DE4234446C1 - Tool changer for transfer of tools to two spindle heads at right angles - has gripper head mounted on additional pivoted bracket whose motion is derived from movement of swivelling radial arm through simple linkage - Google Patents

Abstract

To permit tools to be charged selectively at the first spindle head (1) and a second spindle head (2) with its spindle axis (B) at right angles to that of the first, a bracket (6) is pivoted on the end of the radial arm (5) with a pivot axis (P) parallel to the arm swivel axis (T). On the pivoted bracket is a gripper head carrier (7) which is rotatable about an axis (S) normal to the pivot axis (P) and parallel axis (T). In the carrier is the rotational axis (D) for the gripper head. A linkage in the radial arm causes the bracket (6) to pivot simultaneously in the same sense as the arm swivelling movement. ADVANTAGE - Simple design permitting rapid selective tool changing.

Description

The invention relates to a tool changer for changing of tools on at least one (first) tool holder, especially a work spindle, a machine tool, with a relative to the first tool holder in axis device of the same movable carrying device, with one on the Carrying device around a parallel to the first tool holder Axially arranged support axis swiveling support arm, with one movably mounted at the free end of the support arm Exchangeable head that rotates around an axis of rotation when changing bar, with two on the interchangeable head essentially radial to Rotary axis arranged gripper arms, each one -reifer wear, and featured with a in the working area of the support arm seen tool magazine.

In such a known tool changer (company pro Spect of the company OTT Maschinentechnik GmbH, D-8960 Kempten, "Tool changer - tool magazines", pages 5, 6) the interchangeable head has two greies offset by 90 ° to each other arms on. The interchangeable head is directly at the free end the support arm can be pivoted about a vertical axis. Within the support arm is a drive device for the change head provided that the interchangeable head during the Schwenkbe movement of the support arm one derived therefrom, with respect to the direction of rotation of the support arm counter-pivoting movement granted. With this known tool changer, however only tools on a vertical tool holder be changed. A tool change that is very similar in construction ler is known from DE 37 31 280 C2, which differs from that previously described differs only in that it is has two single gripper arms.  

A tool changer is also known (cf. DE 41 11 307 C1), the one interchangeable head with two gripper arms and attached to it provided grippers. The axis of rotation of the change head is mounted in an interchangeable head carrier, that of his hand is pivotable about a pivot axis that is perpendicular to a plane is arranged, which by the axes of two perpendicular work spindles of a machine tool ne runs. The interchangeable head carrier is said to be in a bearing arm be pivotable, which in turn towards the two Axes of the work spindles is movable. How this move Lichity of the bearing arm is achieved, however, in the ge mentioned publication not specified. With this well-known Tool changer is a tool change on two Tool holders possible, their axes perpendicular to each other run.

The invention has for its object a tool to create changers of the type mentioned at the beginning exchange of tools on two tool holders possible light, the axes of which are perpendicular to one another, the one is easy to set up and a quick change of tools enables.

This is achieved according to the invention in that the choice have changing tools on a second tool took whose axis is perpendicular to the axis of the first tool Recording runs, a swivel at the free end of the support arm arm pivoted about an axis parallel to the support axis is that on the swivel arm an interchangeable head carrier by Swivel axis perpendicular to the parallel axis is pivotable and that in the interchangeable head carrier, the rotary axis se of the interchangeable head is arranged, one on the support arm Drive device is provided which the swivel arm one opposite during the pivoting movement of the support arm  this same-direction swivel movement issued.

Because the new head changer in the swivel arm about a perpendicular to the parallel axis Swivel axis is pivotable, he can and thus the Interchangeable head optionally in two different interchangeable positions gen brought so that in one of these positions Changing tools on a vertical tool holder and in a second change position a change of work test on a tool holder with a horizontal axis possible is. By using one at the free end of the The swivel arm can be changed head from the change position to a transfer position in which the tools are brought into the tool magazine transferred or removed from this. The movement of the Exchangeable head from the changing position to the transfer point and vice versa takes place during the swivel movement of the support arm from the area of the tool holders to the tool magazine and vice versa. Since here the swivel arm against above the pivoting movement of the same direction and the axis of rotation of the interchangeable head carrier opposite the parallel axis around which the swivel arm swings, to the free end of which is offset, the Interchangeable head carrier and thus also the interchangeable head during the Swiveling movement of the support arm and the swivel arm around the Pivot axis can be pivoted. This is a tool which comes from the magazine with a vertical tool axis was taken in during the pivoting movement of the support arm brought a horizontal position so that its axis with the horizontal axis of the second tool holder is aligned, when the interchangeable head has reached its interchangeable position. Um one can sweep from the second tool holder with hori tool removed from the central tool axis during the Swiveling movement of the support arm to the tool magazine in the Transfer position are moved so that the tool axis  is vertical when this tool is close to the tool magazine arrives. This turns it into a tool change shortens required time. Through the same-directional swivel movement of the support arm and swivel arm is also prevented changes that tools during the pivoting of the support arm collide with this. Since the new tool changer equipped with swiveling parts, he draws is also characterized by a particularly simple structure and ge wrestle out wear.

DE 30 17 813 A1 describes a tool changing device for changing tools on a second, known for the first vertical tool holder. At this Exchange device is an interchangeable head carrier on one arm (Gripper arm) arranged on a support transverse to the Axis of the first tool holder and parallel to the axis the second tool holder slidable and around its own axis is rotatable. The axis of the arm thus forms a swivel axis for the interchangeable head carrier. On this is an interchangeable head with two gripper arms around an axis of rotation pivotally arranged perpendicular to the pivot axis of the interchangeable head carrier. The carrier is itself by means of two guide columns that ver in a carriage are slidable, parallel to the axis of the first tool slidable. To the tools from the tool to take to the magazine and vice versa is the Schlit ten in turn slidable on guide rods that lower run right to the axes of the two tool holders. This change is due to the three shifting guides Direction expensive to manufacture and requires one increased maintenance. Through the three sliding guides completely different kinematic relationships result, too that individual features of this known changing device not readily on tool changers of the generic type Are transferable.

Advantageous embodiments of the invention are in the Un marked claims.

The invention is in the following, using one in the drawing voltage illustrated embodiment explained in more detail.

Show it:

Fig. 1 is a plan view of the tool changer, in both exchange position (top right) and in the transfer position (bottom left),

Fig. 2 shows details in a larger scale,

Fig. 3 is a side view in the direction III in FIG. 1.

A machine tool, not shown, has in a first spindle housing 1 a first tool holder, not shown, whose axis A is arranged vertically. A tool holder 3 is provided in a second spindle housing 2 , the axis B of which runs horizontally, ie perpendicular to the axis A of the first tool holder. Depending on the machining task, different tools should be inserted one after the other in the two tool holders. The tool changer according to the invention is provided for this purpose.

This has a carrying device in the form of a vertically lifting and lowering supporting column 4 . The support column 4 is rotatable about the vertical support axis T and with your support arm 5 a related party. At the free end 5 a of the support arm, a swivel arm 6 is rotatably mounted about an axis P parallel to the support axis T. On the pivot arm 6 of the interchangeable head support 7 is perpendicular to an axis P parallel to the horizontal axis S pivoting bar. On the interchangeable head carrier 7 , in turn, an interchangeable head 8 is rotatable about an axis of rotation D. This interchangeable head 8 has two gripping arms 10 , 11 offset from one another by 90 °, each of which carries a gripper 12 , 13 . Each of the gripper arms 10 , 11 is angled with respect to the axis of rotation D, as described in DE 41 11 307 C1, namely that the two tool axes of the grippers 10 , 11 detected tools and the axis of rotation D in one cut a single point, each of the two tool axes with the axis of rotation D including an acute angle α of approximately 10-30 °. Therefore, the axis of rotation D in the interchangeable head 7 is arranged so that the only point when changing in front of the respective tool holder on the axis A or B of the tool holder and the axis of rotation D includes an angle α with this axis, which corresponds to the acute angle α The tool axes close with the axis of rotation. In Fig. 1, the angle α, the axis of rotation D when taking tools in the horizontal tool tool holder with the horizontal axis B is shown. The axis of rotation D of the interchangeable head is also advantageously arranged in a plane which, in the interchangeable position of the interchangeable head carrier, runs through axis A or B of the tool holder on which a tool change takes place. This means that when a tool is replaced on the tool holder with the axis A, the axis of rotation D is in a plane which, according to FIG. 3, runs through the axis A perpendicular to the plane of the drawing. When replacing a tool on the tool holder with the axis B, however, the axis D is arranged according to FIG. 3 in a plane perpendicular to the plane of the drawing through the axis B.

Furthermore, the arrangement is such that the pivot axis S of the interchangeable head carrier 7 , as can be seen in FIG. 1 ent, is arranged in the swivel arm 6 so that it is arranged in the changing position perpendicular to a plane which is defined by the axes A. and B of the two tool holders runs, ie according to FIG. 1 in a plane which is arranged perpendicular to the plane of the drawing and passes through the axis B.

Instead of the preferably used oblique arrangement the axis of rotation D compared to the axes A, B of the tool recordings where a tool change takes place, axis D could also be parallel to these two axes A, B can be arranged. In this case the gripper arms would be not angled but at right angles from protrude from axis D. This design of the interchangeable head however, he would have more space when swiveling the replaceable head demand.

To the side of the support column 4 , a tool magazine 14 is provided in the working area of the support arm 5 , which has a plurality of receptacles 14 a for the tools. The tool magazine 14 is formed in the embodiment shown as a so-called plate magazine, which rotates about an axis T parallel to the support axis T. Accordingly, the tools are received in the tool magazine 14 so that the tool axes each run parallel to the support axis T, ie ver tical. Instead of a plate magazine, another tool magazine, for example a chain magazine, could also be provided.

For the rotary drive of the support column 4 , any drive can be provided, for example, on the support column 4 to ordered pinion, which meshes with a rack and the same-directional pivoting movement of the pivot arm 8 against the support arm 5 can be effected by a conventional Antriebsvorrich device. However, in order to achieve a particularly simple structural design of the tool changer, the same-direction pivoting movement of the pivot arm 8 is advantageously derived from the pivoting movement of the support arm 5 . For this purpose, a toothed belt or chain drive with an endless toothed belt or chain 15 is arranged in the support arm 5 . The endless toothed belt is guided over a first deflection wheel 16 which is rotatably mounted in the support arm 5 . A second, smaller deflection wheel 17 is connected to a pivot pin 18 , which contains the parallel axis P and is fixedly connected to the swivel arm 8 . The diameter of the larger deflection wheel 16 is about twice as large as the diameter of the smaller order steering wheel 17th Furthermore, a crank rod 15 is provided, the first end 19 a of which is articulated on the larger deflection wheel 16 . The second end 19 b has a crank pin 20 which simultaneously engages in a curve guide 21 in a stationary part 22 and in a radial guide 23 in the support arm 5 . If the support arm 5 is pivoted clockwise, for example according to FIG. 2, by rotating the support column 4 , then the radial distance of the cam guide 21 from the support axis T increases. As a result, the crank pin 20 is moved radially outward in the radial guide 23 , whereby the deflection wheel 18 also experiences a clockwise movement. This movement is transmitted by the toothed belt 15 in a ratio of 1: 2 to the second deflection wheel 17 , whereby the swivel arm 8 is also rotated clockwise, ie in the same direction as the swivel arm 5 , but at twice the speed of rotation. So if the support arm 5 according to FIG. 1 from its transition order shown at the bottom right is rotated by about 90 ° clockwise U into the change position, as shown at the top left, then the pivot arm 8 pivots relative to the support arm 5 by approximately 180 ° in the same direction towards U1. In the opposite pivoting movement of the support arm 5 , the pivot arm 8 is pivoted against the arrow U1.

As can be seen from Fig. 2, the curve guide 21 in its end regions specially designed curvatures on this, it is possible to control the movement of the swivel arm 6 and thus also the interchangeable head 8 in the area of the exchange position and also in the area of the transfer position how it is most suitable for the change process or the transfer. You can thereby control the movement of the interchangeable head 5 so that it is exactly straight and not arcuate when approaching the axis A and exactly radial to the axis of rotation when approaching the tool magazine.

The tool changer works as follows:
To replace a new tool, the support arm 5 with the interchangeable head 8 arranged thereon is in the transfer position shown at the bottom right in FIG. 1. The new tool is gripped by means of the gripper 12 . By rotation of the support column 4 and then the bracket 5 in the clockwise direction U. In this case also pivots the swing arm 8 with respect to the support arm 5 is the same direction in the rotation direction U1 by means of the direction Antriebsvor 15 -23 pivoted. The tool axis of the new tool removed from the tool magazine 14 is initially arranged vertically, ie perpendicular to the drawing plane according to FIG. 1. If this tool is to be replaced in the tool holder 7 with the horizontal axis B, then the tool axis must be brought from the vertical position into a horizontal position. This is done in that the pivoting movement of the support arm 5 and the Schwenkar meter 8 of the interchangeable head carrier 7 is pivoted upwards about the axis S by 90 °. During this swiveling up of the interchangeable head support 7 , this itself and also the tool to be inserted cannot collide with the support arm 5 , since the swiveling movement of the swivel arm 6 around the free end 5 a of the support arm takes place in the same direction of rotation, in which the support arm is located 5 turns. As a result, the tool to be inserted is brought into the dashed position shown in FIG. 1, top left, in which its axis runs horizontally, ie parallel to the plane of the drawing according to FIG. 1, and is aligned with the horizontal axis B of the second tool holder 3 . If there is no tool in this tool holder, the tool to be replaced can be inserted directly into the holder. For this purpose, the tool holder 3 is pushed to the left over the steep taper shank of the tool by moving the headstock 2 horizontally. As soon as the tool is clamped in the receptacle 3 , the gripper 12 can be opened and released from the tool by pivoting the support arm 5 against the direction of the arrow U.

However, there is already a tool to be replaced in the second tool holder 3 , then during the pivoting movement of the support arm 5 , the pivot arm 6 and the interchangeable head carrier 7 , the interchangeable head 8 is also rotated through 90 ° about the axis D, so that the empty gripper then 13 is located in front of the tool holder 3 when the parts of the tool changer mentioned have reached the change position shown at the top left in FIG. 1. By means of the empty gripper 13 , the tool to be exchanged is first removed from the tool holder 3 , which is done by moving the headstock 2 from its left position, not shown, to its position shown in broken lines to the right. As soon as the tool to be replaced is completely pulled out of the tool holder 3 , the interchangeable head 8 is rotated through 90 ° about the axis of rotation D, as a result of which the gripper 12 with the tool to be inserted arrives in the position shown in broken lines in FIG. 1 in front of the tool holder 3 and the replacement of this tool can be done in the manner previously described.

If after the end of this change process the selected tool should be brought into the tool magazine 14 , then the support arm 5 and at the same time the pivot arm 6 are pivoted against the arrows U, U1 in the transfer position. At the same time, the interchangeable head carrier is pivoted back down about its swivel axis S into its transfer position, and also the interchangeable head 8 is also rotated about the axis of rotation D, so that the gripper 13 , which contains the replaced tool, enters the transfer position, in which the tool axis runs vertically, ie perpendicular to the drawing plane according to FIG. 1. The interchangeable head 8 then does not assume the position shown in FIG. 1, bottom right, but the gripper 13 is in the place of the gripper 12 shown . In this position, the replaced tool is then passed back into one of the receptacles 14 a of the tool magazine 14 .

When a tool is to be replaced is replaced in the first tool holder with the ver tical axis A or me from this Werkzeugaufnah, then eliminates the Schwenkbewe supply of the alternating head support 7 about the axis S. The change of head support 7 will then also in changing position as shown in Figure . 1, top left, shown, opposite the swivel arm 8 is the same position which it has in lung handover Stel.

Claims (7)

1. Tool changer for changing tools on at least one (first) tool holder, in particular a working spindle, a machine tool, with a relative to the first tool holder in the axial direction of the same movable carrying device, with a device arranged on the support device about a parallel to the first tool holder axis Support axis swiveling support arm, with a replaceable head mounted on the free end of the support arm, which can be pivoted about an axis of rotation during the changing process, with two gripper arms arranged radially to the axis of rotation, each carrying a gripper, and with one in the working area of the Tragarmes vorgese hen tool magazine, characterized in that for optionally changing tools on a second tool holder ( 3 ), the axis (B) of which is perpendicular to the axis of the first tool holder, at the free end ( 5 a) of the support arm ( 5 ) is a swivel arm ( 6 ) around an Ac parallel to the supporting axis (T) hse (P) is rotatably mounted that on the swivel arm ( 6 ) an interchangeable head carrier ( 7 ) about a perpendicular to the parallel axis (P) extending swivel axis (S) and that the axis of rotation (D) of the interchangeable head carrier ( 7 ) Interchangeable head ( 8 ) is arranged, on the support arm ( 5 ) a drive device ( 15-20 ) is vorgese hen, which gives the pivot arm ( 8 ) during the pivotal movement of the support arm ( 5 ) with respect to this pivoting movement in the same direction. 2. Tool changer according to claim 1, characterized in that the axis of rotation (D) of the interchangeable head ( 8 ) is arranged in a plane parallel to the swivel axis (S), which in the changing position runs through the axis (A or B) of that tool holder, at which a tool change takes place. 3. Tool changer according to claim 1 or 2, characterized in that the pivot axis (S) of the interchangeable head carrier ( 7 ) in the swivel arm ( 6 ) is arranged so that it is arranged in the alternating position perpendicular to a plane, which che through the axes (A and B) of the two tool holders runs. 4. Tool changer according to one of claims 1 to 3, characterized in that the same-directional pivoting movement of the pivot arm ( 6 ) from the pivoting movement of the support arm ( 5 ) with the aid of an in the support arm ( 5 ) arranged, endless toothed belt or chain drive ( 15-17 ) and a crank rod ( 19 ) is derived, the first end ( 19 a) of one ( 16 ) of the deflection wheels ( 16 , 17 ) of this drive and the second end ( 19 b) is supported on a stationary part ( 22 ) is. 5. Tool changer according to claim 4, characterized in that the crank rod ( 19 ) at its second end ( 19 b) has a crank pin ( 20 ) which at the same time in a curve guide ( 21 ) in the stationary part ( 22 ) and a radial guide ( 23rd ) engages in the support arm ( 5 ). 6. Tool changer according to claim 5, characterized in that the one deflection wheel ( 16 ), on which the crank rod ( 19 ) is articulated, has a larger diameter than the other deflection wheel ( 17 ), which with the parallel axis (P) of the swivel arm ( 6 ) is connected. 7. Tool changer according to claim 6, characterized in that the diameter of the larger deflection wheel ( 16 ) is approximately twice as large as the diameter of the smaller deflection wheel ( 17 ).