Tool changing device capable of being used for large gantry machine tool

Abstract

The utility model provides a tool changing device capable of being used for a large gantry machine tool. A machine tool spindle is arranged on the machine tool, and a cutter mounting position is arranged at the end of the machine tool spindle. A six-axis robot and a straight row tool magazine are arranged close to the machine tool; a plurality of tool holes are formed in the straight-row tool magazine, and tools are placed in the tool holes; a gripper is mounted on a manipulator of the six-axis robot; the clamping device is provided with a clamping base; the clamping base is provided with two sets of cutter clamping jaw assemblies. And the two sets of clamping cutter and clamping jaw assemblies are vertically arranged. And by means of clamping operation of the six-axis robot and the clamping device, tool replacement execution can be guaranteed, and therefore the machining efficiency of the machine tool is improved. The cutter clamping claw of the arc section and the second cutter clamping claw in sliding connection can better adapt to the shape of the cutter, stable clamping is provided, shaking and damage of the cutter in the clamping process are reduced, and therefore the machining precision is improved, and the service life of the cutter is prolonged.

Description

TECHNICAL FIELD

[0001] The utility model belongs to numerical control machine tool control technical field, concretely relates to a tool changing device for large gantry machine tool. BACKGROUND

[0002] Gantry machine tool is the machine tool that the worktable reciprocates between two columns, including gantry milling, gantry planing, gantry guide rail grinding and other types. Gantry machine tool has worktable, gantry and main shaft. The worktable can carry and fix the workpiece being processed. The gantry constitutes the portal structure frame. The main shaft installs the cutter and moves along the Z axis direction, realizes cutting processing.

[0003] During the execution of gantry machine tool, the cutter needs to be replaced to meet the process requirements. At present, the gantry machine tool is installed with two cutters, and only one can be replaced at a time, which cannot be replaced simultaneously, affecting the processing efficiency. Moreover, the clamping device for clamping the cutter cannot adapt to cutters of different shapes and sizes, resulting in insecure clamping, easy to shake during transportation and replacement, causing the cutter to fall off from the clamping device and damage the cutter, thereby affecting the machine tool processing efficiency. CONTENT OF THE UTILITY MODEL

[0004] The utility model provides a tool changing device for large gantry machine tool, the clamping operation of six axis robot and holder in the device can ensure cutter replacement execution, thereby improving the machine tool processing efficiency.

[0005] The tool changing device for large gantry machine tool comprises a machine tool, a machine tool main shaft is arranged on the machine tool, an end of the machine tool main shaft is provided with a cutter installation position;

[0006] A six axis robot and a straight row cutter store are arranged close to the machine tool; a plurality of cutter holes are arranged on the straight row cutter store, and cutters are placed on the cutter holes; a holder is installed on the machine hand of the six axis robot;

[0007] The holder is provided with a clamping base; two sets of cutter clamping jaw assemblies are installed on the clamping base; the two sets of cutter clamping jaw assemblies are arranged vertically.

[0008] It is further explained that the clamping base is provided with a trapezoidal support, and the two inclined surfaces of the trapezoidal support are respectively provided with cutter clamping jaw assemblies.

[0009] It is further explained that the long end face of the trapezoidal support is connected with an extension column body, and the end of the extension column body is provided with a flange plate;

[0010] The flange plate is fixedly connected with the machine hand.

[0011] It is further explained that the cutter clamping jaw assembly is provided with a connecting seat, and the bottom of the connecting seat is fixedly connected with the inclined surface of the trapezoidal support;

[0012] The top surface of the connecting seat is provided with a first clamping jaw and a second clamping jaw; the bottom of the second clamping jaw is in sliding connection with the top surface of the connecting seat.

[0013] It is further explained that the end of the first clamping jaw and the end of the second clamping jaw are respectively provided with a circular arc segment.

[0014] The first clamping jaw is provided with a photoelectric sensor for sensing the clamping state of the tool.

[0015] It is further explained that the two inclined surfaces of the trapezoidal bracket are respectively provided with a position sensor for sensing whether the tool clamping jaw assembly clamps the tool or loosens the tool.

[0016] It is further explained that the short end surface of the trapezoidal bracket is provided with a photoelectric sensor for sensing whether the tool is installed in the tool mounting position and the tool hole.

[0017] It is further explained that the straight-line tool magazine is provided with two vertical columns and a plurality of horizontal fixing rods, the two ends of the horizontal fixing rods are fixedly connected with the vertical columns.

[0018] The plurality of horizontal fixing rods are uniformly arranged along the vertical columns from top to bottom.

[0019] The horizontal fixing rods are provided with a plurality of tool holes.

[0020] It is further explained that the bottom of the six-axis robot is provided with a base, and the base is fixed to the ground.

[0021] From the above technical solution, the tool changer for the large gantry machine tool has the following advantages:

[0022] The tool changer for the large gantry machine tool provided by the present application can be completed by the six-axis robot, and in the replacement process, the gripper performs clamping operation, the clamping jaw of the arc segment of the tool clamping jaw assembly and the second clamping jaw in sliding connection can better adapt to the shape of the tool, provide stable clamping, reduce the shaking and damage of the tool in the clamping process, and the gripper is provided with a clamping base; the clamping base is provided with two sets of tool clamping jaw assemblies, which can clamp two tools at a time, so as to improve the machining precision and machining efficiency. The six-axis robot can replace the tool for different spindle types based on the control of the operator, and realize the tool replacement of the multi-type machine tools such as the right-angle head, the lengthened head, the universal head and the five-axis head. BRIEF DESCRIPTION OF DRAWINGS

[0023] In order to more clearly illustrate the technical scheme of the present application, the following will briefly introduce the drawings used in the description. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creating any creative labor.

[0024] Figure 1 It is a schematic view of a tool changing device for a large gantry machine tool;

[0025] Figure 2 It is a schematic view of a gripper. DETAILED DESCRIPTION

[0026] In order to make the purpose, features and advantages of the utility model more obvious and easy to understand, the technical solutions in the utility model will be described clearly and completely below in combination with the drawings in the specific embodiments. Obviously, the embodiments described below are only some of the embodiments of the utility model, but not all the embodiments. Based on the embodiments in the patent, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of the patent protection.

[0027] The tool changing device for a large gantry machine tool provided in the embodiment comprises a machine tool 5.

[0028] It should be noted that the machine tool 5 is a portal frame structure, and the machine tool 5 has a workbench and a spindle box. The workbench can carry large parts. The workbench has the ability to move along the Y axis and the Z axis. The spindle box is installed on the cross beam and can move along the X axis direction to realize transverse machining. The spindle box is provided with a machine tool spindle 6, and the end of the machine tool spindle 6 is provided with a tool mounting position. The spindle 6 can have various forms, and can be a rotary spindle, a spindle mounted with a right-angle head, an extension head, a universal head, a five-axis head and the like. The tool is installed on the end face of the spindle or the end face of the accessory head, and the mounting position can install the tool.

[0029] In the embodiment, a six-axis robot 3 and a straight-line tool magazine 1 are arranged close to the machine tool 5.

[0030] Optionally, the six-axis robot 3 is provided with a base at the bottom, and the base is fixed to the ground.

[0031] The straight-line tool magazine 1 is provided with two vertical columns 21 and a plurality of horizontal fixing rods 22, and the two ends of the horizontal fixing rod 22 are fixedly connected with the vertical column 21. The plurality of horizontal fixing rods 22 are arranged uniformly from top to bottom along the vertical column 21. A plurality of tool holes 23 are arranged on the horizontal fixing rod 22. In this way, a plurality of horizontal fixing rods 22 can be arranged side by side, and a plurality of tool holes 23 are arranged uniformly on each horizontal fixing rod 22, so that a plurality of tools can be stored, and the use requirement of the machine tool can be met.

[0032] The six-axis robot 3 has a six-degree-of-freedom manipulator 41, and the end of the manipulator 41 is provided with a robot hand, and the robot hand is installed with a gripper 4. The gripper 4 is provided with a clamping base, and the clamping base is installed with two sets of clamping jaw assemblies 11. The two sets of clamping jaw assemblies 11 are vertically arranged, so that the two sets of clamping jaw assemblies 11 can clamp the two sides of the tool. The tool can be clamped more stably, and the tool grabbing demand in different directions and positions can be adapted.

[0033] The straight-line tool magazine 1 is provided with a plurality of tool holes 23 for storing tools 2.

[0034] In the embodiment, when the machine tool 5 needs to replace the tool, the six-axis robot 3 moves to the corresponding position of the straight-line tool magazine 1 according to the instruction. The clamping jaw assembly 11 on the gripper 4 is opened, ready to grab the tool 2. After the six-axis robot 3 is positioned, the clamping jaw assembly 11 is closed to grab the tool in the straight-line tool magazine 1. The six-axis robot 3 carries the grabbed tool to the vicinity of the tool mounting position of the machine tool spindle 6. The clamping jaw assembly 11 installs the new tool on the tool mounting position of the machine tool spindle 6, and completes the tool changing operation.

[0035] If the old tool on the machine tool spindle 6 needs to be put back to the tool magazine, the six-axis robot 3 will first grab the old tool, and then move to the empty tool hole 23 position of the straight-line tool magazine 1 to place the old tool in the tool hole 23.

[0036] As can be seen, the tool changing device of the embodiment can complete tool replacement, improve the machining efficiency of the machine tool, and is suitable for large gantry machine tools which need to frequently replace tools. Moreover, the clamping operation of the six-axis robot and the gripper can ensure the execution of tool replacement, thereby improving the machining efficiency of the machine tool. The multi-degree-of-freedom movement of the six-axis robot can adapt to tool grabbing and installation in different positions and directions, and the tool arrangement of the straight-line tool magazine is also convenient for placement and setting, which is convenient for operation.

[0037] The clamping base of the embodiment is provided with a trapezoidal support 42, which provides a stable installation basis for the clamping jaw assembly. The long end face of the trapezoidal support 42 is connected with an extension column 43, and the flange plate 44 at the end of the extension column 43 is used for fixed connection with the robot hand, so as to install the gripper on the robot hand and realize overall movement and operation.

[0038] The two inclined surfaces of the trapezoidal support 42 are respectively installed with the clamping jaw assemblies 11. The clamping jaw assembly 11 is provided with a connecting seat 45, the bottom of the connecting seat 45 is fixedly connected with the inclined surface of the trapezoidal support 42, the top surface of the connecting seat 45 is provided with a first clamping jaw 46 and a second clamping jaw 47, and the bottom of the second clamping jaw 47 is slidingly connected with the top surface of the connecting seat 45. This makes the clamping jaw better adapt to the shape and size of the tool when clamping the tool, and provides more stable clamping force.

[0039] The end part of the first and second clamping jaws 46 and 47 is provided with a circular arc segment, which can better fit the shape of the tool, reduce damage to the tool, and improve the stability and reliability of clamping.

[0040] A magnetic sensor 48 is installed on the first clamping jaw 46 for sensing the clamping state of the tool. The magnetic sensor 48 can sense whether the tool is clamped by the clamping jaw assembly, and can be in communication connection with the upper computer to upload the sensed clamping state to the upper computer. It can also receive control instructions from the upper computer to execute clamping actions.

[0041] Position sensors 49 are installed on the two inclined surfaces of the trapezoidal bracket 42 for sensing whether the tool is clamped or loosened by the clamping jaw assembly. When the clamping jaw assembly performs clamping or loosening actions, the position sensors 49 monitor the position state in real time and transmit signals to the upper computer to ensure the accuracy and reliability of the clamping and loosening operations.

[0042] The photoelectric sensor 24 in the embodiment is installed on the short end surface of the trapezoidal bracket 42 for sensing whether there is a tool in the tool mounting position and the tool hole 23. That is, when installing the tool on the machine tool, it can be sensed to determine whether there is a tool in the tool hole 23, and the tool in the tool hole 23 is clamped. Similarly, it can be sensed whether there is a tool in the tool mounting position. In this way, by measuring displacement and other parameters, it can be determined whether the tool exists or not, and accurate tool state information is provided for the entire tool changing process.

[0043] The tool changer provided in the embodiment can be used in large gantry machine tools. When the manipulator moves the gripper to the vicinity of the tool mounting position or the tool hole 23, the photoelectric sensor 24 starts to work to detect whether there is a tool in the tool mounting position and the tool hole 23, and feeds back the detection result to the upper computer.

[0044] If the tool needs to be clamped, the manipulator moves the gripper to the position of the tool, and the first and second clamping jaws 46 and 47 open on the connecting seat 45 to prepare for clamping the tool. When the clamping jaws contact the tool, the second clamping jaw 47 slides on the top surface of the connecting seat 45 to adapt to the tool according to the shape and size of the tool, and then the clamping jaws close to clamp the tool. In this process, the magnetic sensor 48 on the first clamping jaw 46 senses the clamping state of the tool to ensure that the tool is clamped correctly. At the same time, the position sensors 49 on the inclined surfaces of the trapezoidal bracket 42 sense whether the clamping jaw assembly is in position for clamping the tool, and transmit signals to the control system.

[0045] When the tool needs to be installed on the main shaft of the machine tool or other tool mounting position, the manipulator moves the gripper to the target position, the clamping jaw assembly loosens the tool, and the position sensor 49 senses whether the tool is loosened to ensure accurate installation of the tool.

[0046] During the whole process, the host computer adjusts the actions of the manipulator and the gripper in real time according to the information fed back by the sensors, so as to ensure the smooth operation of the tool changing.

[0047] It can be seen that the tool clamping jaw of the arc segment of the tool clamping jaw assembly and the second tool clamping jaw 47 connected in sliding manner can better adapt to the shape of the tool, provide stable clamping, reduce the shaking and damage of the tool during clamping, and thus improve the machining precision and service life of the tool.

[0048] The arrangement of the magnetic sensor 48, the position sensor 49 and the photoelectric sensor 24 can detect the state of the tool, the positions of the tool clamping and tool loosening, and the tool condition of the tool mounting position and the tool hole 23 in real time, and provide relevant information for the host computer, so as to ensure the reliability of the tool changing process.

[0049] It should be understood that when an element or layer is referred to as being "on", "connected to" or "coupled to" another element or layer, it can be directly on, connected or coupled to the other element or layer, or intervening elements or layers can be present. In contrast, when an element is referred to as being "directly on", "directly connected to" or "directly coupled to" another element or layer, there are no intervening elements or layers present. Like numbers refer to like elements throughout the drawings. As used herein, the term "and / or" includes any and all combinations of one or more of the associated listed items.

[0050] The tool changing device for large gantry machine tools provided in the embodiment can use spatial relative terms for convenience of description, such as "under", "below", "lower", "over", "above", etc. to describe the relationship between one element or feature and another element or feature as shown in the drawings. It should be understood that the spatial relative terms are intended to include the use or working of the device in different orientations other than the orientation shown in the drawings. For example, if the device in the drawings is turned over, the element described as "under" or "below" the other element or feature will be towards the "above" the other element or feature. Thus, the exemplary term "below" can include both the upward and downward orientations. The device can be made to take other orientations (rotated by 90 degrees or other orientations), and the spatial relative terms used herein are interpreted accordingly.

[0051] The terms used in the embodiments are only for the purpose of describing the specific embodiments, and are not intended to limit the description in this document. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms, unless the context clearly indicates otherwise. It should also be understood that, when used in the specification, the term "comprising" refers to the presence of the stated features, integers, steps, operations, elements, and / or components, but does not exclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and / or combinations thereof.

[0052] The terms "first", "second", "third", "fourth" and the like in the description and in the claims of the present utility model, and those above and hereinbefore described in the attached drawings, if any, are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used can be interchanged, under appropriate circumstances, so that the embodiments of the present utility model described herein can be carried out in other than the precise order described herein. Furthermore, the terms "comprise" and "include", along with their conjugates, do not exclude the presence of other elements or steps than those listed.

[0053] The above description of disclosed embodiments enables a person skilled in the art to implement or use the present utility model. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present utility model. Therefore, the present utility model is not to be limited to the embodiments shown herein, but is to accord with the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A tool changer for use with a gantry machine tool, comprising: The machine tool is characterized in that a machine tool spindle is arranged on the machine tool, and a tool mounting position is arranged at the end of the machine tool spindle; A six-axis robot and a straight-line tool magazine are arranged close to the machine tool; the straight-line tool magazine is provided with a plurality of tool holes, and tools are placed in the tool holes; A gripper is arranged on the machine hand of the six-axis robot; The gripper is provided with a clamping base; two sets of tool clamping jaw assemblies are arranged on the clamping base; The two sets of tool clamping jaw assemblies are arranged vertically.

2. The tool changer according to claim 1, wherein The clamping base is provided with a trapezoidal support; two inclined surfaces of the trapezoidal support are respectively provided with a tool clamping jaw assembly.

3. The tool changer according to claim 2, wherein An extension column is connected to the long end surface of the trapezoidal support; a flange plate is arranged at the end of the extension column; The flange plate is fixedly connected to the machine hand.

4. The tool changer according to claim 2, wherein The tool clamping jaw assembly is provided with a connecting seat; the bottom of the connecting seat is fixedly connected to the inclined surface of the trapezoidal support; A first tool clamping jaw and a second tool clamping jaw are arranged on the top surface of the connecting seat; the bottom of the second tool clamping jaw is slidably connected to the top surface of the connecting seat.

5. The tool changer according to claim 4, wherein The end of the first tool clamping jaw and the end of the second tool clamping jaw are respectively provided with a circular arc segment.

6. The tool changer according to claim 4, wherein A photoelectric sensor for sensing the state of clamped tools is arranged on the first tool clamping jaw.

7. The tool changer according to claim 4, wherein Position sensors for sensing whether the tool clamping jaw assembly clamps or releases tools to the right position are arranged on the two inclined surfaces of the trapezoidal support.

8. The tool changer according to claim 2, wherein Photoelectric sensors for sensing whether tools are arranged on the tool mounting position and the tool holes are arranged on the short end surface of the trapezoidal support.

9. The tool changer according to claim 1 or 2, wherein The straight-line tool magazine is provided with two vertical columns and a plurality of horizontal fixing rods; the two ends of the horizontal fixing rods are fixedly connected to the vertical columns; The horizontal fixing rods are uniformly arranged along the vertical columns from top to bottom; A plurality of tool holes are arranged on the horizontal fixing rods.

10. The tool changer according to claim 1 or 2, wherein A base is arranged at the bottom of the six-axis robot; the base is fixed to the ground.

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