ATC tool changing manipulator for metal cutting machine tool

Abstract

The utility model discloses an ATC tool changing mechanical arm for a metal cutting machine tool, and relates to the technical field of machine tool tool changing equipment, the ATC tool changing mechanical arm comprises a tool changing structure installed on a machine tool body, and a tool connector is installed on the machine tool body. Through cooperative arrangement of the motor, the sliding pipe, the sliding rod, the rotating plate, the clamping holes and other structures, the clamping holes are formed in the two ends of the rotating plate, the work of clamping a new cutter and disassembling an old cutter can be achieved at the same time through the two clamping holes, then the motor is used for driving the sliding pipe and the sliding rod to drive the rotating plate to rotate, and the new cutter and the old cutter are subjected to transposition; due to the fact that dismounting and clamping of the new cutter and the old cutter are carried out at the same time, the cutter replacing efficiency is greatly improved, and the problems that when an existing mechanical arm is used for replacing the cutter, a blade on a cutter holder needs to be dismounted firstly, then a new blade is installed on the cutter holder, a large amount of time is wasted, and the cutter replacing efficiency is greatly improved are solved as much as possible. And the tool changing efficiency is seriously influenced.

Description

Technical Field

[0001] The present application relates to the technical field of machine tool tool changing equipment, and in particular to an ATC tool changing manipulator for metal cutting machine tools. Background Art

[0002] Machine tools refer to machines used to manufacture machines, also known as machine tools or machine tools, and are usually referred to as machine tools. They are generally divided into metal cutting machine tools, forging machine tools, and woodworking machine tools. There are many methods for processing mechanical parts in modern machinery manufacturing: in addition to cutting, there are also casting, forging, welding, stamping, extrusion, etc. However, all parts with high precision requirements and fine surface roughness requirements generally need to be finally processed on machine tools by cutting methods. Machine tools play a major role in the construction of national economic modernization.

[0003] The utility model patent with announcement number CN209868055U proposes an intelligent machine tool tool changing robot, including a blade body, a sleeve, a middle column and connecting bolts, a threaded groove is opened on the blade body, and a mounting column is fixed at the center position of the upper end surface of the blade body, and a top groove is opened on the top of the mounting column, a middle column is fixed on the inner top of the sleeve, and an inner convex block is fixed on the inner side of the sleeve, and a transmission gear is installed on the side wall of the sleeve, an inner plate is fixed to the part of the transmission gear located in the sleeve, and a functional groove is opened on the inner plate, and the transmission gear is connected to the movable plate, a positioning threaded hole is opened on the vertical part of the movable plate, and a bottom threaded hole is opened on the horizontal part of the movable plate, and the movable plate passes through the fixed sleeve, the fixed sleeve is fixed to the outside of the sleeve, and a side threaded hole is opened on the side of the fixed sleeve, and the side threaded hole is connected to the connecting bolt.

[0004] When changing the tool, the above-mentioned robot needs to first remove the blade on the tool holder, and then install the new blade on the tool holder, which wastes a lot of time and seriously affects the tool changing efficiency. Utility Model Content

[0005] The utility model aims to solve or at least alleviate the problem that the existing manipulator needs to first remove the blade on the tool holder when changing the tool, and then install the new blade on the tool holder, which wastes a lot of time and seriously affects the tool changing efficiency.

[0006] In order to achieve the above purpose, the utility model adopts the following technical solutions:

[0007] An ATC tool changing robot for a metal cutting machine tool comprises a tool changing structure installed on a machine tool body, a tool joint is installed on the machine tool body, the tool changing structure comprises a mounting frame fixedly connected to the machine tool body, a tool box with a tool inside is provided on the top of the mounting frame, a tool outlet hole is provided on the bottom side wall of the tool box, a tool pushing structure is embedded in the inner wall of the tool box away from the tool outlet hole, a motor is fixedly installed in a cavity below the tool box, a slide tube is fixedly connected to the output end of the motor, a slide rod is slidably connected in the slide tube, one end of the slide rod away from the slide tube extends to the outside of the machine tool body and is fixedly connected to a rotating plate, clamping holes aligned with the tool joint and the tool outlet hole are respectively provided at both ends of the rotating plate, pneumatic clamping structures are provided in both clamping holes, and an adjusting device for adjusting the position of the rotating plate is also installed in the cavity.

[0008] By adopting the above technical solution, when in use, the rotating plate is driven to rotate by the motor so that the clamping holes opened at both ends of the rotating plate are aligned with the tool outlet hole and the tool installed on the tool joint respectively. At this time, the position of the rotating plate can be adjusted by moving the electric slider along the electric slide rail so that the clamping hole at the bottom of the rotating plate is set on the tool to be replaced, and then the multi-stage piston rod installed at the end of the cylinder is used to push the new tool contained in the tool box out of the tool outlet hole, so that the new tool is inserted into the clamping hole at the top of the rotating plate, and the elastic airbag is inflated to use the elastic airbag to clamp the tools in the two clamping holes. The new tool is clamped and then the motor is used to drive the rotating plate to rotate 180 degrees, so that the new tool and the tool to be replaced are exchanged. Finally, the electric slider is moved along the electric slide rail again to push the rotating plate outward to drive the rotating plate to move in the opposite direction, and the new tool is clamped in the tool joint to complete the tool change. Since the removal of the old tool and the replacement of the new tool are carried out at the same time, the tool change efficiency is greatly improved, and the problem that the existing robot needs to remove the blade on the tool holder first and then install the new blade on the tool holder when changing the tool is avoided as much as possible, which wastes a lot of time and seriously affects the tool change efficiency.

[0009] Optionally, the slide rod has a polygonal column structure, and the cross-sectional size of the slide rod is matched with the cross-sectional size of the inner cavity of the slide tube.

[0010] By adopting the above technical solution and setting the slide bar as a multi-prism structure, it is possible to avoid as much as possible the problem that the slide bar and the slide tube rotate relative to each other, resulting in the motor being unable to drive the rotating plate to rotate.

[0011] Optionally, the knife-pushing structure includes a cylinder embedded in the inner wall of the tool box, and a multi-stage piston rod is installed at the output end of the cylinder, and the end of the multi-stage piston rod corresponds to the knife outlet hole.

[0012] By adopting the above technical solution, when changing the tool, the cylinder can be started, and the cylinder can be used to push the multi-stage piston rod to extend, so that the tool stored in the tool box is pushed out from the inner cavity of the tool outlet hole.

[0013] Optionally, the rotating plate is in a rectangular plate-shaped structure, and the diameter of the clamping holes opened at both ends of the rotating plate is larger than the diameter of the tool to be replaced.

[0014] By adopting the above technical solution, the diameter of the clamping holes opened at both ends of the rotating plate is set larger than the diameter of the tool, which facilitates the clamping hole sleeve to be arranged around the tool.

[0015] Optionally, the pneumatic clamping structure includes two elastic airbags of annular structure embedded in the inner cavity of the clamping hole, and two miniature air pumps corresponding to the elastic airbags are fixedly connected to the outer wall of the rotating plate, and the exhaust end of the miniature air pump is connected to the inner cavity of the elastic airbag through an air supply pipe.

[0016] By adopting the above technical solution, after the tool sleeve is placed in the clamping hole, the micro air pump can be started, and the micro air pump transmits gas to the elastic airbag through the air pipeline, so that the elastic airbag expands into the inner cavity of the clamping hole to stably clamp the tool.

[0017] Optionally, the adjusting device includes a connecting ring sleeved on the sliding rod, an electric slide rail is fixedly installed on the bottom wall of the cavity below the connecting ring along the length direction of the sliding rod, an electric slider is slidably connected to the electric slide rail, and the lower surface of the connecting ring is fixedly connected to the top of the electric slider through a connecting rod.

[0018] By adopting the above technical solution, the electric slider is moved along the electric slide rail to adjust the distance between the rotating plate and the tool joint, so as to pull out the old tool on the tool joint and insert and fix the new tool in the tool joint.

[0019] Optionally, the connection between the sliding rod and the connecting ring is recessed inward to form an annular groove, and the connecting ring is embedded in the annular groove and rotatably connected to the sliding rod.

[0020] By adopting the above technical solution, an annular groove is provided to limit the connecting ring through the side walls on both sides of the groove, so that the connecting ring cannot slide relative to the sliding rod. The rotation connection method is adopted to avoid motion interference as much as possible.

[0021] In summary, the beneficial effects of this application are as follows:

[0022] The present application achieves this by coordinating the arrangements of structures such as a motor, a sliding tube, a sliding rod, a rotating plate and a clamping hole. Clamping holes are provided at both ends of the rotating plate, so that the new tool can be clamped and the old tool can be removed simultaneously through the two clamping holes. The motor is then used to drive the sliding tube and the sliding rod to drive the rotating plate to rotate, so as to swap the new tool and the old tool. The position of the rotating plate is adjusted using an electric slider, so that the new tool can be installed on the tool joint. Since the removal and clamping of the new and old tools are carried out simultaneously, the tool changing efficiency is greatly improved, and the problem that the existing manipulator needs to first remove the blade on the tool holder and then install the new blade on the tool holder when changing the tool is avoided as much as possible, which wastes a lot of time and seriously affects the tool changing efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is a schematic diagram of the overall cross-sectional structure of this application;

[0024] Figure 2 This application Figure 1 A magnified view of the local details at center A;

[0025] Figure 3 It is a schematic diagram of the installation structure of the slide rod, connecting ring and electric slide block of the present application.

[0026] Explanation of the accompanying drawings: 1. Machine tool body; 2. Tool joint; 3. Mounting frame; 4. Motor; 5. Slide tube; 6. Slide rod; 7. Turn plate; 8. Tool box; 9. Tool outlet hole; 10. Cylinder; 11. Clamping hole; 12. Elastic airbag; 13. Micro air pump; 14. Air pipeline; 15. Connecting ring; 16. Electric slider; 17. Electric slide rail. DETAILED DESCRIPTION

[0027] The following is combined with Figure 1-3 This application is described in further detail.

[0028] See also Figure 1-3 An ATC tool changing robot for a metal cutting machine tool comprises a tool changing structure installed on a machine tool body 1, a tool connector 2 is installed on the machine tool body 1, and the tool connector 2 is used to clamp the tool to perform turning on the workpiece.

[0029] The tool changing structure includes a mounting frame 3 fixedly connected to the machine tool body 1, and a tool box 8 with tools inside is provided on the top of the mounting frame 3. The tools are stacked in the inner cavity of the tool box 8, so that after the tool located at the bottom is taken out, the tool above can move down to the placement position of the removed tool under the action of its own gravity.

[0030] A knife exit hole 9 is provided on the bottom side wall of the tool box 8, and a knife pushing structure is embedded in the inner wall of the tool box 8 on the side away from the knife exit hole 9. When the tool needs to be taken out, the knife pushing structure can be pneumatically driven to push the end of the tool from the end of the tool away from the knife exit hole 9, thereby pushing the tool out of the knife exit hole 9.

[0031] A motor 4 is fixedly installed in the cavity below the tool box 8, a slide tube 5 is fixedly connected to the output end of the motor 4, a slide rod 6 is slidably connected in the slide tube 5, and one end of the slide rod 6 away from the slide tube 5 extends to the outside of the machine tool body 1 and is fixedly connected to a rotating plate 7. When the pneumatic motor 4 is turned, the motor 4 can be driven through the slide tube 5 and the slide rod 6 to drive the rotating plate 7 to rotate 180 degrees.

[0032] Clamping holes 11 aligned with the tool joint 2 and the tool outlet hole 9 are respectively provided at both ends of the rotating plate 7. Pneumatic clamping structures are provided in the two clamping holes 11, and an adjusting device for adjusting the position of the rotating plate 7 is also installed in the cavity. When in use, the user can drive the rotating plate 7 to rotate by the motor 4 so that the clamping holes 11 opened at both ends of the rotating plate 7 are aligned with the tool outlet hole 9 and the tool installed on the tool connector 2 respectively. At this time, the position of the rotating plate 7 can be adjusted by the adjusting device so that the clamping hole 11 at the bottom of the rotating plate 7 is sleeved on the tool that needs to be replaced, and then the new tool contained in the tool box 8 is pushed out from the tool outlet hole 9 by the tool pushing structure, so that the new tool is inserted into the clamping hole 11 at the top of the rotating plate 7, and the pneumatic clamping structure can be used to clamp the tools in the two clamping holes 11. After clamping the tools, the rotating plate 7 is pushed outward by the adjusting device to pull out the tool clamped on the tool connector 2, and then the rotating plate 7 is driven by the motor 4 to rotate 180 degrees, so that the new tool and the tool that needs to be replaced are exchanged, and finally, the adjusting device is used again to drive the rotating plate 7 to move in the opposite direction, and the new tool is clamped in the tool connector 2, and the tool changing work can be completed.

[0033] Reference Figure 3 The slide bar 6 is a polygonal column structure, and the cross-sectional size of the slide bar 6 matches the cross-sectional size of the inner cavity of the slide tube 5. The slide bar 6 is set to a polygonal column structure, which can avoid the slide bar 6 and the slide tube 5 from rotating relative to each other, resulting in the problem that the motor 4 cannot drive the rotating plate 7 to rotate.

[0034] Reference Figure 1 The tool pushing structure includes a cylinder 10 embedded in the inner wall of the tool box 8, and a multi-stage piston rod is installed at the output end of the cylinder 10, and the end of the multi-stage piston rod corresponds to the tool outlet hole 9. When changing the tool, the cylinder 10 can be started, and the cylinder 10 can be used to push the multi-stage piston rod to extend, so that the tool stored in the tool box 8 is pushed out from the inner cavity of the tool outlet hole 9.

[0035] Reference Figure 3The rotating plate 7 is a rectangular plate structure, and the diameter of the clamping holes 11 opened at both ends of the rotating plate 7 is larger than the diameter of the tool to be replaced. The diameter of the clamping holes 11 opened at both ends of the rotating plate 7 is set larger than the diameter of the tool, so that the clamping holes 11 are conveniently set around the tool.

[0036] Reference Figure 2 The pneumatic clamping structure includes two elastic airbags 12 of annular structure embedded in the inner cavity of the clamping hole 11. Two micro air pumps 13 corresponding to the elastic airbags 12 are fixedly connected to the outer wall of the rotating plate 7. The exhaust end of the micro air pump 13 is connected to the inner cavity of the elastic airbag 12 through the air pipeline 14. When the tool is set in the clamping hole 11, the micro air pump 13 can be started. The micro air pump 13 transmits gas to the elastic airbag 12 through the air pipeline 14, so that the elastic airbag 12 expands into the inner cavity of the clamping hole 11, and the tool is stably clamped.

[0037] Reference Figure 1 and Figure 3 The adjusting device includes a connecting ring 15 sleeved on the slide bar 6, an electric slide rail 17 is fixedly installed on the bottom wall of the cavity below the connecting ring 15 along the length direction of the slide bar 6, an electric slider 16 is slidably connected to the electric slide rail 17, and the lower surface of the connecting ring 15 is fixedly connected to the top of the electric slider 16 through a connecting rod. The electric slider 16 moves along the electric slide rail 17 to adjust the distance between the rotating plate 7 and the tool joint 2, so as to pull out the old tool on the tool joint 2 and insert and fix the new tool in the tool joint 2.

[0038] Reference Figure 1 The connection between the slide bar 6 and the connecting ring 15 is recessed inward to form an annular groove, and the connecting ring 15 is embedded in the annular groove and is rotatably connected to the slide bar 6. The annular groove is provided to limit the connecting ring 15 through the side walls of the groove, so that the connecting ring 15 cannot slide relative to the slide bar 6. The rotation connection method can avoid motion interference as much as possible.

[0039] The implementation principle of the present application is as follows: when in use, the rotating plate 7 is driven to rotate by the motor 4, so that the clamping holes 11 opened at both ends of the rotating plate 7 are aligned with the tool outlet hole 9 and the tool installed on the tool joint 2 respectively. At this time, the position of the rotating plate 7 can be adjusted by moving the electric slider 16 along the electric slide rail 17, so that the clamping hole 11 at the bottom end of the rotating plate 7 is sleeved on the tool that needs to be replaced, and then the multi-stage piston rod installed at the end of the cylinder 10 is used to push the new tool contained in the tool box 8 out of the tool outlet hole 9, so that the new tool is inserted into the clamping hole 11 at the top of the rotating plate 7, and the elastic airbag 12 is inflated, and the two The tool in the clamping hole 11 is clamped, and then the motor 4 is used to drive the rotating plate 7 to rotate 180 degrees, so that the new tool and the tool to be replaced are exchanged. Finally, the electric slider 16 is moved along the electric slide rail 17 to push the rotating plate 7 outward to drive the rotating plate 7 to move in the opposite direction, and the new tool is clamped in the tool connector 2 to complete the tool changing work. Since the removal of the old tool and the replacement of the new tool are carried out at the same time, the tool changing efficiency is greatly improved, and the problem that the existing manipulator needs to remove the blade on the tool holder first and then install the new blade on the tool holder when changing the tool is avoided as much as possible, which wastes a lot of time and seriously affects the tool changing efficiency.

[0040] The above description is only a preferred embodiment of the utility model and is not intended to limit the utility model. Although the utility model is described in detail with reference to the above embodiments, those skilled in the art can still modify the technical solutions recorded in the above embodiments or replace some of the technical features therein by equivalents. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the utility model shall be included in the protection scope of the utility model.

Claims

1. An ATC tool changing manipulator for a metal cutting machine tool, comprising a tool changing structure mounted on a machine tool body (1), wherein a tool connector (2) is mounted on the machine tool body (1), and characterized in that: The tool changing structure comprises a mounting frame (3) fixedly connected to the machine tool body (1); a tool box (8) containing a tool inside is provided on the top of the mounting frame (3); a tool outlet hole (9) is provided on the bottom side wall of the tool box (8); a tool pusher structure is embedded in the inner wall of the tool box (8) on a side away from the tool outlet hole (9); a motor (4) is fixedly installed in a cavity below the tool box (8); a slide tube (5) is fixedly connected to the output end of the motor (4); a slide rod (6) is slidably connected in the slide tube (5); an end of the slide rod (6) away from the slide tube (5) extends to the outside of the machine tool body (1) and is fixedly connected to a rotating plate (7); clamping holes (11) aligned with the tool joint (2) and the tool outlet hole (9) are respectively provided at both ends of the rotating plate (7); a pneumatic clamping structure is provided in each of the two clamping holes (11); and an adjusting device for adjusting the position of the rotating plate (7) is also installed in the cavity.

2. The ATC tool changing manipulator for a metal cutting machine tool according to claim 1, characterized in that: The sliding rod (6) is in a multi-prism-shaped structure, and the cross-sectional size of the sliding rod (6) is adapted to the cross-sectional size of the inner cavity of the sliding tube (5).

3. The ATC tool changing manipulator for metal cutting machine tools according to claim 1, characterized in that: The knife-pushing structure comprises a cylinder (10) embedded in the inner wall of the knife box (8), and a multi-stage piston rod is installed at the output end of the cylinder (10), and the end of the multi-stage piston rod corresponds to the knife outlet hole (9).

4. The ATC tool changing manipulator for a metal cutting machine tool according to claim 1, characterized in that: The rotating plate (7) is in the form of a rectangular plate, and the diameter of the clamping holes (11) provided at both ends of the rotating plate (7) is larger than the diameter of the tool to be replaced.

5. The ATC tool changing manipulator for metal cutting machine tools according to claim 4, characterized in that: The pneumatic clamping structure comprises two elastic airbags (12) of annular structure embedded in the inner cavity of the clamping hole (11); two micro air pumps (13) arranged corresponding to the elastic airbags (12) are fixedly connected to the outer wall of the rotating plate (7); the exhaust end of the micro air pump (13) is connected to the inner cavity of the elastic airbag (12) via an air supply pipe (14).

6. The ATC tool changing manipulator for metal cutting machine tools according to claim 5, characterized in that: The adjusting device comprises a connecting ring (15) sleeved on the slide bar (6); an electric slide rail (17) is fixedly mounted on the bottom wall of the cavity below the connecting ring (15) along the length direction of the slide bar (6); an electric slider (16) is slidably connected to the electric slide rail (17); and the lower surface of the connecting ring (15) is fixedly connected to the top of the electric slider (16) via a connecting rod.

7. The ATC tool changing manipulator for a metal cutting machine tool according to claim 6, characterized in that: The connection point between the sliding rod (6) and the connecting ring (15) is recessed inwards to form an annular groove, and the connecting ring (15) is embedded in the annular groove and rotatably connected to the sliding rod (6).

Images