CN105563195A - Tool changing device of five-axle linkage numerical control drilling and riveting equipment - Google Patents
Tool changing device of five-axle linkage numerical control drilling and riveting equipment Download PDFInfo
- Publication number
- CN105563195A CN105563195A CN201610112695.1A CN201610112695A CN105563195A CN 105563195 A CN105563195 A CN 105563195A CN 201610112695 A CN201610112695 A CN 201610112695A CN 105563195 A CN105563195 A CN 105563195A
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- Prior art keywords
- riveting
- cutter
- numerical control
- changing device
- tool
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q3/00—Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine
- B23Q3/155—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling
- B23Q3/1552—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling parts of devices for automatically inserting or removing tools
- B23Q3/1554—Transfer mechanisms, e.g. tool gripping arms; Drive mechanisms therefore
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Perforating, Stamping-Out Or Severing By Means Other Than Cutting (AREA)
Abstract
The invention discloses a tool changing device of five-axle linkage numerical control drilling and riveting equipment. The tool changing device comprises a riveting mold magazine, a first servo motor, a tool changing arm component and a second servo motor, wherein the riveting mold magazine is mounted on a tool magazine bracket; a riveting mold magazine rotating disc capable of rotating is arranged in the riveting mold magazine; multiple riveting molds are put in the riveting mold magazine rotating disc; the first servo motor is used for driving the riveting mold magazine rotating disc to rotate; the tool changing arm component is rotationally matched on the tool magazine bracket, and is used for changing tools; the tool changing arm component is provided with a tool jaw component for clamping the riveting molds; and the second servo motor is used for driving the tool changing arm component to rotate. The tool changing device is compact in structure and convenient for control, can realize tool clamping and placement through the tool jaw component, and is simple in adjustment and high in efficiency.
Description
Technical field
The present invention relates to transporation by plane technique and equipment field, particularly relate to a kind of 5-shaft linkage numerical control and bore riveting equipment tool changing device.
Background technology
Riveting technology is the MACHINERY JOINT generally used in aviation, and its processing technology is relatively simple, and riveting quality is easy to control, and has lightweight, that intensity is high advantage, is widely used at Field of Aviation Manufacturing.Traditional riveting products quality is larger by the impact of workman's individual factors, is therefore difficult to guarantee to stablize, the connection of high-quality and high-efficiency.In order to ensure assembly quality, the raising transporation by plane efficiency of aircraft, development automatic Drilling/Riveting Technology, using automatic Drilling/Riveting equipment to carry out the riveting of automation brill is a kind of inevitable trend.
It is the core functional components that 5-shaft linkage numerical control bores riveting equipment that 5-shaft linkage numerical control bores riveting equipment tool changing assembly, it is a height integrated system integrating mechanical, electric etc., its parameter level for equipment working (machining) efficiency impact huge, become equipment processing ability improve key.The 5-shaft linkage numerical control equipment being representative with American-European, Japan at present represents the highest level of current 5-shaft linkage numerical control equipment development, domestic still exist a certain distance, therefore research and develop a kind of 5-shaft linkage numerical control and bore riveting equipment tool changing device, the functional requirement meeting 5-shaft linkage numerical control brill riveting equipment Multifunctional actuator and 5-shaft linkage numerical control lathe tool changing assembly has important practical significance.
Summary of the invention
The object of this patent is to provide a kind of 5-shaft linkage numerical control and bores riveting equipment tool changing device, servomotor is adopted to be connected with decelerator, decelerator realizes the rotation of tool changing swing arm unit by the transmission of synchronous pulley beam warp Timing Belt, Timing Belt casing is connected with Pneumatic slid platform, cylinder main body promotes the feed motion that Pneumatic slid platform realizes fore-and-aft direction, pneumatic pawl promotes cutter claw assembly and realizes the gripping of cutter and lay, servomotor is connected with riveting mould storehouse rotating disc by decelerator, realize the rotation of tool magazine and the conversion of tool position, cylinder is connected with riveting mould bottom of the reservior seat, top cutter head is promoted by cylinder, realize the clamping of cutter and unclamp.
Concrete technical scheme of the present invention is as follows:
A kind of 5-shaft linkage numerical control bores riveting equipment tool changing device, comprise protective cover, riveting mould, riveting mould storehouse rotating disc, riveting mould bottom of the reservior seat, first decelerator and the second decelerator, first servomotor and the second servomotor, tool magazine support, cylinder slide unit, tool-changing mechanical arm slide plate, Timing Belt casing, electromagnetic valve component, gas pawl pivoted arm, Pneumatic slid platform, gas pawl Connection Block, pneumatic pawl, cylinder main body, servo-actuated belt wheel, slave tape wheel shaft, Timing Belt, synchronous pulley, Timing Belt wheel shaft, cutter claw assembly, spring shield, spring, riveting mould mounting flange, top cutter head, cylinder, cutter pawl, spring, multi-functional end effector, sensor, sensor stand, riveting mould storehouse, tool change arm rotary drive unit.
Wherein the first servomotor and the first decelerator are connected, first decelerator is connected with riveting mould mounting flange by riveting mould bottom of the reservior seat, riveting mould mounting flange is connected with riveting mould storehouse rotating disc, and riveting mould is arranged on the rotating disc of riveting mould storehouse, and sensor is fixed on the seat of riveting mould bottom of the reservior by sensor stand.Second servomotor is connected with Timing Belt wheel shaft by the second decelerator, Timing Belt wheel shaft and synchronous pulley drive servo-actuated belt wheel through Timing Belt after fixing, after servo-actuated belt wheel is connected with slave tape wheel shaft, synchronous pulley casing is connected, synchronous pulley casing is fixed on after being connected with tool-changing mechanical arm slide plate on cylinder slide unit, cylinder slide unit is connected with cylinder main body, electromagnetic valve component is arranged on Timing Belt body side, gas pawl pivoted arm one end is connected with slave tape wheel shaft, the other end is connected with Pneumatic slid platform, Pneumatic slid platform is connected with pneumatic pawl by gas pawl Connection Block, pneumatic pawl and cutter claw assembly are connected, cylinder is connected with riveting mould bottom of the reservior seat, push up cutter head and pass through spring, spring shield is connected with riveting mould storehouse rotating disc, cutter pawl is connected by spring and cutter claw assembly.
Further, described gas pawl pivoted arm one end and slave tape wheel shaft connect firmly, and the other end is connected with Pneumatic slid platform, and Pneumatic slid platform is connected with pneumatic pawl by gas pawl Connection Block, and pneumatic pawl promotes cutter claw assembly and opens with closed, realizes the gripping of cutter and lays.
The present invention utilizes Pneumatic slid platform sent into by cutter claw assembly or exit riveting mould storehouse, and pneumatic pawl promotes cutter claw assembly and to open and closed, with gripping with lay cutter.
Further, the second described servomotor is connected with Timing Belt wheel shaft by the second decelerator, and Timing Belt wheel shaft and synchronous pulley drive servo-actuated belt wheel through Timing Belt after fixing, and are connected after servo-actuated belt wheel is connected with slave tape wheel shaft with tool change arm assembly.After at riveting mould, from the rotating disc of riveting mould storehouse, gripping goes out, tool change arm assembly rotates under the effect of the second servomotor, is delivered to by cutter and uses position.
Further, be fixed on cylinder slide unit after described synchronous pulley casing is connected with tool-changing mechanical arm slide plate, cylinder main body promotes cylinder slide unit and seesaws, and realizes the feeding on fore-and-aft direction, is extracted out by riveting mould from the rotating disc of riveting mould storehouse.
Further, the first described servomotor and the first decelerator are connected, first decelerator is by riveting mould bottom of the reservior seat and riveting mould mounting flange) be connected, riveting mould mounting flange is connected with riveting mould storehouse rotating disc, realize the rotation of tool magazine, for the switching of cutter, cutter to be replaced being turned to cutter claw assembly can the position of gripping.
Further, described cylinder is connected with riveting mould bottom of the reservior seat, and top cutter head is connected with riveting mould storehouse rotating disc with by spring, spring shield, promotes top cutter head and moves, for ejecting the cutter be arranged in the rotating disc of riveting mould storehouse, realizing the clamping of cutter and unclamping by cylinder.
Further, described cutter pawl is connected by spring and cutter claw assembly, is namely connected with spring between cutter pawl and cutter claw assembly, is moved up and down and the pressuring action of spring, realize the flexible gripping of cutter by cutter pawl.
Further; described sensor is fixed on the seat of riveting mould bottom of the reservior by sensor stand; being in for responding on the rotating disc of riveting mould storehouse the cutter getting cutter spacing (being positioned at the opening part of protective cover), utilizing the examination and controlling of sensor realization to tool position.
Advantage of the present invention is as follows:
1) rotary motion of tool change arm adopts servomotor decelerator to be connected, and by toothed synchronous V belt translation, gearratio is accurate, and wearability is good, and efficiency is high.
2) Timing Belt casing is connected with cylinder slide unit, promotes cylinder slide unit realize front and back feed motion, compact conformation by cylinder main body, and it is convenient to control, environmental protection and energy saving.
3) rotary motion of tool magazine adopts servomotor to be connected with decelerator, and realize the conversion of cutter, positioning precision is high, stable, fast response time.
4) pneumatic pawl adopts air cylinder driven, and promote cutter claw assembly and realize the gripping of cutter and lay, adjustment is simple, and opposing hydraulic transmission is without oil temperature and pollution problem.
5) in tool magazine rotary motion, be provided with sensor, detect the position of cutter, realize closed-loop control, ensure the accurate of tool changing.
Accompanying drawing explanation
Fig. 1 is that 5-shaft linkage numerical control bores riveting equipment tool changing assembly axonometric drawing
Fig. 2 is that 5-shaft linkage numerical control bores the main sectional view of riveting equipment tool changing assembly
Fig. 3 is that 5-shaft linkage numerical control bores riveting equipment cutter claw assembly axonometric drawing
Fig. 4 is that 5-shaft linkage numerical control bores riveting equipment Multifunctional actuator axonometric drawing
In figure: protective cover 1, riveting mould 2, riveting mould storehouse rotating disc 3, riveting mould bottom of the reservior seat 4, first decelerator 5, second decelerator 10, first servomotor 6, second servomotor 8, tool magazine support 7, cylinder slide unit 9, tool-changing mechanical arm slide plate 11, Timing Belt casing 12, electromagnetic valve component 13, gas pawl pivoted arm 14, Pneumatic slid platform 15, gas pawl Connection Block 16, pneumatic pawl 17, cylinder main body 18, servo-actuated belt wheel 19, slave tape wheel shaft 20, Timing Belt 21, synchronous pulley 22, Timing Belt wheel shaft 23, cutter claw assembly 24, spring shield 25, spring 26, riveting mould mounting flange 27, top cutter head 28, cylinder 29, cutter pawl 30, spring 31, multi-functional end effector 32, sensor 33, sensor stand 34, riveting mould storehouse 35, tool change arm rotary drive unit 36.
Detailed description of the invention
As Figure 1-4, a kind of 5-shaft linkage numerical control bores riveting equipment tool changing device, comprise protective cover 1, riveting mould 2, riveting mould storehouse rotating disc 3, riveting mould bottom of the reservior seat 4, first decelerator 5, second decelerator 10, first servomotor 6, second servomotor 8, tool magazine support 7, cylinder slide unit 9, tool-changing mechanical arm slide plate 11, Timing Belt casing 12, electromagnetic valve component 13, gas pawl pivoted arm 14, Pneumatic slid platform 15, gas pawl Connection Block 16, pneumatic pawl 17, cylinder main body 18, servo-actuated belt wheel 19, slave tape wheel shaft 20, Timing Belt 21, synchronous pulley 22, Timing Belt wheel shaft 23, cutter claw assembly 24, spring shield 25, spring 26, riveting mould mounting flange 27, top cutter head 28, cylinder 29, cutter pawl 30, spring 31, multi-functional end effector 32, sensor 33, sensor stand 34, riveting mould storehouse 35.
Wherein, the first servomotor 6 and the first decelerator 5 are connected, and the first decelerator 5 is connected with riveting mould mounting flange 27 by riveting mould bottom of the reservior seat 4, drive the rotation of riveting mould mounting flange 27; Riveting mould mounting flange 27 is connected with riveting mould storehouse rotating disc 3, and riveting mould 2 is arranged on riveting mould storehouse rotating disc 3, and sensor 33 is fixed on riveting mould bottom of the reservior seat 4 by sensor stand 34, realizes detecting the position of cutter.
Second servomotor 8 is connected with Timing Belt wheel shaft 23 by the second decelerator 10, servo-actuated belt wheel 19 is driven through Timing Belt 21 after Timing Belt wheel shaft 23 is fixing with synchronous pulley 22, servo-actuated belt wheel 19 is connected with slave tape wheel shaft 20 afterwards and synchronous pulley casing 12 is connected, and is realized the rotary motion of tool change arm by toothed belt transmission.
Synchronous pulley casing 12 is fixed on after being connected with tool-changing mechanical arm slide plate 11 on cylinder slide unit 9, cylinder main body 18 promotes cylinder slide unit 9 and realizes front and back feed motion, electromagnetic valve component 13 is arranged on Timing Belt casing 12 side, gas pawl pivoted arm 14 one end is connected with slave tape wheel shaft 20, the other end is connected with Pneumatic slid platform 15, Pneumatic slid platform 15 is connected with pneumatic pawl 17 by gas pawl Connection Block 16, is realized the opening and closing of cutter claw assembly 24, complete the gripping of cutter and lay by pneumatic pawl 17.
Cutter pawl 30 is connected by spring 31 and cutter claw assembly 24, is moved up and down and the pressuring action of spring 31, realize the flexible gripping of cutter by cutter pawl 30.Cylinder 29 is connected with riveting mould bottom of the reservior seat 4, and top cutter head 28 is connected with riveting mould storehouse rotating disc 3 with by spring 26, spring shield 25, promotes top cutter head 28 and moves, realize the clamping of cutter and unclamp by cylinder 29.
The foregoing is only better implementation example of the present invention, be not limited to the present invention, all within the present invention's spirit and principle, any amendment done, equivalent replacement, improvement etc., all should be included within protection scope of the present invention.
Claims (8)
1. 5-shaft linkage numerical control bores a riveting equipment tool changing device, it is characterized in that, comprising:
Be arranged on the riveting mould storehouse on tool magazine support, inside establish riveting mould storehouse rotating disc (3) of rotation, in rotating disc (3) rotating disc of described riveting mould storehouse, be placed with some riveting moulds (2);
For the first servomotor (6) driving described riveting mould storehouse rotating disc (3) to rotate;
To be rotatably assorted on described tool magazine support and the tool change arm assembly of gripping cutter, described tool change arm assembly be provided with clamping riveting mould (2) for cutter claw assembly (24);
And for driving described tool change arm assembly to rotate with the second servomotor (8) changing cutter.
2. 5-shaft linkage numerical control as claimed in claim 1 bores riveting equipment tool changing device, it is characterized in that, described the first servomotor (6) and the first decelerator (5) are connected, first decelerator (5) is connected with riveting mould mounting flange (27) by riveting mould bottom of the reservior seat (4), and riveting mould mounting flange (27) coordinates with rotating disc (3) transmission of riveting mould storehouse.
3. 5-shaft linkage numerical control as claimed in claim 1 bores riveting equipment tool changing device, it is characterized in that, described the second servomotor (8) is connected with Timing Belt wheel shaft (23) by the second decelerator (10), servo-actuated belt wheel (19) is driven through Timing Belt (21) after Timing Belt wheel shaft (23) is fixing with synchronous pulley (22), servo-actuated belt wheel (19) is connected with tool change arm assembly after being connected with slave tape wheel shaft (20), for the rotary motion of tool change arm assembly.
4. 5-shaft linkage numerical control as claimed in claim 3 bores riveting equipment tool changing device, it is characterized in that, described tool change arm assembly comprises gas pawl pivoted arm (14), Pneumatic slid platform (15), gas pawl Connection Block (16) gentle pawl (17);
Described gas pawl pivoted arm (14) one end and slave tape wheel shaft (20) connect firmly, the other end is connected with Pneumatic slid platform (15), Pneumatic slid platform (15) is connected with pneumatic pawl (17) by gas pawl Connection Block (16), pneumatic pawl (17) promotes cutter claw assembly (24) and to open and closed, for cutter gripping with lay.
5. 5-shaft linkage numerical control as claimed in claim 4 bores riveting equipment tool changing device, it is characterized in that, described tool change arm assembly and the second servomotor (8) are arranged on cylinder slide unit (9), and cylinder main body (18) promotes cylinder slide unit (9) and seesaws.
6. 5-shaft linkage numerical control as claimed in claim 2 bores riveting equipment tool changing device, it is characterized in that, described riveting mould bottom of the reservior seat (4) is connected with cylinder (29), be provided with the top cutter head (28) linked with cylinder (29), promote top cutter head (28) by cylinder (29) and move to eject cutter.
7. 5-shaft linkage numerical control as claimed in claim 1 bores riveting equipment tool changing device, and it is characterized in that, described cutter claw assembly (24) is connected with cutter pawl (30) by spring (31).
8. 5-shaft linkage numerical control as claimed in claim 1 bores riveting equipment tool changing device, it is characterized in that, described riveting mould bottom of the reservior seat (4) is fixed with sensor (33).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610112695.1A CN105563195B (en) | 2016-02-29 | 2016-02-29 | A kind of 5-shaft linkage numerical control bores riveting equipment tool changing device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610112695.1A CN105563195B (en) | 2016-02-29 | 2016-02-29 | A kind of 5-shaft linkage numerical control bores riveting equipment tool changing device |
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| Publication Number | Publication Date |
|---|---|
| CN105563195A true CN105563195A (en) | 2016-05-11 |
| CN105563195B CN105563195B (en) | 2018-01-09 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610112695.1A Active CN105563195B (en) | 2016-02-29 | 2016-02-29 | A kind of 5-shaft linkage numerical control bores riveting equipment tool changing device |
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| CN (1) | CN105563195B (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106826333A (en) * | 2017-03-09 | 2017-06-13 | 尚鳌自动化工程（上海）有限公司 | Tool changing device and the mobile robot including it bore riveting equipment |
| CN109693134A (en) * | 2019-01-09 | 2019-04-30 | 科益展智能装备有限公司 | A kind of plug-in tool magazine device of CNC machine |
| CN111360572A (en) * | 2020-03-31 | 2020-07-03 | 新代科技(苏州)有限公司 | Tool magazine control system and control method thereof |
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| JP2000176776A (en) * | 1998-12-18 | 2000-06-27 | Honda Motor Co Ltd | Tool checker for automatic tool changer |
| CN202507105U (en) * | 2012-01-30 | 2012-10-31 | 福建省威诺数控有限公司 | Synchronous cutter loosening and changing mechanism for realizing quick cutter changing |
| CN103028990A (en) * | 2011-09-30 | 2013-04-10 | 鸿富锦精密工业（深圳）有限公司 | Tool changing device |
| CN202943462U (en) * | 2012-11-09 | 2013-05-22 | 西安扩力机电科技有限公司 | Computerized numerical control machining center based on automatic manipulator arm |
| CN105345566A (en) * | 2014-08-22 | 2016-02-24 | 圣杰国际股份有限公司 | Automatic tool changing mechanism of tool machine |
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2016
- 2016-02-29 CN CN201610112695.1A patent/CN105563195B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2000176776A (en) * | 1998-12-18 | 2000-06-27 | Honda Motor Co Ltd | Tool checker for automatic tool changer |
| CN103028990A (en) * | 2011-09-30 | 2013-04-10 | 鸿富锦精密工业（深圳）有限公司 | Tool changing device |
| CN202507105U (en) * | 2012-01-30 | 2012-10-31 | 福建省威诺数控有限公司 | Synchronous cutter loosening and changing mechanism for realizing quick cutter changing |
| CN202943462U (en) * | 2012-11-09 | 2013-05-22 | 西安扩力机电科技有限公司 | Computerized numerical control machining center based on automatic manipulator arm |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106826333A (en) * | 2017-03-09 | 2017-06-13 | 尚鳌自动化工程（上海）有限公司 | Tool changing device and the mobile robot including it bore riveting equipment |
| CN109693134A (en) * | 2019-01-09 | 2019-04-30 | 科益展智能装备有限公司 | A kind of plug-in tool magazine device of CNC machine |
| CN111360572A (en) * | 2020-03-31 | 2020-07-03 | 新代科技(苏州)有限公司 | Tool magazine control system and control method thereof |
| CN111360572B (en) * | 2020-03-31 | 2021-11-19 | 新代科技(苏州)有限公司 | Tool magazine control system and control method thereof |
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| Publication number | Publication date |
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| CN105563195B (en) | 2018-01-09 |
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