Tool changing mechanism for gantry machining center

Abstract

The invention relates to the technical field of gantry machining equipment, and particularly provides a tool changing mechanism for a gantry machining center, which comprises a moving assembly, a clamping assembly and a tool changing assembly, the clamping assembly is used for clamping a cutter on the cutter bin frame; the moving assembly is connected with the clamping assembly and used for driving the clamping assembly to move. The tool changing assembly comprises a support structure and a fixing base. The fixing base is arranged on the support structure, a fixing groove is formed in the fixing base, and the fixing groove is upwards provided with an opening allowing the cutter to be inserted. The moving assembly is used for driving the clamping assembly to move to the position above the fixing groove of the tool changing assembly and enabling the clamping assembly to release the clamped tool into the fixing groove. The clamping assembly is driven by the moving assembly to automatically grab and carry the tools, automatic storage and exchange of the tools are completed in cooperation with the tool changing assembly, the tool changing efficiency of the gantry machining center is remarkably improved, and the labor intensity and the safety risk are reduced.

Description

A tool changing mechanism for a gantry machining center Technical Field

[0001] This invention belongs to the technical field of gantry machining equipment, specifically relating to a tool changing mechanism for a gantry machining center. Background Technology

[0002] Currently, in order to expand the machining capabilities of large vertical gantry machining centers, they are usually equipped with fully automatic side milling heads to realize the function of five-sided machining. Therefore, the tool magazine needs to meet the function of automatic exchange in both vertical and horizontal modes.

[0003] The existing vertical and horizontal automatic tool changing mechanisms in gantry machining centers still use the traditional chain-type tool magazine and tool arm, which is not only complex in structure and cumbersome in tool changing actions, but also time-consuming, has a low degree of automation, affects machining efficiency, and poses certain safety hazards. Gantry machining centers have high requirements for the reliability of tool positioning, clamping, and storage. In particular, when handling heavy and long-shank tools, the tool changing mechanism is prone to tool loosening or inaccurate positioning during storage and exchange, affecting the success rate of tool changing and subsequent machining accuracy. Summary of the Invention

[0004] (I) Technical problem to be solved The purpose of this invention is to overcome the shortcomings of the prior art and provide a tool changing mechanism for a gantry machining center with a high degree of automation and reliable tool fixing.

[0005] (II) Technical Solution The tool changing mechanism for a gantry machining center adopted by the present invention to solve its technical problem is characterized in that it includes a moving component, a clamping component and a tool changing component.

[0006] The clamping assembly is used to clamp the cutting tools on the tool holder.

[0007] The moving component is connected to the clamping component and is used to drive the clamping component to move.

[0008] The tool changing assembly includes a support structure and a fixed base; the fixed base is provided on the support structure, and the fixed base is provided with a fixing groove, the fixing groove having an opening facing upward for inserting the tool.

[0009] The moving component is used to drive the clamping component to move above the fixed slot of the tool changing component, and to cause the clamping component to release the clamped tool into the fixed slot.

[0010] A fixed limiting key is provided at the inner bottom of the fixed groove. The fixed limiting key is used to cooperate with the fixed keyway extending axially from the shank of the tool to limit the circumferential rotation of the tool.

[0011] The sidewall of the fixing groove is provided with a limiting protrusion, which is used to cooperate with the circumferential groove of the shank of the tool to restrict the axial movement of the tool.

[0012] Specifically, the cutting tool used in the gantry machining center includes a cutting head, a connecting part, and a shank connected in sequence. The shank has a conical structure, and the bottom surface of the cone is connected to the connecting part. A circumferential groove is provided at the connection between the shank and the connecting part. An axially extending fixing keyway is provided on the outer wall of the shank. The limiting protrusion matches the groove, and the fixing limiting key matches the fixing keyway.

[0013] Preferably, the fixing base is further provided with a first detection device, the detection head of the first detection device is arranged facing the inside of the fixing groove, and is used to detect whether the cutting tool is in the fixing groove.

[0014] Preferably, the fixing base includes two first base bodies and two second base bodies; the two first base bodies are symmetrically fixed to the bracket structure, and a first mounting groove is provided on one side of each of them; the two second base bodies are detachably disposed in the two first mounting grooves, and a half groove is provided on one side of each of them, and the two half grooves together form the fixing groove.

[0015] Preferably, a second mounting groove is provided between the two second seats, and the fixed limiting key is fixedly installed in the second mounting groove and partially extends into the fixed groove.

[0016] Specifically, the limiting key is provided with a mounting plate along the axial direction of the fixing groove, the mounting plate extends into the second mounting groove, and the first detection device is mounted on the mounting plate, that is, the first detection device is located in the second mounting groove to avoid exposure.

[0017] Preferably, the cross-section of the limiting protrusion is trapezoidal, wherein the base of the trapezoid is in contact with the inner wall of the fixing groove.

[0018] Preferably, the limiting protrusion is provided with a guide slope at the edge of the opening, and the guide slope slopes outward from the edge of the opening.

[0019] Preferably, the support structure includes a fixed support, a rotating support, and an adjusting motor; the rotating support is rotatably mounted on the fixed support, and the fixed base is mounted on the rotating support; the adjusting motor is mounted on the fixed support and is used to drive the rotating support to rotate relative to the fixed support.

[0020] The tool changing assembly further includes a drive mechanism for driving the fixed bracket to move. The drive mechanism includes a support frame, a base plate, a first drive motor, a first drive rack, a first slide rail, a second drive motor, a second drive rack, a second slide rail, a bottom bracket, and a hydraulic cylinder. The first drive motor and the second drive motor are both mounted on the base plate. The first drive rack is arranged on the support frame along a first direction. A first drive gear is mounted on the output shaft of the first drive motor, and the first drive gear meshes with the first drive rack.

[0021] The first slide rail is mounted on the support frame and is parallel to the first drive rack. The lower end of the base plate is provided with a first guide groove, which slides in cooperation with the first slide rail.

[0022] The second drive rack is disposed on the bottom bracket along a third direction, and a second drive gear is mounted on the output shaft of the second drive motor, the second drive gear meshing with the second drive rack.

[0023] The second slide rail is disposed on the base plate and parallel to the second drive rack. The lower end of the bottom bracket is provided with a second guide groove, which slides in cooperation with the second slide rail.

[0024] The hydraulic cylinder is mounted on the bottom support, and the moving end of the hydraulic cylinder is connected to the support structure.

[0025] The bottom support is also provided with a guide rail, and the fixed support is provided with a slide block, which is slidably connected to the guide rail.

[0026] Preferably, the clamping assembly includes a clamping block, a clamping ball, and an elastic element, wherein the elastic element is a spring, the clamping block is provided with a clamping groove, one end of the clamping groove is provided with a clamping opening for inserting the tool, and the other end is provided with a limiting groove coaxially connected to the clamping groove, the clamping ball is installed in the limiting groove area through the elastic element, and is configured to be at least partially embedded in the annular groove of the tool shank under the action of the elastic element, so as to achieve clamping.

[0027] Specifically, the cutting tool is placed on a tool holder, and the shank has a circumferential groove surrounding its conical tail end; correspondingly, the shape of the clamping groove matches the shape of the shank. The tail end of the shank has a frustum-shaped structure and a guide slope is formed towards the circumferential groove to guide the clamping ball smoothly through the tail end of the shank and clamp it with the circumferential groove.

[0028] During operation, the moving component moves the clamping component closer to the tool magazine holder, and the clamping opening of the clamping block faces the shank of the tool, so that the shank is inserted into the clamping groove from the clamping opening. The clamping ball cooperates with the elastic element, and engages with the annular groove through the tail end of the shank. The clamping ball and elastic element clamp the annular groove, resulting in a simple structure, convenient operation, and high working efficiency.

[0029] Preferably, the limiting groove is provided with a plurality of mounting grooves evenly spaced along its circumferential direction, and the clamping ball is movably mounted in the mounting groove through the elastic member. The elastic member abuts against the clamping ball so that the clamping ball partially extends out of the mounting groove and is clamped in the annular groove at the tail end of the tool.

[0030] Preferably, the clamping block is provided with a clamping limit key at the clamping opening, the clamping limit key is used to cooperate with the clamping keyway extending axially from the shank to limit the circumferential rotation of the tool.

[0031] Preferably, the tool changing mechanism for the gantry machining center further includes a second detection device. The limiting groove passes through the end of the clamping block away from the clamping port to form an installation port. The second detection device is inserted into the limiting groove from the installation port to detect whether the tool is in the clamping position.

[0032] Preferably, the moving component includes a first moving member, a second moving member, a third moving member, and a robotic arm assembly, and the clamping component is mounted on the robotic arm assembly.

[0033] The robotic arm assembly includes a main arm, a support arm, and a connecting base, with the support arm connected to the main arm via the connecting base.

[0034] The first moving component is used to drive the robotic arm assembly to move along a first direction.

[0035] The second movable component is used to drive the support arm and the connecting seat to move along the second direction.

[0036] The third moving component is used to drive the clamping assembly to move along a third direction.

[0037] Among them, the first direction, the second direction, and the third direction are perpendicular to each other, for example, they correspond to the X, Z, and Y directions of the machine tool coordinate system, respectively.

[0038] Preferably, the first moving component includes a base, a first motor, a first rack, and a first guide rail.

[0039] The robotic arm assembly and the first motor are mounted on the base. A first gear is mounted on the output shaft of the first motor, and the first rack is arranged along a first direction and meshes with the first gear.

[0040] The first guide rail is arranged parallel to the first rack, and the lower end of the base is provided with a first guide groove, which slides in conjunction with the first guide rail.

[0041] Preferably, the second moving component includes a second motor, a second rack, and a second guide rail.

[0042] The main arm is arranged along the second direction, the second rack is arranged on the main arm along the second direction, the second motor is arranged on the connecting seat, and a second gear is installed on the output shaft of the second motor, the second gear meshing with the second rack.

[0043] The second guide rail is arranged parallel to the second rack, and a second guide groove is provided on one side of the connecting seat, the second guide groove being slidably engaged with the second guide rail.

[0044] Preferably, the third moving component includes a third motor, a lead screw, and a third guide rail. The third motor and the lead screw are both mounted on the connecting seat, and the output shaft of the third motor is connected to the lead screw. A connecting block is provided on the support arm, and the connecting block is connected to the lead screw.

[0045] The third guide rail is arranged parallel to the lead screw, and a third guide groove is provided on one side of the support arm, which slides in conjunction with the third guide rail.

[0046] Preferably, the third moving component further includes a cylinder and a clamping guide rail disposed at the end of the support arm away from the main arm. The moving end of the cylinder moves along a third direction, and the moving end is connected to a connecting plate. The connecting plate is connected to a mounting base for mounting the clamping assembly.

[0047] The clamping guide rail is arranged parallel to the moving end, and the mounting base is provided with a clamping guide groove, which slides in conjunction with the clamping guide rail.

[0048] (III) Beneficial Effects Compared with the prior art, the tool changing mechanism in this invention has a high degree of automation. By driving the clamping component through the moving component to automatically grab and transport the tool, and cooperating with the tool changing component to complete the automatic storage and exchange of tools, the tool changing efficiency of the gantry machining center is significantly improved, and the labor intensity and safety risks are reduced.

[0049] Compared with the prior art, the tool changing mechanism in this invention is more reliable. The tool changing assembly's fixing seat uses a fixed limiting key that cooperates with the keyway of the tool shank to restrict circumferential rotation, and uses a side wall limiting protrusion that cooperates with the tool slot to restrict axial movement, thus achieving bidirectional reliable locking of the tool in the stored state and preventing loosening or falling off due to vibration or gravity.

[0050] Compared with existing technologies, the tool changing mechanism in this invention has a compact structure and good adaptability. The clamping assembly adopts a structure in which a clamping ball and an elastic element cooperate, which can adaptively clamp the annular groove of the tool shank with different size tolerances, and provide stable gripping. The first seat and the second seat form a fixed base, which adopts a split design, which is convenient for machining, assembly and maintenance, and can be adapted to different specifications of tools by replacing the second seat.

[0051] Compared with existing technologies, the tool changing mechanism in this invention offers high flexibility. The support structure of the tool changing assembly can be adjusted by rotating the fixed base via an adjustable motor and moving in multiple dimensions via a drive mechanism, facilitating the adjustment of the tool storage position and orientation, and enabling easy docking with the machine tool spindle or tool magazine, thereby improving the flexibility of tool changing path planning.

[0052] Compared with existing technologies, the tool changing mechanism in this invention offers superior safety. The inclusion of a first detection device and a second detection device monitors whether a tool is present in the fixing slot and whether the clamping assembly successfully holds the tool, thereby improving the controllability and safety of the entire tool changing process. Attached Figure Description

[0053] Figure 1 is an overall schematic diagram of the tool changing mechanism for a gantry machining center according to the present invention; Figure 2 is a schematic diagram of the combined structure of the tool magazine, clamping assembly, and moving assembly according to the present invention; Figure 3 is a schematic diagram of the combined structure of the clamping assembly and moving assembly according to the present invention; Figure 4 is a partial schematic diagram of the clamping assembly and moving assembly according to the present invention; Figure 5 is a cross-sectional schematic diagram of the clamping assembly according to the present invention; Figure 6 is a partial enlarged schematic diagram of point A in Figure 5 of the present invention; Figure 7 is an overall schematic diagram of the tool changing assembly according to the present invention (first); Figure 8 is an overall schematic diagram of the tool changing assembly according to the present invention (second); Figure 9 is a partial schematic diagram of the tool changing assembly according to the present invention; Figure 10 is an exploded schematic diagram of the fixed seat, fixed limiting key, and limiting protrusion according to the present invention (first); Figure 11 is an exploded schematic diagram of the fixed seat, fixed limiting key, and limiting protrusion according to the present invention (second).

[0054] In the diagram: 1-Moving component; 11-First moving part; 111-Base; 112-First motor; 113-First rack; 114-First guide rail; 12-Second moving part; 121-Second motor; 122-Second rack; 123-Second guide rail; 13-Third moving part; 131-Third motor; 132-Lead screw; 133-Third guide rail; 134-Cylinder; 135-Clamping guide rail; 136 137-Connecting plate; 14-Mounting base; 15-Robotic arm assembly; 16-Main arm; 17-Support arm; 18-Connecting seat; 19-Connecting block; 20-Clamping assembly; 21-Clamping block; 22-Clamping ball; 23-Elastic element; 24-Clamping groove; 25-Clamping opening; 26-Limiting groove; 27-Mounting groove; 28-Clamping limit key; 29-Second detection device; 30-Tool changer assembly; 31-Support structure 311-Fixed bracket; 312-Rotating bracket; 313-Adjusting motor; 314-Slide; 32-Fixed seat; 321-Fixed groove; 322-Fixed limit key; 323-Limit protrusion; 324-First seat; 325-Second seat; 326-First mounting groove; 327-Second mounting groove; 33-First detection device; 34-Drive mechanism; 341-Support frame; 342-Base plate; 34 3-First drive motor; 344-First drive rack; 345-First slide rail; 346-Second drive motor; 347-Second drive rack; 348-Second slide rail; 349-Bottom bracket; 350-Hydraulic cylinder; 351-Guide rail; 4-Cutting tool; 41-Stalk; 42-Fixing keyway; 43-Slot; 44-Clamping keyway; 45-Annular groove; 46-Connecting part; 47-Cutting head; 5-Tool magazine holder. Detailed Implementation

[0055] 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. Example 1

[0056] Referring to Figures 1-6 and 9, the present invention provides a tool changing mechanism for a gantry machining center, including a moving component 1, a clamping component 2, and a tool changing component 3. A tool 4 for the gantry machining center is placed on a tool holder 5, and the tool changing component 3 is located at the gantry machining center. The clamping component 2 is used to clamp the tool 4 on the tool holder 5. The moving component 1 is connected to the clamping component 2 and is used to drive the clamping component 2 to move. The tool changing component 3 includes a support structure 31 and a fixed base 32; the fixed base 32 is provided on the support structure 31, and the fixed base 32 is provided with a fixing groove 321, the fixing groove 321 having an upward-facing opening for the tool 4 to be inserted. The moving component 1 is used to drive the clamping component 2 to move from the tool holder 5 to above the fixing groove 321 of the tool changing component 3, and to cause the clamping component 2 to release the clamped tool 4 into the fixing groove 321. A fixing limit key 322 is provided at the inner bottom of the fixing groove 321. The fixing limit key 322 is used to cooperate with the fixing keyway 42 extending axially from the shank 41 of the tool 4 to restrict the circumferential rotation of the tool 4. A limiting protrusion 323 is provided on the side wall of the fixing groove 321. The limiting protrusion 323 is used to cooperate with the retaining groove 43 surrounding the shank 41 of the tool 4 to restrict the axial movement of the tool 4.

[0057] Referring to Figure 9, specifically, the cutting tool 4 used in the gantry machining center is placed on the tool holder 5. The cutting tool 4 includes a cutting head 47, a connecting part 46, and a shank 41 connected in sequence. The shank 41 has a conical structure, and the bottom surface of the cone is connected to the connecting part 46. A circumferential groove 43 is provided at the connection between the shank 41 and the connecting part 46. An axially extending fixing keyway 42 is provided on the outer wall of the shank 41. The limiting protrusion 323 matches the groove 43, and the fixing limiting key 322 matches the fixing keyway 42.

[0058] During operation, the clamping assembly 2 and the moving assembly 1 cooperate to remove the tool 4 from the tool holder 5. The moving assembly 1 drives the clamping assembly 2 to move above the fixing slot 321 of the tool changing assembly 3, and the clamping assembly 2 releases the clamped tool 4 into the fixing slot 321. Since the fixing limit key 322 cooperates with the fixing keyway 42, and the limiting protrusion 323 cooperates with the retaining groove 43, after the clamping assembly 2 places the tool 4 in the fixing slot 321, the moving assembly 1 drives the clamping assembly 2 to move, and the tool 4 is restricted and fixed within the fixing slot 321, thus separating the clamping assembly 2 from the tool 4. The fixing limit key 322 at the bottom of the fixing slot 321 cooperates with the fixing keyway 42 of the tool 4, effectively limiting the circumferential rotation of the tool 4; the limiting protrusion 323 on the side wall of the fixing slot 321 cooperates with the retaining groove 43 of the tool 4, effectively limiting the axial movement of the tool 4. This two-way limiting method ensures the stability of the tool 4 during storage or while waiting for a tool change.

[0059] Referring to Figures 5 and 6, preferably, the clamping assembly 2 includes a clamping block 21, a clamping ball 22, and an elastic element 23. The elastic element 23 is a spring. The clamping block 21 is provided with a clamping groove 24. One end of the clamping groove 24 is provided with a clamping opening 25 for inserting the tool 4, and the other end is provided with a limiting groove 26 coaxially connected to the clamping groove 24. The clamping ball 22 is installed in the limiting groove 26 area through the elastic element 23 and is configured to be at least partially embedded in the annular groove 45 of the handle 41 of the tool 4 under the action of the elastic element 23 to achieve clamping.

[0060] Referring to Figure 9, specifically, the shank 41 of the tool 4 has a circumferentially surrounding an annular groove 45 near its conical tail end; correspondingly, the shape of the clamping groove 24 matches the shape of the shank 41. The tail end of the shank 41 has a frustum-shaped structure with a guide slope forming towards the annular groove 45, used to guide the clamping ball 22 smoothly through the tail end of the shank 41 and clamp it with the annular groove 45.

[0061] During operation, the moving component 1 moves the clamping component 2 closer to the tool magazine 5, and the clamping opening 25 of the clamping block 21 faces the shank 41 of the tool 4, so that the shank 41 is inserted into the clamping groove 24 from the clamping opening 25. When the annular groove 45 of the shank 41 moves to align with the clamping ball 22, it is engaged in the annular groove 45 under the action of the elastic element 23. The annular groove 45 is clamped by the clamping ball 22 and the elastic element 23, which has a simple structure, is easy to operate, and has high working efficiency.

[0062] Referring to Figures 5 and 6, preferably, the limiting groove 26 is provided with a plurality of mounting grooves 27 evenly spaced along its circumferential direction, and the clamping ball 22 is movably mounted in the mounting groove 27 by the elastic member 23. The elastic member 23 abuts against the clamping ball 22 so that the clamping ball 22 partially extends out of the mounting groove 27 and is clamped in the annular groove 45 at the tail end of the cutter 4.

[0063] The mounting groove 27 is designed so that the spring and the clamping ball 22 are evenly spaced around the annular groove 45 to clamp the tool 4, ensuring the stability of the clamping and preventing the tool 4 from tilting or even falling out in the clamping groove 24.

[0064] Referring to Figures 5 and 6, preferably, a clamping limit key 28 is provided at the clamping opening 25 of the clamping block 21. The clamping limit key 28 is used to cooperate with the clamping keyway 44 extending axially from the shank 41 to limit the circumferential rotation of the tool 4.

[0065] The clamping limit key 28 and the clamping keyway 44 cooperate to restrict the circumferential rotation of the tool 4, which helps to further improve the stability of the clamping groove 24 in clamping the tool 4. Restricting the circumferential rotation of the tool 4 also helps the moving component 1 to insert the tool 4 into the fixing groove 321 of the tool changing component 3 at the gantry machining center.

[0066] Referring to Figure 5, preferably, the tool changing mechanism for the gantry machining center further includes a second detection device 29. The limiting groove 26 passes through the end of the clamping block 21 away from the clamping port 25 to form an installation port. The second detection device 29 is inserted into the limiting groove 26 from the installation port to detect whether the tool 4 is in the clamping position. The second detection device 29 is a photoelectric sensor.

[0067] When the second detection device 29 detects that there is no tool 4 in the clamping groove 24, it will issue an alarm to remind the operator to reoperate the moving component 1 to clamp the tool 4. The second detection device 29 is used to detect whether the tool 4 is in the clamping position, and can determine whether the tool 4 is in the clamping groove 24 and the limiting groove 26. This is helpful in determining whether the tool 4 is carried along during the movement of the moving component 1 towards the gantry machining center after the tool retrieval action, avoiding the problem of an empty tool affecting tool changing. The built-in second detection device 29 can provide real-time feedback on the position status of the tool 4, facilitating fully automatic tool changing process control. The entire clamping structure is compact and easy to install at the end of the moving component 1.

[0068] The clamping process is as follows: When the moving component 1 places the clamping block 21 onto the shank 41 of the tool 4, the conical surface at the tail end of the shank 41 first contacts the clamping ball 22 and presses it inward into the mounting groove 27, compressing the spring. When the tool 4 is inserted into place, and the annular groove 45 of its shank 41 moves to a position aligned with the clamping ball 22, the restoring force of the spring pushes the clamping ball 22 into the annular groove 45, achieving radial locking. At the same time, the clamping limit key 28 slides into the clamping keyway 44 to prevent the tool 4 from rotating. At this time, the photoelectric sensor detects that the tool 4 is in place and sends a signal to allow the moving component 1 to perform the next operation. The mechanical locking method in this structure, which uses a spring to push the clamping ball 22 into the standard annular groove 45 of the tool 4, is simple in structure, reliable in action, stable in clamping force, and effectively prevents the tool from falling off. The cooperation between the clamping limit key 28 and the clamping keyway 44 of the tool 4 completely restricts the circumferential rotation of the tool 4, ensuring the angular positioning accuracy of the tool 4 and helping to ensure the machining quality.

[0069] Referring to Figure 2, preferably, the moving component 1 includes a first moving part 11, a second moving part 12, a third moving part 13 and a robotic arm component 14, and the clamping component 2 is mounted on the robotic arm component 14.

[0070] Referring to Figures 2-3, the robotic arm assembly 14 includes a main arm 141, a support arm 142, and a connecting seat 143. The support arm 142 is connected to the main arm 141 through the connecting seat 143.

[0071] The first moving component 11 is used to drive the robotic arm assembly 14 to move along a first direction.

[0072] The second moving member 12 is used to drive the support arm 142 and the connecting seat 143 to move along the second direction.

[0073] The third moving component 13 is used to drive the clamping assembly 2 to move in a third direction.

[0074] The moving component 1 also includes a control system, which controls the operation of the first moving part 11, the second moving part 12 and the third moving part 13.

[0075] Referring to Figures 1-3, in this embodiment, the first direction is the X-axis direction, the second direction is the Z-axis direction, and the third direction is the Y-axis direction.

[0076] Preferably, the first moving member 11 is used to enable the entire moving assembly 1 to move over a wide range of distances along the transverse direction (first direction, X direction) of the machine tool. The first moving member 11 includes a base 111, a first motor 112, a first rack 113, and a first guide rail 114.

[0077] The robotic arm assembly 14 and the first motor 112 are mounted on the base 111. A first gear is mounted on the output shaft of the first motor 112, and a first rack 113 is arranged along a first direction and meshes with the first gear. The first rack 113 extends along the first direction from the tool magazine 5 to the tool changer assembly 3 of the gantry machining center.

[0078] The first guide rail 114 is arranged parallel to the first rack 113, and the lower end of the base 111 is provided with a first guide groove, which slides in engagement with the first guide rail 114. Driven by the first motor 112, the entire moving assembly 1 can be precisely positioned laterally along the first rack 113.

[0079] Referring to Figure 3, preferably, the second moving member 12 is used to drive the connecting seat 143 and the support arm 142 to move vertically (second direction, Z direction) along the main arm 141. The second moving member 12 includes a second motor 121, a second rack 122 and a second guide rail 123.

[0080] The main arm 141 is arranged along the second direction, the second rack 122 is arranged on the main arm 141 along the second direction, the second motor 121 is arranged on the connecting seat 143, and a second gear is installed on the output shaft of the second motor 121, the second gear meshing with the second rack 122.

[0081] The second guide rail 123 is arranged parallel to the second rack 122, and a second guide groove is provided on one side of the connecting seat 143, which slides in cooperation with the second guide rail 123.

[0082] Driven by the second motor 121, the connecting seat 143, together with the support arm 142, can move up and down along the main arm 141.

[0083] Referring to Figures 3 and 4, preferably, the third moving member 13 is used to drive the support arm 142 to move along its own axial direction (third direction, Y direction). The third moving member 13 includes a third motor 131, a lead screw 132, and a third guide rail 133. The third motor 131 and the lead screw 132 are both mounted on the connecting seat 143. The output shaft of the third motor 131 is connected to the lead screw 132. The support arm 142 is provided with a connecting block 144, which is connected to the lead screw 132. The connecting block 144 and the lead screw 132 are connected by a threaded pair.

[0084] The third guide rail 133 is arranged parallel to the lead screw 132, and a third guide groove is provided on one side of the support arm 142. The third guide groove is slidably engaged with the third guide rail 133.

[0085] The third motor 131 drives the lead screw 132 to rotate, which in turn drives the support arm 142 to move horizontally.

[0086] Referring to Figures 3 and 4, preferably, at the end of the support arm 142 away from the main arm 141, an extension of the third moving member 13 is installed for finally driving the clamping structure. That is, the third moving member 13 also includes a cylinder 134 and a clamping guide rail 135 disposed at one end of the support arm 142 away from the main arm 141. The moving end of the cylinder 134 moves along a third direction, and the moving end is connected to a connecting plate 136. The connecting plate 136 is connected to the mounting base 137 for mounting the clamping assembly 2.

[0087] Referring to Figure 4, the clamping guide rail 135 is arranged parallel to the moving end, and the mounting base 137 is provided with a clamping guide groove, which slides in cooperation with the clamping guide rail 135.

[0088] When the cylinder 134 is activated, it can drive the entire clamping block 21 to make small horizontal micro-movements along the clamping guide rail 135, which is used to perform final precision alignment with the tool changing position of the gantry machining center or to perform insertion and removal actions during tool changing.

[0089] Workflow: Tool Retrieval: The control system instructs the first moving component 11, the second moving component 12, and the third moving component 13 to move the clamping block 21 at the end of the support arm 142 to the front of the target tool 4 in the tool magazine 5. The cylinder 134 extends, driving the clamping block 21 to enclose and clamp the shank 41 of the tool 4. The second detection device 29 confirms successful retrieval.

[0090] Tool transport: The moving parts of the moving assembly 1 move in opposite directions to remove the tool 4 from the tool magazine 5 and move it to the tool changing assembly 3 of the gantry machining center.

[0091] Tool loading: The moving component 1 is finely adjusted to align the clamped tool 4 with the fixing groove 321 of the fixing seat 32 at the tool changing position, the fixing limit key 322 is aligned with the fixing keyway 42, and the limiting protrusion 323 is aligned with the slot 43. The cylinder 134 is activated to push the tool 4 into the fixing groove 321, the fixing limit key 322 engages with the fixing keyway 42, and the limiting protrusion 323 engages with the slot 43; then the cylinder 134 of the moving component 1 drives the clamping block 21 to move, causing the clamping component 2 to move along the axial direction of the tool 4. The clamping ball 22 retracts under external thrust, overcoming the spring force, while the tool 4 is engaged by the limiting protrusion 323 and the fixing limit key 322, causing the clamping block 21 to separate from the tool 4.

[0092] Return: The moving parts of the moving component 1 move, causing the clamping block 21 to exit the tool changing area and return to the standby position or to perform the next round of tool retrieval operation.

[0093] The drive system employs a combination of gear-rack and motor-lead screw 132, used for long-distance rapid movement and short-distance precise positioning respectively. Combined with a high-rigidity guide rail system, this ensures the smoothness, repeatability, and load capacity of the moving component 1 in three-dimensional space. Example 2

[0094] Referring to Figures 1 and 7-11, the present invention provides a tool changing mechanism for a gantry machining center, including a moving component 1, a clamping component 2, and a tool changing component 3. The cutting tool 4 for the gantry machining center is placed on a tool holder 5, and the tool changing component 3 is located at the gantry machining center.

[0095] The clamping assembly 2 is used to clamp the cutting tool 4 on the tool magazine 5.

[0096] The moving component 1 is connected to the clamping component 2 and is used to drive the clamping component 2 to move.

[0097] The tool changing assembly 3 includes a support structure 31 and a fixed base 32; the fixed base 32 is provided on the support structure 31, and the fixed base 32 is provided with a fixing groove 321, the fixing groove 321 having an opening facing upward for the tool 4 to be inserted.

[0098] The moving component 1 is used to drive the clamping component 2 to move from the tool magazine 5 to above the fixing slot 321 of the tool changing component 3, and to cause the clamping component 2 to release the clamped tool 4 into the fixing slot 321.

[0099] Referring to Figures 10 and 11, a fixing limit key 322 is provided at the inner bottom of the fixing groove 321. The fixing limit key 322 is used to cooperate with the fixing keyway 42 extending axially from the shank 41 of the tool 4 to restrict the circumferential rotation of the tool 4. The fixing limit key 322 is typically a cuboid or prism-shaped protrusion whose shape matches the axial fixing keyway 42 on the shank 41 of the standard tool 4. When the tool 4 is inserted into place, the fixing keyway 42 of its shank 41 precisely engages with the fixing limit key 322, thereby preventing the tool 4 from rotating within the fixing groove 321.

[0100] Referring to Figures 10 and 11, the sidewall of the fixing groove 321 is provided with the limiting protrusion 323. The limiting protrusion 323 is used to cooperate with the circumferentially surrounding groove 43 of the shank 41 of the tool 4 to restrict the axial movement of the tool 4. The cross-section of the limiting protrusion 323 is trapezoidal, wherein the base of the trapezoid is connected to the inner wall of the fixing groove 321, and the inclined surface of the trapezoid acts as a guide, facilitating the tool 4 to slide past the limiting protrusion 323 during insertion into the groove 43. When the tool 4 is inserted to the position where the groove 43 is aligned with the limiting protrusion 323, under gravity or a slight external force, the limiting protrusion 323 engages with the groove 43, thereby preventing the tool 4 from coming out upward or falling downward, achieving axial locking. The trapezoidal structure also provides sufficient strength. The limiting protrusion 323 is provided with a guiding inclined surface at the edge of the opening, and the guiding inclined surface slopes outward from the edge of the opening.

[0101] Referring to Figure 9, specifically, the cutting tool 4 includes a cutting head 47, a connecting part 46, and a shank 41 connected in sequence. The shank 41 has a conical structure, and the bottom surface of the cone is connected to the connecting part 46. A circumferential groove 43 is provided at the connection between the shank 41 and the connecting part 46. An axially extending fixing keyway 42 is provided on the outer wall of the shank 41. The limiting protrusion 323 matches the groove 43, and the fixing limiting key 322 matches the fixing keyway 42.

[0102] During operation, the clamping assembly 2 and the moving assembly 1 cooperate to remove the tool 4 from the tool holder 5. The moving assembly 1 drives the clamping assembly 2 to move above the fixing slot 321 of the tool changing assembly 3, and the clamping assembly 2 releases the clamped tool 4 into the fixing slot 321. Since the fixing limit key 322 cooperates with the fixing keyway 42, and the limiting protrusion 323 cooperates with the retaining groove 43, after the clamping assembly 2 places the tool 4 in the fixing slot 321, the moving assembly 1 drives the clamping assembly 2 to move, and the tool 4 is restricted and fixed within the fixing slot 321, thus separating the clamping assembly 2 from the tool 4. The fixing limit key 322 at the bottom of the fixing slot 321 cooperates with the fixing keyway 42 of the tool 4, effectively limiting the circumferential rotation of the tool 4; the limiting protrusion 323 on the side wall of the fixing slot 321 cooperates with the retaining groove 43 of the tool 4, effectively limiting the axial movement of the tool 4. This two-way limiting method ensures the stability of the tool 4 during storage or while waiting for a tool change.

[0103] Referring to Figures 10 and 11, the fixing base 32 adopts a split structure for ease of processing, assembly, and maintenance. Specifically, the fixing base 32 includes two first base bodies 324 and two second base bodies 325; the two first base bodies 324 are symmetrically fixed to the bracket structure 31, and a first mounting groove 326 is provided on one side of each of them; the two second base bodies 325 are respectively embedded in the two first mounting grooves 326 and are detachably connected by fasteners such as screws, and each of them has a half-groove on one side of each of them, which is a quarter-circle groove or a half-V-shaped groove. The two half-grooves together form the fixing groove 321. When the two second base bodies 325 are installed in place, their half-grooves are exactly opposite each other, together forming a complete cylindrical or prismatic fixing groove 321. This structure simplifies the processing of the fixing groove 321 and facilitates the replacement of second base bodies 325 of different specifications to accommodate different types of cutting tools 4.

[0104] Referring to Figure 11, the installation position of the fixed limiting key 322 has also been optimized. After the two second seats 325 are closed, a second mounting groove 327 is naturally formed or specially machined in the bottom area of ​​the fixing groove 321. The fixed limiting key 322 can be firmly installed in this second mounting groove 327 by means of interference fit, screw fixing or bonding, etc., and its working part protrudes from the bottom surface of the second mounting groove 327 and extends into the fixing groove 321 to cooperate with the fixed keyway 42 on the tool 4.

[0105] Referring to Figures 10 and 11, to improve the automation and safety of the tool changing process, a first detection device 33 is also provided on the fixed base 32. The first detection device 33 can be a contact limit switch, a proximity sensor, or a photoelectric sensor, etc. The detection head of the first detection device 33 is positioned facing the inside of the fixed groove 321 to detect whether the tool 4 is in the fixed groove 321.

[0106] Referring to Figure 11, specifically, the body of the first detection device 33 is located outside the fixed base 32; the fixed limiting key 322 is provided with a mounting plate along the axial direction of the fixed groove 321, the mounting plate extends into the second mounting groove 327, and the detection head of the first detection device 33 is mounted on the mounting plate, that is, the detection head of the first detection device 33 is located in the second mounting groove 327 and faces the internal space of the fixed groove 321. When a tool 4 is inserted into the fixed groove 321 and reaches the correct position, the shank 41 of the tool 4 will trigger the detection head, and the first detection device 33 will send a positioning signal to the machine tool control system; when the tool 4 is removed, the first detection device 33 sends a no-tool signal. This provides key status feedback for the automated tool changing process of the machine tool.

[0107] Working principle: During tool change, the moving component 1 drives the clamping component 2 to move to the tool change component 3 of the gantry machining center. The moving component 1 drives the clamping component 2 to align the tool 4 with the opening of the fixing groove 321 of the fixed seat 32. Guided by the guide slope, the shank 41 of the tool 4 is inserted into the fixing groove 321. During insertion, the fixing keyway 42 of the shank 41 of the tool 4 slides down along the fixing limit key 322 to achieve circumferential pre-positioning; at the same time, the slot 43 of the shank 41 of the tool 4 slides over the trapezoidal limiting protrusion 323. When the tool 4 reaches the bottom limiting position, the slot 43 is exactly aligned with the limiting protrusion 323. Under gravity or slight vibration, the limiting protrusion 323 engages with the slot 43, completing axial locking. At this time, the first detection device 33 is triggered, sending a "tool present" signal to the system.

[0108] Referring to Figure 9, the support structure 31 serves as the support and motion foundation for the entire device. The support structure 31 includes a fixed support 311, a rotating support 312, and an adjusting motor 313. The rotating support 312 is rotatably mounted on the fixed support 311 via bearings or a rotating shaft, and the fixed seat 32 is mounted on the rotating support 312. The adjusting motor 313 is mounted on the fixed support 311, and its output end is connected to the rotating support 312 via a reducer or other transmission components. It drives the rotating support 312, together with the fixed seat 32, to rotate relative to the fixed support 311 within a certain angle range to adjust the orientation of the fixing groove 321, adapting to different tool changing positions and simultaneously meeting the needs of automatic tool changing in both vertical and horizontal modes.

[0109] Referring to Figures 7 and 8, to increase the flexibility of tool changing, the tool changing assembly 3 is also equipped with a drive mechanism 34 for adjusting the position of the entire support structure 31 and the fixed base 32. The drive mechanism 34 includes a support frame 341, a base plate 342, a first drive motor 343, a first drive rack 344, a first slide rail 345, a second drive motor 346, a second drive rack 347, a second slide rail 348, a bottom support 349, and a hydraulic cylinder 350. The first drive motor 343 drives the base plate 342 and its components along a first direction via the first drive gear and the first drive rack 344. The second drive motor 346 drives the bottom support 349 and its components along a third direction via the second drive gear and the second drive rack 347. The cylinder body of the hydraulic cylinder 350 is fixed to the bottom support 349, and its piston rod is connected to the fixed support 311, driving the fixed support 311 to move along a third direction. The slide 314 at the bottom of the fixed bracket 311 slides in conjunction with the guide rail 351 on the bottom bracket 349 to ensure smooth movement. The fixed base 32 can be moved in multiple dimensions by the drive mechanism 34, which can meet the needs of automatic tool changing in both vertical and horizontal modes.

[0110] Referring to Figures 7 and 8, in this embodiment, the first direction is the X-axis direction in the figures, and the third direction is the Y-axis direction in the figures.

[0111] The above are merely preferred embodiments of the present invention. It should be noted that those skilled in the art can make various improvements and modifications without departing from the technical principles of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A tool changing mechanism for a gantry machining center, characterized in that, The assembly includes a moving component (1), a clamping component (2), and a tool changing component (3); the clamping component (2) is used to clamp the tool (4) on the tool holder (5); the moving component (1) is connected to the clamping component (2) and is used to drive the clamping component (2) to move; the tool changing component (3) includes a support structure (31) and a fixed seat (32); the fixed seat (32) is provided on the support structure (31), and the fixed seat (32) is provided with a fixing groove (321), the fixing groove (321) having an upward opening for the tool (4) to be inserted; the moving component (1) is used to drive the clamping component (2) to move to the tool changing assembly. The clamping assembly (2) releases the clamped tool (4) into the clamping groove (321) above the fixing groove (321); a fixing limit key (322) is provided at the bottom of the fixing groove (321), which is used to cooperate with the fixing keyway (42) extending axially from the shank (41) of the tool (4) to restrict the circumferential rotation of the tool (4); a limiting protrusion (323) is provided on the side wall of the fixing groove (321), which is used to cooperate with the circumferentially surrounding groove (43) of the shank (4) of the tool (4) to restrict the axial movement of the tool (4).

2. The tool changing mechanism for a gantry machining center according to claim 1, characterized in that, The fixing base (32) is also provided with a first detection device (33), the detection head of the first detection device (33) is set facing the inside of the fixing groove (321) and is used to detect whether the cutting tool (4) is in the fixing groove (321).

3. The tool changing mechanism for a gantry machining center according to claim 1, characterized in that, The fixing base (32) includes two first base bodies (324) and two second base bodies (325); the two first base bodies (324) are symmetrically fixed on the bracket structure (31), and a first mounting groove (326) is provided on one side opposite to the first base body (324); the two second base bodies (325) are detachably disposed in the two first mounting grooves (326), and a half groove is provided on one side opposite to the second base body (325), and the two half grooves together form the fixing groove (321).

4. The tool changing mechanism for a gantry machining center according to claim 3, characterized in that, A second mounting groove (327) is provided between the two second seats (325), and the fixed limiting key (322) is fixedly installed in the second mounting groove (327) and partially extends into the fixed groove (321).

5. The tool changing mechanism for a gantry machining center according to claim 1, characterized in that, The support structure (31) includes a fixed support (311), a rotating support (312), and an adjusting motor (313); the rotating support (312) is rotatably mounted on the fixed support (311), and the fixed seat (32) is mounted on the rotating support (312); the adjusting motor (313) is mounted on the fixed support (311) and is used to drive the rotating support (312) to rotate relative to the fixed support (311).

6. The tool changing mechanism for a gantry machining center according to claim 1, characterized in that, The clamping assembly (2) includes a clamping block (21), a clamping ball (22), and an elastic element (23). The clamping block (21) is provided with a clamping groove (24). One end of the clamping groove (24) is provided with a clamping port (25) for inserting the cutting tool (4), and the other end is provided with a limiting groove (26) coaxially connected with the clamping groove (24). The clamping ball (22) is installed in the limiting groove (26) area through the elastic element (23) and is configured to be at least partially embedded in the annular groove (45) of the handle (41) of the cutting tool (4) under the action of the elastic element (23) to achieve clamping.

7. A tool changing mechanism for a gantry machining center according to claim 6, characterized in that, The limiting groove (26) is provided with a plurality of mounting grooves (27) evenly spaced along its circumferential direction. The clamping ball (22) is movably mounted in the mounting groove (27) through the elastic member (23). The elastic member (23) abuts against the clamping ball (22) so that the clamping ball (22) partially extends out of the mounting groove (27) and is clamped in the annular groove (45) at the tail end of the cutter (4).

8. A tool changing mechanism for a gantry machining center according to claim 6, characterized in that, The clamping block (21) has a clamping limit key (28) at the clamping port (25). The clamping limit key (28) is used to cooperate with the clamping keyway (44) extending axially from the shank (41) to limit the circumferential rotation of the tool (4).

9. A tool changing mechanism for a gantry machining center according to claim 6, characterized in that, It also includes a second detection device (29), wherein the limiting groove (26) passes through the end of the clamping block (21) away from the clamping port (25) to form an installation port, and the second detection device (29) is inserted into the limiting groove (26) from the installation port to detect whether the tool (4) is in the clamping position.

10. A tool changing mechanism for a gantry machining center according to claim 1, characterized in that, The moving component (1) includes a first moving part (11), a second moving part (12), a third moving part (13), and a robotic arm assembly (14). The clamping assembly (2) is mounted on the robotic arm assembly (14). The robotic arm assembly (14) includes a main arm (141), a support arm (142), and a connecting seat (143). The support arm (142) is connected to the main arm (141) through the connecting seat (143). The first moving part (11) is used to drive the robotic arm assembly (14) to move along a first direction. The second moving part (12) is used to drive the support arm (142) and the connecting seat (143) to move along a second direction. The third moving part (13) is used to drive the clamping assembly (2) to move along a third direction.

11. A tool changing mechanism for a gantry machining center according to claim 10, characterized in that, The first moving part (11) includes a base (111), a first motor (112), a first rack (113), and a first guide rail (114); the robotic arm assembly (14) and the first motor (112) are mounted on the base (111), a first gear is mounted on the output shaft of the first motor (112), the first rack (113) is arranged along a first direction and meshes with the first gear; the first guide rail (114) is arranged parallel to the first rack (113), and a first guide groove is provided at the lower end of the base (111), the first guide groove is slidably engaged with the first guide rail (114).

12. A tool changing mechanism for a gantry machining center according to claim 10, characterized in that, The second moving part (12) includes a second motor (121), a second rack (122), and a second guide rail (123); the main arm (141) is arranged along a second direction, the second rack (122) is arranged on the main arm (141) along the second direction, the second motor (121) is arranged on the connecting seat (143), a second gear is installed on the output shaft of the second motor (121), and the second gear meshes with the second rack (122); the second guide rail (123) is arranged parallel to the second rack (122), and a second guide groove is provided on one side of the connecting seat (143), and the second guide groove slides in cooperation with the second guide rail (123).

13. A tool changing mechanism for a gantry machining center according to claim 10, characterized in that, The third moving part (13) includes a third motor (131), a lead screw (132), and a third guide rail (133). The third motor (131) and the lead screw (132) are both mounted on the connecting seat (143). The output shaft of the third motor (131) is connected to the lead screw (132). A connecting block (144) is provided on the support arm (142), and the connecting block (144) is connected to the lead screw (132). The third guide rail (133) is arranged parallel to the lead screw (132). A third guide groove is provided on one side of the support arm (142), and the third guide groove is slidably engaged with the third guide rail (133).

14. A tool changing mechanism for a gantry machining center according to claim 13, characterized in that, The third moving part (13) further includes a cylinder (134) and a clamping guide rail (135) disposed at the end of the support arm (142) away from the main arm (141). The moving end of the cylinder (134) moves along a third direction. The moving end is connected to a connecting plate (136). The connecting plate (136) is connected to a mounting base (137) for mounting the clamping assembly (2). The clamping guide rail (135) is arranged parallel to the moving end. The mounting base (137) is provided with a clamping guide groove. The clamping guide groove slides in cooperation with the clamping guide rail (135).

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