Manipulator for machining center machines

Abstract

A mechanical hand of a machining center machine includes a base, a tool changing arm, a tool locking unit, a control unit and an oil pressure electromagnetic valve. The tool changing arm is capable of moving forward and backward relative to the base, and two ends of the tool changing arm each constitute a tool taking part. The tool locking unit is arranged on the tool changing arm and has a moving part. The control unit is arranged on the base and connected with the oil pressure electromagnetic valve. The control unit has a control part. When the oil pressure electromagnetic valve is in a working position, the control part pushes the moving part to facilitate the tool taking part to release a tool bar. When the oil pressure electromagnetic valve is in a normal position, the moving part is pushed backward by a spring to push the control part, the spring is stretched and cannot push the tool changing arm backward, thereby ensuring that the tool changing arm is in an initial position.

Description

Technical Field

[0001] This utility model relates to an automatic tool changer, and in particular to a robotic arm for a machining center. Background Technology

[0002] Please refer to Figure 1 and Figure 2 The robot arm of a known machining center is shown, which includes a base 1 and a tool changing arm 2. The tool changing arm 2 is controlled by a hydraulic system (not shown) and can reciprocate relative to the base 1 along an axis L to perform tool removal and tool placement operations. The tool changing arm 2 is also driven by a rotary mechanism (not shown) to rotate to perform tool changing operations.

[0003] Each end of the aforementioned tool changing arm 2 forms a tool taking part 2a. Each tool taking part 2a is linked to a moving member 2b of two tool locking units mounted on the tool changing arm 2, so as to grip or release a tool bar (not shown in the figure). Figure 1 The tool changing arm 2 shown is away from the base 1. At this time, each of the moving parts 2b is pushed by a spring 2c, causing a portion to protrude outside the tool changing arm 2, which in turn causes the tool taking part 2a to tightly grip the tool bar; as Figure 2 As shown, when the tool changing arm 2 is controlled to move against the base 1, each of the moving parts 2b abuts against a stop 3 at both ends of a stop 3 fixed to the outside of the base 1. The moving parts 2b retract into the tool changing arm 2 and compress the spring 2c. In this state, the tool taking part 2a can release the tool bar.

[0004] While the aforementioned mechanism can achieve the purpose of changing the tool holder, after the machining center stops, some of the hydraulic oil in its hydraulic system will be returned to the oil tank, thereby reducing the system pressure. At this time, in accordance with the shutdown, it is controlled to return to the initial position close to the base 1. Figure 2 The tool changing arm 2 (referencing) will be pushed away from the base 1 by the spring 2c and blocked by the stop 3, and thus deviate. In other words, the tool changing arm 2 fails to stay in the initial position. As a result, the operator must readjust the tool changing arm 2 back to the initial position after each restart of the machining center before subsequent machining operations can be carried out, which is inconvenient. Utility Model Content

[0005] In view of this, the purpose of this utility model is to provide a robotic arm for a machining center that can ensure that its tool changing arm is kept in the initial position, saving the inconvenience of adjustment operations.

[0006] To achieve the above objectives, this utility model provides a robotic arm for a machining center, which includes a base, a tool changing arm, at least one tool locking unit, and at least one control unit. An axis is defined passing through the base; the tool changing arm is pressure-controlled to move relative to the base along the axis, the tool changing arm has two different ends, at least one end of which constitutes a tool-taking portion; at least one tool-locking unit is disposed on the tool changing arm and includes a movable member, the movable member being movable between a first position and a second position, wherein when the movable member is in the first position, the tool-taking portion of the tool changing arm can firmly grip a tool bar; when the movable member is in the second position, the tool-taking portion of the tool changing arm can release the tool bar; at least one control unit is disposed on the base and includes a control member, the control member being movable between a third position and a fourth position, wherein when the control member is in the third position and in contact with the movable member, the movable member remains in the second position; when the control member is in the fourth position and in contact with the movable member, the movable member remains in the first position.

[0007] In one embodiment, the at least one control unit includes a valve seat having a pressure chamber formed therein, a portion of the control element being located in the pressure chamber, and the control element moving between the third position and the fourth position in response to pressure changes within the pressure chamber of the valve seat.

[0008] In one embodiment, a hydraulic solenoid valve is included. When the hydraulic solenoid valve is in an energized position, hydraulic oil can enter the pressure chamber of the valve seat and push the control element to the third position. When the hydraulic solenoid valve is in a normal position, hydraulic oil can be discharged from the pressure chamber of the valve seat.

[0009] The advantage of this invention is that by effectively controlling the movement position of the control component, the tool changing arm can be kept in the set initial position, avoiding unnecessary adjustment work. Attached Figure Description

[0010] Figure 1 A cross-sectional view of a known machining center robot arm, showing its tool changer arm away from its base;

[0011] Figure 2 Similar Figure 1 This reveals that its tool-changing arm has moved to its base;

[0012] Figure 3 A perspective view of the robotic arm of a machining center according to a preferred embodiment of the present invention;

[0013] Figure 4 for Figure 3 A perspective view of the robotic arm of the machining center shown from another angle;

[0014] Figure 5 for Figure 3 An exploded view of some components of the robotic arm of the machining center shown.

[0015] Figure 6 for Figure 3 A front view and partial perspective view of the robotic arm of the machining center shown.

[0016] Figure 7 for Figure 6 Sectional view in direction 7-7;

[0017] Figure 8 for Figure 7 The enlarged view of the part reveals that its tool changer arm is far from its base;

[0018] Figure 9 Similar Figure 8 This reveals that its tool changer arm has moved to its base and its hydraulic solenoid valve is in the working position;

[0019] Figure 10 Similar Figure 9 This indicates that its hydraulic solenoid valve is in the normal position.

[0020] [Symbol Explanation]

[0021] [This utility model]

[0022] 100: Robotic Arm

[0023] 10: Base

[0024] 20: Slewing mechanism

[0025] 22: Shaft tube

[0026] 30: Change the cutter arm

[0027] 32: Main arm

[0028] 32a: Mounting hole

[0029] 34: Bottom Cover

[0030] 36: Arm clamp

[0031] 36a: Frontend

[0032] 36b: Backend

[0033] 38: Functional Components

[0034] 40: Locking Unit

[0035] 42: Wear-resistant sleeve

[0036] 44: Moving parts

[0037] 44a: Small diameter portion

[0038] 44b: Large diameter part

[0039] 44c: Recessed chamber

[0040] 46: Spring

[0041] 50: Control Unit

[0042] 52: Valve seat

[0043] 521: base body

[0044] 521a: Receiving Hole

[0045] 522: Piston sleeve

[0046] 523: Capping

[0047] 523a: Shaft hole

[0048] 54: Valve nozzle

[0049] 54a: Working port

[0050] 56: Control components

[0051] 56a: Piston

[0052] 56b: Linkage

[0053] 60: Hydraulic solenoid valve

[0054] P: Pressure port

[0055] T: Oil return port

[0056] 200: Tool holder

[0057] L: Axis

[0058] P1: First position

[0059] P2: Second position

[0060] P3: Third position

[0061] P4: Fourth Position

[0062] S: Pressure chamber Detailed Implementation

[0063] To more clearly illustrate this utility model, a preferred embodiment is described in detail below with reference to the accompanying drawings. Please refer to... Figure 3 and Figure 4As shown, the robotic arm 100 of a machining center according to a preferred embodiment of the present invention includes a base 10, a rotary mechanism 20, a tool changing arm 30, at least one tool locking unit 40, at least one control unit 50, and a hydraulic solenoid valve 60. The rotary mechanism 20 is mounted on the base 10 and has a rotating shaft tube 22. An axis L is defined passing through the center of the base 10 and the shaft tube 22. Since the rotary mechanism 20 is not the focus of the improvement of this invention, it will not be described in detail here.

[0064] Please cooperate. Figure 5 and Figure 6 The aforementioned tool changer arm 30 includes a main arm 32, two bottom covers 34, two pairs of clamping arms 36, and two actuating members 38. The main arm 32 is sleeved on the outside of the shaft tube 22 so as to rotate together with it, and is pressure-controlled to move along the axis L. The main arm 32 has two mounting holes 32a formed on both sides of the axis L. The two bottom covers 34 are attached to the main arm 32 and respectively cover the bottom of each mounting hole 32a. In this embodiment, the main arm 32 is controlled by a hydraulic system (not shown) to move away from or against the base 10 along the shaft tube 22. The two pairs of clamping arms 36 are pivotally connected to the main arm 32 and located on both sides of the axis L. Each clamping arm... The two ends of the arm 36 are divided into a front end 36a and a rear end 36b by the pivot point. Each pair of clamping arms 36 can pivot on the same plane and their equal front ends 36a together constitute the knife-taking part defined in this utility model. The front ends 36a of the pair of clamping arms 36 open and close with the pivoting of the clamping arms 36 to grip or release a knife bar 200. The two actuating members 38 are respectively disposed between each pair of clamping arms 36. Each actuating member 38 has a pushing force that can drive the rear ends 36b of each pair of clamping arms 36 to separate relative to each other. In this embodiment, the actuating member 38 is a spring.

[0065] At least one locking unit 40 is disposed on the tool changing arm 30, and is used to activate the tool taking part to grip or release the tool bar 200. In this embodiment, two sets of locking units 40 are provided corresponding to the tool taking parts at both ends of the tool changing arm 30. Please refer to... Figure 5 , Figure 7 and Figure 8Each locking unit 40 includes a wear-resistant sleeve 42, a moving member 44, and a spring 46. The wear-resistant sleeve 42, the moving member 44, and the spring 46 are disposed in the mounting hole 32a of the tool changing arm 30 and are constrained by the bottom cover 34. The wear-resistant sleeve 42 is disposed between the bottom cover 34 and the moving member 44. The moving member 44 has a cylindrical structure and is axially divided into a small-diameter portion 44a and a large-diameter portion 44b. The outer diameter of the small-diameter portion 44a is smaller than the outer diameter of the large-diameter portion 44b. The large-diameter portion 44b has a recessed chamber 44c. One end of the spring 46 abuts against the bottom cover 34, and the other end protrudes into the recessed chamber 44c. The elastic force of the spring 46 maintains the outward pushing of the moving member 44. Figure 8 As shown, when the small diameter portion 44a of the movable member 44 protrudes outward, the movable member 44 is defined as being in a first position P1. At this time, the large diameter portion 44b of the movable member 44 will be as follows: Figure 6 As shown, the tool is located between the rear ends 36b of a pair of clamping arms 36 and in contact with the rear ends 36b of the pair of clamping arms 36. This situation causes the distance between the two front ends 36a of the pair of clamping arms 36 to be no longer increased. Therefore, when the tool bar 200 is pre-clamped between the two front ends 36a of the pair of clamping arms 36, the tool bar 200 will be gripped by the tool taking part of the tool changing arm 30 and will not loosen.

[0066] At least one control unit 50 is disposed on the base 10. In this embodiment, two sets of control units 50 are provided to match the number of locking blade units 40. Figure 5 , Figure 7 and Figure 8 As shown, each control unit 50 includes a valve seat 52, a valve nozzle 54, and a control element 56. The valve seat 52 includes a base 521, a piston sleeve 522, and a cover 523. The base 521 is detachably fixed to the base 10 and has a receiving hole 521a. The piston sleeve 522 is disposed in the receiving hole 521a. The cover 523 is combined with the base 521 to restrict the piston sleeve 522 within the receiving hole 521a. The cover 523 has a shaft hole 523a. The valve nozzle 54 is connected to the base 521 and has a working port 54a communicating with a pressure chamber S inside the valve seat 52. The control element 56 includes a piston 56a and a connecting rod 56b. The piston 56a is movably disposed in the piston sleeve 522. One end of the connecting rod 56b is connected to the piston 56a, and the other end can pass through the shaft hole 523a.

[0067] The hydraulic solenoid valve 60 is a structure capable of switching between two positions, simultaneously actuating two sets of control units 50. For ease of description, this explanation will focus on the control unit 50 actuated by one set. Please refer to... Figure 8As shown, the hydraulic solenoid valve 60 is in an energized working position. At this time, the hydraulic oil of the hydraulic system will enter the pressure chamber S from a pressure port P through the working port 54a of the valve nozzle 54, thereby pushing the control element 56 outward. In this state, the control element 56 is defined as being in a third position P3.

[0068] The above is a structural description of the robotic arm 100 of the machining center according to a preferred embodiment of the present invention. Next, the action of its tool changing arm 30 when gripping and releasing the tool bar 200 will be described, as well as the control method that can ensure that the tool changing arm 30 is kept in the set initial position.

[0069] Figure 8 The state shown indicates that the tool changing arm 30 is pushed by hydraulic pressure and moves away from the base 10 along the shaft tube 22. In this state, the tool changing arm 30 can be rotated by the rotary mechanism 20 to perform the tool changing operation. At this time, the moving part 44 of the tool locking unit 40 is pushed by the spring 46 and is located in the first position P1. At this time, the front end 36a of the clamping arm 36 grips the tool bar 200, while the control part 56 of the control unit 50 is pushed outward by hydraulic oil due to the influence of the hydraulic solenoid valve 60 being in the energized working position and is held in the third position P3.

[0070] When the tool changer arm 30 is again controlled by hydraulic pressure and moves against the base 10, and the hydraulic solenoid valve 60 is still in the energized working position, such as Figure 9 As shown, the control member 56, held in the third position P3, will push against the moving member 44, causing the moving member 44 to retract into the mounting hole 32a and move to a second position P2. At the same time, the moving member 44 compresses the spring 46, and the rear end 36b of the pair of clamping arms 36 corresponds to but does not contact the small diameter portion 44a. This situation allows the pair of clamping arms 36 to be in a pivotable state so that the tool bar 200 can easily pass through the front end 36a of the pair of clamping arms 36, that is, the tool take-up portion of the tool changing arm 30 can release the tool bar 200.

[0071] After the machining center stops, and the tool changer arm 30 is controlled to return to its original position... Figure 9 When the hydraulic solenoid valve 60 is positioned close to the base 10 as shown, it will be de-energized and return to its original position due to spring reset. Figure 10 In a normal position, the working port 54a of the valve nozzle 54 is switched to a return port T of the hydraulic solenoid valve 60. Simultaneously, as the spring 46 releases its compressed energy, it gradually pushes the control element 56 into the valve seat 52 via the moving member 44. The control element 56 then guides the hydraulic oil in the pressure chamber S from the working port 54a through the return port T back to an oil tank (not shown). When the control element 56 reaches... Figure 10When the position shown is defined, the control element 56 is in a fourth position P4. At this position, the spring 46 is effectively extended, so the tool changer arm 30 will not be affected by the reverse thrust of the spring 46 and will not deviate from the direction away from the base 10. That is, the tool changer arm 30 can be maintained in the set initial position. Thus, for the operator, it is not necessary to readjust the tool changer arm 30 to return to the initial position after each restart of the machining center. It is worth mentioning that the combination of the control unit 50 and the hydraulic solenoid valve 60 of this utility model can directly replace Figure 1 The stop component of the existing machining center's robotic arm shown also improves upon the shortcomings of the existing structure.

[0072] As can be seen from the above description, this utility model controls the movement of the control member 56 between the third position P3 and the fourth position P4 by changing the pressure in the pressure chamber S of the valve seat 52. When the control member 56 is in the third position P3 and in contact with the moving member 44 ( Figure 9 As shown), the movable member 44 is held in the second position P2, ensuring that the tool-taking part of the tool-changing arm 30 can release the tool bar 200; based on the above, when the hydraulic solenoid valve 60 returns to the normal position, the spring 46 releases the compressed energy to cause the movable member 44 to move toward the first position P1, and the movable member 44 will push the control member 56 to move to the fourth position P4, so that the tool-changing arm 30 can be held in the initial position.

[0073] The above description is only a preferred embodiment of the present utility model. Any equivalent changes made by applying the present utility model specification and the claims should be included within the patent scope of the present utility model.

Claims

1. A robotic arm for a machining center, characterized in that, Include: A base is defined as having an axis passing through it; A tool changer arm is pressure-controlled to move relative to the base along the axis. The tool changer arm has two distinct ends, at least one of which constitutes a tool take-up section. At least one locking unit is disposed on the tool changing arm and includes a movable member that can move between a first position and a second position. When the movable member is in the first position, the tool taking part of the tool changing arm can firmly grip a tool bar; when the movable member is in the second position, the tool taking part of the tool changing arm can release the tool bar. At least one control unit is disposed on the base and includes a control member that is movable between a third position and a fourth position, wherein when the control member is in the third position and in contact with the moving member, the moving member is held in the second position; and when the control member is in the fourth position and in contact with the moving member, the moving member is held in the first position.

2. The robotic arm of the machining center as described in claim 1, characterized in that, The at least one control unit includes a valve seat with a pressure chamber formed inside it. A portion of the control element is located in the pressure chamber, and the control element moves between the third position and the fourth position in response to pressure changes within the pressure chamber of the valve seat.

3. The robotic arm of the machining center as described in claim 2, characterized in that, It includes a hydraulic solenoid valve. When the hydraulic solenoid valve is in a working position, hydraulic oil can enter the pressure chamber of the valve seat and push the control element to the third position. When the hydraulic solenoid valve is in a normal position, hydraulic oil can be discharged from the pressure chamber of the valve seat.

4. The robotic arm of the machining center as described in claim 2, characterized in that, The valve seat includes a base, a piston sleeve, and a cover. The base is fixed to the base and has a receiving hole. The piston sleeve is disposed in the receiving hole. The cover is combined with the base to restrict the piston sleeve within the receiving hole. The cover has a shaft hole. The control component includes a piston and a connecting rod. The piston is movably disposed in the piston sleeve. One end of the connecting rod is connected to the piston, and the other end passes through the shaft hole.

5. The robotic arm of the machining center as described in claim 1, characterized in that, The tool changing arm includes a main arm, at least two clamping arms, and at least one actuating member. The main arm is located on the axis and can move and rotate relative to the base. The at least two clamping arms are pivotally connected to the main arm and located on one side of the axis. The at least one actuating member is used to drive one end of the at least two clamping arms to separate from each other. The other ends of the at least two clamping arms together constitute the tool taking part.

6. The robotic arm of the machining center as described in claim 5, characterized in that, The main arm of the tool changing arm has at least one mounting hole, the movable part of the at least one tool locking unit and a spring are disposed in the at least one mounting hole, and a bottom cover of the tool changing arm is combined with the main arm to restrict the movable part and the spring in the at least one mounting hole, wherein the spring pushes the movable part to maintain its movement toward the first position.

7. The robotic arm of the machining center as described in claim 6, characterized in that, The movable component is a cylindrical structure and is divided into a small diameter portion and a large diameter portion in the axial direction. The outer diameter of the small diameter portion is smaller than the outer diameter of the large diameter portion. When the movable component is in the first position, the large diameter portion contacts one end of the at least two clamping arms, so that the other end of the at least two clamping arms can firmly grip the tool holder. When the movable component is in the second position, the small diameter portion corresponds to but does not contact one end of the at least two clamping arms.

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