JP2014151390A - Automatic tool exchange system for shrink-fitted holder - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an automatic tool exchange system for a shrink-fitted holder, capable of quickly positioning a tool to a shrink-fitted holder attached to a main shaft in a detachable manner without measuring an amount of ejection of the tool by using a special measuring instrument.SOLUTION: An automatic tool exchange system comprises a tool pod to which a tool is set with a shank end surface positioned in place, a tool transfer device that transfers the tool between the tool pod and the shrink-fitted holder fixed to the main shaft, a heater that heats the shrink-fitted holder, and a cooler that cools the shrink-fitted holder. The tool transfer device has a first tool transfer part that can grip the tool set in the tool pod and elevate and vertically invert the gripped tool, and a second tool transfer part that can receive the inverted tool from the first tool transfer part and transfer the received tool to the shrink-fitted holder fixed to the main shaft when the first tool transfer part after inverting the tool is controlled to a predetermined 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.

  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. The first tool transport unit capable of gripping the tool set to the upper and lowering and moving the gripped tool up and down and the first tool transport unit after the tool is reversed are controlled to a predetermined height. And a second tool transport unit capable of receiving the inverted tool from the first tool transport unit and transporting the received tool to a shrink-fit holder fixed to the spindle. Fitting holder It is an automatic tool exchange system.

  According to 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, by the first tool transport unit. If it grasps | ascertains, the positional relationship regarding the height between the said tool and the 1st tool conveyance part will always become fixed. Next, the gripped tool is raised by the first tool conveying unit and turned upside down, so that the height of the shank end face of the tool after turning up and down is based on the positional relationship and the height of the first tool conveying unit itself. Can be controlled. When the first tool transport unit after the tool is turned upside down is controlled to a predetermined height, if the second tool transport unit always receives the inverted tool at the same height position, for example, The positional relationship with respect to the height with the two tool conveying unit is always constant. Next, the tool received by the second tool transporting unit is transported to a shrink-fit holder fixed to the spindle, so that it is not necessary to measure the protruding amount of the tool using a special measuring instrument. The tool can be positioned in a short time.

  Preferably, the second tool conveying unit includes a rotation driving mechanism that rotates the rotation output unit around a vertical rotation axis, a hand support unit coupled to the rotation output unit, and the rotation shaft in the hand support unit. And a first hand that can be opened and closed and a second hand that can be opened and closed that are supported at equidistant positions in the radial direction. According to such an aspect, for example, when the first hand and the second hand are arranged at positions separated from each other by 180 ° around the rotation axis, the hand support portion is rotated by 180 ° around the rotation axis. Thus, the second hand can be arranged at the position of the first hand before the rotation. As a result, for example, if the next tool is held in advance by the second hand, after the tool held by the first hand is taken out from the shrink-fit holder, the taken tool is transferred to the first tool. Before handing it to the part, the hand support part is rotated by 180 ° and the second hand is placed at the position of the first hand before the rotation, so that the next tool held by the second hand is fired. It can be conveyed to the fitting 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 in a minute region, and the second tool transport unit includes the first hand and the second hand. It has a hand fixing part for fixing two hands to the hand support part immovably. 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.

  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 second tool conveying unit is fixed to the arm member. . According to such an aspect, the second tool transport unit can be appropriately positioned in the horizontal plane with respect to the shrink-fit holder fixed to the main shaft by turning the arm member around the second rotation axis. .

  Specifically, for example, the tool pod is configured such that the tool is set with the shank end face in contact with the bottom face.

  Preferably, the tool conveying device further includes a cleaning pod in which a tool held in the second tool conveying unit is set, and the cleaning pod faces a shank end surface of the set tool. An air supply unit for supplying air is provided. According to such an aspect, for example, if air is supplied from the air supply unit to the cleaning pod when the tool held in the second tool transport unit is set in the cleaning pod, the supplied air The tool shank set by can be cleaned. For example, the effect of dust at the time of tool change can be reduced by cleaning the shank immediately before the tool change.

  According to 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, by the first tool transport unit. If it grasps | ascertains, the positional relationship regarding the height between the said tool and the 1st tool conveyance part will always become fixed. Next, the gripped tool is raised by the first tool conveying unit and turned upside down, so that the height of the shank end face of the tool after turning up and down is based on the positional relationship and the height of the first tool conveying unit itself. Can be controlled. When the first tool transport unit after the tool is turned upside down is controlled to a predetermined height, if the second tool transport unit always receives the inverted tool at the same height position, for example, The positional relationship with respect to the height with the two tool conveying unit is always constant. Next, the tool received by the second tool transporting unit is transported to a shrink-fit holder fixed to the spindle, so that it is not necessary to measure the protruding amount of the tool using a special measuring instrument. The tool can be positioned in a short time.

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. 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-fitting 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 1st tool conveyance part. In the automatic tool change system for shrink-fitting holders of FIG. 1, it is a schematic diagram for demonstrating the process in which a 2nd tool is taken out from the 2nd tool pod. 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 hold | gripped by the 1st tool conveyance part is turned upside down. 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 reversed was received 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 by which a 1st tool conveyance part is evacuated below. 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 1st hand and a 2nd hand are turned around a rotating shaft. In the automatic tool change system for shrink-fit holders of FIG. 1, it is a schematic diagram for explaining a process in which a first 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 demonstrating the process in which a 1st hand and a 2nd hand are turned around a rotating shaft. 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-fitting holders of FIG. 1, it is a schematic diagram for demonstrating the process by which a 1st hand and a 2nd hand are evacuated below. 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 1st hand and a 2nd hand are turned around a rotating shaft. In the automatic tool change system for shrink-fitting holders of FIG. 1, it is a schematic diagram for demonstrating the process in which the 1st tool hold | gripped by the 1st hand is received by the 1st tool conveyance part. In the automatic tool change system for shrink fitting holders of FIG. 1, it is a schematic diagram for demonstrating the process in which the 1st tool hold | gripped by the 1st tool conveyance part is turned upside down. 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 1st tool reversed was set to the 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, and FIG. 2 is a schematic plan view of the automatic tool change system for a shrink-fit holder.

  As shown in FIG. 1, the automatic tool change system 10 for shrink-fit holders according to the present embodiment includes a tool pod 11 in which a tool 15 is set in a state where a shank end face is positioned at a predetermined position, A tool conveying device 12 that conveys the tool 15 between the shrink fitting holder 16 fixed to the main shaft 17, a heating device 13 that heats the shrink fitting holder 16 to open the shrink fitting holder 16, and the shrink fitting holder 16. And a cooling device 14 that closes the shrink-fit holder 16 by cooling it. However, in FIG. 1, the tool pod 11 and the shrink-fit holder 16 are illustrated as being aligned, but the tool pod 11 and the shrink-fit holder 16 are usually arranged at different positions in plan view.

  The tool transporting device 12 can grip the tool 15 set in the tool pod 11, can move the gripped tool 15 up and down, and can be flipped up and down, and the first tool transporting unit 20 after the tool 15 is reversed. When the tool transporting unit 20 is controlled to a predetermined height, the inverted tool 15 can be received from the first tool transporting unit 20 and the received tool 15 can be transported to the shrink-fit holder 16 fixed to the spindle 17. And a second tool conveyance unit 30.

  Specifically, the first tool transport unit 20 includes an openable / closable auxiliary hand 21, an auxiliary hand upside down mechanism (not shown) that flips the auxiliary hand 21 upside down, and an auxiliary hand (not shown) that moves the auxiliary hand 21 up and down. And an up-and-down movement mechanism.

  The auxiliary hand 21 is, for example, a publicly known parallel open / close air chuck, and has a pair of auxiliary movable members 23 that are arranged to face each other and can move relative to each other by pneumatic pressure. When the pair of auxiliary movable members 23 are brought close to each other, the tool 15 positioned between the pair of auxiliary movable members 23 is sandwiched and gripped by the pair of auxiliary movable members 23. On the other hand, when the pair of auxiliary movable members 23 are separated from each other, the tool 15 held between the pair of auxiliary movable members 23 is released.

  The auxiliary hand upside down mechanism (not shown) is specifically an air actuator that rotationally drives the rotation output unit around the horizontal auxiliary rotation shaft 22, and the auxiliary hand 21 is coupled to the rotation output unit. When the rotation output unit is rotated by 180 ° around the auxiliary rotation shaft 22, the auxiliary hand 21 is vertically inverted with respect to the auxiliary rotation shaft 22. The rotational position of the auxiliary hand 21 is limited by a stopper.

  The auxiliary hand lifting / lowering mechanism (not shown) is specifically an air cylinder that linearly drives the linear output unit in the vertical direction, and the above-described upside down mechanism is coupled to the linear output unit. When the linear output unit is linearly driven in the vertical direction, the auxiliary hand 21 is moved up and down together with the upside down mechanism. The height position of the auxiliary hand 21 is controlled to a predetermined height position by a stopper attached to the air cylinder.

  As shown in FIGS. 1 and 2, in the present embodiment, the second tool conveyance unit 30 includes a rotation drive mechanism 31 that rotates the rotation output unit 33 around the vertical rotation shaft 32, and a rotation output unit 33. The coupled hand support 34, and a first openable and closable hand 35a and a second openable and closable second hand 35b supported by the hand support 34 at equidistant positions in the radial direction from the rotary shaft 32, respectively. ing.

  The first hand 35a and the second hand 35b are, for example, well-known parallel open / close air chucks. In particular, as shown in FIG. 2, the first hand 35a is disposed so as to be opposed to each other. A pair of first movable members 36a that can be moved relative to each other by air pressure are provided, and the second hand 35b is arranged to face each other and can be moved relative to each other by air pressure. have. The configuration of the pair of first movable members 36a and the pair of second movable members 36b is substantially the same as the configuration of the pair of auxiliary movable members 23 described above, and detailed description thereof is omitted.

  In the present embodiment, the first hand 35a and the second hand 35b are disposed at positions spaced apart from each other by 180 ° around the rotation shaft 32 in the hand support portion 34, and are directed radially outward. That is, the first hand 35 a and the second hand 35 b are supported by the hand support portion 34 at positions and postures that are symmetric with respect to the rotation shaft 32. The hand support part 34 is coupled to the rotation output part 33 of the rotation drive mechanism 31.

  Specifically, the rotary drive mechanism 31 is an air actuator or the like. The rotation output unit 33 of the rotation drive mechanism 31 is driven to rotate 180 ° around the rotation shaft 32, whereby the second hand 35b is disposed at the position of the first hand 35a before rotation and the second hand before rotation. The first hand 35a is arranged at the position 35b. In other words, the first hand 35 a and the second hand 35 b supported by the hand support portion 34 are horizontally reversed with respect to the rotation axis 32.

  Returning to FIG. 1, in the present embodiment, the first hand 35 a and the second hand 35 b are supported by the hand support portion 34 in a movable state within a minute region. Specifically, for example, in the hole provided in the hand support portion 34, a protruding portion as a connection fixing portion for the hand support portion 34 of the first hand 35a (or the second hand 35b) is accompanied by a gap ( Inserted). In this case, the first hand 35a (or the second hand 35b) is located in a gap between the inner periphery of the hole portion of the hand support portion 34 and the outer periphery of the protruding portion of the first hand 35a (or second hand 35b). A corresponding minute region is supported in a movable state. Specifically, for example, the first hand 35a (or the second hand 35b) is supported by the hand support unit 34 in a movable state within a minute region of ± 0.1 mm in the horizontal plane.

  And the 2nd tool conveyance part 30 has the hand fixing | fixed part 37 for fixing the 1st hand 35a and the 2nd hand 35b with respect to the hand support part 34 immovably.

  Specifically, the first hand 35a is provided with a first taper hole (not shown) for positioning, and the second hand 35b is provided with a second taper hole (not shown) for positioning. The hand fixing portion 37 includes a first taper shaft (not shown) that can be inserted into and removed from the first taper hole, a second taper shaft (not shown) that can be inserted into and removed from the second taper hole, a first taper shaft, and a second taper shaft. A taper shaft raising / lowering moving mechanism (not shown) that linearly drives the taper shaft in the vertical direction.

  The taper shaft raising / lowering moving mechanism is, for example, an air cylinder. When the first taper shaft and the second taper shaft are linearly driven vertically downward by the taper shaft raising / lowering movement mechanism, a spring member (not shown) interposed between the first taper shaft and the first hand 35a is contracted. In addition, the upper end portion of the first taper shaft is separated from the inner peripheral surface of the first taper hole by a minute distance, and as a result, the first hand 35a is movable in the minute region with respect to the hand support portion 34. Is done. In addition, a spring member (not shown) interposed between the second taper shaft and the second hand 35b is contracted, and the upper end portion of the second taper shaft is a minute distance from the inner peripheral surface of the second taper hole. As a result, the second hand 35 b is moved in a minute region with respect to the hand support portion 34.

  On the other hand, when the linear drive in the vertically downward direction by the taper shaft raising / lowering moving mechanism is eliminated, the first taper shaft and the second taper shaft are pulled vertically upward by the elastic force of a spring member (not shown), and the upper end of the first taper shaft After the portion abuts at least a part of the inner peripheral surface of the first tapered hole, the portion is relatively guided along the inner peripheral surface and fitted into the first tapered hole. As a result, the first hand 35a is positioned with high accuracy by the first taper shaft. The upper end of the second taper shaft abuts at least a part of the inner peripheral surface of the second taper hole, and is relatively guided along the inner peripheral surface to be fitted into the second taper hole. As a result, the second hand 35b is positioned with high accuracy by the second taper shaft.

  As shown in FIGS. 1 and 2, the tool conveying device 12 of the present embodiment includes an arm member 43 that is turned around a vertical second rotation shaft 42 by a second rotation drive mechanism 41. The second tool conveyance unit 30 is fixed to the arm member 43.

  Specifically, the second rotation drive mechanism 41 has an air cylinder and a link mechanism. When the link mechanism operates in accordance with the linear drive of the air cylinder, the arm member 43 connected to the link mechanism moves. It is turned around the second rotation shaft 42. When the arm member 43 is swung around the second rotation shaft 42 by the second rotation driving mechanism 41, the second tool conveying unit 30 fixed to the arm member 43 is also swung around the second rotation shaft 42. It has become. Such a second rotation drive mechanism 41 is effective when the tool pod 11 and the shrink-fit holder 16 are arranged at different positions in plan view.

  In the present embodiment, the second tool transport unit 30 has a lifting mechanism 38. Specifically, the elevating mechanism 38 is an air cylinder, and is vertically provided on the arm member 43. The aforementioned rotary drive mechanism 31 is coupled to the elevating mechanism 38 via a mediating member 39. The first hand 35 a and the second hand 35 b are also moved up and down relative to the arm member 43 by moving the rotary drive mechanism 31 up and down relative to the arm member 43 by the lifting mechanism 38. In the present embodiment, the elevating mechanism 38 moves the first hand 35a and the second hand 35b to the first height position corresponding to the lowest position of the air cylinder stroke and the first position corresponding to the highest position of the air cylinder stroke. It is designed to reciprocate between two height positions.

  As shown in FIG. 1, in the present embodiment, a cleaning pod 45 that cleans the shank of the tool 15 held by the second tool conveyance unit 30 is attached to the arm member 43.

  The cleaning pod 45 has a cylindrical shape and is disposed above the first hand 35a or the second hand 35b. When the first hand 35a and the second hand 35b are raised to the second height position by the lifting mechanism 38, the shank of the tool 15 held by the first hand 35a or the second hand 35b is put into the cleaning pod 45. The shank end surface of the tool 15 is inserted and positioned inside the cleaning pod 45.

  In the present embodiment, an air supply unit 46 that supplies air toward the shank end surface of the set tool 15 is connected to the upper end of the cleaning pod 45. If air is supplied from the air supply unit 46 to the cleaning pod 45 when the tool 15 is set in the cleaning pod 45, the supplied air is supplied to the inner peripheral surface of the cleaning pod 45. It flows out through the gap between the outer surface of the shank and flows out. Since the air flow rate is increased by the gap, the outer surface of the shank of the tool 15 to be set is effectively cleaned.

  As shown in FIG. 1, in the present embodiment, the heating device 13 and the cooling device 14 are fixed to the arm member 43, and are swung around the second rotating shaft 42 together with the second tool conveying unit 30. It is like that.

  The heating device 13 is a known shrink fitting holder heating device, and heats the shrink fitting holder 16 by covering the periphery of the shrink fitting holder 16.

  The cooling device 14 is also a known shrink fitting holder cooling device, and the shrink fitting holder 16 is cooled by blowing cooling air around the shrink fitting holder 16. 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.

  In the present embodiment, a plurality of tool pods 11 are provided in the circumferential direction of a pod rotation table (not shown) that rotates around a vertical rotation axis. The pod rotary table can position the tool pod 11 so that the desired tool pod 11 can deliver the tool 15 to the first tool transport unit 20.

  As shown in FIG. 1, the tool pod 11 of the present embodiment has a cylindrical shape, and a bottom 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 bottom portion, and thereby the shank end surface of the inserted tool 15 is inserted. Is easily positioned at a predetermined position.

  Next, with respect to the operation of the present embodiment as described above, referring to FIGS. 3 to 18, the first tool 151 fixed in the shrink-fit holder 16 is set to the second tool pod 112. A method for exchanging with the tool 152 will be described as an example.

  As shown in FIG. 3, first, 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 first tool transport unit 20. In addition, it is appropriately positioned in the horizontal plane by a pod rotary table (not shown).

  Next, as shown in FIG. 4, the auxiliary hand 21 of the first tool conveying unit 20 is lowered and positioned at a predetermined height position by a stopper. At this time, at least a part of the shank of the second tool 152 set in the second tool pod 112 is inserted between the opened auxiliary hands 21 (gripping region). Subsequently, the auxiliary hand 21 is closed, and the second tool 152 inserted between the auxiliary hands 21 is gripped by the auxiliary hand 21.

  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 moved to the auxiliary hand of the first tool transport unit 20 at a predetermined height position. Therefore, the positional relationship (ΔL) related to the height between the tool 152 and the auxiliary hand 21 can be obtained without using a special measuring instrument.

  Next, as shown in FIG. 5, the auxiliary hand 21 is lifted while holding the second tool 152, and after the second tool 152 is taken out from the second tool pod 112, the auxiliary hand 21 is preliminarily moved by a stopper. Positioned at a defined height position. Subsequently, as shown in FIG. 6, the auxiliary hand 21 is turned by 180 ° around the horizontal auxiliary rotating shaft 22, that is, the position and posture of the auxiliary hand 21 are inverted vertically with respect to the auxiliary rotating shaft 22. As a result, the position and orientation of the second tool 152 gripped by the auxiliary hand 21 are also inverted vertically with respect to the auxiliary rotation shaft 22.

  In the present embodiment, based on the positional relationship (ΔL) related to the height between the second tool 152 and the auxiliary hand 21 and the height of the auxiliary hand 21 itself, the second tool 152 after being turned upside down. The height of the shank end face is controlled.

  Subsequently, as shown in FIG. 7, the first hand 35 a and the second hand 35 b are immovable with respect to the hand support portion 34 by the hand fixing portion 37, and the second hand 35 b is opened. The first hand 35a and the second hand 35b are lowered by the elevating mechanism 38 and moved to the first height position corresponding to the lowest position of the stroke of the air cylinder. At this time, since the first hand 35a and the second hand 35b are immovable with respect to the hand support portion 34, the first hand 35a (or the first hand 35a (or the first hand 35a) is lowered as the first hand 35a and the second hand 35b are lowered. The vibration of the second hand 35b) and the generation of noise due to friction between the first hand 35a (or the second hand 35b) and the hand support portion 34 are suppressed.

  When the first hand 35a and the second hand 35b are moved to the first height position, at least part of the shank of the second tool 152 gripped by the auxiliary hand 21 is between the opened second hands 35b. Inserted into.

  Next, the first hand 35 a and the second hand 35 b are made movable within the minute region with respect to the hand support portion 34 by the hand fixing portion 37. Then, the second hand 35b is closed, and the shank of the second tool 152 inserted between the second hands 35b is gripped by the second hand 35b. At this time, since the second hand 35b is movable within the minute region, the second tool 152 gripped by the auxiliary hand 21 even when, for example, a positioning error in the horizontal plane is minutely generated. Generation of high stress due to misalignment between the first hand 35b and the second hand 35b is suppressed.

  In the present embodiment, when the first tool conveying unit 20 after the second tool 152 is turned upside down is controlled to a predetermined height, the reversed second tool 152 is always placed at the same height position (first height Therefore, the positional relationship (ΔL2) relating to the height between the tool 152 and the second tool conveying unit 30 is always constant.

  As shown in FIG. 8, after the second tool 152 is gripped by the second hand 35 b, the second tool 152 is released from the auxiliary hand 21. Subsequently, the auxiliary hand 21 is retracted downward.

  Next, as shown in FIG. 9, the first hand 35 a and the second hand 35 b are made immovable with respect to the hand support portion 34 by the hand fixing portion 37. And the 2nd tool conveyance part 30 is turned around the 2nd rotating shaft 42 with the arm member 43 by the 2nd rotation drive mechanism 41, and the 1st hand 35a takes out the front tool from the shrink-fit holder 16. In order to be able to do so, the first support 35 a and the second hand 35 b are pivoted with respect to the rotation shaft 32 by being appropriately positioned in the horizontal plane and the hand support 34 rotated by 180 ° around the rotation shaft 32 by the rotation drive mechanism 31. It is flipped symmetrically. At this time, since the first hand 35 a and the second hand 35 b are immovable with respect to the hand support portion 34, the first hand 35 is turned along with the turning of the second tool transport portion 30 and the rotation of the hand support portion 34. It is possible to prevent vibrations from being generated in 35a (or the second hand 35b), and noise from being generated due to friction between the first hand 35a (or the second hand 35b) and the hand support portion 34.

  As shown in FIG. 10, with the first hand 35a opened, the lifting mechanism 38 moves the first hand 35a and the second hand 35b to the second height position corresponding to the highest position of the stroke of the air cylinder. At the same time, the main shaft 17 is lowered together with the shrink-fit holder 16. Thereby, the periphery of the shrink-fit holder 16 is covered by the heating device 13, and at least a part of the shank of the first tool 151 fixed to the shrink-fit holder 16 is between the opened first hands 35a. Inserted.

  Further, during the ascent of the first hand 35a and the second hand 35b, the supply of air from the air supply unit 46 into the cleaning pod 45 is started, and the shank of the second tool 152 gripped by the second hand 35b is It is inserted into the cleaning pod 45 in a state where air is blown onto the end face of the shank. Thereby, dust is effectively removed from the shank portion of the second tool 152 held by the second hand 35b.

  Subsequently, the first hand 35 a and the second hand 35 b are moved with respect to the hand support 34 by the hand fixing portion 37. Then, the first hand 35a is closed, and the shank of the first tool 151 inserted between the first hands 35a is gripped by the first hand 35a. At this time, since the first hand 35a is movable in the minute region, the first tool fixed to the shrink-fit holder 16 even when, for example, a positioning error in the horizontal plane is minutely generated. Generation of high stress due to misalignment between 151 and the first hand 35a is suppressed.

  Then, the shrink-fit holder 16 is heated by the heating device 13, and the first tool 151 held by the first hand 35 a is released from the shrink-fit holder 16.

  Next, as shown in FIG. 11, the first hand 35 a and the second hand 35 b are made immovable with respect to the hand support portion 34 by the hand fixing portion 37. Then, the first hand 35 a and the second hand 35 b are lowered by the lifting mechanism 38. As a result, the first tool 151 held by the first hand 35a is taken out from the shrink-fit holder 16, and the second tool 152 held by the second hand 35b is taken out from the cleaning pod 45. Thereafter, the supply of air into the cleaning pod 45 is stopped. Subsequently, as shown in FIG. 12, the hand support 34 is rotated by 180 ° around the rotation shaft 32 by the rotation drive mechanism 31, whereby the positions and postures of the first hand 35 a and the second hand 35 b are changed to the rotation shaft 32. With respect to the axis symmetrically reversed. The positions and postures of the first hand 35a and the second hand 35b are reversed left and right symmetrically with respect to the rotation shaft 32, whereby the first tool 151 held by the first hand 35a and the second hand 35b held by the second hand 35b. The position and posture of the two tools 152 are also reversed left and right symmetrically about the rotation axis 32.

  Subsequently, the first hand 35 a and the second hand 35 b are moved with respect to the hand support 34 by the hand fixing portion 37.

  Next, as shown in FIG. 13, the first hand 35a and the second hand 35b are raised to the second height position corresponding to the highest stroke of the air cylinder by the lifting mechanism 38, and are gripped by the second hand 35b. The made second tool 152 is conveyed to the shrink-fit holder 16 that is opened by the heating device 13. In the present embodiment, since the positional relationship (ΔL2) regarding the height between the second tool 152 and the second tool conveyance unit 30 is always constant, the protruding amount of the second tool 152 is measured using a special measuring instrument. Even without this, the second tool 152 can be positioned in the shrink-fit holder 16 in a short time.

  Further, during the ascent of the first hand 35a and the second hand 35b, supply of air from the air supply unit 46 into the cleaning pod 45 is started, and the shank of the first tool 151 gripped by the first hand 35a is It is inserted into the cleaning pod 45 in a state where air is blown onto the end face of the shank. Thereby, dust is effectively removed from the shank portion of the first tool 151 held by the first hand 35a.

  Then, the heating of the shrink fitting holder 16 by the heating device 13 is stopped, and the cooling of the shrink fitting holder 16 by the cooling device 14 is started. When the shrink fitting holder 16 is cooled by the cooling device 14, the shrink fitting holder 16 is closed, and the second tool 152 positioned in the shrink fitting holder 16 is fixed to the shrink fitting holder 16. At this time, since the second hand 35b is movable in the minute region, the second tool fixed to the shrink-fit holder 16 even when a positioning error in the horizontal plane is minute, for example. The generation of high stress due to the misalignment between 152 and the second hand 35b is suppressed.

  Next, as shown in FIG. 14, the second tool 152 is released from the second hand 35b. The main shaft 17 is lifted together with the shrink-fit holder 16, and the first hand 35a and the second hand 35b are retracted downward by the lifting mechanism 38. At this time, the first tool 151 held by the first hand 35 a is taken out from the cleaning pod 45. Thereafter, the supply of air into the cleaning pod 45 is stopped.

  Next, as shown in FIG. 15, the first hand 35 a and the second hand 35 b are made immovable with respect to the hand support part 34 by the hand fixing part 37. Then, the second tool transport unit 30 is turned around the second rotation shaft 42 together with the arm member 43 by the second rotation drive mechanism 41 so that the tool can be delivered to the first tool transport unit 20 in a horizontal plane. The hand support 34 is rotated by 180 ° around the rotation shaft 32 by the rotation drive mechanism 31, and the first hand 35 a and the second hand 35 b are reversed left and right symmetrically with respect to the rotation shaft 32. . At this time, since the first hand 35 a and the second hand 35 b are immovable with respect to the hand support portion 34, the first hand 35 is turned along with the turning of the second tool transport portion 30 and the rotation of the hand support portion 34. It is possible to suppress the occurrence of vibration in 35a (or the second hand 35b) or the generation of noise due to friction between the hand support portion 34 and the first hand 35a (or the second hand 35b).

  Subsequently, as shown in FIG. 16, the first hand 35 a and the second hand 35 b are lowered to the first height position corresponding to the lowest position of the stroke of the air cylinder by the elevating mechanism 38.

  Next, the first hand 35 a and the second hand 35 b are made movable within the minute region with respect to the hand support portion 34 by the hand fixing portion 37. Then, the auxiliary hand 21 of the first tool transport unit 20 is raised, and at least a part of the shank of the first tool 151 held by the first hand 35 a is inserted between the auxiliary hands 21.

  Then, the auxiliary hand 21 of the first tool conveying unit 20 is closed, and the shank of the first tool 151 inserted between the auxiliary hands 21 is gripped by the auxiliary hand 21. At this time, since the first hand 35a is movable in the minute area, the first tool 151 held by the auxiliary hand 21 is also used even when a positioning error in the horizontal plane is minute, for example. And high stress due to misalignment between the first hand 35a and the first hand 35a are suppressed.

  Subsequently, as shown in FIG. 17, the first tool 151 is released from the first hand 35a. Then, the first hand 35 a and the second hand 35 b are retracted upward by the lifting mechanism 38.

  Next, the auxiliary hand 21 is turned 180 ° around the horizontal auxiliary rotating shaft 22 by the control device 24, that is, the position and posture of the auxiliary hand 21 are turned upside down with respect to the auxiliary rotating shaft 22. As a result, the position and orientation of the first tool 151 held by the auxiliary hand 21 are also inverted vertically with respect to the auxiliary rotating shaft 22. On the other hand, a pod rotary table (not shown) is rotated to appropriately position the first tool pod 111 for the first tool 151 in the horizontal plane.

  Then, as shown in FIG. 18, the auxiliary hand 21 is lowered, and the first tool 151 held by the auxiliary hand 21 is set in the appropriately positioned first tool pod 111. Thereafter, the first tool 151 is released from the auxiliary hand 21, and then the auxiliary hand 21 is retracted upward.

  According to the present embodiment as described above, since the second tool 152 is set on the second tool pod 112 with the shank end face positioned at a predetermined position, it is set on the second tool pod 112. For example, if the first tool transport unit 20 always holds the second tool 152 at the same height position, the positional relationship (ΔL) regarding the height between the second tool 152 and the first tool transport unit 20 is Always constant. Next, the gripped second tool 152 is raised by the first tool conveying unit 20 and turned upside down, so that the second tool 152 after the upside down is turned on the basis of the positional relationship and the height of the first tool conveying unit 20 itself. 2 The height of the shank end face of the tool 152 can be controlled. When the first tool transport unit 20 after the second tool 152 is turned upside down is controlled to a predetermined height, the second tool transport unit receives the inverted second tool 152 at the same height position, for example. Then, the positional relationship (ΔL2) regarding the height between the second tool 152 and the second tool transport unit 30 is always constant. Next, the second tool 152 received by the second tool transport unit 30 is transported to the shrink-fit holder 16 fixed to the main shaft 17 to measure the protrusion amount of the second tool 152 using a special measuring instrument. Without this, the second tool 152 can be positioned in the shrink-fit holder 16 in a short time.

  Further, according to the present embodiment, when the first hand 35 a and the second hand 35 b are arranged at positions spaced apart from each other by 180 ° around the rotation axis 32, the hand support portion 34 is around the rotation axis 32. By rotating 180 °, the first hand 35a can be arranged at the position of the second hand 35b before the rotation. By making use of this, the second tool 152 is gripped by the second hand 35b in advance, and after the first tool 151 gripped by the first hand 35a is taken out from the shrink fit holder 16, Before handing the first tool 151 taken out to the first tool transporting unit 20, the hand support unit 34 is rotated by 180 °, and the second hand 35b is arranged at the position of the first hand 35a before the rotation. The second tool 152 held by the second hand 35b can be conveyed to the shrink-fit holder 16. Thereby, the exchange time of the tools 151 and 152 is further shortened.

  Further, according to the present embodiment, for example, the first tool 151 (or the second tool 152 set in the second tool pod 112) held by the shrink-fit holder 16 is used as the first hand 35a (or the second hand). 35b), when the first hand 35a (or the second hand 35b) is in a movable state in a minute region, for example, when a positioning error in a horizontal plane has occurred, While generation of high stress due to misalignment between the first tool 151 (or the second tool 152) and the first hand 35a (or the second hand 35b) can be suppressed, the first hand 35a (or the second hand) After the hand 35b) grips the first tool 151 (or the second tool 152), the first hand 35a (or the second hand 35b) is placed on the hand support 34. And by immovable, it is possible to smoothly implement the subsequent operation.

  Furthermore, according to the present embodiment, the arm member 43 is swung around the second rotation shaft 42, so that the second tool transport unit 30 is placed in a horizontal plane with respect to the shrink-fit holder 16 fixed to the main shaft 17. It can be positioned properly.

  Further, according to the present embodiment, when the first tool 151 or the second tool 152 held in the second tool transport unit 30 is set in the cleaning pod 45, the air supply unit 46 enters the cleaning pod 45. By supplying air, the shank of the first tool 151 or the second tool 152 set by the supplied air can be cleaned. By utilizing this fact, the influence of dust at the time of tool replacement can be reduced by cleaning the shank of the first tool 151 or the second tool 152 immediately before tool replacement.

DESCRIPTION OF SYMBOLS 10 Automatic tool change system for shrink fit holders 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 Shrink fit holder 17 Spindle 20 1st 1 Tool conveying section 21 Auxiliary hand 22 Auxiliary rotating shaft 23 Auxiliary movable member 24 Control device 30 Second tool conveying section 31 Rotation drive mechanism 32 Rotating shaft 33 Rotating output section 34 Hand support section 35a First hand 35b Second hand 36a First Hand movable member 36b Second hand movable member 37 Hand fixing portion 38 Lifting mechanism 39 Intermediary member 41 Second rotation drive mechanism 42 Second rotation shaft 43 Arm member 45 Cleaning pod 46 Air supply portion

Claims (6)

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 conveying device is
A first tool transport unit capable of gripping a tool set in the tool pod, capable of moving the gripped tool up and down and flipping up and down;
When the first tool conveying unit after the tool is inverted is controlled to a predetermined height, the inverted tool can be received from the first tool conveying unit, and the received tool is fixed to the spindle. A second tool transporter capable of transporting to the fitting holder;
An automatic tool change system for shrink-fit holders. The second tool conveying unit is
A rotation drive mechanism for rotating the rotation output unit around a vertical rotation axis;
A hand support unit coupled to the rotation output unit;
An openable and closable first hand and an openable and closable second hand that are supported at equidistant positions in the radial direction from the rotation shaft in the hand support part,
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 shrink-fitting holder according to claim 2, wherein the second tool conveying unit includes a hand fixing unit for immobilizing the first hand and the second hand relative to the hand support unit. Automatic tool change system. 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 3, wherein the second tool transport unit is fixed to the arm member. The automatic tool change system for a shrink-fit holder according to any one of claims 1 to 4, wherein the tool pod is configured such that a tool is set in a state in which a shank end surface is in contact with a bottom surface. . The tool transfer device further includes a cleaning pod in which a tool held by the second tool transfer unit is set,
The automatic tool for shrink-fit holder according to any one of claims 1 to 5, wherein the cleaning pod is provided with an air supply unit for supplying air toward a shank end surface of the set tool. Exchange system.

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