EP0443019A1 - Tool-changing device for machine-tools - Google Patents

Tool-changing device for machine-tools

Info

Publication number
EP0443019A1
EP0443019A1 EP19900914210 EP90914210A EP0443019A1 EP 0443019 A1 EP0443019 A1 EP 0443019A1 EP 19900914210 EP19900914210 EP 19900914210 EP 90914210 A EP90914210 A EP 90914210A EP 0443019 A1 EP0443019 A1 EP 0443019A1
Authority
EP
European Patent Office
Prior art keywords
tool
magazine
spindle
arms
closed position
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
EP19900914210
Other languages
German (de)
French (fr)
Inventor
Pierre Buessinger
Pierre Colin
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
SOMEX SA
Original Assignee
SOMEX SA
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by SOMEX SA filed Critical SOMEX SA
Publication of EP0443019A1 publication Critical patent/EP0443019A1/en
Withdrawn legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q3/00—Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine
    • B23Q3/155—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling
    • B23Q3/157—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling of rotary tools
    • B23Q3/15706—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling of rotary tools a single tool being inserted in a spindle directly from a storage device, i.e. without using transfer devices

Definitions

  • the present invention relates to a tool changer device for a machine tool provided with a tool spindle with automatic clamping, comprising a tool magazine intended for the machining of mechanical parts and adapted to said tool spindle, this store comprising at least two mobile members arranged to each carry a tool and being associated with drive means for moving the latter in such a way that said members can be in at least one waiting position and one positioning position place of the corresponding tool in said tool-holder spindle, these drive means being managed by control means to control their activation, in which said magazine comprises a rotary support around an axis parallel to the axis of the tool-holder spindle, and said movable members include clamps arranged to hold said tools in a predetermined position allowing them to be taken up by said spindle tool holder, these pliers each comprising two arms pivoting about two fixed axes.
  • the publications FR-A-1 51 824, US-A-122 598 and DE-A-3 530 230 describe automatic tool changing devices comprising notches, pliers or cells integral with a store, to support said tools.
  • the Moye retaining ns of these tools are free of locking members. Therefore, there is a significant risk of ejection of the tools by centrifugal force, when the magazine is rotated at a certain speed and when the tools have a certain mass.
  • the present invention proposes to make available to the mechanical industries, a tool changer device which guarantees a safe and efficient holding of the tools, precise indexing, which has a reduced bulk, and which can be mounted in any position, especially horizontally or vertically.
  • the device according to the invention is characterized in that it comprises locking means for locking said pivoting arms in the closed position when they clamp a tool.
  • said locking means comprise a movable part arranged to lock said arms of these clamps in the closed position.
  • Said movable part is preferably supported on a cam arranged to move this part between a disengaged position in which said pivoting arms are free and a locking position in which said pivoting arms are locked in the closed position.
  • Said pivoting arms are advantageously urged by spring members arranged to bring them into the closed position, these spring members being linked respectively to the ends of the arms arranged on one side with respect to the fixed axes.
  • said pivoting arms each have at the ends disposed on the other side relative to the fixed axes, a clearance arranged to receive said movable part which is wedged in said clearances when said arms are in the closed position.
  • said movable part is preferably pivoting and associated with a spring arranged to bring it into its locked position.
  • said pivoting arms define a circular opening whose diameter, when these arms are in the closed position, corresponds substantially to the diameter of the tools.
  • said drive means comprise a first mechanism for moving the magazine in a translational movement and a second mechanism for moving it in a rotational movement around its axis.
  • Said first mechanism may comprise a wheel carrying an eccentric stop, said wheel being rotated by a hydraulic rotary actuator controlled by said control means and said stop being in abutment against two opposite rectilinear faces of a part integral with a carriage carrying said store.
  • the two opposite rectilinear faces define the edges of a rectilinear groove formed in a room and arranged in a direction perpendicular to the direction of movement of the carriage.
  • the two opposite rectilinear faces constitute the two facing edges of two strips arranged in parallel and whose spacing is substantially equal to the diameter of said eccentric stop.
  • said second mechanism comprises a toothed ring integral with said rotary support of the magazine, a drive pinion engaged with said toothed ring and mounted on a rotary shaft, a drive reduction motor, a torque limiting coupling and an indexing mechanism between said motor-reduc ⁇ tor and said rotary shaft.
  • Said indexing mechanism preferably comprises two double cams.
  • the control members of the drive means are arranged to generate the following displacements, at each tool change cycle: displacement in translation of the carriage carrying the support to bring a clamp in the gripping position in charge of the tool, closing of the gripper followed by the release of the tool by the automatic loosening device, retraction of the tool-holder spindle, rotation of the support to bring another tool into the position of support by the spindle, advance of the spindle, opening of the clamp and release of the tool previously supported by the spindle, displacement in translation of the carriage carrying the magazine support.
  • FIG. 1 represents a schematic view of the device of the invention positioned in relation to a machine tool
  • FIG. 2 represents a perspective view, partially exploded, illustrating the tool changer device according to the invention, in its preferred embodiment
  • FIG. 3 represents a side elevation view of the device of the invention
  • the figure represents a front elevation view of the device of the invention
  • FIG. 5 represents a front view of a clamp and of its locking means
  • FIG. 6 represents a sectional view along the line AA of FIG. 5, and
  • FIGS. 7A, 7B and 7C illustrate three successive phases of the handling of a tool by means of the pliers.
  • the device 10 is mounted on a machine or tool or more particularly is associated with a machining module 11 which can be a turning, milling, boring, drilling or similar module.
  • This tool changer device is mounted in such a way that its axis 12 is parallel to the axis 13 of the machining module 1 1 and that the tools 1 mounted in the magazine 15 can be brought in, by means described below. , in a position such that their axis 16 coincides with the axis 13 of the machining module.
  • the machining module is designed in such a way that its tool-holder spindle 17 can be moved axially in the direction of the double arrow A, so that it can support a tool 14 from store 15, previously brought into the appropriate position.
  • the device can be mounted vertically or horizontally, or even in any intermediate position, provided that the axis 12 is parallel to the axis 13, as mentioned above.
  • FIG. 2 represents a more detailed view of the tool changer device 10.
  • This device essentially comprises the tool magazine 15 having the shape of a circular rotating part around its axis, a carriage 18 movable in translation along a vertical axis schematically illustrated by the double arrow B, and drive means for generating both the rotation of the tool holder magazine 15 and the translation of the carriage 18.
  • the tools (not shown in this figure) are held by a ring of pliers 19 arranged at the periphery of the circular part which constitutes the magazine 15.
  • Each of these pliers 19 comprises two pivoting arms, respectively 19a and 19b, articulated.
  • the circular part comprises a ring gear 20 which is engaged with a pinion 21 mounted on a end of an axis 22 whose other end is coupled to a drive mechanism of the Maltese cross type 23 which is itself coupled via a pinion system 24 to the axis driven by a electric motor 25.
  • the mechanism 23 of the Maltese cross type is, in this case, particularly interesting because it makes it possible to generate a very rapid rotation of the magazine with great precision. This solution was chosen due to the fact that this mechanism makes it possible to achieve very rapid accelerations.
  • the electric motor 25 is preferably a reduction motor of known type and the coupling between the motor for driving and the ring gear is preferably done by means of a torque limiter.
  • this mechanism is associated with an indexing device preferably composed of two double cams.
  • the mechanism which allows the linear movement of the carriage 18 carrying the magazine 15 is preferably made up of an eccentric stopper 26 which is mounted on a rotary part 27 capable of being rotated by a drive shaft 28 attached to the end of a motor shaft or coupled to a drive motor (not shown).
  • the eccentric stop 26 is taken between the inner edges of two strips 29 and 30 which are parallel to each other and whose spacing is substantially equal to the diameter of the stop 26.
  • the carriage comprises four rollers or rollers 31 which are respectively pressed against two rails 32 verticals. A rotation of the shaft 28 causes the eccentric stop 26 to move and causes the carriage 18 to translate vertically along the guide rails 32.
  • the second mechanism is also associated with an indexing device to allow precise determination of the amplitude of the displacement.
  • FIGS 3 and 4 illustrate some details of the device according to the invention.
  • An extendable bellows 33 masks the mechanism for linear movement of the carriage 18.
  • the pliers include locking means which make it possible to lock the tool in position, when it is caught in the clamp. These locking means are essential because the tools carried by the magazine must undergo very strong accelerations and are therefore subject to significant centrifugal forces which risk ejecting them from the pliers.
  • the two pivoting arms 19a and 19b are respectively articulated on two axes 40 and 41 integral with the magazine. At one of their ends, these arms have a recess in an arc 42, 43 whose diameter is equal to that of the cone of the tools, to allow the latter to be taken care of. At their opposite ends with respect to the axes 40 and 41, the pivoting arms each have a clearance 44, respectively 45 to allow the establishment of a movable part 46, intended to block or wedge the arms in the closed position.
  • This movable part is fixed by a rod 47 to a ball joint 48, which allows it to move between a disengaged position (represented in particular by FIG. 6) and a locking position (represented by FIG. 7C.
  • the movement of the moving part 46 is controlled by a cam 49 fixed to the support of the magazine. This piece 46 is pushed against the cam 49 by a spring 50 which tends to bring it into the locking position shown in broken lines at 46 '.
  • the arms 19a and 19b are biased towards the closed position by two springs 51 and 52 which, in the present embodiment, are compression springs bearing against said arms.
  • the clamp "descends" on the cone 60 of the tool and opens when the ends of the arms 19a and 19b bear on the surface of this cone, the movable part 46 having previously been pushed back when the arms were released. During this "descent” and this "opening” the arms compress the springs 51 and 52. The maximum opening of the clamp is reached when the ends of the arms are located halfway up the cone 60. Au- beyond this position, the clamp closes to reach the locking position shown in Figure 7C.
  • the moving part 46 wedges the arms and locks them during the rotation of the magazine. It will also be noted that the cone is locked in position by a wedge 61 which is engaged in a notch 62 of said cone.
  • the device makes it possible to take charge of a tool previously mounted on the spindle and the replacement of this tool by another tool mounted in the store, that is to say carried by one of the pliers.
  • the carriage first moves in vertical translation to bring the tool 1 to the axis 13 of the spindle 17 then the mechanism for drive of the magazine generates a rotation of the tool support, that is to say of the magazine itself, to bring a free clamp in position on the tool holder spindle 17 of the machining module.
  • the gripper arm thus positioned closes and the spindle of the machining module moves back after releasing the tool. This tool remains caught in the pliers.
  • the magazine drive mechanism rotates to bring the new tool into the appropriate position for placement on the spindle.
  • the spindle advances again to take over the tool carried by the clamp which is located opposite it.
  • the clamp opens and releases the tool.
  • the carriage moves vertically upwards to clear the work area of the spindle.

Abstract

Le dispositif changeur d'outils (10) comporte un magasin (15) d'outils destinés à l'usinage de pièces mécaniques et adaptés pour être montés sur une broche porte-outil à serrage automatique. Ce magasin comprend une série de pinces (19) disposées à la périphérie d'une pièce circulaire susceptible d'être entraînée en rotation par un moteur d'entraînement (25). Ce magasin est porté par un chariot (18) mobile en translation verticale grâce à l'action d'une butée excentrique (26) prise entre deux réglettes (29 et 30) horizontales.The tool changer device (10) comprises a magazine (15) for tools intended for machining mechanical parts and adapted to be mounted on a tool spindle with automatic clamping. This magazine comprises a series of clamps (19) arranged at the periphery of a circular part capable of being driven in rotation by a drive motor (25). This store is carried by a carriage (18) movable in vertical translation by the action of an eccentric stop (26) taken between two strips (29 and 30) horizontal.

Description

DISPOSITIF CHANGEUR D'OUTILS POUR MACHINE-OUTIL TOOL CHANGER DEVICE FOR MACHINE TOOL
La présente invention concerne un dispositif changeur d'outils pour machine-outil pourvu d'une broche porte-outil à serrage automatique, comportant un magasin d'outils destinés à l'usinage de pièces de mécanique et adaptés à ladite broche porte-outil, ce magasin comprenant au moins deux organes mobiles agencés pour porter chacun un outil et étant associé à des moyens d'entraînement pour déplacer ce dernier de telle manière que lesdits organes puissent se trouver dans au moins une position d'attente et une position de mise en place de l'outil correspondant dans ladite broche porte-outil, ces moyens d'entraînement étant gérés par des moyens de commande pour contrôler leur activation, dans lequel ledit magasin comporte un support rotatif autour d'un axe parallèle à l'axe de la broche porte-outil, et lesdits organes mobiles comportent des pinces agencées pour maintenir lesdits outils dans une position prédéterminée permettant leur prise en charge par ladite broche porte-outil, ces pinces comportant chacune deux bras pivotant autour de deux axes fixes.The present invention relates to a tool changer device for a machine tool provided with a tool spindle with automatic clamping, comprising a tool magazine intended for the machining of mechanical parts and adapted to said tool spindle, this store comprising at least two mobile members arranged to each carry a tool and being associated with drive means for moving the latter in such a way that said members can be in at least one waiting position and one positioning position place of the corresponding tool in said tool-holder spindle, these drive means being managed by control means to control their activation, in which said magazine comprises a rotary support around an axis parallel to the axis of the tool-holder spindle, and said movable members include clamps arranged to hold said tools in a predetermined position allowing them to be taken up by said spindle tool holder, these pliers each comprising two arms pivoting about two fixed axes.
On connaît différents dispositifs changeurs d'outils qui permettent de prendre en charge un outil et de le mettre en place automatiquement sur une broche de machine-outil.Various tool changer devices are known which make it possible to take on a tool and to set it up automatically on a machine tool spindle.
A titre d'exemple, les publications FR-A-1 51 824, US-A- 122 598 et DE-A-3 530 230 décrivent des dispositifs changeurs d'outils automatiques comportant des encoches, des pinces ou des alvéoles solidaires d'un magasin, pour prendre en charge lesdits outils. Les moye'ns de retenue de ces outils ne comportent pas d'organes de verrouillage. De ce fait, il existe un risque non négligeable d'éjection des outils par la force centrifuge, lorsque le magasin est entraîné en rotation à une certaine vitesse et lorsque les outils ont une certaine masse.By way of example, the publications FR-A-1 51 824, US-A-122 598 and DE-A-3 530 230 describe automatic tool changing devices comprising notches, pliers or cells integral with a store, to support said tools. The Moye retaining ns of these tools are free of locking members. Therefore, there is a significant risk of ejection of the tools by centrifugal force, when the magazine is rotated at a certain speed and when the tools have a certain mass.
Ces dispositifs connus comportent par ailleurs des mécanismes complexes pour indexer les outils, ce qui complique leur construction et accroît leur coût. Pour pallier ces inconvénients, la présente invention se propose de mettre à disposition des industries mécaniques, un dispositif changeur d'outil qui garantit une tenue sûre et efficace des outils, un indexage précis, qui a un encombrement réduit, et qui peut être monté dans n'importe quelle position, notamment horizontalement ou verticalement.These known devices also include complex mechanisms for indexing the tools, which complicates their construction and increases their cost. To overcome these drawbacks, the present invention proposes to make available to the mechanical industries, a tool changer device which guarantees a safe and efficient holding of the tools, precise indexing, which has a reduced bulk, and which can be mounted in any position, especially horizontally or vertically.
Dans ce but, le dispositif selon l'invention est caractérisé en ce qu'il comporte des moyens de verrouillage pour bloquer lesdits bras pivotants en position fermée lorsqu'ils serrent un outil.For this purpose, the device according to the invention is characterized in that it comprises locking means for locking said pivoting arms in the closed position when they clamp a tool.
Selon une construction préférentielle, lesdits moyens de verrouillage comprennent une pièce mobile agencée pour bloquer lesdits bras de ces pinces en position fermée.According to a preferred construction, said locking means comprise a movable part arranged to lock said arms of these clamps in the closed position.
Ladite pièce mobile est de préférence en appui sur une came agencée pour déplacer cette pièce entre une position dégagée dans laquelle lesdits bras pivotants sont libres et une position de verrouillage dans laquelle lesdits bras pivotants sont verrouillés en position fermée.Said movable part is preferably supported on a cam arranged to move this part between a disengaged position in which said pivoting arms are free and a locking position in which said pivoting arms are locked in the closed position.
Lesdits bras pivotants sont avantageusement sollicités par des organes ressorts agencés pour les amener en position fermée, ces organes ressorts étant liés respectivement aux extrémités des bras disposées d'un côté par rapport aux axes fixes.Said pivoting arms are advantageously urged by spring members arranged to bring them into the closed position, these spring members being linked respectively to the ends of the arms arranged on one side with respect to the fixed axes.
Selon ce même mode de réalisation préféré, lesdits bras pivotants comportent chacun aux extrémités disposées de l'autre côté par rapport aux axes fixes, un dégagement agencé pour recevoir ladite pièce mobile qui est calée dans lesdits dégagements lorsque lesdits bras sont en position fermée.According to this same preferred embodiment, said pivoting arms each have at the ends disposed on the other side relative to the fixed axes, a clearance arranged to receive said movable part which is wedged in said clearances when said arms are in the closed position.
Dans cette réalisation, ladite pièce mobile est de préférence pivotante et associée à un ressort agencé pour l'amener dans sa position de verrouillage. Selon le mode de réalisation préféré, lesdits bras pivotants définissent une ouverture circulaire dont le diamètre, lorsque ces bras sont en position fermée, correspond sensiblement au diamètre des outils.In this embodiment, said movable part is preferably pivoting and associated with a spring arranged to bring it into its locked position. According to the preferred embodiment, said pivoting arms define a circular opening whose diameter, when these arms are in the closed position, corresponds substantially to the diameter of the tools.
Selon ce même mode de réalisation préféré, lesdits moyens d'entraîne¬ ment comportent un premier mécanisme pour déplacer le magasin selon un mouvement de translation et un deuxième mécanisme pour le déplacer selon un mouvement de rotation autour de son axe.According to this same preferred embodiment, said drive means comprise a first mechanism for moving the magazine in a translational movement and a second mechanism for moving it in a rotational movement around its axis.
Ledit premier mécanisme peut comprendre une roue portant une butée excentrée, ladite roue étant entraînée en rotation par un vérin rotatif hydraulique commandé par lesdits moyens de commande et ladite butée étant en appui contre deux faces rectilignes opposées d'une pièce solidaire d'un chariot portant ledit magasin.Said first mechanism may comprise a wheel carrying an eccentric stop, said wheel being rotated by a hydraulic rotary actuator controlled by said control means and said stop being in abutment against two opposite rectilinear faces of a part integral with a carriage carrying said store.
Selon une variante particulièrement avantageuse, les deux faces rectilignes opposées définissent les bords d'une gorge rectiligne ménagée dans une pièce et disposée dans une direction perpendiculaire à la direction de déplacement du chariot.According to a particularly advantageous variant, the two opposite rectilinear faces define the edges of a rectilinear groove formed in a room and arranged in a direction perpendicular to the direction of movement of the carriage.
Selon une autre forme de réalisation particulièrement avantageuse, les deux faces rectilignes opposées constituent les deux bords en regard de deux réglettes disposées parallèlement et dont l'espacement est sensiblement égal au diamètre de ladite butée excentrée.According to another particularly advantageous embodiment, the two opposite rectilinear faces constitute the two facing edges of two strips arranged in parallel and whose spacing is substantially equal to the diameter of said eccentric stop.
De manière préférentielle, ledit deuxième mécanisme comporte une couronne dentée solidaire dudit support rotatif du magasin, un pignon d'entraînement en prise avec ladite couronne dentée et monté sur un arbre rotatif, un moteur-réducteur d'entraînement, un accouplement limiteur de couple et un mécanisme d'indexage entre ledit moteur-réduc¬ teur et ledit arbre rotatif.Preferably, said second mechanism comprises a toothed ring integral with said rotary support of the magazine, a drive pinion engaged with said toothed ring and mounted on a rotary shaft, a drive reduction motor, a torque limiting coupling and an indexing mechanism between said motor-reduc¬ tor and said rotary shaft.
Ledit mécanisme d'indexage comporte de préférence deux doubles cames. Selon une f orme de réalisation préférée, les organes de commande des moyens d'entraînement sont agencés pour engendrer les déplacements suivants, à chaque cycle de changement d'outil : déplacement en translation du chariot portant le support pour amener une pince en position de prise en charge de l'outil, fermeture de la pince suivie de la libération de l'outil par le dispositif de desserrage automatique, recul de la broche porte-outil, rotation du support pour amener un autre outil en position de prise en charge par la broche, avance de la broche, ouverture de la pince et libération de l'outil préalablement pris en charge par la broche, déplacement en translation du chariot portant le support du magasin.Said indexing mechanism preferably comprises two double cams. According to a form of preferred embodiment, the control members of the drive means are arranged to generate the following displacements, at each tool change cycle: displacement in translation of the carriage carrying the support to bring a clamp in the gripping position in charge of the tool, closing of the gripper followed by the release of the tool by the automatic loosening device, retraction of the tool-holder spindle, rotation of the support to bring another tool into the position of support by the spindle, advance of the spindle, opening of the clamp and release of the tool previously supported by the spindle, displacement in translation of the carriage carrying the magazine support.
La présente invention sera mieux comprise en référence à la description d'un exemple de réalisation et du dessin annexé, dans lequel :The present invention will be better understood with reference to the description of an exemplary embodiment and the attached drawing, in which:
la figure 1 représente une vue schématique du dispositif de l'invention positionné par rapport à une machine-outil,FIG. 1 represents a schematic view of the device of the invention positioned in relation to a machine tool,
la figure 2 représente une vue en perspective, partiellement éclatée, illustrant le dispositif changeur d'outils selon l'invention, dans sa forme de réalisation préférée,FIG. 2 represents a perspective view, partially exploded, illustrating the tool changer device according to the invention, in its preferred embodiment,
la figure 3 représente une vue en élévation latérale du dispositif de l'invention,FIG. 3 represents a side elevation view of the device of the invention,
la figure représente une vue en élévation frontale du dispositif de l'invention,the figure represents a front elevation view of the device of the invention,
La figure 5 représente une vue de face d'une pince et de ses moyens de verrouillage, la figure 6 représente une vue en coupe selon la ligne A-A de la figure 5, etFIG. 5 represents a front view of a clamp and of its locking means, FIG. 6 represents a sectional view along the line AA of FIG. 5, and
les figures 7A, 7B et 7C illustrent trois phases successives de la prise en charge d'un outil au moyen de la pince.FIGS. 7A, 7B and 7C illustrate three successive phases of the handling of a tool by means of the pliers.
En référence aux figures, le dispositif 10 est monté sur une machine-ou¬ til ou plus particulièrement est associé à un module d'usinage 1 1 qui peut être un module de tournage, de fraisage, d'alésage, de perçage ou similaire. Ce dispositif changeur d'outils est monté de telle manière que son axe 12 soit parallèle à l'axe 13 du module d'usinage 1 1 et que les outils 1 montés dans le magasin 15 puissent être amenés, par des moyens décrits par la suite, dans une position telle que leur axe 16 coïncide avec l'axe 13 du module d'usinage. Comme le montre la figure 1, le module d'usinage est conçu de telle manière que sa broche porte-outil 17 puisse être déplacée axialement dans le sens de la double flèche A, de telle manière qu'elle puisse prendre en charge un outil 14 du magasin 15, préalablement apporté dans la position adéquate. Le dispositif peut être monté verticalement ou horizontalement, voire dans n'importe quelle position intermédiaire, pourvu que l'axe 12 soit parallèle à l'axe 13, comme mentionné ci-dessus.With reference to the figures, the device 10 is mounted on a machine or tool or more particularly is associated with a machining module 11 which can be a turning, milling, boring, drilling or similar module. This tool changer device is mounted in such a way that its axis 12 is parallel to the axis 13 of the machining module 1 1 and that the tools 1 mounted in the magazine 15 can be brought in, by means described below. , in a position such that their axis 16 coincides with the axis 13 of the machining module. As shown in FIG. 1, the machining module is designed in such a way that its tool-holder spindle 17 can be moved axially in the direction of the double arrow A, so that it can support a tool 14 from store 15, previously brought into the appropriate position. The device can be mounted vertically or horizontally, or even in any intermediate position, provided that the axis 12 is parallel to the axis 13, as mentioned above.
La figure 2 représente une vue plus détaillée du dispositif changeur d'outils 10. Ce dispositif comprend essentiellement le magasin d'outils 15 ayant la forme d'une pièce circulaire rotative autour de son axe, un chariot 18 mobile en translation selon un axe vertical schematiquement illustré par la double flèche B, et des moyens d'entraînement pour engendrer à la fois la rotation du magasin porte-outil 15 et la translation du chariot 18.FIG. 2 represents a more detailed view of the tool changer device 10. This device essentially comprises the tool magazine 15 having the shape of a circular rotating part around its axis, a carriage 18 movable in translation along a vertical axis schematically illustrated by the double arrow B, and drive means for generating both the rotation of the tool holder magazine 15 and the translation of the carriage 18.
Les outils (non représentés sur cette figure) sont tenus par une couronne de pinces 19 disposées à la périphérie de la pièce circulaire qui constitue le magasin 15. Chacune de ces pinces 19 comporte deux bras pivotants, respectivement 19a et 19b, articulés. La pièce circulaire comporte une couronne dentée 20 qui est en prise avec un pignon 21 monté à une extrémité d'un axe 22 dont l'autre extrémité est couplée à un mécanisme d'entraînement du type croix de Malte 23 qui est lui-même couplé par l'intermédiaire d'un système de pignons 24 à l'axe entraîné d'un moteur électrique 25. Le mécanisme 23 du type croix de Malte est, dans ce cas, particulièrement intéressant parce qu'il permet d'engendrer une rotation très rapide du magasin avec une grande précision. Cette solution a été retenue en raison du fait que ce mécanisme permet d'atteindre des accélérations très rapides.The tools (not shown in this figure) are held by a ring of pliers 19 arranged at the periphery of the circular part which constitutes the magazine 15. Each of these pliers 19 comprises two pivoting arms, respectively 19a and 19b, articulated. The circular part comprises a ring gear 20 which is engaged with a pinion 21 mounted on a end of an axis 22 whose other end is coupled to a drive mechanism of the Maltese cross type 23 which is itself coupled via a pinion system 24 to the axis driven by a electric motor 25. The mechanism 23 of the Maltese cross type is, in this case, particularly interesting because it makes it possible to generate a very rapid rotation of the magazine with great precision. This solution was chosen due to the fact that this mechanism makes it possible to achieve very rapid accelerations.
On notera que le moteur électrique 25 est de préférence un moteur réducteur de type connu et l'accouplement entre le moteur d'entraîne¬ ment et la couronne dentée se fait de préférence par l'intermédiaire d'un limiteur de couple. En outre, ce mécanisme est associé à un dispositif d'indexage composé de préférence de deux doubles cames.It will be noted that the electric motor 25 is preferably a reduction motor of known type and the coupling between the motor for driving and the ring gear is preferably done by means of a torque limiter. In addition, this mechanism is associated with an indexing device preferably composed of two double cams.
Le mécanisme qui permet d'assurer le déplacement linéaire du chariot 18 portant le magasin 15, se compose de préférence d'une butée excentrique 26 qui est montée sur une pièce rotative 27 susceptible d'être entraînée en rotation par un arbre d'entraînement 28 fixé à l'extrémité d'un axe moteur ou accouplé à un moteur d'entraînement (non représenté). La butée excentrique 26 est prise entre les bords intérieurs de deux réglettes 29 et 30 parallèles entre elles et dont l'écartement est sensiblement égal à le diamètre de la butée 26. Le chariot comporte quatre roulettes ou galets 31 qui sont respectivement appuyés contre deux rails 32 verticaux. Une rotation de l'arbre 28 entraîne un déplacement de la butée excentrique 26 et provoque une translation verticale du chariot 18 le long des rails de guidage 32.The mechanism which allows the linear movement of the carriage 18 carrying the magazine 15 is preferably made up of an eccentric stopper 26 which is mounted on a rotary part 27 capable of being rotated by a drive shaft 28 attached to the end of a motor shaft or coupled to a drive motor (not shown). The eccentric stop 26 is taken between the inner edges of two strips 29 and 30 which are parallel to each other and whose spacing is substantially equal to the diameter of the stop 26. The carriage comprises four rollers or rollers 31 which are respectively pressed against two rails 32 verticals. A rotation of the shaft 28 causes the eccentric stop 26 to move and causes the carriage 18 to translate vertically along the guide rails 32.
Le deuxième mécanisme est également associé à un dispositif d'indexage pour permettre une détermination précise de l'amplitude du déplace¬ ment.The second mechanism is also associated with an indexing device to allow precise determination of the amplitude of the displacement.
Les figures 3 et 4 illustrent quelques détails du dispositif selon l'invention. Un soufflet extensible 33 masque le mécanisme de déplacement linéaire du chariot 18. Les pinces comportent des moyens de verrouillage qui permettent de bloquer l'outil en position, lorsqu'il est pris dans la pince. Ces moyens de verrouillage sont indispensables du fait que les outils portés par le magasin doivent subir des accélérations très fortes et sont de ce fait soumis à des forces centrifuges importantes qui risquent de les éjecter des pinces.Figures 3 and 4 illustrate some details of the device according to the invention. An extendable bellows 33 masks the mechanism for linear movement of the carriage 18. The pliers include locking means which make it possible to lock the tool in position, when it is caught in the clamp. These locking means are essential because the tools carried by the magazine must undergo very strong accelerations and are therefore subject to significant centrifugal forces which risk ejecting them from the pliers.
Ces moyens .sont décrits plus en détail en référence aux figures 5 à 7. Les deux bras pivotants 19a et 19b sont respectivement articulés sur deux axes 40 et 41 solidaires du magasin. A l'une de leurs extrémités, ces bras comportent un évidement en arc de cercle 42, 43 dont le diamètre est égal à celui du cône des outils, pour permettre la prise en charge de ces derniers. A leurs extrémités opposées par rapport aux axes 40 et 41 , les bras pivotants comportent chacun un dégagement 44, respectivement 45 pour permettre la mise en place d'une pièce mobile 46, destinée à bloquer ou caler les bras en position fermée.These means are described in more detail with reference to FIGS. 5 to 7. The two pivoting arms 19a and 19b are respectively articulated on two axes 40 and 41 integral with the magazine. At one of their ends, these arms have a recess in an arc 42, 43 whose diameter is equal to that of the cone of the tools, to allow the latter to be taken care of. At their opposite ends with respect to the axes 40 and 41, the pivoting arms each have a clearance 44, respectively 45 to allow the establishment of a movable part 46, intended to block or wedge the arms in the closed position.
Cette pièce mobile est fixée par une tige 47 à une rotule 48, ce qui lui permet de se déplacer entre une position dégagée (représentée en particulier par la figure 6) et une position de verrouillage (représentée par la figure 7C.This movable part is fixed by a rod 47 to a ball joint 48, which allows it to move between a disengaged position (represented in particular by FIG. 6) and a locking position (represented by FIG. 7C.
Le déplacement de la pièce mobile 46 est commandé par une came 49 fixée au support du magasin. Cette pièce 46 est poussée contre la came 49 par un ressort 50 qui tend à l'amener dans la position de verrouillage représentée en traits interrompus en 46'.The movement of the moving part 46 is controlled by a cam 49 fixed to the support of the magazine. This piece 46 is pushed against the cam 49 by a spring 50 which tends to bring it into the locking position shown in broken lines at 46 '.
Les bras 19a et 19b sont sollicités vers la position fermée par deux ressorts 51 et 52 qui, dans la présente réalisation, sont des ressorts de compression en appui contre lesdits bras.The arms 19a and 19b are biased towards the closed position by two springs 51 and 52 which, in the present embodiment, are compression springs bearing against said arms.
Comme le montrent les figures 7A, 7B et 7C, la pince "descend" su r le cône 60 de l'outil et s'ouvre lorsque les extrémités des bras 19a et 19b prennent appui sur la surface de ce cône, la pièce mobile 46 ayant préalablement été repoussée lors des dégagements des bras. Au cours de cette "descente" et de cette "ouverture" les bras compriment les ressorts 51 et 52. Le maximum de l'ouverture de la pince est atteint lorsque les extrémités des bras sont localisées à mi-hauteur du cône 60. Au-delà de cette position, la pince se referme pour atteindre la position de verrouillage représentée par la figure 7C.As shown in FIGS. 7A, 7B and 7C, the clamp "descends" on the cone 60 of the tool and opens when the ends of the arms 19a and 19b bear on the surface of this cone, the movable part 46 having previously been pushed back when the arms were released. During this "descent" and this "opening" the arms compress the springs 51 and 52. The maximum opening of the clamp is reached when the ends of the arms are located halfway up the cone 60. Au- beyond this position, the clamp closes to reach the locking position shown in Figure 7C.
On notera que la pièce mobile 46 cale les bras et les verrouille lors de la rotation du magasin. On notera également que le cône est bloqué en position par une cale 61 qui est engagée dans une encoche 62 dudit cône.It will be noted that the moving part 46 wedges the arms and locks them during the rotation of the magazine. It will also be noted that the cone is locked in position by a wedge 61 which is engaged in a notch 62 of said cone.
En fonctionnement, le dispositif permet d'assurer la prise en charge d'un outil préalablement monté sur la broche et le remplacement de cet outil par un autre outil monté dans le magasin, c'est-à-dire porté par l'une des pinces. Lors des différentes opérations qui sont effectuées au cours d'un cycle de changement d'outils, le chariot se déplace tout d'abord en translation verticale pour amener l'outi l sur l'axe 13 de la broche 17 puis le mécanisme d'entraînement du magasin engendre une rotation du support des outils, c'est-à-dire du magasin proprement dit, pour amener une pince libre en position sur la broche porte-outil 17 du module d'usinage. Le bras de la pince ainsi positionnée se ferme et la broche du module d'usinage recule après avoir libéré l'outil. Cet outil reste pris dans la pince. A ce moment, le mécanisme d'entraînement du magasin effectue une rotation pour amener le nouvel outil dans la position appropriée en vue de sa mise en place sur la broche. La broche avance à nouveau pour prendre en charge l 'outil porté par la pince qui se trouve en regard d'elle. Lorsque le chariot se déplace en translation vers le haut, la pince s'ouvre et libère l'outil. Le chariot se déplace vertica- lement vers le haut pour dégager l'espace de travail de la broche.In operation, the device makes it possible to take charge of a tool previously mounted on the spindle and the replacement of this tool by another tool mounted in the store, that is to say carried by one of the pliers. During the various operations which are carried out during a tool change cycle, the carriage first moves in vertical translation to bring the tool 1 to the axis 13 of the spindle 17 then the mechanism for drive of the magazine generates a rotation of the tool support, that is to say of the magazine itself, to bring a free clamp in position on the tool holder spindle 17 of the machining module. The gripper arm thus positioned closes and the spindle of the machining module moves back after releasing the tool. This tool remains caught in the pliers. At this time, the magazine drive mechanism rotates to bring the new tool into the appropriate position for placement on the spindle. The spindle advances again to take over the tool carried by the clamp which is located opposite it. When the carriage moves in translation upwards, the clamp opens and releases the tool. The carriage moves vertically upwards to clear the work area of the spindle.
La présente invention n'est pas limitée aux formes de réalisation décrites, mais peut subir différentes modifications et se présenter sous diverses variantes évidentes pour l'homme de l'art. The present invention is not limited to the embodiments described, but can undergo different modifications and come in various variants obvious to those skilled in the art.

Claims

Revendications claims
1. Dispositif changeur d'outils pour machine-outil pourvu d'une broche porte-outil (17) à serrage automatique, comportant un magasin d'outils (15) destinés à l'usinage de pièces de mécanique et adaptés à ladite broche porte-outil, ce' magasin comprenant au moins deux organes mobiles agencés pour porter chacun un outil et étant associé à des moyens d'entraînement pour déplacer ce dernier de telle manière que lesdits organes puissent se trouver dans au moins une position d'attente et une position de mise en place de l'outil correspondant dans ladite broche porte-outil, ces moyens d'entraînement étant gérés par des moyens de commande pour contrôler leur activation, dans lequel ledit magasin comporte un support rotatif autour d'un axe parallèle à l'axe de la broche porte-outil, et lesdits organes mobiles comportent des pinces (19) agencées pour maintenir lesdits outils dans une position prédéter¬ minée permettant leur prise en charge par ladite broche porte-outil, ces pinces comportant chacune deux bras pivotant (19a, 19b) autour de deux axes fixes (40, 41), caractérisé en ce qu'il comporte des moyens de verrouillage pour bloquer lesdits bras pivotants en position fermée lors de la rotation du magasin.1. Tool changer device for machine tool provided with a tool-holding spindle (17) with automatic clamping, comprising a tool magazine (15) intended for machining mechanical parts and adapted to said spindle holder -tool, this' magazine comprising at least two movable members arranged to each carry a tool and being associated with drive means for moving the latter in such a way that said members can be in at least one waiting position and one position for fitting the corresponding tool in said tool-holder spindle, these drive means being managed by control means to control their activation, in which said magazine comprises a rotary support around an axis parallel to the the axis of the tool-holder spindle, and said movable members include pliers (19) arranged to hold said tools in a predeter¬ mined position allowing them to be taken up by said tool-holder spindle, these clamps each comprising two pivoting arms (19a, 19b) around two fixed axes (40, 41), characterized in that it comprises locking means for locking said pivoting arms in the closed position during rotation of the magazine.
2. Dispositif selon la revendication 1, caractérisé en ce que lesdits moyens de verrouillage comprennent une pièce mobile (46) agencée pour bloquer lesdits bras de ces pinces en position fermée.2. Device according to claim 1, characterized in that said locking means comprise a movable part (46) arranged to lock said arms of these clamps in the closed position.
3. Dispositif selon la revendication 2, caractérisé en ce que ladite pièce mobile est en appui sur une came (49) agencée pour déplacer cette pièce entre une position dégagée dans laquelle lesdits bras pivotants sont libres et une position de verrouillage dans laquelle lesdits bras pivotants sont verrouillés en position fermée.3. Device according to claim 2, characterized in that said movable part is supported on a cam (49) arranged to move this part between a disengaged position in which said pivoting arms are free and a locking position in which said pivoting arms are locked in the closed position.
4. Dispositif selon la revendication 1, caractérisé en ce que lesdits bras pivotants sont sollicités par des organes ressorts (51, 52) agencés pour les amener en position fermée, ces organes ressorts étant liés respective¬ ment aux extrémités des bras disposées d'un côté par rapport aux axes fixes. 4. Device according to claim 1, characterized in that said pivoting arms are urged by spring members (51, 52) arranged to bring them into the closed position, these spring members being respectively linked to the ends of the arms arranged with a side with respect to the fixed axes.
5. Dispositif selon la revendication 4, caractérisé en ce que lesdits bras pivotants comportent chacun aux extrémités disposées de l'autre côté par rapport aux axes fixes, un dégagement (44) agencé pour recevoir ladite pièce mobile qui est calée dans lesdits dégagements lorsque lesdits bras sont en position fermée.5. Device according to claim 4, characterized in that said pivoting arms each comprise at the ends disposed on the other side relative to the fixed axes, a clearance (44) arranged to receive said movable part which is wedged in said clearances when said said arms are in the closed position.
6. Dispositif selon la revendication 3, caractérisé en ce que ladite pièce mobile est pivotante et est associée à un ressort (50) agencé pour l'amener dans sa position de verrouillage.6. Device according to claim 3, characterized in that said movable part is pivotable and is associated with a spring (50) arranged to bring it into its locked position.
7. Dispositif selon la revendication 1, caractérisé en ce que lesdits bras pivotants définissent une ouverture circulaire dont le diamètre, lorsque ces bras sont en position fermée, correspond sensiblement au diamètre des outils.7. Device according to claim 1, characterized in that said pivoting arms define a circular opening whose diameter, when these arms are in the closed position, corresponds substantially to the diameter of the tools.
8. Dispositif selon la revendication 1, caractérisé en ce que lesdits moyens d'entraînement comportent un premier mécanisme pour déplacer le magasin selon un mouvement de translation et un deuxième mécanisme pour le déplacer selon un mouvement de rotation autour de son axe.8. Device according to claim 1, characterized in that said drive means comprise a first mechanism for moving the magazine in a translational movement and a second mechanism for moving it in a rotational movement around its axis.
9. Dispositif selon la revendication 8, caractérisé en ce que ledit premier mécanisme comprend une roue (27) portant une butée excentrique (26), ladite roue étant entraînée en rotation par un vérin rotatif hydraulique commandé par lesdits moyens de commande et ladite butée étant en appui contre deux faces rectilignes opposées d'une pièce solidaire d'un chariot ( 18) portant ledit magasin.9. Device according to claim 8, characterized in that said first mechanism comprises a wheel (27) carrying an eccentric stop (26), said wheel being rotated by a hydraulic rotary actuator controlled by said control means and said stop being resting against two opposite rectilinear faces of a part secured to a carriage (18) carrying said magazine.
10. Dispositif selon la revendication 9, caractérisé en ce que les deux faces rectilignes opposées définissent les bords d'une gorge rectiligne ménagée dans une pièce et disposée dans une direction perpendiculaire à la direction de déplacement du chariot.10. Device according to claim 9, characterized in that the two opposite rectilinear faces define the edges of a rectilinear groove formed in a part and arranged in a direction perpendicular to the direction of movement of the carriage.
11. Dispositif selon la revendication 9, caractérisé en ce que les deux faces rectilignes opposées constituent les deux bords en regard de deux réglettes (29, 30) disposées parallèlement et dont l'espacement est sensiblement égal au diamètre de ladite butée excentrique.11. Device according to claim 9, characterized in that the two opposite rectilinear faces constitute the two opposite edges of two strips (29, 30) arranged in parallel and whose spacing is substantially equal to the diameter of said eccentric stop.
12. Dispositif selon la revendication 8, caractérisé en ce que ledit deuxième mécanisme comporte une couronne dentée (20) solidaire dudit support rotatif du magasin, un pignon d'entraînement (21 ) en prise avec ladite couronne dentée et monté sur un arbre rotatif, un moteur-réduc¬ teur d'entraînement (25), un accouplement limiteur de couple et un mécanisme d'indexage entre ledit moteur-réducteur et ledit arbre rotatif.12. Device according to claim 8, characterized in that said second mechanism comprises a toothed ring (20) integral with said rotary support of the magazine, a drive pinion (21) engaged with said toothed ring and mounted on a rotary shaft, a drive reduction motor (25), a torque limiting coupling and an indexing mechanism between said reduction motor and said rotary shaft.
13. Dispositif selon la revendication 12, caractérisé en ce que ledit mécanisme d'indexage comporté deux doubles cames.13. Device according to claim 12, characterized in that said indexing mechanism comprises two double cams.
14. Dispositif selon la revendication 1, caractérisé en ce que les organes de commande des moyens d'entraînement sont agencés pour engendrer les déplacements suivants, à chaque cycle de changement d'outil : déplacement en translation du chariot portant le support pour amener une pince en position de prise en charge de l'outil, fermeture de la pince suivie de la libération de l'outil par le dispositif de desserrage automatique, recul de la broche porte-outil, rotation du support pour amener un autre outil en position de prise en charge par la broche, avance de la broche, _ ouverture de la pince et libération de l'outil préalablement pris en charge par la broche, déplacement en translation du chariot portant le support du magasin. 14. Device according to claim 1, characterized in that the control members of the drive means are arranged to generate the following displacements, at each tool change cycle: displacement in translation of the carriage carrying the support to bring a clamp in the tool take-up position, closing of the clamp followed by the release of the tool by the automatic loosening device, retraction of the tool-holder spindle, rotation of the support to bring another tool into the grip position supported by the spindle, advance of the spindle, _ opening of the clamp and release of the tool previously supported by the spindle, displacement in translation of the carriage carrying the magazine support.
EP19900914210 1989-09-12 1990-09-12 Tool-changing device for machine-tools Withdrawn EP0443019A1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR8912078A FR2651708A1 (en) 1989-09-12 1989-09-12 TOOL CHANGER DEVICE FOR MACHINE TOOL.
FR8912078 1989-09-12

Publications (1)

Publication Number Publication Date
EP0443019A1 true EP0443019A1 (en) 1991-08-28

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EP (1) EP0443019A1 (en)
FR (1) FR2651708A1 (en)
WO (1) WO1991004130A1 (en)

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Publication number Priority date Publication date Assignee Title
FR2679879B1 (en) * 1991-07-29 1993-11-26 Oreal METHOD FOR MANUFACTURING AN APPLICATOR ASSEMBLY CONTAINING A LOW DOSE OF MAKE-UP PRODUCT AND CORRESPONDING APPLICATOR ASSEMBLY.
US5860900A (en) * 1993-01-06 1999-01-19 The Boeing Company End effector storage station
KR100779826B1 (en) * 2001-12-31 2007-11-28 두산인프라코어 주식회사 Armless automatic tool exchanger of manufacture machine having up/down structure
DE102011053455A1 (en) * 2011-09-09 2013-03-14 Mag Ias Gmbh Machine tool and method for exchanging tools on a machine tool

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Also Published As

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FR2651708A1 (en) 1991-03-15
WO1991004130A1 (en) 1991-04-04

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