EP4045244A1 - Wechselvorrichtung - Google Patents
WechselvorrichtungInfo
- Publication number
- EP4045244A1 EP4045244A1 EP20746585.7A EP20746585A EP4045244A1 EP 4045244 A1 EP4045244 A1 EP 4045244A1 EP 20746585 A EP20746585 A EP 20746585A EP 4045244 A1 EP4045244 A1 EP 4045244A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- tool
- tool holder
- gripping
- carrier
- receptacle
- 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.)
- Pending
Links
- 238000000034 method Methods 0.000 claims description 9
- 238000007664 blowing Methods 0.000 claims description 6
- 230000001360 synchronised effect Effects 0.000 claims description 2
- 238000004140 cleaning Methods 0.000 description 2
- 230000006978 adaptation Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000011109 contamination Methods 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 238000003780 insertion Methods 0.000 description 1
- 230000037431 insertion Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0052—Gripping heads and other end effectors multiple gripper units or multiple end effectors
- B25J15/0066—Gripping heads and other end effectors multiple gripper units or multiple end effectors with different types of end effectors, e.g. gripper and welding gun
-
- 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
- B23Q3/15513—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling the tool being taken from a storage device and transferred to a tool holder by means of transfer devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0019—End effectors other than grippers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0052—Gripping heads and other end effectors multiple gripper units or multiple end effectors
- B25J15/0061—Gripping heads and other end effectors multiple gripper units or multiple end effectors mounted on a modular gripping structure
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
-
- 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
- B23Q2003/15586—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling of tools in turrets
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/005—Manipulators for mechanical processing tasks
Definitions
- the invention relates to a changing device for exchanging tool holders in a tool turret.
- the post-published DE 10 2018 007 084 describes a manual exchange of tool holders in a tool turret using a bevel gear for the respective tool holder.
- Other connection solutions between tool holders and tool turrets are freely available on the market and, if necessary, can also be swapped around.
- the invention is based on the object of improving the known solutions in such a way that the exchange of such tool holders can be automated.
- a pertinent object is achieved with the features of claim 1 in its entirety, in particular a changing device is shown with which only in an automated manner exchange processes for tool holders according to the teaching of DE 10 2018 007 084 are light.
- the changing device has a carrier device which, by means of a handling system (robot), is assignable positions can be brought in relation to the tool turret, which has a gripping device for gripping the respective urgent tool holder and a mounting and dismounting device for releasing the respective tool holder from the tool turret.
- robot handling system
- a gripper device By combining a gripper device with a mounting and dismounting device on a single, common carrier device, which has a preferably standardized interface to a handling system such as a robot, with appropriate adaptation of the changing device, these can be used for a variety of automatable Komvor processes for any tool holder systems deploy.
- the carrier device has an interface for the attack of a robot forming the handling system, which with its robot arm allows movements in any direction of movement within a space which is also delimited by the tool turret.
- the gripping device or the mounting and dismounting device of the changing device can be automatically moved in six degrees of freedom, whereby it can be automatically brought into any position in relation to the tool turret for the exchange of a tool holder.
- the gripping device has two individual grippers, which can be moved towards one another by means of a drive for a gripping process of the respective tool holder and away from one another again for a releasing process of the same.
- the mounting and dismounting device on a screwing device has, which is provided with a Sbhraubertechnikmaschine in one direction of rotation removes the respective tool holder from its receptacle on the tool turret and in the other direction of rotation in this acquisition on again sets.
- a Sbhraubertechnikmaschine in one direction of rotation removes the respective tool holder from its receptacle on the tool turret and in the other direction of rotation in this acquisition on again sets.
- the carrier device is designed in the manner of a carrier plate which has two mutually perpendicular linear guides with linear drives that move the gripping device once and the mounting and de-mounting device.
- the gripping device and the mounting and dismounting device can be brought into their respective functional position in relation to the respective tool holder or tool turret independently of one another.
- the changing device can be designed to be particularly space-saving.
- the gripping device continuously moves the tool holder in or out of its receptacle on the tool turret, while the screwing device moves the tool holder accordingly by actuating a screw drive between the tool holder and the tool receptacle screwed in or out. This makes the tool holder particularly easy to change.
- the two grippers of the gripping device are pneumatically driven and the screwing device is electrically driven and that the respective linear drive has an infeed cylinder.
- the carrier device has a blow nozzle which, with its annular cross section, can be introduced into the respective receptacle of the tool holder. This allows dirt to be removed from the receptacle for the tool holder before the tool holder is inserted into it.
- the carrier device has a further blow nozzle which, with its blown air, cleans the screwdriver tool and / or its grip in the respective tool holder.
- dirt can be removed from the screwdriver tool and / or its point of attack on the tool holder before the screwdriver tool reaches its functional position by engaging the tool holder.
- the interface for the attack of the robot arm produces the energy transfer from the robot to the carrier device, including the supply of pneumatic energy.
- Eg. 1 is a perspective oblique view of an inventive
- Fig. 3 is a side view of the changing device from Fig. 1 in the loading area of the gripping and the mounting and dismounting device during the exchange of a tool holder.
- Fig. 1 shows a changing device according to the invention, by means of which a tool holder 2 can be exchanged, which can be releasably connected to a tool holder 4, which can be received in a plurality of fixed parts 6 on the circumferential surface 8 of a rotatable tool disk 10 of a tool turret 12.
- the tool holder 2 and the tool holder 4 correspond to the solution disclosed in DE 10 2018 007 084.
- the changing device has a carrier device 14 which can be brought into predeterminable positions in relation to the tool turret 12 by means of a handling system (not shown in the figures).
- the carrier device 14 has a gripping device 16 for gripping the tool holder 2 and a mounting and dismounting device 18 for securing or releasing the tool holder 2 from the tool holder 4.
- the carrier device 14 has a housing 20. Outside the hous ses 20, an interface 22 is provided on the carrier device 14 for attack by the handling system.
- the interface 22 establishes an electrical and a pneumatic energy transmission from the robot to the changing device.
- the interface 22 has a plurality of air pressure feedthroughs 24 and a tubular cable feed 26, which for example includes an electrical connection (3A / 50V) with 26 pins.
- the handling system can, for example, be designed in a manner comparable to the robot disclosed in DE 10 2016 222 429 A1, its robot arm can be moved in three translational and three rotational degrees of freedom within a space which is also limited by the tool turret 12.
- interfaces designed in a different way can be used which can be connected to an interface of a handling system.
- connection flange 30 for connecting to a further connection flange on an end face at the free end of the robot arm.
- the connecting flange 30 of the interface 22 is aligned in an edge or edge area of the support device 14 provided that the support device 14 extends laterally away from the interface 22 in a direction that is parallel to the area of the connection flange 30 of the interface 22 is directed from.
- the gripping device 16 is provided on the side of the carrier device 14 facing away from the interface 22 and has two individual grippers 32, which are pneumatically driven and arranged side by side, perpendicular to the end face 28 of the connecting flange 30 of the interface 22, from the carrier device 14 stretch away.
- the grippers 32 can be moved toward one another by means of a pneumatic drive 34 for a gripping process of the tool holder 2 and away from one another for a releasing process of the same.
- the housing 36 of the pneumatic drive 34 is essentially block-shaped.
- the grippers 32 are angled in such a way that the oath pieces 38 of the grippers 32 coming into contact with the tool holder 2 protrude beyond the housing 36 of their block-shaped drive 34 in the direction of the mounting and dismounting device 18.
- each gripper 32 is plate-shaped, the plate-shaped oath pieces 38 of the grippers 32 each having a recess (not shown in the figures) in their mutually facing edge regions, starting from their free End in the direction of their drive 34 only partially in the edge region of the end piece 38 is provided.
- the grippers 32 reach each other with their recess on each other dia metrically opposite flattened attack surfaces 42 on an outer circumference of the tool holder 2 in the plant.
- the gripping device 16 has a gripping force maintenance device and a dust protection package.
- the mounting and dismounting device 18 has an electrically driven screwing device 44 which is provided with a screwing tool 46 and which has a block-shaped housing part 48 between two cylindrical housing parts 50, the two cylinder axes of which lie one inside the other.
- the axis of rotation of the screwdriver tool 46 which corresponds to the cylinder axes, is oriented parallel to the direction in which the end pieces 38 of the grippers 32 extend away from the carrier device 14.
- a replaceable screwdriver blade 52 in the form of a bit is provided at one free end of the screwdriver device 44 and a cable feed 54 adjoining the cylindrical housing part 50 is formed at the other end.
- the cylindrical housing part 50 closest to the bit protrudes beyond the carrier device 14 so that the free end of the bit extends approximately to the ends of the end pieces 38 of the grippers 32 facing the carrier device 14.
- the cable feed 54 also protrudes from the device 14 Rothereinrich.
- the screwdriver device 44 is programmable and has a maximum torque of, for example, 25 Nm.
- the carrier device 14 is designed in the manner of a carrier plate 56.
- the plate-shaped end pieces 38 of the gripping device 16 are aligned perpendicular to the carrier plate 56.
- the housing 48, 50 of the electric drive is used for an advancing movement of the mounting and dismounting device 18 into its functional position the screwdriver device 44 is arranged on a slide 58 which is ver movable along a linear guide 60 by means of a Li near drive, not shown in the figures, in the form of a pneumatically operating feed cylinder.
- the linear guide 60 has a T-shaped guide rail 66 and extends in the direction of the axis of rotation of the screwing device 44 or parallel to the end pieces 38 of the gripping device 16 over the entire carrier plate 56.
- the pneumatic drive 34 of the gripping device 16 is arranged on a further slide 68, which runs along a further linear guide 70 by means of another , in the Eguren not shown linear drive in the form of a further pneumatically operating feed cylinder can be moved.
- the linear guide 60 and the further linear guide 70 are fixed on different sides 76, 78 of the carrier plate 56, running perpendicular to one another. Almost all components of the changing device, in particular the interface 22 and the screw device 44, are arranged on one side 76 of the carrier plate 56, on which the linear drive, the linear guide 60 and the slide 58 of the screw device 44 are also provided. On the other side 78 of the carrier plate 56, the further linear drive and the further linear guide 70 of the Greifeinrich device 16 is provided.
- the further linear guide 70 has two spaced apart further guide rails 80, in each of which a C-shaped ge profile recess is introduced.
- a partially spherical bar 82 is inserted into the profile recess of the further guide rails 80, which protrude in the direction of the carrier plate 56 and are spaced apart from one another. stood at opposite edge regions of a first plate part 84 of a connecting part 86 are formed.
- the first plate part 84 is connected to a second rat part, not shown in the figure, of the connecting part 86, both of which are arranged parallel to the carrier plate 56.
- the further linear drive is arranged parallel to these between the carrier plate 56 and the second plate part.
- the housing 36 of the drive 34 of the gripping device 16 which extends from the second plate part in the direction of the carrier plate 56, is attached to a part of the second plate part which protrudes from the carrier plate 56 and protrudes beyond the carrier plate 56.
- the guide rail 66 and the further guide rails 80 are each designed to run smoothly and insensitive to contamination.
- the spring linear drive can also be designed hydraulically.
- the carrier device 14 also has a type of blower nozzle 90 which is used for compressed air cleaning of the receptacle 4 of the tool holder 2.
- the blow nozzle 90 has a first circular, disk-shaped blown part 92 and a second circular, disk-shaped blown part 94 with a smaller diameter than the first blown part 92.
- the blow parts 92, 94 are aligned concentrically to one another and the second blow part 94 follows the first blow part 92 in the direction of the free end of the blow nozzle 90.
- the blow parts 92, 94 are arranged parallel to the end pieces 38 of the gripping device 16, the first blow part 92 with the larger diameter being arranged between the second blow part 94 with the smaller diameter and at least partially the end piece 38 of one gripper 32.
- Jfedes blown part 92, 94 has a plurality of Naturalgän conditions 96 for compressed air on its periphery.
- the annular cross section of the nozzle 90 is selected such that the blow nozzle 90 with its blow parts 92, 94 can be introduced into the respective receptacle 4 of the tool holder 2 coaxially to the axis of rotation of its drive unit.
- the carrier device 14 has a further tubular blowing nozzle 98, the free end of which is oriented in such a way that, with the corresponding positioning of the changing device by means of the robot arm, the screwdriver tool 46 and / or its point of attack on the respective tool holder 2 with the blowing air from the further blowing nozzle 98 can be cleaned.
- a valve island 100 arranged in the middle of the carrier plate 56 is provided, which is supplied with compressed air on the input side by the robot via the interface 22 and which supplies the linear drives and the gripping device 16 with compressed air on the output side.
- the tool holder 4 has a spindle, not shown in the Rguren, for receiving the tool holder 2 and a drive unit that encompasses the spindle and drives it.
- the spindle has a threaded bushing which is rotatable relative to the spindle and is not shown in the figures, which has an internal thread and a bevel toothing on the front outer edge.
- the bevel gearing of the threaded bushing is in engagement with a gearing of a bevel gear, not shown in the Rguren, of the tool holder 4.
- the bevel gear is rotatably mounted with an axis of rotation perpendicular to the longitudinal axis of the tool holder and is accessible with an internal hexagon on the outside of the housing for rotary actuation.
- the changing device For automated bit removal of the known tool holder 2 from the known receptacle 4, the changing device, which is attached via its interface 22 to the free oath of the robot arm, is brought into contact with the robot arm with its gripping device 16, which is at least partially moved in the direction of the screwdriver device 44 flattened attack surfaces 42 brought on the outer circumference of the tool holder 2 (Fig. 3).
- the hexagon socket of the bevel gear and / or the bit of the screwdriver tool 46 can be cleaned automatically by means of the further nozzle 98.
- the screwdriver tool 46 of the screwdriver device 44 is moved by means of the linear guide 60 in the direction of the tool holder 4, so that the bit of the screwdriver tool 46 is brought into grip with the hexagon socket of the bevel gear (Fig. 3).
- the bevel gear is rotated in this direction, whereby the threaded bushing is rotated in one direction via the bevel gear.
- the external thread of the tool holder 2 is unscrewed from the threaded bushing and, at the same time, the tool holder 2 is pushed out of the receptacle of the spindle.
- the gripping device 16 moves continuously by means of the further linear guide 70 for holding the tool holder 2.
- the tool holder 2 can be stored automatically by means of the robot arm and the changing device.
- the changing device is introduced into the tool holder 4 by means of the robot arm with its blow nozzle 90, where the blow nozzle 90 cleans the tool holder 4 by means of compressed air.
- the tool holder 2 is gripped by the gripping device 16 and inserted into the tool holder 4.
- the gripping device 16 By turning the bevel wheel medium s of the screwdriver tool 46 in the other direction of rotation, the external thread of the tool holder 2 reaches the internal thread of the threaded bushing in engagement, whereby the tool holder 2 is drawn into the work tool holder 4.
- the tool holder 2 is automatically fixed in the tool holder 4.
- the gripping device 16 holding the tool holder 2 continuously moves along with this movement.
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Manipulator (AREA)
- Automatic Tool Replacement In Machine Tools (AREA)
Abstract
Description
Claims
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102019006347.3A DE102019006347A1 (de) | 2019-09-10 | 2019-09-10 | Wechselvorrichtung |
PCT/EP2020/070533 WO2021047808A1 (de) | 2019-09-10 | 2020-07-21 | Wechselvorrichtung |
Publications (1)
Publication Number | Publication Date |
---|---|
EP4045244A1 true EP4045244A1 (de) | 2022-08-24 |
Family
ID=71833304
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP20746585.7A Pending EP4045244A1 (de) | 2019-09-10 | 2020-07-21 | Wechselvorrichtung |
Country Status (4)
Country | Link |
---|---|
EP (1) | EP4045244A1 (de) |
DE (1) | DE102019006347A1 (de) |
TW (1) | TW202112485A (de) |
WO (1) | WO2021047808A1 (de) |
Family Cites Families (9)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS60123243A (ja) * | 1984-11-01 | 1985-07-01 | Hitachi Seiki Co Ltd | 工具交換装置付工作機械 |
JPH04111742A (ja) * | 1990-08-31 | 1992-04-13 | Yamazaki Mazak Corp | 搬送受渡ロボット |
DE102013106427B4 (de) * | 2013-06-19 | 2021-02-25 | Klaus Hofmann | Verfahren zum Bereitstellen von Werkmitteln und Ladesystem zur Durchführung des Verfahrens |
JP6423209B2 (ja) * | 2014-09-08 | 2018-11-14 | Dmg森精機株式会社 | 工作機械 |
JP2016153149A (ja) * | 2015-02-20 | 2016-08-25 | ファナック株式会社 | 旋削工具ホルダ装着ユニットを備えた工作機械 |
DE102016222429B4 (de) * | 2016-11-15 | 2020-07-09 | Kuka Roboter Gmbh | Roboterarm und Verfahren zum Montieren eines Roboterarms |
JP2019126901A (ja) * | 2018-01-26 | 2019-08-01 | オークマ株式会社 | 工作機械 |
DE102018007084A1 (de) * | 2018-09-07 | 2020-03-12 | Sauter Feinmechanik Gmbh | Verbindungsvorrichtung |
DE102019100257A1 (de) * | 2019-01-08 | 2020-07-09 | Esa Eppinger Gmbh | Werkzeugmaschine |
-
2019
- 2019-09-10 DE DE102019006347.3A patent/DE102019006347A1/de active Pending
-
2020
- 2020-07-21 WO PCT/EP2020/070533 patent/WO2021047808A1/de unknown
- 2020-07-21 EP EP20746585.7A patent/EP4045244A1/de active Pending
- 2020-08-20 TW TW109128333A patent/TW202112485A/zh unknown
Also Published As
Publication number | Publication date |
---|---|
WO2021047808A1 (de) | 2021-03-18 |
TW202112485A (zh) | 2021-04-01 |
DE102019006347A1 (de) | 2021-03-11 |
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