JP2000084779A - Machine tool equipped with automatic tool exchanger - Google Patents

Abstract

PROBLEM TO BE SOLVED: To shorten the tool exchange time and to simplify the mechanism. SOLUTION: This machine tool equipped with an automatic tool exchanger comprises a tool exchange arm 22 rotatable about an axis in parallel with a tool spindle 13 and comprising a pair of tool grip parts 23, 23' separated from one another at an angle smaller than 90 degree about the axis; a tool magazine 50 comprising a number of tool storing parts 54, and dividable in parallel with the tool spindle 13; and a shuttle arm 30 linearly moving between a tool accepting position of the tool exchange arm 22 and a tool accepting position of the tool magazine 50 for carrying in and out the tool between the tool storing part of the tool magazine 50 and the tool grip parts of the tool exchange arm 22.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a machine tool such as a machining center having an automatic tool changer capable of shortening a tool change time and simplifying a mechanism.

[0002]

2. Description of the Related Art Generally, in a machining center,
An automatic tool changer for changing a tool with respect to a tool spindle of a spindle head is provided. This automatic tool changing device has a tool changing arm, and a tool changing arm having a pair of diametrically opposed tool grips is generally used. In addition, this tool change arm, only at the time of tool change, all or a part thereof enters the machining area,
A tool changing operation is performed on the tool spindle of the spindle head indexed to the tool changing position in the machining area. Some conventional automatic tool changers include an intermediate transfer device that loads a tool from the tool magazine to the tool change arm and returns the tool from the tool change arm to the tool magazine. In the conventional device of this type, the intermediate transfer device changes the direction of the tool by 90 degrees when the tool is transferred between the tool magazine and the tool change arm, and inserts and removes the tool from the tool magazine. And so on.

[0003]

However, when a tool exchange arm having a pair of diametrically opposed tool grips is used as the tool exchange arm, the tool exchange
It is necessary to rotate the tool change arm 180 degrees about an axis crossing the midpoint between the tool grips, and the amount of rotation of the arm is large, which also causes a longer tool change time. In addition, since the intermediate transfer device makes a combined movement, there is a limit in increasing the speed at which the tool is transferred between the tool magazine and the tool change arm, which causes a problem that the tool change time is prolonged. Therefore, an object of the present invention is to provide an automatic tool changer for a machine tool such as a machining center, which reduces the rotation time of a tool change arm for tool change to shorten the change time, and allows the tool magazine and the tool change arm to communicate with each other. It is an object of the present invention to provide a machine tool provided with an automatic tool changer capable of performing intermediate transfer of a tool between them in a short time.

[0004]

In order to solve the above-mentioned problems, a machine tool provided with an automatic tool changer according to the present invention is rotatable about an axis parallel to the axis of a tool spindle, and has a coaxial line. A tool exchange arm having a pair of tool grippers for supporting a tool in parallel with the axis at two positions separated by an angle smaller than 180 degrees around the periphery, and a number of tool storage units;
The tool storage part can be rotated and indexed in a plane parallel to the axis of the tool spindle, and the tool storage part holding the selected tool is indexed in a tool transfer position with the tool change arm in parallel with the tool spindle. A possible tool magazine, linearly moves between the tool delivery position of the tool exchange arm and the tool delivery position of the tool magazine, and carries the tool from the tool storage portion of the tool magazine to the tool holding portion of the tool exchange arm, Conversely, it is characterized by comprising an intermediate transfer device for carrying out the tool from the tool holding portion of the tool change arm to the tool storage portion of the tool magazine. Further, the angle at the two positions where the pair of tool holding portions of the tool change arm is provided is preferably set to an angle smaller than 90 degrees.

Further, in the machine tool provided with the automatic tool changer according to the present invention, the tool holding portion of the tool change arm and the tool storage portion of the tool magazine, when they are indexed to the tool transfer position, are not It is characterized by having tool holding means configured to direct the tool outlets toward each other.

Further, in addition to the above-mentioned features, the machine tool provided with the automatic tool changer according to the present invention further comprises a support element for supporting the tool spindle having a horizontally extending rotation axis, wherein the tool spindle is arranged to move the tool spindle in a plane perpendicular to the rotation axis. Are supported on a bed so as to be able to move horizontally in the horizontal direction and up and down direction and to be able to move forward and backward on the axis of rotation, the legs stand upright from the bed, and the horizontal part is higher than the uppermost position of the tool spindle. A bridge extending in the left-right direction is provided, so that the rotation axis of the tool change arm is parallel to the tool spindle, and the pair of tool gripping portions are located forward of the front end of the tool spindle indexed to the tool change position. A tool changer is mounted on the horizontal portion of the bridge, and at the time of tool change, rotation of the tool change arm for selectively indexing a pair of tool grippers to a position concentric with the tool spindle and the tool main body. Forward and backward operation is characterized in that it is configured to cooperate.

Further, in the machine tool provided with the automatic tool changer according to the present invention, in addition to the above-mentioned features, the tool is provided such that the tool is provided at an intermediate position between an axially rearward shank portion and a front blade mounting portion. The tool magazine and the tool exchange arm have a tool holding means for gripping a tool by opening and closing the tool and engaging a tool gripping groove with a pair of scissors members whose tool outlets are opposed to each other, The intermediate transfer device, an intermediate transfer member having a shank gripper capable of receiving the shank portion of the tool, and a shank gripper of the intermediate transfer member, the tool on the tool exchange arm indexed to the tool transfer position. A first alignment position aligned with the shank portion, a second alignment position aligned with the shank portion of the tool on the tool magazine indexed to the tool delivery position, and advancement for receiving the shank portion at each of these alignment positions And location, is characterized by being more configuration and a shift mechanism for moving further along the rectangular moving path connecting retracted position disengaged from the shank.

Further, a machine tool provided with the automatic tool changer according to the present invention is rotatable about an axis parallel to the axis of the tool spindle, and holds a pair of tool grips for supporting the tool in parallel with the axis. A tool exchange arm having a plurality of tool storage portions, a tool storage portion having a plurality of tool storage portions, capable of rotating and indexing the tool storage portions in a plane parallel to the axis of the tool spindle, and holding a selected tool. A tool magazine indexable so that the axis of the selected tool is parallel to the tool spindle at a tool transfer position with the tool changing arm, wherein the tool is axially rearwardly shanked and frontward. A tool holding means for holding the tool by engaging the tool exchange arm and the tool magazine with the tool holding groove and holding the tool. Tool storage Each with a in the, constituted by a pair of opening and closing operable scissor member being opposed to each other in the takeout tool this tool holding means the tool transfer position,
Furthermore, it includes a tool intermediate transfer device, the device includes an intermediate transfer member having a shank grip portion capable of receiving a shank portion of the tool, and a shank grip portion of the intermediate transfer member.
A first alignment position that aligns with the shank portion of the tool on the tool change arm indexed to the tool transfer position, and a second alignment position that aligns with the shank portion of the tool on the tool magazine indexed to the tool transfer position. And a shift mechanism which moves along a rectangular movement path connecting a retreat position for receiving the shank portion at each of these alignment positions and a retreat position for detaching from the shank portion.

[0009]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS A machine tool equipped with an automatic tool changer according to the present invention is rotatable about an axis parallel to the axis of a tool spindle and preferably has an angle of less than 180 degrees around a coaxial line. Has a tool exchange arm having a pair of tool grips for supporting a tool in parallel with the axis at two angles separated by an angle smaller than 90 degrees, and a number of tool storage units,
The tool storage part can be rotated and indexed in a plane parallel to the axis of the tool spindle, and the tool storage part holding the selected tool is indexed in a tool transfer position with the tool change arm in parallel with the tool spindle. A possible tool magazine, linearly moves between the tool delivery position of the tool exchange arm and the tool delivery position of the tool magazine, carries the tool from the storage portion of the tool magazine to the grip portion of the tool exchange arm, and conversely. The rotation angle for the tool change of the tool change arm can be reduced by configuring the intermediate transfer device to carry out the tool from the tool holding portion of the tool change arm to the tool storage portion of the tool magazine. Since the transfer of the tool between the tool magazine and the tool change arm by the transfer device is performed only by the linear movement of the tool, the tool change time can be reduced.

Further, a machine tool provided with an automatic tool changer according to the present invention is provided with a tool holding means comprising a fixed tool gripping claw and a movable tool gripping claw provided on a tool gripping portion of a tool changing arm, and a tool magazine of the tool magazine. The tool holding means provided with the fixed tool gripping claw and the movable tool gripping claw provided in the tool storage section is configured so that, when they are indexed to the tool delivery position, their tool outlets face each other. Thus, the tool can be transferred only by the linear movement of the intermediate transfer member without changing the attitude of the tool.

Still further, in a machine tool provided with the automatic tool changer according to the present invention, a support element for supporting a tool spindle having a horizontally extending rotation axis is provided so that the tool spindle can be moved horizontally and horizontally in a plane perpendicular to the rotation axis. Supported on the bed so as to be able to move in the vertical and vertical directions and to be able to move forward and backward on the rotation axis, the leg portion stands upright from the bed, and the horizontal portion extends in the horizontal direction above the uppermost position of the tool spindle. The exchange device is provided so that a bridge is provided, a rotation axis of the tool exchange arm is parallel to the tool spindle, and the pair of gripping portions are located forward of a front end of the tool spindle indexed to a tool exchange position. Attached to the horizontal part of the bridge, the rotation of the exchange arm for selectively indexing a pair of gripping parts to a position concentric with the tool spindle during tool change, and the forward and backward movement of the tool spindle cooperate. It is possible to simplify the tool changing mechanism by formation.

Still further, in the machine tool provided with the automatic tool changer of the present invention, the tool has an annular tool holding groove at an intermediate position between a shank portion axially rearward and a front blade mounting portion. A tool holding means for holding the tool by engaging the tool magazine and the tool change arm with the pair of scissors members, which open and close, and the tool outlets are opposed to each other; An intermediate transfer member having a shank grip portion capable of receiving the shank portion of the tool, and aligning the shank grip portion of the intermediate transfer member with the shank portion of the tool on the tool exchange arm indexed to the tool transfer position. A first alignment position, a second alignment position for aligning the shank portion of the tool on the tool magazine indexed to the tool delivery position, a forward position for receiving the shank portion at each of these alignment positions, and With a shift mechanism that moves along a rectangular movement path that connects the retreat position that separates from the shank, it is not necessary to perform a special gripping operation for tool gripping, only a simple movement of the intermediate conveyance member The tool can be delivered and transported.

Furthermore, a machine tool provided with the automatic tool changer of the present invention is capable of rotating about an axis parallel to the axis of the tool spindle, and a pair of tools for supporting the tool in parallel with the axis. A tool exchange arm having a gripping portion, a tool storage having a large number of tool storage portions, capable of rotating and indexing the tool storage portion in a plane parallel to the axis of the tool spindle, and holding a selected tool; A tool magazine indexable so that the axis of the selected tool is parallel to the tool spindle at a tool transfer position with the tool change arm, wherein the tool has a shank portion axially rearward thereof. A tool holding means having an annular tool holding groove at an intermediate position with a front blade mounting portion, wherein the tool exchange arm and the tool magazine engage with the tool holding groove to hold the tool; And the tool The tool holding means is provided in each of the receiving portions, and the tool holding means is constituted by a pair of openable and closable scissors members whose tool take-out openings are opposed to each other at the tool transfer position, and further includes a tool intermediate transfer device. An intermediate transfer member having a shank gripper capable of receiving the shank portion of the tool, and aligning the shank gripper of the intermediate transfer member with the shank portion of the tool on the tool change arm indexed to the tool transfer position. A first alignment position, a second alignment position for aligning the shank portion of the tool on the tool magazine indexed to the tool delivery position, a forward position for receiving the shank portion at each of these alignment positions, and further separating from the shank portion. By being constituted by a shift mechanism that moves along a rectangular movement path connecting the retreat positions, it can be applied as an intermediate transfer device of a tool changing device. Those having features that can.

[0014]

DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described with reference to FIGS. As shown in FIGS. 1 and 2, a basic configuration of a machine tool provided with an automatic tool changer according to the present invention includes columns on guides 2 and 2 fixed on a bed 1 in a left-right direction (X-axis direction). 5 is provided so as to be slidable, and is provided in the vertical direction (Y-axis direction) on both sides of the front surface of the column 5, but the spindle saddle 7 supporting the tool spindle 13 along the ids 6, 6 is slidable in the vertical direction. Supported in the horizontal direction of the column 5 (Z-axis direction)
A ram 9 having a square cross section as a spindle supporting element for rotatably supporting the tool spindle 13 along the guides 11, 11 is slidably supported in the front-rear direction. A swivel table 17 is provided at the front of the bed 1 so as to be able to swivel at a fixed position, and a tool fixed to the tip of the spindle 13 with respect to a workpiece W fixed on the swivel table 17 is moved by a machine tool. Processing is performed while being controlled and moved in the left-right direction (X-axis direction), the vertical direction (Y-axis direction), and the front-rear direction (Z-axis direction).

The column 5 is a guide rail 2 on the bed 1,
The column 5 is slid in the X-axis direction by a feed screw 3 rotated by an X-axis direction feed motor 4, and a space is formed in an intermediate portion of the column 5, and a hollow portion is formed in a vertical portion on both sides of a front surface thereof. A spindle saddle 7 having a tool spindle support element guided and supported along guide rails 6, 6 is rotated by two Y-axis feed motors 15, 15, a Y-axis feed screw 8,
The guide rail 11 is slid in the Y-axis direction (vertical direction) by the main spindle saddle 7 in the horizontal front-rear direction (Z-axis direction).
11 are provided, and along the guide rails 11, 11,
A ram 9 having a quadrangular cross section as a main shaft supporting element is slid by a screw 12 provided below the ram 9 for feeding in the Z-axis direction.

A tool spindle 13 is rotatably supported by the ram 9, and is driven to rotate by a spindle motor 14 provided at the rear thereof. A support member 1 for supporting a tool changing device erected from both sides of the bed 1 is provided immediately before the column 5.
The support member 18 has a tool spindle 13.
A bridge 19 for supporting the tool changer 20 at a position higher than the upper limit position is provided in the horizontal direction. A tool changing device 20 covered by a cover is provided at the left end of the bridge 19, and a large number of tool storage sections are provided on the left side of the column 5, and tools are stored in a plane parallel to the axis of the tool spindle 13. A tool magazine 50 is provided which is rotatable and indexable, and is capable of indexing a tool storage portion for holding a selected tool in a tool transfer position with the tool changing arm 22 in parallel with the tool spindle 13.

Next, the automatic tool changer 20 will be described with reference to FIG.
This will be described with reference to FIG. The bridge 19 is provided with a tool changing device 20 at a tool changing position at the left end. That is, the bridge 19 has the tool change arm 22
Is directly fixed, and a tool changing arm 22 is rotatably supported at the lower end of the supporting member 21. The tool changing arm 22 has a sector shape, and a fixed angle (this angle) Tool grips 23 and 23 'are provided at positions separated by an acute angle in the embodiment. The angle at which the two tool grippers 23, 23 'are arranged depends on the diameter of the tool gripped there, but the smaller the angle, the more the rotation angle of the tool change arm 22 for tool change. It can be made smaller and the tool change time is shortened. In this regard, the conventional straight tool change arm (ie, 18
0 degree), the effect can be obtained if the angle is 180 degrees or less, but it is preferably an acute angle, that is, 9 degrees.
An effect can be particularly expected by setting the angle to 0 degrees or less. The two tool gripping portions 23 and 23 'are pivotally attached to the two tool gripping portions 23 and 23' as fixed tool claws 23a and 23a 'forming a circular tool storage portion having open ends and pins 24 and 24', respectively. The movable gripping claws 23b, 23b 'are urged in the clamping direction by the springs 25, 25', and the open end thereof is formed to have a widened front end so that the tool 60 can be easily fitted. The pair of scissors members hold the gripping groove 63 of the tool.

The tool changing arm 22 is fixed to a rotating member 38 which is rotated by a motor 36 fixed to the supporting member 21 via a reduction gear 37, and is rotated by the rotation of the motor 36. The rotation axis of the tool change arm 22 is parallel to the axis of the tool spindle 13, and a pair of tool gripping portions 23, 23 ′ provided at the end thereof are indexed to the tool change position and are located at positions higher than the front end of the tool spindle 13. A tool changing device 20 is attached to the bridge 19 so as to be located forward, and the tool changing arm 22 does not move in the axial direction. Therefore, at the time of tool change, the tool change arm 2 that selectively indexes and rotates the pair of tool grips 23 and 23 ′ at a position concentric with the tool spindle 13.
The tool change operation is performed by the operation 2 and the forward / backward movement of the tool spindle 13 cooperating with each other.

On the left side of the tool change arm 22, a shuttle arm 30 is disposed as an intermediate transfer member for transferring the tool 60 between the tool holding portions 23 and 23 'of the tool change arm 22 and the tool storage portion 54 of the tool magazine 50. Have been. The upper part of the support member 21 of the tool change arm 22 is the bridge 1
9, a support substrate 34 of the shuttle arm 30 is formed in parallel with the bridge 19, and a guide 33 is fixed in the horizontal direction, and the carriage 32 is horizontally moved by the hydraulic cylinder 35 along the guide 33. It is configured to be able to slide in the
The fluid pressure cylinder 31 extends in a direction parallel to the axis of the tool spindle 13.
Is provided, and the shuttle arm 30 is fixed to the tip of the fluid pressure piston 31 '. The carriage 32 is disposed on both sides of the fluid pressure cylinder 31 in parallel with the axis of the tool spindle 13 and guides a pair of guide bars 30 whose base ends are coupled to the shuttle arm 30 movably in the axial direction. Accordingly, the shuttle arm 30 can be moved by the fluid pressure cylinder 31 in a direction parallel to the axis of the tool spindle 13, and furthermore, can be moved by the fluid pressure cylinder 35 in the left-right direction (X-axis direction). A shank grip 45 for fitting and holding a shank 62 of a tool is provided at the tip of the shuttle arm 30.
Is provided with a holding ball 46 urged by a spring from a direction perpendicular to the tool. The tool 60
Is configured to be held.

The tool magazine 50 is provided on the bed 1 on the left side of the column 5 and includes a pair of upper and lower sprockets 51.
An L-shaped tool storage portion support member 53 is fixed at appropriate intervals on the outer periphery of a chain 52 that is engaged and rotated with a tool storage portion 54, and a tool storage portion 54 is fixed to the tool storage portion support member 53, respectively. In a plane parallel to the axis of the main shaft 13, the tool storage portion 5
4 can be rotated and indexed, so that the axis of the tool 60 indexed to the tool transfer position with the tool change arm 22 is parallel to the axis of the tool spindle 13. (In particular, see FIG. 5). The tool storage portion 54 is, similarly to the tool grip portion 23 of the tool change arm 22, a fixed gripping claw 54 a forming a circular tool storage portion having a free end as a tool gripping means, and a pin 55 pivotally mounted by a pin 55. And a movable gripping claw 54b urged in the clamping direction by 56. The distal end of the movable gripping claw 54b is formed so as to have a widened distal end so that the tool 60 can be easily fitted. The groove 63 is sandwiched. 57 is a tool magazine 5
0 is a backup member provided on the side surface.
2 prevents undesired deflection of the upper tool storage section.

As shown in FIG. 5, each of the tools 60 has a shank portion 62 at the rear in the axial direction and a tool mounting portion 61 at the front.
The tool holding groove 63 in the tool magazine 50 and the fixed holding claws 23 a, 5 a in the tool holding portions 23, 23 ′ of the tool change arm 22.
4a and the movable gripping claws 23b and 54b
And the tool is held.

The tool holding claws 54a and 54b of the tool storage portion 54 of the tool magazine 50 are fixed such that their release directions are directed toward the tool holding portion 23 on the tool change arm 22, and are also at positions where the tool is to be transported. The tool gripping claws 23a and 23b of the tool changing arm 22 indexed to the tool magazine 50 are also fixed so as to face the tool storage portion 54 of the tool magazine 50. That is, at the position of the tool change arm 22 shown in FIG. 3, the tool gripping portion 23 'is a position where the tool is conveyed, and the opening direction of the tool gripping claws 23a' and 23b 'is determined by the direction of the tool magazine 50. The two tool gripping claws 54 a and 54 b in the storage section 54 are disposed so as to face the opening direction. Tool gripper 2 of tool change arm 22
In order to transfer the tool 60 from the tool magazine 3 to the tool storage portion 54 of the tool magazine 50, first, as shown in FIG. 5, the shank grip portion 45 of the shuttle arm 30 is moved to the tool delivery position. The shuttle arm 30 is moved forward (in the direction of arrow A) by the fluid pressure cylinder 31 and the shank grip 45 provided at the tip of the shuttle arm 30 is aligned with the shank 23 of the tool on the exchange arm 22.
2 is held from behind by engaging the biased holding ball 46 with the groove of the tool shank portion.

Next, by moving the shuttle arm 30 to the left (in the direction of arrow B) by the fluid pressure cylinder 35, the tool 61 is moved to the tool gripping claws 23a 'of the tool changing arm.
23b 'is pulled out to the open side, inserted from the tool gripping claws 54a, 54b of the tool magazine against the spring 56 and stopped at a position aligned with the tool gripping means of the tool magazine 50, and the shuttle arm 30 is moved. It is moved backward (in the direction of arrow C) by the fluid pressure cylinder 31 and the shank grip 45 provided at the end thereof is moved to the shank 6 of the tool.
Pull back to 2. The L-shaped support member 53 has a space that allows the grip portion 45 to move rearward. At this time, the tool 60 is easily held by the shuttle arm 30 regardless of the pressing of the holding ball 46 because the tool gripping claws 54a and 54b are engaged with the annular tool gripping groove 63 and are nipped.
Can be removed from the tool shank 62. Finally, the shuttle arm 30 is moved rightward (in the direction of arrow d) by the fluid pressure cylinder 35 to return to the original position. Therefore, the shuttle arm 30 can move the tool from the tool change arm 22 to the tool magazine 50 along the route of arrows A, B, C, and D, that is, the rectangular route as described above.

The transfer of the tool 60 from the tool storage section 54 of the tool magazine 50 to the tool holding section 23 of the tool change arm 22 is the reverse of the cycle just described, that is, first, the shank holding of the shuttle arm 30 is performed. Part 45
Is moved in the direction opposite to the arrow d to align with the shank portion 62 of the tool 60 on the tool magazine 50 indexed to the tool delivery position. This can be accomplished by moving the shuttle arm 30 along the path. Shuttle arm 3
By appropriately combining the operation 0, the index positioning of the tool magazine 30, and the index positioning of the tool change arm 22, the tool can be efficiently transported between them. Since the tool change needs to be performed quickly and as quickly as possible, it is necessary to shorten the moving distance of the tool as much as possible. Therefore, the shapes of the tool change arm 22 and the shuttle arm 30 are devised as shown in FIG. Shape.

The entire tool changing device is provided with a fixed cover 40 fixed to the bridge 19 in order to prevent chips and the like from entering.
Covered by However, since it is necessary to change the tool, there is an opening between the tool spindle 13 and the tool changing arm 22 and between the tool changing arm 22 for transferring the tool by the shuttle arm 30 and the tool magazine 50. Parts 41 and 42 are provided.

When the tool is changed, the tool spindle 13 and the tool change arm 22 must be arranged as close as possible to each other. Therefore, as shown in FIG. It has a notched shape. Since the tool spindle side opening portion 41 faces the machining area, chips enter during machining, and thus need to be covered. Therefore, in the embodiment of the present invention, the opening 41
The movable cover 43 is directly fixed to the side surface of the tool change arm 22 so as to be closed. In this embodiment, the movable cover 43 has a substantially right-angle cross-sectional shape and a shape capable of closing the opening 41 of the fixed cover 40 so that the movement range of the tool spindle 13 is not limited as much as possible. The movable cover 4 capable of closing the opening 41 of the fixed cover 40
3 is directly fixed to the side surface of the tool change arm 22, so that it is not necessary to open and close the movable cover by another mechanism when performing the tool change, and the time is omitted, and the tool change time can be reduced. . Further, in this embodiment, since the tool change arm 22 has a sector shape, the rotation angle for tool change can be made smaller than 180 degrees, so that the tool change time is further shortened. Since the opening 42 on the tool magazine side of the cover device is located on the opposite side of the processing area, there is no need to provide a movable cover. However, in order to prevent intrusion of dust and the like as much as possible, a flexible Some mechanism such as providing a brush may be provided.

Next, the operation of the machine tool provided with the automatic tool changer of the present invention will be described. The machine tool provided with the automatic tool changer according to the present invention is configured such that the tool fixed to the tip of the tool spindle 13 and the column 5 are placed on the bed 5 with respect to the workpiece W fixed on the turntable 17 at the front part of the bed 1 1 is moved in the left-right direction (X-axis direction) of the machine tool by the X-axis direction feed motor 4 along the upper guide rails 2, 2 and guided along the vertical guide rails 6, 6 on both sides of the front surface of the column 5. The supported spindle saddle 7 is moved to the Y-axis direction feed motors 15 and 15.
To move in the Y-axis direction (vertical direction).
Guide rails 11 in the horizontal front-rear direction (Z-axis direction)
Is carried out while being controlled and moved in the front-rear direction (Z-axis direction) by a ram 9 moved by a Z-direction feed screw 12 along the axis. Each motor uses a servomotor, and the entire machine tool is controlled and operated by an appropriate control device such as a numerical control (NC).

Since the automatic tool change operation is typically performed by the tool change cycle shown in FIG. 6, FIG. 6 will be described. 6 (a) to 6 (b)
The operation proceeds to (c) to (h). First, the state (a) shows a state in which the opening 41 of the fixed cover 40 is closed by the movable cover 43 during the machining process using one tool 60a. The tool holding portion (tool holding claw) of the tool changing arm 22 is empty on the side 23 close to the tool spindle 13 for receiving the used tool 60a, and is used next for the other tool holding portion 23 '. Tool 60b is held and is in a standby state. Therefore, the tool 60a
Is completed, the tool spindle 13 is retracted in the Z-axis direction, that is, the tool spindle end face is located behind the tool changing arm 22, and the tool holding groove 63 of the tool is inserted into the tool holding portion of the tool changing arm 22. 23.

Next, in the stage (b), the tool change arm 22 is rotated counterclockwise so that the empty tool gripping portion 23 of the tool change arm 22 is aligned with the tool change position of the tool spindle 13 in the vertical direction. In the direction (θ1). At that position, the tool spindle 13 is raised, and the tool gripping groove 63 of the tool 60a fixed to the end face of the tool spindle is moved to the tool changing arm 22.
(C). Tool 60a
Is engaged with the empty tool gripping portion 23 of the tool change arm 22, the draw bolt of the tool spindle 13 is released, and the spindle 13 is further retracted to completely separate from the tool shank portion 62. In (d), the tool change arm 22 is further rotated counterclockwise (θ2), and the tool change arm 22 is rotated.
The tool 60b to be used next held by the other tool holding portion 23 'is aligned with the axis of the tool spindle 13. At that position, the tool spindle 13 is advanced, the shank portion 62 of the tool 60b is fitted into the tool receiving hole at the tip thereof, and the tool 60b is fixed to the tool spindle 13 with a draw bolt. In (e), the tool spindle 13 is lowered and moved to the next machining position. In this case, the tool holding portion 23 of the tool change arm 22
′ Is, as described above, the tip is opened and the spring 25
The tool 60b can be easily removed from the tool gripping portion 23 'by lowering the tool 60b because the movable gripping claw 23b' is biased in the holding direction.

In (f), the tool spindle 13 further descends,
When the tool change arm 22 is lowered to a position where it does not interfere with the rotation of the tool change arm 22 (including the movable cover), the tool change arm 22
Is rotated clockwise (θ3), and the used tool 60a
Are aligned with the shank grip 45 of the shuttle arm 42 for tool transfer. At that angular position, the shuttle tool 45 is operated to use the used tool 60.
a is returned to the empty tool storage portion 54 of the tool magazine 50 (g). In (h), the tool change arm 22 is rotated counterclockwise (θ4) to return to the first standby position (a), and the shuttle
0c is housed in another tool holding portion 23 'of the tool change arm 22 from the tool magazine. In this state, the opening 41 of the cover 40 of the tool changing device is completely closed by the movable cover 43, and thereafter, the processing by the tool 60b is performed.

The tool change cycle is not limited to the one shown in FIG. 6, and various other tool change cycles are conceivable.
As an example, FIG. 7A to FIG. 7B to FIG.
An operation cycle to the operation will be described. Operations common to the tool change cycle of FIG. 6 are omitted. First, the state of FIG. 7A shows a state in which the opening of the fixed cover is closed by the movable cover 43 during the machining process using one tool 60a. The standby state for exchanging with the tool 60b scheduled to be used is shown. The tool 60b to be used next is gripped by the tool gripping portion (tool gripping claw) of the tool change arm 22 on the tool gripping portion 23 on the side close to the tool spindle 13, and another tool separated from the tool spindle 13 The gripper 23 'is used tool 6
FIG. 6 is empty in order to receive 0a.
Is different from the exchange cycle (a). Therefore, when the machining process using the tool 60a is completed, the tool spindle 13
The position retracted in the Z-axis direction, that is, the tool spindle end face comes after the tool change arm 22, and the tool holding groove 63
Is waiting at a position aligned with the tool gripper of the tool change arm 22.

Next, in the step (b), the tool changing arm 22 is turned so that the empty tool gripping portion 23 ′ of the tool changing arm 22 comes to a position vertically aligned with the tool changing position of the tool spindle 13. It is rotated clockwise (θ3 ′). The rotation angle in this case is larger than the rotation angle (θ1) in the stage (b) of FIG. At that position, the spindle 13 is raised, and the tool 60a fixed to the end face of the tool spindle is engaged with the empty tool holding portion 23 'of the tool change arm 22 (c). In (d), the tool change arm 22 is rotated clockwise (θ2).
Then, the tool 60b to be used next, which is gripped by the other tool gripper 23 of the tool change arm 22, is aligned with the axis of the tool spindle 13. At that position, the tool spindle 13 is advanced, the shank portion 62 of the tool 60b is fitted into the tool receiving hole at the tip thereof, and the tool 60b is moved to the tool spindle 13 by a draw bolt.
Fixed to.

In (e), the tool spindle 13 is lowered,
Move to the next processing position. In (f), the tool spindle 13
Is further lowered to a position where it does not interfere with the rotation of the tool change arm 22 (including the movable cover), the tool change arm 22 is rotated clockwise (θ1), and the used tool 60a Shuttle arm 42 for
To be aligned with the shank gripper 45 of FIG. At that angular position, the shuttle arm 42 is operated to return the used tool 60a to the empty tool storage portion 54 of the tool magazine (g). In (h), in order to align the tool holding portion 23 near the main axis of the tool change arm 22 with a position for receiving the next tool 60c from the tool magazine 50,
The tool changing arm 22 is further rotated clockwise (θ4 ′), and the shuttle
0c is stored in the other tool holding portion 23 of the tool change arm 22 from the tool magazine 50. Then, the operation returns to the initial standby position (a), and thereafter, the processing by the tool 60b is performed.

Although the example of the tool change cycle has been described with reference to FIGS. 6 and 7, these can be appropriately combined. That is, in the state shown in FIG. 7 (g), the tool 60c is
6 (a), the next exchange cycle executes the cycle of FIG. 6, and from the state of FIG. 6 (g) to the state of FIG.
By proceeding to (a) and executing the change cycle of FIG. 7 again, the tool change cycle can be shortened.

(Other Embodiments) In the machine tool provided with the automatic tool changer of the above embodiment, the insertion and removal of the tool from the tool receiving hole of the tool spindle is performed by operating the ram to advance the tool spindle. Although the reversing movement is performed, the reversing movement may be performed by moving the tool changing arm forward and backward in the axial direction. The automatic tool changer of the embodiment is applied to a machine tool having a ram-type spindle as a support element for a tool spindle.However, other types of machine tools, for example, a column itself can be fed left and right as a tool spindle support element. The present invention can be applied to a machine tool of a type that is provided so as to be capable of moving forward and backward in the front-rear direction (Z-axis direction).

[0036]

According to the machine tool provided with the automatic tool changer of the present invention, the tool change arm has two tool grips on a plane perpendicular to the rotation axis of the arm, and the two tool grips have the rotation axis. Are arranged at an angle position smaller than 180 degrees, the rotation angle for tool change can be small, and the tool change time can be shortened. The positions where the two tool grips of the tool change arm are arranged are as follows:
By arranging at an angle position smaller than 90 degrees with respect to the rotation axis, the effect can be further enhanced. The tool moves linearly between the tool transfer position of the tool change arm and the tool transfer position of the tool magazine, loads the tool from the tool storage part of the tool magazine to the tool holding part of the tool change arm, and conversely holds the tool of the tool change arm. By providing an intermediate transfer device that carries out the tool from the unit to the tool storage unit of the tool magazine, it is possible to reduce the time for loading and unloading the tool between the tool storage unit of the tool magazine and the tool holding unit of the tool change arm, The overall tool change time can be reduced. When loading and unloading tools from the tool storage section of the tool magazine and the tool holding section of the tool change arm, the tool holding section of the tool change arm and the tool storage section of the tool magazine are indexed to the tool transfer position. In this case, the tool outlets are directed toward each other, so that it is not necessary to change the attitude of the tool at that position, and the tool can be moved linearly, so that the tool can be transported efficiently.

Further, in the machine tool provided with the automatic tool changer of the present invention, the tool spindle has a rotation axis of the tool exchange arm parallel to the tool spindle, and a pair of tool holding portions indexed to the tool exchange position. Rotation of the tool change arm, which selectively divides a pair of tool grippers into a position concentric with the tool spindle, and forward / backward movement of the tool spindle cooperate during tool change. Since it is configured to work, the tool changing device can be simplified.

Further, in the machine tool provided with the automatic tool changer according to the present invention, the tool is provided with an annular tool holding groove at an intermediate position between the axially rear shank portion and the front blade mounting portion, and the tool holding groove is provided. Since the tool is exchanged using a tool magazine for holding the tool together with the tool holding means of the tool changing arm and the intermediate transfer member having a shank holding portion capable of receiving the shank portion of the tool, each step is performed. The delivery of the tool can be performed smoothly, the trouble can be reduced, and the tool changing operation can be performed efficiently.

Further, in the machine tool provided with the automatic tool changer according to the present invention, the intermediate transfer device between the tool magazine having the above-mentioned effects and the tool change arm is a type other than the tool changer according to the embodiment of the present invention. The tool can be applied as an intermediate transfer device of a tool changing device. In such a case, the above-described effect is exhibited.

[Brief description of the drawings]

FIG. 1 is a plan view of a horizontal machine tool provided with an automatic tool changer according to the present invention.

FIG. 2 is a front view of a horizontal machine tool provided with the automatic tool changer according to the present invention.

FIG. 3 is a front view of the automatic tool changer taken along line III-III of FIG. 1;

FIG. 4 is a longitudinal section of the automatic tool changer partially broken along the line IV-IV in FIG. 3;

FIG. 5 is a sectional view taken along line VV of FIG. 3;

FIG. 6 is an explanatory diagram illustrating one operation cycle of a tool changing operation performed in the order of (a) to (h).

FIG. 7 is an explanatory diagram illustrating another operation cycle that replaces the tool change operation cycle of FIG. 6;

[Explanation of symbols]

 1: Bed 5: Column 13: Tool spindle 22: Tool change arm 23: Tool gripping part 30: Shuttle arm 40: Fixed cover 43: Movable cover 45: Shank holding part 50: Tool magazine 54: Tool storage part 60: Tool 61 : Tool mounting part 62: Shank part 63: Annular tool holding groove

 ──────────────────────────────────────────────────続 き Continuing from the front page (72) Inventor Koichi Sakai 1-1-1, Asahi-cho, Kariya-shi, Aichi, Japan Toyota Machine Works Co., Ltd. (72) Inventor Masanao Kato 1-1-1, Asahi-cho, Kariya-shi, Aichi Prefecture Toyota Koki Co., Ltd. F-term (reference) 3C002 BB03 DD06 EE01 GG02 JJ03 KK01 LL01

Claims (6)

[Claims] 1. A pair of tool grippers rotatable about an axis parallel to the axis of a tool spindle and supporting a tool parallel to said axis at two positions separated by an angle smaller than 180 degrees around the coaxial line. A tool changing arm having a plurality of tool storing portions, a tool storing portion having a plurality of tool storing portions, capable of rotating and indexing the tool storing portion in a plane parallel to the axis of the tool spindle, and holding a selected tool. A tool magazine that can be indexed in parallel with the tool spindle to a tool delivery position with the tool exchange arm, and a linear movement between the tool delivery position of the tool exchange arm and the tool delivery position of the tool magazine, The tool is loaded from the tool storage section to the tool holding section of the tool change arm,
A machine tool equipped with an automatic tool changer, comprising: an intermediate transfer device that conveys a tool from a tool holding portion of a tool change arm to a tool storage portion of a tool magazine. 2. The automatic tool changer according to claim 1, wherein an angle between two positions where the pair of tool grips of the tool change arm is disposed is preferably smaller than 90 degrees. Machine tools. 3. A tool holding portion of the tool change arm and a tool storage portion of the tool magazine are configured such that when they are indexed to a tool delivery position, their tool outlets face each other. A machine tool provided with an automatic tool changer according to claim 1 or 2, further comprising a tool holding means. 4. A support element for supporting a tool spindle having a horizontally extending rotation axis is capable of moving the tool spindle horizontally and horizontally in a plane perpendicular to the rotation axis and moving forward and backward on the rotation axis. The bridge is supported on the bed so that it can move, the leg stands upright from the bed, and the horizontal part is provided with a bridge that extends in the horizontal direction above the uppermost position of the tool spindle, and the rotation axis of the tool change arm is the tool spindle And a tool changing device is attached to the horizontal portion of the bridge so that the pair of tool gripping portions are located forward of the front end of the tool spindle indexed to the tool changing position. The rotation of the tool change arm for selectively indexing the pair of tool grippers to a position concentric with the tool spindle and the forward / backward movement of the tool spindle are configured to cooperate. Or machine tool having an automatic tool changer according to any one of claims 3. 5. The tool has an annular tool gripping groove in the middle between an axially rear shank portion and a front blade mounting portion, and the tool magazine and the tool exchange arm open and close the tool. A tool holding means for holding the tool by engaging the tool holding groove with a pair of scissors members whose outlets are opposed to each other, wherein the intermediate transfer device includes a shank holding portion capable of receiving a shank portion of the tool. An intermediate transfer member having a first alignment position for aligning a shank grip portion of the intermediate transfer member with a shank portion of a tool on a tool changing arm indexed to a tool transfer position; and a tool transfer position. A rectangular movement path connecting a second alignment position for aligning with the shank portion of the tool on the tool magazine, an advance position for receiving the shank portion at each of these alignment positions, and a retreat position for separating from the shank portion Any one of claims 1 to 4, characterized in that it is more configured with a shift mechanism for moving along
A machine tool provided with the automatic tool changer according to the above item. 6. A tool exchange arm rotatable about an axis parallel to an axis of a tool spindle and having a pair of tool holding portions for supporting a tool in parallel with the axis, and a plurality of tool storage portions. The tool storage portion is rotatable and indexable in a plane parallel to the axis of the tool spindle, and the tool storage portion holding the selected tool is selected at the tool transfer position with the tool exchange arm. A tool magazine that can be indexed so that the axis of the tool is parallel to the tool spindle, wherein the tool has an annular tool holding groove in the middle between its axially rear shank portion and the front blade mounting portion. The tool exchange arm and the tool magazine have tool holding means for engaging the tool holding groove and holding the tool in each of the tool holding portion and the tool storage portion, respectively. The tool The mouth is constituted by a pair of openable and closable scissors members opposed to each other at the tool transfer position, and further includes a tool intermediate transfer device, which has a shank grip portion capable of receiving the shank portion of the tool. An intermediate transport member, and a shank gripper of the intermediate transport member,
A first alignment position that aligns with the shank portion of the tool on the tool change arm indexed to the tool transfer position, and a second alignment position that aligns with the shank portion of the tool on the tool magazine indexed to the tool transfer position. An automatic tool changer comprising an advance position for receiving the shank portion at each of these alignment positions, and a shift mechanism that moves along a rectangular movement path connecting the retreat position further separating from the shank portion. Equipped machine tool.