JP2022094065A - Tool exchange method and tool exchange device of machine tool - Google Patents

Abstract

To provide a tool exchange method of a machine tool.SOLUTION: A tool exchange method installs an unclamping detector nearby an unclamping set or a main spindle of a machine tool. When the unclamping set collides with a pull rod of the main spindle and performs unclamping, the unclamping detector can output an unclamping signal. When the unclamping set is separated from the pull rod of the main spindle, and the position of the pull rod is returned, an unclamping signal disappears. A tool exchange device is started based on appearance of the unclamping signal, and is turned and performs tool exchange. Alternately, the tool exchange device is started based on disappear of the unclamping signal, and is turned and detaches a changer arm. Thereby, it can shorten a standby time to wait for allowing the tool exchange device and the changer arm to confirm the unclamping and clamping, and enhances tool exchange efficiency.SELECTED DRAWING: Figure 2

Description

The present invention provides a tool changing method for a machine tool used to perform tool changing in the operation of the machine tool.

Since a machine tool needs to be replaced frequently due to the influence of the machining process, the material of the machined product, the outer shape of the product, and the life of the tool in the machining process, the machine tool is always combined with a suitable tool changer. For example, Taiwan Patent No. 651155 describes the related structure and technique of machine tools and tool changers, and then Taiwan Patent No. 488709 and Taiwan Practical New Proposal No. 458268 are machine tools. The tool change process of is also explained in detail.

With respect to the description of the patent, the tool changing process of a machine tool mainly includes steps such as unclamping (also referred to as pushing or loosening the tool), pulling out the tool, changing the tool, inserting the tool, and the like. In the unclamping step, the unclamping device must collide with the pull rod at the rear end of the spindle or push the pull rod, which causes the spindle to release the tool forward. In the tool withdrawal step, it is necessary to hold the tool released by the spindle and the tool to be replaced in the tool magazine with the tool changer, and move the tool to remove it from the spindle and the tool magazine. In the tool change step, it is necessary to change the position by turning the tool with the tool changer. In the tool insertion step, the tool is moved again by the tool changer and inserted into the spindle and the tool magazine. The spindle and tool magazine hold the tool, and finally the tool changer returns to the standby position to complete the tool change process.

In the tool change process, the operating times and sequences of the devices shall be combined with each other to prevent collision with the machine or dropout of the tool. A signal sensing wheel that senses the angular position of the input shaft or output shaft of the transmission device in the tool changer can be attached to the tool changer in order to reliably guarantee the coordinated operation between the devices and operate them accurately. This correlates with the start-up time of the unclamping device and serves as the basis for the timing of performing the steps of the tool change process. For the related technique, for example, FIG. 7, FIG. 8 and a section of the background technique of Taiwan Utility Model No. 518604, or the detailed description of Taiwan Patent No. 317312 and Taiwan Utility Model No. 458268 can be referred to.

In addition to the technique of controlling the timing of the tool changer and the unclamp device using the signal sensing wheel, the Taiwan Practical New Plan No. 518604 has an encoding device that detects the angle and position of the output shaft of the tool changer. It is further explained that the operation timing of the tool changer can be controlled electronically by the related technique.

When controlling the operation timing of the tool changer using mechanical and electronic methods, the angle and position of the output shaft of the tool changer, the start and brake of the motor in the tool changer, and the unclamping of the unclamping device. Since it is necessary to control operations such as start-up and return of each operation, the start-up and arrival time of each operation may vary due to the influence of pressure or hydraulic device delay, component type, tolerance, wear and elastic fatigue of each device. There is. If there is a slight error in the operation timing, wear due to heavy pressure of the machine, collision with the machine or dropping of the tool easily occurs, the machine tool stops, frequent maintenance is required, or the tool is damaged. Problems arise and the cost of the machine rises.

See FIG. In order to prevent an abnormality in the operation timing of the tool changer, when controlling the operation of the tool changer and the unclamping device, the timing can be controlled by the signal sensing wheel. A typical signal sensing wheel includes a brake signal wheel 91, a confirmation signal wheel 92 and an origin signal wheel 93, the brake signal wheel 91 has a brake signal at the start, the tool changer brakes and the motor of the tool changer. And wait for the user to start. Upon receiving the start signal, the tool changer releases the brake to start the motor, and the output shaft of the tool changer operates based on the predetermined operation timing chart 94. After that, when the brake signal wheel 91 senses the second brake signal, the tool changer applies the brake to stop the motor, further notifies the unclamping device to unclamp, and the unclamping device signals the completion of unclamping. Wait for a reply. When the unclamping is completed, the tool changer releases the brake again to start the motor and continue to operate the output shaft. After that, when the brake signal wheel 91 senses the third brake signal, the tool changer applies the brake to stop the motor, further notifies the unclamping device to clamp, and the unclamping device returns a signal that the clamp is completed. Wait to do. When the clamping is completed, the tool changer releases the brake again, starts the motor of the tool changer, continuously operates the output shaft, disengages the tool changer, and returns the position. At the second and third brake signals of the brake signal wheel, the tool changer may slip forward due to the action of mechanical inertial force, and the unclamping device may be delayed due to the effects of wear and deterioration of parts. The tool changer slips forward, causing the unclamping device to be in a state where it has not yet completed the unclamping or clamping operation, resulting in problems such as collision with the machine and dropping of the tool. The unclamp signal 921 can be set in advance on the confirmation signal ring 92, and the moment when the unclamp signal 921 ends is set as the unclamp confirmation point 922. If the unclamping device has not received the unclamping completion signal within the period of the unclamping signal 921 or before the unclamping confirmation point 922, it means that the unclamping has not been completed in the normal program, and the machine immediately. Stops and issues an alarm. When the tool changer receives the signal that the unclamping is completed, the brake is released, the motor is started, and the tool is turned to change the tool. It is possible to prevent the tool changer from turning and colliding with the machine when the tool is not completely released. Next, the clamp signal 923 can be set in advance on the confirmation signal ring 92, and the moment when the clamp signal 923 ends is set as the clamp confirmation point 924. If the clamp completion signal of the unclamping device is not received within the period of the clamping signal 923 or before the clamping confirmation point 924, it means that the clamping is not completed in the normal program, and the machine is stopped immediately. Issue an alarm. When the tool changer receives the clamp completion signal, it releases the brake, starts the motor, disengages, and turns to the standby position. It is possible to prevent the tool changer from coming off and the tool from falling off when the spindle is not completely tightening the tool. The unclamping completion signal and the clamping completion signal of the unclamping device can be determined by, for example, the first detection unit and the second detection unit described in Taiwan Utility Model No. 458268, respectively. When the position of the unclamping device is relatively high, the unclamping device has already returned to the upper position, indicating that the clamping is completed. When the position of the unclamping device is relatively low, the unclamping device has already moved down, indicating that the unclamping has been completed.

Regarding the unclamp confirmation points 922 and clamp confirmation points 924 provided on the confirmation signal ring 92, when the gap becomes large due to spring fatigue of the main shaft, wear of parts, or the operation of the unclamping device is delayed, the main shaft is unclamped. And the time spent completing the clamp may be longer. When the tool changer slips and the spindle unclamp and clamp are completed, if the unclamp confirmation point and the clamp confirmation point have already been exceeded, the machine tool immediately issues an alarm and stops the machine for inspection and repair. be able to.

However, because the length of time spent on spindle unclamping and clamping is different, even when the spindle unclamping and clamping speeds are relatively high, the tool changer still brakes without waiting for the unclamping and clamping completion signal. It is not possible to start the motor by releasing the clamp, and if the tool change time becomes long, waste occurs. Specifically, a common achievable tool change time is approximately 2 to 2.5 seconds.

Taiwan Patent No. 651155 Taiwan Patent No. 488709 Taiwan Utility Model No. 458268 Taiwan Utility Model No. 518604 Taiwan Patent No. 317312 Gazette

With respect to the above, it is difficult for the tool changer to further shorten the shortest tool change time due to the limitation of the operation timing. Therefore, one object of the present invention is a tool that can maintain the operation of the machine smoothly, does not cause wear due to heavy pressure, does not collide with the machine, and does not drop the tool, and the tool change time is further shortened. To provide a replacement method.

In order to achieve the above object, the present invention provides a machine tool tool change method applied to perform a tool change on a machine tool. The machine tool mainly includes a spindle, an unclamp set, an unclamp detector and a tool changer, and the unclamp set has an unclamp position and a clamp position. When the unclamp set is in the unclamp position, it approaches the unclamp detector and the spindle can loosen the tool. The unclamp detector detects the unclamp set and one of the spindles and outputs an unclamp signal. When the unclamp set is in the clamp position, away from the unclamp detector, the spindle can pinch the tool. The tool change method of the machine tool is to first move the unclamp set to the unclamp position, then the tool changer removes the tool from the spindle and the tool magazine, replaces the position of the tool, and then moves the tool to the spindle. And further move the unclamp set to the clamp position.

In the above tool changing method, when the tool is inserted into the spindle and the unclamp set is further moved to the clamp position, the tool changing device is activated based on the disappearance of the unclamp signal. Alternatively, when the unclamp set is moved to the unclamp position, the tool changer is activated based on the appearance of the unclamp signal.

Next, the present invention also provides a tool changer for performing the tool changer method of the machine tool, which includes a power source, a transmission mechanism, a changer arm and a decoder. The transmission mechanism has an output shaft, and the transmission mechanism repeatedly rotates and moves the output shaft based on the operation order by driving a power source. The changer arm is installed on the output shaft and rotates and moves with the output shaft. The decoder is installed in the power source or transmission mechanism and senses the current position of the output shaft in the order of operation.

In the above tool changer, the power source may be a low inertia motor and the transmission mechanism may be a cam worm set.

As a result, in the tool change process of the machine tool, the tool changer is activated by releasing the brake based on the appearance and disappearance of the unclamp signal, and turns to change the tool or rotate the changer arm. It can be separated. There is no need to wait for the unclamp confirmation point or the clamp confirmation point, the time to wait for the unclamp confirmation point and the time to pass before and after the clamp confirmation point can be saved, and the tool change speed is increased.

FIG. 1 is a schematic diagram regarding the operation timing of a conventional signal sensing wheel and changer arm. FIG. 2 is a schematic view of a machine tool to which the tool changing method of the machine tool of the present invention is applied. FIG. 3 is a flowchart of steps in the tool changing method of the machine tool of the present invention.

The present invention provides a machine tool tool change method applied to perform a tool change on a machine tool. See FIG. The machine tool mainly includes a spindle 1, an unclamp set 2, an unclamp detector 3, a clamp detector 4, and a tool changer 5, and further includes a tool magazine 6.

The spindle 1 is a machining spindle of a machine tool, and specifically, for example, the spindle described in Taiwan Patent No. 418424 can be used in the present invention. The main shaft 1 has a pull rod 11 and has a spring or other similar position return device inside the main shaft 1 that can push the pull rod 11 and move it upward at any time. The spindle 1 can hold the tool 7 used for machining, and when the pull rod 11 is collided or pushed to move downward, the spindle 1 loosens and releases the tool 7.

The unclamp set 2 is installed above the spindle 1, the unclamp set 2 has a push rod 21 that can move up and down, and the position of the push rod 21 is combined with the pull rod 11 of the spindle 1. When the push rod 21 moves down to the unclamped position, the push rod 21 can either collide with the pull rod 11 or push the pull rod 11 down to move it down, which causes the spindle 1 to release the tool 7. When the push rod 21 moves up to the clamp position and returns to the position, the push rod 21 releases the pull rod 11 and separates, the pull rod 11 immediately returns to the position, and the spindle 1 sandwiches the tool 7. Thereby, it is possible to control whether the spindle 1 holds or releases the tool 7. Specifically, the unclamp set 2 is an unclamp cylinder or unclamp mechanism described in, for example, Taiwan Utility Model No. 458268, Taiwan Announcement No. 465421, Taiwan Announcement No. 375213, and the like. The unclamp set 2 further has a detection block 22, which is installed and fixed to the push rod 21 and moves up and down together with the push rod 21. In other possible embodiments of the invention, the detection block 22 may be dispositioned at the pull rod 11 or other positions of the spindle and unclamp set and may be moved up and down during the unclamping and clamping process to determine the present embodiment. You can get a usage function similar to.

The unclamp detector 3 and the clamp detector 4 are installed on the spindle 1 or the unclamp set 2, and the unclamp detector 3 and the clamp detector 4 are located near the detection block 22 and face the detection block 22, respectively. When the push rod 21 moves down to the unclamp position, the detection block 22 moves down, approaching the unclamp detector 3 and just in front of the unclamp detector 3. The unclamp detector 3 detects the detection block 22 and outputs an unclamp signal, which indicates that the spindle has reliably released the tool. When the push rod 21 moves up to the clamp position, the detection block 22 moves up and away from the unclamp detector 3, approaching the clamp detector 4 and just in front of the clamp detector 4. The unclamp detector 3 stops the output of the unclamp signal, and the clamp detector 4 detects the detection block 22 and outputs a clamp signal, which means that the main shaft has reliably completed the position return and sandwiched the tool. Represents that.

The tool changer 5 can remove the tool from the spindle 1 and the tool magazine 6, and after turning the two sets of tools to exchange positions, insert the tool into the spindle and the tool magazine. More specifically, the tool changer 5 includes a power source 51, a transmission mechanism 52, a changer arm 53 and a decoder 54. The power source 51 is, for example, a motor, which is relatively preferably a low inertia motor, and can reduce the phenomenon that the position becomes inaccurate due to the inertia of the motor when the motor is started and stopped. The transmission mechanism 52 is, for example, a cam worm set, and is directly or indirectly connected to the power source 51 via a speed reducer. The transmission mechanism 52 has an output shaft 521, the changer arm 53 is installed and fixed to the output shaft 521, and the transmission mechanism 52 is driven by the power source 51, so that the output shaft 521 moves the changer arm 53 and is the main shaft. The rotation and movement operations required to replace the tool 7 between 1 and the tool magazine 6 are repeatedly performed. For the specific structure of the transmission mechanism 52, for example, detailed explanations such as Taiwan Patent No. 317312, Taiwan Public Notice No. 338014 and Taiwan Utility Model No. 458268 can be referred to. The decoder 54 is connected to the output shaft 521 of the transmission mechanism 52 or to other components of the transmission mechanism 52, thereby directly or indirectly detecting the current position of the output shaft 521 and further to the output shaft 521. Outputs a position signal based on the position. Since the power source 51 is connected to the transmission mechanism 52, the angular position of the power source 51 and the position of the output shaft 521 have a certain relative relationship. In another possible embodiment of the invention, the decoder 54 may be modified and installed to connect to a power source, as well as indirectly detecting the current position of the output shaft and outputting a position signal. can.

The tool magazine 6 is, for example, a disc type tool magazine capable of supplying a tool to the tool changer 5 and performing tool change. Specifically, the tool magazines described in Taiwan Publication No. 445919, Taiwan Patent No. 310715, Taiwan Utility Model No. 565626, etc. can all be used as the tool magazine 6 of the present invention. In addition, if the size and installation position of the tool magazine can be combined with the tool changer 5, there is no problem in using the tool magazine instead of the disc type tool magazine.

The tool changing method of the machine tool of the present invention can be utilized in the above-mentioned machine tool. See FIGS. 2 and 3. Machine tool tool change methods primarily include steps such as arm placement, unclamping, tool withdrawal, tool change, tool insertion and arm detachment. In the arm placement step 81, the tool changer is activated, the changer arm 53 is rotated, and both ends thereof are positioned below the tool magazine 6 and the spindle 1, respectively. After that, when the tool changer is stopped and the brake is activated, the changer arm 53 is below the tool magazine 6 and the spindle 1 and waits for other signals. In the unclamp step 82, when the unclamp set 2 is activated and the push rod 21 is moved downward to collide with the spindle pull rod 11 or the spindle pull rod 11 is pushed, the spindle 1 releases the tool 7 forward. do. When the push rod 21 finishes moving downward, the unclamp detector 3 detects the detection block 22 and outputs an unclamp signal. Of these, regarding the activation of the unclamp set 2, it is not necessary to wait for the changer arm 53 to reach the lower part of the spindle 1, and it is not necessary to activate the unclamp set 2 after activating the brake of the tool changer 5. , The unclamp set 2 can be activated in advance before the brake of the unclamp device 5 is activated. As a result, when the changer arm 53 reaches the lower part of the spindle 1, the unclamp set 2 completes the unclamping soon. In the tool withdrawal step 83, when the unclamp signal appears, the brake is released, the tool changing device 5 is started, the tool changing device 5 is driven, and the tool 7 and the tool magazine 6 released by the spindle 1 are to be replaced. Hold the tool and move it down to remove it from the spindle 1 and the tool magazine 6. Of these, starting the tool changing device 5 specifically refers to starting the power source 51 of the tool changing device 5, and in this embodiment, starting the motor. In the tool change step 84, the tool changer continuously rotates the tool 7. The tool from the tool magazine 6 and the tool 7 released by the spindle 1 are swiveled to change their positions. In the tool insertion step 85, the tool changing device 5 moves the tool 7 and inserts it into the spindle 1 and the tool magazine 6, stops the tool changing device, and starts the brake. Further, the unclamp set 2 is activated, the push rod 21 is moved upward to be separated from the pull rod 11, the pull rod 11 is immediately returned to the upper position, and the spindle 1 holds the tool 7. When the push rod 21 moves upward, the detection block 22 separates from the unclamp detector 3 and the unclamp signal disappears, and then the clamp detector 4 detects the detection block 22 and outputs the clamp signal. In the arm disengagement step 86, when the unclamp signal disappears, the brake is released to activate the tool changing device 5, the changer arm 53 of the tool changing device 5 is disengaged and returned to the standby position, and the tool changing process is completed.

In the above step, the appearance of the unclamp signal indicates that the unclamp set has already moved to the unclamp position. The pull rod has already steadily moved down and the spindle has already released the tool. Since the tool withdrawal step releases the brake and activates the tool changer immediately after the unclamp signal appears, the tool changer releases the tool and at the same time removes the tool and starts moving. Waiting time can be saved, and each part can be linked accurately in the process of transmitting the tool. The tool change speed can be increased, it does not collide with the machine, and the tool does not fall off.

In the above step, the disappearance of the unclamp signal indicates that the unclamp set has already left the unclamp position. The position of the pull rod is not fixed due to the action of the position return device inside the spindle, but it immediately returns to the upper position and holds the tool. In the arm disengagement step, the brake is released and the tool changer is activated as soon as the unclamp signal disappears. Therefore, the tool changer moves and disengages the changer arm at the same time as the spindle holds the tool. The time to wait for the unclamp set to move to the clamp position and the time to check that the spindle holds the tool can be saved, thereby increasing the tool change speed. When the tool enters the spindle, the spindle returns to its upper position and is pinched, so that even if the tool change speed is increased, the tool will not fall off unexpectedly.

In addition, in the unclamping step, the unclamp set can be activated first before the changer arm reaches the lower part of the spindle, and the unclamp set is activated 0.1 to 0.4 seconds earlier. In other words, the moment the unclamp set begins to move to the unclamp position, the tool changer has not yet pinched the tool and the changer arm reaches below the spindle to pinch the tool. Complete the unclamp almost at the same time. Not only does the changer arm save time waiting for the unclamp to complete, but the tool changer brakes and the power source is stopped for a relatively short time, which causes a delay phenomenon due to inertia caused by stopping the motor and then starting it. It can be further reduced and the tool change speed is increased.

As it is necessary to additionally explain, as mentioned in this embodiment, the downward direction is used to describe each part of this embodiment and the relative positional relationship of the parts. Simply tilting, reversing, or changing the corresponding direction in a situation where the tool changing method of the machine tool and the structure of the tool changing device of the present embodiment do not change belong to specific feasible embodiments. ..

Thereby, the tool changing method of the machine tool of the present invention can be used for the machine tool. Due to the appearance and disappearance of the unclamp signal, the timing to start the tool changer in a timely manner is advanced and the tool change time is shortened. The shortest achievable tool change time is approximately 1.26 to 1.34 seconds, and the 2 to 2.5 second tool required to control the timing of tool change operation using previous signal sensing wheels. Tool replacement time can be saved by approximately 33% to 49% compared to replacement time. The effect is the highest, and in fact, processors and production-related companies of processing machinery and equipment are anxious. However, the above examples are merely described in detail by explaining the technical contents of the present invention, and the scope of the present invention should be based on the scope of claims described later.

1 Main shaft 11 Pull rod 2 Unclamp set 21 Push rod 22 Detection block 3 Unclamp detector 4 Clamp detector 5 Tool changer 51 Power source 52 Transmission mechanism 521 Output shaft 53 Changer arm 54 Decoder 6 Tool magazine 7 Tool 81 Arm placement step 82 Unclamp step 83 Tool drawer step 84 Tool replacement step 85 Tool insertion step 86 Arm detachment step 91 Brake signal wheel 92 Confirmation signal wheel 921 Unclamp signal 922 Unclamp confirmation point 923 Clamp signal 924 Clamp confirmation point 93 Origin signal wheel 94 Operation Timing chart

Claims (9)

A machine tool tool change method that is applied to perform tool change on a machine tool.
The machine tool mainly includes a spindle, an unclamp set, an unclamp detector and a tool changer, and the unclamp set has an unclamp position and a clamp position.
When the unclamp set is in the unclamp position, the spindle loosens the tool and the unclamp detector detects the unclamp set and one of the spindles and outputs an unclamp signal;
When the unclamp set is in the clamp position, the spindle can clamp the tool and further the unclamp signal disappears;
In the tool changing method of the machine tool, first, the unclamp set is moved to the unclamp position, the tool is removed from the spindle and the tool magazine by the tool changing device, the position of the tool is changed, and then the tool is moved. It is a method of inserting the unclamp set into the spindle and further moving the unclamp set to the clamp position.
A method characterized in that when a tool is inserted into the spindle and the unclamp set is further moved to the clamp position, the tool changer is activated based on the disappearance of the unclamp signal. The tool changing method for a machine tool according to claim 1, wherein when the unclamp set is moved to the unclamp position, the tool changing device is activated based on the appearance of the unclamp signal. The tool changing method for a machine tool according to claim 1, wherein the tool changing device does not yet hold the tool inserted in the spindle at the moment when the unclamp set starts moving to the unclamping position. The tool changing method for a machine tool according to claim 2, wherein the tool changing device does not yet hold the tool inserted in the spindle at the moment when the unclamp set starts moving to the unclamping position. A machine tool tool change method that is applied to perform tool change on a machine tool.
The machine tool mainly includes a spindle, an unclamp set, an unclamp detector and a tool changer, and the unclamp set has an unclamp position and a clamp position.
When the unclamp set is in the unclamp position, the unclamp detector detects the unclamp set and outputs an unclamp signal, and the spindle can loosen the tool.
When the unclamp set is in the clamp position, away from the unclamp detector, the spindle can grip the tool firmly.
The tool change method of the machine tool is to move the unclamp set to the unclamp position, remove the tool from the spindle and the tool magazine with the tool changer, change the position of the tool, and then move the tool to the spindle. It is a method of inserting the unclamp set into the clamp position and moving the unclamp set to the clamp position.
A method characterized in that, at the moment when the unclamp set starts moving to the unclamp position, the tool changer has not yet sandwiched the tool inserted in the spindle. The tool changing method for a machine tool according to claim 5, wherein when the unclamp set is moved to the unclamp position, the tool changing device is activated based on the appearance of the unclamp signal. The tool changing method of the machine tool according to any one of claims 1 to 6 is executed, and the method is executed.
With a power source;
With a transmission mechanism having an output shaft and repeatedly rotating and moving the output shaft based on the operation order by driving the power source;
With a changer arm installed on the output shaft and rotating and moving with the output shaft;
A tool changer that is installed in one of the power source and the transmission mechanism and includes a decoder that senses the current position of the output shaft in the order of operation. The tool changer according to claim 7, wherein the power source is a low inertia motor. The tool changer according to claim 7, wherein the transmission mechanism is a cam worm set.

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