DE102019211981A1 - TOOL CHANGING DEVICE FOR USE ON A MACHINE TOOL AND MACHINE TOOL WITH SUCH A TOOL CHANGING DEVICE - Google Patents

Abstract

The present invention relates to a tool changing device 300 for use on a machine tool 100, which comprises a tool-carrying work spindle 130 and a tool magazine 200 with one or more rotatable magazine wheels 210, 220 with circumferentially arranged tool receptacles 210a, 210b or 220a, 220b, and a machine tool 100 with such a tool changing device 300. The tool changing device 300 comprises a first manipulator 310 for removing tools from each of the one or more rotatable magazine wheels 210, 220 of the tool magazine 200, a second manipulator 320 for changing a tool received on the work spindle 130, and a buffer 330 with one or more tool holders 331, 332, 333, 334. The first manipulator 310 is set up to move linearly between each of the one or more rotatable magazine wheels 210, 220 of the tool magazine 200 and the intermediate store 330 and to a To transfer a tool removed from one of the one or more rotatable magazine wheels 210, 220 to the intermediate store 330, and the second manipulator 320 is set up to transfer a tool received on the work spindle 130 to the intermediate store 330 and a tool from the intermediate store 330 by means of a pivoting movement to change the received tool on the work spindle 130 when the work spindle 130 is positioned at a tool change position of the machine tool 100.

Description

The present invention relates to a tool change device for use on a machine tool, in particular with a vertically oriented work spindle and / or for tool change on a work spindle that is vertically oriented at least in the tool change position, and a machine tool with such a tool change device.

background

Tool changing devices for use on a machine tool are known in the prior art. Take the example EP 2 750 828 B1 referenced, which describes a generic tool changing device.

The EP 2 750 828 B1 shows a tool changing device for use on a machine tool with a horizontally aligned work spindle, wherein a tool can be removed by means of a manipulator on a tool magazine that has one or more tool magazine wheels (so-called wheel magazine) and can be used on the work spindle or with a tool used on the work spindle can be exchanged.

It is an object of the present invention to develop the tool changing device, in particular with regard to increased scope for use on different machine tools or machine tool types, efficient or time-saving tool changes and / or extended functionality.

Summary of the invention

To achieve the above-mentioned object, a tool changing device for use on a machine tool according to claim 1 is proposed. Dependent or independent claims relating to preferred exemplary embodiments.

According to one aspect of the invention, a tool changing device for use on a machine tool is proposed, which comprises a tool-carrying work spindle and a tool magazine with one or more rotatable magazine wheels with circumferentially arranged tool holders.

According to preferred practical embodiments, the tool changing device comprises a first manipulator for removing tools from each of the one or more rotatable magazine wheels of the tool magazine, a second manipulator for changing a tool accommodated on the work spindle and / or a buffer with one or more tool holders.

According to preferred expedient exemplary embodiments, the first manipulator is designed to move linearly between at least one or preferably each of the one or more rotatable magazine wheels of the tool magazine and the intermediate storage device, and particularly preferably to move a tool removed from one of the one or more rotatable magazine wheels to the intermediate storage device transferred (in particular at a transfer position of the first manipulator on the buffer or a first transfer position of the buffer for the first manipulator).

According to preferred practical embodiments, the second manipulator is set up to transfer a tool accommodated on the work spindle to the intermediate store by means of a rotary or pivoting movement (in particular at a transfer position of the second manipulator on the intermediate store or a second transfer position of the intermediate store for the second manipulator ) and to change a tool accommodated in the buffer store on the work spindle, in particular if the work spindle is positioned at a tool change position of the machine tool.

According to preferred, expedient exemplary embodiments, the first manipulator comprises a gripper section for gripping a tool and / or a manipulator slide that can be moved linearly, in particular horizontally.

According to preferred expedient exemplary embodiments, the first manipulator is designed to use the gripper section to attach one of the one to a tool holder or several rotatable magazine wheels of the tool magazine to remove the tool received at a transfer position of the corresponding magazine wheel, to move the movable manipulator slide to the intermediate store and / or to move the tool removed from the transfer position of the corresponding magazine wheel to a tool holder of the intermediate store at a first transfer position of the intermediate store hand over or use.

According to preferred practical embodiments, the first manipulator is set up to use the gripper section to remove a tool received on the tool holder of the intermediate store from the first transfer position of the intermediate store, to move the movable manipulator slide to one of the one or more rotatable magazine wheels of the tool magazine and / or to hand over or use the tool removed at the transfer position of the intermediate store on the tool holder of the corresponding magazine wheel at the transfer position of the corresponding magazine wheel.

According to preferred expedient embodiments, the second manipulator comprises a tool change swivel arm pivotable about a pivot axis, in particular vertically or vertically aligned, in particular with two gripper sections for gripping respective tools arranged at opposite ends of the tool change pivot arm.

According to preferred practical embodiments, the second manipulator is set up to use one of the gripper sections of the tool change swivel arm to remove a tool received on the work spindle from the tool change position of the work spindle and / or to use a swivel movement of the tool change swivel arm to attach the tool removed from the work spindle to a tool holder in the intermediate storage to transfer or use a second transfer position of the buffer store.

According to preferred practical embodiments, the second manipulator is set up to use one of the gripper sections of the tool change swivel arm to remove a tool holder from the intermediate storage device at the second transfer position and / or to transfer or use it with a swivel movement of the tool change swivel arm on the work spindle at the tool change position of the work spindle .

According to preferred practical embodiments, the intermediate store comprises a rotary or swivel drive, particularly preferably such that the one or more tool receptacles of the intermediate store can be rotated or pivoted, preferably jointly, about an axis of rotation of the intermediate store.

According to preferred, expedient exemplary embodiments, the axis of rotation of the intermediate store is aligned horizontally, particularly preferably parallel to a direction of travel of the first manipulator.

According to preferred expedient exemplary embodiments, the axis of rotation of the intermediate store is aligned or can be aligned parallel to an axis of rotation of the one or more rotatable magazine wheels of the tool magazine.

According to preferred expedient exemplary embodiments, the intermediate store is set up to rotate or pivot one, more or each of the one or more tool receptacles of the intermediate store into a transfer position of the first manipulator in order to transfer a tool to or from the first manipulator.

According to preferred, expedient exemplary embodiments, the tool holder of the intermediate store positioned in the transfer position of the first manipulator is aligned with a horizontal tool holder axis (tool holder direction).

According to preferred expedient exemplary embodiments, the intermediate store is set up to rotate or pivot one, several or each of the one or more tool receptacles of the intermediate store into a transfer position of the second manipulator in order to transfer a tool to or from the second manipulator.

According to preferred, expedient exemplary embodiments, the tool holder of the intermediate store positioned in the transfer position of the second manipulator is aligned with a vertical tool holder axis.

According to preferred expedient exemplary embodiments, the intermediate store is set up to rotate or pivot one, more or each of the one or more tool receptacles of the intermediate store from the transfer position of the first manipulator to the transfer position of the second manipulator and / or one, more or each of the one or more to rotate or pivot a plurality of tool receptacles of the intermediate store from the transfer position of the second manipulator to the transfer position of the first manipulator. Here, the pivot or rotation angle from the transfer position of the second manipulator to the transfer position of the first manipulator is 90 ° in particularly expedient exemplary embodiments.

According to preferred, expedient exemplary embodiments, the intermediate store has two or more tool receptacles which are arranged circumferentially on the intermediate store, preferably with a radial receiving direction in relation to the rotation or pivot axis of the intermediate store. The tool holders can preferably be arranged in pairs at an angular distance that corresponds to the quotient of 360 ° and the total number of circumferentially arranged tool holders on the buffer, i.e. 180 ° for two tool holders, 120 ° for three tool holders, 90 ° for four tool holders, 72 ° with five tool holders, etc.

It is particularly useful if the angular distance between two tool holders or between pairs of adjacent tool holders on the intermediate storage device corresponds to the pivoting or rotation angle from the transfer position of the second manipulator to the transfer position of the first manipulator.

According to preferred expedient exemplary embodiments, the intermediate store has two, three or particularly preferably four tool holders, which are preferably arranged in pairs at an angular distance of 90 ° around the circumference of the intermediate store, particularly preferred in exemplary embodiments in which the pivot or rotation angle depends on the transfer position of the second manipulator to the transfer position of the first manipulator corresponds to an angle of 90 °.

According to a further aspect, a machine tool is proposed with a tool-carrying work spindle, a tool magazine with one or more rotatable magazine wheels with circumferentially arranged tool receptacles, and a tool changing device according to one or more of the above aspects and exemplary embodiments.

Further aspects and their advantages as well as advantages and more specific implementation possibilities of the aspects and features described above are described from the following, but in no way restrictive, descriptions and explanations of the attached figures.

Figure list

• 1 shows an exemplary perspective illustration of a machine tool with a tool changing device according to an embodiment of the invention;
• 2A and 2 B show exemplary perspective representations of the tool changing device according to the exemplary embodiment of the invention 1 ;
• 3A to 3H illustrate by way of example a tool change on the machine tool with a tool change device according to FIG 1 ;
• 4A and 4B show exemplary perspective views of the tool changing device according to FIG 2A and 2 B in the system with a tool magazine having a magazine wheel;
• 5A and 5B show exemplary perspective views of the tool changing device according to FIG 2A and 2 B in the system with a tool magazine having two magazine wheels;
• 6A and 6B show exemplary perspective representations of the intermediate store and the second manipulator of the tool changing device according to FIG 2A and 2 B ; and
• 7A and 7B show exemplary perspective representations of the intermediate store of the tool changing device according to FIG 2A and 2 B .

Detailed description of the figures and preferred exemplary embodiments

In the following, examples or exemplary embodiments of the present invention are described in detail with reference to the accompanying figures. Identical or similar elements in the figures can be denoted by the same reference symbols, but sometimes also with different reference symbols.

It should be emphasized that the present invention, however, is in no way limited or restricted to the exemplary embodiments described below and their design features, but rather also includes modifications of the exemplary embodiments, in particular those that result from modifications of the features of the described examples or by combining individual ones or more of the features of the examples described are included within the scope of protection of the independent claims.

1 shows an exemplary perspective illustration of a machine tool 100 with a tool changing device 300 according to an embodiment of the invention.

The machine tool is an example 100 with a vertically aligned work spindle 130 educated. However, the present invention is not limited to machine tools with a vertically oriented work spindle. Rather, it is still possible, in further exemplary embodiments, to provide a tool changing device according to the invention on machine tools with a vertically orientable work spindle.

The machine tool 100 includes, for example, a machine frame 110 with a machine bed that can be set up on a base or a workshop floor 101 and one on the machine bed 101 arranged machine stand 102 . The machine frame is an example 110 with the machine bed 101 and the machine stand advantageously rigid as the only one, preferably monolithic, basic body, so-called monoBLOCK construction.

On the machine bed 101 of the machine frame 110 is an example of a swivel rotary table 140 for clamping workpieces to be machined on the machine tool 100 arranged. The swivel rotary table 140 includes, for example, one of holding bodies 142 and 143 pivoted swivel arm 141 , which can be pivoted about a horizontal pivot axis, for example.

On the swivel arm 141 is an example around an example perpendicular to the pivot axis of the swivel arm 141 rotatable rotary table 144 (rotatable tool table or tool clamping table), wherein one or more workpieces or one or more workpiece clamping devices for clamping one or more workpieces on the rotary table 144 can be clamped, held or attached.

The machine tool 100 is designed as a numerically controlled machine tool, so that the pivoting of the swivel arm 141 (Swivel axis) and / or rotating the rotary table 144 (Rotary axis) preferably via the machine control or NC control of the machine tool 100 can be controlled, for example on the basis of an NC program or via operation using a control panel of the machine tool (not shown).

The machine tool 100 further comprises, for example, a tool-carrying work spindle that is oriented vertically, for example 130 which is set up to receive a tool, such as a drilling or milling tool, and around the spindle axis of the work spindle, which is vertically oriented, for example 130 to rotate.

The work spindle 130 is an example of a spindle carrier slide 123 an axis slide assembly 120 held. The axle slide assembly 120 is set up as an example, the work spindle 130 or with the work spindle 130 that on the work spindle 130 to move the recorded tool in three spatial directions, ie in the X direction by means of a controllable X linear axis, in the Y direction by means of a Y linear axis and in the Z direction by means of a Y linear axis.

The axle slide assembly 120 includes to move the work spindle 130 one on the machine stand 102 on guides aligned in the Y direction (for example horizontally) (see e.g. guide 121a ) Y-slide with linear movement 121 , on which one in the X-direction (for example horizontally and for example perpendicular to the Y-direction) aligned guides (see e.g. guides 122a and 122b ) X-carriage with linear movement 122 is held. On the X slide 122 is the one on guides aligned in the Z direction (for example vertically) (see e.g. guide 123a ) linearly movable spindle carrier slide 123 (Z slide) held.

The machine tool 100 is designed, for example, as a numerically controlled machine tool, so that the movement of the slide 121 , 122 and 123 of the three linear axes in the Y, X and Z directions for moving the work spindle 130 in the three spatial directions, preferably via the machine control or NC control of the machine tool 100 can be controlled, for example on the basis of an NC program or via operation using a control panel of the machine tool (not shown).

The machine tool 100 In summary, it is designed as a 5-axis machine tool with three linear feed axes and two swivel or rotary axes. However, the present invention is not limited to 5-axis machine tools, but further linear, swivel and / or rotary axes can also be provided in other exemplary embodiments, for example for linear movement of the workpiece table and / or for rotating or swiveling the work spindle.

In addition, it is possible to provide fewer than 5 axes in other exemplary embodiments. So it is possible, for example, instead of the swivel rotary table 140 to provide a simple swivel arm without a rotary table that can be swiveled about a horizontal swivel axis, a rotary table that can be swiveled about a vertical axis of rotation without a swivel arm or even a workpiece table that is fixedly arranged on the machine bed.

The machine tool includes, for example 100 according to 1 furthermore a tool magazine 200 for storage or temporary storage and / or for holding on the machine tool 100 applicable tools.

The tool magazine 200 is designed as a so-called wheel magazine and includes two magazine wheels arranged next to one another 210 and 220 , which are preferably rotatable independently of one another about a common horizontal axis of rotation. In further exemplary embodiments, only one magazine wheel can be provided or, in other exemplary embodiments, three or more magazine wheels arranged next to one another can also be provided.

Every magazine wheel 210 or. 220 comprises, for example, a plurality of tool holders 210a , 210b or. 220a , 220b (e.g. Tool holder), which is extensively around the respective magazine wheel 210 or. 220 are arranged. Each of the tool holders is exemplary 210a , 210b or. 220a , 220b set up to accommodate a tool or a tool interface (for example hollow shank taper, steep taper and / or Morse taper) of a tool holder.

The tools or tool interfaces are preferably in this way in the respective tool holders 210a , 210b or. 220a , 220b recordable that the respective tool axis is radial with respect to the respective magazine wheel 210 or. 220 is aligned and the tools or tool interfaces radially outward with respect to the respective magazine wheel 210 or. 220 from the respective tool holders 210a , 210b or. 220a , 220b removable or radially inward with respect to the respective magazine wheel 210 or. 220 in the respective tool holders 210a , 210b or. 220a , 220b can be used.

The magazine wheels 210 or. 220 are an example of a magazine rack 230 kept which on a magazine tray 240 is arranged. In the magazine tray 240 can be advantageous from the ones in the tool magazine 200 on the magazine wheels 210 or. 220 coolant dripping down from the tools held by the tools, if necessary for reprocessing.

Between the tool magazine 200 and the machine tool 100 is a tool changing device 300 according to an embodiment of the invention 300 shown.

2A and 2 B illustrate exemplary perspective representations of the tool changing device 300 according to the embodiment of the invention 1 .

Basically the tool changing device 300 set up as an example, tools on the work spindle 130 to be changed automatically. For example is the tool changing device 300 set up for this purpose, one on a tool holder of one of the magazine wheels 210 or. 220 of the tool magazine 200 Take out the tool and attach it to the work spindle 130 to be used or to the work spindle 130 to be handed over or with one on the work spindle 130 replace tool that has already been picked up.

Furthermore, the tool changing device 300 set up as an example, one on the work spindle 130 Take out the recorded tool and one of the magazine wheels on a free tool holder 210 or. 220 of the tool magazine 200 or to the tool magazine 200 to hand over.

Furthermore, the tool changing device 300 be set up, for example, on a tool holder of one of the magazine wheels 210 or. 220 of the tool magazine 200 take out the picked-up tool and place it on another free tool holder on the same magazine wheel or on a free tool holder on the other magazine wheel, for example to rearrange the assignment of the tools in the tool magazine.

In the EP 2 750 828 B1 A machine tool with a tool magazine with one or more magazine wheels was already shown, with a tool changing device being provided which was able to move tools between the respective front magazine locations of the magazine wheels and the work spindle with a manipulator that could be moved between the magazine wheels and the work spindle.

In contrast to the tool changing device of the EP 2 750 828 B1 is that the tool changing device 300 according to 1 and 2A and 2 B for example with two manipulators 310 and 320 and a tool-receiving buffer 330 Is provided.

The tool changing device 300 includes a first manipulator 310 , which is set up to a tool holder on one of the magazine wheels 210 or. 220 of the tool magazine 200 Take out the tool and attach it to a tool holder 331 of the cache 330 to use.

The manipulator 310 also be set up to a tool holder on one of the magazine wheels 210 or. 220 of the tool magazine 200 take out the picked-up tool and place it on another free tool holder on the same magazine wheel or on a free tool holder on the other magazine wheel, for example to rearrange the assignment of the tools in the tool magazine.

Furthermore is the first manipulator 310 set up as an example, a on the buffer 330 Take out the recorded tool and one of the magazine wheels on a free tool holder 210 or. 220 of the tool magazine 200 or to the tool magazine 200 to hand over.

The tool changing device 300 includes a second manipulator 320 which is set up for this purpose, a on a tool holder of the intermediate store 330 Take out the tool and attach it to the work spindle 130 to be used or to the work spindle 130 to hand over or with one on the work spindle 130 replace tool that has already been picked up.

There is also the second manipulator 320 set up as an example, one on the work spindle 130 take out the recorded tool and to a free tool holder of the buffer 330 to store or to the buffer 330 to hand over.

As in 1 and also in 2A and 2 B can be removed is the first manipulator 310 in front of the magazine wheels 210 , 220 of the tool magazine 200 for example on a stand section 318 arranged. The stand section is an example 318 at the front of the magazine tray 240 arranged. The reference signs 231a and 231b denote rack column sections of the magazine rack 230 of the tool magazine 200 .

On the stand section 318 is an exemplary horizontally extending guide element 315 with horizontal guides 315a and 315b arranged on which a manipulator slide 312 is held horizontally movable. The reference signs 316 and 317 denote the drive motor 316 and a threaded rod 317 of the drive for moving the manipulator slide 312 along the guides 315a and 315b of the guide element 315 .

At the top of the manipulator carriage 312 is an example of a tool holder 311 (Tool receiving device) arranged, on the side facing the magazine wheels a tool gripper 314 is arranged. Furthermore, on the side of the tool holder facing away from the magazine wheels 311 for example a lifting drive 313 arranged, which is set up, the tool gripper 314 to move or to move in a horizontal lifting movement towards or away from the magazine wheels, for example for tool removal or for inserting a tool on a forwardly oriented tool holder on the respective magazine wheel.

By moving the manipulator slide horizontally 312 of the first manipulator 310 is the tool holder 311 or the tool gripper 314 for example horizontally between the magazine wheels 210 and 220 or between each of the magazine wheels and the intermediate store 330 movable.

The magazine wheels 210 and 220 have, for example, the same wheel diameter and a common or coaxially aligned (horizontal) axis of rotation about which they can preferably be rotated independently of one another. The tool holder 311 or the tool gripper 314 is in particular horizontal at the level of the axis of rotation of the magazine wheels and parallel to the axis of rotation between the magazine wheels 210 and 220 or between each of the magazine wheels and the intermediate store 330 movable.

The tool holder 311 or the tool gripper 314 is set up to remove a tool from the tool holder of the respective magazine wheel that is facing forward at the time, is at the height of the axis of rotation and is aligned with the horizontal tool axis when it is positioned in front of the respective magazine wheel, in particular at the level of the axis of rotation of the magazine wheels or to use there.

The tool holder 311 or the tool gripper 314 is also set up as an example when it is in front of the buffer 330 is positioned, in particular at the level of the axis of rotation of the magazine wheels, a tool from the tool holder of the intermediate store, which is pointing forward at the time, is at the level of the axis of rotation and is aligned with the horizontal tool axis 330 to be removed or to be used there. This describes an exemplary embodiment of a transfer position of the buffer store 330 for the first manipulator 310 .

It should be noted that the cache 330 is arranged for example in such a way that the respective forward or to the first manipulator 310 pointing, at the level of the axis of rotation, and aligned with the horizontal tool axis 210a , 220a and 331 the magazine wheels 210 and 220 and the buffer 330 are arranged in a common horizontal line running parallel to the axis of rotation of the magazine wheels.

The cache 330 is exemplary on the rack column section 231a of the magazine rack 230 of the tool magazine 200 arranged or attached and / or attached. The buffer includes, for example 330 a rotatable intermediate wheel on which, for example, four tool holders 331 , 332 , 333 and 334 are arranged, which are arranged for example circumferentially around the intermediate gear.

Here are the four tool holders 331 , 332 , 333 and 334 for example, with respective tool axes or tool holder axes aligned perpendicular to one another, each arranged at an angular distance of 90 ° from one another.

The intermediate gear of the intermediate storage 330 is mounted rotatably about a horizontal axis of rotation, for example, the axis of rotation of the intermediate gear of the intermediate storage 330 for example parallel to the axis of rotation of the magazine wheels 210 and 220 of the tool magazine 200 is aligned.

The cache 330 is set up as an example to the front or to the first manipulator 310 Tool holder pointing at the level of the axis of rotation and aligned with the horizontal tool axis 331 of the cache 330 to pivot by 90 ° downwards and in particular with the tool axis of the tool holder pointing downwards or vertically 331 of the cache 330 to position.

In the following, however, it is assumed as an example that four tool holders with an angular spacing of 90 ° is the best embodiment, since this enables the smallest possible diameter of the intermediate wheel compact, with simultaneous intermediate storage capacity of four tools at the same time, with the best possible freedom of movement of the second manipulator described below 320 or its tool change swivel arm 321 without the risk of collision when swiveling any gripper swivel arms and without the need for tool holders that can be folded away to the side. In addition, at a pivoting or rotating angle of the intermediate store 330 of 90 ° between the two transfer positions of the first and second manipulator 310 and 320 with an angular distance of 90 ° between the tool holders on the buffer 330 a corresponding tool holder can be positioned at both transfer positions at the same time, so that tools are transferred by the two manipulators 310 and 320 can be carried out efficiently at the same time.

It should be noted, however, that the present invention is not limited to embodiments with four tool holders on the intermediate storage device at an angular spacing of 90 ° in pairs. Rather, only one, two or three tool holders can be provided on the intermediate store in further exemplary embodiments, if necessary preferably also at an angular distance of 90 ° in pairs.

Furthermore, five or six or more tool holders can also be provided. The tool holders can preferably be arranged in pairs at an angular distance that corresponds to the quotient of 360 ° and the total number of circumferentially arranged tool holders on the buffer, i.e. 180 ° for two tool holders, 120 ° for three tool holders, 90 ° for four tool holders, 72 ° with five tool holders, etc. It is particularly useful if the angular distance between two tool holders or between pairs of adjacent tool holders on the buffer corresponds to the pivot or rotation angle from the transfer position of the second manipulator to the transfer position of the first manipulator, i.e. in the present embodiment at 90 ° angular distance between two adjacent tool holders.

Adjacent to the buffer 330 is an example of a second manipulator 320 arranged, which in this embodiment example on the side of the buffer 330 attached and / or attached. The second manipulator 320 includes, for example, a tool change swivel arm 321 with respective end or opposite outer tool grippers.

The tool change swivel arm 321 is set up to be pivoted around a pivot axis which is arranged vertically for example. A swivel drive is an example of this 322 intended.

For a tool change, it is provided that the work spindle 130 is moved to a specified tool change position. Here it is provided, for example, that the tool change position is adjacent to the intermediate store 330 is arranged, in particular such that the work spindle 130 is positioned with the vertically aligned spindle axis pointing downwards, in particular such that the tool holder of the work spindle 130 is positioned in the tool change position at the same height as that at this point in time with the tool axis pointing downwards or vertically aligned (e.g. tool holder 334 in 1 , 2A and 2 B) positioned tool holder of the intermediate storage 330 .

When the work spindle 130 the machine tool 100 is positioned at the tool change position or has been moved into this position, the tool change swivel arm is 321 set up to Pivoting movement with a vertical lifting movement and a pivoting movement around the vertical pivot axis (e.g. by 180 ° in 1 , 2A and 2 B) that in the lower tool holder 334 of the cache 330 picked up tool with one of the grippers of the tool change swivel arm 321 and (possibly in connection with a further vertical stroke movement to the work spindle 130 ) on the work spindle 130 to use. This describes an exemplary embodiment of a transfer position of the buffer store 330 for the second manipulator 320 .

The tool change swivel arm is reversed 321 set up for this, by a lifting-pivoting movement with a vertical lifting movement and a pivoting movement about the vertical pivot axis (for example by 180 ° in 1 , 2A and 2 B) that in the work spindle 130 picked up tool with one of the grippers of the tool change swivel arm 321 to be removed and at the lower tool holder 334 of the cache 330 (if necessary with a further vertical stroke movement to the work spindle 130 ) to be used.

Due to the design of the tool change swivel arm 321 With two opposite grippers, the above processes can be carried out simultaneously, in such a way that one on the lower tool holder 334 of the cache 330 picked up tool WZ4 with one on the work spindle 130 recorded tool in a pivoting movement of the tool change pivot arm 321 is replaced.

The process of changing a tool is explained below using an example. To illustrate this, the 3A - 3H for example a tool change on the machine tool 100 with the tool changing device 300 according to 1 , 2A and 2 B .

In the situation according to 3A is an example of the current workpiece machining on the machine tool 100 a tool WZ6 on the work spindle 130 recorded. This tool WZ6 should now be exemplified with one on the first magazine wheel 210 of the tool magazine 200 in a tool holder 210a recorded tool WZ5 be exchanged.

In 3A is the corresponding tool holder 210a with the tool WZ5 already in the front position at the level of the rotation axis of the magazine wheel 210 rotates (if necessary in a previous step of rotating the magazine wheel 210 ).

The manipulator slide 312 with the tool holder 311 is to the magazine wheel 210 proceed in such a way that the tool gripper 314 of the first manipulator 310 that in the tool holder 210a recorded tool WZ5 (or its tool interface) engages; please refer 3A .

In 3B is the manipulator slide 312 with the tool holder 311 horizontal and parallel to the axis of rotation of the magazine wheel 210 to the buffer 330 the tool changing device 300 proceed. Here was the first tool WZ5 by means of a horizontal lifting movement from the now free tool holder 210a of the magazine wheel 210 removed and is in the tool gripper 314 of the first manipulator 310 held when the manipulator slide 312 with the tool holder 311 to the magazine wheel 210 moves. By a further stroke movement to the intermediate gear of the intermediate storage 330 can the tool WZ5 in the tool holder 331 of the cache 330 can be used, see 3B .

Now the intermediate gear of the intermediate storage 330 for example pivoted or rotated by 90 ° in such a way that the tool holder 331 with the tool that has now been picked up WZ5 aligned with the tool axis vertically downward; please refer 3C . This describes an exemplary embodiment of a rotation of the intermediate store 330 for pivoting a tool holder of the intermediate store between the first transfer position of the intermediate store 330 for the first manipulator 310 into the second transfer position of the buffer 330 for the second manipulator 320 . In addition, in 3C the manipulator slide 312 of the first manipulator 310 only by way of example (optional) again to the magazine wheel 210 proceed.

It can be advantageous here that the tool W5 for improved pick-up by the tool change swivel arm 321 of the second manipulator 320 at the tool interface holding the tool in the tool holder 331 is also rotated around the tool axis, if necessary, for example by 90 °, for example by means of a further actuator in the tool holder 331 . However, for this purpose it is also possible to place the tools in the tool holders of the magazine wheels in a position rotated about the tool axis for the conventional positioning of tool interfaces on the magazine when the magazine is being set up.

In 3D is the work spindle 130 with the tool to be changed WZ6 Move to the tool change position as an example. This can also coincide with the too 3B and or 3C actions described are carried out.

In 3E , in the position in which the work spindle 130 is positioned in the tool change position and the tool holder 331 with the tool to be changed WZ5 at the buffer 330 with the tool axis aligned vertically downwards, the tool change swivel arm is 321 of the second manipulator 320 rotated by 90 ° around the vertical swivel axis, for example, so that its opposite gripper in each case the tools WZ5 (on the tool holder 331 of the cache 330 ) and WZ6 (on the work spindle 130 ) to grab.

The tools can now WZ5 and WZ6 simultaneously with a downward stroke movement from the respective tool holder or work spindle can be removed and by a 180 ° swivel movement of the tool change swivel arm 321 of the second manipulator 320 be exchanged. After the swivel movement of the tool change swivel arm 321 of the second manipulator 320 is the tool WZ5 on the work spindle 130 positioned and the tool WZ6 is on the tool holder 331 of the cache 330 positioned, and these can by a lifting movement of the tool change swivel arm 321 of the second manipulator 320 be inserted upwards on the respective tool holder or work spindle, see 3F .

Now the manipulator slide can 312 of the first manipulator 310 back to the cache 330 be proceeded (or alternatively he was ab 3B at the buffer 330 possibly parked slightly offset to the right) and the tool holder 331 of the cache 330 can by rotating the intermediate gear of the intermediate storage 330 rotated back to the horizontal orientation. So can the gripper 314 of the tool holder 311 of the first manipulator 310 that on the tool holder 331 recorded tool WZ6 record, tape; please refer 3G .

By moving the manipulator slide 312 of the first manipulator 310 can do that on the gripper 314 of the tool holder 311 of the first manipulator 310 held tool WZ6 be taken to a free magazine location, e.g. to the tool holder 220a of the second magazine wheel 220 , as exemplified in 3H shown.

The machine tool 100 can then, after the tools have been changed WZ5 and WZ6 the workpiece processing with the then on the work spindle 130 recorded tool WZ5 continue.

4A and 4B show exemplary perspective views of the tool changing device 300 according to 2A and 2 B in the system with a magazine wheel 220 having tool magazine 200 . Here is the tool magazine 220 preferably modular in that it can be expanded to include additional magazine wheels, see e.g. 5A and 5B .

The magazine wheel 220 is an example of a magazine frame 232 held on the frame column sections 231a and 231b of the magazine rack 230 is appropriate. The magazine wheel 220 is exemplary on two roles 233a and 233b rotatably mounted and the rotation of the magazine wheel 220 can through the drive 234 be driven, for example to a certain tool holder the circumferentially around the magazine wheel 220 arranged tool holders (for example designed as a tool holder) on the manipulator 310 facing side at the level of the axis of rotation of the magazine wheel 220 for tool removal by or transferring tools from the manipulator 310 to position.

As in 4B is shown, the buffer 330 the tool changing device 300 possibly with a second manipulator attached to it 320 on the column section 231a to be appropriate. Thus it is a compact and stable stationary relative to the magazine wheel 220 Easily adjustable and allows attachment to a precisely adjustable position.

5A and 5B show exemplary perspective views of the tool changing device 300 according to 2A and 2 B in the system with a two magazine wheels 210 and 220 having tool magazine 200 , e.g. analog 1 . The tool magazine 200 according to 4A and 4B can easily be expanded modularly by adding another magazine wheel 210 is arranged on the outside.

The further magazine wheel 210 is an example of another magazine frame 235 held on the magazine frame 232 and on an optional additional intermediate frame 238 of the magazine rack 230 is appropriate. The magazine wheel 220 is exemplary on two roles 236a and 236b rotatably mounted and the rotation of the magazine wheel 210 can through the drive 237 be driven, for example to a certain tool holder the circumferentially around the magazine wheel 210 arranged tool holders (for example designed as a tool holder) on the manipulator 310 facing side at the level of the axis of rotation of the magazine wheel 210 for tool removal by or transferring tools from the manipulator 310 to position.

5A shows the tool magazine 200 for example without tools, ie with only free tool holders on the magazine wheels 210 and 220 . 5B shows the tool magazine 200 for example with the tool holders of the magazine wheels 210 and 220 recorded or held tools WZ, which are only shown schematically as cylindrical objects. It can be clearly seen, however, that all tools WZ are each received with tool axes oriented radially to the respective magazine wheel.

In addition, in 5B recognizable that with the inner (ie facing the machine tool) magazine wheel 220 at least one tool holder or one magazine location remains free (see magazine wheel 220 at the level of the manipulator 310 ). This enables the manipulator 310 in this position of the magazine wheel 220 according to 5B through the free space on the magazine wheel 220 horizontal to the outer (ie on the side facing away from the machine tool) magazine wheel 210 can move for tool removal or tool transfer.

If there are more than two magazine wheels, at least one free space should preferably remain on all inner magazine wheels, possibly with the exception of only the outermost magazine wheel, around the manipulator 310 the procedure to the outer magazine wheel 210 to enable.

6A and 6B show exemplary perspective representations of the intermediate store and the second manipulator of the tool changing device according to FIG 2A and 2 B .

The manipulator 320 is an example of the buffer 330 appropriate. The cache 330 includes, for example, a fastening section 337 for attachment to the magazine rack 230 , for example on the frame column section 231a according to 4B or. 5B .

The cache 330 includes, for example, as described above, four tool holders arranged at an angular distance of 90 °, of which the tool holders 331 and 332 and 334 in 6A and 6B you can see. This has the advantage that the tool holders do not have to be designed to be foldable (for example, as a folding quiver), but rather compact and inexpensive, stationary on the rotatable intermediate wheel of the intermediate store 330 can be attached, and still tools on the downward facing tool holder 334 by the manipulator 320 or on the tool holder facing forwards 331 by the manipulator 310 are easy to grasp, especially when simply avoiding any risk of collision when rotating or pivoting any gripping swivel arms.

The reference number 335a denotes an actuator (possibly a pneumatic or hydraulic actuator or also an electromagnetic actuator) for locking or unlocking tools on the tool holder facing forwards 331 . The reference number 335b (please refer 6B) denotes an actuator (possibly a pneumatic or hydraulic actuator or also an electromagnetic actuator) for locking or unlocking tools on the tool holder that is oriented downwards 334 . The reference number 336 denotes a drive for rotating the intermediate wheel or the tool holders of the intermediate store 330 .

The manipulator 320 comprises the tool change swivel arm that can be swiveled about a vertical swivel axis 321 with the respective end-side or opposite outer tool grippers 321a and 321b that can be clamped electromagnetically, hydraulically or pneumatically. The reference number 322 denotes a swivel drive for swiveling the tool change swivel arm 321 about the vertical pivot axis and the reference number 323 denotes a drive for a vertical lifting movement of the tool change swivel arm 321 .

7A and 7B show exemplary perspective views of the intermediate store 330 the tool changing device 300 according to 2A and 2 B and also according to 6A and 6B as described above. Here is also the intermediate gear housing 338 shown in the example of a gear for the rotary movement of the intermediate gear 339 is arranged; please refer 7B with an example of an open intermediate gear housing 338 .

The idler housing 338 can rotate and stationary with the fastening section via an inner connection 337 be connected. The idler housing 338 is therefore an example of a non-rotating component on which the rotating idler wheel 339 can be kept rotatable. In particular, the intermediate gear 339 at a connection between the fastening section 337 and the idler housing 338 be kept rotatable.

The drive 336 turns a pinion 338a , which is a spur gear 338b drives to the idler 339 with the tool holders attached 331 to 334 to rotate the horizontal axis of rotation.

The above embodiments offer compared to the tool changing device of EP 2 750 828 B1 several advantages. On the one hand, a compact and inexpensive stationary tool changer (manipulator 320 ) can be used, which does not have to move with a tool changer slide. On the other hand, the manipulator 310 who is on the sledge 311 is moved, can also be made more compact and inexpensive, since it only has to perform a lifting movement, but does not require a pivoting mechanism. A simple cylinder actuator can be used here, for example instead of controlled axes. In addition, the gripper 314 of the manipulator 310 Since this does not have to be swiveled, it can be implemented with a simpler clamping without active locking. This is also cheaper and saves space.

There are two manipulators here 310 and 320 in use, but arises at the buffer 330 the additional advantage that, on the one hand, additional storage spaces are created (four additional spaces in the example) that allow better parallel work. So on the one hand at the buffer 330 the next required tools for tool changes by the manipulator 320 so that quick tool changes with very short change times are possible, while at the same time simple and efficient set-up or re-sorting on the tool magazine 200 with the manipulator 310 time-efficient is possible.

Furthermore, there is the advantage that the tool change can be carried out on a vertical spindle or on a vertically aligned and / or vertically alignable work spindle.

As a result, the compact 5-axis machine concept with a swivel rotary table and a separate linear axis slide structure (e.g. monoBLOCK design) can be combined with the compact and time-efficient magazine concept with magazine wheels (so-called wheel magazine), whereby efficient tool changes with very short change times are possible, so that the chip-to-chip time during workpiece machining can advantageously be reduced.

In addition, the intermediate wheel and the resulting distance between the horizontally aligned tool holder on the intermediate wheel on which the manipulator 310 Removes or transfers tools, and the vertically aligned tool holder on the intermediate wheel on which the manipulator 320 Removes or transfers tools, the arrangement of the tool magazine or the assigned removal position for the arrangement of the tool change position in terms of height and offset can be optimally adjusted by suitable selection of the intermediate wheel diameter.

For example, the magazine wheels can be arranged higher by the height offset of the horizontal removal position on the magazine and the tool change position of the work spindle, so that longer tools can be accommodated on the tool magazine (for which there should be enough space on the underside of the magazine wheels).

By choosing the diameter of the intermediate wheel for different machines or for different machining requirements, different tool change position heights can be set without having to adapt the attachment of the heavy and large magazine wheels. Constructive adaptations can thus be made particularly easily and inexpensively.

Overall, the manipulators 310 and 320 , the moving unit of the manipulator 310 and their substructure can be built more compact, simpler and cheaper.

In addition, there is the advantage that the tools accommodated in the intermediate storage device are accessible from all sides, unlike on the magazine wheels (with densely packed tool holders and adjacent magazine wheels restricting accessibility), so that additional functionalities can be added easily, compactly and inexpensively, e.g. Integration of additional functions such as tool measurement with cameras, tool diameter measurement or checking with a light barrier, tool breakage control or, if necessary, tool cleaning.

In summary, the present invention makes it possible to propose an improved tool changing device, in particular with regard to increased scope for use on different machine tools or machine tool types, efficient or time-saving tool changes and / or extended functionality.

Examples or exemplary embodiments of the present invention and their advantages have been described in detail above with reference to the accompanying figures. It should be emphasized again that the present invention is in no way limited or restricted to the exemplary embodiments described above and their design features, but rather further comprises modifications of the exemplary embodiments, in particular those that result from modifications of the features of the examples described or through combinations of individual ones or more of the features of the examples described are included within the scope of protection of the independent claims.

QUOTES INCLUDED IN THE DESCRIPTION

This list of the documents listed by the applicant was generated automatically and is included solely for the better information of the reader. The list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions.

Patent literature cited

• EP 2750828 B1 [0002, 0003, 0053, 0054, 0110]

Claims (15)

Tool changing device for use on a machine tool (100), which comprises a tool-carrying work spindle (100) and a tool magazine (200) with one or more rotatable magazine wheels (210, 220) with circumferentially arranged tool holders (210a, 210b, 220a, 220b) with : - A first manipulator (310) for removing tools from each of the one or more rotatable magazine wheels (210, 220) of the tool magazine (200), - A second manipulator (320) for exchanging a tool received on the work spindle (130), and - A buffer (330) with one or more tool holders (331, 332, 333, 334), the first manipulator (310) being set up to position between each of the one or more rotatable magazine wheels (210, 220) of the tool magazine (200) and to move the intermediate store (330) linearly and to transfer a tool removed from one of the one or more rotatable magazine wheels (210, 220) to the intermediate store (330), and wherein the second manipulator (320) is set up by means of a rotation - or pivoting movement of a tool received on the work spindle (130) to the intermediate storage (330) and a tool received on the intermediate storage (330) to be exchanged on the work spindle (130) when the work spindle (130) is at a tool change position of the machine tool ( 100) is positioned. Tool changing device according to Claim 1 , characterized in that the first manipulator (310) comprises a gripper section (314) for gripping a tool and a linear, in particular horizontally, movable manipulator slide (312). Tool changing device according to Claim 2 , characterized in that the first manipulator (310) is set up to use the gripper section (314) to attach a tool received on a tool holder (210a; 220a) of one of the one or more rotatable magazine wheels (210, 220) of the tool magazine (200) a transfer position of the corresponding magazine wheel (210; 220) to move with the movable manipulator slide (312) to the intermediate storage (330) and the tool removed at the transfer position of the corresponding magazine wheel (210; 220) on a tool holder (331) of the Intermediate store (330) at a first transfer position of the intermediate store (330) to transfer or use, and / or the first manipulator (310) is set up to use the gripper section (314) to attach to the tool holder (331) of the intermediate store (330) picked up tool to be removed at the first transfer position of the intermediate storage (330) with the movable manipulator slide en (312) to move to one of the one or more rotatable magazine wheels (210, 220) of the tool magazine (200) and the tool removed at the transfer position of the intermediate storage (330) on the tool holder (210a; 220a) of the corresponding magazine wheel (210; 220) to be transferred or used at the transfer position of the corresponding magazine wheel (210; 220). Tool changing device according to one of the preceding claims, characterized in that the second manipulator (320) has a tool changing swivel arm (321) which can be swiveled about a swivel axis, in particular vertically or vertically orientable, with two gripper sections (321a, 321b) arranged at opposite ends of the tool changing swivel arm for gripping included by respective tools. Tool changing device according to Claim 4 , characterized in that the second manipulator (320) is set up to use one of the gripper sections of the tool change swivel arm (321) to remove a tool received on the work spindle (130) from the tool change position of the work spindle (130) and that on the work spindle (130) ) to transfer or use removed tool with a pivoting movement of the tool change swivel arm (321) on a tool holder (334) of the intermediate store (330) at a second transfer position of the intermediate store (330), and / or the second manipulator (330) is set up to with one of the gripper sections of the tool change swivel arm (321) to remove a tool holder (334) of the intermediate storage (330) at the second transfer position and with a swivel movement of the tool change swivel arm (321) on the work spindle (130) at the tool change position of the work spindle (130) to be handed over or used. Tool changing device according to one of the preceding claims, characterized in that the intermediate store (330) comprises a rotary or swivel drive (336) such that the one or more tool holders (331, 332, 333, 334) of the intermediate store together around an axis of rotation of the intermediate store are rotatable or pivotable. Tool changing device according to Claim 6 , characterized in that the Axis of rotation of the intermediate store (330) is aligned horizontally. Tool changing device according to Claim 6 or 7th , characterized in that the axis of rotation of the intermediate store (330) is aligned or can be aligned parallel to an axis of rotation of the one or more rotatable magazine wheels (210, 220) of the tool magazine (200). Tool changing device according to one of the Claims 6 to 8th , characterized in that the intermediate store (330) is set up to rotate or pivot each of the one or more tool receptacles of the intermediate store into a transfer position of the first manipulator (310) in order to transfer a tool to or from the first manipulator (310) . Tool changing device according to Claim 9 , characterized in that the tool holder of the intermediate store (330) positioned in the transfer position of the first manipulator (310) is aligned with a horizontal tool holder axis. Tool changing device according to one of the Claims 6 to 10 , characterized in that the intermediate store (330) is set up to rotate each of the one or more tool receptacles of the intermediate store (330) into a transfer position of the second manipulator (320) in order to transfer a tool to or from the second manipulator (320) or pivot. Tool changing device according to Claim 11 , characterized in that the tool holder of the intermediate store (330) positioned in the transfer position of the second manipulator (320) is aligned with the vertical tool holder axis. Tool changing device according to Claim 9 or 10 and Claim 11 or 12 , characterized in that the intermediate store (330) is set up to rotate or pivot each of the one or more tool receptacles of the intermediate store from the transfer position of the first manipulator (310) to the transfer position of the second manipulator (320) and / or each of the to rotate or pivot one or more tool receptacles of the intermediate store from the transfer position of the second manipulator (320) to the transfer position of the first manipulator (310). Tool changing device according to one of the preceding claims, characterized in that the intermediate store (330) has two, three or four tool holders (331, 332, 333, 334), which are arranged in pairs, in particular at an angular distance of 90 °, circumferentially on the intermediate store. Machine tool with: - a tool-carrying work spindle (130), - A tool magazine (200) with one or more rotatable magazine wheels (210, 220) with circumferentially arranged tool holders (210a, 210b, 220a, 220b), and - A tool changing device (300) according to one of the preceding claims.

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