Tool pouch falling prevention structure of tool magazine

Abstract

The invention discloses a tool pouch falling prevention structure of a tool magazine, which comprises a mounting frame, levers are rotatably arranged on two opposite sides of the mounting frame respectively, and a clamping jaw for clamping a tool pouch is arranged at one end of each lever; the variable-diameter cam is rotatably arranged at the end, away from the clamping jaw, of the lever through the reciprocating rotating mechanism, and the end, away from the clamping jaw, of the lever can be attached to the outer edge of the variable-diameter cam to move; the fixing frame is fixedly arranged below the mounting frame, and the roller shutter is horizontally arranged on the fixing frame in a curlable mode through a coil spring; a shaft support is coaxially arranged at the lower end of the reducing cam, hinge holes are symmetrically formed in the two opposite sides of the shaft support respectively, the first connecting rods are rotatably arranged at the two opposite ends of the fixing frame respectively, one end of each first connecting rod can reciprocate along the outer edge of the roller shutter, and the other end of each first connecting rod can reciprocate along the outer edge of the roller shutter. One end of the second connecting rod is hinged to the other end of the first connecting rod, and the other end is hinged to the hinge hole.

Description

Technical Field

[0001] This invention relates to the field of CNC machine tool magazine technology, specifically to a tool magazine anti-tool sleeve detachment structure. Background Technology

[0002] The tool magazine is a core functional component for CNC machine tools to achieve automated machining. As a key unit that carries the cutting tools, the clamping stability of the tool holder directly determines the operational safety and production efficiency of the machining system. During daily operation of the tool magazine and tool holder replacement, tool holder detachment is a frequent and serious malfunction. It can not only cause tool damage, collision damage to the machine tool spindle or tool magazine structure, but also lead to economic losses such as long-term downtime for maintenance and production interruption, and even threaten the personal safety of on-site operators.

[0003] During the tool holder replacement and docking with the robotic arm, the tool holder must be precisely installed onto the robotic arm or other support equipment. If an assembly error occurs (such as the tool holder not being fully engaged with the robotic arm fixture, or a docking positioning deviation), the tool holder will only be in a "virtual connection" state. In this case, when the drive cam unlocks the gripper, the gripping force of the gripper will be completely released, and the tool holder will lose all support and fall directly from the height of the tool magazine, causing a serious accident.

[0004] Therefore, providing a tool magazine anti-tool sleeve detachment structure with long service life and active secondary protection is a problem that this invention urgently needs to solve. Summary of the Invention

[0005] To address the aforementioned technical problems, the purpose of this invention is to overcome the need for precise installation of the tool holder onto the robotic arm or other supporting equipment during tool holder replacement and docking with the robotic arm. If assembly errors occur (such as the tool holder not being fully engaged with the robotic arm gripper, or docking positioning deviation), the tool holder is only in a "virtual connection" state. In this case, when the drive cam unlocks the gripper, the gripping force of the gripper is completely released, and the tool holder loses all support, causing it to fall directly from the tool magazine height, leading to a serious accident. Therefore, this invention provides a tool magazine anti-tool holder detachment structure with a long service life and active secondary protection.

[0006] To achieve the above objectives, the present invention provides a tool sleeve anti-detachment structure for a tool magazine, comprising: a mounting frame, wherein levers are rotatably provided on opposite sides of the mounting frame, and a gripper for holding the tool sleeve is provided at one end of each lever; a variable diameter cam and a reciprocating rotation mechanism, wherein the variable diameter cam is vertically rotatably mounted on the lever at the end away from the gripper via the reciprocating rotation mechanism, and the lever at the end away from the gripper can move against the outer edge of the variable diameter cam; a fixing frame and a roller shutter, wherein a fixing frame is fixedly provided below the mounting frame, and the roller shutter is horizontally retractable on the fixing frame via a coil spring; a first connecting rod and a second connecting rod, wherein a shaft support is coaxially provided at the lower end of the variable diameter cam, and hinge holes are symmetrically provided on opposite sides of the shaft support; a first connecting rod is rotatably provided at opposite ends of the fixing frame, one end of each first connecting rod can reciprocate along the outer edge of the roller shutter, and one end of the second connecting rod is hinged to the other end of the first connecting rod, and the other end is hinged to the hinge hole.

[0007] Preferably, each first link is rotatably provided with a first limiting slider at the end away from the shaft support, and a plurality of first limiting slide rails corresponding one-to-one with each first limiting slider are arranged parallel to the outer edge of the roller shutter.

[0008] Preferably, the variable diameter cam has a first ball groove recessed along its edge, and each lever has a ball head adapted to the first ball groove at one end near the variable diameter cam.

[0009] Preferably, the reciprocating rotation mechanism includes: a rotating shaft and a reciprocating rotation assembly, wherein the rotating shaft is vertically and rotatably mounted on the mounting frame via the reciprocating rotation assembly, and the variable diameter cam is coaxially and rotatably mounted on the rotating shaft.

[0010] Preferably, the reciprocating rotation assembly includes: a first incomplete gear, coaxially disposed on the upper end of the rotating shaft; a rotating cover and a first rotary drive motor, the rotating cover being rotatably mounted above the first incomplete gear via the first rotary drive motor; a second incomplete gear, coaxially disposed inside the rotating cover and capable of meshing with the first incomplete gear; and an incomplete gear ring, also coaxially disposed inside the rotating cover and capable of meshing with the first incomplete gear.

[0011] Preferably, a plurality of second limiting sliders are provided on the circumference of the rotating shaft along its length direction, and a second limiting groove corresponding to each of the second limiting sliders is coaxially provided inside the variable diameter cam. A plurality of second spherical slots adapted to the first spherical slot are also provided parallel on the circumference of the variable diameter cam, as well as a third spherical slot for connecting the first spherical slot with each of the second spherical slots. The mounting bracket is also provided with a lifting drive mechanism for driving the variable diameter cam to rise and fall.

[0012] Preferably, the lifting drive mechanism includes: a rotating frame, one end of which is rotatably mounted on a variable diameter cam; a second rotary drive motor and a lead screw, the lead screw being vertically and rotatably mounted on one side of the rotating frame via the second rotary drive motor, and its shaft being threadedly assembled with the other end of the rotating frame.

[0013] Preferably, the roller blind is a steel wire roller blind.

[0014] Preferably, the structure further includes a tension spring, with its opposite ends respectively fitted onto the side of each lever away from the gripper.

[0015] According to the above technical solution, the beneficial effects of this invention compared with the prior art are as follows: This application uses a variable diameter cam to drive the lever to swing and realize the clamping and unlocking of the gripper, replacing the traditional tension spring structure. This eliminates the defects of elastic decay and reduced elasticity after long-term use of the tension spring from the root, ensuring that the clamping force is stable and reliable for a long time, and the service life of the mechanical structure is far superior to that of the tension spring clamping mechanism. Under normal conditions, the gripper achieves mechanical self-locking through the cam profile limit, firmly clamping the tool holder and tool handle, and preventing loosening and falling off during daily operation. When changing tools and unlocking, the roller shutter unfolds synchronously with the rotation of the cam, forming a physical support barrier under the tool holder. Even if the tool holder is not successfully fastened to the robotic arm, it can be supported by the roller shutter, completely avoiding falling accidents, with extremely high safety redundancy.

[0016] Other features and advantages of the present invention will be described in detail in the following detailed description section; and all parts not covered in the present invention are the same as or can be implemented using the prior art. Attached Figure Description

[0017] The accompanying drawings are provided to further illustrate the invention and form part of the specification. They are used together with the following detailed description to explain the invention, but do not constitute a limitation thereof. In the drawings: Figure 1 This is a three-dimensional structure for preventing the tool sleeve from falling off, provided in a preferred embodiment of the present invention. Figure 1 ; Figure 2 This is a three-dimensional structure for preventing the tool sleeve from falling off, provided in a preferred embodiment of the present invention. Figure 2 ; Figure 3 yes Figure 2 Enlarged view of point A in the middle; Figure 4 This is a partial three-dimensional representation of the anti-tool sleeve detachment structure of the tool magazine provided in a preferred embodiment of the present invention. Figure 1 ; Figure 5 This is a partial three-dimensional representation of the anti-tool sleeve detachment structure of the tool magazine provided in a preferred embodiment of the present invention. Figure 2 ; Figure 6 This is a partial three-dimensional representation of the anti-tool sleeve detachment structure of the tool magazine provided in a preferred embodiment of the present invention. Figure 3 .

[0018] Explanation of reference numerals in the attached drawings: 1. Mounting bracket; 11. Lever; 12. Gripper; 13. Snap-fit ​​ball head; 2. Variable diameter cam; 21. Shaft support; 22. Hinge hole; 23. First spherical groove; 24. Second spherical groove; 25. Third spherical groove; 26. Second limiting slide groove; 3. Reciprocating rotation mechanism; 31. Rotating shaft; 311. Second limiting slider; 32. Reciprocating rotation assembly; 321. First incomplete gear; 322. Rotating cover; 323. First rotary drive motor; 324. Second incomplete gear; 325. Incomplete gear ring; 4. Fixing bracket; 41. Roller blind; 42. First limiting slide rail; 5. First connecting rod; 51. First limiting slider; 6. Second connecting rod; 7. Lifting drive mechanism; 71. Rotating frame; 72. Second rotary drive motor; 73. Lead screw; 8. Tension spring. Detailed Implementation

[0019] The specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are for illustration and explanation only and are not intended to limit the present invention.

[0020] In the description of the embodiments of this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," indicating orientation or positional relationships, are based on the orientation or positional relationships shown in the accompanying drawings, or the orientation or positional relationships commonly used when the product is in use. These are merely for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the invention. Furthermore, the terms "first," "second," and "third," etc., are only used for distinguishing descriptions and should not be construed as indicating or implying relative importance. Additionally, the terms "horizontal," "vertical," and "suspended," etc., do not indicate that the component is required to be absolutely horizontal or suspended, but can be slightly tilted. For example, "horizontal" simply means that its direction is more horizontal than "vertical," and does not mean that the structure must be completely horizontal, but can be slightly tilted.

[0021] In the description of the embodiments of the present invention, it should also be noted that, unless otherwise explicitly specified and limited, the terms "set," "install," "connect," and "link" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in the present invention according to the specific circumstances.

[0022] To further understand the features, technical means, and specific objectives and functions achieved by the present invention, the present invention will be described in further detail below with reference to the accompanying drawings and specific embodiments.

[0023] Reference Figures 1-4 A tool magazine anti-tool sheath detachment structure includes: a mounting frame 1, on which levers 11 are rotatably mounted on opposite sides, one end of each lever 11 having a gripper 12 for holding the tool sheath; a variable diameter cam 2 and a reciprocating rotation mechanism 3, the variable diameter cam 2 being vertically rotatably mounted on the end of the lever 11 away from the gripper 12 via the reciprocating rotation mechanism 3, the end of the lever 11 away from the gripper 12 being movable against the outer edge of the variable diameter cam 2; a fixing frame 4 and a roller shutter 41, with a fixed section below the mounting frame 1. A fixed frame 4 is provided, and the roller blind 41 is horizontally retractable on the fixed frame 4 by means of a coil spring; a first connecting rod 5 and a second connecting rod 6 are provided, and a shaft support 21 is coaxially provided at the lower end of the variable diameter cam 2. The shaft support 21 is symmetrically provided with hinge holes 22 on both sides. The fixed frame 4 is rotatably provided with the first connecting rod 5 at both ends. One end of each first connecting rod 5 can reciprocate along the outer edge of the roller blind 41. One end of the second connecting rod 6 is hinged to the other end of the first connecting rod 5, and the other end is hinged to the hinge hole 22.

[0024] This application uses a variable-diameter cam 2 to drive the lever 11 to swing, thereby achieving the clamping and unlocking of the gripper 12, replacing the traditional tension spring 8 structure. This fundamentally eliminates the defects of elasticity decay and reduced elasticity after long-term use of the tension spring 8, ensuring long-term stable and reliable clamping force. The service life of the mechanical structure is far superior to that of the tension spring 8 clamping mechanism. Under normal conditions, the gripper 12 achieves mechanical self-locking through cam contour limiting, firmly clamping the tool holder and tool handle, preventing loosening and falling off during daily operation. When unlocking for tool change, the roller shutter 41 unfolds synchronously with the rotation of the cam, forming a physical support barrier under the tool holder. Even if the tool holder is not successfully secured to the robotic arm, it can still... Supported by the roller shutter 41, the fall accident is completely avoided, with extremely high safety redundancy. Specifically, the reciprocating rotation mechanism 3 drives the variable diameter cam 2 to reciprocate, which in turn drives the lever 11 to swing to achieve the clamping and unlocking of the gripper 12. At the same time, it drives the shaft support 21 to reciprocate, which in turn drives the first link 5 to reciprocate through each second link 6, so that the roller shutter 41 can overcome the opening of the spring or retract with the action of the spring. Specifically, when the gripper 12 unlocks, the roller shutter 41 automatically opens and covers the bottom of the tool holder. When the gripper 12 clamps and resets, the roller shutter 41 retracts synchronously, without affecting the normal use of the tool magazine.

[0025] Reference Figure 4 and Figure 5 Each first link 5 is rotatably provided with a first limiting slider 51 at the end away from the shaft support 21, and a plurality of first limiting slide rails 42 corresponding one-to-one with each first limiting slider 51 are arranged parallel to the outer edge of the roller shutter 41.

[0026] This application provides precise linear guidance for the end of the first connecting rod 5 away from the shaft support 21 by one-to-one cooperation between the first limiting slider 51 and the first limiting slide rail 42, so as to eliminate the problems of incomplete unfolding and delayed retraction of the roller shutter 41 caused by motion deviation.

[0027] Reference Figure 3 The variable diameter cam 2 has a first ball groove recessed along its edge on its periphery, and each lever 11 has a ball head 13 adapted to the first ball groove near one end of the variable diameter cam 2.

[0028] The ball joint 13 of this application is embedded in the first ball joint groove, forming a double constraint in the circumferential and radial directions. This can effectively prevent the end of the lever 11 from jumping off or deviating from the profile of the variable diameter cam 2 under conditions of tool magazine rotation, machining vibration or impact. It ensures that the lever 11 always moves in contact with the cam profile, avoiding problems such as accidental unlocking / clamping of the pawl 12 and sudden drop in clamping force due to contact failure. This fundamentally improves the reliability of transmission and the stability of tool holder clamping.

[0029] Reference Figure 4The reciprocating rotation mechanism 3 includes a rotating shaft 31 and a reciprocating rotation assembly 32. The rotating shaft 31 is vertically and reciprocally rotatably mounted on the mounting frame 1 via the reciprocating rotation assembly 32. The variable diameter cam 2 is coaxially and rotatably mounted on the rotating shaft 31.

[0030] Reference Figure 6 The reciprocating rotation assembly 32 includes: The first incomplete gear 321 is coaxially provided on the upper end of the rotating shaft 31; A rotating cover 322 and a first rotary drive motor 323, wherein the rotating cover 322 is rotatably mounted over the first incomplete gear 321 via the first rotary drive motor 323; The second incomplete gear 324 is coaxially arranged inside the rotating cover 322 and can mesh with the first incomplete gear 321. An incomplete gear ring 325 is also coaxially disposed inside the rotating cover 322, which can mesh with the first incomplete gear 321.

[0031] This application uses a first rotary drive motor 323 to drive the rotating cover 322 to rotate, causing the first incomplete gear 321 to alternately mesh with the second incomplete gear 324 and the incomplete gear ring 325, thereby accurately realizing the reciprocating limit rotation of the rotating shaft 31, which in turn drives the variable diameter cam 2 to reciprocate, thereby driving the lever 11 to swing to realize the clamping and unlocking of the gripper 12, and simultaneously driving the shaft support 21 to reciprocate, so as to drive the first link 5 to reciprocate through each second link 6, thereby driving the roller shutter 41 to overcome the opening of the coil spring or to retract with the action of the coil spring.

[0032] Reference Figure 5 and Figure 6 The rotating shaft 31 has a plurality of second limiting sliders 311 arranged around its length. The variable diameter cam 2 has a second limiting groove 26 coaxially arranged inside, corresponding to each of the second limiting sliders 311. The variable diameter cam 2 also has a plurality of second spherical grooves 24 adapted to the first spherical groove 23, and a third spherical groove 25 for connecting the first spherical groove 23 with each of the second spherical grooves 24. The mounting bracket 1 is also provided with a lifting drive mechanism 7 for driving the variable diameter cam 2 to rise and fall.

[0033] This application combines the lifting drive mechanism 7 with the connection design of multiple spherical slots, enabling the variable-diameter cam 2 to achieve a multi-functional action of "rotational transmission + lifting switching" on the rotating shaft 31: the lifting drive mechanism 7 drives the variable-diameter cam 2 to rise and fall along the rotating shaft 31, allowing the cam profile and the engaging ball head 13 of the lever 11 to switch between spherical slots at different heights, such as the first / second spherical slot 24, to adapt to the clamping requirements of different specifications of tool holders; at the same time, the third spherical slot 25 provides a transition channel for slot switching, ensuring a smooth and stable switching process. This design can adapt to multiple specifications of tool holders without changing the cam, significantly improving the versatility and adaptability of the structure; only one second spherical slot 24 is shown in the figure, which can be adjusted according to the actual quantity required.

[0034] Reference Figure 4 The lifting drive mechanism 7 includes: Rotating frame 71, one end of which is rotatably mounted on the variable diameter cam 2; The second rotary drive motor 72 and the lead screw 73 are vertically and rotatably mounted on one side of the rotating frame 71 via the second rotary drive motor 72, and the lead screw 73 is threadedly assembled with the other end of the rotating frame 71.

[0035] In this application, the lead screw 73 and the rotating frame 71 are threaded together to form a precision transmission pair. By controlling the speed and angle of the motor, the lifting stroke of the rotating frame 71 can be precisely adjusted, thereby driving the variable diameter cam 2 to achieve millimeter-level height positioning along the rotating shaft 31. This drives the variable diameter cam 2 to rise and fall along the rotating shaft 31, so that the cam profile and the ball head 13 of the lever 11 are in spherical grooves at different heights, thereby completing the switching between the first and second spherical grooves 24 to adapt to the clamping requirements of different specifications of tool holders.

[0036] Reference Figure 4 The roller shutter 41 is specifically a steel wire roller shutter 41.

[0037] The steel wire roller blind 41 of this application adopts a high-strength steel wire woven or integrated structure. Compared with the traditional flexible polyurethane and fabric roller blind 41, its tensile strength and load-bearing capacity are greatly improved, and it can stably support the weight of the blade sleeve.

[0038] Reference Figure 4 The structure also includes a tension spring 8, with its two ends respectively fitted onto the side of each lever 11 away from the gripper 12.

[0039] The tension spring 8 of this application is sleeved at both ends on the side of the lever 11 away from the clamp 12, and provides a continuous and symmetrical auxiliary tension under normal conditions, so that the lever 11 always fits tightly against the outer edge of the variable diameter cam 2.

[0040] The specific workflow is as follows: I. Clamped State 1. The large-diameter end of the variable-diameter cam 2 engages with the snap-fit ​​ball head 13 at the end of the lever 11 through the first snap-fit ​​ball groove, causing the lever 11 to swing around the mounting frame 1 as the fulcrum. The two side grippers 12 tighten inward and engage with the tool holder annular groove through the inner anti-slip teeth, realizing the mechanical self-locking clamping of the tool holder. The two ends of the tension spring 8 are sleeved on the side of the lever 11 away from the grippers 12, providing continuous symmetrical auxiliary tension, so that the snap-fit ​​ball head 13 is always tightly attached to the first snap-fit ​​ball groove. The shaft support 21 is in the "clamping position" with the variable-diameter cam 2. The second connecting rod 6 pushes the first connecting rod 5, causing the first limiting slider 51 to slide along the first limiting slide rail 42, driving the steel wire roller shutter 41 to overcome the spring force and retract into the fixed frame 4, without interfering with the rotation of the tool magazine.

[0041] II. Unlocking the protection state while changing the tool. 1. After the tool change command is issued, the operator accurately installs the tool holder onto the robotic arm or other carrier equipment, and then controls the first rotary drive motor 323 to drive the rotating cover 322 to rotate, so that the first incomplete gear 321 disengages from the second incomplete gear 324 and then engages with the incomplete gear ring 325. The incomplete gear ring 325 drives the first incomplete gear 321 and the rotating shaft 31 to rotate in the opposite direction through meshing transmission. The variable diameter cam 2 rotates synchronously with the rotating shaft 31. Its large diameter end gradually disengages from the snap-fit ​​ball head 13 at the end of the lever 11, and its small diameter end engages with the snap-fit ​​ball head 13 at the end of the lever 11. The grippers 12 on both sides of the lever 11 open outward to unlock the clamping of the tool handle. At the same time, the tension spring 8 is slightly stretched to maintain the tendency to fit with the variable diameter cam 2. 2. When the variable diameter cam 2 rotates, the coaxial fixed shaft support 21 rotates synchronously in the opposite direction, pulling the second connecting rod 6 through the hinge holes 22 on both sides. The second connecting rod 6 drives the first connecting rod 5 to swing around the hinge point of the fixed frame 4. The end of the first connecting rod 5 away from the shaft support 21 moves precisely in a straight line along the first limit slide rail 42 through the first limit slider 51, pushing the steel wire roller shutter 41 to overcome the spring force and unfold horizontally, completely covering the area below the blade sleeve, forming a physical support barrier. If the blade sleeve is not tightly installed on the robotic arm, it will be supported by the high-strength steel wire roller shutter 41 when it falls, completely avoiding a falling accident.

[0042] III. Switching between different tool holder sizes 1. If it is necessary to change to a different specification of tool holder, such as switching from BT30 to BT40, the second rotary drive motor 72 starts, driving the lead screw 73 to rotate. The lead screw 73 and the rotating frame 71 are threaded together to form a precision transmission, driving the rotating frame 71 to rise and fall in the vertical direction. One end of the rotating frame 71 is sleeved on the variable diameter cam 2, driving the variable diameter cam 2 to rise and fall along the rotating shaft 31. The second limit slider 311 slides along the second limit groove 26 to provide precise guidance for the cam to rise and fall, avoiding circumferential rotation. During the rise and fall of the variable diameter cam 2, the locking ball head 13 switches from the first ball groove 23 at the current height to the second ball groove 24 that is compatible with the new tool holder specification through the third ball groove 25. The third ball groove 25 plays a smooth transition role to avoid jamming. 2. After the variable diameter cam 2 is raised and lowered to the position, the second rotary drive motor 72 stops, and the thread self-locking characteristic of the lead screw 73 locks the height of the rotating frame 71 to ensure that the variable diameter cam 2 is positioned stably. After the new specification tool holder is installed, the variable diameter cam 2 rotates in the opposite direction, and its large diameter end at the corresponding height lifts the lever 11. The chuck 12 tightens and clamps the new tool holder to achieve multi-specification adaptation.

[0043] The entire structure is coordinated and controlled by an industrial control computer.

[0044] The preferred embodiments of the present invention have been described in detail above with reference to the accompanying drawings. However, the present invention is not limited to the specific details of the above embodiments. Within the scope of the technical concept of the present invention, various simple modifications can be made to the technical solution of the present invention, and these simple modifications all fall within the protection scope of the present invention.

[0045] It should also be noted that the various specific technical features described in the above specific embodiments can be combined in any suitable manner without contradiction. In order to avoid unnecessary repetition, the present invention will not describe the various possible combinations separately.

[0046] Furthermore, various different embodiments of the present invention can be combined in any way, as long as they do not violate the spirit of the present invention, they should also be regarded as the content disclosed by the present invention.

Claims

1. A tool magazine anti-tool sleeve detachment structure, characterized in that, include: Mounting bracket (1), on which levers (11) are rotatably provided on opposite sides, and one end of the lever (11) is provided with a clamp (12) for clamping the knife sheath. The variable diameter cam (2) and the reciprocating rotation mechanism (3) are provided. The variable diameter cam (2) is vertically and rotatably mounted on the lever (11) away from the gripper (12) via the reciprocating rotation mechanism (3). The lever (11) away from the gripper (12) can move in contact with the outer edge of the variable diameter cam (2). The mounting frame (4) and the roller blind (41) are fixedly installed below the mounting frame (1). The roller blind (41) is horizontally retractable on the mounting frame (4) by means of a spring. The first link (5) and the second link (6) are coaxially provided with a shaft support (21) at the lower end of the variable diameter cam (2). The shaft support (21) is symmetrically provided with hinge holes (22) on both sides. The fixed frame (4) is rotatably provided with the first link (5) at both ends. One end of each first link (5) can reciprocate along the outer edge of the roller shutter (41). One end of the second link (6) is hinged to the other end of the first link (5), and the other end is hinged to the hinge hole (22).

2. The anti-tool sleeve detachment structure of the tool magazine according to claim 1, characterized in that, Each first link (5) is rotatably provided with a first limiting slider (51) at the end away from the shaft support (21), and a number of first limiting slide rails (42) corresponding one-to-one with each first limiting slider (51) are arranged parallel to the outer edge of the roller shutter (41).

3. The anti-tool sleeve detachment structure of the tool magazine according to claim 1, characterized in that, The variable diameter cam (2) has a first ball groove recessed along its edge on its periphery, and each lever (11) has a ball head (13) adapted to the first ball groove at one end near the variable diameter cam (2).

4. The anti-tool sleeve detachment structure of the tool magazine according to claim 1, characterized in that, The reciprocating rotation mechanism (3) includes a rotating shaft (31) and a reciprocating rotation assembly (32). The rotating shaft (31) is vertically and reciprocally rotatably mounted on the mounting frame (1) via the reciprocating rotation assembly (32). The variable diameter cam (2) is coaxially and rotatably mounted on the rotating shaft (31).

5. The anti-tool sleeve detachment structure of the tool magazine according to claim 4, characterized in that, The reciprocating rotation assembly (32) includes: The first incomplete gear (321) is coaxially provided on the upper end of the rotating shaft (31). A rotating cover (322) and a first rotary drive motor (323) are provided, wherein the rotating cover (322) is rotatably mounted above the first incomplete gear (321) via the first rotary drive motor (323); The second incomplete gear (324) is coaxially arranged inside the rotating cover (322) and can mesh with the first incomplete gear (321). An incomplete gear ring (325) is also coaxially arranged inside the rotating cover (322) and is capable of meshing with the first incomplete gear (321).

6. The anti-tool sleeve detachment structure of the tool magazine according to claim 4, characterized in that, The rotating shaft (31) is provided with a number of second limiting sliders (311) along its length. The variable diameter cam (2) is provided with a second limiting groove (26) coaxially corresponding to each second limiting slider (311). The variable diameter cam (2) is also provided with a number of second spherical grooves (24) that are adapted to the first spherical groove (23) and a third spherical groove (25) for connecting the first spherical groove (23) with each second spherical groove (24). The mounting bracket (1) is also provided with a lifting drive mechanism (7) for driving the variable diameter cam (2) to rise and fall.

7. The anti-tool sleeve detachment structure of the tool magazine according to claim 6, characterized in that, The lifting drive mechanism (7) includes: A rotating frame (71) is rotatably mounted on a variable diameter cam (2) at one end; The second rotary drive motor (72) and the lead screw (73) are vertically and rotatably mounted on one side of the rotating frame (71) via the second rotary drive motor (72), and the lead screw (73) is threadedly assembled with the other end of the rotating frame (71).

8. The anti-tool sleeve detachment structure of the tool magazine according to claim 1, characterized in that, The roller shutter (41) is specifically a steel wire roller shutter (41).

9. The anti-tool sleeve detachment structure of the tool magazine according to claim 1, characterized in that, The structure also includes a tension spring (8), with its two ends respectively fitted onto the side of each lever (11) away from the gripper (12).

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