JP2003340669A - Machine tool - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To clean tools in a tool magazine. <P>SOLUTION: A machine tool comprises: a tool magazine 2; a tool spindle 9 of a processing machine 1; a forwarding device for forwarding a tool between the tool magazine 2 and the processing machine 1; and cleaning device 64 for cleaning the tool. The forwarding device is formed of a transferring device 3 for transferring the tool received from the tool magazine 2 and a rotating arm 61 for transposing the tool between the transferring device 3 and the tool spindle 9. The rotating arm 61 is provided with a gripper 62 for gripping the tool, and a transposing device 57 stops the gripper 62 at a first, second, and third stopping positions. The first stopping position is that for delivering the tool between the rotating arm 61 and the transferring device 3, the second stopping position that for delivering the tool between the tool spindle 9 and the rotating arm 61, and the third stopping position for cleaning the tool. The rotating arm 61 stopping at the three stopping positions are provided between the transferring device 3 and the tool spindle 9, and a cleaning step is provided in a tool changing step. As a result, the used tool is quickly cleaned, so that a processing cycle is shortened. <P>COPYRIGHT: (C)2004,JPO

Description

Detailed Description of the Invention

[0001]

TECHNICAL FIELD The present invention relates to a machine tool,
In particular, the present invention relates to a future machine tool having a tool magazine, which is required to have high accuracy and a short machining cycle.

[0002]

2. Description of the Related Art A machine tool having a machining center or a tool magazine is used for turning, drilling,
A tool magazine accommodating a large number of tools is formed in order to perform various processes such as rough cutting and finish grinding. The mainstream of the tool magazine is a chain type conveyor that circulates endlessly. A recent tool magazine that requires an increase in the number of tools and a shortening of the machining cycle is disclosed in JP-A-200
As shown in No. 1-38558, a large number of tools are arranged in a matrix in the vertical and horizontal directions so that the tools move to a stationary type. The stationary tool magazine is advantageous in that the number of stored tools per unit area is large, but the movement and gripping mechanism of the tool carrier used for storing and taking out the tools are complicated.

In the future machine tools, the number of tools will be increased more and more, the machining cycle will be shortened more and more, and the machining will be more and more highly accurate. It is required to improve the accuracy of tool mounting on machine tools by rational introduction of tool cleaning steps in response to higher precision.

[0004]

SUMMARY OF THE INVENTION An object of the present invention is to provide a machine tool capable of improving the accuracy of tool mounting on a machine tool by rational introduction of a tool cleaning step in response to an increase in the number of tools. To provide.

[0005]

Means for solving the problem Means for solving the problem are expressed as follows. The technical matters appearing in the expression are accompanied by parentheses (), and numbers, symbols and the like are added. The numbers, symbols and the like are technical matters constituting at least one embodiment or a plurality of examples of the plurality of embodiments or a plurality of examples of the present invention, particularly, the embodiment or the example. It corresponds to the reference numbers, reference symbols, etc. attached to the technical matters expressed in the drawings corresponding to. Such reference numbers and reference symbols clarify correspondences and bridges between the technical matters described in the claims and the technical matters of the embodiments or examples. Such correspondence / bridge does not mean that the technical matters described in the claims are limited to the technical matters of the embodiment or the examples.

A machine tool according to the present invention comprises a tool magazine (2) supported on a floor surface for positioning and accommodating a large number of tools, a tool spindle (9) of a processing machine (1) supported on the floor surface, A transfer device for transferring tools between the tool magazine (2) and the processing machine (1), and a cleaning device (64) for cleaning the tools
It consists of and. The transfer device comprises a transfer device (3) for transferring the tool received from the tool magazine (2),
A rotary arm (61) for displacing the tool is formed between the transporter (3) and the tool spindle (9). Rotating arm (6
1) has a gripping tool (62) for gripping a tool, and the rotating arm (61) moves the gripping tool (62) to a first stop position and a second position.
Stop at the stop position and the third stop position. The first stop position is a transfer position for transferring a tool between the rotary arm (61) and the transfer device (3), and the second stop position is between the tool spindle (9) and the rotary arm (61). Is a delivery position for delivering the tool, and the third stop position is a cleaning position for cleaning the tool.

A rotary arm (61) which stops at the first stop position, the second stop position and the third stop position is provided between the transfer device (3) and the tool spindle (9) and is used for the tool changing step. A cleaning step is provided so that used tools can be cleaned quickly, resulting in tool cleaning.

A first base (16) fixed to the floor,
A second base (4) fixed to the floor is added.
Tool magazine (2), transfer device (3), rotating arm (6)
1) and the cleaner (64) are supported by the first base (16), and the tool spindle is supported by the second base (4). In the first base (16), the second base (4) is the first base (1
6) It has a vibration isolation characteristic that is vibration isolated from 6). The cleaning step after the tool change and the processing step by the processing machine (1) are simultaneously executed, so that the high accuracy of the processing and the shortening of the processing cycle are simultaneously realized.

The rotating arm (61) is a rotating arm which rotates about a rotation axis center line which is parallel to the main axis of the tool main spindle (9), and the main axis is oriented substantially in the vertical direction, and the rotation arm (61). ) Is a first grip portion (62) for gripping a used tool and a second grip portion (6) for gripping an unused tool.
2) is formed, and the first grip portion (62) and the second grip portion (62) correspond to both outer ends of the rotating arm (61). The third stop position is an intermediate position on the way to the first stop position by rotation of the first grip portion (62), and the intermediate position is lower than the first stop position, and
The midway position is lower than the third stop position.

With such three stop positions, the movement for the displacement of the tool between the tool changing step and the cleaning step is bidirectionally rational. The cleaning device (64) is rotatably supported by the lifting body (67) and the lifting body (67).
Can hold used tools in the stop position 1
It constitutes a pair of rotating brushes (69). During cleaning, the rotating brush (67) rises together with the lifting body (67) toward the used tool at the third stop position. The third stop position is lower than the other stop positions, and the cleaning liquid is reasonably discharged.

The first base (16) is the second base (4).
It is important to additionally have a positioning property for rigidly positioning with respect to.

A positioning base (77) having positioning characteristics is added between the first base (16) and the floor surface.
The positioning base (77) constitutes a first positioning rigid body (99) fixed to the first base (16) and a second positioning rigid body (86) that moves up and down with respect to the floor surface. The second positioning rigid body (86) is driven up and down by a rigid body driver (97).

The second positioning rigid body (86) is joined to the first positioning rigid body (99) to support the first positioning rigid body (99) and the first positioning rigid body (99) is separated from the first positioning rigid body (99). Selectively move up and down to a free position that frees the positioning rigid body (99). With such a selection function, the operation of the processing machine side and the operation of the tool magazine side can be linked and controlled independently.

The first positioning rigid body (99) has a first positioning surface (102) joined to the second positioning rigid body (86), and the second positioning rigid body (86) is attached to the first positioning rigid body (99). It has a second positioning surface (103) to be joined. During operation of the cleaner, the first base (16) and the second base (4) are vibration isolated.

During the operation of the cleaner (64) and the transfer device (3), the first base (16) and the second base (4).
Is vibration isolated. After exchanging the used tool and the unused tool between the first stop position and the second stop position, machining is started, and the used tool is moved to the third position according to the vibration insulation condition.
Returning to the position for cleaning can further shorten the processing cycle.

[0016]

DESCRIPTION OF THE PREFERRED EMBODIMENTS Corresponding to the drawings, in the embodiment of a machine tool according to the present invention, a processing machine arranged in a machining area is provided together with a tool magazine arranged in a tool storage area. A transfer device 3 is arranged between the processing machine 1 and the tool magazine 2 as shown in FIG.

The processing machine 1 forms a fixed bed 4 which is firmly supported on the floor surface. Guide surface 5 on the upper side of bed 4
The movable bed 6 is movably mounted via the. The spindle head 7 is arranged to be supported by a spindle head 8 standing on a front-rear moving table (not shown) on the bed 4. The spindle 9 is rotatably supported by the spindle head 7.

A tool changing arm 11 is arranged on the headstock 8. The tool exchanging arm 11 is composed of a rotary shaft 12 supported by the spindle head 7, both side arms 13 rotating integrally with the rotary shaft 12, and both side gripping fingers 14. The both-side gripping fingers 14 have fork-shaped fingers 15 which are open on the same circumference in the same circumferential direction and can grip a tool described later. If both arms 13 rotate at an angle of 180 degrees, one fork-shaped finger 15 rotates between the positions of the other fork-shaped finger 15 before rotation, and the fork-shaped fingers 15 on both sides rotate in a 180-degree rotation phase. Separated in the direction of rotation.

The tool magazine 2 forms a base frame 16 which is supported on the floor, as shown in FIG. The base frame 16 extending in the X-axis direction is a base 17 for positioning and supporting the floor surface or the base 1 for vibration isolation
It is supported through 8. Two columns 19 stand up from the base frame 16 in the Y-axis direction (vertically upward direction) at both end portions of the base frame 16. Ceiling frame 2
1 is supported by the upper end surface of the column 19. The ceiling frame 21 extends in the X-axis direction.

A plurality of tool storage rotary plates 22 are rotatably supported between the base frame 16 and the ceiling frame 21. A lower end portion of each tool storage rotary plate 22 is rotatably supported by the base frame 16 via a supporting rotary shaft 23. Each tool storage rotating plate 2
The upper end portion of 2 is coupled to the rotation driving rotary shaft 24. A plurality of rotation two-position control motors 25 are placed on the ceiling frame 21. The rotary 2 position control motor 25 may be replaced with a rotary 2 position constrained rotary air cylinder. The output shafts of the plurality of rotation two-position control motors 25 correspond to the above-described rotation driving rotation shafts 24, respectively. Both the front and back surfaces of the tool storage rotary plate 22 are formed as vertical planes.

The plurality of tool storage rotary plates 22 are independent of each other and rotate in reverse, and can take only two different rotational positions at 180 degrees. On one tool storage rotary plate 22, a large number of tool storages 26 that are arranged at equal intervals in the vertical direction on the front side are fixed. As shown in FIG. 1, a single tool storage rotary plate 22 is fixed with a large number of tool storages 26 arranged on the back side thereof at equal intervals in the vertical direction. The tool storages 26, which are respectively arranged on the front and back sides of the four tool storage rotary plates 22, have a fixed position in the height direction defined with respect to a reference plane 27 provided on the base frame 16. All tools have a tool side reference partial cylindrical surface of the same diameter, and the tool container 26 has a container side cylindrical surface of the same diameter that matches the tool side reference partial cylindrical surface.

The central axis 28 (see FIG. 2) of the container side partial cylindrical surface of all the tool containers 26 has a height position defined with respect to the reference plane 27. The reference plane 27 is oriented in the horizontal direction in a strict two-dimensional manner, the central axis lines of the container side partial cylindrical surfaces of all the tool containers 26 are parallel to each other, and are horizontal to each. Oriented parallel to the X-axis direction. All tool stores 26 are congruent with each other.

FIG. 3 shows the details of the tool storage 26. The tool storage device 26 includes a first plate portion 31 extending in a direction (Z-axis direction) orthogonal to the tool arrangement surface 29 (parallel to the XY plane) 29 of the tool storage rotary plate 22, and FIGS. )
, The second plate portion 32 extending in the X-axis direction is formed. The second plate portion 32 is the first plate portion 3
1 is integrally formed and joined.

As shown in FIG. 4, the structure of the tool T is the same as that of the prior art, and includes a blade portion 33, a grip portion 34 to be gripped at the time of transfer, and a mounting portion 35 to be mounted on the spindle head.
And the centering portion 36 are integrally formed.
The blade portion 33 is various and different from each other in each of various tools. The centering portion 36 is a portion having the smallest diameter among all portions of the tool T except the blade portion 33.

As shown in FIG. 3, the center portion 36 cannot pass through the first plate portion 31, but the smallest diameter portion 37 between the center portion 36 and the mounting portion 35 (see FIG. 4).
Small diameter hole 38 through which the centering portion 36 can pass, a small diameter hole 38 through which the centering portion 36 can pass, and a small diameter hole 38 and a large diameter hole 39
And a connection hole 39 'through which the smallest diameter portion 37 can pass is connected. A straight line connecting the center of the small diameter hole 38 and the center point of the large diameter hole 39 is oriented in a direction (Z-axis direction) orthogonal to the tool array surface 29.

The tool T in the storage position shown in FIG.
Is the direction away from the tool storage rotary plate 22 (Z-axis direction)
To the tool storage 26 after moving to the X-axis direction.
Can be pulled out of. The storage position of the tool T is the first
The first positioning surface 41, which is the back surface of the plate portion 31 and is in contact with the end surface of the mounting portion 35, and the cylindrical surface, which is the outer peripheral surface of the grip portion 34, make line contact with each other and are defined with respect to the second plate portion 32. It is strictly defined by the positioning surface 42.

As shown in FIG. 4A, the grip portion 3
The end surface of 4 is pressed in the X-axis direction by the pressing plate 43, and the end surface of the mounting portion 5 is always in contact with the back surface of the first plate portion 31 and abuts against it. The surface always contacts the second positioning surface 42 defined for the second plate portion 32. The pressing plate 43 has a force sufficiently large to move the tool T forward, but elastically deforms to prevent the tool T from moving forward and backward with respect to the tool storage rotary plate 22. There is no such thing. The pressing plate 43 may be provided in an open / close type instead of a deformable type.

As shown in FIG. 2, the tool transfer column 45 stands up from the base frame 16 and is supported by the base frame 16. The tool transfer column 45 is fixed to the upper surface or the side surface of the ceiling frame 21 and has an upper X-axis direction guide track 46 (see FIG. 1) that extends in the X-axis direction, and a lower side that is fixed to the upper surface of the base frame 16 and extends in the X-axis direction. It is supported by the X-axis direction guide track 47 (see FIG. 1). Upper X
The axial guide track 46 is provided as a racked rail.

An X-axis direction drive servomotor 48 is arranged on the top of the tool transfer column 45. The output shaft of the X-axis direction drive servomotor 48 has an upper X-axis direction guide track 4 via a reduction gear (not shown) and a gear (not shown).
It meshes with the rack of 6. Based on the numerical control output of the X-axis direction drive servomotor 48, the tool transfer pillar 45
It can move forward and backward in the X-axis direction and can be fixedly stopped at any position in the X-axis direction.

A tool transfer arm 49 is attached to the tool transfer column 45.
Is arranged so that it can be raised and lowered. The tool transfer arm 49
An elevating body 51 that is vertically moved (in the Y-axis direction) by being guided by a Y-axis direction guide track (not shown) fixed to the tool transfer column 45, and a Z-axis direction supported by the elevating body 51. The servo motor 52 (see FIG. 1) and a tool gripping arm 53 that is driven by the Z-axis direction servo motor 52 and can move forward and backward in the Z-axis direction.

As shown in FIG. 2, a Y-axis direction drive servomotor 54 is arranged above the tool transfer column 45. At the lower part of the tool transfer column 45, the floating pulley 55
Are arranged. A belt (not shown) between the drive pulley (not shown) coupled to the output shaft of the Y-axis direction drive servomotor 54 via a speed reducer and the idle pulley 55.
Is orbiting. One part of the belt is connected to the lifting body 51.

Based on the numerical control output of the Y-axis direction drive servomotor 54, the lifting / lowering body 51 can be moved forward and backward (raised / lowered) in the Y-axis direction and fixedly stopped at any position in the Y-axis direction. it can. At the tip portion of the tool gripping arm 53, a gripping portion 5 for transfer that can receive and grip the tool T is provided.
6 is formed. The tool T can easily enter the transfer gripping portion 56 and easily separate from the transfer gripping portion 56.

As shown in FIG. 1, a transfer arm 57 is arranged on the side surface of the column 19. Transfer arm 57
Is a fixed base 60 fixed to the side surface of the column 19 shown in FIG. 1 or 2, a fixed shaft 58 supported by the fixed base 60, and a rotating arm rotatably supported by the fixed shaft 58. And 61. The rotating arm 61 has the structure shown in FIG. 5, FIG. 6, FIG. 7, or FIG.
The rotary shaft 59 is rotatably supported by the fixed shaft 58 shown in FIG. The rotating shaft 59 is position-controlled by a four-position control motor (not shown) installed in the fixed base 60 to rotate. On the rotating shaft 59,
Four shield plates 90 arranged radially are attached. Transposition gripping portions 62 are formed at both end portions of the rotating arm 61. The transposition gripping portion 62 can positively grip the mounting portion 35 of the tool T and positively cancel the gripping.

The rotary arm 61 can be selectively stopped at two rotational positions different by 180 degrees about the rotational axis centering in the X-axis direction. The two centerline positions of the two transposition gripping portions 62 that stop at the transposition position in the X-axis direction are on the same horizontal plane.

The rotary arm 61 is preferably stopped in a vertical position after a 90 degree swing for cleaning the tool T. As shown in FIG. 2, a cleaning area 63 is provided. FIG. 5 shows the cleaning device 6 arranged in the cleaning area 63.
4 is shown. The cleaner 64 includes a casing 65 that surrounds the rotary arm 61, a lifting cylinder 66 fixed to the casing 65, a lifting body 67 that is supported by a lifting portion of the lifting cylinder 66 and moves up and down, and a lifting body 67. Cleaning motor 68, a cleaning brush 69 coupled to the output shaft of the cleaning motor 68, a lifting cylinder 66, a lifting body 67, and a lid casing 71 surrounding the cleaning motor 68. FIG. 6 shows the cleaning position. The elevating body 67 is raised, and the cleaning brush 69 is raised to the cleaning position. The tool T to be cleaned is rotationally lowered to the cleaning position which is the lowest position.

As shown in FIGS. 7 and 8, the cleaning brush 69 is formed as a set of two rotating brushes arranged in the X-axis direction. The casing 65 is formed in a partial cylindrical body, and a part of the partial cylindrical body is formed as a ceiling lid 72. At the axial end surfaces (both end surfaces in the X-axis direction) of the casing 65, the back cover 73 shown in FIG. 6 and the front cover 71 shown in FIG. 5, the rotary shaft 59 of the rotary arm 61, and the four shields are provided. The plate 90 is arranged. With the rotation of the rotating arm 61, the shield plate 90 also rotates at the same time,
It is possible to form a closed space by the two shield plates 90 sandwiching the two opposing gripping portions 62 for transposition, the back cover 73, the front cover and the casing 65. This closed space is formed at the cleaning position (the position of Tj in FIG. 9) after turning 90 degrees, and the scattering of chips during cleaning can be prevented. As shown in FIG. 8, the rotating shaft 59, which rotates integrally with the rotating arm 61 by receiving the rotational force from the above-described four-position control motor, is rotatably supported by the fixed shaft 58.

As shown in FIGS. 7 and 8, the cleaning portion casing 75 is arranged so as to be connected to a partial cylindrical body forming the casing 65. The lift 67 is surrounded by the cleaning unit casing 75 and moves up and down in the Y-axis direction. The cleaning liquid discharge duct 76 has an open top connected to the bottom of the cleaning unit casing 75.

FIG. 9 shows details of the positioning support base 17. The positioning support base 17 is configured as a vibration insulation free type fixed supporter 77. The vibration-isolation-type fixed supporter 77 constitutes a base body 81 that is firmly fixed to the concrete floor 78 with anchor bolt sets 79. The anchor bolt set 79 includes an anchor 82 embedded in a concrete floor and a head nut (bolt head) 83 screwed into the anchor 82.
And an anchor bolt 84 that strongly presses the base main body 81 against the floor surface.

The base body 81 is integrally formed with the cylinder body 85. A plunger (piston) 86, which is slidably movable in the vertical direction (Y-axis direction) in the cylinder body 85, is fitted in the cylinder body 85. The plunger 86 is composed of a large diameter portion and a small diameter portion. The cylinder body lid 87 has a lower surface that forms a discharge side cylinder chamber 88 with the upper surface of the small diameter portion of the plunger 86.

The guide column 89 penetrates the plunger 86 in the vertical direction and is screwed into the base body 81. A first O-ring 91 is fitted between the inner peripheral surface of the cylinder body 85 and the outer peripheral surface of the large diameter portion of the plunger 86.
The second O-ring 92 is fitted between the inner peripheral surface of the plunger 86 and the outer peripheral surface of the guide column 89.

An inlet 93 for introducing a working fluid is formed between the lower surface of the plunger 86 and the upper surface of the base body 81. A working fluid introduction path 94 that communicates with the introduction port 93 and opens on the side surface of the base body 81 is formed in the base body 81. Working fluid supply tube 96 having a connection port 95 connected to an outer opening of the working fluid introduction path 94
Is connected to the discharge port of the pump 97. Pump 97
Is driven by the electric motor 98 and discharges the working fluid from one port and sucks it from the other port.

A positioning reference rigid body 99 is arranged on the side of the base frame 16. The positioning standard rigid body 99 is
A plurality of fixing bolts 101 are provided on the lower surface of the base frame 16.
It is firmly attached by. The guide column 89 penetrates the base frame 16 and the positioning reference rigid body 99. The lower surface of the positioning reference rigid body 99 and the upper surface of the small diameter portion of the plunger 86 are formed on the first joint surface 102 and the second joint surface 103, respectively. The second joint surface 103 is formed as a convex surface (convex conical surface) upward in the vertical direction, and the first joint surface 102 is formed as a concave surface (concave conical surface) upward in the vertical direction. The first joint surface 102 may be mated with the second joint surface 103 and joined to each other.

A working fluid discharge passage 105 through which the working fluid is discharged from the discharge side cylinder chamber 88 is formed in the cylinder body lid 87. The working fluid discharge tube 107 having the connection port 106 connected to the outer opening of the working fluid discharge passage 105 is connected to the suction port of the pump 97.

When the electric motor 98 drives the pump 97, the working fluid discharged from the pump 97 is introduced into the base main body 81 through the working fluid supply tube 96, and the working fluid in the discharge side cylinder chamber 88 is actuated. The fluid is sucked into the suction side of the pump 97 through the working fluid discharge tube 107, and the lower surface of the plunger 86 is pushed by the pressure in the base body 81 to rise in the cylinder body 85 against gravity. To do. As shown in FIG. 10, the plunger 86 does not rise upward from the raised position (fixed position) where the upper surface of the large diameter portion of the plunger 86 contacts the lower surface of the cylinder body lid 87. The lower surface of the plunger 86 has a positioning surface 10 that defines a vertical (Y-axis direction) fixed position.
8 is important.

The base frame 16 is made up of the positioning reference rigid body 9
It is mounted and supported on the plunger 86 positioned via 9 and is fixed to the fixed position which is the supporting position.
Such vibration-isolation-type fixed supports 77 are arranged at a plurality of places (at least three places), and the base frame 16
Are fixed three-dimensionally at fixed positions. The above-mentioned three-dimensional orthogonal coordinate system XYZ is fixedly set in the tool magazine 2 at such a fixed position.

Used tools T-j used during machining
Is disengaged from the main shaft 9, is grasped by the both-side grasping fingers 14 on one side of the tool exchanging arm 11 and is rotationally transferred, and one of the standby positions (positions in FIGS. 1 and 7) of the transfer arm 57 is displaced. It is delivered to the grip portion 62. Such delivery is known. At this time, the unused tool T- (j + 1) used next in the processing machine 1 has already been transferred.
It exists in the other grip portion 62 for transposition of the standby position.

After the tool change arm 11 has returned to the standby position before starting shown in FIG. 1, the rotary arm 61 of the transfer arm 57 moves in the specified rotational direction (in the present example, clockwise in FIG. 1). Rotate. The rotation angle is set to 90 degrees. The rotating arm 61 rotates to the cleaning position shown in FIG. 6 by such 90 ° clockwise rotation and stops at the cleaning position. In the cleaning position, the used tool T-j is located below and the unused tool T- (j +
1) exists in the upper position.

When the used tool T-j is converted to the cleaning position shown in FIG. 8, the lifting cylinder 66 operates, the lifting body 67 moves up, and the cleaning brush 69 is at the specified position. Ascend to position. The cleaning motor 68 is started, and the used tool T-j is sandwiched between the brushes on both sides of the cleaning brush 69 and cleaned. To clean it,
Cleaning fluid is used. The cleaning liquid droplets blown off by the centrifugal force by the rotating brush do not fly to the outside of the protective wall composed of the casing 65, the lid casing 71, and the cleaning portion casing 75.

After cleaning for a prescribed time, the lifting cylinder 66 operates in the reverse direction, the cleaning motor 68 stops, and the lifting body 67 descends to the standby position. The cleaning liquid is returned from the bottom of the cleaning unit casing 75 to the cleaning liquid recovery circulation tank through the cleaning liquid discharge duct 76. The cleaning liquid is ejected from above the cleaning brush 69 (not shown).
Is discharged to the center line region of the cleaning brush 69.

After completion of cleaning, the rotary arm 61 is further
Rotate clockwise at a rotation angle of 0 degrees. The unused tool T- (j + 1), which has been rotated from the standby position to the supply position at a total rotation angle of 180 and transferred to the transfer position, is received by the rotating operation of the tool exchanging arm 11 to cause the tool exchanging arm 1 to move.
1 and is provided to the processing machine 1. The used tool T-j, which is rotated at a total rotation angle of 180 from the standby position to the return position and transferred to the transfer position, is transferred to the tool transfer arm 49 in synchronism with such transfer. become.

Before the time when the unused tool T- (j + 1) is passed to the processing machine 1 or before the time when the unused tool T- (j + 1) is passed to the tool changing arm 11, the positioning support base 17 ( The vibration-isolation-type fixed supporter 77) operates, the electric motor 98 maintains the driving state, the plunger 86 rises, the second joint surface 103 joins to the first joint surface 102, and the base frame 16 Is supported by a plunger 86 positioned in the height direction (Y-axis direction) by a cylinder body lid 87.

The base frame 16 supported by the plunger 86 in the raised position is geometrically and mechanically positioned with respect to the plunger 86. In the positioned state, the tool magazine 2 and the transporter 3 mounted on the base frame 16 can be absolutely described by three-dimensional Cartesian coordinates fixed to the base frame 16. Processing machine 1
Since the base frame 16 and the base frame 16 are both fixed to the floor, the three-dimensional coordinate system fixed to the base frame 16 can completely describe the processing machine 1.
Therefore, the transfer arm 57 supported by the base frame 16 via the support column 19 and the processing machine 1 are described in the absolutely same coordinate system, and the above-mentioned transfer operation is executed with high positioning accuracy. Has been done.

At the end of such a transfer operation, the tool transfer arm 49 is already on standby at the specified position. The tool gripping arm 53 advances forward (Z axis positive direction) to a specified advance position. Transposition gripping part 6 of the tool changing arm 11
A tool part different from the tool part gripped by 2 enters the transposition grip part 62. Due to the relative penetration of the displacement gripping portion 62 and the transfer gripping portion 56 of the tool gripping arm 53, the tool mechanically and automatically transfers the gripping portion 56.
Is gripped by.

The forward movement of the transfer gripping portion 56 is detected by a sensor (not shown), and a detection signal of the sensor is sent to a gripping claw of the transfer gripping portion 62 of the transfer arm 57 via a control device (not shown). A grip cancellation signal is transmitted (not shown). The transposing grip portion 62 retracts its grip claw based on the grip cancellation signal. By the grip release operation of the grip claw, the tool can be detached from the transposition grip portion 62. The tool gripping arm 53 retracts to the standby position before starting. The tool is gripped by the transfer gripping portion 56 of the retracting tool gripping arm 53.

At this point, the electric motor 98 is stopped.
A stop signal indicating that the electric motor 98 has stopped is transmitted from the electric motor 98 to the processing machine 1. The stop signal coincides with the processing prohibition cancellation signal for canceling the prohibition signal for prohibiting the processing of the processing machine 1. When the electric motor 98 is stopped, the pressure of the base body 81 drops, and the positioning reference rigid body 99 of the base frame 16 pushes down the plunger 86. The base frame 16 is supported on the floor via a vibration insulating base 18. The vibration insulating base 18 is the floor and the base frame 1
It has a vibration isolation function of isolating between 6 vibrationally.
The time at which the vibration isolation function appears coincides with the time at which the processing prohibition cancellation signal is generated. In the vibration isolation state, the processing machine 1 again starts the processing of the next process by using the unused tool T- (j + 1).

It is possible that the transporter 3 supported on the base frame 16 which is vibration-insulated from the processing machine 1 can be operated during the operation of the processing machine 1. Such vibration isolation is not necessary when the processing of the processing machine 1 is a finishing process which does not require high precision like the finishing process. During the vibration isolation operation, the tool replacement preparation operation by the transfer device 3 is executed.

Transfer gripping portion 56 of tool gripping arm 53
Grips the blade portion 33 of the tool T. Due to the synchronous double-acting of the X-axis direction driving servo motor 48 and the Y-axis direction driving servo motor 54, the tool transfer arm 49 causes any one of the reference positions of all the tools arranged in a matrix. It is possible to move to the XY coordinate point which is the reference position. The used tool T-j is transferred to the coordinate point (X, Y) which was originally located in the tool magazine 2 but is currently an empty address.

The tool holding arm 53, which is supported by the tool transfer column 45 which moves in the X-axis direction and moves up and down in the Y-axis direction by the Y-axis direction drive servomotor 54, has a target coordinate point (X, Y).
Stop at. The tool gripping arm 53 moves the target coordinate point (X,
Y) in the negative direction of the Z-axis, and then in the negative direction of the X-axis in the same direction as the tool transfer column 45, and the center portion 36 of the tool T-j.
And the minimum diameter portion 37 enter the large diameter hole 39 shown in FIG. 3, and then the tool T-j retracts integrally with the tool gripping arm 53 that retracts in the negative direction of the Z axis, and the tool T-j. The smallest-diameter portion 37 of the tool retracts through the connection hole 39 ′ to the small-diameter hole 38, and is stably supported by the tool storage 26.

Next, the tool gripping arm 53 advances in the positive direction of the X axis. When the tool gripping arm 53 is advanced in the X-axis direction, the centering portion 36 of the tool T is blocked by the small diameter hole 38 of the tool storage 26, and the tool T-j cannot move forward. It is possible to get out of the tool gripping arm 53 and hold the storage position in the tool storage 26. The tool gripping arm 53 that has returned to the XY two-dimensional movement plane that is parallel to the XY plane and is the reverse of the above-described movement path toward the storage position stores the next designated tool T (j + 2). Head to another target coordinate point.

Z-axis negative movement of the tool gripping arm 53,
The tool gripping arm 53 is defined with respect to the transfer arm 57 by a combined motion of gripping the new tool T (j + 2), Z-axis positive direction movement, X-axis positive direction movement, and Y-axis direction movement. It returns to the standby position and waits until the next tool change. The vibration generated by the movement of the tool gripping arm 53 and generated in the tool magazine 2 is insulated by the vibration insulating base 18, and is not transmitted to the processing machine 1.

XY tool array surface 2 on which tool groups are arrayed
9 are formed as the front and back surfaces of the tool storage rotary plate 22. The reference coordinate point of the tool storage device 26 that supports and stores the tool group stored on the tool arrangement surface 29 on the front side of the tool storage rotary plate 22 is the tool group stored on the tool arrangement surface 29 on the back side of the tool storage rotary plate 22. In relation to the reference coordinate point of the tool storage device 26 that supports and stores the tool storage device 26, the tool storage device 26 is rotationally symmetrical with respect to each other by 180 degrees of rotation (the tool storage device 26 on the back side can be rotated by 180 degrees and the tool on the front side can be rotated). Jointly geometrically overlaps the container 26). The unique coordinate points of all the tool storages 26 are input to a control device (not shown) that controls a moving mechanism that moves the tool gripping arm 53.

Since all the tool storage rotary plates 22 are individually and independently rotated and controlled by the rotation 2 position control motor 25, the control variables (rotation position command value variables) of the rotation 2 position control motor 25 are independently set. Since a value can be given and the adjustment of the control rotational position is executed individually, it is not necessary to carry out mechanical adjustment of all the tool storage rotary plates 22 in a chain, and the adjustment is easy. Even when a new tool storage rotary plate 22 is additionally installed, mechanical adjustment is performed only on the additional tool storage rotary plate 22 and a value is set for the corresponding control variable of the rotary 2 position control motor 25. By setting
It is possible to easily adjust only the additional amount, and the additional amount can be adjusted by adjusting the other tool storage rotary plate 22 and the rotary 2 position control motor 25.
Does not affect. Such simplicity of expansion facilitates the evolution of machine tools in the future, where process changes, tool changes, and various changes in machining targets are expected.

[0063]

The machine tool according to the present invention can cope with an increase in the number of tools, and the presence of the cleaning step makes it possible to cope with an increase in precision and an increase in the number of tools.

[Brief description of drawings]

FIG. 1 is a left side view showing an embodiment of a machine tool according to the present invention.

FIG. 2 is a front view of FIG.

FIG. 3 is a right side view showing a support device.

FIG. 4A and FIG. 4B are front views respectively showing two accommodation states of the accommodation device.

FIG. 5 is a front cross-sectional view showing a cleaning device.

FIG. 6 is a front sectional view showing an operating position of the cleaning device.

FIG. 7 is a right side view showing the cleaning device.

FIG. 8 is a right side sectional view showing an operating position of the cleaning device.

FIG. 9 is a cross-sectional view showing a supporter.

FIG. 10 is a cross-sectional view showing an operating position of a supporter.

[Explanation of symbols]

1 ... Processing machine 2 ... Tool magazine 3 ... Transporter 4 ... Second base 9 ... Tool spindle 16 ... 1st base 57 ... Transposition device (rotating arm) 62 ... Gripping tool (first gripping portion, second gripping portion) 64 ... Cleaner 67 ... Lifting body 69 ... Rotating brush 77 ... Positioning base 86 ... Second positioning rigid body 97 ... Rigid body driver 99 ... First positioning rigid body 102 ... First positioning surface 103 ... Second positioning surface

   ─────────────────────────────────────────────────── ─── Continued front page    (72) Inventor Hiroaki Sasai             130 Rokujizo, Ritto City, Shiga Mitsubishi Heavy Industries             Machine Tool Division Co., Ltd. F-term (reference) 3C002 AA05 BB08 FF03 FF09 HH09                 3C011 BB11

Claims (10)

[Claims] 1. A tool magazine supported on a floor surface for positioning and accommodating a large number of tools, a tool spindle of a processing machine supported on the floor surface, and a tool transfer between the tool magazine and the processing machine. A transfer device for cleaning the tool, the transfer device for transferring the tool received from the tool magazine, and the transfer device for transferring the tool between the transfer device and the tool spindle. And a rotating arm for holding the tool, wherein the rotating arm stops the holding tool at a first stop position, a second stop position and a third stop position, The first stop position is a transfer position for transferring the tool between the rotary arm and the transfer device, and the second stop position is for transferring the tool between the tool spindle and the rotary arm. Delivery The machine tool is a position, and the third stop position is a cleaning position for cleaning the tool. 2. A first base fixed to the floor surface, and a second base fixed to the floor surface, wherein the tool magazine, the transfer device, the rotating arm, and the cleaning device are the first base. The first spindle is supported by one base, the tool spindle is supported by the second base, and the first base has a vibration insulation characteristic in which the second base is vibrationally insulated from the first base. Machine tool. 3. The rotating arm rotates about an axis of rotation which is parallel to the main axis of the tool spindle, the main axis is oriented substantially vertically, and the rotary arm holds a used tool. A first grip portion and a second grip portion for gripping an unused tool are provided, the first grip portion and the second grip portion correspond to outer end portions of the rotary arm, and the third stop position is , The first gripping portion is an intermediate position on the way to the first stop position by rotating, the intermediate position is lower than the first stop position, and the intermediate position is the third stop position. The machine tool according to claim 1 or 2, which is in a lower position. 4. The cleaning device includes an elevating body and a rotary brush of one to two body rotatably supported by the elevating body and capable of holding a used tool in the third stop position. The machine tool according to claim 3, wherein the brush is raised together with the lifting body toward the used tool at the third stop position during cleaning. 5. The machine tool according to claim 2, wherein the first base further has a positioning characteristic for rigidly positioning with respect to the second base. 6. A positioning base having the positioning characteristic is further provided between the first base and the floor surface, wherein the positioning base includes a first positioning rigid body fixed to the first base, and the floor surface. A second positioning rigid body that moves up and down with respect to the first positioning rigid body, and further comprises a rigid body driver that raises and lowers the second positioning rigid body, and the second positioning rigid body is joined to the first positioning rigid body to support the first positioning rigid body. 2. A vertical movement between a supporting position for freeing and a free position for freeing the first positioning rigid body free from the first positioning rigid body.
Or the machine tool of 2. 7. The first positioning rigid body has a first positioning surface joined to the second positioning rigid body, and the second positioning rigid body has a second positioning surface joined to the first positioning rigid body. 7. The machine tool according to claim 6. 8. The machine tool according to claim 2, wherein the first base and the second base are vibration-insulated during operation of the cleaner. 9. The machine tool according to claim 2, wherein the first base and the second base are vibration-insulated during the operation of the cleaning device and the operation of the transfer device. 10. The processing machine starts processing after a used tool and an unused tool are exchanged between a first stop position and a second stop position, and the used machine is operated under vibration isolation conditions. The machine tool according to claim 2, wherein the tool is returned to the third position and cleaned.