JP2002187038A - Tool replacing device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a tool replacing device in which a next tool can be mounted on the spindle without keeping a tool replacing arm on standby state until a mountable tool pot is indexed, when housing a large diameter in a magazine. SOLUTION: A twin type tool replacing arm is separated. Each of separated arms are composed of a pair of arm members 2A and 2B which can be swiveled independently. The tool replacing device is provided with a swivel fitting member which fits at least one of the pair of arm members and pivot 1, and a connection switching member which comprises a fixed switching member locking either of the pair of arm members 2A and 2B so as not to rotate when the spindle 1 is swiveled. By so doing, whereby an arm member on the side of a next tool is swiveled in advance to be mounted on the spindle.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a tool changer for a machine tool. Specifically, by replacing the twin-arm tool exchange arm with a pair of arm members that allow the two tool gripping portions to separately rotate, the mounting of the tool on the main spindle and the storage of the tool in the magazine can be performed separately. The present invention relates to a tool changer that gives priority to mounting a new tool and reduces waiting time until operation by a machining program.

[0002]

2. Description of the Related Art A tool change arm provided with a pair of tool grippers at both ends of a turning arm turns a predetermined angle (for example, 90 degrees) from a standby position to receive a next tool from a magazine and use the tool from a spindle. The used tool is received at the same time, and then the next tool is turned at the next predetermined angle (for example, 180 degrees) to simultaneously mount the next tool on the spindle and store the used tool in the magazine. Degree) Turn to return the tool change arm to the standby position, and the tool change operation is completed. Therefore, the delivery of the next tool, the magazine of the used tool and the spindle is performed simultaneously by turning the tool change arm. Therefore, two tool grips are provided at the end of the conventional tool change arm to be integrally formed. As a result, efficient tool change work was possible.

[0003] With respect to the exchange of tools with the main spindle, there is often no problem in that there is sufficient exchange space.
However, when the tool is exchanged between the magazine and the tool exchange arm, there is no problem in the case of a standard tool that fits within the pitch of the tool pot. However, when a large-diameter tool is mounted on the main spindle and the next tool in the tool magazine is a standard tool, when the tool is clogged before and after the tool pot of the next tool to be taken out when transferring the magazine and the tool, The large diameter tool cannot be immediately stored in the tool pot. Therefore, whether to perform the operation of indexing the tool pot that can be stored,
It is necessary to provide a ready station as an additional device so that the tool can be replaced regardless of the indexing operation of the magazine.

[0004]

As described in the prior art, when a tool exchange arm is provided between a magazine and a spindle to transfer a used tool and a next tool, the tool pot is continuously connected to a tool pot of the magazine. There is no problem when the standard tools that can be stored are stored. However, when the next tool is a standard tool, there arises a problem that the large-diameter tool cannot be immediately stored in the magazine by removing the large-diameter tool from the spindle.
Therefore, since the tool change arm is stopped at the standby position only for the time to find the magazine pot that can be stored, the mounting of the next tool on the main shaft is delayed, causing a problem that a loss time occurs.

As an apparatus for solving this problem, it has been proposed to provide a ready station capable of mounting a next tool on a spindle without distinguishing between a standard tool and a large-diameter tool irrespective of magazine indexing. However, when the ready station is installed in the vicinity of the magazine or the spindle, it is necessary to design the ready station to be accommodated in a limited space, and the cost of the tool changing device increases.

[0006] The present invention has been made in view of such problems of the prior art, and has as its object the following.
When a large-diameter tool is mounted on the main spindle, the next tool is a standard tool, and the tool pot of the magazine is clogged in both directions, the tool change arm is temporarily stopped at the standby position and fixed.
Only the mounting side arm member of the arm member in which the arm members are separated and each arm is configured to be individually rotatable is independently driven to rotate, the next tool is mounted on the main spindle, and machining by the main spindle can be started. . Here, the arm member refers to a structure including an arm main body and a tool gripper (a so-called gripper). After completing the mounting of the next tool on the main shaft, the mounting-side arm member turns back to the standby position and returns, and the pair of arm members is connected again and turns integrally with the storage-side arm member to turn to the main shaft. The present invention provides a tool changer capable of storing a magazine pot capable of storing a large-diameter tool irrespective of the mounting of the next tool.

[0007]

According to the present invention, there is provided a tool changer comprising: a tool mounted on a spindle by a twin arm type tool change arm provided with tool grips at both ends; In the tool changer of the machine tool for exchanging the tool stored in the tool change arm, the tool change arm includes a pair of arm members each of which is separately rotatable around a rotation axis, and the pair of arm members A connection switching member is provided, which is always rotatable integrally and locks one of the arm members to the fixed part of the machine tool by a command. One arm member is temporarily on standby and only the other arm member is turned. Then, a tool can be mounted on the spindle and machining can be started.

According to the first aspect of the present invention, the normal tool change arm is provided with one tool grip at each end of the swiveling arm, swivels a predetermined angle from the arm standby position, and is housed at one end. Simultaneously grips the next tool and grips the used tool on the spindle at the other end, removes the tool by moving the spindle or tool exchange arm axis in the axial direction, and then the tool exchange arm turns and the next tool becomes the spindle. While the used tool is stored in the tool pot, in the present invention, in addition to these conventional functions, one of the separated arm members is fixedly waited, and the other arm member is gripped by forward and reverse turning. The transfer of the tool is made possible by selecting the operation of the fixed switching member. If there is a problem with storing the tool, temporarily fix the arm on the storage side, turn only the arm on the next tool side, pass the next tool to the spindle, and after returning to the original position, immediately transfer the operation of the spindle system to the machining program. It is possible to put on. Further, while the storage side is fixed, it is possible to store a used tool after giving a sufficient time for indexing a specifiable magazine pot.

The invention according to claim 2 is characterized in that the connection switching member is provided on the body formed on the turning shaft so as to be always urged axially symmetrically with respect to the turning shaft to project therefrom. A pivoting engagement member configured to pivotally rotate the arm member and the pivot shaft integrally when engaged with a guide hole formed in each of the arm members, and a shaft rotatable relative to the pivot shaft. A pair of piston pins provided corresponding to the connection pins are provided on a cylinder block provided so as to be able to move integrally in the center direction and to be prevented from rotating by a mechanical fixing portion, and fix the rotation of one of the arm members identified and specified by a command. And a fixed switching member configured to release the engagement of the connecting pin, and engaging guide holes formed in each of the pair of arm members with the connecting pin for rotation and the piston pin for fixing. To And use is obtained by allowing the fixed and temporary and pivoting of the arm member.

According to the second aspect of the present invention, the arm member is provided between the turning engagement member and the fixed switching member, and the turning shaft and the pair of arm members are individually engaged with the turning engagement member to integrally form the arm member. The used tool and the next tool are transported to the standby position. When the tool outer diameter of the used tool is larger than the standard tool diameter and the standard tool is stored in all of the adjacent magazine pots, the used tool cannot be stored immediately. For this reason, after a magazine pot that can be stored is determined, the tool is stored in the magazine and the next tool is mounted on the main spindle, and the machining start timing of the main spindle is delayed by the time required for the index. Therefore, the storage-side arm is fixed at the standby position to stand by, the turning of the next-tool-side arm is continued, and the next tool is mounted on the spindle to speed up the start of machining. The engagement between the arm member and the turning shaft always uses a connecting pin urged in the axial direction of the turning shaft by a spring, so that the structure is simple and the operation is reliable. In addition, in order to release the engagement by the connecting pin and hold the arm member in a fixed standby state, the piston pin of the fixed switching member is driven to protrude through the guide hole of the arm member to engage and fix the arm member, and at the same time, the connecting pin is engaged. Since the engagement with the turning shaft is released by pushing, it is possible to fix and release the engagement in a short time.

[0011]

DESCRIPTION OF THE PREFERRED EMBODIMENTS Embodiment FIG. 1A is a top view of a tool changer according to the present invention, showing a guide for guiding the vertical movement of a cylinder block and locking the turning. FIG. 1B is a sectional view taken along the line AA of FIG. 1A, and shows the configuration of a pair of arm members and a connection switching member (a turning engagement member and a fixed switching member). The guide 8 is symmetrical with respect to the BB fracture surface. 1 (a) and 1 (b), arm members 2A and 2B which are separately supported on a pivot shaft 1 are
Can be turned in a plane perpendicular to the axis, and the turning shaft 1 and the connecting pins 3A,
The structure of the turning engagement member engaged at 3B is as follows.

The connecting pins 3A and 3B are fitted into holes formed in the body 1a provided on the turning shaft 1 symmetrically with respect to the axis of the turning shaft 1, and are connected in the direction parallel to the axis by springs 4A and 4B. The stoppers 5A protrude from the end surface 1b of the body portion 1a by a predetermined amount and are opposed to each other.
The protrusion amount is determined by 5B. The connecting pins 3A and 3B can be sunk against the urging force by applying a pressing force to the distal end surfaces 3Aa and 3Ba of the protruding portions so as to be flush with the end surface 1b. The turning shaft 1 can turn only the arm members connected by the connecting pins 3A and 3B.

The end faces 2Aa, 2Ab of the arm members 2A, 2B, into which the connecting pins 3A, 3B fit, are opposite to the end faces 2Aa, 2Ba.
A connecting member for temporarily fixing one of the arm members 2A and 2B is provided on the 2Bb side. The connecting member includes a cylinder block 6, pistons 7A and 7B, and a guide 8. The cylinder block 6 is supported on the shaft end of the turning shaft 1. The cylinder block 6 has connecting pins 3A,
Pistons 7A and 7B are provided on an extension of 3B, and pistons 7A and 7B protrude in the directions of end surfaces 2Ab and 2Bb by operating commands (not shown) by independent commands and enter guide holes 2Ac and 2Bc of arm members 2A and 2B. .

The guide holes 2Ac, 2Bc have connecting pins 3A,
3B is pushed out to interrupt the engagement between the turning shaft 1 and one of the arm members 2A, 2B, and one of the arm members 2A, 2B is temporarily fixed by one of the piston pins 7A, 7B. Projection of piston pins 7A and 7B
The retracting actuation device can be selected from hydraulic and pneumatic or electromagnetic devices. The turning shaft 1 is attached to and detached from the main spindle and the magazine pot by the forward and backward movement in the axial direction. Therefore, the turning engagement member and the fixed switching member (except for the guide 8) are formed integrally with the turning shaft 1. The cylinder block 6 of the fixed switching member is freely movable in the axial direction, and a guide 8 for restricting only the turning so as not to turn from the standby position is fixedly provided on the main unit side during this time.

Next, the operation of this embodiment will be described with reference to the drawings. FIGS. 4 (a) to 4 (g) are views for explaining the operation of the individually pivoting arm members 2A and 2B of the present invention.
FIG. 4B is an explanatory view corresponding to FIG. 4D, showing a state in which the arm member 2B is temporarily fixed and the arm member 2A is pivotally engaged.
FIG. 2 corresponds to FIGS. 4 (a), 4 (b) and 4 (c), and is an explanatory view of a state in which both arm members 2A and 2B are pivotally engaged with a connecting pin, and FIG. 3 is FIGS. 4 (f) and 4 (g). FIG. 9B is a view illustrating a state in which the arm member 2A is fixed and the arm member 2B is pivotally engaged. The symbols used in FIGS. 4A to 4G are as follows: → ← is the arm temporarily fixed, ↓ is the pivot axis rise,
↑ indicates the turning axis descending, ● indicates the next tool (TN), and ○ indicates the used tool (TE). FIG. 5 is a flowchart of the operation relating to the tool changing device of the present invention.

First, the operation of the arm members 2A and 2B will be described with reference to the operation explanatory diagrams of FIGS. 4A to 4G, and the turning of the arm members 2A and 2B shown in FIGS. Will be described with reference to FIG. 1B and FIG. FIG. 4A shows that the next tool is mounted on the magazine and the used tool is mounted on the main shaft, and the arm members 2A and 2B are all temporarily fixed and are integrally engaged with the turning shaft 1 (FIG. 2). It is in the standby position without holding the tool. (B), the arm members 2A and 2B turn to the left by 90 degrees, and the tool change arm 2A holds the standard tool from the magazine and the large-diameter tool from the main shaft, respectively. Move in the axial direction and remove the tool.
In (c), it is further turned left by 90 degrees to judge whether or not it can be stored immediately, and stops at the standby position. If the magazine cannot be stored in the magazine, the process proceeds to the next step (d), and a command is issued to index a magazine pot capable of storing a large-diameter tool in the magazine pot. Note that the determination in (c) may be made in advance based on a machining program.

(D) is an arm member 2 for holding a large-diameter tool.
B is temporarily fixed at the standby position (FIG. 1), and the arm member 2A gripping the standard tool pivots toward the main shaft and moves in the axial direction to mount the next tool. In (e), the tool changing arm 2A returns to the neutral position while the arm member 2B is temporarily fixed. In (f), the replacement arm 2A is temporarily fixed (FIG. 3). After confirming the completion of the indexing of the large-diameter tool pot, the arm member 2B turns to the magazine side and moves in the axial direction to store the large-diameter tool in the tool pot. In (g), the tool changing arm 2A is temporarily fixed, and the arm member 2B in which the storing of the large-diameter tool is completed returns to the standby position.

Next, the operation of a pair of arm members for transferring a tool between the magazine and the spindle based on a tool change command will be described with reference to FIG. In step S1,
Processing by the tool mounted on the spindle is completed, and a tool change command is issued to change to the next tool. In step S2, the pair of arm members stop at the standby position [FIG. 4 (a)] and wait in a state where they can turn as a pair. Step S3
In, it is determined whether the tool of the spindle after machining is either a standard tool or a large diameter tool. This judgment information can be obtained from the machining program.

In the case of a standard tool, there is no problem in storing the tool in the magazine. Therefore, the pair of arm members are turned in a pair and then move in the axial direction to mount the next tool on the main shaft, return to the standby position, and A machining command is issued to the spindle [S31, S32]. Step S if not a standard tool
At 4, the pair of arm members rotate together and instruct to temporarily stop at the standby position (FIG. 4C) while holding the collection tool on the spindle side and the next tool on the magazine side in the tool gripping portion. In step S5, a command to fix the storage-side exchange arm is issued, and in step S51, a command is issued to the tool magazine to index a tool pot for a large-diameter tool and wait.

In step S6 following step S5, only the next tool-side exchange arm is commanded to be mounted on the next tool. At step S7, it is confirmed that the next tool is mounted on the main spindle. At step S8, it is confirmed at step S9 that the return of the next tool side exchange arm to the standby position [FIG. 4 (e)] is completed, and the main spindle machining command (step S32) is issued. It becomes possible.
After the next tool side exchange arm returns to the standby position in step S9, a command to temporarily fix the next tool side exchange arm is issued in step S10. At the same time, a command to release the fixation of the large-diameter tool that was at the standby position in step S11 is issued to the cylinder block, and the storage-side exchange arm is engaged with the pivot shaft and the connecting pin to be pivotable.

In step S12, when the rotation of the storage-side exchange arm becomes possible, the index of the tool pot in which the large-diameter tool can be stored is confirmed in step S52 in the magazine. Therefore, in step S13, the large-diameter tool is loaded into the magazine. Storage is performed. In step S14, the arm member after the storage is completed returns to the standby position [FIG. 4 (g)], and in step S15, a command to release the temporarily fixed next tool arm is issued to the cylinder block, and the corresponding piston pin is moved to the arm member. The connecting pin, which escapes from the guide hole and is urged by the spring, fits into the guide hole, engages with the turning shaft, and waits for the next tool change command.

The pair of arm members can be turned when the main spindle tool is a standard tool, and the operation is S1, S2, S3, S
The process proceeds in the order of steps S31 and S32. When the large-diameter tool is mounted on the spindle, the twin-arm type tool changer receives the large-diameter tool and the next tool, temporarily stops at the standby position shown in FIG. The magazine waits until the magazine finds a tool pot capable of storing large-diameter tools without being mounted on the spindle, and then the twin arm turns to mount the next tool on the spindle. Therefore, the mounting of the next tool is delayed by the time required to determine a predetermined tool pot in the magazine, and when the number of large-diameter tools is large, the time cannot be ignored.

In the present invention, the twin-type tool exchange arm is constituted by a pair of arm members, one of which is temporarily fixed, and the other arm member can be turned by the same turning axis. Therefore, a pair of tool exchanges are integrally rotated and driven to stop temporarily at the position shown in FIG. 4 (c), and only the arm member for gripping the large-diameter tool is fixed with the piston pin, and the arm member for gripping the next tool immediately rotates. Then, the next tool can be mounted on the spindle and the machining program can be started. Storing of large-diameter tools is activated by completing the indexing of a tool pot that can store large-diameter tools, storage of large-diameter large-diameter tools, and subsequent indexing of the next tool before the next tool change command is issued. Time can be reduced. Most importantly, it eliminates the time required to index a magazine tool pot to accommodate large diameter tools.

[0024]

According to the tool changing device of the present invention, the twin arm type tool changing arm is constituted by a pair of arm members each of which can be driven to rotate, so that the following effects can be obtained.

According to the first aspect of the present invention, a pair of arm members are supported with a common rotation shaft, and are normally engaged with the rotation shaft and the rotation engagement member so that they can rotate integrally. When only one of the arm members is turned, the exchange arm on the fixed side is fixed by a fixed switching member, and any of the arm members can be turned independently. Therefore, since one arm member can be fixed at the standby position and the other arm member can be pivoted, when a large-diameter tool is mounted on the main shaft, an appropriate tool pot for storing the large-diameter tool can be determined. Without waiting for the required time, only the exchange arm on the side that grips the next tool is turned in advance and the next tool is mounted on the spindle, and the machining program can be started immediately. For this reason, there is an effect that the time required for indexing the tool pot for the large-diameter tool of the magazine can be saved, and the machining efficiency of the machine can be improved.

According to a second aspect of the present invention, in order to secure the effect of the first aspect of the present invention, a common drive for simultaneously rotating the pair of arm members and rotating only one of the exchange arms is provided. The pivot shaft has a guide hole provided in each of a pair of arm members and an engagement with the pivot shaft by a pivot engagement member composed of a connecting pin provided in the pivot shaft, which is provided at a shaft end of the pivot shaft. By projecting and releasing the piston pin of the cylinder block, only one of the tool change arms can be freely turned. Therefore, it is possible to securely fix and turn the pair of arm members by employing the simple turning engagement member and the fixed switching member.

[Brief description of the drawings]

FIG. 1 (a) is a top view of a tool changer according to the present invention, and a guide 8 having a role of guiding the connecting member when the inner cylinder block is moved up and down and stopping the rotation when fixing any arm member. Is illustrated. (B) is an AA cross-sectional view of (a), and illustrates a configuration of a pair of arm members, a turning engagement member, and a fixed switching member.

FIG. 2 is an explanatory view of a state of a turning engagement member in which both arm members 2A and 2B are turned by a connecting pin so as to be able to turn.

FIG. 3 is an explanatory view of a state of a turning engagement member to which an arm member 2A is fixed and an arm member 2B pivotally engages.

FIGS. 4A to 4G show a pair of arm members 2A, 2A;
It is operation | movement explanatory drawing which B turns each.

FIG. 5 is a flowchart showing operations of a pair of arm members, a magazine, and a spindle in the tool changing device of the present invention.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Rotating shaft 2A, 2B Arm member 3A, 3B Connecting pin 4A, 4B Spring 5A, 5B Stopper 6 Cylinder block 7A, 7B Piston pin 8 Guide

Claims (2)

[Claims] 1. A tool changer for a machine tool, wherein a tool mounted on a spindle and a tool stored in a tool magazine are exchanged by a twin-arm type tool exchange arm having tool grips at both ends. The arm is a pair of arm members each of which is separately rotatable about a rotation axis, and the pair of arm members are always integrally and rotatably connected together, and one of the arm members is commanded by a machine tool. A tool for switching between one arm member and the other arm member, and turning the other arm member only to mount a tool on the main spindle and start machining. . 2. A connecting pin provided on said body formed on said pivot shaft so as to be constantly urged axially symmetrically with respect to said pivot shaft to project therefrom. A pivoting engagement member configured to pivotally rotate the arm member and the pivotal shaft integrally when engaged with the provided guide hole, and capable of moving relative to the pivotal shaft and moving integrally in the axial direction; A pair of piston pins provided corresponding to the connection pins on a cylinder block provided to be prevented from rotating by a mechanical fixing portion protrude by a command to fix the rotation of one of the specified arm members, and to engage the connection pins. And a fixed switching member configured to release the stop, and a guide hole formed in each of the pair of arm members is shared for engagement between a pivoting connection pin and a fixed piston pin, and Turning 2. The tool changer according to claim 1, wherein the tool changer is capable of temporarily fixing.