EP4214019A1

EP4214019A1 - Central tool storage device

Info

Publication number: EP4214019A1
Application number: EP21778389.3A
Authority: EP
Inventors: Robert Jung; Michael Trenkle
Original assignee: Deckel Maho Pfronten GmbH
Current assignee: Deckel Maho Pfronten GmbH
Priority date: 2020-09-17
Filing date: 2021-09-16
Publication date: 2023-07-26
Also published as: CN116096529A; WO2022058417A1; WO2022058417A4; JP2023541103A; DE102020211672A1; US20230264308A1

Abstract

The invention relates to a central tool storage device WL comprising a tool store S which contains a plurality of wheel magazines S3 positioned one behind the other; a movable manipulator S12; a providing station S4 which is equipped with a movable providing strip S4; and a mobile transport unit E which removes a tool W from the wheel magazine by means of the manipulator S12 in order to provide tools W to a machine tool WM arranged at a distance therefrom and transfers same to the mobile transport unit E via the providing strip S4 of the providing station S2 in order to transport the tool to the respective machine tool WM without using a guide or a track and which, in order to store a tool W obtained from at least one machine tool WM, transfers the tool W to the providing strip S4 of the providing station S2 via the mobile transport unit E, removes the tool from the providing strip S2 by means of the manipulator S12, and adds the tool to a wheel magazine S3 of the tool store S.

Description

Central tool storage facility

The present invention relates to a central tool storage device with a tool storage consisting of wheel magazines for changing tools with one or more machine tools, in which the tool to be changed can be transported at least partially automatically by a freely movable mobile transport unit from the tool storage to the respective machine tool and back.

Background of the Invention

Tool storage devices of this type known from the prior art for the storage or provision of tools from and for machine tools usually include one or more tool magazines, implemented by a shelving system or other ordered tool receiving devices that fix a large number of tools, a mounting mechanism integrated into the tool magazine for Fixing and positioning of the tools in the respective tool magazine as well as a movable changing device that enables tools to be exchanged between the tool magazine and the machine tool.

EP 0144912 A2 shows a tool storage device for a milling and drilling machine, which provides tools in a horizontally mounted radial magazine and is connected to a tool spindle of the machine tool via a slide rail. A gripping head that can be moved on the slide rail also enables the removal, delivery and transport of the tools from and to the radial magazine and the work spindle.

DE 102011082050 A1 also shows a tool changing system for changing and inserting or presenting tools on a machine tool, which also includes a wheel magazine that can be rotated but is mounted in the vertical direction. The tools are held along their longitudinal axis in the wheel magazine in such a way that the majority of their bodies protrude radially from the wheel magazine and can thus be removed by a manipulator that is also included in the system. The latter is also attached to linear guide rails that can be moved in a horizontal plane, so that tools removed from the wheel magazine can be transported to the machine tool and tools received from the machine tool can be stored back in the wheel magazine. Due to their ability to store a large number of tools and, if necessary, to make them available for the respective machine tool quickly and in most cases automatically using a tool changing device, current tool storage devices are already of great importance for the increasingly complex processes of today's machine tools that require more machining tools.

With the tool storage devices according to the prior art, however, the problem also arises that the tool storage can no longer be used efficiently enough in most cases, precisely because of the increasing number of tools to be stored. For example, a tool storage device usually stores a large number of tools for only a single machine tool or at least a few machine tools, which in particular results in unnecessary storage times and additional costs arising from the multiple acquisition of corresponding tools. On the other hand, however, experience has shown that large-scale centralization of today's tool stores turns out to be quite challenging, especially since due to the mostly rigid and in many cases mutually interfering connecting elements between tool stores and several machine tools (see e.g. the slide rail in EP0144912A2), the corresponding Make tool transport and change paths quickly inefficient.

One object of the invention is therefore to provide a tool storage device that is as central as possible and a method for changing tools using a central tool storage device, which solve the aforementioned problems from the prior art and which make it possible to transfer stored tools to a large number of people as efficiently and simply as possible To distribute machine tools or to store tools from a plurality of machine tools to be stored. In addition, it is an object to optimize the structure of the central tool storage device in such a way that the area occupied by the tool storage device can be used as optimally as possible in relation to the tool change efficiency mentioned above.

Detailed description of the invention

To solve the above problem, the features of the independent claims are proposed. The dependent claims relate to preferred embodiments of the present invention. The central tool storage device for the provision of tools for a large number of machine tools can comprise a tool store consisting of at least two wheel magazines arranged vertically, parallel and one behind the other, in which tools are integrated into the wheel magazines and placed in radially aligned tool receiving places and securely fixed by a holding mechanism or protected against slipping off due to gravity can become. For the effective removal and storage of tools in the tool store, a manipulator can also be positioned, preferably adjacent to the lateral surface of the wheel magazines, which can preferably be moved parallel to the common axis of rotation of the at least two wheel magazines and thus tools both for the provision of tools from the tool mounting locations of the wheel magazines can be removed or positioned for storage in the tool holder locations, as well as allowing them to be transported along the above-mentioned axis. In addition, the tool storage facility can provide at least one mobile transport unit that can be moved freely between the tool storage facility and the machine tool for efficient tool changing with one or more machine tools, as well as at least one supply station responsible for providing tools for the tool storage facility and the mobile transport unit. In this case, the tool storage device can preferably be configured such that the delivery station for transferring a tool from the tool storage to a machine tool can first receive at least one tool removed from the wheel magazines from the manipulator and make it available to the mobile transport unit. The mobile transport unit, in turn, can be able to transfer the tool presented from the delivery station to itself using a transfer device integrated on the mobile transport unit and to transport it to the machine tools without rails, ie without further waiting times caused by an extensive rail network. Likewise, the process for storing tools in the tool store can preferably also be controlled in reverse, so that the mobile transport unit is able to remove tools from one or more machine tools and make them accessible to the tool store by transporting them and handing them over to the delivery station. In addition, the manipulator can preferably also pick up tools transmitted by the mobile transport unit, for example from the transfer device of the delivery station, and add them to the free tool pick-up locations of the wheel magazines for efficient storage. This configuration of a central tool storage facility thus provides an efficient and at the same time cost-saving method for providing and storing tools, specifically for and from a plurality of machine tools. In particular, the handover and transport of the tool by the at least one freely movable mobile transport unit implement a simpler and at the same time faster method of making tools available for a larger number of machine tools compared to the prior art: the free movement of the mobile transport unit means that individual tool transfers and transports, for example, no longer have to be carried out one after the other, as with a central rail system, but can now take place independently and in parallel, eg by several mobile transport units acting at the same time. This also has the consequence that, on the one hand, process waiting times, in particular tool storage times, are significantly reduced in a central tool storage facility and tools can therefore be used more efficiently or costs can be saved due to the tools and tool storage that are normally additionally required. On the other hand, however, the tool change by the mobile transport unit of the tool storage device also has the advantage that it can be carried out independently of the number of tool stores and tools and preferably fully automatically. In contrast to systems with rails or similar guide devices, further tool stores or machines can be added or removed in tool storage systems with mobile transport units simply and modularly, without having to consider an already existing, complex guide network. Ultimately, therefore, the work space to be used for the respective tool storage and tool machines can also be used optimally by the tool storage device shown here.

In order to ensure the protection of employees and stored tools or storage elements during the changing process, the tool store, but preferably both the wheel magazines and the manipulator, can be surrounded at all times on at least two sides by a basic framework provided with walls. The basic structure can preferably encompass the entire tool store and at least protrude beyond the highest wheel magazine enclosed on the inside, so that outside workers can be completely protected even during a possible malfunction of the tool store facility. In addition, the basic frame and its walls can be made of light metal, hardened plastic or other light but resistant materials and the walls can preferably be connected in one piece by screws, grooves and der- or other removable connection techniques are attached to the basic structure. The latter has the advantage that when adding or removing further wheel magazines within the tool store, the area enclosed by the basic structure can be easily changed and thus optimally adapted to the required storage area.

Preferably, the wheel magazines located within the area spanned by the base frame can also be positioned along their longitudinal axis parallel to one of the base frame walls, and in a particularly preferred embodiment parallel to the rear or front wall of the base frame. In other words, the wheel magazines can stand upright and are arranged one behind the other, preferably from the front to the back of the basic structure, so that the tool store can be made as compact as possible. The arrangement of the wheel magazines can also be ensured by bearings arranged one behind the other at defined intervals, for example a centrally located radial bearing or a three-point bearing located on a triangular frame, with a wheel magazine always being releasably locked for possible removal or for exchange in another tool store can be. The storage of the individual wheel magazines is of course not limited to a one-point or three-point storage system, but can also be implemented, for example, by a four- or multi-point storage system. Furthermore, the respective bearing-holding frames can also be connected to elements of the basic structure or to existing bearing frames, which not only ensures a stable hold of the wheel magazines, but they can also be used as an extension to an existing tool store.

The tool mounting locations of each wheel magazine of the tool store can also preferably be arranged uniformly and radially around the axis of rotation of the respective wheel magazine, ie the mounting sockets to be used for inserting the tools preferably point parallel to the radial vector of the corresponding wheel magazine at all times. This has the advantage that tools that are later stored can also be fixed along their longitudinal axis in the radial direction and thus be compactly introduced into the store. Likewise, detachable mounting mechanisms, such as a latching connection, a ratchet mechanism or a coupling mechanism, can be integrated into the tool receiving spaces, so that the stored tool can be used during storage and in particular when the wheel magazine is being moved, it remains firmly positioned within the tool receiving space, but any provision of the tool can be implemented just as easily by releasing the mechanism.

In a particularly preferred embodiment, the individual wheel magazines can also be rotated independently of one another and preferably accommodate a tool in such a way that at least part of the stored tool, the so-called tool interface, is exposed as a removal surface for the manipulator during storage. In this way, it is not only possible to implement a simple option for removing a tool by the manipulator, but also to define a tool area at the same time, in which the picked up tool can be identified, for example by an additional sensor, before it is used in the tool store or before the machine tool is handed over .

Preferably, the tool interfaces mentioned above can also form a hollow shank taper, a steep taper or a Morse taper.

The manipulator can preferably also be arranged within the area encompassed by the basic structure, particularly preferably laterally along the axis of rotation of the wheel magazines arranged one behind the other, which in particular increases the distance of the manipulator from the tool mounting locations of the respective wheel magazines, and consequently also its travel time during tool mounting/ -levy, can be minimized. In addition, the manipulator can preferably be moved on a linear axis, for example by means of a pneumatically, electrically or mechanically controllable linear guide rail, parallel to the axis of rotation of the associated wheel magazine, so that it can be positioned directly in front of the wheel magazine to be machined for removing or transferring tools and can therefore act as efficiently as possible.

Furthermore, the use of the linear guide rail has the advantage that both the costs and the duration of the tool change can be further minimized. For example, in a fully automated embodiment of the wheel bearing and the movable manipulator, both elements can be moved or positioned in parallel during the tool changing process in such a way that, compared to conventional tool magazine devices, such as shelf magazines equipped with linear guides, significant time savings can result. Equally, however, the degrees of freedom gained from the parallel process can also be used to further simplify the structure of important, mostly cost-intensive elements, such as the manipulator, and thus reduce the provisioning expenses for a tool store to a minimum. In a particularly preferred exemplary embodiment, the manipulator can, for example, only be designed as a one-dimensional manipulator that is aligned parallel to the wheel axis of the radial magazine and can be moved in a rotary manner, so that the costs can be significantly reduced compared to the installation of more complex manipulators without significantly affecting the efficiency of the tool changing process .

In addition, the manipulator preferably comprises at least one gripping device provided on a movable swivel arm for removing or transferring tools from and to the wheel magazines or the supply station of the tool storage facility, which can have at least one manipulator receptacle for the simultaneous transport of tools removed from the wheel magazines or the supply station . Preferably, the gripping device can be designed as a double gripper or an interchangeable gripper provided with several receptacles, which grips the tools of the tool magazine or the staging station at the free tool interface, preferably by a pivoting or rotating movement from the tool receiving places or insert and during the Process of the manipulator can be safely stored within the manipulator recordings.

In a particularly preferred exemplary embodiment, a sensor for analyzing the tool to be changed can also be attached to the manipulator. The sensor can, for example, be an optical, an acoustic or mechanical sensor and consist of several elements, such as a camera together with additional analysis software. Such a sensor has the advantage that the condition of tools to be stored or made available can be checked again before the actual tool changing process, and worn or defective parts can thus be effectively separated out. Likewise, the correctness of the tool that has been removed or is to be provided can be confirmed by a sensor, resulting in an effective and at the same time reliable security query within the tool changing process. Preferably, the manipulator can also be configured in such a way that it can be used to provide or store tools for or from a machine tool by means of the linear guide device, at least from a first changing position for changing tools with the provision station of the tool storage device to at least a second changing position for changing tools with at least one of the wheel magazines stored one behind the other and back. The traversing process can preferably be carried out automatically and thus enables an efficient exchange of tools between the tool store and the delivery station of the tool store facility.

The manipulator can thus be used to find an optimal intermediate component that can remove the tool required by a machine tool from the at least two wheel magazines of the tool store and transfer it to the delivery station for further delivery to the mobile unit or pick up tools received from the mobile unit at the delivery station and can add to the wheel magazines. This process can be implemented in a particularly preferred manner by the manipulator moving the tool provision for the machine tools through the linear guide device into at least the first changing position and first using its integrated gripping device to remove the required tools from the tool mounting locations of the wheel magazines by means of a lifting movement. The manipulator can then preferably move to the first changing position, with the tools to be used always being firmly fixed in the corresponding manipulator receptacles of the gripping device, and by using the gripping device again, e.g. by releasing the tools from the manipulator receptacles, the tool can be transferred to the delivery station. Vice versa, however, the manipulator for storing tools in the tool store can first be brought into the first changing position, so that in this case the tool provided by the supply station is picked up by the gripping device and then transported to the first changing position and the tool is positioned in the respective tool mounting places of the wheel magazines, the tool store can be added by the manipulator.

In order to transfer or remove the tool between the manipulator and the delivery station, the delivery station can also preferably include a movable delivery bar, which can also be a tool delivery bar. The delivery bar can preferably be provided by at least one integrated Position the tools on the staging bar and thus present the tool optimally to the manipulator or present an optimal transfer position for transfer to the staging bar. In order to fix the tools within the supply bar, the supply holders can also preferably contain holding devices similar to the aforementioned mounting mechanisms of the wheel magazines, so that tools transferred to the supply bar are rigidly and securely gripped, but at the same time can be released again in a simple way in the event of a tool transfer.

Equally, the at least one provision holder can preferably also be configured in such a way that, when tools are picked up, it also exposes a tool interface, preferably the same for the one that applies in the tool mounting locations of the wheel magazines, and this equally for picking up by the manipulator, but also other elements, such as the mobile unit can be used. The latter in particular has the advantage that a tool interface defined in the same way in all process sections would result in a clearly described interaction surface of the respective tool with the individual transfer devices, which would enable the tools to be positioned more precisely, for example for other sensors used to analyze the tools, and thus the tool change process can be further optimized.

In a particularly preferred exemplary embodiment, the delivery bar can also be moved at least between a first position for changing tools with the mobile unit and a second position for changing tools with the manipulator positioned on the tool store. This not only ensures optimal provision of the tools coming from the tool store for the mobile unit or the tools from the mobile unit to the respective tool store, but also compensates for any height differences between the location of the mobile unit and that of the manipulator.

The delivery bar can therefore preferably be movable, in particular vertically, for which purpose the delivery bar can be arranged on a delivery guide, such as a chain or rail guide, and can thus be moved precisely and controllably between the above-mentioned changing positions via the method of the delivery guide. Likewise, in a particularly preferred embodiment, the supply bar can be pivoted or rotated in the direction of the manipulator at least in the second changing position for optimum supply and pick-up of the tools for the manipulator, which means that any differences in the tool pick-up angle of the manipulator or the wheel magazines compared to the mobile unit can be optimally corrected and thus the latter elements can be given greater leeway with regard to their construction and positioning within the tool storage facility.

The transfer angle of the delivery bar resulting from the pivoting or rotating of the delivery bar can preferably correspond to a rotation angle of 45° to 120°, in a particularly preferred example between 80° to 110°, in the direction of the manipulator, with the transfer angle specified here as a change angle - kel the delivery bar from its initial position, ie the position in which the delivery bar is moved in the second position, but preferably still has the same orientation as in the first position, and the transfer position to be used for changing tools with the manipulator can be viewed . In an equally preferred case, the axis of rotation of the transfer bracket can also be located orthogonally to the area of the delivery station, so that the tool to be changed can only be rotated parallel to the delivery station and thus cannot be damaged by elements of the delivery station even in the event of any malfunctions.

Furthermore, the delivery station of the tool storage device can preferably be positioned at the front and/or rear of the tool storage device and, together with the delivery bar, can be aligned orthogonally to the axis of rotation of the wheel magazines. In other words, the longitudinal axis of the delivery station can be designed parallel to the longitudinal axis of the individual wheel magazines, so that both the base area of the wheel magazines, the movement of the manipulator and the longitudinal axis of the delivery station or the delivery rail can be aligned to one another by a multiple of 90°. Such a construct makes it possible to construct particularly efficient, i.e. fast, process sequences, in which case the area required by the tool storage device can be reduced to a minimum.

In addition, the supply station can preferably include an entire side of the tool storage device, with the supply strip including guide being located centrally in this case the delivery station can be set up. In addition, in a particularly preferred exemplary embodiment, the staging station can include at least one alignment section for the precise positioning of the mobile transport unit in a transfer position near the staging station, so that the mobile transport unit for tool changing with the staging strip in the first position must first be brought to the alignment section before a Handover or removal of tools can be initiated using the mobile transport unit. With such a design, mobile transport units can be positioned precisely at the respective delivery station, which not only optimizes the accuracy and speed of the tool changing process between the delivery station and the mobile transport unit, but also stabilizes the mobile transport unit, especially when heavy tools are being transferred .

For example, in a preferred exemplary embodiment, the mobile transport unit can also be connected to the alignment section by an alignment interface arranged on the mobile transport unit, wherein the connection can be made mechanically, for example by a form-fitting element, electrically or in other ways that can be opened again. In addition, the connection between the alignment section of the staging station and the alignment interface of the mobile transport unit can be configured in such a way that movement of the mobile transport unit, in particular along the longitudinal axis of the staging station, is blocked, thereby preventing the mobile transport unit from moving in a damaged manner and at the same time reducing the weight distribution on the mobile transport unit can be further stabilized during the tool change process.

Furthermore, the mobile transport unit can preferably be set up to receive a signal, for example electrically by means of induction or optically, from the delivery station by positioning the alignment interface on the alignment section of the delivery station, which initiates the transfer or removal of the tool to the delivery rail for the mobile transport unit can be. In particular, such a signal path enables an additional safety function of the tool change process, so that in the event of incorrect positioning of the mobile transport unit, especially in the automatic operation of the tool storage device, the tool transfer can be stopped and an error message can be output preferably after a certain time. For the tool change with the supply rail, the mobile transport unit can also preferably include a transfer device, which in turn has at least one movable transport bar, which can also be a tool transport bar, with a plurality of transport holders for storing the tools on the mobile transport unit and at least one gripping section for embracing the Tool has during the tool change. The transfer device can preferably be movable in the transfer position of the mobile transport unit at least in the direction of the delivery station, ie in a particularly preferred exemplary embodiment horizontally in the direction of the delivery rail, and in the vertical direction and have a vertical axis of rotation. Such a number of degrees of freedom can thus be used to implement an efficient method for picking up or transferring tools on the delivery rail.

In a preferred exemplary embodiment, the mobile transport unit first aligns itself preferably in the direction of the delivery station frontally using the alignment interface on the alignment section of the delivery station, as a result of which the mobile transport unit is precisely positioned in the transfer position. In a next step, the transfer device of the mobile transport unit can then, depending on the tool changing process, move the tool transport bar together with the gripping section and any tools to be stored in the direction of the staging rail, so that the gripping section or the tools to be stored are ultimately positioned on the respective staging mounts of the tool staging bar. The gripping section can be constructed in such a way that it transports each tool to be changed individually, for example by means of a manipulator arm that can be moved in several dimensions, or transports all the tools located in the tool transport bar simultaneously. In a particularly preferred embodiment, the gripping section can also be coupled to the transport mounts of the tool transport bar in such a way that each transport mount comprises a single, separately controllable gripping element, which means that only selected tools can be removed or loaded simultaneously by positioning the tool transport bar over the staging mounts of the tool staging bar. can be handed over.

The tool to be stored can then be picked up at the tool interfaces by the gripping section, preferably by moving the supply bar vertically (from below). ten to the transport bar) into the deployment bracket. The removal stroke/acceptance stroke is thus carried out by the input bar of the central tool storage device or the machine tool. In a preferred development, preferably only the transport bar can approach the delivery bar vertically from above, or in a particularly preferred development both the delivery bar and the transport bar can approach (e.g. at the same time). In order to provide tools for a machine tool, the said transfer process can also be carried out in reverse and can thus be used to remove a tool from the supply bar and transfer it to the transport bar of the mobile transport unit. Preferably, the transfer device can also include transport bars located on several sides, so that the transport bars to be used for the tool change can be quickly and efficiently varied within the tool change process by simply rotating the transfer device. In a last step, the transfer device can also preferably return to its starting position after the tool change, whereby tools transferred to a machine tool can be fixed in the transport holders and thus secured for transport to the respective machine tool. Equally, the tool interface can be set up in particular in such a way that the connection to the alignment section of the delivery station can be released by moving the transport bar back into its initial position, and the mobile transport unit can thus be allowed to move freely in the direction of the next destination, in particular a machine tool or other tool storage facility. to move.

For the free transport of the tools to be changed from the tool store to at least one machine tool and back, the mobile transport unit can also preferably also include a trackless floor conveyor, for example a forklift, an automated pallet truck or another vehicle device that is equipped with at least one fork and can be moved freely, with in this case, the transfer device of the mobile transport unit is preferably seated on this floor conveyor device so that it can be connected and removed. Such an embodiment has the particular advantage that, depending on the nature of the machine tool tool storage system, the transfer device can be decoupled and, for example, transferred from a manual to an automated floor conveyor. To implement the latter case, the industrial truck or the mobile transport unit can also have a control device for driverless or automated control of the mobile transport unit and/or a communication device, which is connected to an external control device, for example via a wireless connection such as W-LAN, Bluetooth or infrared signals.

The tool storage device described here thus represents a possibility of providing tools extremely dynamically and efficiently, in particular for a plurality of machine tools. On the one hand, the combination of independently rotatable wheel magazines with a manipulator that can be moved parallel to the tool store has the advantage over conventional tool magazines, e.g shortened. On the other hand, the large number of provision and transfer holders at the provision station and the mobile transport unit means that a larger number of tools can be transferred at the same time, so that not only does the tool change turnover increase, but the respective elements can also be preloaded during idle times and thus efficiently for the further process steps can be prepared.

In addition, the tool change and transport by means of a freely movable mobile transport unit enables the great advantage of being able to position the respective tool storage facility centrally. In other words, in a particularly preferred exemplary embodiment, the tool storage device to be used can be positioned (completely) independently of any machine tool and, in particular, at a distance, so that a large number of machine tools can be served as optimally as possible. On the other hand, however, especially with regard to a system provided with a plurality of machine tools and tool storage facility, the space occupied by these elements can be used as modularly and effectively as possible through the independent positioning of the machine tools or tool storage facility.

In a particularly preferred embodiment, the tool storage device can also be set up in such a way that the entire tool change process, i.e. from transporting the tool from or to the machine tool to storing it or handing it over to the tool store, can be carried out completely automatically, which further increases the efficiency of the entire process. In this case, not only can the processes of individual elements of a tool storage facility be parallelized and, in particular, synchronized, for example by an external control module, be ted, but also entire tool storage facility machine tool groups are made to interact with each other. In a particularly preferred exemplary embodiment, the tool storage facilities can, for example, be set up in such a way that they can request ahead of time the tools required next by a machine tool, preferably via a central network system, and can thus make them available before they are used. In the same way, the mobile transport unit can in this case, for example, also use the network system to inquire about the tool requirements of a machine tool in advance and compare them with the tool inventory of the individual tool storage facilities or see the time at which the tool storage facilities are made available, so that the movement of the mobile transport unit from the machine tool to the tool storage facility and back is optimal can be adjusted. In addition, the wheel magazines, the manipulator, the supply station and the mobile transport unit of the tool storage facility can preferably also communicate with the machine tool and with one another in order to make the tool changing process as efficient as possible.

Preferably, the supply station can also, through the connection of the alignment section to the alignment interface of the mobile transport unit, or also through the central network system, transfer tool data relating to the tools required by the mobile transport unit or by at least one machine tool, for example via inductive transmission between the alignment interface and the Alignment section obtained and transferred to an internal data memory in a particularly preferred embodiment.

In addition, the provision station can preferably be set up in such a way that it can compare the tool data received with a tool inventory of the tool storage facility that is preferably contained in the internal data memory and, when the tool is found in its own tool inventory, in the case of tool provision, the wheel magazine containing the required tool, the manipulator and the delivery rail of the delivery station controls the required tool to be transferred from the wheel magazine to the mobile transport unit. Likewise, it may preferably be possible for the respective supply station, in the case of a tool received from the mobile transport unit for storage in the tool store, to th of the respective tool in the tool inventory and the wheel magazine controls the manipulator and the delivery rail to transfer the receiving tool into the respective tool receiving space provided for this purpose. For more precise observation and control of the at least partially automated tool changing process, the supply station can preferably also include at least one control unit provided with a display, with an employee using this control unit, for example, the current tool inventory of the wheel magazines, the tool quality of the individual tools recorded by the sensor integrated on the manipulator or can view the next process flows. In a particularly preferred embodiment, a control console on the control unit can also be used to manually control the pick-up or transfer of tools, so that even in automated operation, for example in the event of error messages or when tool samples are removed from the tool store, the tool change process can be controlled or continued manually can be. It can also be possible to switch between manual and automated operation via the control console or to run in parallel, so that, depending on requirements, a manually controlled mobile transport unit can also be integrated into an automatic tool changing system, for example.

Brief description of the figures

FIG. 1A: shows a first, three-dimensional view of the tool storage device according to the invention together with the mobile transport unit with the mobile transport unit in the transfer position

FIG. 1B: shows the tool storage device of FIG. 1A with the transfer device of the mobile transport unit moved up to the delivery bar of the delivery station

Figure IC: shows the tool storage device of FIG. 1A with the transfer device of the mobile transport unit after tool removal and rotated at a 45° angle

Figure ID: shows the tool storage device of FIG. 1A with the transfer device of the mobile transport unit after tool removal and rotated

FIG. 2A: shows an exemplary embodiment of the mobile transport unit that can be driven manually

FIG. 2B: shows a further exemplary embodiment of the mobile transport unit

FIG. 3A shows a detailed view of the supply station of the tool storage device

FIG. 3B shows a detailed view of the delivery bar of the delivery station

FIG. 4A: shows the mobile transport unit of FIG. 2B during the transfer of tools to the delivery bar of the delivery station, with the transfer device of the mobile transport unit being aligned with the alignment section of the delivery station

FIG. 4B: shows the transport unit staging bar system of FIG. 4A, with the staging bar having been moved vertically under the aligned transfer device

FIG. 4C: shows the transport unit staging rail system of FIG. 4B, with the aligned transfer device having been moved horizontally in the direction of the staging bar FIG. 4D: shows the transport unit staging bar system of FIG. 4C, with the staging bar having been moved vertically upwards in the direction of the transport bar for introducing the tools stored in the transfer device into the staging holders

FIG. 4E: shows the transport unit staging bar system of FIG. 4D, with the transfer device having been moved horizontally away from the staging bar after the tools have been positioned

FIG. 5A shows the tool storage device of FIG. 1A without walls and mobile transport unit

Figure 5B: shows the tool storage facility representation of Figure 5A rotated

FIG. 6A: shows the tool storage facility representation of FIG. 5B with walls but with the transfer side of the delivery station open

Figure 6B: shows the tool storage facility representation of Figure 6A rotated

Figure 7A: shows the tool storage facility representation of Figure 5A with the staging bar in the second position and pivoted towards the manipulator

Figure 7B: shows the tool storage facility representation of Figure 7A rotated

FIG. 8A: shows the tool storage device representation of FIG. 7A with walls but with the transfer side of the delivery station open

Figure 8B: shows the tool storage facility representation of Figure 8A rotated

FIG. 9 shows a detailed view of the delivery bar of the delivery station in the second position and pivoted together with the manipulator arm shortly before the tool change

FIG. 10 shows an exemplary tool storage and machine system with automated mobile transport units for changing the respective tools between the machine tool and the tool storage facility Detailed description of preferred embodiments

Exemplary embodiments of the present invention are described in detail below using exemplary figures. The features of the exemplary embodiments can be combined in whole or in part, and the present invention is not limited to the exemplary embodiments described.

FIG. 1A shows the externally recognizable form of a first embodiment of the tool storage facility WL together with the tool store S and an exemplary embodiment of the mobile transport unit E. The tool store S comprises a series of wheel magazines S3 arranged one behind the other and rotatable independently of one another, which are surrounded on all sides by walls S18 fastened to a base frame S5 (see, for example, FIG. 5A) to protect employees. Within the wheel magazine S3, tools W can be inserted and removed in radially aligned tool mounting locations by means of the manipulator S12 (see e.g. Fig. 5B) positioned next to the wheel magazine S3 In most cases, however, the tool head in the S3 wheel magazine is also exposed in order to ensure optimized accessibility for the latter. In addition, the wheel magazines S3 are lined up parallel and one behind the other along their axis of rotation, which means that a tool store s that is as compact as possible can be implemented.

At the front of the tool storage facility, the delivery station S2 is also attached as a compact wall device flush to the side walls of the tool storage facility, so that the front wall of the tool storage facility WL in particular has a particularly stable shape. However, it should be pointed out that the form of the delivery station S2 shown in this exemplary embodiment does not have to follow the generally valid representation or position of a delivery station S2 to be implemented later. In a further exemplary embodiment of the tool storage facility WL, there can also be, for example, a plurality of supply stations S2 located at the front and rear, or these can also only take up parts of the tool storage walls S18.

In the middle of the delivery station S2, and thus directly in front of the respective wheel magazines S3 of the tool store S, the delivery bar S4 is also in one of the delivery station S2 and the indentation adapted to the delivery bar S4, whereby it can be optimally integrated into the delivery station S2 and enclosed on all sides by an additional sliding door S9. The latter not only protects the delivery bar S4 from any external influences, but is also able to lock the entire area of the tool storage facility WL enclosed by the walls S18 by closing the indentation in the delivery station S2 and so, especially in the case of long waiting times to protect the tools W located in the tool store S from dust or other residues that are produced near a machine tool WM. In addition, the sliding door S9 includes a preferably electrically or optically acting door sensor device (not shown), so that the former can register the arrival or positioning of a mobile transport unit E in front of the delivery station S2 and open and close automatically depending on the tool change process and a permanent and in particular a viewing window S15 made of transparent material, as a result of which the tools W to be provided can be inspected in detail even in the closed state.

In addition to the staging bar S4, two vertically aligned guide rails S8, represented by two linear guides attached to the top and bottom of the staging station S2, are also attached in the indentation of the staging station S2, which are also connected to the staging bar S4 and thus enable the latter to provide and Storage of tool W to move between a first, lower position PI for changing tools with the mobile transport unit E and a second, higher position P2 for changing tools with the manipulator S12. Furthermore, a position sensor system (not shown) integrated in the indentation also allows the movement of the supply bar S4 to be analyzed and, if necessary, to be automated here, so that, for example, the position of the supply bar S4 can be optimally adjusted for the tool change with the mobile transport unit E or the manipulator S12 or with others Mechanisms can be coupled.

The supply holders S6 of the supply bar S4 arranged in a row can also be seen on the supply bar S4 in the first position PI in FIG E or the manipulator S12 can be provided. There they are Delivery mounts S6 are specially configured in such a way that, similar to the tool mounting locations of the wheel magazines, the interfaces S7 of the individual tools W (e.g. marked by a black ring in Fig. 1A) remain open at all times and can be contacted for removal by the mobile transport unit E and the manipulator S12 , enabling a simplified and error-free tool change process. Likewise, each of the supply mounts S6 also has an automatable, electrically or mechanically controllable holding device, so that the stored tools W are fixed rigidly within the supply mounts S6 of the supply bar S4, but are simply released from their mount for removal by the mobile transport unit E or the manipulator S12 can become.

In order to position the mobile transport unit E at the delivery station S2, two alignment sections S10 are also attached to the delivery bar S4. For example, both alignment sections S10 are provided with docking elements S20, S21 leading to a conical shape (see also FIG. 3B), through which the alignment interfaces Eil of the mobile transport unit E are positioned or aligned in the simplest way by approaching and aligning with the alignment sections S10 be able. In addition, the attachment of the alignment sections S10 to the supply bar S4 has the particular advantage that the position of the docking elements can be adjusted by the vertical movement of the supply bar S4 of the respective transport unit E, which not only further simplifies the tool change process, but also through compatibility with a number of different mobile transport units, can also be designed more cost-effectively.

In contrast, the alignment interfaces Eil of the mobile transport unit E that match the alignment sections S10 are positioned in this exemplary embodiment on the transfer device E4 (not visible in the image, see eg Fig. 2B). In this case, the transfer device E4 is arranged in such a way that it itself first of all rests on a base body E16, which is directly connected to the forks E6 of the railless industrial truck E8, and for the targeted alignment of the alignment interfaces Eil on the alignment sections S10 of the staging station S2 via a staging station S2 directed guide rail can be moved one-dimensionally in the direction of the delivery bar S4. In particular, the movement of the transfer device is also preferred here by a transfer control unit (not shown) integrated in the mobile transport unit E. controllable, so that the approach or positioning of the transfer device E4 to the delivery bar S4 can preferably be carried out completely automatically for an optimized tool change.

Another transport and control unit E7 connected to the railless floor conveyor device also enables the mobile transport unit E to be controlled via an external, manual or automated controller. In an extremely preferred example, this is also able to receive transport commands from an externally stored server system, for example via radio, infrared signals, WLAN or similar interfaces, with the external server system preferably controlling the course of all mobile transport units E simultaneously in this case can and thus realizes an extremely efficient transport process.

An exemplary removal process of tool W by an aligned mobile transport unit E is also shown in FIGS. 1A to ID. Here, the mobile transport unit E first moves, preferably operated by the transport and control unit E7, into the transfer position provided for the tool change and located along the delivery station S2, with the delivery bar S4 of the delivery station preferably already in its first position, as shown in Figure 1A Position PI was moved.

In the next step, as shown in FIG. 1B, the transfer device E4 is moved along the above-mentioned guide rail in the direction of the delivery bar S4 until the respective alignment interfaces Eil are aligned with the alignment sections S10 of the delivery station S2. To remove the tools W, two rotatable transport rails E2, which can be adjusted in the vertical direction, are attached to the transfer device E4 with a row of transport holders that match the supply rail S4, which have a gripping section E5 adapted to the respective tool interface S7 for grasping and later fixing the removed tools as well as an integrated clamping mechanism. In addition, in this exemplary embodiment, the transport holders of the transport bars E2 and the delivery holder S7 of the delivery bar S4 are set up in such a way that they hold the tools W along their longitudinal axis in the vertical direction, with the tool interfaces S7 of the tools W to be changed to be used for removal being Delivery bar S4 are positioned at the lower end of the tool piece exposed by the delivery brackets S7. If the alignment interface Eil of the mobile transport unit E now positions itself on the alignment section S10 of the delivery station S2 (Fig. 1B), the transport bar E2 together with the transport brackets is preferably moved (by previous vertical translation and rotation) in such a way that the gripping sections E5 of the individual transport brackets one of the transport strips E2 have already moved flush into the exposed tool interfaces S7 of the tools W to be transferred during the alignment movement of the transfer device E4 and now largely enclose them like pliers. At this point in time, the tool W can also preferably be fixed in the transport holder of the transfer device E4 by the clamping mechanism, so that the former can already be safely transferred to the mobile transport unit E during the tool change.

The resulting solid contact of the gripping sections E5 of the transport bar E2 allows the tool W to be changed to be removed from the supply holders S6 by a simple, vertical movement of the delivery bar S4 (in other words, a lifting movement of the delivery bar S4 relative to the transport bar E2). from the provision bar S4. The tool W rests at all times at the tool interfaces S7 on the gripping sections E5 of the transport bar E2, so that stable positioning of the tools W can be ensured, with the extent/height of the lifting movement being defined by the geometry of the alignment section, for example. In a preferred embodiment, the gripping sections E5 or the associated clamping mechanisms can also be controlled individually in such a way that, depending on the selection of the tools W to be removed, only individual tools W that are already present in the supply bar S4 can be removed, so that the tool change process can be optimized in parallel tools W for several mobile transport units E can also be present in the delivery bar S4.

After the tools W have been removed, the transport bar E2 together with the removed tool W can then be pushed back in the direction of the mobile transport unit E via the guide rails attached to the transfer device E4, so that the transfer device E4 can again be found in a starting or transport position at the end of the tool change process. FIGS. 1C and ID show a possible exemplary embodiment in which the transport strips E2 were additionally rotated clockwise, initially by 45° (FIG. 1C) up to an angle of 90° (FIG. ID), after the transfer device E4 had been moved back , and so the tool W is optimally positioned for transport to the machine tool WM. At the same time it is natural It is also possible, especially in the case of two or more transport rails E2 contained on the transfer device E4, to add tool W already removed from machine tools WM to the now empty supply rail S4, for example by rotating the transport rail E2 to be used for this purpose in the direction of the supply station S2 and back to it is approached.

FIG. 2A also shows a further exemplary embodiment of the mobile transport unit E, which was designed in particular for manual use. Unlike the embodiment shown in FIGS. 1A to ID, this has an exemplary simplified and correspondingly lighter shape, so that an employee M can move the mobile transport unit W with ease and without the aid of other elements. In addition, for this purpose, in particular, a holding web E14 was attached to the rear side of the mobile transport unit E, on which the respective employee M can support himself and push the mobile transport unit E in front of him.

In addition, the body of the transfer device E4 is constructed in this exemplary embodiment in such a way that in this case it is only present as a two-dimensional guide plate that rests on the base body E16 and can be displaced in the horizontal direction, on which, for example, four transport brackets E2 (embodiment is but not limited to four transport brackets) including tools W were attached. The positioning of the latter on the front of the mobile transport unit E fulfills the purpose that the employee M can move the transport strips E2 more easily to the respective delivery stations S2 tool storage facilities, so that an optimized, but in particular more precise tool changing process can occur. Equally, the alignment interfaces Eil, here as four elements adapted in a circle, as well as another communication interface E15 for communication and for exchanging tool data, for example, by means of electrical, optical or mechanical signals with the supply station S2 are attached to the front of the base body E16, whereby the employee can not only position the mobile transport unit E extremely efficiently and precisely on the alignment sections S6 of the tool storage facility WL, but at the same time can also transfer information about the tools W to be delivered or removed from the tool storage S to the tool storage facility WL. Finally, the railless floor conveyor E8 mounted under the base body E16 has also been designed for efficient, manual transport. In this case, the body of the E8 industrial truck is flush with the fork connected to the base body for the safety of the employee E6 and its E12 tire, making it virtually impossible to run over or crush body parts.

FIG. 2B also shows a further exemplary embodiment of the mobile transport unit E, which is designed as a mobile transport unit E that can be moved both automatically and manually. In this case, the transport bar E2 to be used to hold the tools W is again seated on the transfer device E4, but can be moved independently of the transfer device E4 by guide rails E13 directed towards the front of the mobile transport unit E in the direction of the delivery station S2 of the tool storage device WL. In addition, the alignment interfaces Eil, similar to the embodiment shown in Figures 1A to ID, are rigidly positioned on the transfer device E4, here again at the front, so that in this exemplary embodiment the mobile transport unit E as such has to be moved up to the alignment sections S10 of the tool storage device WL , in order to establish a connection between alignment section S10 and alignment interface Eil. The communication interfaces E15 to be used for data transmission were implemented here in the same way, in this case in the form of a pressure button device tensioned at the alignment interfaces Eil and with a spring.

Furthermore, the base body E16 and the floor conveyor E8 connected to the base body E16 have been optimally adapted for manual and automatic transport of the tools. In this case, the base body E16 is attached as a closed body, in which necessary electronic elements, such as the transport and control unit to be used for automated operation, can be efficiently stored. At the same time, the transfer device E4 now also has holders E18 on the upper side of the transport bar E2, on which the employee M can support himself and move the mobile transport unit E. The floor conveyor E8 is also designed to be flush with the fork E6 and the wheels E12, so that the safety advantages already described also come into their own in this embodiment.

In addition, only two tires E12 connected to a stabilizing gear are provided in this embodiment, so that the mobile transport unit E can also be tilted or connected at an angle for tool change purposes, which enables an additional degree of freedom that is easy to design. The tires can preferably also be in the form of Mecanum wheels, so that, for example, no additional axle has to be used to control the mobile transport unit E. FIGS. 3A and 3B also show a detailed view of a further embodiment of the supply bar S4 or the supply station S2 of the tool storage system WL. In this case, for the parallelized tool change with a plurality of mobile transport units E, several alignment sections S10 are attached to the supply bar S4, as a result of which the overall process can be optimized once again. In particular, this exemplary embodiment provides that two mobile transport units E to be positioned next to each other can each remove at least four tools W in parallel from the supply bar S4 or transfer them to it, with the number of mobile transport units E to be used simultaneously and tools W to be removed only increasing refer to the exemplary embodiment shown here and are therefore by no means to be understood as universally valid.

For the effective positioning of the respective mobile transport units E, a plurality of alignment sections, in this case two for each mobile transport unit E to be served, are attached to the supply bar S4 at regular intervals, so that the transport bars E2 of the respective mobile transport units E are independent and contact-free from each other can interact with the provision bar S4. A display S16 connected to the alignment sections S10 can also display the status or the tool data of the tools W stored in the supply holding sections S6 and show when and whether a mobile transport unit E has been successfully connected to the supply station S2.

In addition, FIG. 3B shows the structure of the alignment sections S10 of the supply strip S4 of FIG. 3A in more detail. As in Figures 1A - ID, each alignment section can have a funnel-shaped or conical inlet point S19 on the lower section part, at which the alignment interface Eil of the mobile transport unit E can be inserted into the alignment section S10 and thus the movement of the mobile transport unit E along the delivery station S2 can block. The subsequent lifting movement during the removal or transfer of the tool W is a vertical lifting movement of the supply bar S4 of the supply station S2. Here, too, the funnel-shaped shape of the alignment section S10 is of course to be understood as just any exemplary embodiment for positioning and securing the mobile transport unit E at the delivery station S2. For example, other alignment sections S10 can be realized, which can also be attached to the supply bar S4 in a round or polygonal shape and the mobile transport unit E not only mechanically, but also electrically, for example, by Can fix induction or electromagnets, hydraulically or pressure-controlled, eg by suction/vacuum. In addition, it is possible to use the mobile transport unit E as shown, for example, in FIGS. 1A to ID. With such a transport unit, the mobile transport unit can be aligned and positioned without direct physical contact with the tool storage facility. Contact can only occur when the tools are actually handed over. The movement of the mobile transport unit E, e.g. for the tool transfer process, can also be blocked without direct contact with the tool storage device, e.g. by blocking the wheels of the mobile transport device positioned precisely in front of the tool storage device.

FIGS. 4A to 4E also show an exemplary transfer process of tools W with the mobile transport unit E shown in FIG. 2B and the delivery bar S4 already shown in FIGS. 3A and 3B. As already shown in Figures 1A to ID, the mobile transport unit E first moves into the transfer position prescribed for tool changing, with the former being positioned frontally in front of the respective supply bar S4 for this purpose and slowly approaching it until the on the front sides of the transfer device E4 attached alignment interfaces E10, preferably under the alignment sections S10 of the supply bar S4, comes into contact with the supply bar (FIG. 1A).

The transport bar E2 of the mobile transport unit E together with the alignment interface Eil is then raised relative to the delivery bar S4 by lowering the delivery bar S4, so that the alignment interface Eil falls into the guide form of the alignment section S10 and the movement of the mobile transport unit E is thus blocked from all sides (4B , for improved visualization the alignment interface Eil is shown here in front of the alignment section S10). If the alignment interface Eil also hits the upper end of the alignment section S10, the transport bar S2 together with the tools W to be transferred cannot be lowered any further, which means that the lifting mechanism to be achieved is blocked and consequently defined by the shape and position of the alignment section S10.

In the next step, the locked transport bar E2 is then moved by the guide rail E13 integrated in the transfer device E4 in the direction of the delivery bar S4 until the tools W in the transport holders are positioned precisely over the empty delivery holders S6 of the delivery bar S4. are kidneys (Fig. 4C). For the precise positioning of the tools W, the transfer device E4 can preferably also be configured in such a way that the transport bar E2 is first moved up to the delivery bar S4 of the delivery station S2 in the rearmost position of the guide rail E13 and by moving the transport bar E2 into the frontmost position of the guide rail E13 , the tools W are moved exactly over the delivery mounts S6 of the delivery bar S4. In another exemplary embodiment, movement or position sensors, for example optical infrared sensors or acoustic measurement sensors, can also preferably be attached to the transport bar E2 in order to be able to determine the position of the tools W relative to the delivery mounts S6 even more precisely.

After the tools W have been positioned via the delivery holders S6 of the delivery bar S4, they are slowly inserted into the delivery holders S6 by lifting the delivery bar S4 again (Fig. 4D) until they are no longer lifted from the respective transport holder S6 by placing the tool body on the floor Transport holder of the transport bar E2 are worn. In the case of an additional holding mechanism which is also located in the transport holder, the latter can preferably also be released at this point by an integrated pressure mechanism or preferably also by the above-mentioned position sensor.

Since in this state the transport holder or the gripping section E5 attached there is no longer weighted by the tools W, the transport bar E2 can finally be pulled back without any problems using the guide rail E13, with the tools W remaining in the supply bar S4 (FIG. 4E). An additional lifting of the delivery bar S4 also releases the alignment interface Eil of the transfer device E4 from the guidance of the alignment section S10, as a result of which the mobile transport unit E can be moved again and can initiate the next transfer or removal process.

FIG. 5A again shows the tool storage device from FIGS. 1A to ID, but in this case without the explicit representation of the mobile transport unit E and the walls S18 arranged around the tool storage S for protection. In particular, the compactness of the tool store S of the same type can be seen in this form of representation, which is realized in particular by the special mounting of the wheel magazines S3 arranged one behind the other and the associated frame structures. In order to set up a particularly compact and modular tool store S, the wheel magazines S3 are connected to the basic structure S5 of the tool store by means of three-point mounting connected and parallel to each other aligned triangular frame S17, each wheel magazine S3 connected interchangeably with this storage and for easy replacement with other wheel magazines S3 or for repair can be removed from this.

Equally, such a frame geometry has the advantage that the size of the individual wheel magazines S3 does not require a uniform wheel magazine size. In contrast to the embodiment shown in Figure 5A, for example, significantly smaller or larger wheel magazines S3 can also be used in the triangular frame S17 or its bearing or interchanged with existing wheel magazines S3, insofar as the size of the basic structure S5, the walls S18 and the front Manipulator S12 estimated space allows this.

Furthermore, the frames S17 are designed in such a way that further frame structures, and thus wheel magazines S3, can also be attached to the two ends of the respective tool store, so that the tool store S can, in the best case, be expanded infinitely. Such a construction thus achieves the maximum modularity of the tool store, with the extremely compact and interconnected shape of the individual frame structures S17 allowing the wheel magazines S3 to be positioned particularly efficiently and securely.

FIG. 5B also shows the representation of the central tool device WL from FIG. 5A again, but rotated by 90° in the horizontal plane. In particular, the manipulator S12 responsible for transporting the tools W between the tool magazine S3 and the supply rail S4 can be seen in this representation for the first time, which in this exemplary embodiment is seated on a guide or running rail S13 aligned parallel to the axis of rotation of the wheel magazine S3 and through this can move along the wheel magazine S3. In addition, the manipulator S12 in this exemplary embodiment has an extremely cost-effective and at the same time efficient design, in that on the manipulator base body S30 connected to the running rail there is only one rotatable gripping device S26, which is provided with a telescopic device S28 and is aligned with only one axis of rotation along the telescopic device, together with two opposite ones positioned manipulator mounts S14, similar to the transport mounts of the mobile transport unit E, attached. Here, too, the illustrated embodiment of the manipulator S12 naturally only represents a selected example and may deviate from the one shown here in other embodiments. In other examples, the manipulator S12 can do more than just that have a gripping device S26 or move it transversely and rotationally in any direction through additional degrees of freedom. In other examples, the manipulator S12 can also move independently between the wheel magazines S3, for example by means of a built-in motor including running axle and wheels, whereby the movement possibilities of the former can be optimized to a maximum.

The illustrated embodiment of the manipulator S12 together with the running rail S13, on the other hand, prioritizes a form that is as cost-effective and time-efficient as possible. The gripping device S26 attached to the manipulator S12 is preferably configured such that in its initial position it is at the same level as the tools W stored horizontally by the wheel magazines S3 and its base area spans an area orthogonal to the longitudinal axis of these tools W. In other words, the longitudinal axis of the gripping device S26 is always orthogonal to the horizontally mounted tools W of the wheel magazines S3, so that after gripping around the tool interface S7 using one of the manipulator mounts S14, the tool can be removed from the tool mounting location with a simple pulling movement of the telescopic device S28 of the respective wheel magazine S3.

For this reason, to remove or transfer a tool W from or to one of the wheel magazines S3 of this exemplary embodiment, the movement of the manipulator S12 together with the running rail S13 is preferably coupled with the rotation of the individual wheel magazines S3 via an automated system: since the gripping device S26 is in its starting position , in particular due to their proximity to the individual tools W stored in the wheel magazines S3, is set up in such a way that when the gripping device S26 is aligned horizontally, one of the manipulator holders S14 can be inserted flush into the tool interfaces S7 of the respective tool W by approaching it from the side using the running rail, In a preferred exemplary embodiment, the wheel magazines S3 are first moved automatically in such a way that a horizontal path is formed for the gripping device S26 of the manipulator S12 for the tool change at a specific tool holding position through unoccupied tool holding positions will. The gripping device S26, preferably aligned with the manipulator mounts S14 in the horizontal direction, can then move through this aisle with the help of the running rail S13 connected to the manipulator S12 and, for example, to remove a horizontally mounted tool W, can approach this to a so-called second changing position WP2. Through the subsequent introduction of the respective a few tools W in the manipulator mount S14 and the subsequent lifting movement by pulling the gripping device S26 in the direction of the manipulator body S30, a tool W can thus be removed from its tool receiving space within a wheel magazine S3 and transferred to the manipulator.

However, the reverse input of a tool W into a tool receiving location can be understood as a reversal of the removal process already described. By forming aisles again of free-standing tool receiving locations, the manipulator location containing the tool W to be stored is first moved via the rail S13 to the already horizontally aligned tool receiving location intended for storage, with the respective gripping device S26 of the manipulator S12 in this case moving in the direction of the manipulator body S30 to secure the tool W retracted and locked. Arriving at the specific tool mounting location at the second changing position WP2, the tool W is then introduced into the tool mounting location in the direction of the wheel magazine S3 by repeatedly extending the telescopic device S28 or the manipulator mount S14 connected to the telescopic device S28 until it fills the entire cavity of the respective Tool holder space fills and the manipulator mount S14 can be separated from the tool W by re-processing using the rail S13. For more precise introduction of the tool W, a sensor similar to the transfer device E4 of the mobile transport unit E, for example a pressure or position sensor, can also be attached to the manipulator S12, so that the current position is preferably recorded during the movement of the tool W in the direction of the wheel magazine S3 of the tool W can be compared with that of the tool receiving place or an insertion stop can be carried out when the manipulator S12 perceives or experiences a certain counter-pressure caused by the restoring force of the tool receiving place. Such a sensor element thus has the positive effect of being able to make the tool change even more gentle and therefore safer, especially for fragile tools W.

FIGS. 6A and 6B again show the tool storage device WL of FIGS. 1A to ID, in which case a section, more precisely the right-hand wall section, is removed from the supply station S2 or shown as transparent. In particular, this perspective shows that even with high, sunken tool storage walls S18, the indentation found in the staging station S2 and containing the staging bar S4 is not connected on all sides to the further construction of the staging station S2, but on both sides of the Delivery bar S4, but in particular to the manipulator S12 directed side, includes an opening adapted to the delivery bar S4.

This opening is used in such a way that the supply strip S4 for tool changing with the manipulator S12 can be moved at least initially with the aid of the vertically aligned guide rails S8 from the first, already mentioned position PI for tool changing with the mobile transport unit E, upwards to a second position P2a and there can also be pivoted by a specific transfer angle parallel to the delivery station S2 at least in the direction of the manipulator S12 into a transfer position P2b. In other words, the openings thus enable direct contact between the supply strip S4 and the manipulator S12, which for this purpose can be moved to a first changing position predetermined for tool changing using the running rail S13.

Figures 7A and 7B and 8A and 8B, in which the previously described tool storage device WL again, but in this case with the delivery bar S4 in the second, already pivoted position P2b, also called transfer position P2b, with (Fig. 8A and 8B) and without a wall insert (FIGS. 7A and 7B) illustrate this transfer process even more precisely. Due to the geometric tool holder differences between the delivery bar S4 and the manipulator holder S14 (in the delivery station S2 and the mobile transport unit E, the tool W is preferably stored vertically, but horizontally in the manipulator S12), it is advantageous to align the tool W in an intermediate process to provide optimal transfer conditions to be adapted to the respective tool storage facility element to be handed over. In this exemplary embodiment, this is done by pivoting or rotating the delivery bar S4 loaded with tools W into a transfer position P2b intended for interaction with the manipulator S12.

For this purpose, a pivoting device Sil that is realized by a radial bearing and can be controlled automatically is attached to the delivery bar S4, which can rotate the former by a specific transfer angle via a swivel arm connected to the delivery bar S4 and thus optimally align it with the manipulator S12. The pivoting device Sil is also constructed in such a way that the supply bar S4 in the transfer position P2b, but in particular the tools W stored or to be stored on it, protrude into the lateral opening of the supply station S2 and are thus additionally protected by walls of the supply station S2. The pivoting of the supply bar S4 thus has the advantage of the respective Not only optimally align the tool W for the tool change with the manipulator S12, but also efficiently protect it from external influences such as dust or residual products from machine tools WM.

Furthermore, the transfer angle of the supply bar, which defines the scope of rotation or pivoting, can be set accurately by the pivoting device Sil, depending on the setting of the manipulator S12. In a preferred embodiment, this is an angle of rotation of 45° to 120°, in a particularly preferred embodiment even 80° to 110°, the angle specification being the angle of rotation of the supply bar S4 generated by the pivoting device Sil from its original, vertically aligned second position to the transfer position P2b or back is to be understood.

However, FIG. 9 shows an exemplary detailed illustration of the manipulator S12 near the first changing position and parts of a wheel magazine belonging to the tool store s

53 and the delivery bar S4 in the transfer position P2b, whereby the tool change between delivery bar S4 and manipulator S12 can be demonstrated even more clearly. The delivery bar S4 is initially set up in the transfer position P2b in such a way that the tools W, similar to those in the tool holding locations of the wheel magazines S3, can be moved to the tools W by moving the gripping device S26 of the manipulator S12 to the side by means of the manipulator holders S14 at the tool interfaces S7 includes and can thus be removed from the supply holder S6 via a horizontal lifting movement by retracting the gripping device S26 by means of the telescopic device S28. The resulting tool change process between the manipulator S12 and the supply bar S4 can thus be understood as approximately equivalent to the tool change process of the manipulator S12 with one of the wheel magazines S3.

In order to approach the manipulator S12 to the delivery bar S4, all the wheel magazines are first rotated again in such a way that they form an aisle for the horizontally aligned gripping device S26 of the manipulator S12. The latter then moves by means of the running rail S13 to the first changing position provided for tool changing, whereby, in the case of a tool removal, at least one of the vertically aligned tools W of the supply strip located at the height of the gripping device S26

54 contacted by the manipulator mount S14 at the tool interface and can be removed after the process already described above. The input of tools W into the staging fixtures S6 of the staging bar S4 proceeds in this exemplary embodiment also similar to the process already mentioned for the description of the tool storage input, whereby the tool W contacted on the manipulator holder S14 can be introduced safely and efficiently into the respective delivery holders by approaching the previously retracted gripping device S26 in the direction of the delivery bar S4.

Preferably, the supply bar S4 can also be configured in such a way that in the transfer position P2b it can still be moved at least in terms of height by the vertically aligned guide rail S8, so that the height required for removal or transfer with the manipulator S12 can be reached from each Approached provision bracket S6 and thus an unnecessary, repeated pivoting to remove different tools W from the delivery bar S4 can be avoided.

The tool storage facility WL shown here therefore offers a compact, simplified, but particularly efficient device for changing tools W, in particular for a large number of machine tools WM -transport processes, the serious advantage that the overall process for changing the tools W between the tool storage facility WL and the machine tools WM assigned to it can be carried out completely automatically or at least semi-automatically, which, in particular with regard to one with central and multiple machine tools WM spaced tool storage system to achieve maximum efficiency.

FIG. 10 shows a selected outlined exemplary embodiment of such a possible tool storage system, in which both central tool storage devices WL and machine tools WM connected to them via mobile transport units E are used. As can be seen, in this particularly preferred embodiment, both the machine tools WM and the tool storage facilities WL are approached by mobile transport units E traveling along a central transport road, with each mobile transport unit E traveling independently, without rails and, above all, without a driver from one destination to the next can be driven. Such a system thus avoids any waiting times caused by transport restrictions between tool storage WL and machine tool WM and also enables a system structure that is as efficient as possible, minimizes errors and is completely modular and constantly expandable. The automated control of the individual system elements is preferably carried out by an external server system, which can sometimes view the processes of the individual machine tools WM and control specific tool storage facilities WL including mobile transport units E via control units attached to the respective elements in such a way that the machine tools WM are optimally operated . For this purpose, for example, each tool store S can also contain its own internal memory, in which the current stock of tools in the tool store can be recorded and made accessible to the external server system. Likewise, the server system can preferably have overwriting rights for this internal memory, update it and, in particular, use the information contained in the internal memory to control the wheel magazines S3 contained in the tool store S, the manipulator S12 and the supply station S2 and at least one mobile transport unit E in such a way that these For example, after the tool change processes mentioned above, a tool W can be passed autonomously from the tool store S to the machine tool WM or back.

In a further exemplary embodiment, the alignment sections S10 of the delivery stations S2 in particular can also be used to exchange information with the machine tool WM or the mobile transport unit E and can be seen as an alternative or additional support for the external server system. It is preferably also possible that by positioning the alignment interface Eil of the mobile transport unit E on the alignment section S10 of the tool storage facility WL, and particularly preferably also on an alignment section on the machine tool WM, for example tool data relating to the tools W required by the machine tool WM taken from the supply station S2 and also compared with the tool inventory located in the internal memory of the tool store S. Such an exchange of information can also be used, preferably again by the staging station S2, the wheel magazines S3, the manipulator S12 and the elements of the staging station S2 and the mobile transport unit E, to remove the tool W required by the at least one machine tool WM from the tool store S and automatically add it to the machine tool WM. Vice versa, in this case, of course, tool W to be stored by a machine tool WM can also be inserted into the tool store S by a process that is also automated, with the supply station S2 doing the Positioning of the mobile transport unit E to the alignment section S10 obtained tool data added to the tool inventory of the internal memory.

Claims

Claims Central tool storage facility (WL) for providing tools for a large number of machine tools (WM), comprising:

- A tool store (S) for storing tools (W), wherein the tool store (S) has at least two wheel magazines (S3) arranged vertically and one behind the other and the wheel magazines (S3) each have tool mounting locations for mounting tools (W);

- at least one mobile transport unit (E) for transporting tools to the machine tool (WM) and back,

- At least one movable manipulator (S12) for removing and returning tools from the wheel magazines (S3), and

- At least one supply station (S2) for providing tools (W) for the tool store (S) and the mobile transport unit (E). wherein the central tool storage facility (WL) is configured to provide tools (W) from the tool store (S) for a machine tool (WM) in such a way that the manipulator (S12) removes at least one tool (W) and transfers it to the provision station (S2). , and the mobile transport unit (E) removes the tool (W) transferred by the manipulator (S12) from the delivery station (S2), and the central tool storage device (WL) for storing tools (W) in the tool store (S) so is configured such that the mobile transport unit (E) hands over at least one tool (W) to the delivery station (S2) and the manipulator (S12) removes the tool (W) handed over from the delivery station (S2) and adds it to the tool store (S). Central tool storage facility (WL) according to Claim 1, wherein the delivery station (S2) comprises at least one alignment section (S10) for positioning the mobile transport unit (E) at the delivery station (S2), the at least one alignment section (S10) having an on the mobile transport unit (E) integrated alignment interface (E10) can be connected, and

37 wherein the alignment section (S10) is set up in such a way that the mobile transport unit (E) is positioned in a transfer position for positioning at the alignment section (S10).

3. Central tool storage facility (WL) according to claim 1 or 2, wherein the mobile transport unit (E) is designed to be freely movable and is configured to transport the tool (W) from the central tool storage facility (WL) to the at least one machine tool (WM) and back to be transported, and the mobile transport unit (E) has a control unit (E7) for driverless control of the mobile transport unit (E) and/or a communication device for wireless connection to an external control device.

4. Central tool storage facility (WL) according to at least one of the preceding claims, wherein the mobile transport unit (E) has a transfer device (E4) for changing tools with the delivery station (S2) and a trackless floor conveyor (E8) with at least one receptacle (E6), such as preferably a fork, for receiving the transfer device (E4), and the transfer device (E4) is removably seated on the floor conveyor (E8).

5. Central tool storage device (WL) according to at least one of the preceding claims, wherein the transfer device (E4) has a movable tool transport bar (E2) with a plurality of transport holders (E3) for storing tools (W) on the mobile transport unit (E) and at least has a gripping section (E5) for grasping the tool (W) during the tool change, and the transfer device (E4) in the transfer position of the mobile transport unit (E) can be moved at least in the direction of the delivery station (S2) and preferably also in the vertical direction.

6. Central tool storage device (WL) according to at least one of the preceding claims, wherein the delivery station (S2) has a movable tool delivery bar

(S4) includes, and

38 the tool supply bar (S4) can be moved from a first position (PI) for tool change with the mobile transport unit (E) to a second position (P2) for tool change with the manipulator (S12) and back, and the tool supply bar (S4) at least in the second position (P2) in the direction of the manipulator (S12) is pivotable. Central tool storage device (WL) according to at least one of the preceding claims, wherein the movable tool supply bar (S4) comprises at least one supply holder (S6) for positioning tools (W) on the tool supply bar (S4), and the supply holder (S6) includes a holding device, which fixes the tool (W) rigidly in the provision holder (S6) and can release it again for removal of the tool (W), and the provision holder (S6) is configured in such a way that it can be used to change tools (W) by the mobile transport unit ( E) reveals a tool interface (S7) on the tool (W). Central tool storage device (WL) according to at least one of the preceding claims, wherein the transfer device (E4) of the mobile transport unit (E) is configured such that the gripping section (E5) of the transfer device (E4) for removing the tool (W) from the tool supply bar ( S4), which encloses the tool (W) at the tool interface (S7) and picks up the enclosed tool (W) on the tool transport bar (E2) by a lifting movement of the tool supply bar (S4) and/or the tool transport bar (E2), and the gripping section ( E5) the transfer device (E4) for transferring the tool (W) to the tool staging bar (S4), the tool (W) at the tool interfaces (S7) positioned above the tool staging bar (S4) and by a lifting movement of the tool staging bar (S4) and/ or the tool transport bar (E2) to the delivery holder (S6) of the delivery bar (S4). Central tool storage device (WL) according to at least one of the preceding claims, wherein the manipulator (S12) can be moved at least from a first changing position for changing tools with the tool supply bar (S4) to a second changing position (WP2) for changing tools with the wheel magazines (S3) and back , and the manipulator (S12) can be moved from the first changing position to the second changing position (WP2) and back, preferably by a guide rail (S13) arranged parallel to the axis of rotation of the at least two wheel magazines (S3). . Central tool storage device (WL) according to at least one of the preceding claims, wherein the tool supply bar (S4) at least in the second position (P2) for providing the tool supply bar (S4) for the tool change with the manipulator (S12) from an initial position by one to the supply station ( S2) the orthogonal axis of rotation is rotated by a transfer angle into a transfer position (P2b), the transfer angle, starting from the original angle of the tool supply bar (S4) in the starting position, having a rotation angle of between 45° and 120°, preferably 80° and 110°, in the direction of the manipulator (S12). . Central tool storage device (WL) according to at least one of the preceding claims, wherein the at least two wheel magazines (S3) are stored one behind the other and have a common axis of rotation oriented orthogonally to the supply station (S2), each wheel magazine (S3) for removing and loading tools (W ) can be rotated independently, each wheel magazine (S3) for storing the tools (W), which accommodates the tools (W) along the longitudinal tool axis in the radial direction, and preferably the wheel magazines (S3) are modularly interchangeable via a frame system (S17), and the number of wheel magazines (S3) stored one behind the other can be expanded.

. Central tool storage facility (WL) according to at least one of the preceding claims, wherein the at least one alignment section (S10) of the staging station (S2) is configured in such a way, for securing and aligning the position of the mobile transport unit (E) at the staging station (S2), the movement of the mobile To fix the transport unit (E) via a mechanical connection, in particular along the delivery station (S2), the transfer device (E4) being released by fixing the mobile transport unit (E) for moving in the direction of the delivery station (S2) or the mobile transport unit ( E) is fixed during the process of the transfer device (E4) in the direction of the delivery station (S2).. . Central tool storage facility (WL) according to at least one of the preceding claims, wherein the provision station (S2) through the connection of the alignment section (S10) to the alignment interface (E10) of the mobile transport unit (E) or through a central server system, tool data relating to at least one Machine tool (WM) receives required tools (W) and/or tool data relating to the tools (W) handed over by the mobile transport unit (E), and the delivery station (S2) is preferably configured in such a way that the tool data received is transferred to an internal data memory; and/or wherein the delivery station (S2) is configured to compare received tool data with a tool inventory of the tool storage facility (WL), preferably contained in the internal data memory, and the delivery station (S2) when a required tool (W) is found in the tool inventory of the tool storage facility (WL), which controls the wheel magazine (S3) containing the required tool (W), the manipulator (S12) and the receiving section (S4) of the delivery station (S2) in order to move the required tool (W) from the wheel magazine (S3) to the hand over mobile transport unit (E), and the delivery station (S2) takes tool data from the mobile transport unit (E) received tools (W) in the tool stock and the wheel magazine (S3), the manipulator (S12) and the recording section (S4) the delivery station (S2) controls the received tool (W) to be inserted into the tool receiving places of the wheel magazines (S3). Method for providing tools for a large number of machine tools (WM) by means of a central tool storage facility (WL) according to at least one of the preceding claims, comprising the steps:

Transfer of a tool (W) by the manipulator (S12) from a tool receiving station of a wheel magazine (S3) to the tool supply bar (S4) of the supply station (S2);

- Transfer of the tool (W) from the tool supply bar (S4) to the mobile transport unit (E);

- Transport of the tool (W) by means of a mobile transport unit (E) from the central tool storage facility (WL) to at least one of the machine tools (WM). Method for the central storage of tools from a large number of machine tools (WM) by means of a central tool storage facility (WL) according to at least one of the preceding claims, comprising the steps:

- Transport of a tool (W) by the mobile transport unit (E) from at least one of the machine tools (WM) to the central tool storage facility (WL);

Transfer of the tool (W) from the mobile transport unit (E) to the tool supply bar (S4) of the supply station (S2);

Transfer of the tool (W) by the manipulator (S12) from the tool supply bar (S4) to the tool receiving location of a wheel magazine (S3). The method according to claim 14 or 15, additionally comprising the steps of:

Rotating the tool supply bar (S4) of the supply station (S2) to change the tool (W) with the manipulator (S12) at the second position (WP2) in the direction of the manipulator (S12);

Positioning or removing the mobile transport unit (E) from the alignment section (S10) of the delivery station (S2);

Recording the tool data of the tools (W) transferred or received from the tool store (S) and transferring the tool data to a data storage device.

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17. Production system comprising a central tool storage facility (WL) according to at least one of the preceding claims and at least one machine tool (WM), wherein the central tool storage facility (WL) is configured to provide tools (W) for the at least one machine tool (WM) in such a way Remove the tool (W) from the tool store (S) and transfer it to a mobile transport unit (E) via the supply station (S2), and the mobile transport unit (E) can be positioned on the tool store facility (WL) and the machine tool (WM). and is configured to transport the picked-up tool (W) to the at least one machine tool (WM) and to transfer it to the machine tool (WM), and wherein the central tool storage device (WL) for storing tools (W) from the at least one machine tool (WM) is configured in the central tool storage device (WL) tool (W) by the mobile transport unit ( E) removed from the at least one machine tool (WM) and, after the tool (W) has been transported by the mobile transport unit (E) to the tool storage facility (WL), handed over to the delivery station (S2) of the tool storage facility (WL), and that Remove tool (W) from the supply station (S2) and hand over the tool store (S).

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