CN116237794A - Automatic tool exchange device - Google Patents

Abstract

The automatic tool exchange device provided by the invention is arranged between a tool library of a machining center and a main shaft, and comprises: a cam box provided with a driving part; a rotating unit provided in the cam box and configured to receive power from the driving unit to rotate the shaft; and a clamping part, which is provided with finger parts capable of clamping or unclamping the tool at two side end parts, and is fixed at the lower end of the rotating part, and rotates along with the rotation of the rotating part, wherein the rotating part comprises: an upper arm which rotates a shaft by power of the driving part in the cam box; and a double arm connected to the upper arm by inserting a predetermined length of the upper arm into a hollow portion of the inner portion, the double arm being rotatable along with the rotation of the upper arm, the double arm being movable up and down along the length direction of the upper arm by an external force applied to the clamp portion fixed to the lower end.

Description

Automatic tool exchange device

Technical Field

The present invention relates to an automatic tool changer.

Background

In general, a machine tool is widely used for various working purposes such as a machining center, a turning center, an electric discharge machine, a horizontal Numerical Control (NC) boring machine, and the like. In particular, a machining center (machining center) is a machine tool that automatically performs drilling, boring, milling, reaming, tapping, and the like, and automatically machines a workpiece in a predetermined order while exchanging necessary tools by a numerical control system in a state where various tools are arranged in a tool magazine. Since such a machining center needs to selectively exchange a plurality of tools for machining in order to automatically perform a plurality of types of machining, an automatic tool exchange device (ATC, automatic tool changer) is required that can exchange a tool mounted on a spindle with a tool stored in a tool magazine for the next step when the tool mounted on the spindle completes machining for one step.

In short, a tool machine is used to store (house) tools suitable for various kinds of machining, and a tool is mounted on a spindle in accordance with a program for determining the tools in a machining process, and a desired machining is performed based on the rotation of the spindle. As a means for supplying the tool magazine accommodating tools to the spindle, the automatic tool changer may be constructed by various methods.

Conventional automatic tool exchange devices are classified into a double arm type using a cam incorporated therein, a turret type, or a type called a sunflower type, which is an integrated type without a cam.

When the roller gear cam structure is incorporated, the upper arm shaft is rotated by the rotation of the roller gear cam, and the link structure assembled to the roller gear cam moves up and down by moving up and down the double arm shaft linked with the upper arm shaft. That is, in the conventional automatic tool changer, the double arm shaft is rotated by the upper arm shaft rotated by the roller gear cam, and the double arm shaft is moved up and down by the link structure operated by the roller gear cam. In the conventional roller gear cam system of the automatic tool changer, it is necessary to attach a single gear (hypoid gear, bevel gear, or spur gear) for receiving the power of the motor to the roller gear cam in order to transmit the power of the motor to the double arm, and thereby, as the roller gear rotates, the cam follower disposed on the double arm shaft rotates while sliding in the concave portion of the roller gear cam.

As described above, the conventional roller gear cam structure is configured to convert a rotational motion into a linear motion, and thus, there is a problem such as breakage. Specifically, the conventional roller gear cam structure rotates by a rotation motion of a roller gear and a cam follower attached to a double arm shaft. Further, since the cam follower disposed on the roller cam moves the link as the arm moves up and down, one side of the link becomes a rotation support point (fixed position of the rotating shaft), when the roller cam rotates, the length of the link that moves up and down changes as the angle of expansion of the link changes, and the cam follower assembled on one end of the link moves up and down independently of the rotational movement due to the sliding engagement with the concave portion of the arm shaft. The cam follower of the double arm shaft which is transferred through the groove of the roller gear cam which is connected with the rotation movement is assembled integrally, and the connecting rod structure of which the double arm moves up and down frequently cannot work due to the frequent breakage in the driving process. In addition, when the vertically movable double arm shaft is coupled to the roller gear cam by the link structure, there is a problem in that the link is often damaged due to inaccuracy of a force balance point (i.e., dead point) or linkage operation during operation or foreign matter.

Disclosure of Invention

The present invention has been made in view of the above-described drawbacks, and an object of the present invention is to provide an automatic tool exchange device that has a simple structure and minimizes damage to components.

It is still another object of the present invention to provide an automatic tool changer that can eliminate problems such as malfunction, and damage by simplifying the internal structure of a cam box.

In order to achieve the above object, the present invention provides an automatic tool exchange device provided between a tool magazine and a spindle of a machining center, comprising: a cam box provided with a driving part; a rotating unit provided in the cam box and configured to receive power from the driving unit to rotate the shaft; and a clamping part, which is provided with finger parts capable of clamping or unclamping the tool at two side end parts, and is fixed at the lower end of the rotating part, and rotates along with the rotation of the rotating part, wherein the rotating part comprises: an upper arm which rotates a shaft by power of the driving part in the cam box; and a double arm connected to the upper arm by inserting a predetermined length of the upper arm into a hollow portion of the inner portion, the double arm being rotatable along with the rotation of the upper arm, the double arm being movable up and down along the length direction of the upper arm by an external force applied to the clamp portion fixed to the lower end.

Drawings

Fig. 1 and 2 are perspective views each showing a state in which an automatic tool changer according to an embodiment of the present invention is installed on a spindle side of a machining center.

Fig. 3 is a top perspective view of an automatic tool changer according to one embodiment of the present invention.

Fig. 4 is a lower perspective view of an automatic tool changer according to one embodiment of the present invention.

Fig. 5 is a cross-sectional view taken along line A-A of the automatic tool changer shown in fig. 1.

Fig. 6 is a cross-sectional view taken along line B-B of the automatic tool changer shown in fig. 1.

Fig. 7 is a cross-sectional view taken along line C-C of the automatic tool changer shown in fig. 1.

Fig. 8 is a cross-sectional perspective view of the C-C line shown in fig. 7.

Fig. 9 is a diagram showing a driving portion, a coupling, a rotating portion, and a clamping portion according to an embodiment of the present invention.

Fig. 10 is an exploded perspective view showing the structure shown in fig. 9.

Fig. 11 is a diagram showing positions of a position setting pin, a position fixing pin, and a moving groove according to an embodiment of the present invention.

Fig. 12 is a diagram showing an initial state before an automatic tool exchange device according to an embodiment of the present invention operates.

Fig. 13 is a view showing an operating state in which the second finger of the clamping portion is disposed at the lower side of the spindle by the rotating portion being rotated by a preset angle according to an embodiment of the present invention.

Fig. 14 is a view showing an operation state in which a clamp portion and a double arm are lowered together by lowering a spindle according to an embodiment of the present invention.

Fig. 15 is a sectional view showing an operating state of the automatic tool exchange device shown in fig. 14.

Fig. 16 is a front view showing an operating state of the automatic tool exchange apparatus shown in fig. 14.

Fig. 17 is a view showing a state in which the spindle is raised after releasing the second tool in the operating state of the automatic tool changer shown in fig. 16.

Fig. 18 is a state diagram showing that the clamping portion is rotated 180 degrees in a state where the second finger portion clamps the second tool according to an embodiment of the present invention.

Fig. 19 is a view showing an operating state in which the spindle descends to clamp the first tool in a state in which the first finger portion of the first tool is clamped to the underside of the spindle, according to an embodiment of the present invention.

Fig. 20 is a diagram showing an operation state in which both arms rise together with the rising of the spindle according to an embodiment of the present invention.

Fig. 21 is a view showing an operating state in which the rotating portion of an embodiment of the present invention is reversely rotated by a preset angle.

(description of the reference numerals)

1: automatic tool exchange device

2: processing device 3: main shaft

10: cam box 11: mounting groove

111: first mounting groove 112: second mounting groove

113: third mounting groove 12: pin setting groove

13: position setting pin 14: pin sliding groove

15: position fixing pin 16: cylinder

20: the driving unit 21: motor with a motor housing

22: speed reducer 23: driving shaft

30: coupling 40: rotating part

41: upper arm 411: bearing

4111: the fastening protrusion 4112: bolt part

412: the movement guide shaft 4121: spline part

42: roller bearing 43: nut part

44: spline shaft 441: spline groove

442: chassis portion 45: double arm

451: hollow 452: upper flange

453: lower flange 454: connecting shaft

455: the moving groove 50: clamping part

51: first finger 52: second finger part

53: first pressurizing portion 54: a second pressurizing part

T1: first tool T2: second tool

Detailed Description

Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings. However, this is merely an example, and the present invention is not limited thereto.

Referring to fig. 1 to 11, an automatic tool changer 1 according to an embodiment of the present invention is provided between a tool magazine of a machining center and a spindle 3, and can change used tools clamped to the spindle 3 to tools to be used stored in the tool magazine. In other words, the automatic tool exchange device 1 according to an embodiment of the present invention allows the tool used by the spindle 3 to be stored in the tool magazine, and also allows a new tool to be used to be received from the tool magazine and supplied to the spindle 3.

The automatic tool exchange device 1 of the present invention performs shaft rotation by power and moves up and down by the operation of the spindle 3, and thus can operate up and down by organically connecting the spindle 3.

The automatic tool changer 1 may include a cam box 10, a driving part 20, a coupling 30, a rotating part 40, and a clamping part 50.

The cam box 10 may be provided with a driving portion 20 and a rotating portion 40. As an example, the driving portion 20 may be mounted on the upper side of the cam box 10, the rotating portion 40 may be mounted inside the cam box 10, and the clamping portion 50 may be mounted on the lower side of the cam box 10.

The cam box 10 may include a mounting groove 11, a pin setting groove 12, a position setting pin 13, a pin sliding groove 14, a position fixing pin 15, and a cylinder 16.

Referring to fig. 5, the mounting groove 11 may be a hollow portion formed in the cam box 10, and may be a groove in which the driving portion 20, the coupling 30, and the rotating portion 40 can be mounted. The mounting groove 11 may include a first mounting groove 111, a second mounting groove 112, and a third mounting groove 113.

The driving part 20 may be mounted in the first mounting groove 111. For example, the first mounting groove 111 is formed in the upper portion of the cam box 10, and the upper surface may be formed open. Specifically, a driving portion 20 is provided on the upper side of the cam box 10, and a driving shaft 23 of the driving portion 20 is inserted inside the first mounting groove 111 and can be coupled with the coupling 30. The driving shaft 23 inside the first mounting groove 111 can be connected to a bearing 411 of the upper arm 41 described below through the coupling 30.

The roller bearing 42 of the rotating portion 40 described below may be mounted to the second mounting groove 112. The second mounting groove 112 is formed between the first mounting groove 111 and the third mounting groove 113, and can communicate with the first mounting groove 111 and the third mounting groove 113. The second mounting groove 112 has a diameter corresponding to the diameter of the roller bearing 42, and the roller bearing 42 may be fixed in position inside the second mounting groove 112.

The rotation portion 40 described below may be mounted in the third mounting groove 113. The third mounting groove 113 formed at the lower portion of the cam box 10 has a diameter larger than that of the second mounting groove 112, and may be internally provided with the rotating portion 40. The rotation portion 40 provided inside the third mounting groove 113 is rotatable about an axis. Further, the lower surface of the third mounting groove 113 is formed open, and thus, in communication with the outside, the double arms 45 located in the third mounting groove 113 may be positioned in the third mounting groove 113, or the double arms 45 may be lowered toward the lower side of the third mounting groove 113.

Therein, referring to fig. 6, a pin arrangement groove 12 may be formed at the cam box 10. Specifically, the pin arrangement groove 12 may be formed in an upper portion of the cam box 10 within a height where the third mounting groove 113 is formed. When the double arm 45 is located in the third mounting groove 113 due to the rising, the pin installation groove 12 formed in the cam box 10 may be located at a position below the lower flange 453, and the height of the pin installation groove 12 may be smaller than the height of the lower flange 453.

The pin arrangement groove 12 may be formed at an upper portion of the third mounting groove 113 of the cam box 10. Specifically, an upper portion of the inner circumferential surface of the cam box 10 where the third mounting groove 113 is formed may be formed. The pin setting groove 12 may be a groove into which the position setting pin 13 can be inserted.

As an example, one pin arrangement groove 12 may be formed at an upper portion of the cam box 10 at a portion where the double arms 45 are located inside. Specifically, in an initial state before the lowering of the double arm 45 (for example, in a state where the double arm 45 is raised to enter the inside of the third mounting groove 113), a height of forming the pin setting groove 12 at an upper portion of the inner peripheral surface of the cam box 10 where the third mounting groove 113 is formed may be formed at a lower side of the lower face of the lower flange 453 of the double arm 45. In particular, the upper end of the pin arrangement groove 12 may be located at the level of the lower face of the lower flange 453 of the double arm 45.

The position setting pin 13 is insertable into the pin setting groove 12. That is, the position setting pin 13 may be located at an upper portion of the third mounting groove 113 of the cam box 10. The position setting pin 13 fixed to the pin setting groove 12 may protrude a prescribed length along the inside of the third mounting groove 113. Specifically, the position setting pin 13 is inserted into a pin setting groove 12 formed on the inner circumferential surface of the cam box 10 forming the third mounting groove 113, and the end portion may protrude a predetermined length along the inside of the third mounting groove 113. The position setting pin 13 may protrude adjacent to the outer peripheral surface of the double arm 45 on the inner peripheral surface of the cam box 10 in which the third mounting groove 113 is formed, by a predetermined length protruding along the inner side of the third mounting groove 113.

The position setting pin 13 protruding along the inside of the third mounting groove 113 is highly protruded from the lower side of the lower ledge 453 in the state before lowering, and the lower face of the lower ledge 453 may be placed on the upper face of the position setting pin 13. The upper end (or upper surface) of the position setting pin 13 protruding from the lower surface of the lower flange 453 is in contact with the lower surface of the lower flange 453, and the lower flange 453 is supported by the position setting pin 13, thereby preventing the lower arms 45 from being lowered by the position setting pin 13. That is, the position setting pin 13 can prevent the lowering of the double arms 45 due to gravity by supporting the lower flange 453 at the lower side of the lower flange 453.

Further, a position of the position setting pin 13 around the edge of the third mounting groove 113 may be arranged at a position offset from the movement groove 455 described below by a predetermined angle a with reference to the axis center point when the two arms 45 are rotated. In this regard, the following description of the rotating unit 40 will be described in detail. In the present invention, the state in which the position setting pin 13 is displaced from the movement groove 455 by the predetermined angle a in the state before the lowering of the double arm 45 will be described as the initial state.

In the present invention, the pin setting groove 12 is formed at one side of the cam box 10, and the position setting pin 13 is provided in the pin setting groove 12 at one side. That is, although the example in which one position setting pin 13 is provided on each side of the cam box 10 is shown in the drawings, the pin setting grooves 12 are not limited thereto, and two position setting pins 13 may be provided on both sides of the cam box 10. This means that the number of the position setting pins 13 may be changed according to the needs of a designer or a worker (manager).

Here, referring to fig. 7, the pin sliding groove 14 may be formed at a lower portion of the third mounting groove 113 of the cam box 10. Specifically, in the cam box 10, at the lower portion of the third mounting groove 113, a pin sliding groove 14 may be formed at the inner peripheral surface where the third mounting groove 113 is formed. In the present invention, although an example in which one pin sliding groove 14 is formed at one side of the cam box 10 is shown, it is not limited thereto, and two pin sliding grooves 14 may be formed to face each other along the circumference of the third mounting groove 113 according to the needs of a designer or a worker (manager). The height of the pin sliding groove 14 formed in the lower portion of the cam box 10 where the third mounting groove 113 is formed may be formed on the upper side of the upper surface of the upper flange 453 of the double arm 45 in a state where it descends from the inside of the third mounting groove 113 to the double arm 45 (for example, in a state where the lower flange 453 is adjacent to the bottom surface of the cam box 10). More specifically, in the state where the double arms 45 are lowered, the height of the upper face of the spline shaft 44 combined with the upper side of the double arms 45 may be located at the lower end of the pin sliding groove 14. A position fixing pin 15 may be provided at the pin sliding groove 14 to be able to enter the inside of the third mounting groove 113 or to be led out to the outside.

The position fixing pin 15 is provided in the pin sliding groove 14 and can be introduced or withdrawn to the outside along the inside of the third mounting groove 113 by the cylinder 16. The cylinder 16 may allow the position fixing pin 15 to enter the inside or exit the outside of the third mounting groove 113. Specifically, the cylinder 16 is provided on the outer side surface of the cam box 10, so that the position fixing pin 15 operates in the side direction. As an example, the cylinder 16 may be one of a plurality of cylinders 16 such as a hydraulic cylinder 16 and an air cylinder 16.

In a state where the both arms 45 are lowered, the position fixing pin 15, which enters the inside of the third mounting groove 113 through the cylinder 16, may be located on the upper side of the upper flange 452. Specifically, in a state where the lower flange 453 is adjacent to the bottom of the cam box 10 due to the descent of the double arms 45, when the position fixing pin 15 enters the inside of the third mounting groove 113 through the cylinder 16, the position fixing pin 15 may be inserted into the upper surface of the bottom plate portion 442 of the spline shaft 44 fixed to the upper surface of the upper flange 452. Therefore, in the state where the both arms 45 are lowered, the position fixing pins 15 are located above the upper surfaces of the upper arms 45, and thus, even if the both arms 45 receive an external force in the raising direction, the upper flange 452 collides with the position fixing pins 15 with the spline boss 44 fixed to the upper flange 452, and the position of the lowered state of the both arms 45 can be fixed by blocking the raising of the both arms 45.

In the initial state, when the rotating portion 40 is rotated by the preset angle a, the position fixing pin 15 may be located at a position shifted from the position of the moving groove 455. The position setting pin 13 and the position fixing pin 15 formed on the inner peripheral surface of the third mounting groove 113 may be formed on mutually offset vertical lines. That is, in an initial state, when the rotating part 40 is rotating by the preset angle a, the moving groove 455 and the position fixing pin 15 may be located on different vertical lines from each other. The driving part 20 may include a motor 21, a decelerator 22, and a driving shaft 23.

The motor 21 may enable the rotation portion 40 to rotate axially by transmitting power. The speed reducer 22 is connected to the motor 21, and reduces the rotation speed when the rotation unit 40 rotates the shaft as the power transmitted from the motor 21 is transmitted to the rotation unit 40. That is, the speed and the angle at which the rotating portion 40 rotates by receiving the power transmitted from the motor 21 can be adjusted by the speed reducer 22.

The drive shaft 23 is connected to the motor 21 and the speed reducer 22, protrudes from the lower portion of the speed reducer 22, and is connected to the rotating portion 40 via the coupling 30.

The driving part 20 is installed at the upper portion of the cam box, and the driving shaft 23 may be positioned inside the first installation groove 111.

The coupling 30 may connect the driving shaft 23 with the rotating part 40. More specifically, the coupling 30 may connect the drive shaft 23 with the bearing 411 of the upper arm 41. The driving shaft 23 is fastened to the upper portion of the coupling 30, and the bearing 411 may be fastened to the lower portion of the coupling 30.

The drive shaft 23 and the bearing 411 are positioned on the same line in the up-down direction and can be connected by the coupling 30.

Accordingly, the bearing 411 can rotate together with the rotation of the drive shaft 23.

The rotating portion 40 is provided in the third mounting groove 113 of the cam box 10, and is configured to receive power from the driving portion 20 to perform shaft rotation. The rotating portion 40 may include an upper arm 41, a roller bearing 42, a nut portion 43, a spline shaft 44, and a double arm 45.

The upper arm 41 is axially rotatable inside the cam box 10 by power of the driving section 20. That is, the upper arm 41 can rotate the double arm 45 shaft by receiving the power of the driving part 20.

The upper arm 41 may include a bearing 411 and a movement guide shaft 412.

The bearing 411 may be connected to the drive shaft 23 through the coupling 30. Also, the bearing 411 may be inserted inside the roller bearing 42 mounted in the second mounting groove 112. Specifically, the bearing 411 is fastened to the roller bearing 42 mounted in the second mounting groove 112, and the upper portion may protrude a prescribed length up to the first mounting groove 111. The upper part of the bearing 411 is fastened to the coupling 30 and can be connected to the driving shaft 23. The bearing 411 located in the second mounting groove 112 may be connected to the roller bearing 42. The bearing 411 receives power from the drive shaft 23, and can stably perform shaft rotation inside the roller bearing 42. The bearing 411 may be formed with a fastening protrusion 4111 and a bolt 4112.

The fastening protrusion 4111 may be formed at a lower portion of the bearing 411 such that the fastening protrusion 4111 has a diameter larger than a length of an upper portion of the bearing 411 as a portion formed at the lower portion of the bearing 411. As an example, the fastening protrusion 4111 may have the same diameter as the second mounting groove 112. Also, the fastening protrusion 4111 may have the same size as the diameter of the movement guide shaft 412. That is, the diameters of the fastening protrusion 4111 and the movement guide shaft 412 may be the same as or similar to the diameter size of the second mounting groove 112. For example, the bearing 411 may be inverted-t-shaped, including a portion of the fastening protrusion 4111. The fixed bearing 411 and the movement guide shaft 412 may be connected by a fastening protrusion 4111. The fastening protrusion 4111 may be located at a lower portion of the second mounting groove 112.

The bolt portion 4112 is a portion where a screw thread is formed, and may be formed at an upper portion of the bearing 411. Specifically, the bolt portion 4112 may be formed at the upper lower side of the bearing 411 coupled to the coupling 30, and the height between the fastening protrusion portion 4111 and the bolt portion 4112 may correspond to the height of the roller bearing 42. The bolt portion 4112 may be screw-coupled with a nut portion 43 described below.

The movement guide shaft 412 may be formed to extend from the lower end of the bearing 411 along the lower direction, and may be inserted into the hollow 451 inside the double arm 45. Specifically, the movement guide shaft 412 extends from the lower end of the fastening protrusion 4111 along the lower direction, and may have the same diameter as the fastening protrusion 4111.

The movement guide shaft 412 is connected to the double arm 45 via a spline sleeve 44, and is inserted into a hollow 451 of the double arm 45. The movement guide shaft 412 combined with the double arm 45 through the spline shaft 44 can transmit the shaft rotation force received from the bearing 411 to the double arm 45.

Specifically, the spline portion 4121 formed to protrude may be repeatedly formed on the outer peripheral surface of the movement guide shaft 412. The spline portion 4121 may be a protruding portion formed to extend in the up-down direction. In this case, the spline portions 4121 may be formed in plurality along the outer peripheral surface of the movement guide shaft 412 to be spaced apart from each other.

The roller bearing 42 is provided at a fixed position of the second mounting groove 112, and the bearing 411 is provided inside to guide the rotation of the shaft of the bearing 411 located inside. The roller bearing 42 may be one of roller bearings 42 commonly used such as a cylindrical roller bearing 42 and a conical roller bearing 42.

The roller bearing 42 may be mounted in the second mounting groove 112 to be located between the fastening protrusion portion 4111 and the bolt portion 4112 of the bearing 411. Specifically, the roller bearing 42 has the same size as the second mounting groove 112, and the set height thereof may correspond to the height between the fastening protrusion portion 4111 and the bolt portion 4112. Accordingly, the roller bearing 42 can be fixed at a position (height) inside the second mounting groove 112 by the nut portion 43 fastened to the fastening protrusion portion 4111 and the bolt portion 4112.

The nut portion 43 is fastened to the bolt portion 4112 of the bearing 411, and prevents the roller bearing 42 from moving upward along the bearing 411 due to rotation. As an example, in a state where the roller bearing 42 is located at the upper end of the fastening protrusion 4111, the roller bearing 42 may be located between the fastening protrusion 4111 and the nut portion 43 as the nut portion 43 is screwed with the fastening portion.

The spline shaft 44 is inserted and fixed to the upper side of the hollow 451 of the double arm 45, so that the movement guide shaft 412 penetrates along the inside.

Spline sleeve 44 may include spline grooves 441 and a bottom plate portion 442.

The spline groove 441 may be a groove that engages with a spline portion 4121 formed on the outer peripheral surface of the movement guide shaft 412 on the inner peripheral surface of the spline sleeve 44. That is, as the spline portion 4121 is engaged with the spline groove 441 by insertion, the rotational force of the moving guide shaft 412 can be transmitted to the spline shaft sleeve 44. Further, since the spline grooves 441 and the spline portions 4121 are formed to extend in the up-down direction, they can move up and down along the up-down length direction of the spline grooves 441 and the spline portions 4121. Thus, the spline shaft 44 can be moved up and down along the up-down longitudinal direction of the movement guide shaft 412, and when the movement guide shaft 412 is rotated, the spline shaft 44 is also rotated along the shaft.

The bottom plate portion 442 may be fastened to the upper flange 452 of the double arm 45 as a portion protruding along the outer side from the upper end outer peripheral surface of the spline sleeve 44. Since the spline sleeve 44 is fixed to the upper portion of the double arm 45 by the bottom plate portion 442, the spline sleeve 44 can be made to operate together with the double arm 45 as one structure. As described above, when the movement guide shaft 412 is rotated, the fixed spline shaft 44 and the double arms 45 are fastened by the chassis portion 442 to rotate the double arms 45 together, and thereby the double arms 45 can be moved up and down along the up-down length direction of the movement guide shaft 412 by the spline shaft 44.

The arm 45 is connected to the upper arm 41, and a predetermined length of the upper arm 41 is inserted into the hollow portion 451, and the arm 41 is rotated coaxially with the rotation of the shaft, so that the arm can be moved up and down along the longitudinal direction of the upper arm 41 by an external force applied to the clamp portion 50 fixed to the lower end. The double arm 45 can be connected to the spindle 3 by means of a clamping part 50 for organic operation. That is, the lifting or lowering of the arm 45 receives the lifting or lowering force of the spindle 3 by the clamp 50, and can work together with the spindle 3. The operation state of the double arm 45 will be described below with reference to fig. 14.

Specifically, the double arm 45 is located in the third mounting groove 113, and is lifted and lowered with reference to the movement guide shaft 412 to be located in the third mounting groove 113 or to protrude to the lower side of the third mounting groove 113. As an example, the length of the arm 45 may be equal to or longer than the length of the third mounting groove 113.

The dual arm 45 may include a hollow 451, an upper flange 452, a lower flange 453, a connection shaft 454, and a movement slot 455.

Hollow 451 may be formed inside double arm 45. That is, the double arms 45 may have a pipe shape in which the hollow 451 is formed. The spline shaft 44 is inserted and fixed to the upper side of the hollow 451 of the double arm 45, and the movement guide shaft 412 is inserted into the spline shaft 44 and into the hollow 451. That is, the double arm 45 is coupled to the movement guide shaft 412 of the upper arm 41 through the spline shaft sleeve 44, and rotates together with the shaft rotation of the upper arm 41, and can move up and down along the spline portion 4121 of the movement guide shaft 412 by an external force applied to the clamp portion 50 fixed to the lower end of the double arm 45 through the connection shaft 454.

The upper flange 452 and the lower flange 453 may protrude outward along the periphery of the upper portion of the double arm 45, and may be spaced apart from each other vertically by a predetermined interval. Since the upper flange 452 protrudes outward along the circumference at the upper end of the double arm 45, it can be fixed to the bottom plate portion 442 of the spline shaft 44. The lower flange 453 may protrude along the lower side at a predetermined interval from the upper flange 452.

The connection shaft 454 is formed to protrude downward from the lower end of the arm 45, is inserted into and fixed to the center of the clamp 50, and is connected to the clamp 50.

The moving groove 455 may be formed at a predetermined position along the circumference of the upper flange 452 and the lower flange 453. Specifically, when the rotating part 40 is rotating by the preset angle a, the moving groove 455 may be formed at a position around the upper flange 452 and the lower flange 453 such that the moving groove 455 is located on the same vertical line as the position setting pin 13. Further, when the rotating part 40 is rotating by the preset angle a, the moving groove 455 may be formed at a position shifted from the position of the position fixing pin 15.

Referring to fig. 11, part (a) of fig. 11 may be an initial state before the rotation portion 40 rotates. The initial state may be a state in which the arms 45 and the spindle 3 are positioned on a horizontal line in the left-right direction, and the first finger 51 and the second finger 52 are arranged in the front-rear direction.

As shown in part (a) of fig. 11, in an initial state before the rotation of the rotation part 40, an angle between the moving groove 455 and the position setting pin 13 with reference to the center point of the double arm 45 may be a preset angle a. In this case, the preset angle a may be 70 degrees. When the rotating portion 40 rotates, the preset angle a may be an angle at which the first finger 51 or the second finger 52 of the clamping portion 50 is disposed at the lower side of the spindle 3. Specifically, the first finger 51 or the second finger 52 of the clamping portion 50 may be an angle on the underside of the spindle 3 such that the central axis of the spindle 3 is on the same line as the central axis of the tool clamped by the first finger 51 or the second finger 52.

Part (b) of fig. 11 is a state diagram in which the rotating portion 40 is rotating by a predetermined angle a. In the present invention, the normal rotation may mean a direction in which the moving groove 455 and the position setting pin 13 are located on the same line due to the rotation of the rotating part 40 by the preset angle a. For example, in the present embodiment, positive rotation may mean rotation in a counterclockwise direction.

As shown in fig. 11 (b), if the rotating part 40 is rotating by the preset angle a, the moving groove 455 of the double arm 45 may be positioned on the same vertical line as the position setting pin 13. Also, the first finger 51 or the second finger 52 of the clamping portion 50 may be located at the lower side of the spindle 3. In this case, the position fixing pin 15 may be located on a vertical line offset from the moving groove 455.

Fingers capable of clamping and unclamping a tool are provided at both side ends of the clamping part 50, and are fixed to the lower end of the rotating part 40 so as to be rotatable with the rotation of the rotating part 40.

Specifically, the clamp 50 is connected to the connecting shaft 454 of the double arm 45, rotates together with the rotation of the double arm 45, and can rise or fall together with the rise or fall of the double arm 45.

The clamping portion 50 may include a first finger portion 51, a second finger portion 52, a first pressing portion 53, and a second pressing portion 54.

The first finger 51 may be used to grip a new first tool T1 received from the tool magazine for replacement. The second finger 52 can be used to grip a second tool T2 that is used up on the spindle 3.

The first pressing portion 53 is provided inside the first finger portion 51, and can press the first tool T1 located inside the first finger portion 51 to increase the fixing force. The second pressing portion 54 is provided inside the second finger portion 52, and can press the second tool T2 located inside the second finger portion 52 to increase the fixing force.

With reference to fig. 12 to 21, an operation method of the automatic tool changer 1 according to an embodiment of the present invention will be described.

First, fig. 12 shows an initial state before the automatic tool changer 1 operates. As described above, the initial state may be a state in which the double arm 45 and the spindle 3 are positioned on the horizontal line in the left-right direction, and the first finger 51 and the second finger 52 are arranged in the front-rear direction. In this case, the first finger 51 may be in a state of clamping the first tool T1 to be replaced received from the tool magazine, and the second finger 52 may be in an empty state.

As shown in fig. 13, in this state, the rotating part 40 may be rotated positively by the preset angle a by receiving the power of the driving part 20. The preset angle a may be 70 degrees. However, the preset angle a is not limited thereto, and may be determined based on the device characteristics of the manufacturer. Specifically, in the case where power is generated from the driving unit 20, if the upper arm 41 is rotated by the preset angle a in the normal direction along with the bearing 411 of the upper arm 41 connected to the drive shaft 23, the upper arm 41 and the double arm 45 connected by the spline structure can be rotated together by the preset angle a in the normal direction. Further, as the arm 45 rotates, the clamp 50 of the connecting shaft 454 fixed to the lower end of the arm 45 may also rotate positively at the predetermined angle a.

As described above, when the rotating portion 40 is rotated forward by the preset angle a, the second finger portion 52 is positioned below the spindle 3. In this case, as shown in part (b) of fig. 11, the double arm 45, which is positively rotated by the preset angle a, may be in a rotated state such that the moving groove 455 is located on the same vertical line as the position setting pin 13. Since the movement groove 455 formed in the upper flange 452 and the lower flange 453 is positioned on the same line as the position setting pin 13 in the up-down direction, the double arm 45 is in a state of being able to descend as the movement groove 455 passes through the position setting pin 13.

The second finger 52 on the underside of the spindle 3 can grip the used, replacement-requiring second tool T2 gripped by the spindle 3.

Referring to fig. 14 to 16, after the rotating portion 40 is rotated by the predetermined angle a, the double arm 45 is allowed to descend along the longitudinal direction of the upper arm 41 as the spindle 3 descends in a state where the second finger portion 52 grips the second tool T2 gripped by the spindle 3.

Specifically, in a state where the second finger 52 of the clamping portion 50 fixed to the lower end of the double arm 45 simultaneously clamps the second tool T2 and the spindle 3, if the spindle 3 is lowered, the double arm 45 can be lowered together by the force of the lowering of the spindle 3.

The arms 45 can be operated together with the clamping part 50 by receiving the ascending or descending force of the spindle 3. In this case, the position setting pin 13 penetrates through the movement groove 455, and as the spline groove 441 of the spline sleeve 44 moves down along the spline portion 4121 of the movement guide shaft 412, the double arm 45 can be lowered.

In a state where the double arm 45 and the spindle 3 simultaneously clamp the second tool T2, the spindle 3 may gradually loosen the second tool T2 and descend during the descent of the double arm 45 as the spindle 3 descends. That is, after the second finger 52 grips the second tool T2, the spindle 3 may release the second tool T during the descent.

As shown in fig. 15 and 16, if the lower flange 453 is located below the third mounting groove 113 due to the lowering of the double arm 45, the position fixing pin 15 can be moved into the third mounting groove 113 by the operation of the cylinder 16 and located above the upper flange 453. Specifically, if the lower flange 453 is adjacently located on the bottom surface of the cam box 10, the position fixing pin 15 enters the inside of the third mounting groove 113, so that the bottom plate portion 442 of the spline shaft 44 on the upper side of the upper flange 452 is inserted upward. The height of the double arm 45 can be fixed by the position fixing pin 15 located on the upper surface of the spline shaft 44 so that the double arm 45 cannot move upward.

Referring to fig. 17, after the second finger 52 clamps the second tool T2 and the spindle 3 unclamps the second tool T2, the spindle 3 may be raised. In this case, as shown in fig. 15 and 16, the position fixing pin 15 enters the third mounting groove 113, and the position fixing pin 15 is positioned above the lower flange 453 so that the arm 45 cannot be lifted up with the lifting of the spindle 3, and the arm 45 is in a position-fixed state by the position fixing pin 15, so that the lowered state can be maintained.

As shown in fig. 18, after the spindle 3 is lifted, the clamping portion 50 can be rotated 180 degrees in a state where the first finger portion 51 clamps the first tool T1 and the second finger portion 52 clamps the second tool T2. The state in which the clamping portion 50 is rotated 180 degrees may be a state in which it is rotated by a preset angle a+180 degrees with reference to the initial state. As an example, in the initial state shown in fig. 12, the clamp portion 50 may be rotated by 70 degrees+180 degrees.

In the state shown in fig. 17, when the clamp 50 is rotated 180 degrees, the first tool T1 clamped by the first finger 51 is located at the lower side of the spindle 3, and the second finger 52 clamped by the second tool T2 is located at the tool magazine side opposite to the spindle 3.

Referring to fig. 19 and 20, if the first finger 51 clamping the first tool T1 is located at the lower side of the spindle 3, the spindle 3 may descend again and clamp the first tool T1.

As the spindle 3 grips the first tool T1, the position fixing pin 15 can be extracted again to the outside in a state where the first finger 51 grips the first tool T1 simultaneously with the spindle 3. That is, if the position fixing pin 15 which blocks the movement toward the upper side of the double arm 45 is again led out from the third mounting groove 113 to the outside, the movement toward the upper side of the double arm 45 can be made free.

As described above, after the position fixing pin 15 is pulled out of the third mounting groove 113, when the spindle 3 is lifted, the lifting force of the spindle 3 is transmitted to the double arms 45 via the clamp 50, and the lower flange 453 can be lifted up to the upper side of the position setting pin 13 as the double arms 45 are lifted up. In other words, in a state where the spindle 3 and the first finger 51 clamp the first tool T1 at the same time, when the spindle 3 is lifted, the first tool T1 is lifted together with the spindle 3, the first finger 51 clamping the first tool T1 is lifted together with the spindle 3, and when the clamp 50 is lifted along with the lifting of the first finger 51, the double arm 45 fixed to the clamp 50 is lifted.

Next, after the lower flange 453 of the double arm 45 is raised to the upper side of the position setting pin 13, the first finger 51 releases the first tool T1. Subsequently, as shown in fig. 21, the upper arm 41 that receives power from the driving part 20 is reversely rotated by the preset angle a so that the positions of the moving groove 445 and the position setting pin 13 are shifted from each other. That is, the lower surface of the lower flange 453 is supported by the upper end of the position setting pin 13 as the movement groove 455 and the position setting pin 13 are offset from each other, and thus the lower flange 453 can be prevented from being lowered by the position setting pin 13.

As described above, the automatic tool changer 1 according to an embodiment of the present invention receives the power of the driving unit 20 to perform the shaft rotation, and the lifting operation is performed by receiving the lifting force from the spindle 3 by the tool. I.e. the tool can be clamped by an organic connection with the spindle 3.

As described above, the embodiment of the present invention transmits the rotational motion of the shaft to the double arms by the coupling the driving part and the upper arm to achieve a simple structure, and moves the double arms in the up-down direction by the up-down movement of the main shaft by achieving an organic linkage with the main shaft of the machining center, thereby separating the conventional rotational motion and up-down motion by the complex driving of the roller gear cam, and greatly reducing the problems occurring in the working process of the machine by simplifying the internal structure.

In addition, the roller gear cam and the transmission part in the cam box which can move the double arms up and down can be removed by the prior connecting rod structure to simplify the internal structure of the cam box, thereby eliminating the problems of misoperation, faults, damage and the like.

While specific embodiments of the present invention have been described in detail, it should be appreciated by those skilled in the art that various modifications could be made to the above described embodiments without departing from the scope of the invention. Therefore, the scope of the invention is not limited to the above-described embodiments, and should be defined based on the scope of the invention and equivalents thereof.

Claims (11)

1. An automatic tool exchange device is arranged between a tool library of a machining center and a main shaft, and is characterized in that,

comprising the following steps:

a cam box provided with a driving part;

a rotating unit provided in the cam box and configured to receive power from the driving unit to rotate the shaft; and

a clamping part, which is provided with finger parts capable of clamping or loosening the tool at two side end parts, is fixed at the lower end of the rotating part and rotates along with the rotation of the rotating part,

the rotating part includes:

an upper arm which rotates a shaft by power of the driving part in the cam box; and

the upper arm is connected to the hollow portion of the inner portion by inserting a predetermined length of the upper arm, and is rotated along with the rotation of the shaft of the upper arm, and can be moved up and down along the length direction of the upper arm by an external force applied to the clamp portion fixed to the lower end.

2. The automatic tool changer according to claim 1, wherein when one finger of the clamping part simultaneously clamps one tool with the spindle, the double arm is lifted or lowered together by the lifting or lowering force of the spindle in the case that the spindle is lifted or lowered.

3. The automated tool changer of claim 1, wherein,

the double arm includes:

an upper flange and a lower flange protruding outward along the periphery of the upper part and vertically spaced apart by a predetermined interval; and

moving grooves formed at predetermined positions around the upper flange and the lower flange, respectively,

the cam box includes a position setting pin disposed so that an inner peripheral surface of a mounting groove in which the double arm is disposed protrudes inward of the mounting groove, protruding from a lower side height lower than a height at which the lower flange is located in a state before the double arm is lowered, and being offset from the moving groove by a predetermined angle A with reference to an axis center point when the double arm shaft rotates,

the clamping part includes:

a first finger for gripping a new first tool received from the tool magazine for replacement; and

and the second finger part is used for clamping a second tool which is used up on the main shaft.

4. The automatic tool changer according to claim 3, wherein when the arm is rotated to shift the moving groove and the position setting pin by a predetermined angle a, a lower surface of the lower flange is brought into contact with an upper end of the position setting pin protruding from the cam box, and the lower flange is supported by the position setting pin, so that the position setting pin can prevent the arm from being lowered by its own weight.

5. The automatic tool changer according to claim 3, wherein when the rotating part is rotated forward by a predetermined angle a in a state where the two arms and the spindle are positioned horizontally in the horizontal direction and the first finger and the second finger are disposed in the front-rear direction, the second finger is positioned below the spindle, and the moving groove formed in the upper flange and the lower flange is positioned on the same line as the position setting pin in the vertical direction, whereby the moving groove passes through the position setting pin and the two arms can be lowered.

6. The automatic tool changer according to claim 3, wherein,

the cam box includes:

a position fixing pin capable of entering the inner side of the mounting groove from the lower part of the mounting groove configured with the double arms; and

a cylinder for leading the position fixing pin to enter the inner side or be led out from the outer side of the mounting groove,

in the state that the double arm descends, the position fixing pin which enters the inner side of the mounting groove through the air cylinder is positioned on the upper side of the upper flange.

7. The automatic tool changer according to claim 6, wherein the position fixing pin is inserted from a position around the installation groove which is offset from the position of the moving groove in a state where the rotating part is rotated by a predetermined angle a.

8. The automatic tool changer according to claim 7, wherein after the rotating part is rotated by a predetermined angle a, the double arm descends along the longitudinal direction of the upper arm with the descent of the spindle in a state in which the second finger grips the second tool gripped by the spindle, and when the lower flange is positioned at the lower portion of the mounting groove due to the descent of the double arm, the position fixing pin is moved into the mounting groove by the operation of the cylinder and positioned at the upper side of the upper flange, and when the spindle is lifted up after the second tool is released, the gripping part is rotated by 180 degrees so that the first tool gripped by the first finger is positioned at the lower side of the spindle in a state in which the first finger grips the first tool and the second finger grips the second tool.

9. The automatic tool changer according to claim 8, wherein when the spindle descends again and clamps the first tool clamped by the first finger to clamp the first tool simultaneously with the spindle, the position fixing pin is drawn out to the outside of the mounting groove by the cylinder, and as the spindle ascends, the force of the spindle ascending is transmitted to the double arm by the clamping portion to ascend the double arm, the double arm ascends to cause the moving groove to penetrate the position setting groove so that the lower flange is positioned above the position setting pin, and when the upper arm receiving the power from the driving portion rotates reversely by a preset angle a to shift the position of the moving groove and the position setting pin after the first finger loosens the first tool, the lower flange is supported by the position setting pin.

10. The automated tool changer of claim 1, wherein,

the upper arm includes:

a bearing connected to the driving shaft of the driving part via a coupling; and

a moving guide shaft extending downward from a lower portion of the bearing and inserted into a hollow portion of the double arm,

the rotating part comprises a roller bearing, which is arranged at a fixed position in the cam box, and is arranged at the inner side for guiding the shaft of the bearing to rotate.

11. The automated tool changer of claim 10, wherein,

a spline part is formed on the outer peripheral surface of the movement guide shaft,

the rotating part further comprises a spline sleeve inserted into the upper side of the hollow part of the double arm so that the inner side of the moving guide shaft penetrates, and a spline groove engaged with the spline part is formed on the inner peripheral surface.

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