JP2014124758A - Automatic tool exchange system for shrink-fit holder - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an automatic tool exchange system for shrink-fit holders which allows positioning of a tool in a short time in a shrink-fit holder incapable of attachment and detachment to the main shaft without measuring a protrusion amount of a tool by using a special measuring instrument.SOLUTION: An automatic tool exchange system for shrink-fit holders includes a tool pod to be set with a tool in such a condition that the end surface of a shank is positioned at a specified position, a tool carrying device for carrying the tool between the tool pod and a shrink-fit holder fixed to the main shaft, a heating device for heating the shrink-fit holder and a cooling device for cooling the shrink-fit holder. The tool carrying device has a tool carrying unit capable of gripping the tool set in the tool pod, moving the gripped tool upward and downward and reversing the gripped tool vertically. After reversing the tool vertically, the tool carrying unit positions the tool within the shrink-fit holder opened by the heating device, with the shank end surface of the tool kept at a specified height.

Description

  The present invention relates to an automatic tool change system for shrink fit holders.

  In a precision processing machine, a tool used for processing is attached to a main shaft via a tool holder. There are various types of tool holders such as a collet method and a shrink-fit method, but the shrink-fit method is currently used as the most accurate and compact tool holder. In the shrink-fit method, it is necessary to heat and cool the tool holder (shrink-fit holder) when changing the tool.

  In Patent Document 1, the tool is taken out from the spindle together with the shrink-fit holder, the shrink-fit holder is heated outside the machine, only the tool is removed from the shrink-fit holder, and a new tool is set in the shrink-fit holder. A method is described in which the shrink-fit holder is cooled, a new tool is fixed in the shrink-fit holder, and a new tool is set together with the shrink-fit holder with respect to the spindle.

  However, in this method, it is necessary to provide in advance a mechanism for attaching and detaching the shrink-fit holder to the main shaft, and the main shaft is enlarged accordingly. In a precision processing machine, it is necessary to rotate the spindle at an ultra-high speed. However, since the influence of rotational vibration and the like increases as the size of the spindle increases, it is difficult to rotate such a spindle at an ultra-high speed.

  In order to solve this problem, a method is also known in which a tool is exchanged by manually heating and cooling a shrink-fit holder that cannot be attached to and detached from the main shaft. However, in this method, it is necessary to stop the machine when changing the tool, and it takes a long time to change the tool. In addition, if the tool change time takes a long time, the ambient temperature environment may change after the tool change. If adjustment for compensating the change is not performed, the machining accuracy is adversely affected.

  Patent Document 2 describes a method of automatically changing a tool with respect to a shrink-fit holder that cannot be attached to and detached from the main shaft. In this method, after the tool is set on the tool pod with the cutting edge directed downward, the protruding amount of the tool (that is, the protruding height position of the shank end face) is measured using a special measuring instrument. Then, the tool set in the tool pod is gripped and raised by the tool conveying device on the basis of the measurement result of the special measuring instrument, and is positioned with high accuracy at a predetermined height determined in advance. In this state, the tool can be properly transferred into the shrink-fit holder.

JP-A-2005-118888 JP 2007-75904 A

  However, according to the knowledge of the present inventor, the method described in Patent Document 2 uses a special measuring instrument to control the height of the tool for appropriately carrying out the tool delivery, and the amount of protrusion of the tool. Since it is necessary to measure the tool change time, the tool change time is extended by the measurement time of the protrusion amount.

  The present invention has been created based on the above findings. An object of the present invention is to provide an automatic tool change for a shrink-fit holder that can position the tool in a short time with respect to a shrink-fit holder that is not attachable to and detachable from the spindle without measuring the amount of tool protrusion using a special measuring instrument Is to provide a system.

  Alternatively, an object of the present invention is to provide an automatic tool change system for a shrink-fit holder that can cool a shrink-fit holder that is not removable from the main shaft in a short time.

  Alternatively, an object of the present invention is to provide an automatic tool change system for a shrink-fit holder capable of effectively cleaning a shank of a tool and easily removing a work residue from the inside of a tool pod.

  The present invention includes a tool pod in which a tool is set in a state where the shank end face is positioned at a predetermined position, and a tool conveying device that conveys the tool between the tool pod and a shrink-fit holder fixed to the spindle, A heating device that heats the shrink-fit holder and opens the shrink-fit holder; and a cooling device that cools the shrink-fit holder and closes the shrink-fit holder, and the tool conveying device includes the tool pod. A tool transfer unit that can hold the tool set on the tool, can move the gripped tool up and down, and can be turned upside down, and the tool transfer unit has a shank end surface of the tool after the tool is turned upside down. The tool is positioned in the shrink-fit holder opened by the heating device in a state where the tool is controlled to a predetermined height. It is an automatic tool exchange system for the folder.

  According to the present invention, since the tool is set on the tool pod with the shank end face positioned at a predetermined position, for example, when the tool transport unit always holds the tool set on the tool pod at the same height position. Then, the positional relationship regarding the height between the tool and the tool transport unit is always constant. Next, the gripped tool is raised by the tool transfer unit and turned upside down, so that the height of the shank end face of the tool after turning up and down is controlled based on the positional relationship and the height of the tool transfer unit itself. be able to. Based on this, the tool can be positioned in the shrink-fit holder with the shank end face of the tool controlled to a predetermined height. Thus, the tool is positioned in the shrink-fit holder in a short time without measuring the protruding amount of the tool using a special measuring instrument.

  Preferably, the tool conveying unit includes a rotation drive mechanism that rotates the rotation output unit around a rotation axis, a hand support unit coupled to the rotation output unit, and an openable and closable first supported by the hand support unit. And a second hand that is openable and closable supported by the hand support portion at a position and posture that is axially symmetrical with respect to the first hand with respect to the rotation axis. According to such an aspect, when the hand support portion is rotated by 180 °, the positions and postures of the first hand and the second hand are inverted vertically with respect to the rotation axis. Thereby, for example, after the tool gripped by the first hand is taken out from the shrink-fit holder, before returning the taken tool to the tool pod, the positions of the first hand and the second hand and By reversing the posture up and down symmetrically with respect to the rotation axis, the next tool held by the second hand can be positioned in the shrink-fit holder. Thereby, the tool change time is further shortened.

  More preferably, each of the first hand and the second hand is supported by the hand support unit in a movable state within a minute region, and the tool transport unit is configured to support the first hand with the hand support unit. And a second hand fixing member for fixing the second hand relative to the hand support portion. According to such an aspect, for example, when the tool held in the shrink-fit holder or the tool set on the tool pod is gripped by the first hand (or the second hand), the first hand (or the second hand) If the hand) is in a movable state within a minute region, for example, when a positioning error in the horizontal plane is minute, it is caused by misalignment between the tool and the first hand (or second hand). While the generation of high stress can be suppressed, after the first hand (or the second hand) grips the tool, the first hand (or the second hand) is made immovable with respect to the hand support portion. Thus, the subsequent operation can be smoothly performed.

  More preferably, the tool conveying unit has a wedge member that is advanced and retracted in a direction parallel to the rotation axis by a linear drive mechanism, and the first hand is provided with a first tapered hole for positioning. The second hand is provided with a second taper hole for positioning, and the first fixing member has a first taper shaft that can be inserted into and removed from the first taper hole. The two fixing members have a second taper shaft that can be inserted into and removed from the second taper hole, and the first taper shaft is brought into contact with the wedge member and moves up and down according to the advancement and retraction of the wedge member. Thus, the second taper shaft is inserted into and removed from the first tapered hole, and the second taper shaft is brought into contact with the wedge member and moved up and down in accordance with the advancement and retraction of the wedge member. It is designed to be inserted into and removed from the taper holeAccording to such an aspect, after the first taper shaft abuts at least a part of the inner peripheral surface of the first taper hole, the first taper shaft is relatively guided along the inner peripheral surface, and the first taper hole Fitted. Thereby, the first hand is positioned with high accuracy by the first taper shaft. In addition, after the second tapered shaft abuts at least a part of the inner peripheral surface of the second tapered hole, the second tapered shaft is relatively guided along the inner peripheral surface and is fitted into the second tapered hole. Thereby, the second hand is positioned with high accuracy by the second taper shaft.

  Preferably, the tool conveying device includes an arm member that is turned around a vertical second rotation axis by a second rotation driving mechanism, and the tool conveying unit is fixed to the arm member. According to such an aspect, when the arm member is turned around the second rotation axis, for example, the tool conveying unit is placed against the shrink-fit holder while the shank end surface of the gripped tool is maintained at a predetermined height. Can be properly positioned in a horizontal plane.

  In addition, the present invention provides a tool pod in which a tool is set, a tool conveying device for conveying a tool between the tool pod and a shrink fit holder fixed to the spindle, and the shrink fit holder to heat the shrink fit holder. A heating device that opens the fitting holder, a cooling device that cools the shrink fitting holder and closes the shrink fitting holder, and a heat transfer material that increases the cooling efficiency for the shrink fitting holder by covering the periphery of the shrink fitting holder An automatic tool change system for a shrink-fit holder, comprising a cooling ring made of steel.

  According to the present invention, since the cooling ring covers the periphery of the shrink-fit holder to increase the cooling efficiency for the shrink-fit holder, the cooling time of the shrink-fit holder can be effectively shortened.

  Preferably, the cooling ring includes a cylindrical main body portion and a plurality of heat radiation fins protruding further outward from the outer surface of the main body portion. According to such an aspect, the heat dissipation efficiency of the cooling ring is increased by the plurality of heat dissipation fins, and thus the cooling efficiency for the shrink-fit holder can be effectively increased while having a configuration that saves space and is easy to manufacture. . Specifically, for example, at least a part of the plurality of radiating fins has an annular shape.

  Preferably, the cooling ring is provided with a cooling air supply unit that supplies cooling air to the outside of the cooling ring. According to such an aspect, the cooling ring can be rapidly cooled by the cooling air supplied from the cooling air supply unit. In this case, it is easy to cool the cooling ring in advance, and the cooling efficiency for the shrink-fit holder can be further increased.

  In addition, the present invention provides a tool pod in which a tool is set, a tool conveying device for conveying a tool between the tool pod and a shrink fit holder fixed to the spindle, and the shrink fit holder to heat the shrink fit holder. A heating device that opens the fitting holder, and a cooling device that cools the shrink-fit holder and closes the shrink-fit holder, and supplies air to the tool pod toward the shank end surface of the set tool An automatic tool change system for a shrink-fit holder, characterized in that an air supply unit is provided.

  According to the present invention, the air supplied from the air supply unit flows out through the gap between the inner peripheral surface of the tool pod and the outer surface of the tool shank. Since the air flow rate is increased in the gap, the outer surface of the shank can be effectively cleaned. Further, the work residue is effectively removed from the inside of the tool pod.

  According to the first aspect of the present invention, since the tool is set on the tool pod with the shank end face positioned at a predetermined position, the tool set on the tool pod is always placed at the same height position, for example. If the transfer unit is gripped, the positional relationship regarding the height between the tool and the tool transfer unit is always constant. Next, the gripped tool is raised by the tool transfer unit and turned upside down, so that the height of the shank end face of the tool after turning up and down is controlled based on the positional relationship and the height of the tool transfer unit itself. be able to. Based on this, the tool can be positioned in the shrink-fit holder with the shank end face of the tool controlled to a predetermined height. Thus, the tool is positioned in the shrink-fit holder in a short time without measuring the protruding amount of the tool using a special measuring instrument.

  Moreover, according to the 2nd aspect of this invention, since the cooling ring covers the circumference | surroundings of a shrink-fit holder and improves the cooling efficiency with respect to a shrink-fit holder, the cooling time of the said shrink-fit holder can be shortened effectively. it can.

  Moreover, according to the 3rd aspect of this invention, the air supplied from the air supply part flows through the clearance gap between the internal peripheral surface of a tool pod, and the shank outer surface of a tool, and flows out outside. Since the air flow rate is increased in the gap, the outer surface of the shank can be effectively cleaned. Further, the work residue is effectively removed from the inside of the tool pod.

It is a schematic side view of the automatic tool change system for shrink-fit holders according to an embodiment of the present invention. It is a schematic plan view of the automatic tool change system for shrink-fitting holders of FIG. It is a schematic front view of the automatic tool change system for shrink-fit holders of FIG. FIG. 7 is a partially enlarged view for explaining a process in which the first hand and the second hand are made immovable with respect to the hand support portion in the automatic tool change system for a shrink-fit holder in FIG. 1. In the automatic tool change system for shrink-fit holders of FIG. 1, it is a schematic diagram for demonstrating the process in which the 2nd tool pod in which the 2nd tool was set is positioned appropriately. In the automatic tool change system for shrink-fit holders of FIG. 1, it is a schematic diagram for demonstrating the process by which the 2nd tool set to the 2nd tool pod is hold | gripped by the 2nd hand. In the automatic tool change system for shrink fit holders of FIG. 1, it is a schematic diagram for demonstrating the process in which a tool conveyance unit is positioned within a horizontal surface with respect to a shrink fit holder. In the automatic tool change system for shrink-fit holders in FIG. 1, it is a schematic diagram for explaining a process in which a tool fixed to the shrink-fit holder is gripped by a first hand. In the automatic tool change system for shrink-fit holders of FIG. 1, it is a schematic diagram for demonstrating the process by which the tool hold | gripped by the 1st hand is taken out from the inside of a shrink-fit holder. In the automatic tool change system for shrink-fit holders of FIG. 1, it is a schematic diagram for explaining a process in which the first hand and the second hand are turned upside down symmetrically about the rotation axis. In the automatic tool change system for shrink-fit holders of FIG. 1, it is a schematic diagram for explaining a process in which the second tool held by the second hand is positioned in the shrink-fit holder. In the automatic tool change system for shrink fit holders of FIG. 1, it is a schematic diagram for demonstrating the process in which a tool conveyance unit is positioned within a horizontal surface with respect to a 1st tool pod. In the automatic tool change system for shrink fit holders of FIG. 1, it is a figure for demonstrating the process in which the 1st tool hold | gripped by the 1st hand is set to a 1st tool pod.

  Embodiments of the present invention will be described below in detail with reference to the accompanying drawings.

  FIG. 1 is a schematic side view of an automatic tool change system for a shrink-fit holder according to an embodiment of the present invention, FIG. 2 is a schematic plan view of the automatic tool change system for a shrink-fit holder, and FIG. It is a schematic front view of the automatic tool change system for the shrink fit holder.

  As shown in FIG. 1, an automatic tool change system 10 for a shrink-fit holder according to the present embodiment includes a tool pod 11 in which a tool 15 is set with a shank end face positioned at a predetermined position, and the tool pod 11. And a shrink-fitting holder 17 fixed to the main shaft 16, a tool conveying device 12 for conveying the tool 15, a heating device 13 for heating the shrink-fitting holder 17 to open the shrink-fitting holder 17, and a shrink-fitting holder And a cooling device 14 that cools 17 and closes the shrink-fit holder 17. In the present embodiment, the main shaft 16 is configured to be movable up and down and horizontally movable.

  The tool transporting device 12 has a tool transporting unit 20 that can grip the tool 15 set in the tool pod 11, can move the gripped tool 15 up and down, and can be turned upside down. After the tool 15 is turned upside down, the tool 15 is positioned in the shrink-fit holder 17 opened by the heating device 13 with the shank end surface of the tool 15 controlled to a predetermined height. It has become.

  Specifically, as shown in FIGS. 1 and 3, the tool transport unit 20 includes a rotation driving mechanism 21 that rotates the rotation output unit 21 a around the rotation shaft 22, and a hand support coupled to the rotation output unit 21 a. Part 23, a first hand 241 that can be opened and closed supported by the hand support part 23, and a door that can be opened and closed that is supported by the hand support part 23 in an axially symmetric position and orientation relative to the first hand 241 with respect to the rotation shaft 22. And a second hand 242.

  The rotation drive mechanism 21 is specifically a motor, and the rotation shaft 22 is oriented in the horizontal direction.

  The hand support portion 23 has a cylindrical shape extending in the horizontal direction, is arranged so that the center axis coincides with the rotation shaft 22, and the base end portion is coupled to the rotation output portion 21a. When the rotation output portion 21a is driven to rotate about the rotation shaft 22, the hand support portion 23 is rotated about the rotation shaft 22 together with the rotation output portion 21a.

  The first hand 241 and the second hand 242 are, for example, known parallel open / close air chucks. Specifically, as shown in FIG. 3 in particular, the first hand 241 (or the second hand 242) is a movable member that is disposed to face each other and can move relative to each other by air pressure. When the pair of movable members are brought close to each other, the tool 15 positioned between the pair of movable members is sandwiched and gripped by the pair of movable members. On the other hand, when the pair of movable members are separated from each other, the tool 15 held between the pair of movable members is released.

  In the present embodiment, a pair of movable members that are the first hand 241 (or the second hand 242) are supported by the hand support portion 23 in a movable state within a minute region. Specifically, for example, in a hole provided in the hand support portion 23, a protruding portion as a connection fixing portion for the hand support portion 23 of the first hand 241 (or the second hand 242) is accompanied by a gap ( Inserted). In this case, the first hand 241 (or the second hand 242) is located in a gap between the inner periphery of the hole of the hand support portion 23 and the outer periphery of the protruding portion of the first hand 241 (or the second hand 242). A corresponding minute region is supported in a movable state.

  The tool conveyance unit 20 is used to fix the first hand 241 to the hand support 23 and the first hand fixing member 251 to fix the first hand 241 to the hand support 23 and to fix the second hand 242 to the hand support 23. A second hand fixing member 252.

  Specifically, the tool conveying unit 20 has a wedge member 28 that is advanced and retracted in a direction parallel to the rotary shaft 22 by a linear drive mechanism 29, and the first hand 241 has a first tapered hole for positioning. 261 is provided, the second hand 242 is provided with a second tapered hole 262 for positioning, and the first fixing member 251 can be inserted into and removed from the first tapered hole 261. The second fixing member 252 has a second tapered shaft 272 that can be inserted into and removed from the second tapered hole 262. The first taper shaft 271 is brought into contact with the wedge member 28 and moved up and down in accordance with the advance and retreat of the wedge member 28, so that the first taper shaft 271 is inserted into and removed from the first taper hole 261. The shaft 272 is also brought into contact with the wedge member 28 and moved up and down as the wedge member 28 advances and retreats, so that the shaft 272 is inserted into and removed from the second tapered hole 262.

  More specifically, the wedge member 28 is coaxially inserted into the cylindrical hand support portion 23, and is caused by the elastic force of a spring member 29 a interposed between the wedge member 28 and the hand support portion 23. The wedge member 28 is pulled in the left direction in FIG. 1 is provided on the upper surface of the wedge member 28, and the upwardly inclined surface in FIG. 1 is provided on the lower surface of the wedge member 28. And the lower end part of the 1st taper axis | shaft 271 has a slope corresponding to the slope to the left of the upper surface of the wedge member 28, and both slopes are mutually contact | abutted. Further, the upper end portion of the second taper shaft 272 has a slope corresponding to the upward slope of the lower surface of the wedge member 28, and both slopes are in contact with each other.

  The linear drive mechanism 29 has an air cylinder, for example. When the wedge member 28 is linearly driven in the right direction by the linear drive mechanism 29, the spring member 29a is contracted and the first taper shaft 271 is along the slope of the wedge member 28 as shown in FIG. And is lowered as a result. On the other hand, the second taper shaft 272 is slid along the slope that rises to the left of the wedge member 28, and as a result rises. Subsequently, when the linear drive mechanism in the right direction by the linear drive mechanism 29 is canceled, the wedge member 28 is linearly moved in the left direction by the elastic force of the spring member 29a, as shown in FIG. The wedge member 28 is slid along the slope of the lower left and as a result is raised. On the other hand, the second taper shaft 272 is slid along the slope that rises to the left of the wedge member 28, and as a result is lowered. At this time, the upper end portion of the first taper shaft 271 contacts at least a part of the inner peripheral surface of the first taper hole 261, and is then relatively guided along the inner peripheral surface. As a result, the first hand 241 is positioned with high accuracy by the first taper shaft 271. Further, the lower end portion of the second taper shaft 272 abuts at least a part of the inner peripheral surface of the second taper hole 262, and then is relatively guided along the inner peripheral surface, so that the second taper hole 262 is provided. As a result, the second hand 242 is positioned with high accuracy by the second taper shaft 272.

  Further, as shown in FIG. 2, the tool conveying device 12 of the present embodiment has an arm member 51 that is turned around a vertical second rotating shaft 52 by the second rotation driving mechanism 53, and the tool conveying device 12 The unit 20 is fixed to the arm member 51.

  Specifically, the second rotation drive mechanism 53 has an air cylinder and a link mechanism, and the arm member 51 connected to the link mechanism is operated by the link mechanism operating according to the linear drive of the air cylinder. It is turned around the second rotating shaft 52. When the arm member 51 is turned around the second rotation shaft 52 by the second rotation drive mechanism 53, the tool transport unit 20 fixed to the arm member 51 is also turned around the second rotation shaft 52. ing.

  In the present embodiment, as shown in FIG. 1, the arm member 51 is spanned between a pair of horizontal portions 55a and 55b that are spaced apart in the vertical direction and the pair of horizontal portions 55a and 55b. And a pair of sliding portions 57a and 57b slidable with respect to the pair of vertical portions 56a and 56b. It is fixed to the pair of sliding portions 57a and 57b.

  An elevating mechanism 54 is mounted on the horizontal portion 55 a above the arm member 51. Specifically, the elevating mechanism 54 has an air cylinder and a link mechanism. When the link mechanism operates in accordance with the linear drive of the air cylinder, the sliding portions 57a and 57b connected to the link mechanism It is moved in the vertical direction along the pair of vertical portions 56a and 56b. Thereby, the tool conveyance unit 20 fixed to the pair of sliding portions 57a and 57b is also moved in the vertical direction.

  As shown in FIG. 1, in the present embodiment, the heating device 13 and the cooling device 14 are fixed to the arm member 51 so as to be swung around the second rotation shaft 52 together with the tool conveying unit 20. It has become.

  The heating device 13 is a publicly known heating device for shrink fitting holders, and heats the shrink fitting holder 17 by covering the periphery of the shrink fitting holder 17.

  The cooling device 14 is also a known shrink fitting holder cooling device, and cools the shrink fitting holder 17 by blowing cooling air around the shrink fitting holder 17. The heating device 13 and the cooling device 14 may be mounted as separate and independent devices, or may be mounted as a single device having the functions of both the devices 13 and 14.

  On the other hand, the automatic tool change system 10 for a shrink-fit holder according to the present embodiment is designed to increase the cooling efficiency for the shrink-fit holder 17 by covering the periphery of the shrink-fit holder 17 in order to assist the cooling function of the cooling device 14. A cooling ring 32 made of hot material is further provided. In the present embodiment, the cooling ring 32 includes a cylindrical main body portion 33 and a plurality of heat radiation fins 34 that protrude further outward from the outer surface of the main body portion 33. Specifically, for example, at least some of the plurality of heat radiation fins 34 have an annular shape.

  The inner periphery of the cylindrical main body 33 has the same shape as the outer periphery of the shrink-fit holder 17, and the shrink-fit holder 17 can be inserted into the main body 33 and can be brought into close contact therewith. When the main body 33 is at a lower temperature than the shrink-fit holder 17, heat transfer occurs from the inserted shrink-fit holder 17 to the main body 33, so that the shrink-fit holder 17 is cooled.

  In the present embodiment, the cooling ring 32 is provided with a spring member 35, and the cooling ring 32 is pressed against the shrink-fit holder 17 by the elastic force of the spring member 35. Thereby, even if heat shrinkage occurs in the cooled shrink-fit holder 17, the close contact state between the cooling ring 32 and the shrink-fit holder 17 is maintained.

  As shown in FIG. 2, the cooling ring 32 is provided with a cooling air supply unit 34 that supplies cooling air to the outside of the cooling ring 32. Specifically, the cooling air supply unit 34 is a known cold air generator. The cooling air supplied from the cooling air supply unit 34 is blown onto the cooling ring 42, so that the cooling ring 32 is effectively cooled.

  In the present embodiment, a plurality of tool pods 11 are provided in the circumferential direction of the pod rotation table 43 that rotates about a vertical rotation axis. The pod rotary table 43 can position the tool pod 11 so that the desired tool pod 11 can deliver the tool 15 to the tool conveying unit 20.

  Returning to FIG. 1, the tool pod 11 of the present embodiment has a cylindrical shape, and a step portion 18 is provided at a predetermined height in the tool pod 11. When the tool 15 is inserted into the tool pod 11 with the cutting edge facing upward, the shank end surface of the inserted tool 15 is brought into contact with the stepped portion 18, whereby the inserted tool 15 The shank end face is easily positioned at a predetermined position.

  In the present embodiment, an air supply unit 46 that supplies air toward the shank end surface of the set tool 15 can be connected to the lower side of the step portion 18 of the tool pod 11. Specifically, the air supply unit 46 is configured to be movable up and down. When the pod rotary table 43 rotates, the air supply unit 46 is retracted to the lower side of the tool pod 11 and the desired tool pod 11 is moved to the tool transport unit 20. When properly positioned with respect to the tool pod 11, the tool pod 11 is raised toward the bottom and connected to the bottom.

  Next, with respect to the operation of the present embodiment as described above, referring to FIGS. 5 to 13, the first tool 151 fixed in the shrink-fit holder 17 that cannot be attached to and detached from the main shaft 17 is replaced with the second tool. A process for replacing the second tool 152 set in the pod 112 will be described as an example.

  As shown in FIG. 5, the pod rotation is performed so that the second tool pod 112 on which the second tool 152 is set with the shank end face positioned at a predetermined position can deliver the tool to the tool transfer unit 20. The table 43 is appropriately positioned in the horizontal plane. The air supply unit 46 is connected to the bottom of the positioned second tool pod 112.

  Next, as shown in FIG. 6, after the second hand 242 of the tool transport unit 20 is opened, the tool transport unit 20 is lowered by the elevating mechanism 54 and stopped at a predetermined height position. At this time, at least a part of the second tool 152 set in the second tool pod 112 is inserted into the second hand 242.

  Subsequently, the second hand fixing member 252 (and the first hand fixing member 251) causes the second hand 242 (and the first hand 241) to move within the minute region with respect to the hand support portion 23. Then, the second hand 242 is closed, and the second tool 152 inserted into the second hand 242 is gripped by the second hand 242. At this time, since the second hand 242 is in a movable state in the minute region, for example, even when a positioning error in the horizontal plane is minute, the second tool 152 and the second hand 242 Generation of high stress due to misalignment between them is suppressed.

  In the present embodiment, the second tool 152 set on the second tool pod 112 with the shank end face positioned at a predetermined position is gripped by the tool transport unit 20 at a predetermined height position. The positional relationship regarding the height between the second tool 112 and the tool conveying unit 20 is obtained without measurement using a special measuring instrument.

  Next, as shown in FIG. 7, air is supplied from the air supply unit 46 toward the shank end surface of the second tool 152 while the second tool 152 is gripped by the second hand 242, and the lifting mechanism The tool conveying unit 20 is raised by 54 and the second tool 152 is extracted from the second tool pod 112. At this time, the air supplied from the air supply unit 46 flows out through the gap between the inner peripheral surface of the second tool pod 112 and the outer surface of the shank of the second tool 152. Since the air flow rate is increased in the gap, the outer surface of the shank of the second tool 152 is effectively cleaned. Further, the work residue is easily removed from the second tool pod 112.

  Subsequently, the first hand fixing member 251 makes the first hand 241 immovable relative to the hand support portion 23, and the second hand fixing member 252 immobilizes the second hand 242 relative to the hand support portion 23. It is made into a state. Then, the tool conveyance unit 20 is turned around the second rotation shaft 52 together with the arm member 51 by the second rotation drive mechanism 53 so that the tool can be delivered to the shrink-fit holder 17 in a horizontal plane. Positioned. At this time, since the first hand 241 and the second hand 242 are immovable with respect to the hand support portion 23, the first hand 241 (or the second hand 242) moves along with the turning of the tool transport unit 20. It is possible to suppress the occurrence of vibration and the generation of noise due to friction between the hand support portion 23 and the first hand 241 (or the second hand 242).

  Next, as shown in FIG. 8, after the first hand 241 is opened, the main shaft 16 is lowered together with the shrink-fit holder 17, and the periphery of the shrink-fit holder 17 is covered by the heating device 13. At least a part of the first tool 151 fixed to the shrink-fit holder 17 is inserted into the first hand 241.

  Next, the first hand fixing member 251 (and the second hand fixing member 252) makes the first hand 241 (and the second hand 242) movable within the minute region with respect to the hand support portion 23. Then, the first hand 241 is closed, and the first tool 151 inserted into the first hand 151 is gripped by the first hand 241. At this time, since the first hand 241 is movable in the minute region, for example, even when a positioning error in the horizontal plane is minute, the first tool 151 and the first hand 241 Generation of high stress due to misalignment between them is suppressed.

  Then, the shrink-fitting holder 17 is heated by the heating device 13, and the first tool 151 gripped by the first hand 241 is released from the shrink-fitting holder 17.

  Next, as shown in FIG. 9, the tool transport unit 20 is lowered by the elevating mechanism 54. As a result, the first tool 151 held by the first hand 241 is taken out from the shrink-fit holder 17. Subsequently, the first hand fixing member 251 makes the first hand 241 immovable relative to the hand support portion 23, and the second hand fixing member 252 immobilizes the second hand 242 relative to the hand support portion 23. It is made into a state.

  Then, as shown in FIG. 10, the hand support 23 is rotated 180 ° around the rotation shaft 22 by the rotation drive mechanism 21, whereby the positions and postures of the first hand 241 and the second hand 242 are related to the rotation shaft 22. It is flipped vertically symmetrically. At this time, since the first hand 241 and the second hand 242 are immovable with respect to the hand support portion 23, the first hand 241 (or the second hand 242) is moved along with the rotation of the hand support portion 23. It is possible to suppress the occurrence of vibration and the generation of noise due to friction between the hand support portion 23 and the first hand 241 (or the second hand 242).

  The positions and postures of the first hand 241 and the second hand 242 are turned upside down symmetrically with respect to the rotation axis 22, so that the first tool 151 gripped by the first hand 241 and the second hand 242 gripped by the second hand 242. The two tools 152 are also turned upside down.

  In the present embodiment, the shank of the second tool 152 after being turned upside down based on the positional relationship regarding the height between the second tool 152 and the tool transport unit 20 and the height of the tool transport unit 20 itself. The height of the end face is controlled.

  Subsequently, the second hand fixing member 252 (and the first hand fixing member 251) causes the second hand 242 (and the first hand 241) to move within the minute region with respect to the hand support portion 23.

  Next, as shown in FIG. 11, the tool transport unit 20 is lifted by the lifting mechanism 54 while the shank end surface of the second tool 152 is controlled to a predetermined height, and is held by the second hand 242. The shank end face of the tool 152 is positioned in the shrink-fit holder 17 in a state opened by the heating device 13. Accordingly, the second tool 152 can be positioned in the shrink-fit holder 17 in a short time without measuring the protruding amount of the second tool 152 using a special measuring instrument.

  Then, the heating of the shrink fitting holder 17 by the heating device 13 is stopped, and the cooling of the shrink fitting holder 17 by the cooling device 14 is started. When the shrink fitting holder 17 is cooled by the cooling device 14, the shrink fitting holder 17 is closed, and the second tool 152 positioned in the shrink fitting holder 17 is fixed to the shrink fitting holder 17. At this time, since the second hand 242 is in a movable state in the minute region, for example, even when a positioning error in the horizontal plane is minute, the second tool 152 and the second hand 242 Generation of high stress due to misalignment between them is suppressed.

  Next, as shown in FIG. 12, the second tool 152 is released from the second hand 242, and the main shaft 16 is raised together with the shrink-fit holder 17.

  Subsequently, as shown in FIG. 1, the shrink-fit holder 17 is inserted into the cooling ring 31 and brought into close contact with each other. Cooling air is supplied to the cooling ring 31 from the cooling air supply unit 34, and the cooling ring 31 is rapidly cooled. Since the cooled cooling ring 31 covers the periphery of the shrink-fit holder 17, the cooling efficiency of the shrink-fit holder 17 is increased, and the cooling time of the shrink-fit holder 17 is effectively shortened.

  On the other hand, returning to FIG. 12, after the air supply unit 41 is retracted to the lower side of the second tool pod 112, the pod rotation table 43 is rotated so that the first tool pod 111 on which no tool is set is in the horizontal plane. Is properly positioned. The air supply unit 46 is connected to the bottom of the positioned first tool pod 111.

  Next, the first hand fixing member 251 makes the first hand 241 immovable with respect to the hand support portion 23, and the second hand fixing member 252 immobilizes the second hand 242 with respect to the hand support portion 23. It is made into a state. Then, the tool rotation unit 20 is turned around the second rotation shaft 52 together with the arm member 51 by the second rotation drive mechanism 53 so that the tool can be delivered to the first tool pod 111 appropriately in the horizontal plane. Positioned. At this time, since the first hand 241 and the second hand 242 are immovable with respect to the hand support portion 23, the first hand 241 (or the second hand 242) moves along with the turning of the tool transport unit 20. It is possible to suppress the occurrence of vibration and the generation of noise due to friction between the hand support portion 23 and the first hand 241 (or the second hand 242).

  Next, the first hand fixing member 251 (and the second hand fixing member 252) makes the first hand 241 (and the second hand 242) movable within the minute region with respect to the hand support portion 23. As shown in FIG. 13, air is supplied from the air supply unit 46 toward the shank end surface of the first tool 151, and the tool transport unit 20 is lowered by the elevating mechanism 54 and is gripped by the first hand 241. The first tool 151 is set in the first tool pod 111. At this time, the air supplied from the air supply unit 46 flows out through the gap between the inner peripheral surface of the first tool pod 111 and the outer surface of the shank of the first tool 151. Since the air flow rate is increased in the gap, the outer surface of the shank of the first tool 151 is effectively cleaned. Further, it is possible to prevent the work residue from entering the first tool pod 111.

  Thereafter, the first tool 151 is released from the first hand 241 and the tool conveying unit 20 is raised by the elevating mechanism 54.

  According to the present embodiment as described above, since the tool 152 is set on the tool pod 112 with the shank end face positioned at a predetermined position, the tool 152 set on the tool pod 112 is always the same, for example. If the tool transport unit 20 grips at the height position, the positional relationship regarding the height between the tool 152 and the tool transport unit 20 is always constant. Next, the gripped tool 152 is raised by the tool conveying unit 20 and turned upside down, so that the height of the shank end face of the tool 152 after turning up and down is based on the positional relationship and the height of the tool conveying unit 20 itself. Can be controlled. Based on this, the tool 152 can be positioned in the shrink-fit holder 17 with the shank end surface of the tool 152 controlled to a predetermined height. Thereby, the tool 152 is positioned in the shrink-fit holder 17 in a short time without measuring the protruding amount of the tool 152 using a special measuring instrument.

  Further, according to the present embodiment, the position and orientation of the first hand 241 and the second hand 242 are vertically reversed with respect to the rotation axis 22 by rotating the hand support portion 23 by 180 °. Thereby, for example, after the first tool 151 held by the first hand 241 is taken out from the shrink-fit holder 17, before the taken out first tool 151 is returned to the first tool pod 111, The second tool 152 held by the second hand 242 is positioned in the shrink-fit holder 17 by inverting the positions and postures of the first hand 241 and the second hand 242 up and down symmetrically with respect to the rotation shaft 22. can do. Thereby, the tool change time is further shortened.

  Further, according to the present embodiment, the first tool 151 (or the second tool 152 set on the tool pod 112) held by the shrink-fit holder 17 is gripped by the first hand 241 (or the second hand 242). When the first hand 241 (or the second hand 242) is in a movable state in the minute region, the first hand 241 (or the second hand 242) is moved in the minute region. While generation of high stress due to misalignment between the first tool 151 (or the second tool 152) and the first hand 241 (or the second hand 242) can be suppressed, the first hand 241 (or the second hand) 242) grips the first tool 151 (or the second tool 152), the first hand 241 (or the second hand 242) is placed on the hand support portion 23. By Te are immobile state, it is possible to smoothly implement the subsequent operation.

  Furthermore, according to the present embodiment, after the first taper shaft 271 abuts at least a part of the inner peripheral surface of the first taper hole 261, the first taper shaft 271 is relatively guided along the inner peripheral surface. The first taper hole 261 is fitted. As a result, the first hand 241 is positioned with high accuracy by the first taper shaft 271. The second taper shaft 272 abuts at least a part of the inner peripheral surface of the second taper hole 262, and is relatively guided along the inner peripheral surface to be fitted into the second taper hole 262. The Accordingly, the second hand 242 is positioned with high accuracy by the second taper shaft 272.

  Further, according to the present embodiment, the arm member 51 is turned around the second rotation shaft 52, for example, while the shank end surface of the gripped tool 152 is maintained at a predetermined height, for example, the tool transport unit 20 Can be appropriately positioned in the horizontal plane with respect to the shrink-fit holder 17.

  Moreover, according to this Embodiment, since the cooling ring 31 covers the circumference | surroundings of the shrink-fit holder 17, and the cooling efficiency with respect to the shrink-fit holder 17 is improved, the cooling time of the said shrink-fit holder 17 is shortened effectively. Can do.

  In addition, according to the present embodiment, the heat dissipation efficiency of the cooling ring 31 is enhanced by the plurality of heat dissipation fins 33, thereby effectively reducing the cooling efficiency for the shrink-fit holder 17 while having a space-saving and easy-to-manufacture configuration. Can be increased.

  Further, according to the present embodiment, the cooling ring 31 can be rapidly cooled by the cooling air supplied from the cooling air supply unit 34. In this case, it is easy to cool the cooling ring 31 in advance, and the cooling efficiency for the shrink-fit holder 17 can be further increased.

  Further, according to the present embodiment, the air supplied from the air supply unit 41 flows out through the gap between the inner peripheral surface of the tool pod 11 and the outer surface of the shank of the tool 15. Since the air flow rate is increased in the gap, the outer surface of the shank can be effectively cleaned.

DESCRIPTION OF SYMBOLS 10 Automatic tool change system for shrink-fit holder 11 Tool pod 111 1st tool pod 112 2nd tool pod 12 Tool conveying device 13 Heating device 14 Cooling device 15 Tool 151 1st tool 152 2nd tool 16 Main shaft 17 Shrink-fit holder 18 stage Part 20 Tool conveying unit 21 Rotation drive mechanism 22 Rotating shaft 22a Rotation output part 23 Hand support part 241 First hand 242 Second hand 251 First hand fixing member 252 Second hand fixing member 261 First tapered hole 262 Second tapered hole 271 First taper shaft 272 Second taper shaft 28 Wedge member 29 Linear drive mechanism 29a Spring member 31 Cooling ring 32 Extrapolation portion 33 Radiation fin 34 Cooling air supply portion 35 Spring member 41 Air supply portion 43 Pod rotary table 51 Arm member 52 Second rotation shaft 53 Second rotation drive mechanism 54 Elevating mechanism 5 5a, 55b Horizontal portion 56a, 56b Vertical portion 57a, 57b Sliding portion

Claims (10)

A tool pod in which the tool is set with the shank end face positioned at a predetermined position;
A tool transfer device for transferring a tool between the tool pod and a shrink-fit holder fixed to the spindle;
A heating device that heats the shrink-fit holder and opens the shrink-fit holder;
A cooling device that cools the shrink-fit holder and closes the shrink-fit holder;
With
The tool transfer device has a tool transfer unit that can hold a tool set in the tool pod, can move the held tool up and down, and can be turned upside down.
After the tool is turned upside down, the tool transport unit places the tool in the shrink-fit holder opened by the heating device with the shank end surface of the tool controlled to a predetermined height. An automatic tool change system for shrink-fit holders, characterized by being positioned. The tool conveying unit is
A rotational drive mechanism for rotationally driving the rotational output unit around the rotational axis;
A hand support unit coupled to the rotation output unit;
An openable and closable first hand supported by the hand support part;
An openable and closable second hand supported by the hand support portion at a position and posture symmetrical with respect to the first hand with respect to the rotation axis;
The automatic tool change system for shrink-fit holders according to claim 1. The first hand and the second hand are each supported by the hand support portion in a movable state in a minute region,
The tool conveying unit is
A first hand fixing member for immobilizing the first hand relative to the hand support;
A second hand fixing member for immobilizing the second hand relative to the hand support,
The automatic tool change system for shrink-fit holders according to claim 2, wherein: The tool conveying unit has a wedge member that is advanced and retracted in a direction parallel to the rotation axis by a linear drive mechanism,
The first hand is provided with a first tapered hole for positioning;
The second hand is provided with a second tapered hole for positioning,
The first fixing member has a first taper shaft that can be inserted into and removed from the first taper hole.
The second fixing member has a second taper shaft that can be inserted into and removed from the second taper hole.
The first taper shaft is brought into contact with the wedge member, and is moved up and down in accordance with advancement and retraction of the wedge member, thereby being inserted into and removed from the first taper hole
The said 2nd taper axis | shaft is contact | abutted to the said wedge member, It is inserted / removed in the said 2nd taper hole by raising / lowering according to the advance / retreat of the said wedge member, It is characterized by the above-mentioned. The automatic tool change system for shrink-fit holders according to 3. The tool conveying device has an arm member that is turned around a vertical second rotation axis by a second rotation drive mechanism,
The automatic tool change system for a shrink-fit holder according to any one of claims 1 to 4, wherein the tool conveying unit is fixed to the arm member. A tool pod where the tool is set;
A tool transfer device for transferring a tool between the tool pod and a shrink-fit holder fixed to the spindle;
A heating device that heats the shrink-fit holder and opens the shrink-fit holder;
A cooling device that cools the shrink-fit holder and closes the shrink-fit holder;
A cooling ring made of a heat transfer material that increases the cooling efficiency for the shrink-fit holder by covering the periphery of the shrink-fit holder;
An automatic tool change system for shrink-fit holders. The automatic tool change for a shrink-fit holder according to claim 6, wherein the cooling ring includes a cylindrical main body portion and a plurality of heat radiation fins protruding further outward from the outer surface of the main body portion. system. The automatic tool change system for a shrink-fit holder according to claim 7, wherein at least some of the plurality of radiating fins have an annular shape. 9. The automatic tool change system for a shrink-fit holder according to claim 6, wherein the cooling ring is provided with a cooling air supply unit that supplies cooling air to the outside of the cooling ring. . A tool pod where the tool is set;
A tool transfer device for transferring a tool between the tool pod and a shrink-fit holder fixed to the spindle;
A heating device that heats the shrink-fit holder and opens the shrink-fit holder;
A cooling device that cools the shrink-fit holder and closes the shrink-fit holder;
With
An automatic tool change system for a shrink-fit holder, wherein the tool pod is provided with an air supply unit for supplying air toward a shank end face of a set tool.

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