JP2021037554A - Tool changer - Google Patents

Abstract

To provide a tool changer capable of restraining reduction in processing accuracy of a workpiece without enlarging an occupation height of a machine tool.SOLUTION: A pot tilting point is defined outside a bottom surface on a bottom surface substantial central axis of a pot 10 moved by a pot carrier slider (on a substantial central axis of a pinion gear shaft) at a tool replacement position of a chain type tool magazine 1. The pot tilting point is moved in a normal line substantial inside direction (a substantial normal line inside direction of a normal line of a chain 2 of the tool replacement position of the chain type tool magazine 1) of an outside surface constituted of the chain 2, and the pot 10 is rotated by 90 degrees to move an upper part of the pot-10 onto a substantial normal line of the outside surface constituted of the chain 2 at the tool replacement position.SELECTED DRAWING: Figure 1

Description

In the present invention, a tool inserted from the upper part of a pot in which a groove on a side surface is engaged and held on the inner surface of a substantially U-shaped link member having an open outside, which constitutes an endless chain of a chain type tool magazine. The present invention relates to a tool changer for taking out and exchanging a tool mounted on a spindle for machining a work.

Conventionally, a pot in which a substantially U-shaped link member having an open outside and a substantially U-shaped inner surface of the link member is engaged and held with a groove on the side surface, which constitutes an endless chain of a chain-type tool magazine. There is known a tool changer that takes out a tool inserted from the upper part and replaces it with a tool mounted on a spindle for machining a work. As this type of tool changing device (separable pot chain device), for example, a chain provided with a pair of substantially U-shaped link plates 122 is used, and a long groove is formed in the tool holder 111 held by the pair of link plates 122. The tool holder 111 is held in the substantially U-shaped portion of the pair of link plates 122 by forming the 108 and fitting the link plate 122 into the long groove 108 formed in the tool holder 111. In this conventional tool changer, the tool holder 111 is linearly moved along a long groove 108 into which the link plate 122 bored in the tool holder 111 fits, separated from the chain, and the separated tool. The holder 111 was subjected to a rotational motion to move it to a work site (for example, Patent Document 1 (see FIG. 12)). Here, FIG. 12A is a front view showing a conventional separable chainpot device, FIG. 12B is a plan view showing a separable chainpot device, and FIG. 12C is a separable chain. It is a side view which shows the pot device.

Japanese Unexamined Patent Publication No. 2001-71227 (conventional technology)

However, in the conventional tool changer (separable pot chain device), the tool holder 111 (pot) is moved downward (A dimension (for example, 90 mm)) from the chain, and then the tool is moved downward. The holder 111 (pot) is tilted 90 degrees downward, and the tool inserted in the tool holder 111 (pot) is moved to a position where it is locked by a tool replacement arm (not shown). Therefore, the dimension (B dimension (for example, 178.3 mm)) from the center of the chain to the upper end of the tool holder 111 (pot) becomes large. That is, in the separable pot chain device, the dimension from the center of the chain to the upper end of the pot is the B dimension, whereas in the tilting pot chain device, the dimension from the center of the chain to the upper end of the pot is the C dimension (for example). , 74.5 mm), so the height dimension of the tool changer is larger than that of the tilting pot chain, and the height dimension of the tool changer is larger, so the occupied height of the machine tool is larger. There was a problem (see FIG. 13). Further, as the height dimension of the tool changer becomes larger, the center of gravity of the tool changer becomes higher, and the vibration caused by the rotational operation of the tool changer affects the machining by the spindle, which causes a problem that the machining accuracy deteriorates. .. Here, FIG. 13 is an explanatory view of a replacement position of the tool holder of the separable pot chain device and the tilting pot chain device.

The present invention has been made in view of the above problems, and an object of the present invention is to provide a tool changing device capable of suppressing a decrease in machining accuracy of a work without increasing the occupied height of a machine tool. ..

In order to solve the above problems and achieve the above object, the first aspect of the present invention relates to a substantially U-shaped link member having an open outside, which constitutes an endless chain of a chain type tool magazine. A tool changer that takes out a tool inserted from the upper part of a pot in which a groove on the side surface is engaged and held on the inner surface, and replaces it with a tool mounted on a spindle for machining a workpiece. At the tool change position, a pot engaged and held on the inner surface of the substantially U-shape of the link member is placed on the bottom surface, and the normal of the outer surface formed by tune from the substantially U-shaped opening of the link member is omitted. The pot is turned by rotating the pot by 90 degrees while moving the pot outward moving means for moving the pot outward and the pot moved by the pot outward moving means in the normal inward direction opposite to the normal outward direction, so that the pot becomes a tool. It has a pot tilting point inner moving means that moves the outer surface in the substantially normal direction of the outer surface composed of the tune of the exchange position, and is inserted into the pot that is rotationally moved by the pot tilting point inner moving means. The tool and the tool mounted on the spindle were locked by the spindle tool changing means, and by rotating the spindle tool changing means with the tools locked, the tools were rotationally moved by the pot tilting point inside moving means. A tool inserted in the pot moves to the main shaft and is mounted on the main shaft, and a tool mounted on the main shaft moves to the pot rotated by the pot tilting point inside moving means and is inserted and locked in the pot. Is.

According to the present invention, the pot is tuned at the tool change position by rotating the pot 90 degrees while moving the pot moved by the pot outward moving means in the direction substantially inward by the normal line opposite to the direction substantially outside the normal. Since it is moved so as to be in the approximate normal direction of the outer surface to be formed, the rotation dimension of the pot rotated 90 degrees from the center of the link member does not increase, and the height dimension of the tool changer does not increase. It is also possible to prevent deterioration of processing accuracy due to an increase in the center of gravity of the switching device.

In the second aspect of the present invention, a groove portion on a side surface is engaged and held on an inner surface of a substantially U-shaped link member having an open outside, which constitutes an endless chain of a chain type tool magazine. It is a tool changer that takes out the inserted tool from the upper part of the pot and replaces it with the tool mounted on the spindle for machining the work. At the tool change position of the chain type tool magazine, the link member has a substantially U-shape. A pot outer movement means and a pot, in which a pot engaged and held on the inner surface is placed on the bottom surface and moved from a substantially U-shaped opening of a link member in a substantially outer direction of the normal of the outer surface composed of tunes. With the outside of the bottom surface on the substantially central axis of the bottom surface of the pot moved by the outward moving means as the pot tilt point, the pot tilt point is moved substantially inward of the normal line opposite to the substantially outer direction of the normal line, and the pot is 90. It has a pot tilting point inner moving means that moves the pot so that it is on the substantially normal line of the outer surface composed of the tune of the tool change position by rotating the pot, and is rotationally moved by the pot tilting point inner moving means. The tool inserted in the pot and the tool mounted on the spindle are locked by the spindle tool changing means, and by rotating the spindle tool changing means with the tool locked, the inside of the pot tilt point The tool inserted in the pot rotated by the moving means moves to the main shaft and is mounted on the main shaft, and the tool mounted on the main shaft moves to the pot rotated by the moving means inside the pot tilting point and is inside the pot. It is inserted and locked in.

According to the present invention, the outside of the bottom surface on the substantially central axis of the bottom surface of the pot moved by the pot outward moving means is set as the pot tilt point, and the pot tilt point is in the substantially inside direction of the normal line opposite to the substantially outside direction of the normal line. By rotating the pot 90 degrees, the pot moves so that it is on the approximate line of the outer surface composed of the tune of the tool change position, so that the rotation dimension of the pot rotated 90 degrees from the center of the link member. Since the height of the tool changer does not increase and the height dimension of the tool changer does not increase, it is possible to prevent deterioration of machining accuracy due to an increase in the center of gravity of the tool changer.

The third aspect of the present invention is the tool changing device according to the first or second aspect, and the pot outward moving means is a link member at the tool changing position of the chain type tool magazine. A pot that is engaged and held on the inner surface of the substantially U-shape is placed on the bottom surface and moved from the substantially U-shaped opening of the link member to the normal outward direction of the outer surface formed by the tune. It is a slider.

The fourth aspect of the present invention is the tool changing device according to the second aspect, and the tip of the pot tilting point inside moving means is fixed to the gear storage case and moved in and out from the rotary moving cylinder. A rotary movement piston rod that moves the gear storage case in the front-rear direction by expanding and contracting, a pinion gear that is provided inside the gear storage case and rotates on the rack along with the movement of the gear storage case, and a pinion gear that rotates and moves. By doing so, the pinion gear and the rotation shaft have a holding rotation gear that rotates in the opposite rotation direction to the pinion gear while meshing with the gear of the drive gear via a drive gear coaxial with the rotation shaft, and are moved by the pot outer direction moving means. The pot tilt point on the outside of the bottom surface on the substantially central axis of the bottom surface of the pot is contracted into the rotation movement cylinder from the extended state of the rotation movement piston rod, so that the outside of the normal surface of the outer surface formed by the tune is approximately outside. The normal line opposite to the direction is moved approximately inward, and the pot that rotates along the holding rotation gear rotates 90 degrees so that the pot is on the approximate normal line of the outer surface composed of the tune of the tool change position. Is to be done.

According to the present invention, the occupied height of the machine tool does not increase, and a decrease in machining accuracy of the work can be suppressed.

It is a surface perspective view which shows the chain type tool magazine which uses the tool change device in one Embodiment of this invention. It is a back side perspective view which shows the chain type tool magazine in which the tool changer is used. It is a partially enlarged perspective view of a chain. It is an exploded perspective view of the 1st link member and the 2nd link member. (A) Top perspective view of the tool changer according to the embodiment of the present invention. (B) is a top perspective view of the tool changing device with the gear storage case removed. (A) It is a right side perspective view of the holding rotation part on which the pot of the tool changer is placed. (B) It is a left side perspective view of the holding rotation part on which the pot of the tool changer is placed. (A) It is a left side perspective view which shows the state which the linear movement piston rod of the holding rotation part of the tool changing apparatus is extended. (B) It is a right side perspective view which shows the state which the linear movement piston rod of the holding rotation part of the tool changing device is extended. It is a flowchart of the work processing method used by the tool changer. (A) It is a figure which shows the state which the pot transfer slider of the tool changing apparatus is moved in a chain direction. (B) It is a figure which shows the state which put the pot on the pot transfer slider of the tool change device, and separated the pot from a chain. (A) It is a figure which shows the middle of rotation of the pot locked to the holding rotation part of the tool change device. (B) It is a figure which shows the state which the pot locked to the holding rotation part of the tool change device rotated 90 degrees. It is explanatory drawing that the pot tilting point outside the bottom surface on the substantially central axis of the bottom surface of the pot moves in the direction substantially inside the normal of the outer surface formed by the tune at the tool change position of the chain type tool magazine. (A) It is a front view which shows the conventional separable chain pot apparatus. (B) It is a top view which shows the separable chain pot apparatus. (C) It is a side view which shows the separable chain pot apparatus. It is explanatory drawing of the exchange position of the tool holder of a tilting type pot chain device and a separable pot chain device.

The tool changing device according to the embodiment of the present invention will be described with reference to the drawings. Here, FIG. 1 is a front perspective view showing a chain-type tool magazine in which the tool changing device according to the embodiment of the present invention is used, and FIG. 2 is a back perspective view showing a chain-type tool magazine in which the tool changing device is used. Is. Here, the chain-type tool magazine 1 is rotated while holding a plurality of pots 10 detachably on the chain 2, and has a substantially U-shape with an open outside constituting the endless chain 2 of the chain-type tool magazine 1. The tool 33 inserted from above into the pot 10 in which the groove portion 11 on the side surface is engaged and held on the inner surface of the link member 5 is taken out and replaced with the tool 33 mounted on the spindle 4 for machining the work. ..

The chain-type tool magazine 1 has a chain 2, a tool changing device 3, and a spindle 4 (see FIGS. 1 and 2). The chain 2 has an endless and ring-shaped shape in which a plurality of link members 5 (first link member 5a, second link member 5b) are connected by a connecting pin 6 (see FIGS. 3 and 4). Here, FIG. 3 is a partially enlarged perspective view of the chain, and FIG. 4 is an exploded perspective view of the first link member and the second link member.

The first link member 5a is formed in a substantially U-shape in which two link plates 7a made of flat plate members having the same shape are arranged in parallel and opened in the outer direction orthogonal to the transfer direction of the chain 2. Then, the end of the connecting column 8a is inserted into the connecting column insertion hole 80a of the base A of the two link plates 7a arranged in parallel, and the end of the connecting column 8a penetrating the connecting column insertion hole 80a. The two link plates 7a are coupled and fixed by fitting the C ring 81a into the recess (not shown) formed on the circumference (see FIG. 4). Here, a recess (not shown) is formed at the end of the connecting column portion 8a over the circumference. Further, a connecting pin insertion hole 9a into which the connecting pin 6 is inserted is formed in the arm portion B of the link plate 7a, and the connecting pin 6 whose outer circumference is covered with the connecting pin covering portion 6a in the connecting pin insertion hole 9a. Is inserted, and the C ring 81a is fitted into a recess (not shown) formed on the circumference of the end of the connecting pin 6 that penetrates the connecting pin insertion hole 9a.

In the second link member 5b, two link plates 7b made of flat plate members having the same shape are arranged in parallel, and the connecting column portion is inserted into the connecting column insertion hole 80b of the base A of the two link plates 7b arranged in parallel. Two link plates 7b are inserted by inserting the end portion of 8b and fitting the C ring 81b into a recess (not shown) formed on the circumference of the end portion of the coupling column portion 8b penetrating the coupling column insertion hole 80b. Is bonded and fixed (see FIG. 4). Here, a recess (not shown) is formed at the end of the connecting column portion 8b over the circumference. It is the same as the first link member 5a in that it is formed in a substantially U shape that opens in the outer direction orthogonal to the transfer direction of the chain 2, but the two link plates of the second link member 5b. The difference is that the length between 7b is shorter than the length between the two link plates 7a of the first link member 5a. That is, the length between the outer surfaces of the two link plates 7b of the second link member 5b is formed to be substantially the same as the length between the inner surfaces of the two link plates 7a of the first link member 5a. .. A connecting pin insertion hole 9b into which the connecting pin 6 is inserted is formed in the arm portion B of the link plate 7b. By doing so, the inner side surface of the two link plates 7a of the first link member 5a and the outer surface of the two link plates 7b of the second link member 5b are overlapped with each other, and the connecting pin insertion holes of the link plate 7a are overlapped. The first link member 5a and the second link member 5b are connected by inserting the connecting pin 6 whose outer circumference is covered with the connecting pin covering portion 6a into the connecting pin insertion hole 9b of the link plate 7b and 9a.

As described above, the chain 2 has the side surface of the second link member 5b inserted into the side surface of the first link member 5a, and the connecting pin insertion hole 9a of the first link member 5a and the connecting pin of the second link member 5b are inserted. By inserting the connecting pin 6 into the insertion hole 9b, the first link member 5a and the second link member 5b are connected to form an endless ring-shaped chain 2.

The pot 10 is formed with two upper and lower grooves 11 on the side surface to which the arm portions B of the link plates 7 (7a, 7b) are engaged, and a cylindrical pot rear surface locking portion 10a is formed on the upper rear surface. ing. The pot rear surface locking portion 10a is formed on the upper portion of the protruding surface 10b whose rear surface projects outward. Then, the pot 10 is inserted through the opening 12 (see FIG. 3) of the link member 5 having a substantially U-shape, and the groove 11 on the side surface of the pot 10 is engaged with the arm portion B of the link plate 7 to form a chain. It is held at 2. Since the link plate 7a and the link plate 7b engage with the groove 11 on the side surface of the pot 10, the height of the groove 11 on the side surface of the pot 10 is the total height of the link plate 7a and the link plate 7b. It is formed. Here, in the present embodiment, the external direction of the chain 2 will be the rear side, and the internal direction of the chain 2 will be the front side.

The tool changer 3 mounts any tool 33 housed in the pot 10 held by the link member 5 (first link member 5a, second link member 5b) of the chain 2 on the spindle 4, and also. The tool 33 mounted on the spindle 4 is inserted into the pot 10 and held by the link member 5 (first link member 5a, second link member 5b) of the chain 2. The tool changing device 3 is provided at the lower part of the chain 2 and has a holding rotating portion 13 and a driving portion 14 (see FIG. 5). The holding rotating portion 13 holds the pot 10 engaged with the chain 2, moves the pot 10 straight in the rear direction (outer direction) of the chain 2, and then rotates it 90 degrees in the rear direction (outer direction). The reverse rotation and movement can be done. Further, the drive unit 14 rotates the holding rotation unit 13. Here, FIG. 5A is a top perspective view of the tool changing device according to the embodiment of the present invention, and FIG. 5B is a top perspective view of the tool changing device with the gear storage case removed.

The holding rotation unit 13 has a holding rotation base portion 15, a slider guide rod 16, a pot transport slider 17, a pot guide plate 18, a linear movement cylinder 19, and a holding rotation shaft 20. Here, FIG. 6 (a) is a right side perspective view of the holding rotating portion on which the pot of the tool changing device according to the embodiment of the present invention is placed, and FIG. 6 (b) shows the pot of the tool changing device. It is a left side perspective view of the mounted holding rotation part.

The holding rotation base portion 15 is arranged at the bottom of the holding rotation portion 13 and serves as a base for the holding rotation portion 13. The front surface and the rear surface extend upward, and the slider guide rod 16 is locked to the front surface and the rear surface thereof. Two guide rod locking notches 15a are formed respectively.

The slider guide rod 16 has a cylindrical shape and is locked to the guide rod locking notches 15a on the front surface and the rear surface of the holding rotation base portion 15 described above.

The pot transport slider 17 is formed with a slide guide support member 17b extending upward from the rear center portion of the flat bottom plate 17a, and a guide rod 16 penetrates through the rear lower portion (outer lower portion) of the bottom plate 17a. A rear plate 17d having a rod locking hole 17c is provided (see FIG. 7B). Further, on the upper portion of the slide guide support member 17b, two support member upper convex portions 17e that can move while engaging with the slider guide rail 18e, which will be described later, are formed in the front-rear direction, and the support member upper convex portion 17e is formed. A slide guide 21, which will be described later, is attached to the upper end portion. Further, a piston rod pressing portion 17f pressed by the linearly moving piston rod 19a of the linearly moving cylinder 19, which will be described later, is formed on the front left side (inner side surface left side) of the bottom plate 17a so as to face downward. Then, when the piston rod pressing portion 17f is pressed by the linear moving piston rod 19a of the linear moving cylinder 19, the pot transport slider 17 slides forward along the slider guide rod 16 on the holding rotation base portion 15. Will be done.

The pot guide plate 18 is formed with pot guide arms 18a on the left and right sides, and between the two pot guide arms 18a, there is a pot guide recess 18b having a width that can be inserted into the groove 11 on the side surface of the pot 10 from the opening. It is formed. The height of the tip of the pot guide arm 18a becomes lower toward the tip, and the pot 10 is easily fitted into the pot guide recess 18b. Further, on the rear side of the pot guide recess 18b, a projecting body 18c projecting forward (inward direction) is formed. At the tip of the projecting body 18c, a pot rear surface locking support portion 18d for supporting the pot rear surface locking portion 10a on the upper portion of the pot 10 rear surface is formed, and the side surface of the projecting body 18c and the pot guide arm portion 18a are formed. A slider guide rail 18e for guiding the upper convex portion 17e of the support member of the pot transfer slider 17 is formed between the inner surface and the slide guide 21 attached to the upper end of the pot transfer slider 17, and the slide guide 21 is provided on the upper surface of the pot guide plate 18. Has been done. Further, the thickness of the pot guide arm portion 18a on the inside side (constant width) of the tip is gradually reduced toward the tip. In this way, since the thickness of the tip portion of the pot guide arm portion 18a is gradually reduced, the left and right pot guide arm portions 18a can easily enter the groove 11 on the side surface of the pot 10. Then, the convex portion 17e of the upper part of the support member of the pot transfer slider 17 moves rearward while engaging with the slider guide rail 18e, so that the pot 10 placed on the upper part of the pot transfer slider 17 has two pot guide arms. It is inserted into the pot guide recess 18b from between 18a, and the contact surface of the cylindrical pot rear surface locking portion 10a comes into contact with the pot rear surface locking support portion 18d having the same shape. Here, the pot guide plate 18 is attached to the upper ends of the guide plate support member 22a on the rear surface of the holding rotation base portion 15 and the guide plate supporting member 22b on the side surface of the holding rotation base portion 15.

The linearly moving cylinder 19 is provided on the left side surface of the holding rotation base portion 15, and the piston rod pressing portion 17f is pushed by extending the linearly moving piston rod 19a from the linearly moving cylinder 19 to the outside by air pressure, and the piston rod is pressed. The pot transfer slider 17 can be moved forward (in the chain direction) via the portion 17f (see FIG. 7). As the pot transfer slider 17 moves forward in this way, the slide guide 21 on the upper part of the pot transfer slider 17 presses the pot rear surface locking portion 10a of the pot 10, and the pot 10 moves to the front portion of the pot transfer slider 17 ( It can be moved forward together with the pot transfer slider 17 while being located on the chain side). In the present embodiment, a pneumatic cylinder is used as the straight-moving cylinder 19, but the present invention is not limited to this, and a hydraulic cylinder may be used. Here, FIG. 7A is a left side perspective view showing a state in which the linearly moving piston rod of the holding and rotating portion of the tool changing device according to the embodiment of the present invention is extended, and FIG. 7B is the tool. It is a right side perspective view which shows the state which the linear movement piston rod of the holding rotation part of an exchange device is extended.

The holding rotation shaft 20 is fixed to the right side of the holding rotation base portion 15 and is provided with a holding rotation gear 23 at the tip (see FIG. 7B). Then, the holding rotation gear 23 is rotated by the driving unit 14, so that the holding rotation unit 13 can be rotated.

Next, the drive unit 14 of the tool changer 3 will be described. As described above, the drive unit 14 rotates the holding rotation unit 13 (see FIG. 5).

The drive unit 14 has a rotary moving cylinder 24, a pinion gear 25, a rack 26, a pinion gear shaft 27, and a drive gear 28. Here, the pinion gear 25, the rack 26, the pinion gear shaft 27, and the drive gear 28 are provided on the upper portion of the drive base portion 29.

The rotary movement cylinder 24 presses the gear storage case 30. That is, in the rotational movement cylinder 24, the gear storage case 30 is pressed by the rotational movement piston rod 24a being extended outward from the rotational movement cylinder 24 by air pressure. Here, the tip of the rotary movement piston rod 24a that is expanded and contracted from the rotary movement cylinder 24 is fixed to the gear storage case 30. In the present embodiment, a pneumatic cylinder is used as the rotary moving cylinder 24, but the present invention is not limited to this, and a hydraulic cylinder may be used.

The pinion gear 25 is provided in the gear storage case 30, and when the rotary movement piston rod 24a is extended from the rotary movement cylinder 24 and then retracted into the rotary movement cylinder 24, the gear storage case 30 is moved by the rotary movement piston rod 24a. When the gear storage case 30 is pulled and moves forward (chain side), the pinion gear 25 moves forward while rotating on the rack 26 with the pinion gear shaft 27 as a rotation axis (see FIG. 5). When the pinion gear 25 rotates, the drive gear 28 provided at the other end of the pinion gear shaft 27 rotates together with the pinion gear shaft 27, and when the drive gear 28 rotates, it is screwed with the drive gear 28. The holding rotation gear 23 of the holding rotation shaft 20 rotates in the opposite direction to the drive gear 28 (see FIG. 5B). In this way, when the rotational movement piston rod 24a is retracted into the rotational movement cylinder 24 from the state in which the rotational movement piston rod 24a is extended from the rotational movement cylinder 24, the pinion gear 25 rotates forward on the rack 26 and becomes the pinion gear shaft 27. Since the holding rotary gear 23 of the holding rotary shaft 20 screwed with the drive gear 28 rotates in the reverse direction via the drive gear 28, the holding rotary portion 13 (including the pot 10) moves in the forward direction (chain direction) and outwards. Rotates 90 degrees, and the pot 10 turns downward. On the contrary, when the rotary moving piston rod 24a is extended from the rotary moving cylinder 24, the pinion gear 25 rotationally moves on the rack 26 in the rear direction (outward direction) and is driven via the pinion gear shaft 27 and the drive gear 28. Since the holding rotation gear 23 of the holding rotation shaft 20 screwed with the gear 28 rotates in the reverse direction, the holding rotation portion 13 (including the pot 10) rotates 90 degrees inward while moving in the rear direction (outward direction), and the pot 10 turns in the direction held by the chain 2. Here, a guide shaft 29a is provided in the upper part of the drive base portion 29 in parallel with the rack 26, and the guide shaft 29a is arranged in a guide shaft through hole (not shown) formed in the lower part of the gear storage case 30. There is. Then, when the gear storage case 30 moves in the front-rear direction, the gear storage case 30 moves along the guide shaft 29a.

Next, the spindle 4 provided in the chain type tool magazine 1 will be described.

The spindle 4 is machined by mounting a tool 33 and rotating the spindle 4 to which the tool 33 is mounted by a spindle rotation motor (spindle rotating means (not shown)). When replacing the tool 33 mounted on the spindle 4, the tool replacement arm 31 is used (see FIGS. 1 and 2). The tool change arm 31 can be rotated by rotationally driving the tool change drive shaft 32, and can also be moved in the vertical direction. The tool changing arm 31 has a gripping claw 31b formed at the end of the central arm body 31a, and by rotating the tool changing arm 31, the spindle 4 is formed by one gripping claw 31b of the tool changing arm 31. The tool 33 mounted on the pot 10 is locked, and the tool 33 inserted in the pot 10 is locked by the other gripping claw 31b of the tool replacement arm 31. Then, after the tool 33 mounted on the spindle 4 and the tool 33 inserted in the pot 10 are locked by the tool changing arm 31, the tool changing arm 31 is moved downward (toward the outside of the chain). As a result, the tool 33 is separated from the spindle 4, and the tool 33 is separated from the pot 10. Then, by further rotating the tool changing arm 31, the tool 33 locked to the gripping claws 31b at both ends of the tool changing arm 31 is rotated to the position of the pot 10 and the position of the spindle 4 (spindle tool changing position). Be moved. Then, after the tools 33 locked to the gripping claws 31b at both ends of the tool changing arm 31 are rotated to the spindle tool changing positions (the position of the pot 10 and the position of the spindle 4), the tool changing arm 31 is used. By moving the tool 33 upward (toward the chain side), the tool 33 is mounted on the spindle 4 and the tool 33 is inserted into the pot 10. Then, in the tool 33 inserted in the pot 10, the procedure opposite to the above-mentioned procedure, that is, the rotary-moving piston rod 24a is extended from the rotary-moving cylinder 24, so that the holding rotary portion 13 rotates 90 degrees as described above. The pot 10 is locked to the chain 2 by the reverse rotation of 90 degrees and the extension of the linear movement piston rod 19a from the linear movement cylinder 19. In the present embodiment, the spindle rotating motor is used as the spindle rotating means, but the present invention is not limited to this, and a spindle rotating switch or the like for rotating the spindle may be used as the spindle rotating means.

Next, with reference to FIG. 8, the work processing method used by the tool changer will be described in detail. Here, FIG. 8 is a flowchart of a work processing method used by the tool changing device according to the embodiment of the present invention.

First, in S1, it is determined that "work processing has started". Whether or not the work machining has been started is determined by whether or not the work machining switch is set to "ON". Then, if "YES" in S1, the process proceeds to S2. If "NO" is determined in S1, the work processing method ends.

In S2, it is determined whether or not the "tool change switch is ON". Whether or not this "tool change switch is ON" is determined by whether or not the tool change switch is turned "ON" after the tool 33 mounted on the spindle 4 is selected. Then, if it is determined to be "YES" in S2, the process proceeds to S3, and if it is determined to be "NO" in S2, the process proceeds to S7. S7 will be described later.

In S3, the "tool spindle rotation stop step" is carried out. In the tool spindle rotation stop step, the rotation of the spindle 4 on which the tool 33 is mounted is stopped by operating the spindle rotation stop brake (spindle rotation stop means (not shown)). Here, at the time of "work machining start", since the tool 33 is not attached to the spindle 4 and the spindle 4 is not rotating, the current rotation of the spindle 4 is stopped. Further, when the rotation of the spindle 4 on which the tool 33 is mounted is stopped, the current rotation of the spindle 4 is stopped. Then, the process proceeds to S4. In the present embodiment, the spindle rotation stop brake is used as the spindle rotation stop means, but the present invention is not limited to this, and a spindle rotation stop switch or the like for stopping the rotation of the spindle may be used as the spindle rotation stop means.

In S4, the "pot chain separation step" is carried out. In the pot chain separation step, at the tool exchange position of the chain type tool magazine 1, the pot 10 engaged and held on the substantially U-shaped inner surface of the link member 5 of the chain 2 is engaged with and held by the pot transfer slider 17 (pot outer direction moving means). The pot 10 is separated from the chain 2 by being placed on the bottom surface of the link member 5 and moved from the substantially U-shaped opening of the link member 5 in the substantially outer direction of the normal of the outer surface formed by the tune 2 (see FIG. 9). ). The tool change position of the chain type tool magazine 1 can move the pot 10 held by the chain 2 toward the outside of the chain 2 from the substantially U-shaped opening of the tune 2 (see FIGS. 1 and 2). ). In the pot chain separation step, the straight-moving piston rod 19a is extended from the straight-moving cylinder 19 to the outside, so that the pot transport slider 17 (including the slide guide 21) moves to the front side (chain direction) via the piston rod pressing portion 17f. By being moved and moving the pot transfer slider 17 from the pot guide plate 18 to the outside, the pot 10 is placed on the bottom plate 17a of the pot transfer slider 17. Then, by further extending the straight-moving cylinder 19 to the outside, the pot rear surface locking portion 10a of the pot 10 is joined to the slide guide 21 on the upper part of the pot transport slider 17. Then, after the pot rear surface locking portion 10a of the pot 10 is joined to the slide guide 21, the linearly moving piston rod 19a is contracted into the linearly moving cylinder 19, so that the pot rear surface of the pot 10 is inserted through the piston rod pressing portion 17f. Since the pot transfer slider 17 (including the slide guide 21) is moved to the rear side (outward direction) with the locking portion 10a joined to the slide guide 21, the two pot guide arm portions 18a of the pot guide plate 18 The pot transfer slider 17 (including the pot 10) moves to the pot guide plate 18 while the inner surface is engaged with the groove 11 on the side surface of the pot 10, and the pot rear surface locking portion 10a of the pot 10 is the pot rear surface above the pot transfer slider 17. It is joined to the locking support portion 18d. In the present embodiment, the pot transfer slider 17 is used to move the pot 10 from the substantially U-shaped opening of the link member 5 in the direction substantially outward of the normal of the outer surface formed by the tune 2. However, a pot outer direction moving means capable of moving the pot 10 from the substantially U-shaped opening of the link member 5 in the substantially outer direction of the normal of the outer surface formed by the tune 2 may be used. Further, in the present embodiment, the pot 10 is placed and moved on the bottom surface of the pot transport slider 17, but the top of the bottom surface means the upper part of the bottom surface, and the pot transport slider 17 is slightly upward from the bottom surface of the pot 10. Includes those that can be placed. Then, the process proceeds to S5. Here, FIG. 9A is a diagram showing a state in which the pot transfer slider of the tool changer according to the embodiment of the present invention is moved in the chain direction, and FIG. 9B is a view showing a state in which the pot of the tool changer is moved in the chain direction. It is a figure which shows the state which put the pot on the transport slider, and separated the pot from a chain.

In S5, the "pot rotation step" is carried out. In the pot rotation step, the pot transfer slider 17 on which the pot 10 separated and moved by the pot chain separation step is placed is rotated 90 degrees outward, and the pot 10 (including the tool) is moved to the spindle tool replacement position on the spindle 4. Will be moved to. Specifically, the rotary movement piston rod 24a is retracted into the rotary movement cylinder 24 from the state of being extended from the rotary movement cylinder 24, and the pinion gear 25 is rotationally moved forward on the rack 26 to drive the pinion gear shaft 27 and the pinion gear shaft 27. The holding rotary gear 23 of the holding rotary shaft 20 that meshes with the gear of the drive gear 28 rotates in the reverse direction via the gear 28. As a result, the holding rotating portion 13 (including the pot 10) rotates 90 degrees outward while moving in the forward direction (chain side (inner direction)) (see FIGS. 5 and 10). In this way, the holding rotation portion 13 rotates 90 degrees outward, so that the pot 10 rotates downward. As a result, the outside of the bottom surface of the pot 10 moved by the pot transfer slider 17 on the substantially center axis of the bottom surface is set as the pot tilt point K (on the substantially center axis of the pinion gear shaft 27), and the tool replacement position of the chain type tool magazine 1. In the pot 10, the pot tilt point K is moved substantially inward of the normal of the outer surface formed by the tune 2 (approximately the chain side of the normal of the chain 2 at the tool exchange position of the chain type tool magazine 1). Is rotated 90 degrees and moves so that the upper part of the pot 10 is on the approximate normal line of the outer surface formed by the tune 2 at the tool change position (see FIG. 11). Here, the "pot tilt point K" of the present embodiment is an intersection of the substantially central axis of the bottom surface of the pot 10 moved by the pot transport slider 17 and the substantially central axis of the holding rotation axis 20. The substantially inward direction of the normal of the outer surface formed by the tune 2 is the substantially inner direction of the normal of the chain 2 at the pot tilting point K of the pot 10 for exchanging the tool 33 held by the chain 2. Further, the entire drive unit 14 constitutes a means for moving the inside of the pot tilting point. Further, in the present embodiment, the pot tilting point inner moving means is configured by the entire driving unit 14, but the present invention is not limited to this, and is driven like the rotary moving piston rod 24a, the pinion gear 25, and the holding rotary gear 23. A part of the portion 14 may be used as a means for moving the inside of the pot tilt point, and further, the outside of the bottom surface on the substantially central axis of the bottom surface of the pot 10 moved by the pot transport slider 17 is set as the pot tilt point K, and the pot tilt point. K is moved substantially inward along the normal line of the outer surface composed of the tune 2, the pot 10 is rotated 90 degrees, and the pot tilt point K of the pot 10 is the outer surface composed of the tune 2 at the tool change position. If it moves so as to be on a substantially normal line, it may correspond to the means for moving the inside of the pot tilt point. Then, the process proceeds to S6. Here, FIG. 10A is a diagram showing the middle of rotation of the pot locked to the holding rotating portion of the tool changing device according to the embodiment of the present invention, and FIG. 10B is a view showing the holding of the tool changing device. FIG. 11 is a diagram showing a state in which the pot locked to the rotating portion is rotated by 90 degrees, and FIG. 11 shows a pot tilt point K on the outer bottom surface on the substantially central axis of the bottom surface of the pot 10 at the tool change position of the chain type tool magazine. Is an explanatory view of moving in the direction substantially inward of the normal line of the outer surface composed of the tune. In the present embodiment, the intersection of the substantially central axis of the bottom surface of the pot 10 moved by the pot transfer slider 17 and the central axis of the pinion gear shaft 27 is defined as the “pot tilt point K”, but the present invention is not limited to this. Another point outside the bottom surface on the substantially central axis of the bottom surface of the pot 10 moved by the pot transfer slider 17 may be set as the “pot tilting point K”.

In S6, the "spindle tool mounting process" is carried out. In the spindle tool mounting process, the tool 33 inserted in the pot 10 is mounted on the spindle 4. Specifically, by rotating the tool changing arm 31 (spindle tool changing means), the tool 33 inserted in the pot 10 is locked to the gripping claw 31b at the end of the arm body 31a, and then the tool is changed. The rotation of the tool arm 31 is stopped, the tool change arm 31 is moved to the lower part to separate the tool 33 from the pot 10, and the tool change arm 31 is further rotated to move the tool change arm 31 to the lower part. The tool 33 locked to the gripping claw 31b of 31 rotates and moves to the spindle tool mounting position. Then, by stopping the rotation of the tool changing arm 31 at the spindle tool mounting position and moving the tool changing arm 31 upward, the tool 33 locked to the gripping claw 31b of the tool changing arm 31 is the spindle 4 It is attached to. In this way, the tool 33 inserted in the pot 10 rotationally moved by the rotary moving piston rod 24a in the rotary moving cylinder 24 is locked, and the tool replacement arm 31 is held in a state where the tool 33 is locked. By rotating, the tool 33 inserted in the pot 10 rotationally moved by the rotary moving piston rod 24a in the rotary moving cylinder 24 moves to the spindle 4 and is mounted on the spindle 4. In the present embodiment, the tool changing arm 31 is used as the spindle tool changing means, but the present invention is not limited to this, and the tool 33 inserted in the pot 10 at the spindle tool changing position is locked and the tool 33 is used. By rotating the tool changing arm 31 in the locked state, the tool 33 inserted in the pot 10 at the spindle tool changing position can be moved to the spindle 4 and mounted on the spindle 4. For example, it may be something other than the tool changing arm 31. Then, the process proceeds to S8.

In S7 (“NO” in S2), it is determined whether or not “spindle tool is installed”. Whether or not the spindle tool is mounted is determined by whether or not the tool 33 is mounted on the spindle 4. Then, if it is determined to be "YES" in S7, the process proceeds to S8, and if it is determined to be "NO" in S7, the work processing method ends. Here, if it is determined in S2 that the "tool change switch is not ON" at the time of "work machining start", since the tool 33 is not mounted on the spindle 4, "NO" is set in S7 at the time of starting workpiece machining. Is judged. If "YES" is determined in S7, the process proceeds to S8.

In S8, the "tool spindle rotation process" is carried out. In the tool spindle rotation step, the spindle 4 is rotated by a spindle rotation motor (spindle rotating means (not shown)). Then, as the spindle 4 rotates, the work is machined by the tool 33 mounted on the spindle 4. And. Proceed to S9.

In S9, it is determined whether or not "work processing stop" is performed. Whether or not it is a "work machining stop" is determined by whether or not the work machining switch is turned "OFF". Then, if "YES" in S9, the process proceeds to S2. If "NO" is determined in S9, the work processing method ends.

Next, returning to S2, it is determined whether or not the "tool change switch is ON" again, and if it is determined as "YES" in S2, the processes of S3 → S4 → S5 → S6 are executed. In this case, since the "spindle tool mounting process" of S6 is executed with the tool 33 mounted on the spindle 4, it is slightly different from the above-mentioned "spindle tool mounting process". That is, in this "spindle tool mounting process", the tool replacement arm 31 rotates, so that the tool 33 inserted in the pot 10 is locked to one of the gripping claws 31b at the end of the arm body 31a. The tool 33 mounted on the spindle 4 is locked by the other gripping claw 31b of the tool changing arm 31. Then, by stopping the rotation of the tool changing arm 31 and moving the tool changing arm 31 to the lower part, the tool 33 inserted in the pot 10 is separated from the pot 10 and mounted on the spindle 4. The tool 33 is separated from the spindle 4. Then, by further rotating the tool changing arm 31, the tool 33 locked to the gripping claw 31b of the tool changing arm 31 is rotationally moved to the spindle tool mounting position, and the tool changing arm 31 is rotated at the spindle tool mounting position. By stopping the rotation of the tool and moving the tool change arm 31 to the upper part, one tool 33 locked to the grip claw 31b of the tool change arm 31 is attached to the spindle 4, and the other tool 33 is a pot. It is inserted and locked at 10. Then, the tool 33 inserted into the pot 10 has a procedure opposite to the above-mentioned procedure, that is, the rotational movement piston rod 24a is extended from the rotational movement cylinder 24, thereby reversing the above-mentioned 90-degree rotation of the holding rotary portion 13. It is rotated 90 degrees in the reverse direction, and the linearly moving piston rod 19a is locked to the chain 2 by being extended from the linearly moving cylinder 1. Since the other steps are the same as the above-mentioned processing of S2, the description thereof will be omitted. In the present embodiment, the "tool spindle rotation stop step (S3)" is executed before the "pot chain separation step (S4)" is carried out, but the present invention is not limited to this, and the tool spindle rotation stop step (S3) is not limited to this. ) (Stopping the rotation of the spindle 4 by the spindle rotation stopping brake (spindle rotation stopping means (not shown))) is executed immediately before the tool 33 is locked by the tool changing arm 31 (spindle tool changing means). You may do it. In this way, by stopping the rotation of the spindle 4 immediately before the tool 33 is locked by the tool changing arm 31 (spindle tool changing means), the work can be machined until just before the tool 33 is replaced, and the spindle 4 can be machined. The work can be efficiently machined by the tool 33 mounted on the tool 33, and the rotation of the spindle 4 is stopped when the tool 33 is replaced, so that the tool 33 can be easily operated while ensuring safety. It can be attached to the spindle 4.

As described above, the pot tilting point K is defined as the pot tilting point K on the substantially central axis of the bottom surface of the pot 10 moved in the outward direction of the chain 2 by the pot transport slider 17 (pot outward moving means). K is moved substantially inward on the outer surface normal line composed of the tune 2, and the pot 10 is rotated 90 degrees so that the pot 10 is on the outer surface normal line composed of the tune 2 at the tool change position. Since it moves, the rotation dimension of the pot 10 rotated 90 degrees from the center of the link member 5 does not increase, and the height dimension of the tool changer does not increase, so that the center of gravity of the tool changer becomes higher. Deterioration of accuracy can also be prevented.

It should be considered that the embodiments disclosed this time are exemplary in all respects and not restrictive. The scope of the present invention is shown by the scope of claims rather than the above description, and it is intended to include all modifications within the meaning and scope equivalent to the scope of claims.

1 Chain type tool magazine 2 Chain 3 Tool changer 4 Main shaft 5 Link member 5a 1st link member 5b 2nd link member 6 Connecting pin 6a Connecting pin cover 7a Link plate 7b Link plate 8a Connecting column 8b Connecting column 9a Connecting Pin insertion hole 9b Connecting pin insertion hole 10 Pot 10a Pot rear surface locking part 10b Protruding surface 11 Groove 12 Opening 13 Holding rotation part 14 Drive part 15 Holding rotation base part 15a Guide rod locking notch 16 Slider guide rod 17 Pot transport Slider 17a Bottom plate 17b Slide guide support member 17c Guide rod locking hole 17d Front plate 17e Support member upper convex part 17f Piston rod pressing part 18 Pot guide plate 18a Pot guide arm part 18b Pot guide recess 18c Protruding body 18d Pot rear surface Stop support 18e Slider guide rail 19 Linear movement cylinder 19a Linear movement piston rod 20 Holding rotation shaft 21 Slide guide 22a Guide plate support member 22b Guide plate support member 23 Holding rotation gear 24 Rotation movement cylinder 25 Pinion gear 26 Rack 27 Pinion gear shaft 28 Drive gear 29 Drive base 29a Guide shaft 30 Gear storage case 31 Tool replacement arm 32 Tool replacement drive shaft 33 Tool 80a Coupling column insertion hole 80b Coupling column insertion hole 81a C ring 81b C ring

Claims (4)

Take out the tool inserted from the upper part of the pot in which the groove on the side surface is engaged and held on the inner surface of the substantially U-shaped link member with an open outside that constitutes the endless chain of the chain type tool magazine, and remove the work. A tool changer that replaces the tools mounted on the spindle to be machined.
At the tool change position of the chain type tool magazine, the pot engaged and held on the inner surface of the link member having a substantially U shape is placed on the bottom surface, and the tune is provided from the opening of the link member having a substantially U shape. The pot outer direction moving means for moving the outer surface substantially outward, which is composed of
The pot is configured by the tune at the tool exchange position by rotating the pot 90 degrees while moving the pot moved by the pot outward moving means in the direction substantially inward in the normal direction opposite to the direction substantially outside the normal. It has a pot tilting point inner moving means, which is moved so as to be in the approximate normal direction of the outer surface to be formed.
The tool inserted in the pot and the tool mounted on the spindle, which are rotationally moved by the pot tilting point inner moving means, are locked by the spindle tool changing means, and the tool is locked in the locked state. By rotating the spindle tool changing means, the tool inserted in the pot, which was rotationally moved by the pot tilting point inner moving means, moved to the spindle, was attached to the spindle, and was attached to the spindle. A tool changer that moves a tool to the pot that has been rotationally moved by the pot tilting point inner moving means and is inserted and locked in the pot. A tool inserted from the upper part of the pot in which a groove on the side surface is engaged and held on the inner surface of a substantially U-shaped link member having an open outside, which constitutes an endless chain of a chain-type tool magazine, is taken out and a work piece is taken out. It is a tool changer that replaces the tool mounted on the spindle for machining.
At the tool change position of the chain type tool magazine, the pot engaged and held on the inner surface of the link member having a substantially U shape is placed on the bottom surface, and the tune is provided from the opening of the link member having a substantially U shape. The pot outer direction moving means for moving the outer surface substantially outward, which is composed of
The outside of the bottom surface on the substantially central axis of the bottom surface of the pot moved by the pot outward moving means is set as the pot tilt point, and the pot tilt point moves substantially inward of the normal line opposite to the substantially outside direction of the normal line. The pot is rotated 90 degrees so that the pot moves so as to be on a substantially normal line of the outer surface formed by the tune at the tool change position.
The tool inserted in the pot and the tool mounted on the spindle, which are rotationally moved by the pot tilting point inner moving means, are locked by the spindle tool changing means, and the tool is locked in the locked state. By rotating the spindle tool changing means, the tool inserted in the pot, which was rotationally moved by the pot tilting point inner moving means, moved to the spindle and was mounted on the spindle and mounted on the spindle. A tool changing device characterized in that a tool moves to the pot that has been rotationally moved by the pot tilting point inner moving means and is inserted and locked in the pot. In the pot outward moving means, at the tool exchange position of the chain type tool magazine, the pot engaged and held on the inner surface of the link member having a substantially U shape is placed on the bottom surface, and the link member is substantially U. The tool changer according to claim 1 or 2, which is a pot transfer slider that moves from a character-shaped opening in a substantially outward direction along the normal of the outer surface formed by the tune. The means for moving the inside of the pot tilt point is
A rotary movement piston rod whose tip is fixed to the gear storage case and which moves the gear storage case in the front-rear direction by expanding and contracting inward and outward from the rotary movement cylinder.
A pinion gear provided in the gear storage case and rotationally moving on the rack along with the movement of the gear storage case.
By rotating the pinion gear, the pinion gear and the rotation shaft have a holding rotation gear that rotates in the opposite rotation direction to the pinion gear while meshing with the gear of the drive gear via a drive gear coaxial with the pinion gear. ,
The pot tilt point on the bottom outer side on the substantially central axis of the bottom surface of the pot moved by the pot outward moving means is contracted into the rotary moving cylinder from the state in which the rotary moving piston rod is extended. The pot is moved 90 degrees in the direction opposite to the normal outward direction of the outer surface formed by the tune and is rotated along the holding rotation gear, so that the pot becomes the tool. The tool changing device according to claim 2, wherein the changing position is moved so as to be on a substantially normal line of an outer surface formed by the tune.

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