High-speed manipulator for numerical control machine tool

Abstract

The utility model discloses a high-speed manipulator for a numerical control machine tool, which comprises a tool locking component, an overturning component, a translation component, a swinging component, a high-speed moving component and accessories, the accessories comprise a gas path, a liquid path and a circuit, the high-speed moving component comprises a base, a motor and a gear transmission mechanism, the swinging component is mounted on the base and comprises a tool changing support frame, and the tool changing support frame is mounted on the base. The translation assembly is installed on the tool changing supporting frame and comprises a translation base, the overturning assembly is installed on the translation base and comprises an auxiliary tool sleeve support, and the tool locking assembly is installed on the auxiliary tool sleeve support and comprises an auxiliary tool sleeve, a tool locking cylinder and a limiting rod. The mechanical arm is high in integration degree, compact in structure, modularized, low in hydraulic flow requirement, high in tool preparation speed, high in tool changing efficiency and high in flexibility, tool changing points of the mechanical arm can move at a high speed according to actual requirements, and the mechanical arm can be applied to machine types or assembly line services with more tool requirements and is more suitable for machine types with more than 90 tools and assembly line work.

Description

TECHNICAL FIELD

[0001] The utility model belongs to the field of tool magazine in large numerical control machine tool function component, concretely relates to a high -speed manipulator for numerical control machine tool. BACKGROUND

[0002] The manipulator is the core component of the tool magazine of the numerical control machine tool and is also an important component of the industrial mother machine, and the high speed, high precision and functional composite are required for the automobile, national defense, aerospace and other industries.

[0003] The main structure of the vertical-horizontal conversion manipulator used on the conventional tool magazine is shown in Figure 1 The main structure includes swing assembly A, translation assembly B, forward-reverse rotation assembly C, turnover assembly D and extension assembly E. The vertical-horizontal conversion manipulator can realize five basic actions of swing, left-right translation, extension, forward-reverse rotation and turnover, wherein the extension action is driven by the piston structure, and the remaining four actions are driven by the finished oil cylinder. The structure of the vertical-horizontal conversion manipulator is complex, the cost is high, the assembly is difficult, and the flow demand of the hydraulic station is large. In addition, the traditional manipulator is fixedly installed, and the manipulator can only change the tool at a fixed point and cannot displace, so the tool changing efficiency is low.

[0004] CN103302537A discloses a chain type tool magazine tool changing mechanism, which comprises a supporting frame, a fixed table, a rotary tool mounting mechanism, a translation positioning mechanism and a tool mounting swing mechanism. The rotary tool mounting mechanism is connected with the fixed table, the supporting frame is fixedly connected with the rotary tool mounting mechanism, the translation positioning mechanism is arranged on the supporting frame, and the tool mounting swing mechanism is installed on the translation positioning mechanism. The tool mounting swing mechanism comprises a swing driving mechanism, a swing tool mounting arm and a tool changing base. The swing tool mounting arm is integrally provided with a swing gear and a tool clamping groove for fixing a tool. The swing gear is connected with the tool changing base. The swing driving mechanism comprises a driving oil cylinder and a driving rack. The driving rack is fixedly connected with the piston rod of the driving oil cylinder. The driving rack and the swing gear are meshed with each other. When the piston rod of the driving oil cylinder pushes the driving rack to move in the vertical direction, the driving rack drives the swing gear and the swing tool mounting arm to rotate. Although the tool changing mechanism can realize four actions of swing, translation, extension and forward-reverse rotation, it cannot realize the tool turnover action. Moreover, the tool changing mechanism has many parts, a complex structure, a high cost and a long assembly time, and the overall tool changing efficiency needs to be further improved. UTILITY MODEL CONTENTS

[0005] The utility model solves the technical problem of the prior art and provides a high-speed manipulator for a numerical control machine tool. The high-speed manipulator has high integration, compact structure and modularity, low hydraulic flow demand, fast tool preparation speed, high tool changing efficiency and high flexibility. The tool changing point can be moved at high speed according to actual requirements, and the high-speed manipulator is more suitable for models with more than 90 tools and flow line operation.

[0006] The utility model discloses a technical scheme that solves the above technical problem, a kind of high-speed manipulator for numerical control machine tool, the high-speed manipulator includes lock tool subassembly, turnover subassembly, translation subassembly, swing subassembly, high-speed moving subassembly and accessory, the lock tool subassembly, turnover subassembly, translation subassembly, swing subassembly and high-speed moving subassembly are used to realize the lock tool, turnover, left and right translation, swing and up and down translation action of tool respectively, the accessory includes gas path, liquid path and circuit, the high-speed moving subassembly includes pedestal and motor and gear transmission mechanism installed on pedestal, the gear transmission mechanism includes meshing pinion and large gear, the output of the motor is connected with the pinion through speed reducer, the large gear is engaged with rack guide rail, the rack guide rail is vertically installed on the column of Y axis component of numerical control machine tool, the pedestal is slidably installed on the Y axis component by guide rail sliding block, the motor is used to drive the high-speed manipulator whole along the Y axis high-speed movement of numerical control machine tool, the swing subassembly is installed on the pedestal, the swing subassembly includes tool changing support frame, the translation subassembly is installed on the tool changing support frame, the translation subassembly includes translation base, the turnover subassembly is installed on the translation base, the turnover subassembly includes auxiliary tool sleeve support frame, the lock tool subassembly is installed on the auxiliary tool sleeve support frame, the lock tool subassembly includes auxiliary tool sleeve, lock tool cylinder and limit rod, the auxiliary tool sleeve is fixed to the auxiliary tool sleeve support frame, the tool is installed at the front end of the auxiliary tool sleeve, the pull pin of the tool extends into the auxiliary tool sleeve, the limit rod is movably arranged in the auxiliary tool sleeve, the lock tool cylinder is fixed at the rear end of the auxiliary tool sleeve, the lock tool cylinder is oil cylinder, air cylinder or electric cylinder, the output end of the lock tool cylinder is fixed with top head, and the top head is used to press or loosen the limit rod, to realize the mechanical limit or unlimit of the pull pin.

[0007] The high-speed manipulator has high-speed moving subassembly, is installed on Y axis component by guide rail sliding block, and large gear is circumscribed with rack guide rail, so that the high-speed displacement of the whole manipulator can be realized under the drive of motor, the tool changing point of the manipulator is not limited to fixed position, the tool changing point can be high-speed moved according to actual demand, the tool changing efficiency is high, and the flexibility is strong, so that the manipulator can be applied to the machine type or flow line service with more tool demands.

[0008] The high-speed manipulator has high integration, compact structure and modularity, has lower hydraulic flow demand, fast tool changing speed, can realize the linkage of the lock tool, turnover, left and right translation, swing and up and down translation action of tool, and is more suitable for the machine type and flow line operation with more than 90 tools.

[0009] As preferred, the first through hole and the second through hole are arranged in parallel along the length direction of the secondary tool sleeve, the center line of the first through hole is collinear with the center line of the top head, the aperture of the first through hole is larger than the outer diameter of the top head, the third through hole is arranged between the first through hole and the second through hole along the width direction of the secondary tool sleeve, the second through hole is used for accommodating the pull pin, the upper end and the lower end of the third through hole are communicated with the first through hole and the second through hole respectively, the outer diameter of the limiting rod is smaller than the aperture of the third through hole, the limiting rod is arranged in the third through hole in a movable manner, two first springs are symmetrically arranged above the limiting rod and are vertically installed in the secondary tool sleeve, when the locking action of the tool is performed, after the secondary tool sleeve reaches the position of the target tool on the tool magazine of the numerical control machine tool, the top head is driven by the locking cylinder to extend into the first through hole, the top head presses the limiting rod, the limiting rod presses the pull pin, the limiting rod plays a mechanical limiting role on the pull pin, and the locking action of the tool is completed at this time; when the unlocking action of the tool is performed, the top head is driven by the locking cylinder to withdraw from the first through hole, the top head releases the limiting rod, the tool is separated from the secondary tool sleeve under the action of external force, the pull pin head of the pull pin drives the limiting rod to move upwards, the limiting rod is released, and finally the limiting rod is driven by the first spring to move downwards and reset, and the unlocking action of the tool is completed at this time. The locking cylinder and the top head constitute a dynamic locking structure, realize dynamic locking of the tool, and have simple and reliable structure and high locking action efficiency. When the dynamic locking is performed, the top head is controlled to extend into the first through hole, the limiting rod is mechanically limited, and the pull pin is mechanically limited by the limiting rod; when the tool is unlocked and separated from the secondary tool sleeve, the limiting rod is reset by the spring force of the first spring, and the unlocking action has high efficiency.

[0010] As further preferred, one side through hole is arranged on each side of the second through hole, the two side through holes are symmetrically arranged and the included angle between the two side through holes is 120°, one steel ball is installed in each side through hole by a second spring, and the two steel balls are used for pressing the outer circular surface of the pull pin. The second spring and the steel ball constitute a static locking structure, cooperate with the dynamic locking structure constituted by the locking cylinder and the top head, and can achieve more reliable locking effect. When the unlocking action is performed, the limiting rod loses the mechanical limiting effect, and at this time, only a small force is needed to make the tool separate from the secondary tool sleeve.

[0011] As a further preferred, the third through hole is provided with a first plug and a second plug, the first plug and the second plug are respectively arranged on both sides of the limiting rod, the first plug and the second plug are used for limiting the axial displacement of the limiting rod, and the first plug is provided with a liquid outlet hole. The design of the first plug and the second plug can guarantee the axial limiting effect of the limiting rod. Meanwhile, the first plug can discharge the cutting fluid brought by the tool in the workpiece machining process from the auxiliary tool holder, so that the self-drainage function of the auxiliary tool holder is realized.

[0012] As a further preferred, the front end of the top head is provided with an inclined surface inclined to the center line of the first through hole, the bottom of the auxiliary tool holder is provided with a first switch bracket, the first switch bracket is used for mounting a first proximity switch, and the first proximity switch is used for detecting whether the tool is mounted on the auxiliary tool holder.

[0013] As a preferred, the translation assembly comprises a guide rail, a translation cylinder, a translation cylinder seat, a top sleeve and a buffer sleeve, the tool changing support frame is provided with a guide rail groove, the guide rail is installed in the guide rail groove, the translation cylinder seat is installed on the tool changing support frame, the translation cylinder is an oil cylinder, an air cylinder or an electric cylinder, the translation base is fixed with a sliding block, the sliding block is slidably installed on the guide rail, the translation cylinder is fixed on one side of the translation cylinder seat, the top sleeve and the buffer sleeve are sequentially fixed on the output end of the translation cylinder, the top sleeve is fixed with a translation connecting plate, the translation connecting plate is arranged between the top sleeve and the buffer sleeve, a plurality of third springs are arranged between the buffer sleeve and the translation connecting plate, one side of the translation connecting plate is fixed with a translation connecting bracket, and the translation base is fixed on the bottom of the translation connecting bracket. When the left translation operation is performed, the translation cylinder drives the top sleeve to move forward, the top sleeve pushes the translation connecting plate, the translation connecting bracket, the translation base, the auxiliary tool holder and other related parts to move leftward synchronously, the translation operation is positioned through the sliding block fixed on the translation base, when the left translation operation is quickly completed, the translation connecting plate is buffered and decelerated by the spring force of the third spring until the translation operation is stopped, and the left movement operation is completed. When the right translation operation is performed, the translation cylinder drives the top sleeve to move backward, the buffer sleeve presses the third spring, and the translation connecting plate, the translation connecting bracket, the translation base, the auxiliary tool holder and other related parts are pushed to move rightward synchronously, the translation operation is positioned through the sliding block fixed on the translation base, when the right translation operation is quickly completed, the spring force of the third spring continues to push the related parts to slide rightward until the translation connecting plate hits the top sleeve to stop, and the right movement operation is completed. Through the left and right movement operations of the translation assembly, the extension and retraction operations of the conventional common mechanical hand are replaced, the third spring and the related matching structure are designed to realize the buffering and deceleration, the fault tolerance rate of the axial gap during tool changing is improved, and the tool changing and tool grabbing can be realized in the case of a larger gap or a smaller gap.

[0014] As a further preferred, the translation base is provided with an adjusting mechanism, the adjusting mechanism is used for adjusting the position of the translation base, the adjusting mechanism includes a first adjusting screw, a first adjusting block, a second adjusting screw and a second adjusting block, the first adjusting block is fixed on one side of the translation base through the first adjusting screw, and the second adjusting block is fixed at the bottom of the translation base through the second adjusting screw.

[0015] As a preferred, the turnover assembly includes a connecting seat, a turnover long shaft, a turnover cylinder, a turnover cylinder seat and a fixed seat, the connecting seat and the fixed seat are respectively fixed on the translation base, the turnover long shaft is horizontally installed on the connecting seat through two first bearings, one end of the turnover long shaft is fixed on the auxiliary tool holder support, one side of the auxiliary tool holder support is fixed with a turnover connecting block, one side of the fixed seat is fixed with a turnover connecting seat, the turnover cylinder seat is installed on the inner side of the turnover connecting seat through two horizontally arranged turnover short shafts, the turnover cylinder is fixed on one side of the turnover cylinder seat, the turnover cylinder is an oil cylinder, an air cylinder or an electric cylinder, the output end of the turnover cylinder is fixed with a cylinder connecting block, and the cylinder connecting block and the turnover connecting block are rotationally connected through a horizontally arranged limiting pin. When the turnover to horizontal action is performed, the turnover cylinder drives the cylinder connecting block to move forward, drives the turnover connecting block and the auxiliary tool holder to overturn, and the turnover to horizontal action is completed; when the turnover to vertical action is performed, the turnover cylinder drives the cylinder connecting block to retreat, drives the turnover connecting block and the auxiliary tool holder to overturn, and the turnover to vertical action is completed.

[0016] As a further preferred, the connecting seat is fixed with a limiting seat, a limiting top rod is horizontally installed on the limiting seat through a nut, and the limiting top rod is used for adjusting the position of the connecting seat.

[0017] As preferred, the swing assembly comprises a swing long shaft, a swing upper support, a swing lower support, a swing cylinder, a swing cylinder seat and a second switch support, the swing long shaft, the swing lower support and the second switch support are respectively installed on the base, the gas circuit and the electric circuit pass through the inside of the swing long shaft, the tool changing support is vertically installed on the swing long shaft through two second bearings, the upper end of the tool changing support is provided with a connecting rod, the second switch support is provided with a second proximity switch, the bottom of the tool changing support is provided with an angle sensing support matched with the second proximity switch, the second proximity switch is used for detecting whether the swing action of the tool is executed in place, the swing upper support is fixed on the upper side of the swing lower support, the swing cylinder seat is installed between the swing upper support and the swing lower support through two vertically arranged swing short shafts, the swing cylinder is fixed on one side of the swing cylinder seat, the output end of the swing cylinder is fixed with a swing connecting block, and the swing connecting block is rotationally connected with the connecting rod through a vertically arranged swing connecting shaft.

[0018] Compared with the prior art, the utility model has following advantages:

[0019] 1) The high-speed manipulator has a high-speed moving assembly, which is installed on the Y-axis assembly through a guide rail sliding block and has a gear rack guide rail outside a gear wheel, so that the high-speed displacement of the whole manipulator can be realized under the driving of a motor, the tool changing point of the manipulator is not limited to a fixed position, the tool changing point can be high-speed moved according to actual requirements, the tool changing efficiency is high, and the flexibility is strong, so that the manipulator can be applied to a machine type or a flow line service with more tool requirements.

[0020] 2) The high-speed manipulator has high integration, compact structure and modularity, has low hydraulic flow demand, fast tool preparation speed, can realize the linkage of the locking, overturning, left-right translation, swinging and up-down movement of the tool, and is more suitable for a machine type and flow line operation with more than 90 tools. BRIEF DESCRIPTION OF DRAWINGS

[0021] Figure 1 It is the main structure diagram of the vertical-horizontal conversion manipulator used on the conventional tool magazine.

[0022] Figure 2 Assembly view of components of high speed robot of the embodiment;

[0023] Figure 3 Exploded view of components of high speed robot of the embodiment;

[0024] Figure 4 Exploded view of structure of high speed components of the embodiment;

[0025] Figure 5 Exploded view of structure of lock blade assembly of the embodiment;

[0026] Figure 6 is Figure 5 Enlarged view at F;

[0027] Figure 7 Exploded view of structure of translation assembly of the embodiment;

[0028] Figure 8 Exploded view of structure of flip assembly of the embodiment;

[0029] Figure 9 Exploded view of structure of swing assembly of the embodiment;

[0030] Specific reference signs in the figures are as follows: 1-locking knife assembly, 11-sub-knife sleeve, 12-locking knife cylinder, 13-limiting rod, 14-top head, 141-inclined surface, 15-first switch support, 16-first through hole, 17-second through hole, 18-third through hole, 181-first plug, 182-second plug, 183-liquid outlet hole, 19-first spring, 10-side through hole, 101-second spring, 102-steel ball, 2-flipping assembly, 21-sub-knife sleeve support, 22-connection seat, 221-limiting seat, 222-limiting top rod, 23-flipping long shaft, 24-flipping cylinder, 25-flipping cylinder seat, 26-fixing seat, 261-flipping connection seat, 27-first bearing, 28-flipping connection block, 29-flipping short shaft, 20-cylinder connection block, 201-limiting pin, 3-translation assembly, 31-translation base, 311-first adjusting screw rod, 312-first adjusting block, 313-second adjusting screw rod, 314-second adjusting block, 32-guide rail, 33-translation cylinder, 34-translation cylinder seat, 35-top sleeve, 36-buffer sleeve, 37-translation connection plate, 38-third spring, 39-translation connection support, 4-pivoting assembly, 41-knife changing support frame, 411-guide rail groove, 42-pivoting long shaft, 43-pivoting upper support, 44-pivoting lower support, 45-pivoting cylinder, 451-pivoting connection block, 452-pivoting connection shaft, 46-pivoting cylinder seat, 461-pivoting short shaft, 47-second switch support, 48-second bearing, 49-connecting rod, 40-angle sensing support, 5-high-speed moving assembly, 51-base, 52-motor, 53-reducer, 54-small gear, 55-large gear, 6-knife. DETAILED DESCRIPTION

[0031] The utility model will be described in further detail below in combination with the drawings. The devices or components not specified in the utility model all adopt conventional technical means in the field.

[0032] The high-speed mechanical hand for numerical control machine tool of the embodiment, such as Figures 2-9As shown, the tool changer comprises a locking assembly 1, a turnover assembly 2, a translation assembly 3, a swing assembly 4, a high-speed moving assembly 5 and accessories (not shown in the figure), the locking assembly 1, the turnover assembly 2, the translation assembly 3, the swing assembly 4 and the high-speed moving assembly 5 are respectively used to realize the locking, turnover, left-right translation, swing and up-down translation of the tool, the accessories include air circuit, liquid circuit and electric circuit, the high-speed moving assembly 5 comprises a base 51, a motor 52 and a gear transmission mechanism installed on the base 51, the gear transmission mechanism comprises a pinion 54 and a gear 55 engaged with each other, the output end of the motor 52 is connected with the pinion 54 through a speed reducer 53, the gear 55 is engaged with a rack guide rail (not shown in the figure), the rack guide rail is vertically installed on a column of a Y-axis assembly (not shown in the figure) of the numerical control machine tool, the base 51 is slidably installed on the Y-axis assembly through a guide rail slider (not shown in the figure), the motor 52 is used to drive the high-speed mechanical hand to move along the Y-axis of the numerical control machine tool as a whole at high speed, the swing assembly 4 is installed on the base 51, the swing assembly 4 comprises a tool changing support frame 41, the translation assembly 3 is installed on the tool changing support frame 41, the translation assembly 3 comprises a translation base 31, the turnover assembly 2 is installed on the translation base 31, the turnover assembly 2 comprises a secondary tool sleeve support 21, the locking assembly 1 is installed on the secondary tool sleeve support 21, the locking assembly 1 comprises a secondary tool sleeve 11, a locking cylinder 12 and a limiting rod 13, the secondary tool sleeve 11 is fixed to the secondary tool sleeve support 21, a tool 6 is installed at the front end of the secondary tool sleeve 11, a pull pin of the tool 6 extends into the secondary tool sleeve 11, the limiting rod 13 is movably arranged in the secondary tool sleeve 11, the locking cylinder 12 is fixed at the rear end of the secondary tool sleeve 11, the locking cylinder 12 is an oil cylinder, an air cylinder or an electric cylinder, the output end of the locking cylinder 12 is fixed with a top head 14, the top head 14 is used to press or loosen the limiting rod 13, so as to realize the mechanical limiting or unlimiting of the pull pin.

[0033] The bottom of the auxiliary tool sleeve 11 is provided with a first switch bracket 15 for mounting a first proximity switch (not shown) for detecting whether a tool is installed on the auxiliary tool sleeve 11. The auxiliary tool sleeve 11 is provided with a first through hole 16, a second through hole 17 and a third through hole 18. The first through hole 16 and the second through hole 17 are arranged in parallel along the length direction of the auxiliary tool sleeve 11, the center line of the first through hole 16 is collinear with the center line of the top head 14, the front end of the top head 14 is provided with a bevel 141 inclined to the center line of the first through hole 16, the aperture of the first through hole 16 is larger than the outer diameter of the top head 14, the third through hole 18 is arranged between the first through hole 16 and the second through hole 17 along the width direction of the auxiliary tool sleeve 11, the second through hole 17 is used for accommodating a draw pin, the upper end and the lower end of the third through hole 18 are communicated with the first through hole 16 and the second through hole 17 respectively, the outer diameter of the limiting rod 13 is smaller than the aperture of the third through hole 18, the limiting rod 13 is movably arranged in the third through hole 18, the first plug 181 and the second plug 182 are arranged in the third through hole 18, the first plug 181 and the second plug 182 are arranged on both sides of the limiting rod 13 respectively, the first plug 181 and the second plug 182 are used for limiting the axial displacement of the limiting rod 13, the first plug 181 is provided with a liquid outlet hole 183, two first springs 19 are symmetrically arranged above the limiting rod 13, the two first springs 19 are vertically arranged in the auxiliary tool sleeve 11 respectively, one side through hole 10 is arranged on both sides of the second through hole 17 respectively, the two side through holes 10 are symmetrically arranged and the included angle between the two side through holes 10 is 120°, a steel ball 102 is arranged in each side through hole 10 through a second spring 101, and the two steel balls 102 are used for tightly pressing the outer circular surface of the draw pin.

[0034] In the embodiment, the translation assembly 3 comprises a guide rail 32, a translation cylinder 33, a translation cylinder seat 34, a top sleeve 35 and a buffer sleeve 36. The translation cylinder 33 is installed on the guide rail 32. The translation cylinder seat 34 is installed on the tool changing support frame 41. The translation cylinder 33 is an oil cylinder, a gas cylinder or an electric cylinder. A sliding block (not shown in the figure) is fixed on the translation base 31. The sliding block is slidably installed on the guide rail 32. The translation cylinder 33 is fixed on one side of the translation cylinder seat 34. The top sleeve 35 and the buffer sleeve 36 are fixed on the output end of the translation cylinder 33 in sequence. The top sleeve 35 is fixed with a translation connecting plate 37. The translation connecting plate 37 is arranged between the top sleeve 35 and the buffer sleeve 36. A plurality of third springs 38 are arranged between the buffer sleeve 36 and the translation connecting plate 37. A translation connecting bracket 39 is fixed on one side of the translation connecting plate 37. The translation base 31 is fixed on the bottom of the translation connecting bracket 39. An adjusting mechanism is arranged on the translation base 31. The adjusting mechanism is used to adjust the position of the translation base 31. The adjusting mechanism comprises a first adjusting screw 311, a first adjusting block 312, a second adjusting screw 313 and a second adjusting block 314. The first adjusting block 312 is fixed on one side of the translation base 31 through the first adjusting screw 311. The second adjusting block 314 is fixed on the bottom of the translation base 31 through the second adjusting screw 313.

[0035] In the embodiment, the turning assembly 2 comprises a connecting seat 22, a turning long shaft 23, a turning cylinder 24, a turning cylinder seat 25 and a fixing seat 26. The connecting seat 22 and the fixing seat 26 are fixed on the translation base 31 respectively. The turning long shaft 23 is horizontally installed on the connecting seat 22 through two first bearings 27. One end of the turning long shaft 23 is fixed on the secondary tool sleeve bracket 21. One side of the secondary tool sleeve bracket 21 is fixed with a turning connecting block 28. One side of the fixing seat 26 is fixed with a turning connecting seat 261. The turning cylinder seat 25 is installed on the inner side of the turning connecting seat 261 through two horizontally arranged turning short shafts 29. The turning cylinder 24 is fixed on one side of the turning cylinder seat 25. The turning cylinder 24 is an oil cylinder, a gas cylinder or an electric cylinder. A cylinder connecting block 20 is fixed on the output end of the turning cylinder 24. The cylinder connecting block 20 and the turning connecting block 28 are rotationally connected through a horizontally arranged limiting pin 201. A limiting seat 221 is fixed on the connecting seat 22. A limiting top rod 222 is horizontally installed on the limiting seat 221 through a nut. The limiting top rod 222 is used to adjust the position of the connecting seat 22.

[0036] In this embodiment, the swing assembly 4 includes a swing long shaft 42, a swing upper support 43, a swing lower support 44, a swing cylinder 45, a swing cylinder seat 46, and a second switch support 47. The swing long shaft 42, the swing lower support 44, and the second switch support 47 are respectively mounted on the base 51, and the gas circuit and the electric circuit pass through the inside of the swing long shaft 42. The tool changing support 41 is vertically mounted on the swing long shaft 42 through two second bearings 48. The upper end of the tool changing support 41 is provided with a connecting rod 49. The second switch support 47 is provided with a second proximity switch (not shown in the figure). The bottom of the tool changing support 41 is provided with an angle sensing support 40 matched with the second proximity switch. The second proximity switch is used to detect whether the swing action of the tool is performed to the position. The swing upper support 43 is fixed on the upper side of the swing lower support 44. The swing cylinder seat 46 is mounted between the swing upper support 43 and the swing lower support 44 through two vertically arranged swing short shafts 461. The swing cylinder 45 is fixed on one side of the swing cylinder seat 46. The output end of the swing cylinder 45 is fixed with a swing connecting block 451. The swing connecting block 451 is rotationally connected with the connecting rod 49 through a vertically arranged swing connecting shaft 452.

[0037] The lock cylinder 12, the translation cylinder 33, and the turnover cylinder 24 in the above high-speed manipulator can adopt oil cylinders, gas cylinders, or electric cylinders, and the power sources are diversified. When the current use environment is heavy tools and the speed needs to be extreme, all oil cylinders are preferably used. When the current use environment is light tools and the speed needs to be moderate, a part of the cylinders is preferably replaced by gas cylinders. When the current use environment requires energy saving, cleanliness, and high precision, the cylinders are preferably replaced by electric cylinders.

[0038] The main action process of the above high-speed manipulator is as follows:

[0039] When the lock action of the tool is performed, the vice tool sleeve 11 reaches the position of the target tool on the tool magazine (for example, a truss type tool magazine, not shown in the figure) of the numerical control machine tool. The punch 14 extends into the first through hole 16 under the drive of the lock cylinder 12. The punch 14 presses the limiting rod 13, and the limiting rod 13 presses the draw pin. The limiting rod 13 and the steel ball 102 mechanically limit the draw pin. At this time, the lock action of the tool is completed. When the unlocking action of the tool is performed, the punch 14 exits the first through hole 16 under the drive of the lock cylinder 12. The punch 14 releases the limiting rod 13. At this time, only a small force is needed to make the tool separate from the vice tool sleeve 11. At the same time that the tool separates from the vice tool sleeve 11 under the action of the external force, the draw pin head of the draw pin drives the limiting rod 13 to move upward, the limiting rod 13 is released from the limiting of the draw pin, and finally the limiting rod 13 is pushed downward by the first spring 19 and is reset. At this time, the unlocking action of the tool is completed.

[0040] When the action of turning to horizontal is performed, the turning cylinder 24 drives the cylinder connecting block 20 to move forward, driving the turning connecting block 28 and the secondary tool sleeve 11 to turn, and the action of turning to horizontal is completed; when the action of turning to vertical is performed, the turning cylinder 24 drives the cylinder connecting block 20 to move backward, driving the turning connecting block 28 and the secondary tool sleeve 11 to turn, and the action of turning to vertical is completed.

[0041] When the action of moving to the left is performed, the translation cylinder 33 drives the top sleeve 35 to move forward, pushing the translation connecting plate 37, the translation connecting support 39, the translation base 31, the secondary tool sleeve 11, the tool and other related parts to move to the left synchronously, and the action of moving to the left is positioned by the slider fixed on the translation base 31; when the action of moving to the right is performed, the translation cylinder 33 drives the top sleeve 35 to move backward, the buffer sleeve 36 presses the third spring 38, and the translation connecting plate 37, the translation connecting support 39, the translation base 31, the secondary tool sleeve 11, the tool and other related parts are pushed to move to the right synchronously, and the action of moving to the right is positioned by the slider fixed on the translation base 31; when the action of moving to the right is quickly completed, the spring force of the third spring 38 continues to push the related parts to slide to the right until the translation connecting plate 37 hits the top sleeve 35 to stop, and the action of moving to the right is completed.

[0042] When the action of swinging the tool to the spindle side is performed, the swing cylinder 45 drives the swing connecting block 451 to move forward, driving the tool changing support frame 41 to rotate to the spindle side through the connecting rod 49; during the swinging process, the second proximity switch angle sensing bracket 40 senses the swinging action of the tool; when the second proximity switch detects that the swinging action of the tool is completed, the action of swinging the tool to the spindle side is completed; when the action of swinging the tool to the tool magazine side is performed, the swing cylinder 45 drives the swing connecting block 451 to move backward, driving the tool changing support frame 41 to rotate to the tool magazine side through the connecting rod 49; during the swinging process, the second proximity switch angle sensing bracket 40 senses the swinging action of the tool; when the second proximity switch detects that the swinging action of the tool is completed, the action of swinging the tool to the tool magazine side is completed.

[0043] When high-speed movement is performed, the motor 52 drives the pinion gear 54 to rotate through the speed reducer 53, and the pinion gear 54 drives the gear wheel 55 to rotate along the rack guide rail, so as to realize the high-speed movement of the whole high-speed manipulator along the Y axis of the numerical control machine tool.

[0044] When the action of returning the tool to the tool magazine side is performed, the secondary tool sleeve 11 has a tool, and the single-step action is as follows: the manipulator swings from the spindle side to the tool magazine side, turns to horizontal, moves to the left side, and guarantees that the manipulator reaches the tool changing point tool holder (not shown in the figure) by performing high-speed movement; the action of unlocking the tool is performed, the tool is constrained by the tool changing point tool holder, the action of moving to the right side is performed, and the action of returning the tool to the tool magazine side is completed.

[0045] When the tool magazine side tool grabbing action is performed, there is no tool in the sub-tool sleeve 11. The single-step action is as follows: the manipulator is swung from the spindle side to the tool magazine side, is flipped to be horizontal, is translated to the right side, high-speed movement is performed to ensure that the manipulator reaches the rear of the target tool in the axial direction, a tool unlocking action is performed, a translation to the left action is performed, a lock tool action is performed, high-speed movement is performed to ensure that the manipulator with the target tool is separated from the tool holder, and the tool magazine side tool grabbing is completed.

[0046] When the spindle side tool changing action is performed, the single-step action is as follows: high-speed movement is performed to ensure that the manipulator reaches the spindle tool changing point, the manipulator is swung from the tool magazine side to the spindle side, is flipped to be vertical, is translated to the right side, a tool unlocking action is performed, the spindle side cam box mechanical arm is waited to complete tool changing, and finally a lock tool action is performed, and the spindle side tool changing is completed.

[0047] The tool changing point of the high-speed manipulator can be moved at high speed according to actual requirements, the tool changing efficiency is high, and the flexibility is strong, so that the manipulator can be applied to a machine type or a flow line service with more tool requirements. The structure of the high-speed manipulator is compact, modular, and the tool changing speed is fast, the lock tool, flipping, left-right translation, swinging and up-down translation actions of the tool can be linked, and the high-speed manipulator is more suitable for a machine type with more than 90 tools and flow line operation.

Claims

1. A high-speed robot for a numerical control machine tool, characterized by comprising: The high-speed manipulator comprises a lock-knife assembly, a turnover assembly, a translation assembly, a swing assembly, a high-speed movement assembly and accessories, the lock-knife assembly, the turnover assembly, the translation assembly and the swing assembly are used to realize the lock-knife, turnover, left-right translation, swing and up-down translation of the knife, the accessories comprise gas circuit, liquid circuit and electric circuit, the high-speed movement assembly comprises a base, a motor and a gear transmission mechanism installed on the base, the gear transmission mechanism comprises a small gear and a large gear in engagement, the output end of the motor is connected with the small gear through a speed reducer, the large gear is engaged with a rack guide rail, the rack guide rail is vertically installed on a column of a Y-axis assembly of a numerical control machine tool, the base is slidably installed on the Y-axis assembly through a guide rail sliding block, the motor is used to drive the high-speed manipulator to move at high speed along the Y-axis of the numerical control machine tool, the swing assembly is installed on the base, the swing assembly comprises a tool changing support frame, the translation assembly is installed on the tool changing support frame, the translation assembly comprises a translation base, the turnover assembly is installed on the translation base, the turnover assembly comprises a secondary tool sleeve support frame, the lock-knife assembly is installed on the secondary tool sleeve support frame, the lock-knife assembly comprises a secondary tool sleeve, a lock-knife cylinder and a limiting rod, the secondary tool sleeve is fixed to the secondary tool sleeve support frame, the knife is installed at the front end of the secondary tool sleeve, the pull pin of the knife extends into the secondary tool sleeve, the limiting rod is movably arranged in the secondary tool sleeve, the lock-knife cylinder is fixed to the rear end of the secondary tool sleeve, the lock-knife cylinder is an oil cylinder, a gas cylinder or an electric cylinder, the output end of the lock-knife cylinder is fixed with a top head, the top head is used to press the limiting rod or release the limiting rod, so as to realize the mechanical limiting or releasing of the pull pin.

2. A high speed robot for a numerically controlled machine tool according to claim 1, characterized in that, The first through hole and the second through hole are arranged in parallel along the length direction of the sub-tool sleeve, the center line of the first through hole is collinear with the center line of the punch, the aperture of the first through hole is larger than the outer diameter of the punch, the third through hole is arranged between the first through hole and the second through hole along the width direction of the sub-tool sleeve, the second through hole is used for accommodating the pull pin, the upper end and the lower end of the third through hole are communicated with the first through hole and the second through hole respectively, the outer diameter of the limiting rod is smaller than the aperture of the third through hole, the limiting rod is arranged in the third through hole in a movable manner, two first springs are symmetrically arranged above the limiting rod, the two first springs are vertically installed in the sub-tool sleeve, when the locking action of the tool is performed, after the sub-tool sleeve reaches the position of the target tool on the tool magazine of the numerical control machine tool, the punch is driven by the locking cylinder to extend into the first through hole, the punch presses the limiting rod, the limiting rod presses the pull pin, the limiting rod plays a mechanical limiting role on the pull pin, at this time, the locking action of the tool is completed; when the unlocking action of the tool is performed, the punch is driven by the locking cylinder to withdraw from the first through hole, the punch releases the limiting rod, the tool is separated from the sub-tool sleeve under the action of external force, the pull pin head of the pull pin drives the limiting rod to move upwards, the limiting rod releases the limiting of the pull pin, finally, the limiting rod is pushed downwards by the first spring and is reset, at this time, the unlocking action of the tool is completed.

3. A high speed robot for a numerically controlled machine tool according to claim 2, characterized in that, Two side through holes are connected and arranged on the two sides of the second through hole respectively, the two side through holes are symmetrically arranged and the included angle between the two side through holes is 120°, a steel ball is installed in each side through hole by a second spring, and the two steel balls are used for pressing the outer circular surface of the pull pin.

4. A high speed robot for a numerically controlled machine tool according to claim 2, wherein A first plug and a second plug are arranged in the third through hole, the first plug and the second plug are arranged on the two sides of the limiting rod respectively, the first plug and the second plug are used for limiting the axial displacement of the limiting rod, and a liquid outlet hole is arranged on the first plug.

5. The high speed robot for a numerically controlled machine tool according to claim 2, wherein The front end of the punch is provided with an inclined surface inclined to the center line of the first through hole, a first switch support is installed at the bottom of the sub-tool sleeve, the first switch support is used for installing a first proximity switch, and the first proximity switch is used for detecting whether the tool is installed on the sub-tool sleeve.

6. A high speed robot for a numerically controlled machine tool according to claim 1, wherein The translation assembly comprises a guide rail, a translation cylinder, a translation cylinder seat, a top sleeve and a buffer sleeve, the translation assembly is provided with a guide rail groove on the tool changing support frame, the guide rail is installed on the guide rail groove, the translation cylinder seat is installed on the tool changing support frame, the translation cylinder is an oil cylinder, a gas cylinder or an electric cylinder, a sliding block is fixed on the translation base, the sliding block is slidably installed on the guide rail, the translation cylinder is fixed on one side of the translation cylinder seat, the top sleeve and the buffer sleeve are fixed on the output end of the translation cylinder in sequence, the translation connecting plate is fixed on the top sleeve, the translation connecting plate is arranged between the top sleeve and the buffer sleeve, a plurality of third springs are arranged between the buffer sleeve and the translation connecting plate, the translation connecting bracket is fixed on one side of the translation connecting plate, and the translation base is fixed on the bottom of the translation connecting bracket.

7. A high speed robot for a numerically controlled machine tool according to claim 6, characterized in that, The translation base is provided with an adjusting mechanism, the adjusting mechanism is used for adjusting the position of the translation base, the adjusting mechanism comprises a first adjusting screw, a first adjusting block, a second adjusting screw and a second adjusting block, the first adjusting block is fixed on one side of the translation base through the first adjusting screw, and the second adjusting block is fixed on the bottom of the translation base through the second adjusting screw.

8. The high speed robot for a CNC machine tool according to claim 1, characterized by The overturning assembly comprises a connecting seat, an overturning long shaft, an overturning cylinder, an overturning cylinder seat and a fixing seat, the connecting seat and the fixing seat are fixed on the translation base respectively, the overturning long shaft is horizontally installed on the connecting seat through two first bearings, one end of the overturning long shaft is fixed on the vice tool sleeve support, the vice tool sleeve support is provided with an overturning connecting block on one side, the fixing seat is provided with an overturning connecting seat on one side, the overturning cylinder seat is installed on the inner side of the overturning connecting seat through two horizontally arranged overturning short shafts, the overturning cylinder is fixed on one side of the overturning cylinder seat, the overturning cylinder is an oil cylinder, a gas cylinder or an electric cylinder, a gas cylinder connecting block is fixed on the output end of the overturning cylinder, and the gas cylinder connecting block and the overturning connecting block are rotationally connected through a horizontally arranged limiting pin.

9. A high speed robot for a numerically controlled machine tool according to claim 8, characterized in that, The connecting seat is fixed with a limiting seat, a limiting top rod is horizontally installed on the limiting seat through a nut, and the limiting top rod is used for adjusting the position of the connecting seat.

10. The high speed robot for a CNC machine tool according to claim 1, characterized by The swing assembly comprises a swing long shaft, a swing upper support, a swing lower support, a swing cylinder, a swing cylinder seat and a second switch support, the swing long shaft, the swing lower support and the second switch support are respectively installed on the base, the gas circuit and the electric circuit pass through the inside of the swing long shaft, the tool changing support is vertically installed on the swing long shaft through two second bearings, the upper end of the tool changing support is installed with a connecting rod, the second switch support is installed with a second proximity switch, the bottom of the tool changing support is installed with an angle sensing support matched with the second proximity switch, the second proximity switch is used for detecting whether the swing action of the tool is executed in place, the swing upper support is fixed on the upper side of the swing lower support, the swing cylinder seat is installed between the swing upper support and the swing lower support through two vertically arranged swing short shafts, the swing cylinder is fixed on one side of the swing cylinder seat, the output end of the swing cylinder is fixed with a swing connecting block, and the swing connecting block and the connecting rod are rotationally connected through a vertically arranged swing connecting shaft.

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