JP2008238298A - Tool changer - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a tool changer capable of restraining damage of a tool or large shock noises when gripping the tool, and normally mounting the tool to a main spindle even when a rotation speed of a tool changing arm is made high. <P>SOLUTION: This device comprises a power source 42 capable of generating a power, an output shaft 2 installed to a casing 60 and displaceable in an axial direction, a drive mechanism 10 for driving the output shaft by a power from the power source, a first shaft part 3 installed along an axial direction of the output shaft movably relative to the output shaft, a tool changing arm 1 provided at one end of the output shaft, a tool holding part 44 formed on the tool changing arm and capable of holding the tool, a second shaft part 40 provided to the tool changing arm movably forward and backward, a fixing member 43 mounted to an end of the second shaft part and capable of fixing the tool to the tool holding part, and a link mechanism 50 linking the first and second shaft parts. The link mechanism is driven by the first shaft part, and then the fixing member 43 is driven together with the second shaft part, so as to fix the tool to the tool holding part by the fixing member. <P>COPYRIGHT: (C)2009,JPO&INPIT

Description

  The present invention relates to a tool changer that automatically changes a tool of a machine tool such as a machining center.

  In general, a tool mounted on a spindle of a machining center is replaced with a new tool by a tool changer described in Japanese Patent No. 3120804, for example. When exchanging the tool mounted on the main shaft, first, the retracted tool exchanging arm picks up a tool provided on the main shaft and a new tool arranged in the tool magazine.

  Then, the tool provided on the spindle is brought into an unclamped state by an unclamping device, and the tool brought into the unclamped state is gripped by a tool exchange arm having a gripping part for gripping the tool.

  Then, the tool is pulled out from the main shaft by the tool change arm being displaced in the axial direction. At this time, the tool change arm also grasps and removes a new tool arranged in the tool magazine from the tool magazine. Then, the tool change arm rotates and then is displaced upward, and a new tool is mounted on the spindle. In this way, the tool change arm for exchanging a tool mounted on the spindle and a new tool is formed at the tip of the tool change arm and can be moved forward and backward by being urged by an arcuate fixed grip and an elastic member. And a movable grip.

The movable grip is moved forward by the biasing force of the elastic member when gripping the tool. The tool is housed in the fixed grip by retracting the movable grip against the biasing force of the elastic member. Then, the movable grip advances by the elastic force from the elastic member, and the tool is gripped by the movable grip and the fixed grip.
Japanese Patent No. 3120804

  In the tool changer configured as described above, when gripping the tool, the movable grip and the tool collide with each other to generate a large impact sound, and the tool may be damaged. Furthermore, if the rotational speed of the tool exchange arm is increased in order to improve the exchange speed, a large stress is applied to the movable grip, and the movable grip biased by the elastic member may swing. For this reason, the tool may swing or tilt, and the tool may not be normally mounted on the spindle.

  The present invention has been made in view of the above-described problems, and the object thereof is to suppress the damage of the tool and the generation of a large impact sound when gripping the tool, and further the rotational speed of the tool changing arm. It is to provide a tool changer that can correctly attach a tool to a spindle even if the speed is increased.

  A tool changer according to the present invention includes a power source capable of generating power, an output shaft provided in the casing and capable of being displaced in an axial direction, a drive mechanism that drives the output shaft by power from the power source, A first shaft portion that is movable with respect to the output shaft along the axial direction of the output shaft, a tool change arm provided at one end of the output shaft, and a tool change arm are formed to hold the tool. A tool holding portion that can be moved forward and backward, a second shaft portion that is provided on the tool exchange arm, a fixing member that is attached to an end of the second shaft portion and can fix the tool to the tool holding portion, A link mechanism for connecting the second shaft portion, and driving the link mechanism with the first shaft portion to drive the fixing member together with the second shaft portion so that the tool is fixed to the tool holding portion by the fixing member. I made it.

  Preferably, one end portion is rotatably provided on the second shaft portion, and the other end portion has a link member rotatably connected to the first shaft portion. Preferably, the first locking portion formed on the first shaft portion and the output shaft are formed, the first locking portion is locked, and the output shaft and the first shaft portion are integrally formed on the output shaft. And a second locking portion that is displaceable in the axial direction. Preferably, an elastic member that applies elastic force to the output shaft and the first shaft portion in a direction away from each other is further provided.

  With the tool changer according to the present invention, the fixing member is not driven by the biasing force of the elastic member, but the fixing member is driven by the link mechanism to fix the tool. For this reason, even if the tool changing arm is rotated at a high speed and a large stress is applied to the fixing member, the fixing member has its position regulated by the link mechanism, so that the fixing state of the tool can be maintained well. In addition, it is possible to suppress the occurrence of displacement of the tool held during the tool change. Further, when the tool is received in the tool holding portion, the contact between the tool and the fixing member can be prevented by retracting the fixing member. Further, since the driving of the fixing member is defined by the driving of the first shaft portion via the link mechanism, the advancement speed of the fixing member is suppressed from being excessively increased, and the fixing member and the tool are operated at a high speed. It is possible to prevent the fixing member from damaging the tool, and to prevent the generation of impact sound due to the collision between the fixing member and the tool.

  A tool changer 100 according to the present embodiment will be described with reference to FIGS. 1 to 10. FIG. 1 is a cross-sectional view of a tool changer 100 according to the present embodiment, and FIG. 2 is a cross-sectional view taken along the line II-II in FIG.

  As shown in FIG. 1, the tool changer 100 is provided in a motor 42 as a power source, a transmission 41 that controls the rotational speed of the output shaft of the motor 42, and the casing 60, and can be displaced in the axial direction. The cylindrical output shaft 2, the rotational drive mechanism 10 that rotationally drives the output shaft 2 with the power from the motor 42, the sliding mechanism 30 that slides in the axial direction, and the tip of the output shaft 2 are fixed. The tool change arm 1 is provided.

  As shown in FIG. 2, the transmission 41 includes a rotating shaft 31 that is driven by the driving force of the motor 42. The rotating shaft 31 includes a roller gear (first roller gear) 6 and a roller gear (second roller gear). 13 is provided.

  The rotation drive mechanism 10 includes a roller gear 6 and a turret 4 that is rotatably engaged with the roller gear 6.

  The roller gear 6 rotates in the circumferential direction when the rotating shaft 31 shown in FIG. 2 rotates. A cam groove 6 </ b> A is formed on the outer peripheral surface of the roller gear 6. As shown in FIGS. 1 and 2, the turret 4 is formed in a cylindrical shape, and a plurality of balls 5 are rotatably fitted along the circumferential direction on the outer peripheral surface.

  The ball 5 is engaged with the cam groove 6A. When the roller gear 6 is rotated and the position of the cam groove 6A is displaced, the position of the ball 5 is also displaced and the turret 4 is rotated.

  On the other hand, the output shaft 2 is inserted into a through hole formed in the central portion of the turret 4. The output shaft 2 is slidable in the axial direction with respect to the turret 4, while the circumferential direction engages with the turret 4 and rotates integrally. For this reason, when the turret 4 rotates, the output shaft 2 also rotates. When the output shaft 2 rotates, the tool change arm 1 also rotates.

  The sliding mechanism 30 has the roller gear 13 shown in FIGS. 1 and 2 and a follower 11 that engages with the roller gear 13 at one end, and engages with a groove 14A formed in the output shaft 2 at the other end. And a plate-like rotation member (not shown) having a cam follower (not shown).

  A cam groove 15 is formed on the outer peripheral surface of the roller gear 13, and a ball 12 that is rotatably fitted to the end of the follower 11 is engaged with the cam groove 15. A rotating member (not shown) is provided in the casing 60 so as to be rotatable.

  When the rotating shaft 31 shown in FIG. 2 rotates and the roller gear 13 rotates and the position of the cam groove 15 shown in FIG. 1 is displaced, the position of the follower 11 is also displaced. As a result, the rotating member also rotates, and the output shaft 2 is slid in the axial direction via the cam follower fitted in the groove 14A. Thereby, the tool change arm 1 is also displaced along the axial direction of the output shaft 2. The groove 14 </ b> A is formed between the two annular flanges 14 formed on the outer peripheral surface of the center portion of the output shaft 2.

  The output shaft 2 is formed in a cylindrical shape, and the output shaft 2 is formed with a through hole 2C extending along the axial direction. And the recessed part 2A formed in the lower end part of the output shaft 2 larger diameter than the diameter of 2 C of through-holes is formed.

  FIG. 3 is a cross-sectional view showing the lower end portion of the output shaft 2 in detail. As shown in FIG. 3, at the lower end portion of the output shaft 2, a side wall portion 2B that defines the recess 2A and a stepped portion (second locking portion) formed at the boundary between the recess 2A and the through hole 2C are formed. 2D is formed.

  And the latching | locking part 35 formed larger diameter than the diameter of the axial part 3 is provided in the lower end part of the axial part 3, and this latching | locking part 35 is arrange | positioned in the recessed part 2A. FIG. 4 is a perspective view showing details of the locking portion 35. As shown in FIG. 4, the locking portion 35 is formed on a top plate portion 35C having a hole portion into which the shaft portion 3 is fitted in the center portion, and an end surface of the top plate portion 35C, and a through hole 35B is formed. Legs 35A.

  Then, as shown in FIG. 3, the output shaft 2 is displaced downward from the state in which the top plate portion 35C of the locking portion 35 and the stepped portion 2D of the output shaft 2 are separated from each other, as shown in FIG. Thus, when the top plate portion 35C is locked to the stepped portion 2D, the shaft portion 3 and the output shaft 2 are integrated and displaced downward.

  In FIG. 1, a disc-shaped seat plate 18 is provided at the upper end portion of the shaft portion 3, and a spring (elastic member) 17 is provided between the seat plate 18 and the upper end portion of the output shaft 2. It has been. The spring 17 exerts an urging force in a direction away from the output shaft 2 and the shaft portion 3 in the axial direction. Furthermore, the elastic member 16 is provided in the lower surface of the collar part 14 located in the lower side among the collar parts 14 which prescribe | regulate the groove | channel 14A. The elastic member 16 biases the output shaft 2 upward. As shown in FIG. 3, when the rotating member (not shown) rotates while the locking portion 35 and the stepped portion 2 </ b> D are separated from each other, the output shaft 2 resists the urging force from the elastic member 16. And is displaced downward. At this time, as shown in FIGS. 3 and 5, even if the output shaft 2 is displaced downward, the elastic member 17 urges the seat plate 18 upward, so that the shaft portion 3 is not displaced. The position is maintained, and only the output shaft 2 is displaced downward. Then, as shown in FIG. 5, the top plate portion 35C of the locking portion 35 is locked to the step portion 2D. Further, when the output shaft 2 is displaced downward, the output shaft 2 and the shaft portion 3 are integrally displaced downward.

  In FIG. 1, a tool change arm 1 provided at the lower end of the output shaft 2 includes a casing 51 formed in a flat plate shape, and hooks (tool holding) that are formed on both ends of the casing 51 and receive a tool. Part) 44, a rod (second shaft part) 40, and a fixing member 43 provided at an end of the rod 40.

  The casing 51 is fixed to the output shaft 2 at the center thereof, and the casing 51 is formed with two through holes 43A extending from the center toward the hooks 44.

  The rod 40 is provided in the through-hole 43A so as to be able to advance and retract. A fixing member 43 for fixing the tool received in the hook 44 to the hook 44 is provided at the end of the rod 40 on the hook 44 side, and a link mechanism 50 is provided at the other end. Yes.

  As shown in FIG. 3, the link mechanism 50 includes a link member 50 </ b> A that connects one rod 40 and the locking portion 35, and a link member 50 </ b> B that connects the other rod 40 and the locking portion 35. Yes.

  The link member 50 </ b> A includes a pin 48 inserted in a hole formed in an end portion of one rod 40, a plate portion 45 provided with one end portion rotatably on the pin 48, and a plate portion 45. And a pin 47 rotatably provided at the other end of the head. The pin 47 is rotatably inserted into the through hole 35B of the locking portion 35 shown in FIG.

  Further, the link member 50B is configured in the same manner as the link member 50A, and the pin 49 inserted into the hole formed in the end portion of the other rod 40 and the one end portion are rotatable to the pin 49. The board part 46 provided and the pin 47 rotatably provided in the other end part of the board part 46 are provided. For this reason, the link mechanism 50 connects the rod 40 and the shaft portion 3 via the locking portion 35.

  As shown in FIG. 3, when the locking portion 35 protrudes downward from the lower end portion of the output shaft 2, the link members 50 </ b> A and 50 </ b> B are inclined downward with respect to the rod 40. For this reason, the horizontal lengths of the plate portions 45 and 46 are shortened, and the fixing member 43 provided at the end portion of the rod 40 is in a state of being retracted from the hook 44.

  As shown in FIG. 5, when the locking portion 35 enters the recess 2 </ b> A, the plate portions 45 and 46 are in a horizontal state that matches the axial direction of the rod 40. Thereby, the horizontal length of the plate portions 45 and 46 is longer than the state shown in FIG. 3, and the fixing member 43 provided at the end of the rod 40 is advanced toward the hook 44. .

  A process of exchanging a tool provided on a spindle such as a machining center and a new tool arranged in a tool magazine will be described using the tool exchanging apparatus 100 configured as described above.

  First, the tool change arm 1 of the tool changer 100 is retracted from the main shaft during machining. When exchanging a tool mounted on the spindle and a new tool arranged in the tool magazine, the tool changer 100 rotates the tool changer arm 1 using the rotation drive mechanism 10 in FIG. The tool mounted on the spindle and the new tool arranged in the tool magazine are taken out.

  In FIG. 6, the tool mounted on the spindle and the new tool placed in the tool magazine are received in the hook 44 of the tool changing arm 1. At this time, the output shaft 2 is located at the top dead center, and the tool change arm 1 is also located at the top dead center. The spring 17 urges the shaft portion 3 upward.

  As shown in FIG. 3, the fixing member 43 is retracted from the hook 44, and the tool and the fixing member 43 are prevented from coming into contact with each other when the tool is received in the hook 44.

  And the tool with which the main axis | shaft was mounted | worn is made into an unclamp state by the unclamp apparatus which is not shown in figure.

  When the tool mounted on the main shaft is in an unclamped state, the tool changer 100 displaces the output shaft 2 downward using the sliding mechanism 30. When the output shaft 2 is displaced downward, the tool change arm 1 is also displaced downward.

  While the output shaft 2 is displaced downward, the shaft portion 3 is biased upward by the spring 17, so that the shaft portion 3 is maintained at the top dead center position. For this reason, the output shaft 2 is displaced downward while the position of the shaft portion 3 is fixed at the top dead center. Therefore, in FIG. 3, when the output shaft 2 is displaced downward with the position of the locking portion 35 being fixed, the pins 48 and 49 are being fixed with the position of the pin 47 of the link members 50 </ b> A and 50 </ b> B being fixed. Is displaced downward. Further, when the output shaft 2 is displaced downward and the locking portion 35 enters the recess 2A, the plate portions 45 and 46 of the link members 50A and 50B approach the horizontal state, and the horizontal direction of the plate portions 45 and 46 is increased. Length increases. For this reason, the fixing member 43 advances toward the hook 44 through the rod 40 provided with the link members 50A and 50B. On the other hand, the stepped portion 2D of the output shaft 2 approaches the top plate portion 35C of the locking portion 35.

  FIG. 7 is a cross-sectional view of the fixing member 43 when the tool received in the hook 44 is fixed in the hook 44. As shown in FIGS. 7 and 5, the top plate portion 35C of the locking portion 35 is locked to the step portion 2D. At this time, as shown in FIGS. 7 and 5, the plate portions 45 and 46 of the link members 50 </ b> A and 50 </ b> B are in the horizontal state, and the fixing member 43 is in the most advanced state toward the hook 44. The obtained tool is fixed in the hook 44.

  Thus, the speed at which the fixing member 43 advances is determined by the speed at which the output shaft 2 is displaced downward, and is prevented from colliding with the tool at an excessive speed. For this reason, there is no possibility of damaging a tool, and it can control that a big impact sound is generated between a tool and fixing member 43 further.

  Here, when the fixing member 43 fixes the tool in the hook 44, the top plate portion 35 </ b> C of the locking portion 35 is locked to the stepped portion 2 </ b> D of the output shaft 2. Then, as shown in FIG. 8, when the sliding mechanism 30 further displaces the output shaft 2 in a state where the top plate portion 35 </ b> C of the locking portion 35 and the stepped portion 2 </ b> D are in contact, the shaft portion 3. And the output shaft 2 are displaced downward together. Since the spring 17 exerts an urging force that separates the output shaft 2 and the shaft portion 3 from each other, the urging force of the spring 17 causes the locking portion 35 and the stepped portion 2D to be locked. Maintained well.

  In this way, the tool mounted on the main shaft is pulled out from the main shaft in a fixed state, and a new tool arranged in the tool magazine is taken out from the tool magazine.

  Then, the tool changing arm 1 is rotated by the rotation driving mechanism 10, and the sliding mechanism 30 raises the tool changing arm 1.

  Here, the fixing member 43 that fixes the tool is supported by the rod 40, and the link members 50 </ b> A and 50 </ b> B provided at the other end of the rod 40 are also connected to the locking portion 35.

  For this reason, even if stress is applied to the fixing member 43 along the axial direction of the rod 40, there is no displacement allowance for the fixing member 43 and the rod 40 to be displaced in the axial direction, and the position of the fixing member 43 is maintained. The displacement of the tool can be suppressed satisfactorily.

  As described above, once the tool is fixed in the hook 44 by the fixing member 43, the fixed tool is prevented from being displaced, so that the tool changing arm 1 is slid in the axial direction of the output shaft 2 at high speed. It can be moved or rotated at high speed, and the tool can be transported in a short time.

  And after conveying a new tool to the spindle side as described above, the new tool is inserted into the spindle. In the process of inserting a new tool into the main shaft, the upper end portion of the shaft portion 3 comes into contact with a stopper provided on the casing 60, is located at the top dead center, and the positions of the shaft portion 3 and the locking portion 35 are fixed. Is done.

  On the other hand, the sliding mechanism 30 displaces the output shaft 2 further upward thereafter. Thereby, the output shaft 2 is displaced upward in a state where the position of the locking portion 35 is fixed, whereby the top plate portion 35C of the locking portion 35 is separated from the stepped portion 2D.

  Then, the locking portion 35 is displaced downward relative to the output shaft 2 to press the pin 47 downward. As a result, the link members 50A and 50B rotate around the pins 48 and 49, the length in the horizontal direction becomes shorter, and the fixing member 43 moves backward. Then, the fixed state of the tool is released. With the fixing member 43 completely retracted from the hook 44, the tool is clamped to the main shaft. Thereafter, the tool change arm 1 rotates and retracts from the main shaft. In this way, the tool replacement is completed.

  FIG. 9 is a sectional view showing a modification of the tool changing arm 1 of the tool changing device according to the present embodiment, and FIG. 10 is a sectional view of FIG.

  In the link mechanism 50 shown in FIGS. 1 to 7, the link members 50A and 50B are both connected to the locking portion 35 via the pins 47, but are shown in FIGS. In this way, the configuration may be such that each is connected to the locking portion 35 via separate pins 47A and 47B. Although the embodiment of the present invention has been described above, it should be considered that the embodiment disclosed this time is illustrative and not restrictive in all respects. The scope of the present invention is defined by the terms of the claims, and is intended to include any modifications within the scope and meaning equivalent to the terms of the claims.

  The present invention is suitable for a tool changer.

It is sectional drawing of the tool change apparatus which concerns on this Embodiment. It is sectional drawing in the II-II line of FIG. It is sectional drawing which shows the lower end part of an output shaft in detail. It is a perspective view which shows the detail of a latching | locking part. It is sectional drawing which shows the state latched by the latching | locking part at the level | step-difference part. It is sectional drawing when a tool with which the main axis | shaft was mounted | worn in a hook, and a new tool were received. It is sectional drawing when a fixing member fixes the tool received in the hook in a hook. It is sectional drawing when a sliding mechanism is further displaced below an output shaft in the state which the top plate part of the latching | locking part and the level | step difference part contact | abutted. It is sectional drawing which shows the modification of the tool change arm of the tool change apparatus which concerns on this Embodiment. FIG. 10 is a cross-sectional view of FIG. 9.

Explanation of symbols

  DESCRIPTION OF SYMBOLS 1 Tool change arm, 2 output shaft, 2D level | step difference part (2nd latching | locking part), 3 shaft part, 4 turret, 5 ball | bowl, 6 roller gear, 10 rotational drive mechanism, 11 follower, 13 roller gear, 14A cam groove, 17 Spring (elastic member), 18 seat plate, 30 sliding mechanism, 31 rotating shaft, 35 locking part, 40 rod, 41 transmission, 42 motor (power source), 43 fixing member, 44 hook (tool holding part), 50 link mechanism, 50A, 50B link member, 51 housing, 60 casing, 100 tool changer.

Claims (4)

A power source capable of generating power,
An output shaft provided in the casing and displaceable in the axial direction;
A drive mechanism for driving the output shaft by power from the power source;
A first shaft portion movably provided with respect to the output shaft along the axial direction of the output shaft;
A tool change arm provided at one end of the output shaft;
A tool holder formed on the tool change arm and capable of holding a tool;
A second shaft portion provided on the tool changeable arm so as to be able to advance and retreat;
A fixing member attached to an end of the second shaft portion and capable of fixing the tool to the tool holding portion;
A link mechanism for connecting the first and second shaft portions;
With
A tool changer that drives the link mechanism with the first shaft portion to drive the fixing member together with the second shaft portion, and fixes the tool to the tool holding portion with the fixing member. .   2. The tool changer according to claim 1, further comprising a link member having one end portion rotatably provided on the second shaft portion and the other end portion rotatably connected to the first shaft portion. A first locking portion formed on the first shaft portion;
A second locking portion that is formed on the output shaft, locks the first locking portion, and allows the output shaft and the first shaft portion to be integrally displaced in the axial direction of the output shaft; The
The tool changer according to claim 1 or 2, further comprising:   The tool changer according to any one of claims 1 to 3, further comprising an elastic member that applies an elastic force to the output shaft and the first shaft portion in a direction away from each other.

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