For CNC milling machines using the disc magazine, tool changer manipulator is essential. Cam-type tool changer manipulator and spindle with the ability to continuously achieve grasping knife, knife exchange and insert the action, the structure shown in the figure.
1) Grasping the knife. The manipulator starts the motor for the first time. The motor drives the end cam and the cylindrical cam through the bevel gear. The cylindrical cam drives the cam roller to rotate the spline shaft. The spline sleeve drives the mechanical shaft by rotating it in the counterclockwise direction 65° or 75°, the manipulator grasping knife action. When the manipulator handle the knife in place switch is turned on, the robot electric brake immediately stops, completes the manipulator grasping knife control. During this time, the manipulator does not move axially.
2) Milling machine spindle loose knife mechanism action. The claws release the miller machine tool spindle handle, and issued the spindle release in place signal.
3) The second start of the manipulator motor, through the bevel gears simultaneously drive the end of the cam and cylindrical cam rotation, the mechanical hand shaft order to complete the knife, exchange and insertion of three movements: ①the end of the cam control rocker swing, so that the movement of the shaft , To achieve a knife action. During this time, the cam roller does not rotate, so the manipulator does not rotate. ②the end of the knife, the cylindrical cam through the cam roller to drive the spline shaft rotation, and then by the spline shaft drive the manipulator shaft rotation 180°, to achieve tool exchange action. During this period, the rocker arm does not swing, the manipulator does not move axially. ③the end of the cam again control the rocker swing, so that the movement of the robot shaft to achieve the knife action. During this time, the cam roller does not rotate, so the manipulator does not rotate. When the knife in place switch is turned on again, the manipulator brake immediately stops.
4) Milling machine spindle loose knife mechanism action, the claw clamping spindle in the handle, and issued a spindle clamping in place signal.
5) The third time the manipulator is started, the cylindrical cam drives the cam roll to rotate the spline shaft. The spline sleeve drives the mechanical hand shaft to rotate 65°or 75°clockwise to achieve the reset action. When the manipulator returns to its original position, the home switch is turned on and the manipulator's motor stops immediately.
The above is the work of metal CNC milling machine tool change manipulator. Tool changer through the cam and other mechanical transmission mechanism, with the manipulator motor 3 times start and stop, to achieve the original position → grasping knife → knife (spindle loose knife) → exchange → plug (spindle cutter) → reset the action process.