TW202333887A - Tool changing manipulator of processing machine including a first motor, a transmission structure and a rotating seat which are installed on a machine body - Google Patents
Tool changing manipulator of processing machine including a first motor, a transmission structure and a rotating seat which are installed on a machine body Download PDFInfo
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Description
本發明係與加工中心機有關，特別是指一種加工機之換刀機械手。The present invention relates to machining centers, and in particular refers to a tool-changing manipulator of a machining machine.
已知配置有刀庫的加工中心機是通過自動換刀機構來實現快速替換加工刀具的目的，前述自動換刀機構包括有一換刀臂，該換刀臂由一旋轉軸一端接設一刀臂構成，所述旋轉軸被驅轉以帶動該刀臂旋轉而交換刀具。然於實務中，部分機種的換刀臂必須進一步地能夠在兩個定點之間***控位移，以便順利將加工中心機之主軸（spindle）上刀具與刀庫（tool magazine）內的刀具完成換刀。It is known that a machining center equipped with a tool magazine achieves the purpose of quickly replacing machining tools through an automatic tool change mechanism. The automatic tool change mechanism includes a tool change arm. The tool change arm is composed of a rotating shaft connected to one end of a tool arm. , the rotating shaft is driven to rotate the tool arm to exchange the tool. However, in practice, the tool change arm of some machine models must further be able to be controlled and displaced between two fixed points in order to successfully change the tool on the spindle of the machining center and the tool in the tool magazine. knife.
在一種換刀臂必須於角度0度及90度的兩個定點之間往復移動的機構中，是將換刀臂安裝在一個能夠於九十度範圍內轉動的旋轉座上，為能順利且平穩地推動該旋轉座，已知方式是採用能夠產生較大輸出功率的油壓缸作為動力來源，惟油壓缸存在液壓油洩漏與液壓油後續處理的不環保問題，且在使用上受有液壓油溫度不得過高的限制。因此，現有以油壓手段作為推動該旋轉座轉動的方式有改善之處，除此之外，現有驅轉該換刀臂之旋轉軸的動力來源亦是採用油壓方式而有一同再檢討之處。In a mechanism in which the tool change arm must move back and forth between two fixed points with an angle of 0 degrees and 90 degrees, the tool change arm is installed on a rotating base that can rotate within a range of 90 degrees. In order to ensure smooth and A known way to push the rotating seat smoothly is to use a hydraulic cylinder that can produce a large output power as the power source. However, the hydraulic cylinder has problems with leakage of hydraulic oil and subsequent treatment of the hydraulic oil, which is not environmentally friendly, and is subject to certain problems in use. The hydraulic oil temperature must not be too high. Therefore, there is an improvement in the existing method of using hydraulic means to push the rotating base to rotate. In addition, the existing power source for driving the rotating shaft of the tool change arm also uses hydraulic means and has been reviewed together. at.
有鑑於此，本發明之目的在於提供一種加工機之換刀機械手，是以電力控制作為驅使換刀機械手作動的主要動力。In view of this, the object of the present invention is to provide a tool-changing robot for a processing machine, which uses electric control as the main driving force to drive the tool-changing robot to operate.
緣以達成上述目的，本發明提供一種加工機之換刀機械手包括一機體、一傳動結構、一第一馬達及一旋轉座。其中，傳動結構包括有第一轉軸、第二轉軸、第一搖臂、第二搖臂以及連動件，該第一轉軸與該第二轉軸是以能夠轉動的方式分別穿設該機體，且該第一轉軸與該第二轉軸的一部分位於該機體外；該第一搖臂固接該第一轉軸位於該機體外的部分，該第二搖臂固接該第二轉軸位於該機體外的部分；該連動件具有兩端且分別與該第一搖臂及該第二搖臂樞接；第一馬達用以帶動該第一轉軸轉動；旋轉座與該第二轉軸固接且能夠於一第一位置與一第二位置之間往復轉動。In order to achieve the above object, the present invention provides a tool changing manipulator of a processing machine, which includes a body, a transmission structure, a first motor and a rotating base. Wherein, the transmission structure includes a first rotating shaft, a second rotating shaft, a first rocker arm, a second rocking arm and a linking piece. The first rotating shaft and the second rotating shaft are rotatably penetrated through the body respectively, and the Parts of the first rotating shaft and the second rotating shaft are located outside the body; the first rocker arm is fixed to the part of the first rotating shaft located outside the body, and the second rocker arm is fixed to the part of the second rotating shaft located outside the body ; The linking member has two ends and are pivotally connected to the first rocker arm and the second rocker arm respectively; the first motor is used to drive the first rotating shaft to rotate; the rotating base is fixedly connected to the second rotating shaft and can be connected to a first rotating shaft. Rotate back and forth between one position and a second position.
本發明之效果在於以第一馬達搭配傳動結構的方式，即能夠實現油壓缸才會產生大輸出功率的效果，改善現有油壓缸存在液壓油洩漏與液壓油後續處理的不環保問題。The effect of the present invention is that by combining the first motor with the transmission structure, it is possible to realize the effect that only a hydraulic cylinder can produce large output power, and improve the environmentally friendly problems of hydraulic oil leakage and subsequent treatment of hydraulic oil in existing hydraulic cylinders.
為能更清楚地說明本發明，茲舉一較佳實施例並配合圖式詳細說明如後。請參圖1至圖3所示，本發明一較佳實施例之加工機的換刀機械手100是用以將加工機之主軸上的刀具與刀庫內的刀具進行交換，前述換刀機械手100包括有一機體10及一換刀臂20，該機體10固定不動，該換刀臂20透過一旋轉座30而以能夠被控制在兩個定點之間往復移動的方式接設該機體10，前述定點的選擇係依實際的工作需求而設定，本實施例的換刀臂20是被控制於角度0度（圖2參照）及90度（圖6參照）的兩個定點之間往復翻轉；此外，該換刀臂20包括有一旋轉軸22及一刀臂24，該旋轉軸22能被驅轉，該刀臂24接設在該旋轉軸22的一端且具有相對的兩端分別用以夾扣一刀桿（圖未示），該刀臂24受該旋轉軸22帶動而進行180度的轉動切換。In order to explain the present invention more clearly, a preferred embodiment is given and described in detail below with reference to the drawings. Referring to Figures 1 to 3, a tool changing manipulator 100 of a processing machine according to a preferred embodiment of the present invention is used to exchange tools on the main shaft of the processing machine with tools in the tool magazine. The aforementioned tool changing machine The hand 100 includes a body 10 and a tool change arm 20. The body 10 is fixed. The tool change arm 20 is connected to the body 10 through a rotating base 30 in a manner that can be controlled to move back and forth between two fixed points. The selection of the aforementioned fixed points is set according to actual work requirements. The tool change arm 20 in this embodiment is controlled to flip back and forth between two fixed points with angles of 0 degrees (refer to Figure 2) and 90 degrees (refer to Figure 6); In addition, the tool change arm 20 includes a rotating shaft 22 and a blade arm 24. The rotating shaft 22 can be driven. The blade arm 24 is connected to one end of the rotating shaft 22 and has two opposite ends for clamping respectively. A cutter bar (not shown in the figure), the cutter arm 24 is driven by the rotating shaft 22 to perform 180-degree rotation switching.
請配合圖4至圖11所示，本實施例的換刀機械手100還包括有一傳動結構40、一第一馬達50、一第一凸輪分割器60、一限位結構70、一第二凸輪分割器80與一第二馬達90。As shown in FIGS. 4 to 11 , the tool changing manipulator 100 of this embodiment also includes a transmission structure 40 , a first motor 50 , a first cam divider 60 , a limiting structure 70 , and a second cam. Divider 80 and a second motor 90 .
該傳動結構40包括有一第一轉軸41、一第二轉軸42、一第一搖臂43、一第二搖臂44以及一連動件45。其中，該第一轉軸41與該第二轉軸42是以能夠轉動的方式分別穿過該機體10之前側板12上的穿孔，較佳者，在前述穿孔處安裝有軸承座46，轉軸穿過軸承座46，軸承座46穩定支撐轉軸並使轉軸能夠順利轉動，此外，該第二轉軸42的一端透過多數個螺栓47而固接該旋轉座30，且該第二轉軸42能夠帶動該旋轉座30翻轉。該第一搖臂43及該第二搖臂44為一種偏心結構，其中第一搖臂43固接該第一轉軸41位於該機體10外的部分，第二搖臂44固接該第二轉軸42位於該機體10外的部分；該連動件45具有相對的兩端且分別與該第一搖臂43及該第二搖臂44樞接並共同構成能夠連動的結構。The transmission structure 40 includes a first rotating shaft 41 , a second rotating shaft 42 , a first rocker arm 43 , a second rocker arm 44 and a linking member 45 . Among them, the first rotating shaft 41 and the second rotating shaft 42 are rotatable respectively through the perforations on the front side plate 12 of the body 10. Preferably, a bearing seat 46 is installed at the aforementioned perforations, and the rotating shafts pass through the bearings. The base 46 and the bearing base 46 stably support the rotating shaft and enable the rotating shaft to rotate smoothly. In addition, one end of the second rotating shaft 42 is fixedly connected to the rotating base 30 through a plurality of bolts 47 , and the second rotating shaft 42 can drive the rotating base 30 Flip. The first rocker arm 43 and the second rocker arm 44 are of an eccentric structure, in which the first rocker arm 43 is fixed to the part of the first rotating shaft 41 located outside the body 10 , and the second rocker arm 44 is fixed to the second rotating shaft. 42 is located outside the body 10; the linking member 45 has two opposite ends and are respectively pivotally connected to the first rocker arm 43 and the second rocker arm 44 and together form a linkable structure.
上述第一轉軸41及第二轉軸42平行設置，請配合圖2及圖4所示，該第一搖臂43以該第一轉軸41的軸心為轉動中心，第二搖臂44以該第二轉軸42的軸心為轉動中心，於此定義該第一搖臂43與該連動件45的樞接中心至該第一搖臂43的轉動中心為一第一距離L1，該第二搖臂44與該連動件45的樞接中心至該第二搖臂44的轉動中心為一第二距離L2，其中該第一距離L1小於該第二距離L2。The first rotating shaft 41 and the second rotating shaft 42 are arranged in parallel. As shown in FIGS. 2 and 4 , the first rocker arm 43 takes the axis center of the first rotating shaft 41 as its rotation center, and the second rocker arm 44 takes the axis center of the first rotating shaft 41 as its rotation center. The axis center of the two rotating shafts 42 is the rotation center. Here, a first distance L1 is defined from the pivot center of the first rocker arm 43 and the linkage 45 to the rotation center of the first rocker arm 43. The second rocker arm 44 and the linking member 45 to the rotation center of the second rocker arm 44 is a second distance L2, wherein the first distance L1 is smaller than the second distance L2.
該第一馬達50係用以帶動該第一轉軸41轉動，本實施例的第一馬達50前端接設一減速機52，該第一凸輪分割器60設置於該減速機52與該傳動結構40之間。如圖5所示，該第一凸輪分割器60包括在一機箱61內設置有一第一入力軸62、一第一出力軸64及一第一分度結構66；其中，該第一入力軸62與該第一出力軸64平行設置且一端穿過該機箱61之一機鈑61a，該第一入力軸62的一部分伸入該減速機52，該第一馬達50通過該減速機52帶動該第一入力軸62轉動；該第一出力軸64通過多數根螺栓63與該第一轉軸41同軸接設，然於實務上不排除該第一出力軸64與該第一轉軸41可以是一體成形者；該第一分度結構66係用以連動該第一入力軸62與該第一出力軸64，本實施例的第一分度結構66包括有一第一轉位凸輪661、一第一分度盤662與多數個第一分度件663，其中該第一入力軸62以能夠帶動該第一轉位凸輪661轉動的方式穿設該第一轉位凸輪661，該第一分度盤662以能夠連動該第一出力軸64或是該第一轉軸41的方式套設在該第一出力軸64與該第一轉軸41對接的部位，前述第一入力軸62與第一轉位凸輪661連動的方式，以及第一分度盤662與該第一出力軸64或是第一分度盤662與該第一轉軸41連動的方式在本實施例中是採取鍵與鍵槽配合的模式而實現連動的目的；至於該些第一分度件663則是間隔地設置在該第一分度盤662上。The first motor 50 is used to drive the first rotating shaft 41 to rotate. In this embodiment, a reducer 52 is connected to the front end of the first motor 50 , and the first cam divider 60 is disposed between the reducer 52 and the transmission structure 40 between. As shown in Figure 5, the first cam divider 60 includes a first input shaft 62, a first output shaft 64 and a first indexing structure 66 provided in a chassis 61; wherein, the first input shaft 62 It is arranged parallel to the first output shaft 64 and has one end passing through a frame 61 a of the chassis 61 . A part of the first input shaft 62 extends into the reducer 52 . The first motor 50 drives the third motor through the reducer 52 . An input shaft 62 rotates; the first output shaft 64 is coaxially connected to the first rotating shaft 41 through a plurality of bolts 63. However, in practice, it is not excluded that the first output shaft 64 and the first rotating shaft 41 can be integrally formed. ; The first indexing structure 66 is used to link the first input shaft 62 and the first output shaft 64. The first indexing structure 66 of this embodiment includes a first indexing cam 661, a first indexing cam 661 and a first indexing cam 661. The plate 662 and a plurality of first indexing members 663, wherein the first input shaft 62 penetrates the first indexing cam 661 in a manner that can drive the first indexing cam 661 to rotate, and the first indexing plate 662 is The first output shaft 64 or the first rotating shaft 41 can be connected to the first output shaft 64 or the first rotating shaft 41 by being sleeved at the joint between the first output shaft 64 and the first rotating shaft 41 . The first input shaft 62 is connected to the first indexing cam 661 and the first indexing plate 662 and the first output shaft 64 or the first indexing plate 662 and the first rotating shaft 41 are linked together. In this embodiment, the key and keyway matching mode is used to realize the linkage. purpose; as for the first indexing members 663, they are arranged on the first indexing plate 662 at intervals.
在上述中，當該馬達50驅使該第一入力軸62帶動該第一轉位凸輪661轉動時，該第一轉位凸輪661透過抵推該第一分度件663而使該第一分度盤662帶動該第一轉軸41轉動，基於該連動件45的兩端樞接該第一轉軸41與該第二轉軸42，以及該第一搖臂43與連動件45的樞接中心至該第一搖臂43的轉動中心（即第一距離L1）小於該第二搖臂44與連動件45的樞接中心至該第二搖臂44的轉動中心（即第二距離L2）的關係，使得被該第一轉軸41帶動的第一搖臂43能以大角度擺動的方式來帶動該第二搖臂44以較小角度的範圍擺動，並實現該第一轉軸41同步帶動該第二轉軸42旋轉的目的。在本實施例中，該第一轉軸41帶動該第一搖臂43於角度0度及180度之間正反向擺動（請對照圖2及圖6），該第二搖臂44則是於角度0度及90度之間往復擺動。然於其他實施例中，不排除是該第一轉軸41帶動該第一搖臂43旋擺一圈時，該第二搖臂44通過該連動件45的連動而於角度0度及90度之間完成一次性的往復擺動。In the above, when the motor 50 drives the first input shaft 62 to drive the first indexing cam 661 to rotate, the first indexing cam 661 makes the first indexing by pushing against the first indexing member 663. The disk 662 drives the first rotating shaft 41 to rotate, based on the two ends of the linking member 45 pivoting the first rotating shaft 41 and the second rotating shaft 42, and the pivot center of the first rocker 43 and the linking member 45 to the third The rotation center of a rocker arm 43 (i.e., the first distance L1) is smaller than the relationship between the pivot center of the second rocker arm 44 and the linking member 45 to the rotation center of the second rocker arm 44 (i.e., the second distance L2), so that The first rocker arm 43 driven by the first rotating shaft 41 can swing at a large angle to drive the second rocking arm 44 to swing at a smaller angle range, and realize the first rotating shaft 41 to synchronously drive the second rotating shaft 42 The purpose of rotation. In this embodiment, the first rotating shaft 41 drives the first rocker arm 43 to swing forward and reverse between an angle of 0 degrees and 180 degrees (please compare Figure 2 and Figure 6), and the second rocker arm 44 swings at an angle of 0 degrees and 180 degrees. The angle swings back and forth between 0 degrees and 90 degrees. However, in other embodiments, it is not ruled out that when the first rotating shaft 41 drives the first rocker arm 43 to rotate in one circle, the second rocker arm 44 moves at an angle between 0 degrees and 90 degrees through the linkage of the linking member 45 . Complete a one-time reciprocating swing.
此外，為了減縮該第一凸輪分割器60的整體體積，本實施例的第一分度件663採取分別設置在該第一分度盤662的正面與反面，該第一轉位凸輪661包括有兩個凸輪塊661a分別以接力方式抵推設置在該第一分度盤662正面及反面的第一分度件663，以使該第一分度盤662轉動順暢。前述第一分度件663為一種帶柄軸承，但不排除也可以是其他具有等效替代性的結構，例如滾子。由此可知，前述第一凸輪分割器60為一種可以產生大扭力的平行凸輪分割器，須說明的是，該凸輪分割器在其他實施例中的入力軸與出力軸可以是非平行設置的，例如當該入力軸是具有渦桿結構時，則該入力軸與出力軸之間呈垂直設置。In addition, in order to reduce the overall volume of the first cam divider 60, the first indexing members 663 of this embodiment are respectively disposed on the front and back of the first indexing plate 662. The first indexing cam 661 includes The two cam blocks 661a respectively push the first indexing members 663 provided on the front and back of the first indexing plate 662 in a relay manner, so that the first indexing plate 662 rotates smoothly. The aforementioned first indexing member 663 is a shank bearing, but it is not excluded that it can also be other equivalent structures, such as rollers. It can be seen from this that the aforementioned first cam divider 60 is a parallel cam divider that can generate large torque. It should be noted that the input axis and the output axis of the cam divider in other embodiments may be non-parallel, for example When the input shaft has a worm rod structure, the input shaft and the output shaft are arranged vertically.
如圖7及圖8所示，本實施例之旋轉座30概呈矩形體而具有一第一側面32與一第二側面34，由上述可知，該旋轉座30係隨同該第二轉軸42的轉動而翻轉。該限位結構70包括有能夠提供該第一側面32抵接的第一抵擋面，以及能夠提供該第二側面34抵接的第二抵擋面，在本實施例中，限位結構70包括有立接在該機體10的一第一擋桿72及一第二擋桿74，該第一擋桿72具有一第一頭部721，該第一頭部721的頂面構成該第一抵擋面；該第二擋桿74具有一第二頭部741，該第二頭部741的頂面構成該第二抵擋面，較佳者，該第一頭部721與該第二頭部741是以能夠被調整沿著軸向位移的方式設計，例如以螺接方式實現前述目的。其中圖8表示該旋轉座30的第一側面32抵接該第一頭部721而停留在一第一位置P1，圖9表示被帶動翻轉的旋轉座30以其第二側面34抵接該第二頭部741而停留在一第二位置P2。As shown in FIGS. 7 and 8 , the rotating base 30 of this embodiment is generally rectangular and has a first side 32 and a second side 34 . As can be seen from the above, the rotating base 30 is accompanied by the second rotating shaft 42 Turn and turn. The limiting structure 70 includes a first resisting surface capable of providing contact with the first side 32 , and a second resisting surface capable of providing contact with the second side 34 . In this embodiment, the limiting structure 70 includes: A first blocking rod 72 and a second blocking rod 74 are vertically connected to the body 10. The first blocking rod 72 has a first head 721, and the top surface of the first head 721 constitutes the first resisting surface. ; The second blocking rod 74 has a second head 741, and the top surface of the second head 741 constitutes the second resisting surface. Preferably, the first head 721 and the second head 741 are It can be designed in a way that it can be adjusted along the axial displacement, for example, by screwing to achieve the aforementioned purpose. 8 shows that the first side 32 of the rotating base 30 abuts the first head 721 and stays at a first position P1. FIG. 9 shows that the second side 34 of the rotating base 30 that is driven to flip abuts the first head 721. The two heads 741 stay at a second position P2.
請再配合圖10及圖11所示，該第二凸輪分割器80設置在該旋轉座30與該換刀臂20之間，該第二馬達90透過前端接設一減速機92而設置在該第二凸輪分割器80下方，因此當該旋轉座30轉動時，該換刀臂20、第二凸輪分割器80及第二馬達90亦將隨著該旋轉座30的翻轉而改變擺向。前述第二凸輪分割器80包括有一機箱82、一第二入力軸84、一第二出力軸86及一第二分度結構88。As shown in Figures 10 and 11, the second cam divider 80 is disposed between the rotating base 30 and the tool change arm 20, and the second motor 90 is connected to a reducer 92 through the front end and is disposed on the Below the second cam divider 80 , when the rotating base 30 rotates, the tool change arm 20 , the second cam divider 80 and the second motor 90 will also change the swing direction as the rotating base 30 turns over. The aforementioned second cam divider 80 includes a chassis 82 , a second input shaft 84 , a second output shaft 86 and a second indexing structure 88 .
該機箱82透過多數個螺栓81穿設而固接該旋轉座30，機箱82內設置該第二入力軸84、第二出力軸86及第二分度結構88，其中該第二入力軸84與該第二出力軸86平行設置，該第二入力軸84的一端伸至該減速機92中，該第二馬達90透過減速機92帶動該第二入力軸84轉動；該第二出力軸86的一端穿出該機箱82，且該第二出力軸86透過一連軸套83而與該換刀臂20之旋轉軸22同軸連接。The chassis 82 is fixedly connected to the rotating base 30 through a plurality of bolts 81 . The second input shaft 84 , the second output shaft 86 and the second indexing structure 88 are provided in the chassis 82 , wherein the second input shaft 84 and The second output shaft 86 is arranged in parallel, and one end of the second input shaft 84 extends into the reducer 92 . The second motor 90 drives the second input shaft 84 to rotate through the reducer 92 ; the second output shaft 86 One end passes through the chassis 82 , and the second output shaft 86 is coaxially connected to the rotating shaft 22 of the tool change arm 20 through a connecting sleeve 83 .
該第二分度結構88用以連動該第二入力軸84與該第二出力軸86，本實施例的第二分度結構88包括有一第二轉位凸輪881、一第二分度盤882與多數個第二分度件883，其中該第二入力軸84以能夠帶動該第二轉位凸輪881轉動的方式穿設該第二轉位凸輪881，該第二出力軸86亦以能與該第二分度盤882連動的方式穿設該第二分度盤882，前述第二入力軸84與第二轉位凸輪881、第二出力軸86與第二分度盤882的連動方式除了可以採取鍵與鍵槽配合的模式之外，亦可通過製作為一體成形的結構來實現連動目的；該些第二分度件883間隔設置在該第二分度盤882上。本實施例的第二轉位凸輪881同樣是由兩個凸輪塊881a構成，第二分度盤882的正面與反面分別設置有多數個以帶柄軸承為例的第二分度件883，當第二馬達90驅使該第二入力軸84轉動時，凸輪塊881a抵推第二分度件883連動該第二出力軸86旋轉，轉動的第二出力軸86帶動該旋轉軸22轉動，該旋轉軸22帶動該刀臂24旋轉。The second indexing structure 88 is used to link the second input shaft 84 and the second output shaft 86. The second indexing structure 88 of this embodiment includes a second indexing cam 881 and a second indexing plate 882. With a plurality of second indexing members 883, the second input shaft 84 penetrates the second indexing cam 881 in a manner that can drive the second indexing cam 881 to rotate, and the second output shaft 86 is also capable of interacting with the second indexing member 883. The second indexing plate 882 is passed through the second indexing plate 882 in an interlocking manner. In addition to the interlocking manner between the second input shaft 84 and the second indexing cam 881 and the second output shaft 86 and the second indexing plate 882 , In addition to the key and keyway matching mode, the interlocking purpose can also be achieved by making an integrally formed structure; the second indexing members 883 are arranged at intervals on the second indexing plate 882 . The second indexing cam 881 of this embodiment is also composed of two cam blocks 881a. The front and back sides of the second indexing plate 882 are respectively provided with a plurality of second indexing members 883, such as shank bearings. When the second motor 90 drives the second input shaft 84 to rotate, the cam block 881a pushes against the second indexing member 883 to rotate the second output shaft 86. The rotating second output shaft 86 drives the rotating shaft 22 to rotate. This rotation The shaft 22 drives the blade arm 24 to rotate.
綜合以上所述，本發明之加工機的換刀機械手100主要是以電力控制作為驅使換刀機械手作動的動力源，包括以該第一馬達50配合該第一凸輪分割器60與該傳動結構40而實現以較大輸出功率（如大扭力輸出）帶動該旋轉座30，當該旋轉座30上搭載該換刀臂20、第二凸輪分割器80及第二馬達90等重物時，仍能順暢地帶動於兩個定點之間往復翻轉；以及，以該第二馬達90配合該第二凸輪分割器80來控制該換刀臂20之該刀臂24進行180度的換刀轉動切換。前述第一馬達50及第二馬達90為一種交流電三相電機馬達，通過馬達搭配分割器及傳動結構40的方式，改善現有以油壓缸作為帶動換刀臂於兩個定點之間移動時，存在液壓油洩漏與液壓油後續處理的不環保問題，且本發明之結構並無受到液壓油溫度過高的使用限制。值得一提的是，本實施例的旋轉座30上所搭載的重物雖是換刀臂20及第二凸輪分割器80，然於實際的應用例上並不以前述重物為限。To sum up the above, the tool changing robot 100 of the processing machine of the present invention mainly uses electric control as the power source to drive the tool changing robot to operate, including using the first motor 50 in conjunction with the first cam divider 60 and the transmission. The structure 40 is used to drive the rotating base 30 with a larger output power (such as a large torque output). When the rotating base 30 is equipped with heavy objects such as the tool change arm 20, the second cam divider 80 and the second motor 90, It can still be smoothly driven to flip back and forth between the two fixed points; and, the second motor 90 cooperates with the second cam divider 80 to control the tool arm 24 of the tool change arm 20 to perform a 180-degree tool change rotation switch. . The aforementioned first motor 50 and second motor 90 are an alternating current three-phase motor. By combining the motor with the divider and the transmission structure 40, the existing hydraulic cylinder is used to drive the tool change arm to move between two fixed points. There are problems of hydraulic oil leakage and subsequent treatment of hydraulic oil that are not environmentally friendly, and the structure of the present invention is not limited by the use of excessively high hydraulic oil temperature. It is worth mentioning that although the heavy objects mounted on the rotating base 30 in this embodiment are the tool change arm 20 and the second cam divider 80, actual application examples are not limited to the aforementioned heavy objects.
此外，上述實施例的連動件45除了可以是單一構件之外，還可以是具備調整長度的結構，例如包括有一第一桿體451與一第二桿體452，該第一桿體451與該第二桿體452以能夠調整對接長度的方式（如鎖接）接設，其中該第一桿體451一端與該第一搖臂43樞接，該第二桿體452一端與該第二搖臂44樞接，透過前述可調整長度的結構設計，使得該連動件45在安裝上更具靈活性，例如得適應於該第一轉軸41及該第二轉軸42之中心間距有所改變時。請再配合圖12及圖13所示，在一實施例中，第一桿體451是透過對接一第一軸承座453而樞接該第一搖臂43，第二桿體452是透過對接一第二軸承座454而樞接該第二搖臂44，第一桿體451與第二桿體452的另一端分別構成一T型頭451a及452a，前述T型頭容設在一調整桿套455中，並以一壓蓋456將T型頭侷限在該調整桿套455中，其中，在該T型頭451a與該調整桿套455的底壁之間設置有碟形彈片457，在該T型頭452a與該壓蓋456之間設置有碟形彈片458，藉此，連動件45的長度調整機制具備補償功效，能夠使得該第一搖臂43及第二搖臂44的轉動更為順暢。In addition, in addition to being a single component, the linking member 45 of the above embodiment can also have a length-adjustable structure, for example, including a first rod 451 and a second rod 452. The first rod 451 and the The second rod body 452 is connected in a way that the docking length can be adjusted (such as locking connection). One end of the first rod body 451 is pivotally connected to the first rocker arm 43 , and one end of the second rod body 452 is connected to the second rocker arm 43 . The arm 44 is pivoted, and through the aforementioned length-adjustable structural design, the linkage 45 is more flexible in installation, for example, it can be adapted to changes in the center distance between the first rotating shaft 41 and the second rotating shaft 42 . Please refer to Figures 12 and 13. In one embodiment, the first rod 451 is pivotally connected to the first rocker arm 43 by docking a first bearing seat 453, and the second rod 452 is pivoted by docking a first bearing seat 453. The second bearing seat 454 is pivotally connected to the second rocker arm 44. The other ends of the first rod body 451 and the second rod body 452 respectively form a T-shaped head 451a and 452a. The aforementioned T-shaped head is accommodated in an adjusting rod sleeve. 455, and a pressing cover 456 is used to confine the T-shaped head in the adjusting rod sleeve 455, wherein a disc-shaped elastic piece 457 is provided between the T-shaped head 451a and the bottom wall of the adjusting rod sleeve 455. A disc-shaped elastic piece 458 is provided between the T-shaped head 452a and the gland 456. With this, the length adjustment mechanism of the linking member 45 has a compensation function, which can make the rotation of the first rocker arm 43 and the second rocker arm 44 more precise. Smooth.
以上所述僅為本發明較佳可行實施例而已，舉凡應用本發明說明書及申請專利範圍所為之等效變化，理應包含在本發明之專利範圍內。The above are only the best possible embodiments of the present invention. Any equivalent changes made by applying the description and patent scope of the present invention should be included in the patent scope of the present invention.
100:加工機之換刀機械手 10:機體 12:前側板 20:換刀臂 22:旋轉軸 24:刀臂 30:旋轉座 32:第一側面 34:第二側面 40:傳動結構 41:第一轉軸 42:第二轉軸 43:第一搖臂 44:第二搖臂 45:連動件 451:第一桿體 451a:T型頭 452:第二桿體 452a:T型頭 453:第一軸承座 454:第二軸承座 455:調整桿套 456:壓蓋 457:碟形彈片 458:碟形彈片 46:軸承座 47:螺栓 50:第一馬達 52:減速機 60:第一凸輪分割器 61:機箱 61a:機鈑 62:第一入力軸 63:螺栓 64:第一出力軸 66:第一分度結構 661:第一轉位凸輪 661a:凸輪塊 662:第一分度盤 663:第一分度件 70:限位結構 72:第一擋桿 721:第一頭部 74:第二擋桿 741:第二頭部 80:第二凸輪分割器 81:螺栓 82:機箱 83:連軸套 84:第二入力軸 86:第二出力軸 88:第二分度結構 881:第二轉位凸輪 881a:凸輪塊 882:第二分度盤 883:第二分度件 90:第二馬達 92:減速機 L1:第一距離 L2:第二距離 P1:第一位置 P2:第二位置 100: Tool changing manipulator of processing machine 10: Body 12:Front side panel 20:Tool changing arm 22:Rotation axis 24: Blade arm 30: Rotating seat 32:First side 34:Second side 40: Transmission structure 41:First axis 42:Second axis 43:First rocker arm 44:Second rocker arm 45: Linking parts 451:First rod body 451a:T-type head 452:Second rod body 452a:T-type head 453:First bearing seat 454: Second bearing seat 455:Adjust rod sleeve 456:Gland 457:Dish-shaped shrapnel 458:Dish-shaped shrapnel 46:Bearing seat 47:Bolt 50:First motor 52:Reducer 60: First cam divider 61:Chassis 61a: Machine plate 62:First input axis 63:bolt 64:First output shaft 66: First indexing structure 661: First index cam 661a: Cam block 662:First indexing plate 663: First indexing piece 70:Limiting structure 72:First gear lever 721:First head 74:Second gear lever 741:Second head 80: Second cam divider 81:Bolt 82:Chassis 83:Coupling sleeve 84: Second input axis 86: Second output shaft 88: Second indexing structure 881: Second index cam 881a: Cam block 882: Second indexing plate 883: Second indexing piece 90: Second motor 92:Reducer L1: first distance L2: second distance P1: first position P2: second position
圖1為本發明一較佳實施例之加工機之換刀機械手的立體圖； 圖2為圖1所示加工機之換刀機械手的前視圖； 圖3為圖1所示加工機之換刀機械手的後視圖； 圖4為圖1所示加工機之換刀機械手的分解圖； 圖5為圖4當中部分構件的分解圖； 圖6為前視圖，揭示加工機之換刀機械手的動作狀態； 圖7為加工機之換刀機械手當中的部分構件立體圖； 圖8為圖7的右側視圖； 圖9類同圖8，揭示加工機之換刀機械手當中的旋轉座翻轉狀態； 圖10為圖4當中部分構件的分解圖； 圖11為圖10當中部分構件的分解圖； 圖12為加工機之換刀機械手當中的部分構件立體圖；以及 圖13為圖12所示構件的組合後前視圖。 Figure 1 is a perspective view of a tool changing manipulator of a processing machine according to a preferred embodiment of the present invention; Figure 2 is a front view of the tool changing manipulator of the processing machine shown in Figure 1; Figure 3 is a rear view of the tool changing manipulator of the processing machine shown in Figure 1; Figure 4 is an exploded view of the tool changing manipulator of the processing machine shown in Figure 1; Figure 5 is an exploded view of some components in Figure 4; Figure 6 is a front view, revealing the action state of the tool changing manipulator of the processing machine; Figure 7 is a perspective view of some components of the tool changing manipulator of the processing machine; Figure 8 is a right side view of Figure 7; Figure 9 is similar to Figure 8, showing the flipping state of the rotating base in the tool change manipulator of the processing machine; Figure 10 is an exploded view of some components in Figure 4; Figure 11 is an exploded view of some components in Figure 10; Figure 12 is a perspective view of some components of the tool changing robot of the processing machine; and Figure 13 is a front view of the components shown in Figure 12 after assembly.
100:加工機之換刀機械手 100: Tool changing manipulator of processing machine
10:機體 10: Body
20:換刀臂 20:Tool changing arm
22:旋轉軸 22:Rotation axis
24:刀臂 24: Blade arm
30:旋轉座 30: Rotating seat
41:第一轉軸 41:First axis
42:第二轉軸 42:Second axis
43:第一搖臂 43:First rocker arm
44:第二搖臂 44:Second rocker arm
45:連動件 45: Linking parts
50:第一馬達 50:First motor
74:第二擋桿 74:Second gear lever
80:第二凸輪分割器 80: Second cam divider
90:第二馬達 90: Second motor
92:減速機 92:Reducer
Claims (12)
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| JP2008238347A (en) * | 2007-03-28 | 2008-10-09 | Pascal Engineering Corp | Automatic tool changer |
| CN202344310U (en) * | 2011-11-01 | 2012-07-25 | 东莞市润星机械科技有限公司 | Quick tool changing device for machining center |
| CN108788872A (en) * | 2018-08-21 | 2018-11-13 | 济南二机床集团有限公司 | A kind of six axis robot automatic tool changer |
| CN110587350A (en) * | 2019-10-15 | 2019-12-20 | 广东钶锐锶数控技术有限公司 | Automatic tool changing device |
| CN111958286A (en) * | 2020-10-26 | 2020-11-20 | 上海交大智邦科技有限公司 | Double-tool-changing mechanism for adjusting tool-changing interval of double-spindle machine tool |
| CN214393384U (en) * | 2020-12-31 | 2021-10-15 | 冈田精机丹阳有限公司 | Tool changing mechanism |
| CN113231866A (en) * | 2021-05-01 | 2021-08-10 | 冈田精机丹阳有限公司 | Cam type automatic rotating lifting tool changing mechanism with advanced self-locking function |
| TWM627918U (en) * | 2022-02-18 | 2022-06-01 | 聖杰國際股份有限公司 | Tool change robot hand of machining center |
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