A synchronous linkage loosing tool magazine tool taking mechanism

Abstract

The present application relates to the technical field of tool magazine tool taking, and particularly relates to a synchronous linkage tool releasing tool magazine tool taking mechanism, which comprises a tool changing mechanism, a tool changing arm, a tool magazine and a tool sleeve mounted on the tool magazine, the tool changing arm is provided with a safety pin, the tool magazine is provided with a tool releasing block corresponding to the position of the safety pin, and the tool magazine is provided with a connecting rod mechanism at the end of the tool sleeve; the connecting rod mechanism comprises a swing arm, and the swing arm is divided into a force receiving section and a driving section; in the process of translation of the tool changing mechanism towards a tool changing point, the tool releasing block pushes the safety pin to drive the tool changing arm to perform a tool releasing action, and at the same time, the tool changing mechanism drives the swing arm to rotate, thereby converting the linear motion of the tool changing mechanism into the axial movement of the tool releasing shaft on the tool sleeve, and when the tool changing arm completes a tool clamping action, the tool sleeve synchronously realizes tool releasing. The present application realizes the synchronous completion of the tool clamping action and the tool releasing action, eliminates the invalid waiting time after the completion of the tool clamping for waiting for the tool releasing of the tool sleeve, and shortens the tool changing period, thereby improving the tool changing efficiency.

Description

Technical Field

[0001] This invention relates to the field of tool magazine retrieval technology, and in particular to a tool magazine retrieval mechanism with synchronous linkage tool release. Background Technology

[0002] The automatic tool changer used in existing machining centers and CNC machine tools typically employs the following action flow when performing the tool magazine retrieval action: The tool changer moves towards the tool change point. During the approach to the tool change point, the tool changer arm is passively triggered by the tool release block set on the tool magazine to release the tool, so that the tool changer arm completes the tool locking action of the corresponding tool in the tool magazine. After the tool locking is completed, an independent drive mechanism drives the tool holder to perform the tool release action. Only after the tool holder is released into position can the tool changer perform the tool removal action, finally completing the retrieval of the tool from the tool magazine.

[0003] However, the tool-releasing action of the tool-changing arm relies on the translational movement of the tool-changing mechanism to be passively achieved, while the tool-releasing action of the tool holder is controlled by a separate drive mechanism. The two belong to different power sources and have separate action sequences. After the tool-changing arm completes the tool locking, it must wait for the tool holder to be released before it can pull out the tool, resulting in invalid waiting time and directly reducing the tool-changing efficiency. Moreover, independent drive is prone to asynchronous tool release and tool jamming risks. Even if electronic control synchronization is adopted, there are still pain points such as electrical faults and time delays. Summary of the Invention

[0004] This invention provides a tool magazine retrieval mechanism with synchronous linkage tool release, which can effectively solve the problems in the background art.

[0005] To achieve the above objectives, the technical solution adopted by the present invention is as follows:

[0006] A tool magazine retrieval mechanism with synchronous linkage tool release includes a tool changing mechanism, a tool changing arm, a tool magazine, and a tool sleeve installed on the tool magazine. The tool changing arm is provided with a safety pin, and the tool magazine is provided with a tool release block at the position corresponding to the safety pin.

[0007] The tool magazine is equipped with a linkage mechanism at the end of the tool sleeve; the linkage mechanism includes a swing arm, which is divided into a force-receiving section and a driving section.

[0008] During the translation of the tool changing mechanism toward the tool changing point, the tool release block pushes against the safety top pin to drive the tool changing arm to perform the tool release action. At the same time, the tool changing mechanism is linked to the rotation of the swing arm, which converts the linear translation action of the tool changing mechanism into the axial movement action of the tool release shaft on the tool sleeve. When the tool changing arm completes the tool locking action, the tool sleeve simultaneously releases the tool.

[0009] Furthermore, the swing arm is rotatably connected to the tool magazine body via a rotating shaft;

[0010] The tool changing mechanism acts on the force-bearing section of the swing arm, driving the swing arm to rotate;

[0011] The rotating swing arm acts on the tool release shaft of the tool holder through the drive section, driving the tool release shaft to move axially.

[0012] Furthermore, the tool changing mechanism is provided with a first push rod, the axis of which is parallel to the translation direction of the tool changing mechanism;

[0013] When the tool changing mechanism translates, the first push rod is used to push against the force-bearing section of the swing arm.

[0014] Furthermore, along the translational direction of the tool changing mechanism, the effective tool release trigger distance between the tool release block and the safety pin covers the driving distance of the first push rod on the force-bearing section of the swing arm.

[0015] Furthermore, a driving component is provided on the housing of the tool changing mechanism at the assembly position corresponding to the first push rod;

[0016] An angle sensor is installed at the position of the rotating shaft, and a displacement sensor is provided at the end of each of the two grippers of the tool changing arm away from the tool locking groove. The driving component is simultaneously connected to the angle sensor and the displacement sensor.

[0017] The displacement sensor is used to detect the opening angle signal of the two grippers, and the angle sensor is used to detect the rotation angle signal of the swing arm; the drive component can adjust the extension and retraction of the first push rod according to the real-time progress signals of the rotation angle and the opening angle.

[0018] Furthermore, the force-bearing section and the driving section of the swing arm are arranged at a certain angle around the rotation axis;

[0019] In the initial state, the force-bearing section of the swing arm is tilted around the axis toward the tool changing mechanism, while the drive section is tilted around the axis away from the tool release axis.

[0020] Furthermore, the tail of the blade sheath is provided with a second push rod, which is adjustablely disposed in the drive section of the swing arm along its own axis, and the axis of the second push rod is perpendicular to the working surface of the drive section.

[0021] Furthermore, the drive section of the swing arm is provided with a strip-shaped hole at the installation position of the second top rod; the strip-shaped hole is arranged along the extension direction from the center of the rotating shaft to the free end of the drive section.

[0022] Furthermore, a roller is provided at the end of the tool release shaft that extends out of the tool sleeve;

[0023] The drive section of the swing arm acts directly on the roller, or the drive section acts indirectly on the roller through the second push rod.

[0024] Furthermore, the linkage mechanism also includes a reset elastic element and a baffle, the reset elastic element and the baffle being located on both sides of the drive section of the swing arm, respectively;

[0025] The reset elastic element is used to drive the swing arm to rotate in the opposite direction to reset, and the baffle is used to limit the reverse rotation stroke of the swing arm so that the swing arm can be reset to the initial position.

[0026] The technical solution of this invention can achieve the following technical effects:

[0027] This invention, through mechanical linkage design, fully couples the two actions of tool changing arm loosening and tool locking, and tool holder loosening, into the same translation stroke of the tool changing mechanism. This achieves synchronous completion of the tool locking and tool releasing actions, eliminates the invalid waiting time for the tool holder to loosen after tool locking, and ensures that the tool retrieval process is free of redundancy and interruption, shortening the tool changing cycle and improving tool changing efficiency. Attached Figure Description

[0028] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0029] Figure 1 A first-view structural diagram of the tool magazine retrieval mechanism for synchronous tool release;

[0030] Figure 2 A second-view structural diagram of the tool magazine retrieval mechanism for synchronous tool release;

[0031] Figure 3 for Figure 2 A magnified view of part A;

[0032] Figure 4 This is a schematic diagram showing the positions of the swing arm and the tool sheath in their initial state.

[0033] Figure 5 This is a schematic diagram showing the positions of the tool changing mechanism, the swing arm, and the tool holder in the initial state.

[0034] Figure 6 for Figure 5 A magnified view of section B;

[0035] Figure 7 This is a schematic diagram showing the drive mechanism of the tool changer, the swing arm, and the tool holder when the tool is engaged.

[0036] Figure 8 for Figure 7 A magnified view of a portion of point C.

[0037] Reference numerals in the attached drawings: 1. Tool changing mechanism; 2. Tool changing arm; 21. Safety pin; 22. Tool release block; 3. Tool sleeve; 31. Tool release shaft; 4. Linkage mechanism; 41. Swing arm; 411. Force-bearing section; 412. Drive section; 42. Rotating shaft; 5. First push rod; 6. Drive component; 7. Displacement sensor; 8. Second push rod; 9. Roller; 10. Reset elastic element; 11. Baffle. Detailed Implementation

[0038] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments.

[0039] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used in this specification is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0040] like Figures 1-8 As shown, this application provides a tool magazine retrieval mechanism with synchronous linkage tool release, including a tool changing mechanism 1, a tool changing arm 2, a tool magazine and a tool sleeve 3 installed on the tool magazine. The tool changing arm 2 is provided with a safety top pin 21, and the tool magazine is provided with a tool release block 22 at the position corresponding to the safety top pin 21.

[0041] The tool magazine is equipped with a linkage mechanism 4 at the end of the tool holder 3; the linkage mechanism 4 includes a swing arm 41, which is divided into a force-bearing section 411 and a driving section 412.

[0042] During the translation of the tool changing mechanism 1 toward the tool changing point, the tool release block 22 pushes against the safety top pin 21 to drive the tool changing arm 2 to perform the tool release action. At the same time, the tool changing mechanism 1 is linked to the linkage mechanism 4 to operate. The linkage mechanism 4 converts the linear translation action of the tool changing mechanism 1 into the axial movement action of the tool release shaft 31 on the tool sleeve 3. When the tool changing arm 2 completes the tool locking action, the tool sleeve 3 simultaneously releases the tool.

[0043] When the CNC system issues a tool-retrieving command, the tool changing mechanism 1 moves in a uniform linear motion along a preset straight path toward the tool changing point of the tool magazine. As the tool changing mechanism 1 continues to move toward the tool changing point and enters the preset trigger stroke range, the safety pin 21 on the tool changing arm 2 interacts with the tool release block 22 of the tool magazine. The tool release block 22 passively triggers the safety pin 21, causing the tool changing arm 2 to complete the tool release action. The tool changing arm 2 successfully engages the target tool in the tool magazine. Meanwhile, the tool changing mechanism 1 is synchronously linked to the linkage mechanism 4, which converts the linear translation of the tool changing mechanism 1 into the rotation of the linkage mechanism 4. The linkage mechanism 4 further drives the tool release shaft 31 of the tool sleeve 3 to move axially, thus releasing the tool from the tool sleeve 3.

[0044] At the same moment that the tool changing arm 2 completes the tool locking action, the linkage mechanism 4 is driven to the end of its stroke, and the tool release shaft 31 moves axially to the tool release position, and the tool locking mechanism of the tool holder 3 is fully unlocked. After the tool locking and release are synchronized, the tool changing mechanism 1 can directly perform the tool pulling action without any waiting time, driving the tool changing arm 2 to smoothly pull the tool out of the tool holder 3, completing the entire tool magazine retrieval action. After the tool is retrieved, the tool changing mechanism 1 moves in the reverse direction, and the linkage mechanism 4 and the tool release shaft 31 automatically reset, preparing for the next tool locking and tool changing action.

[0045] The tool changing mechanism 1 of this invention drives the tool changing arm 2 to move by translation. At the same time, with the cooperation of the tool release block 22 and the safety pin 21, the tool changing arm 2 passively releases and locks the tool. During this process, the tool changing mechanism 1 uses the translation energy to directly link the linkage mechanism 4 to provide power for the tool holder 3 to release the tool, realizing the single power synchronously driving the double tool release action. Through the mechanical linkage design, the two actions of tool changing arm 2 releasing and locking the tool and tool holder 3 releasing the tool are completely coupled in the same translation stroke of the tool changing mechanism 1, realizing the synchronous completion of the locking and releasing actions. This eliminates the invalid waiting time for the tool holder 3 to release the tool after locking the tool. The tool removal process is free of redundancy and interruption, shortens the tool changing cycle, and improves the tool changing efficiency.

[0046] In this scheme, the swing arm 41 is rotatably connected to the tool magazine body through the rotating shaft 42, and the swing arm 41 rotates about the rotating shaft 42 as the center. The tool changing mechanism 1 acts on the force-bearing section 411 of the swing arm 41, driving the swing arm 41 to rotate. The rotating swing arm 41 acts on the tool release shaft 31 of the tool sleeve 3 through the driving section 412, driving the tool release shaft 31 to move axially, and the rotation stroke of the swing arm 41 covers the axial tool release stroke of the tool release shaft 31.

[0047] During installation, the force-bearing section 411 of the swing arm 41 is aligned with the translation trajectory of the tool changing mechanism 1 to ensure that the tool changing mechanism 1 can stably act on the force-bearing section 411 during translation. The rotation stroke of the swing arm 41 and the swing trajectory of the drive section 412 must match the axial tool release stroke of the tool release shaft 31 to ensure that when the tool changing arm 2 engages the tool, the swing arm 41 drives the tool release shaft 31 to the fully released position, avoiding incomplete or excessive tool release.

[0048] The present invention adopts a transmission form in which the swing arm 41 rotates around the fixed axis 42, which can efficiently convert the linear translational force of the tool changing mechanism 1 into the axial power of the tool releasing shaft 31. The transmission loss is minimal, ensuring that the single power of the tool changing mechanism 1 can simultaneously drive the double tool releasing action, and the tool releasing response is faster.

[0049] Since the translational stroke of the tool changing mechanism 1 is limited after the tool changing arm 2 is engaged, it is no longer possible to obtain sufficient displacement of the drive arm 41 through translation. Therefore, as a preferred method, the tool changing mechanism 1 is provided with a first push rod 5, the axis of which is parallel to the translational direction of the tool changing mechanism 1.

[0050] When the tool changing mechanism 1 translates, the first push rod 5 is used to push against the force-bearing section 411 of the swing arm 41. By extending the axial length of the tool changing mechanism 1, the first push rod 5 compensates for the pushing displacement that the tool changing mechanism 1 body cannot provide. Without modifying the translation limit stroke of the tool changing mechanism 1, the swing arm 41 can be driven to complete the entire tool release stroke at the same time as the tool changing arm 2 is in place. It should be noted that the first push rod 5 can be adjusted on the tool changing mechanism 1 by bolts, and the axial length of its extension can be adjusted according to the tool release stroke.

[0051] More preferably, along the translational direction of the tool changing mechanism 1, the effective tool release trigger distance between the tool release block 22 and the safety pin 21 covers the driving distance of the first push rod 5 to the force-bearing section 411 of the swing arm 41. It should be noted that the effective tool release trigger distance refers to the linear travel distance of the tool changing mechanism 1 from when the tool begins to enter the locking groove of the tool changing arm 2 to the termination position where the tool changing arm 2 completes the tool locking action; while the driving distance refers to the linear travel distance of the tool changing mechanism 1 from the initial position where the front end of the first push rod 5 first contacts the force-bearing section 411 of the swing arm 41 and begins to drive the swing arm 41 to rotate, to the termination position where the first push rod 5 pushes the swing arm 41 to the extreme swing position, the tool release shaft 31 is fully in place, and the tool sleeve 3 release action is completed.

[0052] During the movement of the tool changing mechanism 1, the tool changing arm 2 releases the tool first, allowing sufficient time for the tool to enter the slot, ensuring that the tool is engaged in the locking slots of the two grippers. As the tool changing mechanism 1 continues to drive the tool changing arm 2 to move horizontally, it enters the starting point of the effective tool release trigger distance. The tool gradually penetrates into the locking slot of the tool changing arm 2. Throughout the entire tool engagement process, the tool changing arm 2 remains in a released state. When the tool changing arm 2 is about to complete the tool engagement, the tool changing mechanism 1 synchronously drives the linkage mechanism 4 to release the tool sleeve 3. Through the timing control of the tool changing arm 2 releasing the tool first and the tool sleeve 3 releasing the tool later, it is ensured that the tool sleeve 3 will only start to release the tool after the tool changing arm 2 has started to release the tool and the grippers have opened and covered the tool holder. When the tool sleeve 3 is fully released, the tool changing arm 2 has formed a stable clamp on the tool. From a timing logic perspective, this completely eliminates the time window of the tool being suspended without clamping, fundamentally eliminating the safety hazard of the tool falling and greatly improving the safety of equipment operation.

[0053] As a preferred embodiment of the present invention, a drive component 6 is provided on the housing of the tool changing mechanism 1 at the assembly position corresponding to the first push rod 5; an angle sensor is installed at the position of the rotating shaft 42, and a displacement sensor 7 is provided at the end of each of the two grippers of the tool changing arm 2 away from the locking groove; the drive component 6 is simultaneously connected to the angle sensor and the displacement sensor 7.

[0054] The displacement sensor 7 is used to detect the opening angle signal of the two grippers, and the angle sensor is used to detect the rotation angle signal of the swing arm 41; the drive unit 6 can control the extension and retraction of the first push rod 5 according to the real-time progress signals of the rotation angle and the opening angle.

[0055] In this embodiment, the drive component 6 is preferably a servo electric actuator or a miniature servo cylinder, but a precision cylinder with displacement feedback can also be used. Its built-in controller can receive sensor signals and output telescopic control commands, achieving a telescopic adjustment accuracy of 0.01mm, fully meeting the fine-tuning requirements of synchronous timing. The angle sensor is a miniature rotary encoder or a Hall effect angle sensor, providing real-time feedback on the rotation status of the swing arm 41 without delay. The displacement sensor 7 is a miniature Hall effect displacement sensor or a laser displacement sensor, enabling non-contact detection. The selection of the drive component 6, angle sensor, and displacement sensor 7 is determined according to actual needs and includes, but is not limited to, the above-mentioned options.

[0056] Specifically, in the initial state, the swing arm 41 is reset to the initial angle, the angle sensor is zeroed and the initial reference value is calibrated, and the displacement sensor 7 completes zero-point calibration; the two displacement sensors 7 collect the relative displacement data of the two grippers of the tool changing arm 2 in real time, convert it into the gripper opening angle in real time, and continuously send the real-time progress signal of the tool changing arm 2 engaging the tool to the controller of the drive component 6; the angle sensor collects the rotation angle data of the rotating shaft 42 in real time, converts it into the rotation angle of the swing arm 41, and then converts it into the axial displacement of the tool release shaft 31 through the preset transmission ratio, and continuously sends the real-time progress signal of the tool sleeve 3 releasing the tool to the controller of the drive component 6.

[0057] When the displacement sensor 7 detects that the opening angle of the gripper has reached the first preset progress, it sends a corresponding progress signal to the drive unit 6. After receiving the signal, the drive unit 6 controls the first push rod 5 to extend axially along the first preset stroke, pushing the swing arm 41 to rotate around the rotating shaft 42. The angle sensor collects the rotation angle of the swing arm 41 in real time and feeds it back to the drive unit 6. When the detected value reaches the corresponding progress, the drive unit 6 immediately stops the extension action of the first push rod 5. At this time, the axial displacement of the release shaft 31 has not reached the position of unlocking the tool holder, and the tool sleeve 3 still effectively clamps the tool holder.

[0058] When the displacement sensor 7 detects that the opening angle of the gripper has reached a point close to the completion of the tool locking process, the angle sensor indicates that the rotation angle of the swing arm 41 does not exceed the pre-release safety upper limit threshold. At this stage, even if the tool changing mechanism 1 moves to near the end of the tool locking process, the movement distance of the release shaft 31 is still insufficient to completely release the tool sleeve 3. The tool holder is always effectively clamped by the tool sleeve 3, completely eliminating the risk of premature tool release and drop. After the drive component 6 receives the tool locking completion signal, the release shaft 31 moves axially to the fully released position, and the tool sleeve 3 is simultaneously released into position at the instant the tool locking is completed.

[0059] The displacement sensor 7 and angle sensor monitor the tool changing arm 2's tool engagement progress and the tool sleeve 3's tool release progress in real time, causing the drive component 6 to adjust the extension and retraction of the first push rod 5, thereby dynamically adjusting the triggering timing and advancing speed of the tool sleeve 3's tool release. Specifically, the drive component 6 compares the feedback signals from the displacement sensor 7 and the angle sensor in real time. If the rotation progress of the swing arm 41 is ahead of the opening progress of the gripper, it immediately controls the first push rod 5 to retract slightly, reducing the rotation speed of the swing arm 41. If the rotation progress of the swing arm 41 is behind, it immediately controls the first push rod 5 to extend slightly to compensate for the stroke, ensuring that the tool sleeve 3's tool release progress always follows the tool engagement progress.

[0060] In addition, if abnormalities such as jamming or signal jumps are detected in the opening angle of the gripper or the rotation angle of the swing arm 41, the drive unit 6 immediately controls the first push rod 5 to reset to a safe position, and at the same time sends a stop signal to the CNC system to terminate the tool changing process and avoid major accidents such as machine collision and tool holder breakage.

[0061] In the preferred structure of the present invention, the force-bearing section 411 and the driving section 412 of the swing arm 41 are arranged at a certain angle around the rotating shaft 42. In the initial state, the force-bearing section 411 of the swing arm 41 is inclined towards the tool changing mechanism 1 around the rotating shaft 42, so that the force-bearing surface corresponds to the first push rod 5 of the tool changing mechanism 1, while the driving section 412 is inclined away from the tool release shaft 31 around the rotating shaft 42, and a safety gap is reserved between it and the end face of the tool release shaft 31.

[0062] Through the translation of the tool changing mechanism 1, the pushing force acts directly on the outer force-bearing surface of the force-bearing section 411, driving the swing arm 41 to rotate around the rotating shaft 42. During the rotation and swing of the swing arm 41 around the rotating shaft 42, the driving section 412, which was originally inclined away from the tool release shaft 31, gradually approaches the end face of the tool release shaft 31 as the swing arm 41 rotates, until it is completely in contact with the end face of the tool release shaft 31. As the swing arm 41 continues to rotate, the driving section 412 converts the rotational swing motion of the swing arm 41 into the axial linear movement motion of the tool release shaft 31, driving the tool release shaft 31 to move smoothly in the tool release direction.

[0063] In this invention, when the drive section 412 rotates to be perpendicular to the axial extension line of the release shaft 31, the tool sleeve 3 is in a fully released action. However, during installation, there may be deviations in the installation position of the rotating shaft 42 and the distance the release shaft 31 moves to release the tool. When the drive section 412 rotates to the set release drive state, the tool sleeve 3 may not release the tool completely. Therefore, in order to avoid the impact of the incomplete release of the tool sleeve 3 on the tool changing arm 2 to remove the tool, as a preferred structure, the tail of the tool sleeve 3 is provided with a second push rod 8. The second push rod 8 is adjustablely set in the drive section 412 of the swing arm 41 along its own axial direction, and the axis of the second push rod 8 is perpendicular to the working surface of the drive section 412.

[0064] Specifically, during equipment assembly or maintenance, the stroke calibration of the second push rod 8 is completed in advance. Based on the actual installation position of the rotating shaft 42, the actual swing stroke of the swing arm 41, and the actual tool release position requirement of the tool release shaft 31, the locking nut is loosened, the second push rod 8 is rotated to adjust its axial extension length, and after calibration, the locking nut is tightened to lock the position, ensuring that when the swing arm 41 rotates to the set maximum swing angle, the tool release shaft 31 can be pushed to the fully released position by the second push rod 8, thus compensating for all assembly and processing deviations in advance.

[0065] By adjusting the bidirectional extension length of the second push rod 8, the effective pushing stroke of the drive section 412 of the swing arm 41 on the tool release shaft 31 is changed. This compensates for minor positional deviations during the assembly of the swing arm 41 and the tool holder 3, reducing assembly precision requirements and eliminating the need for repeated fine-tuning. It ensures that when the swing arm 41 reaches the set rotation position, the tool release shaft 31 is exactly at the fully released position, fundamentally eliminating the problem of incomplete tool release and ensuring a safe and smooth tool removal action. Furthermore, during tool removal, the second push rod 8 cooperates with the first push rod 5. The front first push rod 5 compensates for the trigger stroke of the swing arm 41, while the rear second push rod 8 compensates for the tool release stroke, forming bidirectional full-stroke compensation. This solves the problem of matching the entire process of the tool engagement stroke and the tool release stroke.

[0066] As a preferred embodiment of the above scheme, the drive section 412 of the swing arm 41 is provided with a strip hole at the installation position of the second push rod 8; the strip hole is arranged along the extension direction from the center of the rotating shaft 42 to the free end of the drive section 412.

[0067] The second push rod 8 is rigidly fixed on the drive section 412 by clamping and locking it to the two sides of the strip hole of the drive section 412 with two sets of locking nuts. After loosening the locking nuts, the installation position of the second push rod 8 is adjusted along the length of the drive section 412, and the coaxiality of the second push rod 8 and the tool release shaft 31 is calibrated to ensure that when the swing arm 41 rotates to the set end position of complete tool release, the pushing force reaches its peak and is transmitted axially along the tool release shaft 31, forming a pure axial force transmission, avoiding power loss caused by component force, and using less driving force to complete the tool sleeve 3 release, reducing the load on the tool changing mechanism 1 and improving the overall transmission efficiency.

[0068] In this invention, the swing arm 41 swings in an arc around the rotating shaft 42, and its driving section 412 moves along an arc trajectory rather than a straight line. If the second push rod 8 acts directly on the tool release shaft 31, before the tool sleeve 3 is fully released, in addition to generating an effective axial tool release force, a harmful radial lateral force will also be generated. Although the single lateral force is small, the tool release shaft 31 is a slender shaft. In the cyclic load accumulation of high-frequency tool changing on the machine tool, the tool release shaft 31 will be continuously squeezed by the lateral force, causing slight bending and axial deviation, which will lead to plastic deformation and transmission jamming of the tool release shaft 31, and finally lose the tool release function. Therefore, preferably, in order to reduce the influence of the radial lateral force on the tool release shaft 31, a roller 9 is provided at the end of the tool sleeve 3 where the tool release shaft 31 extends out of the tool sleeve 3. The driving section 412 of the swing arm 41 acts directly on the roller 9, or the driving section 412 acts indirectly on the roller 9 through the second push rod 8.

[0069] When the tool holder 3 releases its tool, the swing arm 41 rotates around the shaft 42 under driving force. Simultaneously, the driving section 412 of the swing arm 41 pushes the second push rod 8. The actuating end of the second push rod 8 transmits axial pushing force to the tool release shaft 31 through the roller 9. During this process, the lateral offset generated by the arc swing of the swing arm 41 is completely converted into the rolling torque of the roller 9. No lateral force acts on the tool release shaft 31 throughout the entire process; the tool release shaft 31 is only subjected to a pure axial load without any bending stress, thus completely eliminating the risk of bending deformation. It should be noted that in the initial state, the actuating end of the second push rod 8 is located above the roller 9.

[0070] In this invention, the linkage mechanism 4 further includes a reset elastic element 10 and a baffle 11. The reset elastic element 10 and the baffle 11 are located on both sides of the drive section 412 of the swing arm 41, respectively. The reset elastic element 10 is used to drive the swing arm 41 to rotate in the opposite direction and reset. The baffle 11 is used to limit the reverse rotation stroke of the swing arm 41 so that the swing arm 41 can be reset to the initial position.

[0071] After the tool changing arm 2 completes tool retrieval, the tool changing mechanism 1 moves towards the spindle. The reset elastic element 10, relying on its own elastic restoring force, actively drives the swing arm 41 to rotate in the opposite direction, causing the swing arm 41 to automatically return to its initial state, ensuring that the tool magazine retrieval mechanism can continuously perform multiple tool changing actions. The reset elastic element 10 can be a torsion spring or a spring push rod, including but not limited to the above forms. The limit baffle 11 rigidly limits the reverse rotation limit position of the swing arm 41, preventing the swing arm 41 from rotating excessively and deviating from its initial position due to excessive elastic force of the reset elastic element 10. This ensures that the swing arm 41 can return to the same reference position after each tool release, keeping the relative positions of the first push rod 5 and the force-bearing section 411 of the swing arm 41, and the driving section 412 of the swing arm 41 and the tool release shaft 31 constant. This ensures that the transmission stroke and tool release sequence are completely consistent for each tool change, greatly improving the repeatability and positioning accuracy of tool changing.

[0072] Although this application has been described in conjunction with specific features and embodiments, it is obvious that various modifications and combinations can be made thereto without departing from the spirit and scope of this application. Accordingly, this specification and drawings are merely exemplary illustrations of the application as defined herein, and are to be considered as covering any and all modifications, variations, combinations, or equivalents within the scope of this application. Clearly, those skilled in the art can make various alterations and modifications to this application without departing from its scope. Thus, if such modifications and modifications fall within the scope of this application and its equivalents, this application intends to include such modifications and modifications.

Claims

1. A synchronized tool magazine retrieval mechanism, comprising a tool changing mechanism, a tool changing arm, a tool magazine, and a tool sleeve mounted on the tool magazine, wherein the tool changing arm is provided with a safety pin, and the tool magazine is provided with a tool release block corresponding to the position of the safety pin. Its characteristics are: The tool magazine is equipped with a linkage mechanism at the end of the tool sleeve; the linkage mechanism includes a swing arm, which is divided into a force-receiving section and a driving section. During the translation of the tool changing mechanism toward the tool changing point, the tool release block pushes against the safety top pin to drive the tool changing arm to perform the tool release action. At the same time, the tool changing mechanism is linked to the rotation of the swing arm, which converts the linear translation action of the tool changing mechanism into the axial movement action of the tool release shaft on the tool sleeve. When the tool changing arm completes the tool locking action, the tool sleeve simultaneously releases the tool. The tool changing mechanism is provided with a first push rod, and the axis of the first push rod is parallel to the translation direction of the tool changing mechanism; When the tool changing mechanism translates, the first push rod is used to push against the force-bearing section of the swing arm; On the housing of the tool changing mechanism, a driving component is provided at the assembly position corresponding to the first push rod; An angle sensor is installed at the pivot position of the swing arm, and a displacement sensor is provided at the end of each of the two grippers of the tool changing arm away from the tool locking groove. The drive unit is simultaneously connected to the angle sensor and the displacement sensor. The displacement sensor is used to detect the opening angle signal of the two grippers, and the angle sensor is used to detect the rotation angle signal of the swing arm; the drive component can control the extension and retraction of the first push rod according to the real-time progress signals of the rotation angle and the opening angle. The linkage mechanism further includes a reset elastic element and a baffle, wherein the reset elastic element and the baffle are respectively located on both sides of the drive section of the swing arm; The reset elastic element is used to drive the swing arm to rotate in the opposite direction to reset, and the baffle is used to limit the reverse rotation stroke of the swing arm so that the swing arm can be reset to the initial position.

2. The tool magazine retrieval mechanism with synchronous linkage tool release according to claim 1, characterized in that, The swing arm is rotatably connected to the tool magazine body via a rotating shaft; The tool changing mechanism acts on the force-bearing section of the swing arm, driving the swing arm to rotate; The rotating swing arm acts on the tool release shaft of the tool holder through the drive section, driving the tool release shaft to move axially.

3. The tool magazine retrieval mechanism with synchronous linkage tool release according to claim 1, characterized in that, Along the translational direction of the tool changing mechanism, the effective tool release trigger distance between the tool release block and the safety pin covers the driving distance of the first push rod on the force-bearing section of the swing arm.

4. The tool magazine retrieval mechanism with synchronous linkage tool release according to claim 1, characterized in that, The force-bearing section and the drive section of the swing arm are arranged at a certain angle around the rotating shaft; In the initial state, the force-bearing section of the swing arm is tilted around the axis toward the tool changing mechanism, while the drive section is tilted around the axis away from the tool release axis.

5. The tool magazine retrieval mechanism with synchronous linkage tool release according to claim 1, characterized in that, The tail of the blade sheath is provided with a second push rod, which is adjustablely disposed in the drive section of the swing arm along its own axis, and the axis of the second push rod is perpendicular to the working surface of the drive section.

6. The tool magazine retrieval mechanism with synchronous linkage tool release according to claim 5, characterized in that, The drive section of the swing arm has a strip hole at the installation position of the second top rod; the strip hole is arranged along the extension direction from the center of the rotating shaft to the free end of the drive section.

7. The tool magazine retrieval mechanism with synchronous linkage tool release according to claim 5, characterized in that, A roller is provided at the end of the tool sleeve where the tool release shaft extends out of the tool sleeve; The drive section of the swing arm acts directly on the roller, or the drive section acts indirectly on the roller through the second push rod.

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