Tool pouch turnover device, tool magazine and machine tool

Abstract

The invention relates to the technical field of machining, and provides a tool pouch turnover device, a tool magazine and a machine tool, the tool pouch turnover device comprises a base, a tool pouch turnover block mechanism, a translation restraining mechanism, a track restraining mechanism and a driving mechanism, and the translation restraining mechanism comprises a first moving pair and a second moving pair; the translation restraining mechanism is used for restraining the knife pouch overturning block to do parallel motion in a preset plane constructed by the first moving pair and the second moving pair; one end of the track restraining mechanism is rotationally connected to the base, the other end of the track restraining mechanism is rotationally connected to the knife pouch overturning block, and the track restraining mechanism is used for restraining the knife pouch overturning block to move along a preset arc track; wherein the knife pouch overturning block moves in parallel along a preset arc track under the combined action of the translational motion restraining mechanism and the track restraining mechanism. The compactness of the tool pouch turnover device is improved, the occupied space is reduced, and the space utilization rate of a machine tool is improved under the condition that the tool pouch turnover action is stable and the impact vibration is small.

Description

Technical Field

[0001] This invention relates to the field of machining technology, and in particular to a tool holder flipping device, a tool magazine, and a machine tool. Background Technology

[0002] In the field of machining, the widespread application of CNC machine tools has greatly improved production efficiency and machining accuracy. With the increasing complexity of machining tasks, higher demands are being placed on the tool magazine capacity and tool changing efficiency of CNC machine tools. Chain-type tool magazines, due to their ability to accommodate a larger number of tools within a limited space, have become the mainstream choice for CNC machine tools.

[0003] However, to maximize the use of machine tool internal space and further increase tool magazine capacity, the tool holders (used to hold tools) on chain-type tool magazines are typically arranged perpendicularly to the machine tool spindle axis at a 90-degree angle. During tool changes, the tool cannot be directly grasped by the spindle; a specialized device must first rotate the tool holder along with the tool by 90 degrees so that its axis is parallel to the spindle before the robot arm or spindle can complete the tool retrieval / change. Therefore, a smooth, reliable, and compact tool holder rotation device is crucial for ensuring the overall tool changing efficiency and long-term operational stability of the machine tool.

[0004] In the relevant technical field, some existing tool holder flipping devices use linear motion to drive the tool holder to flip. The linear drive mechanism is directly connected to the tool holder flipping block. Through the long slot opening on the tool holder flipping block, the rollers on the tool holder are pushed and pulled to realize the flipping and resetting action of the tool holder. Its structure is simple, but the motion is not smooth and there is impact and vibration. Others use rotational motion to drive the tool holder to flip. It uses a linkage mechanism to convert the linear drive into the rotational motion of the linkage, which drives the tool holder flipping block to realize the flipping motion, and then pushes the tool holder to flip. This structure has smooth motion, but the structure is complex and occupies a lot of space. Summary of the Invention

[0005] This invention provides a tool holder flipping device, a tool magazine, and a machine tool to solve the defects of existing tool holder flipping devices, such as poor motion stability, complex structure, and large space occupation. It achieves improved compactness of the tool holder flipping device, reduced space occupation, and improved space utilization of the machine tool while ensuring smooth tool holder flipping action and low impact vibration.

[0006] This invention provides a blade sheath flipping device, comprising: The base is fixedly connected to the base of the tool magazine and is located on one side of the tool sleeve link unit; A blade sleeve flipping block mechanism, one end of which is movably abutted against the blade sleeve chain link unit, is used to drive the blade sleeve chain link unit to flip. A translational constraint mechanism includes a first sliding joint and a second sliding joint. The first sliding joint is connected to the base, and the second sliding joint is connected to the first sliding joint. The blade sleeve flipping block mechanism is connected to the second sliding joint. The translational constraint mechanism is used to constrain the blade sleeve flipping block to make parallel movements within a preset plane constructed by the first sliding joint and the second sliding joint. A trajectory constraint mechanism, one end of which is rotatably connected to the base and the other end of which is rotatably connected to the tool holder tilting block, is used to constrain the tool holder tilting block to move along a preset circular arc trajectory; and The driving mechanism is used to drive the trajectory constraint mechanism to move the tool sleeve flipping block mechanism; The blade sleeve flipping block moves parallel along the preset circular arc trajectory under the combined action of the translational constraint mechanism and the trajectory constraint mechanism.

[0007] According to the present invention, a blade sleeve flipping device is provided in which the axes of the first movable pair and the second movable pair are arranged perpendicular to each other.

[0008] According to the present invention, a tool holder flipping device is provided, wherein the translational constraint mechanism includes: A first guide rail is fixedly mounted on the base along a first direction; The first slider is slidably disposed on the first guide rail; The second guide rail is fixedly mounted on the first slider along a second direction perpendicular to the first direction; and The second slider is slidably disposed on the second guide rail, and the blade sleeve flipping block is fixedly connected to the second slider.

[0009] According to a tool holder flipping device provided by the present invention, the trajectory constraint mechanism includes a connecting rod and a connecting rod. The connecting rod has three connection points arranged at angles to each other, namely a first connection point, a second connection point, and a third connection point. The first connection point is connected to the base via a hinge. The second connection point is connected to the end of the tool holder flipping block mechanism away from the tool holder chain link unit via a hinge. The third connection point is rotatably connected to the output end of the drive mechanism via the connecting rod. The connecting rod is rotatably connected to the third connection point via a connecting shaft. The trajectory constraint mechanism, the drive mechanism, and the base are configured to form a crank-rocker mechanism.

[0010] According to the present invention, a blade sheath flipping device is provided, wherein the connecting rod is arranged in a triangular or fan-shaped manner, and the first connection point, the second connection point and the third connection point are distributed at the corner positions of the connecting rod.

[0011] According to a blade sheath flipping device provided by the present invention, a connecting rod protrudes from the side opposite to the base, a first connecting point is provided at one end of the connecting protrusion, a connecting groove is provided at the other end of the connecting protrusion, and a third connecting point is provided on the connecting groove.

[0012] According to the present invention, a blade sheath flipping device includes a flipping block mechanism, a first connecting arm, and a second connecting arm. The flipping block extends along a second direction, and one side of the flipping block is connected to a second slider. The first connecting arm and the second connecting arm are respectively connected to both ends of the flipping block along the second direction and are located on the same side. One end of the first connecting arm is connected to the flipping block, and the other end is bent in a direction away from the second connecting arm and connected to the blade sheath link unit through a roller. One end of the second connecting arm is connected to the flipping block, and the other end is rotatably connected to the second connecting point.

[0013] According to the present invention, a blade sleeve flipping device is provided, wherein the driving mechanism includes a driving cylinder and a cylinder mounting base, the cylinder mounting base is rotatably connected to the base via a hinge, the driving cylinder is fixedly connected to the cylinder mounting base, and the output end of the driving cylinder is rotatably connected to the trajectory constraint mechanism.

[0014] The present invention also provides a tool magazine, which includes a tool holder flipping device as described in any of the above embodiments. The present invention also provides a machine tool, which includes the above-described tool magazine or a tool holder flipping device as described in any of the above embodiments.

[0015] The tool holder tilting device, tool magazine, and machine tool provided by this invention achieve "translational constraint" on the tool holder tilting block mechanism by constraining the tilting block to move parallel within a preset plane constructed by a first and second sliding joint. Simultaneously, a trajectory constraint mechanism guides the tilting block mechanism to move along a preset circular arc trajectory, thus achieving "trajectory constraint" on the tool holder tilting block mechanism. In this way, through the functional coupling of "trajectory constraint" and "translational constraint," smooth movement and low impact vibration are achieved. Furthermore, by "vertically overlapping" the tool holder tilting block mechanism, the translational constraint mechanism, and the trajectory constraint mechanism, the device achieves compactness and space optimization, thereby reducing the space occupied by the device and improving the space utilization rate of the machine tool. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in this invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0017] Figure 1 This is a schematic diagram of the blade sleeve flipping device provided by the present invention.

[0018] Figure 2 yes Figure 1 A schematic diagram of the middle tool sleeve flipping device without flipping the tool sleeve.

[0019] Figure 3 yes Figure 1 Another side view of the blade sleeve flipping device.

[0020] Figure 4 yes Figure 1 A schematic diagram of the structure of the tool holder after it has been flipped by the tool holder flipping device.

[0021] Figure label: 10. Tool holder flipping device; 100. Base; 200. Translational constraint mechanism; 210. Guide rail one; 220. Slider one; 230. Connecting plate; 240. Slider two; 250. Guide rail two; 300. Trajectory constraint mechanism; 310. Connecting rod; 311. First connection point; 312. Second connection point; 313. Third connection point; 320. Connecting rod; 400. Drive mechanism; 410. Drive cylinder; 420. Cylinder mounting base; 500. Tool holder flipping block mechanism; 510. Flipping block; 511. First connecting arm; 512. Second connecting arm; 520. Roller; 20. Tool sleeve link unit; 21. Tool sleeve; 22. C-shaped flipping claw; 23. Rotating shaft; 24. Link. Detailed Implementation

[0022] The embodiments of the present invention will be described in further detail below with reference to the accompanying drawings and examples. The following examples are for illustrative purposes only and should not be construed as limiting the scope of the invention.

[0023] In the description of the embodiments of the present invention, it should be noted that the terms "center," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing the embodiments of the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the embodiments of the present invention. In addition, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0024] In the description of the embodiments of the present invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "connected" and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in the embodiments of the present invention based on the specific circumstances.

[0025] In embodiments of the present invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0026] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0027] The following is combined with Figures 1 to 4 The present invention provides a detailed description of a tool holder flipping device, a tool magazine, and a machine tool through specific embodiments and application scenarios.

[0028] In embodiments of the present invention, such as Figure 1 and Figure 2 As shown, a tool holder flipping device 10 includes a base 100, a tool holder flipping block mechanism 500, a translational constraint mechanism 200, a trajectory constraint mechanism 300, and a drive mechanism 400. The base 100 is fixedly connected to the base of the tool magazine and located on one side of the tool holder link unit 20. One end of the tool holder flipping block mechanism 500 is rotatably connected to the tool holder link unit 20 to drive the tool holder link unit 20 to flip. The translational constraint mechanism 200 includes a first sliding joint and a second sliding joint. The first sliding joint is connected to the base 100, the second sliding joint is connected to the first sliding joint, and the tool holder flipping block mechanism 500 is connected to the second sliding joint. The translational constraint mechanism 400 is approximately... The binding mechanism 200 is used to constrain the tool holder flipping block mechanism 500 to move parallel within a preset plane constructed by the first and second sliding joints; one end of the trajectory constraint mechanism 300 is rotatably connected to the base 100, and the other end is rotatably connected to the tool holder flipping block mechanism 500. The trajectory constraint mechanism 300 is used to constrain the tool holder flipping block mechanism 500 to move along a preset arc trajectory; the driving mechanism 400 is used to drive the trajectory constraint mechanism 300 to move the tool holder flipping block mechanism 500; wherein, under the combined action of the translation constraint mechanism 200 and the trajectory constraint mechanism 300, the tool holder flipping block mechanism 500 moves parallel along a preset arc trajectory.

[0029] The base 100 serves as the load-bearing structure of the entire device, rigidly connected to the tool magazine base via a fixed connection. This ensures that the device does not shift or shake during tool magazine operation, guaranteeing the stability of the flipping motion. Simultaneously, the base 100 provides fixed mounting points for the translational constraint mechanism 200 and the trajectory constraint mechanism 300, preventing spatial interference between the device and the tool storage area inside the tool magazine or the transmission mechanism of the chain link 24. The base 100 also undertakes the load transfer function of each mechanism, transmitting the force generated by the flipping motion to the tool magazine base, dispersing localized stress, and improving the overall rigidity of the device.

[0030] One end of the blade sleeve flipping block mechanism 500 is rotatably connected to the blade sleeve link unit 20. Through its own movement (i.e., moving parallel along a preset arc), it pushes the blade sleeve link unit 20 to rotate around its axis 23, thereby achieving a 2190° flip of the blade sleeve. The other end of the tool holder flipping block mechanism 500 is simultaneously connected to the translational constraint mechanism 200 (second moving pair) and the trajectory constraint mechanism 300, becoming the object of action of the two major constraint mechanisms, coupling the planar stable motion of the translational constraint with the precise circular trajectory of the trajectory constraint into its own composite motion.

[0031] One end of the tool holder tilting block mechanism movably abuts against the tool holder chain link unit, forming a rotary joint with clearance. The tool holder tilting block mechanism is not fixedly bound to a single tool holder chain link unit; instead, it achieves immediate adaptation to all chain link units flowing to the workstation through movable abutment and rotary joint. Regardless of which chain link unit rotates to the tilting device, its corresponding mating structure can form a rotary joint with the tilting block mechanism. This eliminates the need for a separate tilting drive component for each chain link, significantly simplifying the overall tool magazine structure, reducing equipment costs, and simultaneously adapting to the batch tool changing and cyclic operation requirements of chain tool magazines.

[0032] A roller 520 is installed at one end of the blade sleeve flipping block mechanism 500. The roller 520 is arranged in the C-shaped flipping claw 22 of the blade sleeve link unit 20. When the blade sleeve flipping block mechanism 500 moves, it pushes the flipping claw and drives the blade sleeve 21 to rotate around the rotating shaft 23, thereby realizing the flipping action of the blade sleeve 21 relative to the link 24.

[0033] The translational constraint mechanism 200 limits the motion dimension of the tool holder flipping block mechanism 500, providing a smooth motion reference and eliminating unexpected swaying.

[0034] The first locating joint is connected to the base 100. As the underlying foundation of the translational constraint, the first locating joint provides linear motion guidance in a single direction and provides a mounting carrier for the second locating joint, forming a "vertical overlapping" support structure of "base 100 - first locating joint - second locating joint".

[0035] The second locating joint is connected to the first locating joint. The second locating joint and the first locating joint are arranged orthogonally. Together they form a preset plane. By connecting with the tool sleeve flipping block mechanism 500, it is constrained to only make parallel movements within this plane, thus completely eliminating the instability caused by redundant degrees of freedom such as up-and-down movement and twisting.

[0036] The translational constraint mechanism 200 utilizes the high-precision guiding and low-friction characteristics of the sliding pair (such as the ball bearing guide slider) to reduce mechanical loss and unexpected shaking during the motion process, providing a stable motion basis for the precise guidance of the trajectory constraint mechanism 300 and avoiding the deviation of the flipping trajectory caused by the offset of the motion reference.

[0037] The trajectory constraint mechanism 300 precisely limits the motion trajectory of the tool holder flipping block mechanism 500, ensuring that it is highly compatible with the flipping action of the tool holder 21.

[0038] The trajectory constraint mechanism 300 forms a rigid constraint link through a double rotation connection structure of one end connected to the base 100 and the other end connected to the tool sleeve flipping block mechanism 500. This forces the tool sleeve flipping block mechanism 500 to move along a preset arc trajectory (which matches the flipping trajectory of the tool sleeve link unit 20), ensuring that the force of the flipping block 510 on the tool sleeve 21 is always along the rotation tangent of the tool sleeve 21, thus avoiding lateral impact.

[0039] The trajectory constraint mechanism 300, as an intermediate carrier for force transmission, converts the power of the drive mechanism 400 into the circular motion of the flipping block 510. At the same time, it works in conjunction with the translation constraint mechanism 200 to ensure that the movement of the flipping block 510 is both smooth and undisturbed, and that the trajectory is precise and controllable.

[0040] The drive mechanism 400 is the power source for the tool holder tilting device 10. Its main function is to drive the trajectory constraint mechanism 300, which in turn drives the tool holder tilting block mechanism 500 to move. By providing power, the drive mechanism 400 enables the trajectory constraint mechanism 300 to drive the tool holder tilting block mechanism 500 to tilt according to a preset trajectory and speed.

[0041] The tool holder tilting device 10 of this application achieves "translational constraint" on the tool holder tilting block mechanism 500 by constraining it to move parallel within a preset plane constructed by the first and second sliding joints. Simultaneously, the trajectory constraint mechanism 300 guides the tool holder tilting block mechanism 500 to move along a preset circular arc trajectory, thus achieving "trajectory constraint" on the tool holder tilting block mechanism 500. In this way, through the functional coupling of "trajectory constraint" and "translational constraint," smooth movement and low impact vibration are achieved. Furthermore, by "vertically overlapping" the tool holder tilting block mechanism 500, the translational constraint mechanism 200, and the trajectory constraint mechanism 300, the device achieves compactness and space optimization, thereby reducing the space occupied by the device and improving the space utilization rate of the machine tool.

[0042] Reference Figure 2 and Figure 4 According to the present invention, a blade sleeve flipping device 10 is provided in which the axes of the first moving pair and the second moving pair are arranged perpendicular to each other.

[0043] Understandably, the axes of the first and second sliding joints are perpendicular to each other, constructing a motion framework resembling a two-dimensional Cartesian coordinate system. The tool holder tilting block mechanism 500 is connected to the second sliding joint. When the first sliding joint moves, it drives the second sliding joint and the tool holder tilting block mechanism 500 to move along the axis of the first sliding joint; conversely, the movement of the second sliding joint itself causes the tool holder tilting block mechanism 500 to move along its own axis. This combination of two mutually perpendicular movements precisely guides the tool holder tilting block mechanism 500 to move parallel within the preset plane they construct, avoiding deviations and interference in the direction of movement and ensuring that the tool holder tilting block mechanism 500 moves smoothly along a predetermined path.

[0044] In this embodiment, the trajectory constraint mechanism 300 guides the tool holder flipping block mechanism 500 along a preset arc trajectory, while the vertical arrangement of the first and second sliding joints provides a stable translational basis for this arc trajectory movement. During the movement of the tool holder flipping block mechanism 500 along the arc trajectory, the translational constraint mechanism 200, through the cooperation of the two vertical sliding joints, keeps the tool holder flipping block mechanism 500 stable in a direction perpendicular to the plane of the arc trajectory, ensuring that the tool holder flipping block mechanism 500 always moves smoothly along the arc trajectory and will not deviate from the trajectory due to translational instability, thereby improving the accuracy and reliability of tool changing.

[0045] Reference Figure 2 and Figure 4 According to the present invention, a blade sheath flipping device 10 includes a translational constraint mechanism 200 comprising a first guide rail, a first slider, a second guide rail, and a second slider. The first guide rail is fixedly mounted on a base 100 along a first direction; the first slider is slidably mounted on the first guide rail; the second guide rail is fixedly mounted on the first slider along a second direction perpendicular to the first direction; the second slider is slidably mounted on the second guide rail; and a blade sheath flipping block mechanism 500 is fixedly connected to the second slider.

[0046] Understandably, the first guide rail is fixedly mounted on the base 100 along a first direction, and the first slider is slidably mounted on the first guide rail, enabling the first slider to move linearly along the first direction. The second guide rail is fixedly mounted on the first slider along a second direction perpendicular to the first direction, and the second slider is slidably mounted on the second guide rail, thus enabling the second slider to move linearly in the second direction.

[0047] Since the tool holder flipping block mechanism 500 is fixedly connected to the second slider, it can move flexibly within the plane constructed by the first and second directions as the first and second sliders move. This two-dimensional translational system provides the tool holder flipping block mechanism 500 with two mutually perpendicular degrees of freedom, allowing it to adjust its position as needed, thus laying the foundation for achieving precise tool holder 21 flipping action later.

[0048] Preferably, the translational constraint mechanism 200 is a ball guide rail slider mechanism. Of course, in other embodiments, the translational constraint mechanism 200 may also be other guide rail slider mechanisms, which are not specifically limited here.

[0049] In some embodiments, the translational constraint mechanism 200 further includes a connecting plate 230, through which the second slide rail is mounted on the first slider.

[0050] Reference Figure 4According to the present invention, a tool holder flipping device 10 includes a trajectory constraint mechanism 300 comprising a connecting rod 310 and a connecting rod 320. The connecting rod 310 has three connection points arranged at an angle to each other, namely a first connection point 311, a second connection point 312, and a third connection point 313. The first connection point 311 is connected to the base 100 via a hinge. The second connection point 312 is connected to the end of the tool holder flipping block mechanism 500 away from the tool holder chain link unit 20 via a hinge. The third connection point 313 is rotatably connected to the output end of the drive mechanism 400 via the connecting rod 320. The connecting rod 320 is rotatably connected to the third connection point 313 via a connecting shaft. The trajectory constraint mechanism 300, the drive mechanism 400, and the base 100 form a crank-rocker mechanism.

[0051] Understandably, the drive mechanism 400 typically outputs linear telescopic motion, while the tool holder flipping block mechanism 500 needs to perform flipping motion according to a specific trajectory in order to achieve accurate tool repositioning.

[0052] The connecting rod 310 in the trajectory constraint mechanism 300 is precisely connected to the base 100, the tool holder flipping block mechanism 500, and the connecting rod 320 through its three connection points, forming a crank-rocker motion conversion system together with the drive mechanism 400 and the base 100. When the drive mechanism 400 drives its output end to perform linear telescopic motion, it pushes (or pulls) the third connection point 313 of the connecting rod 310 through the connecting rod 320, forcing the connecting rod 310 to swing about the first connection point 311 (the hinge point with the base) as a fixed axis. This swinging motion is transmitted to the tool holder flipping block mechanism 500 through the second connection point 312. Combined with the planar parallel motion constraint of the translation constraint mechanism 200 on the tool holder flipping block mechanism 500, it ultimately makes it move smoothly along a preset arc trajectory, thereby driving the tool holder chain link unit to complete precise flipping.

[0053] Reference Figure 2 and Figure 4 According to the present invention, a blade sheath flipping device 10 is provided, wherein the connecting rod 310 is arranged in a triangular or fan shape, and the first connection point 311, the second connection point 312 and the third connection point 313 are distributed at the corner positions of the connecting rod 310.

[0054] Understandably, triangular and sector-shaped structures possess high geometric stability. The three corner points of a triangular structure can distribute forces evenly, reducing local stress concentration and thus improving the structural strength and stability of the connecting rod 310.

[0055] The three connection points are located at the corner positions, which allows the force applied by the drive mechanism 400 to the third connection point 313 through the connecting rod 320 to be transmitted more directly and effectively to the second connection point 312, thereby driving the tool sleeve flipping block mechanism 500 to move.

[0056] Reference Figure 2 and Figure 4 According to the present invention, a blade sheath flipping device 10 is provided, wherein a connecting rod 310 is provided with a connecting protrusion on the side opposite to the base 100, a first connecting point 311 is provided at one end of the connecting protrusion, a connecting groove is provided at the other end of the connecting protrusion, and a third connecting point 313 is provided on the connecting groove.

[0057] It is understandable that the connecting rod 310 has a protruding connecting protrusion on the side away from the base 100, so that the first connecting point 311 (hinged with the base 100) and the third connecting point 313 (hinged with the connecting rod 320) both extend away from the base 100, and the third connecting point 313 is embedded in the connecting groove. The hinge areas of the first connecting point 311 and the third connecting point 313 can be arranged in a layered layout with the connecting rod 310 body and the translational constraint mechanism 200 (guide rail slider) in the vertical direction. The protrusion height of the connecting protrusion can be precisely matched with the thickness of the tool sleeve flipping block mechanism 500, so that the projection of the connecting rod 310 and the tool sleeve flipping block mechanism 500 in the horizontal direction overlaps, avoiding spatial interference caused by the protrusion of the hinge nodes (such as hinges, connecting shafts).

[0058] The connection protrusion enhances the structural strength of the connecting rod 310. By placing the connection point on the protrusion, the stress can be distributed, reducing local stress concentration.

[0059] Furthermore, by arranging the translational constraint mechanism and the trajectory constraint mechanism in the vertical direction, this application avoids their horizontal parallel arrangement in the motion plane, thereby effectively reducing the size of the device in the horizontal direction in the motion plane and enhancing the compact distribution of each mechanism in a limited space.

[0060] Reference Figure 4 According to the present invention, a blade sheath flipping device 10 is provided. The blade sheath flipping block mechanism 500 includes a flipping block 510, a first connecting arm 511 and a second connecting arm 512. The flipping block 510 extends along a second direction. One side of the flipping block 510 is connected to a second slider. The first connecting arm 511 and the second connecting arm 512 are respectively connected to the two ends of the flipping block 510 along the second direction and are located on the same side. One end of the first connecting arm 511 is connected to the flipping block 510, and the other end is bent in a direction away from the second connecting arm 512 and connected to the blade sheath chain link unit 20 through a roller 520. One end of the second connecting arm 512 is connected to the flipping block 510, and the other end is rotatably connected to the second connection point 312.

[0061] It is understandable that the flipping block 510 extends along the second direction and is connected to the second slider on one side. When the second slider moves linearly under power, it will drive the flipping block 510 to move along the second direction. The first connecting arm 511 and the second connecting arm 512 are respectively connected to the two ends of the flipping block 510. The second connecting arm 512 is rotatably connected to the second connecting point 312, so that the linear motion of the flipping block 510 can be converted into rotational motion through the second connecting arm 512. At the same time, the first connecting arm 511 further transmits this motion to the tool sleeve link unit 20.

[0062] The first connecting arm 511 and the second connecting arm 512 are respectively connected to the two ends of the flipping block 510 along the second direction and are located on the same side, so that the force on both ends of the flipping block 510 is relatively uniform during the movement. During the motion transmission process, the synchronicity of the movement of the first connecting arm 511 and the second connecting arm 512 can be guaranteed, so that the movement of the tool sleeve link unit 20 is more stable and accurate.

[0063] Reference Figures 2 to 4 According to the present invention, a blade sleeve flipping device 10 is provided, wherein the driving mechanism 400 includes a driving cylinder 410 and a cylinder mounting base 420. The cylinder mounting base 420 is rotatably connected to the base 100 by a hinge, the driving cylinder 410 is fixedly connected to the cylinder mounting base 420, and the output end of the driving cylinder 410 is rotatably connected to the trajectory constraint mechanism 300.

[0064] Understandably, the drive cylinder 410, as a power source, can provide stable and reliable power to the tool holder tilting device 10. When the machine tool is changing tools, the drive cylinder 410 converts the pressure energy of compressed air into mechanical energy through the extension and retraction of its output end, providing sufficient power for the tilting action of the tool holder 21.

[0065] The cylinder mounting base 420 is rotatably connected to the base 100 via a hinge, allowing the drive cylinder 410 to rotate around the hinge point at a certain angle to ensure the normal operation of the crank-rocker mechanism. The cylinder body of the drive cylinder, as a component of the crank-rocker mechanism, is connected to the base through this rotating pair. If the cylinder body and the base are rigidly fixed without rotational freedom, it will cause the entire crank-rocker mechanism to interfere with movement, become stuck, and fail to transmit power normally.

[0066] During the operation of the tool holder flipping device 10, the output end of the drive cylinder moves in a swinging linear motion with the connecting rod 320. The cylinder body adjusts its own posture in real time through the rotating joint of the cylinder mounting seat to ensure that the power output direction is always matched with the force direction of the connecting rod 320. This not only avoids the cylinder piston rod from being deformed and damaged due to lateral force, but also ensures that the power transmission path of the crank rocker mechanism is smooth, thereby driving the connecting rod 310 to swing stably, and finally driving the tool holder flipping block mechanism 500 to complete the precise flipping.

[0067] The drive cylinder 410 of the present invention can also be replaced by a hydraulic cylinder or the like to improve the driving capability, and no special limitation is made here.

[0068] The present invention also provides a tool magazine, which includes the above-mentioned tool sleeve flipping device 10. The specific structure of the tool sleeve flipping device 10 is as described in the above embodiment. It can be understood that since the above-mentioned tool sleeve flipping device 10 is used in the tool magazine, the embodiment of the tool magazine includes all the technical solutions of all the embodiments of the above-mentioned tool sleeve flipping device 10, and the technical effects achieved are exactly the same, so they will not be repeated here.

[0069] The present invention also provides a machine tool, which includes the above-mentioned tool holder flipping device 10 or tool magazine. The specific structure of the tool holder flipping device 10 is as described in the above embodiments. It can be understood that since the above-mentioned tool holder flipping device 10 or tool magazine is used in the machine tool, the embodiments of the machine tool include all the technical solutions of all the embodiments of the above-mentioned tool holder flipping device 10 or tool magazine, and the technical effects achieved are exactly the same, so they will not be described again here.

[0070] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A blade sheath flipping device, characterized in that, include: The base is fixedly connected to the base of the tool magazine and is located on one side of the tool sleeve link unit; A blade sleeve flipping block mechanism, one end of which is movably abutted against the blade sleeve chain link unit, is used to drive the blade sleeve chain link unit to flip. A translational constraint mechanism includes a first sliding joint and a second sliding joint. The first sliding joint is connected to the base, and the second sliding joint is connected to the first sliding joint. The blade sleeve flipping block mechanism is connected to the second sliding joint. The translational constraint mechanism is used to constrain the blade sleeve flipping block mechanism to perform parallel movement within a preset plane constructed by the first sliding joint and the second sliding joint. A trajectory constraint mechanism, one end of which is rotatably connected to the base and the other end of which is rotatably connected to the tool sleeve flipping block mechanism, is used to constrain the tool sleeve flipping block mechanism to move along a preset circular arc trajectory; as well as The driving mechanism is used to drive the trajectory constraint mechanism to move the tool sleeve flipping block mechanism; The blade sleeve flipping block mechanism moves parallel along the preset circular arc trajectory under the combined action of the translational constraint mechanism and the trajectory constraint mechanism.

2. The blade sleeve flipping device according to claim 1, characterized in that, The axes of the first sliding joint and the second sliding joint are set perpendicular to each other.

3. The blade sleeve flipping device according to claim 2, characterized in that, The translational constraint mechanism includes: A first guide rail is fixedly mounted on the base along a first direction; A first slider is slidably disposed on the first guide rail; The second guide rail is fixedly mounted on the first slider along a second direction perpendicular to the first direction; and The second slider is slidably disposed on the second guide rail, and the blade sleeve flipping block mechanism is fixedly connected to the second slider.

4. The blade sleeve flipping device according to claim 3, characterized in that, The trajectory constraint mechanism includes a connecting rod and a connecting rod. The connecting rod has three connection points arranged at angles to each other, namely a first connection point, a second connection point, and a third connection point. The first connection point is connected to the base via a hinge. The second connection point is connected to the end of the tool sleeve flipping block mechanism away from the tool sleeve chain link unit via a hinge. The third connection point is rotatably connected to the output end of the drive mechanism via the connecting rod. The connecting rod is rotatably connected to the third connection point via a connecting shaft. The trajectory constraint mechanism, the drive mechanism, and the base form a crank-rocker mechanism.

5. The blade sleeve flipping device according to claim 4, characterized in that, The connecting rods are arranged in a triangular or fan-shaped pattern, with the first connection point, the second connection point, and the third connection point located at the corner positions of the connecting rods.

6. The blade sleeve flipping device according to claim 4, characterized in that, The connecting rod has a connecting protrusion on the side opposite to the base. One end of the connecting protrusion has the first connecting point, and the other end of the connecting protrusion has a connecting groove. The third connecting point is located on the connecting groove.

7. The blade sleeve flipping device according to claim 4, characterized in that, The blade sheath flipping block mechanism includes a flipping block, a first connecting arm, and a second connecting arm. The flipping block extends along a second direction, and one side of the flipping block is connected to the second slider. The first connecting arm and the second connecting arm are respectively connected to the two ends of the flipping block along the second direction and are located on the same side. One end of the first connecting arm is connected to the flipping block, and the other end is bent in a direction away from the second connecting arm and connected to the blade sheath chain link unit through a roller. One end of the second connecting arm is connected to the flipping block, and the other end is rotatably connected to the second connecting point.

8. The blade sheath flipping device according to any one of claims 1-7, characterized in that, The driving mechanism includes a driving cylinder and a cylinder mounting base. The cylinder mounting base is rotatably connected to the base via a hinge. The driving cylinder is fixedly connected to the cylinder mounting base. The output end of the driving cylinder is rotatably connected to the trajectory constraint mechanism.

9. A tool magazine, characterized in that, The tool magazine includes a tool sleeve flipping device as described in any one of claims 1 to 8.

10. A machine tool, characterized in that, The machine tool includes a tool holder flipping device as described in any one of claims 1 to 8, or a tool magazine as described in claim 9.

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