system switches to the second working state, the first oil circuit 6a enters the oil, the first branch 73 of the first controller 7a is opened, and the second branch 75 is closed; at this time, the oil flow direction will be as follows Figure 10 As shown, after the oil flows from the first oil circuit 6a into the first controller 7a, all the oil will flow through the first branch circuit 73 without restriction, and then flow through the hydraulic motor 5. The amount of oil flowing through the hydraulic motor 5 is P, thereby causing the tool change arm 4 to rotate 180 degrees.

[0086] When the tool-changing arm 4 needs to be reversed 90°, the hydraulic system switches to the third working state, oil flows into the second oil circuit 6b, the first branch 73 of the second controller 7b is closed, and the second branch 75 is opened; at this time, the flow direction of oil in the second controller 7b is a mirror image of the first working state, which will not be described in detail here;

[0087] When the tool changing arm 4 needs to be reversed 180°, the hydraulic system switches to the fourth working state, oil enters the second oil circuit 6b, the first branch 73 of the second controller 7b is opened, and the second branch 75 is closed; at this time, the flow direction of the oil in the second controller 7b is a mirror image of the second working state, which will not be repeated here.

[0088] As can be seen, this tool-changing mechanism controls the rotation of the tool-changing arm 4 through a hydraulic system. When setting up the components, only the actuator hydraulic motor 5 needs to be placed on the mobile base 3. The remaining large components can be directly fixed and installed at any position in the tool magazine. The hydraulic motor 5 only needs to be connected to the hydraulic system via a hose, thereby significantly reducing the number of components that need to be moved, effectively saving space for movement, and reducing the overall volume and weight of the mobile base 3, making the tool magazine more stable during operation. At the same time, all components of the hydraulic system are standard parts, thus further saving manufacturing and maintenance costs.

[0089] According to the various working states of the aforementioned hydraulic system, it can be seen that only one of the first branch 73 and the second branch 75 can be connected to work. If both are connected together, it will cause large errors in control. Therefore, it is preferred that the first branch 73 and the second branch 75 are both connected to the one-way control valve 77. The one-way control valve 77 is a two-position solenoid valve, which has two working positions. When switched to the first working position, the first branch 73 can be connected and the second branch 75 can be disconnected; when switched to the second working position, the second branch 75 can be connected and the first branch 73 can be disconnected; in this way, it can be ensured that there is always one and only one branch connected to work, thereby ensuring precise control of the tool changing arm 4.

[0090] Since the tool changer arm 4 needs to remove the tool, when the tool changer arm 4 rotates to the horizontal direction, it will interfere with the movement of the movable base 3 and the spindle 1 and the knife chain 2. If the system fails and the power is cut off at this time, the tool changer arm 4 is best stopped in the vertical direction. If the tool changer arm 4 remains in the horizontal direction, it is very likely that someone will move the movable base 3 and cause the tool changer arm 4 to collide with the spindle 1 and the knife chain 2. To avoid the above problem, this tool changer mechanism has a protection system in the hydraulic system. The specific structure is as follows:

[0091] The third oil circuit 8 is provided with an oil accumulator 9, a hydraulically controlled on-off valve 10 and a normally closed valve 11 in the order of facing the oil tank;

[0092] The hydraulic system also includes:

[0093] The fourth oil circuit 12 has one end connected between the oil accumulator 9 of the third oil circuit 8 and the hydraulically controlled switch valve 10, and the other end connected to the hydraulic motor 5; a first normally open valve 13 is provided on the fourth oil circuit 12;

[0094] The fifth oil circuit 14 is connected to the hydraulic motor 5 at one end and to the oil tank at the other end; a second normally open valve 15 is provided on the fourth oil circuit 12;

[0095] A first control circuit 16 has one end connected between the oil accumulator 9 of the third oil circuit 8 and the hydraulically controlled on-off valve 10, and the other end connected to the hydraulically controlled on-off valve 10. A first relief valve is provided in the first control circuit 16. The opening oil pressure of the first relief valve is set to the oil pressure generated when the oil volume P provided by one hydraulic system operation is stored in the oil accumulator 9.

[0096] The second control path 17 has one end connected to the oil inlet path and the other end connected to the hydraulically controlled on-off valve 10;

[0097] The normally closed valve 11, the first normally open valve 13 and the second normally open valve 15 are all solenoid valves, which will switch their working states after power is turned on. The normally closed valve 11 opens when power is turned on and closes when power is turned off; the first normally open valve 13 and the second normally open valve 15 are both closed when power is turned on and opened when power is turned off.

[0098] The specific working principle of the above protection system is as follows:

[0099] When the tool changing mechanism is working normally, the normally closed valve 11, the first normally open valve 13 and the second normally open valve 15 are all energized, and the Figures 11-12 As shown;

[0100] When the tool change arm 4 is Figure 1 If the machine rotates 90° forward and turns horizontally, then P / 2 of oil will enter the oil reservoir 9. Figure 11 As shown, when the oil inlet circuit stops supplying oil, there is only P / 2 oil in the oil accumulator 9, and the first relief valve will not open;

[0101] When the tool change arm 4 is Figure 2 If it rotates 90° forward and becomes vertical, then P / 2 of oil will enter the oil accumulator 9. Figure 12 As shown, when the oil inlet circuit stops supplying oil, there is an oil volume P in the oil accumulator 9, which will open the first relief valve, and the first control circuit 16 will push the hydraulic switch valve 10 to the open state. At this time, the oil in the oil accumulator 9 will be completely discharged back to the oil tank;

[0102] When the tool change arm 4 is Figure 3 If it rotates forward 90 degrees and becomes horizontal, then P / 2 of oil will enter the oil accumulator 9. Figure 11 As shown, when the oil inlet circuit stops supplying oil, there is only P / 2 oil in the oil accumulator 9, and the first relief valve will not open;

[0103] When the tool change arm 4 is Figure 4 Then rotate forward 180 degrees to maintain the horizontal direction. In this process, all the oil flows to the hydraulic motor 5, and no oil enters the oil accumulator 9. Figure 11 As shown, when the oil inlet circuit stops supplying oil, there is still P / 2 oil in the oil accumulator 9, and the first relief valve will not be opened;

[0104] When the tool change arm 4 is Figure 5 If it is reversed 90° to become vertical, then P / 2 of oil will enter the oil accumulator 9. Figure 12 As shown, when the oil inlet circuit stops supplying oil, there is an oil volume P in the oil accumulator 9, which will open the first relief valve, and the first control circuit 16 will push the hydraulic switch valve 10 to the open state. At this time, the oil in the oil accumulator 9 will be completely discharged back to the oil tank;

[0105] When the tool change arm 4 is Figure 6 If it is turned 90 degrees to become horizontal, then P / 2 of oil will enter the oil accumulator 9. Figure 11 As shown, when the oil inlet circuit stops supplying oil, there is only P / 2 oil in the oil accumulator 9, and the first overflow valve will not be opened.

[0106] When the tool change arm 4 is Figure 6 If it is reversed 90° to become vertical, then P / 2 of oil will enter the oil accumulator 9. Figure 12 As shown, when the oil inlet circuit stops supplying oil, there is an amount of oil P in the oil accumulator 9, which will open the first overflow valve, and the first control circuit 16 will push the hydraulic switch valve 10 to the open state. At this time, all the oil in the oil accumulator 9 will be released back to the oil tank.

[0107] It can be seen that during the whole process, as long as the tool-changing arm 4 is in the horizontal direction, there will be P / 2 oil in the oil reservoir 9; and as long as the tool-changing arm 4 is in the vertical direction, there will be no oil in the oil reservoir 9. If the system is powered off, the normally closed valve 11, the first normally open valve 13 and the second normally open valve 15 will become de-energized. Figure 13 As shown. At this time, there will be:

[0108] If the tool-changing arm 4 is in the vertical position when the power is turned off, that is, there is no oil in the oil reservoir 9, the tool-changing arm 4 continues to maintain the vertical position;

[0109] If the tool-changing arm 4 is in the horizontal direction when the power is cut off, that is, there will be P / 2 oil in the oil accumulator 9, then the oil in the oil accumulator 9 will be squeezed out, and then flow along the fourth oil path 12 to the hydraulic motor 5, and then return to the oil tank through the fifth oil path 14. The amount of oil passing through the oil accumulator 9 is P / 2, which can just make the tool-changing arm 4 rotate 90° to become vertical.

[0110] In this way, the protection system can ensure that when the power is off, the tool changing arm 4 will eventually stop in the vertical direction, thereby avoiding the possibility of the tool changing arm 4 colliding with the main shaft 1 or the tool chain 2.

[0111] It is preferred that a third one-way valve is provided on the second branch 75 of the first controller 7a and the second controller 7b, and the third one-way valve is located between the second throttle valve 76 and the third oil circuit 8. The third one-way valve can prevent the oil in the oil accumulator 9 from flowing back to the second throttle valve 76 and affecting the operation of the second throttle valve 76.

[0112] The hydraulic system preferably also includes a second relief valve 18 and a third relief valve 19, both of which are connected in parallel with the hydraulic motor 5, and the second relief valve 18 and the third relief valve 19 face opposite directions. When changing tools, when the tool changing arm 4 interferes with other components and cannot rotate, as the oil pressure in the oil circuit increases, the second relief valve 18 or the third relief valve 19 will open, so that the excess oil will no longer pass through the hydraulic motor 5, thereby stopping the tool changing arm 4 from rotating and avoiding greater damage to the tool changing arm 4. When the tool is not being changed, if an external object hits the tool changing arm 4, the oil will Figure 14 Flow occurs, and as the oil pressure on one side increases, the second relief valve 18 or the third relief valve 19 will open, allowing the hydraulic motor 5 to rotate along with the rotation of the tool-changing arm 4 until the tool-changing arm 4 is no longer subjected to force and the oil pressures on both sides return to being equal. At this time, the second relief valve 18 or the third relief valve 19 will close to re-fix the tool-changing arm 4, thereby providing a certain degree of protection for the hydraulic motor 5 when the tool-changing arm 4 is hit.

[0113] The hydraulic system preferably also includes a stop valve 20, which is connected in parallel with the hydraulic motor 5. The stop valve 20 is a valve that can be manually opened and closed. When the tool changing operation is in progress, the stop valve 20 is closed; when the tool changing arm 4 is adjusted, the stop valve 20 can be opened. At this time, the oil can flow freely in the circuit formed by the hydraulic motor 5 and the stop valve 20, so that the tool changing arm 4 can be rotated to any angle. After adjustment, the stop valve 20 can be closed to form a lock.

[0114] The hydraulic system preferably further includes a fourth one-way valve 21 and a fifth one-way valve 22; the fourth one-way valve 21 is provided between the first controller 7a and the hydraulic motor 5, and the fifth one-way valve 22 is provided between the second controller 7b and the hydraulic motor 5;

[0115] A first unlocking path 23, one end of which is connected between the fourth one-way valve 21 and the first controller 7a, and the other end of which is connected to the fifth one-way valve 22;

[0116] One end of the second unlocking path 24 is connected between the fifth one-way valve 22 and the second controller 7 b , and the other end is connected to the fourth one-way valve 21 .

[0117] The fourth one-way valve 21, the fifth one-way valve 22, the first unlocking path 23 and the second unlocking path 24 are combined to form a hydraulic lock. Figure 9As shown, when oil flows from the controller to the hydraulic motor 5, the fourth one-way valve 21 allows the oil to enter smoothly, and the oil passes through the first unlocking path 23 to release the one-way flow function of the fifth one-way valve 22, allowing the oil to flow out of the fifth one-way valve 22. When oil no longer flows out of the controller, the one-way flow function of the fifth one-way valve 22 is restored. With the cooperation of the fourth and fifth one-way valves 21 and 22, the oil is locked between the fourth one-way valve 21, the hydraulic motor 5, and the fifth one-way valve 22. Therefore, the hydraulic motor 5 can no longer rotate, thereby fixing the tool changing arm 4.

[0118] It is preferred to place the second relief valve 18, the third relief valve 19 and the stop valve 20 on the movable seat 3, so as to facilitate personnel adjustment. At this time, the two flexible pipelines 25 in the hydraulic system are arranged, one between the fourth one-way valve 21 and the hydraulic motor 5, and the other between the fifth one-way valve 22 and the hydraulic motor 5. The flexible pipeline 25 is a hose or other pipe fitting used to connect the movable hydraulic motor 5 with other fixed components of the hydraulic system.

[0119] It is preferred to set an unlocking block 31 on the side of the movable seat 3 facing the knife chain 2. When the tool changing arm 4 rotates to the horizontal direction, the unlocking block 31 will be aligned with the knife claw of the tool changing arm 4 close to the tool. In this way, the knife claw on the tool changing arm 4 that needs to be used for taking and placing the knife can be accurately unlocked, while the knife claw at the other end can still remain locked to prevent the tool from falling.

[0120] It is preferred to set a proximity switch on the movable seat 3. When the tool changing arm 4 rotates to the vertical direction, the proximity switch is triggered. The proximity switch is only used to verify the position of the tool changing arm 4 and does not directly participate in the control. Therefore, the accuracy and real-time requirements of the proximity switch can be relatively low.

[0121] The basic principles, main features, and advantages of the present invention are shown and described above. Those skilled in the art should understand that the present invention is not limited to the foregoing embodiments. The foregoing embodiments and descriptions are merely illustrative of the principles of the present invention. Various changes and modifications may be made to the present invention without departing from the spirit and scope of the present invention. Such changes and modifications are intended to fall within the scope of the present invention. The scope of protection claimed in the present invention is defined by the appended claims and their equivalents.

Claims

1. A hydraulically controlled tool changing mechanism for a composite tool magazine, characterized in that: include: A movable seat (3) moves between the knife chain (2) and the main shaft (1); A tool changing arm (4) is rotatably mounted on the movable seat (3); A hydraulic motor (5) is used to drive the tool changing arm (4) to rotate; A hydraulic system for providing power to a hydraulic motor (5), comprising: a first oil circuit (6a), a first controller (7a), a hydraulic motor (5), a second controller (7b), and a second oil circuit (6b) connected in sequence; and a third oil circuit (8) connected to an oil tank. The first controller (7a) and the second controller (7b) have the same structure, including: A first throttle valve (71), both ends of which are connected to the hydraulic motor (5) and the first oil circuit (6a) or the second oil circuit (6b); a first one-way valve (72) connected in parallel with the first throttle valve (71); A first branch (73) is connected in parallel to the first throttle valve (71); a second one-way valve (74) is provided in the first branch (73); A second branch (75) has one end connected to the first branch (73); a second throttle valve (76) is provided in the second branch (75); The second branches (75) of the first controller (7a) and the second controller (7b) are both connected to the third oil circuit (8); Each time the tool changing arm (4) performs any action, a fixed amount of oil is supplied to the hydraulic system; When the motor rotates forward 90°, oil is introduced into the first oil circuit (6a), the first branch circuit (73) of the first controller (7a) is closed, and the second branch circuit (75) is opened; When the motor rotates forward 180°, oil enters the first oil circuit (6a), the first branch circuit (73) of the first controller (7a) is opened, and the second branch circuit (75) is closed; When the rotation is reversed by 90°, oil is fed into the second oil circuit (6b), the first branch circuit (73) of the second controller (7b) is closed, and the second branch circuit (75) is opened; When the rotation is reversed by 180°, oil is fed into the second oil circuit (6b), the first branch (73) of the second controller (7b) is opened, and the second branch (75) is closed; The third oil circuit (8) is provided with an oil accumulator (9), a hydraulically controlled on-off valve (10) and a normally closed valve (11) in the order of being disposed toward the oil tank; The hydraulic system also includes: A fourth oil circuit (12) has one end connected between the oil accumulator (9) of the third oil circuit (8) and the hydraulically controlled switch valve (10), and the other end connected to the hydraulic motor (5); a first normally open valve (13) is provided on the fourth oil circuit (12); A fifth oil circuit (14) is connected to the hydraulic motor (5) at one end and to the oil tank at the other end; a second normally open valve (15) is provided on the fourth oil circuit (12); A first control path (16) has one end connected between the oil accumulator (9) of the third oil path (8) and the hydraulically controlled on-off valve (10), and the other end connected to the hydraulically controlled on-off valve (10); a first overflow valve is provided in the first control path (16); A second control path (17), one end of which is connected to the oil inlet path, and the other end of which is connected to the hydraulically controlled on-off valve (10); During operation, the normally closed valve (11), the first normally open valve (13) and the second normally open valve (15) are all energized to switch the working states.

2. The hydraulically controlled tool changing mechanism of the composite tool magazine according to claim 1 is characterized in that: The first branch (73) and the second branch (75) are both connected to a one-way control valve (77).

3. The hydraulically controlled tool changing mechanism of the composite tool magazine according to claim 1, characterized in that: A third one-way valve is provided on the second branch (75) of the first controller (7a) and the second controller (7b), and the third one-way valve is located between the second throttle valve (76) and the third oil circuit (8).

4. The hydraulically controlled tool changing mechanism of the composite tool magazine according to claim 1, characterized in that: The hydraulic system further comprises a second overflow valve (18) and a third overflow valve (19), both of which are connected in parallel with the hydraulic motor (5), and the second overflow valve (18) and the third overflow valve (19) are oriented in opposite directions.

5. The hydraulically controlled tool changing mechanism of the composite tool magazine according to claim 1, characterized in that: The hydraulic system further comprises a stop valve (20) connected in parallel with the hydraulic motor (5).

6. The hydraulically controlled tool changing mechanism of the composite tool magazine according to claim 1, characterized in that: The hydraulic system further comprises a fourth one-way valve (21) and a fifth one-way valve (22); the fourth one-way valve (21) is arranged between the first controller (7a) and the hydraulic motor (5), and the fifth one-way valve (22) is arranged between the second controller (7b) and the hydraulic motor (5); A first unlocking path (23), one end of which is connected between the fourth one-way valve (21) and the first controller (7a), and the other end of which is connected to the fifth one-way valve (22); One end of the second unlocking path (24) is connected between the fifth one-way valve (22) and the second controller (7b), and the other end is connected to the fourth one-way valve (21).

7. The hydraulically controlled tool changing mechanism of the composite tool magazine according to claim 6, characterized in that: The hydraulic system further comprises two flexible pipes (25), one of which is arranged between the fourth one-way valve (21) and the hydraulic motor (5), and the other is arranged between the fifth one-way valve (22) and the hydraulic motor (5).

8. The hydraulically controlled tool changing mechanism of the composite tool magazine according to claim 1, characterized in that: An unlocking block (31) is provided on the side of the movable seat (3) facing the knife chain (2) for unlocking the knife claw on the knife changing arm (4).

9. The hydraulically controlled tool changing mechanism of the composite tool magazine according to claim 1, characterized in that: A proximity switch is provided on the movable seat (3), and when the tool changing arm (4) rotates to a vertical direction, the proximity switch is triggered.

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