Tool taking and feeding device and chain type tool magazine

Abstract

The invention relates to the technical field of numerical control machining tools, and provides a tool taking and feeding device and a chain type tool magazine. The cutter clamping mechanism is in sliding fit with the device main body and can move back and forth on a preset movement track to pick and place the cutter; the movement track comprises a first path and a second path which are arranged at an included angle, and a connecting part for connecting the first path and the second path; the linear driving piece is connected to the device body and used for providing driving for the cutter clamping mechanism in the first path direction; and the guide mechanism is connected between the cutter clamping mechanism and the linear driving part and is used for converting the movement of the cutter clamping mechanism from the first path to the second path or from the second path to the first path at the joint part. By means of the arrangement, a single linear driving part replaces multiple sets of air cylinders connected in series, wiring can be simplified, assembly and maintenance cost is reduced, synchronization errors and faults are reduced, operation stability is improved, meanwhile, the overall size of the device is small, interference can be effectively avoided, and machine tool layout flexibility is improved.

Description

Technical Field

[0001] This invention relates to the field of CNC machine tool technology, and in particular to a tool feeding device and a chain-type tool magazine. Background Technology

[0002] As equipment for achieving high-precision and high-efficiency machining in modern manufacturing, the performance of CNC machine tools directly determines the product processing quality and production efficiency. As a key functional component of CNC machine tools, the chain tool magazine undertakes the tasks of tool storage, rapid switching and precise delivery. Its design rationality and operational stability have a decisive impact on the overall tool changing efficiency, machining accuracy and continuous operation capability of the machine.

[0003] A typical CNC machine tool chain tool magazine consists of three main modules: a tool storage bin, a tool pick-and-place mechanism, and a spindle tool changing mechanism. The tool pick-and-place mechanism, as the key transmission unit connecting the tool storage bin and the spindle, must complete a series of actions including tool gripping, positioning, transfer, and release. Currently, most mainstream tool pick-and-place mechanisms in the industry adopt a cylinder tandem drive scheme. Tool control is achieved through the step-by-step coordinated action of multiple sets of cylinders. Specifically, multiple sets of cylinders drive the translation, positioning, and release of the tool gripper, and the tool is picked up and placed from the storage bin to the spindle by independently controlling the extension and retraction of each cylinder. This type of solution, to a certain extent, meets the requirements of tool changing functionality.

[0004] However, in practical applications, it has been found that existing tool feeding mechanisms based on multi-cylinder tandem drive have some unavoidable defects: 1. High structural complexity and insufficient operational reliability: In the multi-cylinder series drive mode, each group of cylinders needs to be equipped with an independent air circuit, solenoid valve and control module, which makes the pipeline wiring and circuit connection of the entire tool feeding mechanism complicated. This not only increases the difficulty of equipment assembly and maintenance costs, but also increases the probability of failure. At the same time, the tool positioning and transfer actions rely on the coordination of each cylinder. However, the response delay and pressure fluctuation of the cylinders themselves can easily cause synchronization errors, which in turn lead to tool jamming, positioning deviation and other failures, which seriously affect the continuous and stable operation of CNC machine tools.

[0005] 2. The tool changing time is too long, making it difficult to meet the needs of high-efficiency processing. Since each action relies on the cylinder to be executed step by step, the previous action must be reset before the next action can be started. There are waiting gaps in the entire tool changing process, resulting in a long time for a single tool changing. In high-paced continuous processing scenarios, frequent tool changing operations will accumulate a lot of non-processing time, reducing the overall production efficiency of the machine.

[0006] 3. Low space utilization, limiting the flexibility of the overall machine layout; the cylinder structure of traditional cylinders is large, and the arrangement of multiple cylinders in series requires sufficient space for the stroke, resulting in a large overall space occupied by the tool feeding mechanism. In the design of compact CNC machine tools, this mechanism is prone to interference with peripheral components such as the spindle box, worktable, and tool storage compartment, which limits the flexibility of the overall machine layout.

[0007] In view of the above problems and findings, how to simplify the structure, improve tool changing efficiency and operational stability, and at the same time take into account space utilization has become an important technical challenge that urgently needs to be solved. Summary of the Invention

[0008] This invention provides a tool feeding device and a chain-type tool magazine to solve the defects of existing tool changing devices, such as complex structure, large space occupation, and relatively low reliability and efficiency. It has the advantages of simpler structure, higher stability and tool changing efficiency, and smaller space occupation.

[0009] This invention provides a tool feeding and taking device, comprising: Main body of the device; The tool clamping mechanism slides and engages with the main body of the device, and can reciprocate along a preset motion trajectory to pick up and place tools; the motion trajectory includes a first path and a second path set at an angle, and a connecting part for connecting the first path and the second path; A linear drive component, connected to the main body of the device, is used to provide drive for the clamping mechanism along the first path direction; A guiding mechanism, connected between the clamping mechanism and the linear drive, is used to switch the movement of the clamping mechanism from the first path to the second path or from the second path to the first path at the connecting part.

[0010] According to the present invention, a tool feeding device is provided, wherein the guiding mechanism includes: a first link, a second link, a third link, and a fourth link; The first link, the second link, and the output end of the linear drive are all hinged to the first hinge point, which is constrained to the first path direction. The portion of the second link away from the first hinge point is hinged to the third link; the portion of the third link away from the second link is hinged to the fourth link; the portion of the fourth link away from the third link is hinged to the first link at the second hinge point. The connecting part is set to be arc-shaped, the second hinge point is constrained in the direction of the motion trajectory, and the clamping mechanism is connected to the fourth link.

[0011] According to a tool feeding device provided by the present invention, the first hinge point is constrained to the first path direction by a first constraint structure, and the second hinge point is constrained to the motion trajectory direction by a second constraint structure.

[0012] According to the tool feeding device provided by the present invention, the first constraint structure includes: The constraint hole includes a first segment arranged along the first path direction; The first guide wheel is rotatably connected to the first hinge point and embedded in the first segment.

[0013] According to the tool feeding device provided by the present invention, the second constraint structure includes: The constraint hole further includes a second segment arranged along the extension direction of the connecting part and a third segment arranged along the second path direction, wherein the first segment, the second segment and the third segment are connected. The second guide wheel is connected to the second hinge point and is embedded in the constraint hole.

[0014] According to the present invention, a tool pick-and-place device further includes a third constraint structure for constraining the second link in the first path direction.

[0015] According to the tool feeding device provided by the present invention, the third constraint structure includes: A constraint guide rail is fixedly connected to the main body of the device and arranged along the first path direction; The constraint slider is slidably embedded in the constraint guide rail, and the constraint slider is fixedly connected to the second connecting rod.

[0016] According to the present invention, a knife-feeding device further includes a lifting mechanism for driving the main body of the device to rise and fall.

[0017] According to the present invention, a tool feeding and taking device is provided, wherein the lifting mechanism includes: Columns; The lifting guide rail is arranged along the length of the column; A sliding seat is slidably connected to the lifting guide rail, and the main body of the device is fixedly connected to the sliding seat; A driving structure is provided for driving the sliding seat to slide along the extension direction of the lifting guide rail.

[0018] The present invention also provides a chain-type tool magazine, including a chain-type tool storage bin and the tool feeding device described in any one of the above.

[0019] The tool picking and feeding device and chain-type tool magazine provided by this invention, when a tool changing operation is required, the linear drive is activated and drives the tool clamping mechanism to move from the starting position along the first path toward the tool picking and placing position. When it moves to the connecting part, under the action of the guide mechanism, the movement of the tool clamping mechanism is changed from the first path to the second path. The tool clamping mechanism continues to move along the second path and finally moves to the tool picking and placing position to pick up and place the tool. After picking up the tool, the tool clamping mechanism moves away from the tool picking and placing position along the second path under the drive of the linear drive. When it moves to the connecting part, under the action of the guide mechanism, the movement of the tool clamping mechanism is changed from the second path back to the first path. Then the tool clamping mechanism returns to the starting position along the first path.

[0020] Compared to related technologies, replacing multiple sets of tandem cylinders with a single linear drive reduces the complexity of piping and circuit wiring, lowers assembly difficulty and maintenance costs. Furthermore, the bidirectional adaptability design of the mechanical guide structure avoids synchronization errors in multi-component coordination, reducing tool jamming, positioning deviations, and other malfunctions, thus improving operational stability. Simultaneously, integrating step-by-step actions into a single linear drive significantly shortens tool change time, meeting the demands of high-paced continuous machining. In addition, the bidirectional integrated arrangement of the linear drive and guide mechanism eliminates the need for extra cylinder bodies and additional space occupied by bidirectional strokes, resulting in a smaller overall device size. This effectively avoids interference with surrounding components and enhances the flexibility of the machine tool's overall layout. Attached Figure Description

[0021] 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.

[0022] Figure 1 This is one of the structural schematic diagrams of the knife-feeding device provided in the embodiments of the present invention.

[0023] Figure 2 This is the second structural schematic diagram of the knife-feeding device provided in the embodiment of the present invention.

[0024] Figure 3 This is a schematic diagram of the guiding mechanism provided in an embodiment of the present invention.

[0025] Figure 4 This is a top view of the tool pick-and-place device provided in an embodiment of the present invention.

[0026] Figure 5 This is a schematic diagram of the structure of the first guide wheel and the second guide wheel provided in an embodiment of the present invention.

[0027] Figure 6 This is a schematic diagram of the chain-type tool magazine provided in an embodiment of the present invention.

[0028] Figure 7 This is a schematic diagram of the tool changing device provided in an embodiment of the present invention.

[0029] Figure label: 11. Main body of the device; 12. Tool clamping mechanism; 13. Linear drive component; 14. Guide mechanism; 141. First connecting rod; 142. Second connecting rod; 143. Third connecting rod; 144. Fourth connecting rod; 145. First hinge point; 146. Second hinge point; 147. First guide wheel; 148. Second guide wheel; 15. Constraint hole; 151. First section; 152. Second section; 153. Third section; 16. Third constraint structure; 161. Constraint guide rail; 162. Constraint slider; 17. Lifting mechanism; 171. Column; 172. Lifting guide rail; 173. Sliding seat; 174. Servo motor; 175. Ball screw; 20. Tool; 30. Chain-type tool storage bin; 40. Tool changing device; 41. Translation mechanism; 42. Tool changing motor; 43. Tool changing shaft; 44. Tool changing arm; 440. Tool clamp. Detailed Implementation

[0030] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention.

[0031] To better understand the tool picking and feeding device and chain tool magazine provided in the embodiments of the present invention, we will first introduce its application background. The typical structure of a chain tool magazine for CNC machine tools includes three major modules: a tool storage bin, a tool picking and feeding mechanism, and a spindle tool changing mechanism. The tool picking and feeding mechanism, which connects the tool storage bin and the spindle, needs to complete a series of actions such as tool picking, positioning, moving and releasing.

[0032] Currently, most mainstream tool feeding mechanisms in the industry adopt a cylinder series drive scheme. The tool gripper is moved, positioned and released through the step-by-step coordinated action of multiple sets of cylinders. The tool is picked up and fed from the storage bin to the spindle by independently controlling the extension and retraction of each cylinder.

[0033] However, in practical applications, it has been found that existing tool feeding mechanisms based on multi-cylinder tandem drive have some unavoidable defects: 1. Insufficient structural complexity and reliability; multiple cylinders connected in series require independent control circuits, resulting in complicated system wiring, and the coordinated action of each cylinder is prone to failure due to response delay or synchronization error.

[0034] 2. The tool change time is lengthy, and the step-by-step actions need to complete the grabbing, positioning, and releasing steps in sequence. The overall process is time-consuming and cannot meet the needs of high-paced continuous processing.

[0035] 3. Low space utilization: Traditional cylinder drive mechanisms are large in size, and are prone to interference with surrounding components, especially in compact machine tools, which limits the flexibility of the overall machine layout.

[0036] In view of the above problems and findings, embodiments of the present invention provide a tool feeding device and a chain-type tool magazine, which have advantages such as simple structure, high stability and tool changing efficiency, and small space occupation.

[0037] The following is combined Figures 1 to 7 The present invention describes the tool feeding device and the chain-type tool magazine.

[0038] Reference Figure 1 and Figure 2 A tool-handling device includes a device body 11, a tool-clamping mechanism 12, a linear drive 13, and a guide mechanism 14. The tool-clamping mechanism 12 slides and engages with the device body 11, and can reciprocate along a preset motion trajectory to pick up and place tools. The motion trajectory includes a first path and a second path arranged at an angle, and a connecting portion for connecting the first path and the second path. The linear drive 13 is connected to the device body 11 and provides drive for the tool-clamping mechanism 12 along the first path. The guide mechanism 14 is connected between the tool-clamping mechanism 12 and the linear drive 13 and is used to switch the movement of the tool-clamping mechanism 12 from the first path to the second path or from the second path to the first path at the connecting portion.

[0039] In a practical application scenario, when a tool change operation is required, the linear drive 13 starts and drives the tool clamping mechanism 12 to move from the starting position along the first path toward the tool pick-up and drop-off position. When it moves to the connecting part, under the action of the guide mechanism 14, the movement of the tool clamping mechanism 12 is changed from the first path to the second path. The tool clamping mechanism 12 continues to move along the second path toward and finally moves to the tool pick-up and drop-off position to pick up and drop the tool. After picking up the tool, the tool clamping mechanism 12 moves away from the tool pick-up and drop-off position along the second path under the drive of the linear drive 13. When it moves to the connecting part, under the action of the guide mechanism 14, the movement of the tool clamping mechanism 12 is changed from the second path back to the first path. Then the tool clamping mechanism 12 returns to the starting position along the first path.

[0040] Compared to related technologies, replacing multiple sets of tandem cylinders with a single linear drive component 13 reduces the complexity of pipeline and circuit wiring, lowers assembly difficulty and maintenance costs. Furthermore, the bidirectional adaptability design of the mechanical guide structure avoids synchronization errors in multi-component coordination, reducing tool jamming, positioning deviations, and other malfunctions, thus improving operational stability. Simultaneously, integrating the step-by-step actions into a single linear drive component 13 significantly shortens tool change time, meeting the demands of high-paced continuous machining. In addition, the bidirectional integrated arrangement of the linear drive component 13 and the guide mechanism 14 eliminates the need for additional cylinder bodies and extra space occupied by bidirectional movement strokes, resulting in a smaller overall device size. This effectively avoids interference with surrounding components and improves the flexibility of the machine tool's overall layout.

[0041] It is understood that the main body 11 of the device serves as the support and connection base for the above-mentioned components. Its specific material, structure and size specifications need to be designed according to actual needs, such as the overall layout space of the CNC machine tool, load-bearing requirements, and the trajectory range of the preset motion trajectory. No specific restrictions are imposed in this embodiment of the invention.

[0042] In one example of the present invention, reference is made to Figure 3 The guiding mechanism 14 includes a first link 141, a second link 142, a third link 143, and a fourth link 144. The first link 141, the second link 142, and the output end of the linear drive 13 are simultaneously hinged to a first hinge point 145, which is constrained to a first path direction. The portion of the second link 142 away from the first hinge point 145 is hinged to the third link 143, the portion of the third link 143 away from the second link 142 is hinged to the fourth link 144, and the portion of the fourth link 144 away from the third link 143 is hinged to the first link 141 at a second hinge point 146. The connecting portion is arc-shaped, and the second hinge point 146 is constrained to the direction of the motion trajectory. The clamping mechanism 12 is connected to the fourth link 144.

[0043] With this configuration, the first link 141, the second link 142, the third link 143, and the fourth link 144 form a parallelogram structure. Since the first hinge point 145 is constrained to the first path direction and the second hinge point 146 is constrained to the motion trajectory direction (including the first path direction, the extension direction of the connecting part, and the second path direction), in the initial motion stage, the linear drive member 13 drives the guide mechanism 14 and the clamping mechanism 12 to move forward along the first path direction, that is, drives the clamping mechanism 12 to translate along the first path from the starting position.

[0044] When the second hinge point 146 moves to the connecting part, since the first hinge point 145 is still constrained to the first path, as the linear drive member 13 continues to drive, the first link 141 swings positively with the first hinge point 145 as the center and the distance between the first hinge point 145 and the second hinge point 146 as the radius. The third link 143 and the fourth link 144 swing positively at the same time, pushing the second hinge point 146 into the second path along the arc-shaped connecting part, that is, driving the clamping mechanism 12 to move in an arc along the connecting part.

[0045] As the linear drive 13 drives the first hinge point 145 to move forward along the first path direction, the first link 141 drives the third link 143 and the fourth link 144 to swing forward, pushing the second hinge point 146 to move forward along the second path, that is, driving the tool clamping mechanism 12 to move along the second path to the tool pick-up and put-down position to make a translational movement until the tool clamping mechanism 12 moves to the tool pick-up and put-down position to pick up and put down the tool.

[0046] After the tool clamping mechanism 12 retrieves the tool, the linear drive 13 drives the first hinge point 145 to move in the opposite direction along the first path. The first connecting rod 141 drives the third connecting rod 143 and the fourth connecting rod 144 to swing in the opposite direction simultaneously, pushing the second hinge point 146 to move in the opposite direction along the second path. When the second hinge point 146 moves to the connecting part, the first connecting rod 141 swings in the opposite direction with the first hinge point 145 as the center and the distance between the first hinge point 145 and the second hinge point 146 as the radius. The third connecting rod 143 and the fourth connecting rod 144 swing in the opposite direction simultaneously, pulling the second hinge point 146 into the first path along the arc-shaped connecting part. After the second hinge point 146 enters the first path, the linear drive 13 can drive the guide mechanism 14 and the entire tool clamping mechanism 12 to move in the opposite direction along the first path and return to the starting position. The tool retrieval and placement action is completed.

[0047] In one example of the present invention, the first hinge point 145 is constrained to the first path direction by the first constraint structure, and the second hinge point 146 is constrained to the motion trajectory direction by the second constraint structure.

[0048] Understandably, the first and second constraint structures can be configured in different forms depending on different practical needs, such as guide rail-slider type constraints, guide groove-roller type constraints, etc. Furthermore, the first and second constraint structures can be arranged separately or integrated into one unit.

[0049] In one example of the present invention, reference is made to Figure 4 and Figure 5The first constraint structure includes a constraint hole 15 and a first guide wheel 147. The constraint hole 15 includes a first segment 151 arranged along a first path direction. The first guide wheel 147 is rotatably connected to a first hinge point 145, and is embedded in the first segment 151 and rolls in contact with the sidewall of the constraint hole 15. With this configuration, under the drive of the linear drive member 13, the first guide wheel 147 can move along the first segment 151, thereby constraining the first hinge point 145 in the first path direction.

[0050] In one example of the present invention, the second constraint structure includes a constraint hole 15 and a second guide wheel 148; wherein, the constraint hole 15 further includes a second segment 152 arranged along the extension direction of the connecting portion and a third segment 153 arranged along the second path direction, and the first segment 151, the second segment 152 and the third segment 153 are continuous; the second guide wheel 148 is rotatably connected to the second hinge point 146, and the second guide wheel 148 is embedded in the constraint hole 15 and rolls in contact with the side wall of the constraint hole 15. With this configuration, under the drive of the linear drive member 13, the second guide wheel 148 can move along the constraint hole 15, thereby constraining the second hinge point 146 in the direction of the movement trajectory.

[0051] In one example of the present invention, the tool pick-and-place device further includes a third constraint structure 16 for constraining the second link 142 to the first path direction. This configuration allows the second link 142 to be constrained via the third constraint structure 16, improving the overall stability of the guide mechanism 14's swing.

[0052] Understandably, depending on different practical needs, the first constraint structure and the second constraint structure can be set in different forms, such as guide rail-slider type constraint, guide groove-roller type constraint, etc.

[0053] In one example of the present invention, the third constraint structure 16 includes a constraint guide rail 161 and a constraint slider 162; wherein, the constraint guide rail 161 is fixedly connected to the device body 11 and arranged along the extension direction of the first path; the constraint slider 162 is slidably embedded in the constraint guide rail 161, and the constraint slider 162 is fixedly connected to the second connecting rod 142. With this configuration, under the drive of the linear drive member 13, the slidingly engaged constraint guide rail 161 and constraint slider 162 can constrain the movement direction of the second connecting rod 142 to the first path direction, thereby improving the overall stability of the guide mechanism 14's movement and oscillation.

[0054] It is understandable that the linear drive unit 13, as the power component for tool feeding and taking, can be selected and designed according to actual needs, such as tool change speed, positioning accuracy, load-bearing capacity, and machine tool space layout. This includes, but is not limited to, ball screw 175 driven by servo motor 174, linear motor, rodless cylinder, etc. In this embodiment, the linear drive unit 13 is configured as a rodless cylinder, which is arranged along the extension direction of the first path.

[0055] It is understood that the tool clamping mechanism 12 can be a commonly used elastic tool clamp in existing machine tools (such as a ball-type spring tool clamp, an elastic clip tool clamp, etc.), or it can be an existing gripper cylinder or a robot arm. No specific restrictions are made in this embodiment of the invention.

[0056] In one example of the present invention, the tool picking and feeding device further includes a lifting mechanism 17 for driving the device body 11 to rise and fall. With this configuration, in a chain tool magazine with multiple chain tool storage compartments 30, the lifting mechanism 17 can drive the device body 11 to rise and fall, thereby enabling the tool picking and feeding device to pick up and place tools 20 from chain tool storage compartments 30 at different heights.

[0057] In detail, the lifting mechanism 17 includes a column 171, a lifting guide rail 172, a sliding seat 173, and a drive structure. The lifting guide rail 172 is fixedly connected to the column 171 and arranged along the length of the column 171. The sliding seat 173 is slidably connected to the lifting guide rail 172, and the main body 11 is fixedly connected to the sliding seat 173. The output end of the drive structure is connected to the sliding seat 173 and is used to drive the sliding seat 173 to slide along the extension direction of the lifting guide rail 172. With this configuration, the drive structure can drive the sliding seat 173 to slide along the lifting guide rail 172, thereby adjusting the height of the main body 11 and enabling the main body 11 to pick up and place tools 20 from the chain-type tool storage compartment 30 at different heights.

[0058] Understandably, depending on different needs, the drive structure can be configured as any form of linear drive element, including cylinders, hydraulic cylinders, and electric actuators.

[0059] In this embodiment, the drive structure includes a servo motor 174, a ball screw 175, and a screw nut. The ball screw 175 is arranged along the length of the column 171 and rotatably connected to it. The screw nut is threadedly connected to the ball screw 175, and the sliding seat 173 is fixedly connected to the screw nut. The servo motor 174 is drively connected to the ball screw 175 to drive its rotation. This configuration allows the servo motor 174 to drive the ball screw 175 to rotate, and then, through the threaded engagement between the screw nut and the ball screw 175, the rotational motion is converted into linear lifting motion of the sliding seat 173 along the extension direction of the lifting guide rail 172, improving the lifting positioning accuracy and motion stability of the main body 11 of the device.

[0060] In detail, the two ends of the ball screw 175 are connected to the column 171 via bearings. The transmission method between the servo motor 174 and the ball screw 175 includes, but is not limited to, gear transmission, worm gear transmission, or belt rotation. No specific limitations are made in this embodiment of the invention.

[0061] The chain-type tool magazine provided by the present invention is described below. The chain-type tool magazine described below can be referred to in correspondence with the tool feeding device described above.

[0062] Reference Figure 6 A chain-type tool magazine includes a chain-type tool storage compartment 30 and a tool feeding device provided in any of the above examples.

[0063] In detail, the chain-type tool storage bin 30 typically includes a conveyor motor, a conveyor chain that serves as the carrier for conveying the tool 20 and is driven to rotate by the conveyor motor, and multiple elastic tool holders evenly arranged on the conveyor chain for clamping the tool holders of the tool 20. The conveyor motor drives the conveyor chain to rotate, which in turn drives the elastic tool holders to rotate, causing the tool 20 to circulate. When a tool change is required, the conveyor chain conveys the target tool 20 to a designated position, where a tool pick-and-place device removes the tool 20 to complete the tool change operation.

[0064] It should be noted that the above is only a brief description of the structure and working principle of the chain tool storage bin 30. For more specific structures, please refer to the existing technology. It will not be described in detail in the embodiments of this invention.

[0065] Furthermore, the chain tool storage bin 30 has two or more layers. The multi-layer chain tool storage bin 30 can increase the storage capacity of tools 20 and make full use of space. The lifting mechanism 17 can drive the main body 11 of the tool picking and feeding device to rise and fall, so that the tool picking and feeding device can pick up and put tools 20 on the chain tool storage bins 30 at different heights.

[0066] To elaborate further, refer to Figure 7The chain-type tool magazine also includes a tool changing device 40; the tool changing device 40 includes a translation mechanism 41, a tool changing motor 42, a tool changing shaft 43, and a tool changing arm 44; wherein, the translation mechanism 41 can move horizontally; the tool changing motor 42 is fixedly connected to the translation mechanism 41; the tool changing arm 44 is connected to the output end of the tool changing motor 42 through the tool changing shaft 43; the tool changing arm 44 is provided with two tool clamps 440, the specific structure of which can be configured according to actual needs, for example, existing elastic clamp type tool clamps can be used. With this configuration, the tool changing motor 42 can drive the tool changing arm 44 to rotate, thereby picking up the new tool delivered by the tool pick-and-place device and transferring the old tool to the tool pick-and-place device, and then transferring the new tool to the spindle through the translation mechanism 41, and picking up the old tool removed by the spindle, thus realizing the tool 20 replacement process.

[0067] It is understood that, 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 the different embodiments or examples.

[0068] The tool feeding device and chain tool magazine provided in this invention use a single linear drive 13 instead of multiple sets of series cylinders, reducing the complexity of pipeline and circuit wiring, lowering assembly difficulty and maintenance costs. Furthermore, the bidirectional adaptability design of the mechanical guide structure avoids synchronization errors in multi-component coordination, reducing tool jamming, positioning deviations, and other faults, thus improving operational stability. Simultaneously, integrating the step-by-step actions into a single linear drive 13 significantly shortens tool change time, meeting the demands of high-paced continuous machining. In addition, the bidirectional integrated arrangement of the linear drive 13 and the guide mechanism 14 eliminates the need for extra cylinder bodies and additional space occupied by bidirectional movement strokes, resulting in a smaller overall device size. This effectively avoids interference with surrounding components and improves the flexibility of the machine tool's overall layout.

[0069] 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 knife-feeding device, characterized in that, include: Main body of the device (11); The tool clamping mechanism (12) slides and cooperates with the main body (11) of the device, and can reciprocate on a preset motion trajectory to pick up and put away the tool (20); the motion trajectory includes a first path and a second path set at an angle, and a connecting part for connecting the first path and the second path; A linear drive (13), connected to the main body (11) of the device, is used to provide drive for the clamping mechanism (12) along the first path direction; A guide mechanism (14) is connected between the clamping mechanism (12) and the linear drive member (13) for converting the movement of the clamping mechanism (12) from the first path to the second path or from the second path to the first path at the connection point.

2. The knife-feeding device according to claim 1, characterized in that, The guiding mechanism (14) includes: a first link (141), a second link (142), a third link (143) and a fourth link (144). The output ends of the first link (141), the second link (142) and the linear drive (13) are simultaneously hinged to the first hinge point (145), and the first hinge point (145) is constrained to the first path direction; The portion of the second link (142) away from the first hinge point (145) is hinged to the third link (143); the portion of the third link (143) away from the second link (142) is hinged to the fourth link (144); the portion of the fourth link (144) away from the third link (143) is hinged to the first link (141) at the second hinge point (146). The connecting part is set to be arc-shaped, the second hinge point (146) is constrained in the direction of the motion trajectory, and the clamping mechanism (12) is connected to the fourth link (144).

3. The knife-feeding device according to claim 1, characterized in that, The first hinge point (145) is constrained to the first path direction by the first constraint structure, and the second hinge point (146) is constrained to the motion trajectory direction by the second constraint structure.

4. The blade feeding device according to claim 3, characterized in that, The first constraint structure includes: The constraint hole (15) includes a first segment (151) arranged along the first path direction; The first guide wheel (147) is rotatably connected to the first hinge point (145) and embedded in the first segment (151).

5. The tool feeding device according to claim 3, characterized in that, The second constraint structure includes: The constraint hole (15) further includes a second segment (152) arranged along the extension direction of the connecting part and a third segment (153) arranged along the second path direction, wherein the first segment (151), the second segment (152) and the third segment (153) are connected. The second guide wheel (148) is connected to the second hinge point (146) and is embedded in the constraint hole (15).

6. The tool feeding device according to claim 1, characterized in that, It also includes a third constraint structure (16) for constraining the second link (142) to the first path direction.

7. The knife-feeding device according to claim 1, characterized in that, The third constraint structure (16) includes: The constraint guide rail (161) is fixedly connected to the main body (11) of the device and arranged along the first path direction; The constraint slider (162) is slidably embedded in the constraint guide rail (161), and the constraint slider (162) is fixedly connected to the second connecting rod (142).

8. The knife-feeding device according to claim 1, characterized in that, It also includes a lifting mechanism (17) for driving the main body (11) of the device to rise and fall.

9. The knife-feeding device according to claim 1, characterized in that, The lifting mechanism (17) includes: Column (171); The lifting guide rail (172) is arranged along the length of the column (171); The sliding seat (173) is slidably connected to the lifting guide rail (172), and the main body (11) of the device is fixedly connected to the sliding seat (173). A driving structure is provided for driving the sliding seat (173) to slide along the extension direction of the lifting guide rail (172).

10. A chain-type tool magazine, characterized in that, It includes a chain-type tool storage compartment (30) and a tool feeding device as described in any one of claims 1-9.

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