JP2023003683A - magazine - Google Patents

Abstract

To provide a magazine which enables improvement of workability when attachment/detachment work of multiple holding objects is performed.SOLUTION: A tool magazine includes: multiple tool holding parts 51 which are arranged on a predetermined path to hold tools T; an actuator 741 which is positioned facing the tool holding part 51, causes the tool holding part 51 to operate so as to hold the tool T when the tool T is attached to the tool holding part 51, and/or causes the tool holding part 51 to operate so as to release the held tool T when the tool T is removed from the tool holding part 51; and an actuator support part 751 which supports the actuator 741 and may operate so that the actuator 741 moves along a predetermined path.SELECTED DRAWING: Figure 22

Description

The present invention relates to magazines.

For example, Japanese Patent Application Laid-Open No. 2019-42878 (Patent Document 1) discloses a first conveying unit and a second conveying unit that detachably hold a plurality of tools such as a drill, an end mill, or a milling cutter and convey them along an endless path. A tool magazine is disclosed that includes a carriage and a cover body that houses the first and second carriages. The cover body is provided with a first opening and a second opening for manually attaching and detaching the tool to the first transport section and the second transport section, respectively. The cover body has a first door portion and a second door portion which are provided so as to be able to open and close the first opening and the second opening, respectively.

JP 2019-42878 A

As disclosed in the above-mentioned Patent Document 1, in a tool magazine mounted on a machine tool, when the type of tool used for machining a workpiece is changed or when the tool reaches the end of its life, the operator can In some cases, the tool stored in the magazine is attached and detached. In this case, if the operator continuously attaches and detaches a plurality of tools, the operator repeats a series of operations of conveying the tools by the conveying section, opening the door, attaching and detaching the tools, and closing the door. I need to do it. For this reason, workability becomes complicated when an operator performs attachment/detachment work of a plurality of tools.

SUMMARY OF THE INVENTION Accordingly, an object of the present invention is to solve the above-mentioned problems, and to provide a magazine that improves workability when performing the work of attaching and detaching a plurality of objects to be held.

A magazine according to the present invention includes a plurality of holding portions arranged on a predetermined path for holding objects to be held, which are tools or works, and a plurality of holding portions positioned to face the holding portions. and/or when removing the held object from the holding portion, the actuator operates the holding portion to release the holding of the held object. and an actuator support that supports the actuator and is operable to move the actuator along a predetermined path.

According to the magazine configured as described above, the actuator supporting portion supports the actuator for operating the holding portion when the held object is attached or detached. can be moved along. As a result, after attaching and detaching a holding object in a specific holding portion, the actuator can be moved to a position facing the holding portion to which the next holding object is to be attached and detached. It is possible to improve the workability in attaching/detaching an object.

Moreover, preferably, the magazine further includes a conveying section that conveys the plurality of holding sections on a predetermined route.

According to the magazine configured in this way, it is possible to attach and detach a plurality of objects to be held without carrying out the transporting process of the holding portion by the transporting portion for each object to be held.

Also preferably, the actuator support has an indicator that points to the holder operated by the actuator.

According to the magazine configured in this manner, the index portion moves along the predetermined path together with the actuator, so that the index portion can always point to the holding portion operated by the actuator. As a result, the operator can accurately grasp the attachment/detachment position of the holding object through the index portion, so that workability can be further improved when performing the attachment/detachment work of a plurality of holding objects.

Also preferably, the predetermined path is a circle centered on the predetermined axis. An object to be held is inserted into and removed from the holding portion in a radial direction of a predetermined axis. The actuator is a piston cylinder having a piston capable of expanding and contracting in the radial direction of a predetermined axis and arranged inside the circumference. The actuator support portion is rotatably supported about a predetermined axis, has an arm portion extending in a radial direction of the predetermined axis, and has a piston cylinder mounted at a position spaced radially outwardly from the predetermined axis.

According to the magazine configured in this manner, the movement direction of the piston cylinder supported by the actuator support portion is the circumferential direction of the predetermined axis, so the actuator support portion can be configured easily.

Also preferably, the actuator support is manually operated.

According to the magazine configured in this manner, a mechanism for automatically operating the actuator support section is not required, so the actuator support section can be configured simply.

Also preferably, the plurality of holding portions are arranged at equal intervals. The magazine further includes a position holding mechanism provided on the actuator support. The position holding mechanism regulates the operation of the actuator support section so as to hold the actuators at a plurality of positions facing the holding section, arranged at equal intervals, and when an external force exceeding a certain level is applied, the actuator support section allow the operation of

According to the magazine configured in this manner, when the actuator support section is manually operated, the actuator can be easily moved to each position facing the holding section.

Further, preferably, an identifier including information about the holding object is attached to the holding object. The magazine further comprises a reader for reading information contained in the identifier from the held object held by the holding section provided on the actuator support and operated by the actuator.

According to the magazine configured as described above, the reading device moves along a predetermined path together with the actuator, whereby information about the held object held by the holding section operated by the actuator is transferred to the held object. It can be read from the attached identifier.

Further preferably, the magazine further comprises a display section provided on the actuator support section for displaying information read by the reading device.

According to the magazine configured in this manner, the operator can recognize through the display section information about the held object held by the holding section operated by the actuator.

Further, preferably, the magazine includes a cover body provided with a cover opening and forming an internal space for accommodating the plurality of holders, a closed state provided in the cover opening and closing the cover opening, and a cover opening. and a door portion operable between an open state for opening the The actuator moves within a range in which the holding portion operated by the actuator faces the opening surface formed by the cover opening when the door portion is opened.

According to the magazine configured in this way, the operation of attaching and detaching a plurality of objects to be held can be easily performed through the cover opening.

As described above, according to the present invention, it is possible to provide a magazine that improves workability when attaching and detaching a plurality of objects to be held.

Fig. 2 is a perspective view of the tool storage system; Fig. 10 is another perspective view of the tool storage system; FIG. 3 is a cross-sectional view showing the tool magazine as viewed in the arrow direction on the line III-III in FIG. 2; FIG. 3 is a front view showing the tool magazine viewed in the direction indicated by arrow IV in FIG. 2; FIG. 2 is a perspective view showing a tool storage part in FIG. 1; 2 is another perspective view showing the tool storage part in FIG. 1; FIG. 2 is a perspective view showing the wheel portion in FIG. 1 and a plurality of tool holding portions attached to the wheel portion; FIG. 2 is another perspective view showing the wheel portion of FIG. 1 and a plurality of tool holders attached to the wheel portion; FIG. FIG. 4 is a perspective view showing a turning drive section of the wheel section; FIG. 11 is another perspective view showing the turning drive of the wheel section; FIG. 5 is a front view showing a tool magazine and a carrier device in a range surrounded by a two-dot chain line XI in FIG. 4; Fig. 5 is a side view of the tool magazine and carrier looking in the direction indicated by arrow XII in Fig. 4; It is a perspective view which shows the attachment structure of a guide apparatus and a feeding apparatus. It is another perspective view which shows the attachment structure of a guide apparatus and a feeding apparatus. It is a perspective view which shows a mobile body. It is another perspective view which shows a mobile body. 2 is yet another perspective view of the tool storage system of FIG. 1; FIG. 2 is yet another perspective view of the tool storage system of FIG. 1; FIG. FIG. 18 is a perspective view showing the tool storage system (with cover body and closed door) viewed in the direction indicated by arrow XIX in FIG. 17; FIG. 18 is a perspective view showing the tool storage system (with the cover body and the door portion open) viewed in the direction indicated by the arrow XIX in FIG. 17; 18 is a perspective view showing the tool magazine in the area surrounded by the two-dot chain line XXI in FIG. 17; FIG. FIG. 19 is a cross-sectional view partially showing the tool magazine viewed in the arrow direction on the XXII-XXII line in FIG. 18; It is a perspective view which shows an actuator support part. FIG. 11 is a front view showing an actuator support portion and a tool holding portion in the tool magazine of the first modified example; FIG. 25 is a side view showing the actuator support and tool holder viewed in the direction indicated by arrow XXV in FIG. 24; FIG. 11 is a front view showing an actuator, an actuator support portion, and a tool holding portion in a tool magazine of a second modified example;

An embodiment of the invention will be described with reference to the drawings. In the drawings referred to below, the same or corresponding members are given the same numbers.

1 and 2 are perspective views of the tool storage system. 1 and 2, a tool storage system 10 is provided on a machine tool. The tool storage system 10 is a device for storing a plurality of tools used for machining a workpiece, and furthermore, sequentially directs the stored tools to a machining area where workpiece machining is performed according to the machining purpose of the workpiece. It is a device for supplying

As a representative example, the machine tool with tool storage system 10 is a horizontal machining center. The machine tool may be a vertical machining center, a multitasking machine having a turning function using a fixed tool and a milling function using a rotary tool, or an additional machining (AM ( It may be an AM/SM hybrid processing machine capable of both additive manufacturing processing) and workpiece removal processing (SM (subtractive manufacturing) processing). The machine tool may be a lathe with a turret with automatic tool change capability.

Machine tools are NC (Numerically Control) machine tools in which various operations for machining a workpiece are automated by numerical control by a computer.

In this specification, for the convenience of describing the configuration of the tool storage system 10, the axis parallel to the horizontal direction will be referred to as the "X-axis", and the axis parallel to the horizontal direction and perpendicular to the X-axis will be referred to as the "Z-axis". The axis parallel to the vertical direction is called the "Y-axis".

First, the overall structure of the tool storage system 10 will be described. The tool storage system 10 has a tool magazine 12, a carrier 14, and an automatic tool changer 16 (ATC). Tool magazine 12 stores a plurality of tools.

The automatic tool changer 16 has an arm portion 17 . The arm portion 17 is configured to be capable of turning about a turning center axis parallel to the Z-axis direction and capable of sliding in the axial direction of the turning center axis. The automatic tool changer 16 includes a conveying device 14 (a tool holder 51 to be described later) positioned at an ATC tool standby position K outside the machining area and a tool spindle (independent tool spindle) inside the machining area. shown).

A transport device 14 transports tools between the tool magazine 12 and the automatic tool changer 16 . The carrier device 14 carries tools between an in-magazine tool carrier position J in the tool magazine 12 and an ATC tool standby position K in the automatic tool changer 16 . The conveying device 14 conveys the tool in a linear direction. The carrier device 14 carries the tool in the X-axis direction.

FIG. 3 is a cross-sectional view showing the tool magazine as viewed in the arrow direction on line III-III in FIG. 4 is a front view of the tool magazine viewed in the direction indicated by arrow IV in FIG. 2. FIG.

Referring to FIGS. 1 to 4, tool magazine 12 has tool storage section 21 . The tool storage section 21 is configured to store a plurality of tools.

The tool storage section 21 has a wheel section 31 . The wheel portion 31 has a ring shape (wheel shape) centered on a predetermined axis 110 parallel to the X-axis direction. The wheel portion 31 is configured to be rotatable around a predetermined axis 110 .

The wheel portion 31 is provided with a hollow portion penetrating in the axial direction of the predetermined shaft 110 and having a circular shape centered on the predetermined shaft 110 when viewed in the axial direction of the predetermined shaft 110 . The diameter of wheel portion 31 centered on predetermined axis 110 is greater than the thickness of wheel portion 31 in the axial direction of predetermined shaft 110 . The radius of wheel portion 31 centered on predetermined axis 110 is greater than the thickness of wheel portion 31 in the axial direction of predetermined axis 110 .

The wheel portion 31 has an outer peripheral edge 31p. The outer peripheral edge 31 p is an end portion of the wheel portion 31 radially outward of the predetermined shaft 110 and extends in the circumferential direction of the predetermined shaft 110 .

The tool storage section 21 detachably stores a plurality of tools at positions along the outer peripheral edge 31 p of the wheel section 31 . A plurality of tools are stored in the tool storage section 21 in such a posture that the rotation center axis of each tool extends in the radial direction of the predetermined axis 110 . A plurality of tools are stored in the tool storage section 21 so as to be arranged in the circumferential direction about the predetermined axis 110 .

The plurality of tools may be stored at a position overlapping the outer peripheral edge 31p when viewed in the axial direction of the predetermined shaft 110, or stored at a position radially inside the predetermined shaft 110 from the outer peripheral edge 31p. Alternatively, it may be stored at a position radially outside of the predetermined shaft 110 relative to the outer peripheral edge 31p.

The tool storage section 21 further has a plurality of tool holding sections 51 . The plurality of tool holding portions 51 are detachably attached to the wheel portion 31 . A plurality of tool holding portions 51 are provided along the outer peripheral edge 31 p of the wheel portion 31 .

Each tool holding portion 51 is configured to be able to hold a tool. The tool holding portion 51 has a cylindrical shape as a whole, and is provided therein with a lock mechanism portion (not shown) capable of performing a locking operation for locking the tool and an unlocking operation for unlocking the tool. ing.

In this embodiment, the tool storage section 21 stores tools via the tool holding section 51 , and the transfer device 14 transfers the tools between the tool magazine 12 and the automatic tool changer 16 via the tool holding section 51 . to convey.

The tool magazine 12 has a plurality of tool storage sections 21 (21A, 21B, 21C, 21D, 21E, 21F). The plurality of tool storage sections 21 basically have the same structure.

The plurality of tool storage portions 21 are arranged in the axial direction (X-axis direction) of the predetermined axis 110 with the predetermined axis 110 as the center. Tool storage portion 21A, tool storage portion 21B, tool storage portion 21C, tool storage portion 21D, tool storage portion 21E, and tool storage portion 21F are arranged in the X-axis direction in the order listed. The tool storage section 21A is arranged closest to the ATC standby position K among the plurality of tool storage sections 21 . The tool storage section 21</b>F is arranged farthest from the ATC standby position K among the plurality of tool storage sections 21 .

5 and 6 are perspective views showing the tool storage section in FIG. 1. FIG. 7 and 8 are perspective views showing the wheel portion in FIG. 1 and a plurality of tool holding portions attached to the wheel portion.

Referring to FIGS. 1 to 8, wheel portion 31 has a base portion 32, a tapered portion 33, and a collar portion .

The base 32 has a ring shape centered on the predetermined axis 110 . The base 32 is arranged parallel to a plane perpendicular to the predetermined axis 110 .

The tapered portion 33 extends along the outer peripheral edge of the base portion 32 in a belt shape around a predetermined axis 110 . The tapered portion 33 extends radially outward of the predetermined shaft 110 and in the axial direction of the predetermined shaft 110 from the base portion 32 . The tapered portion 33 is obliquely arranged with respect to a plane orthogonal to the predetermined axis 110 .

The flange portion 34 extends along the outer peripheral edge of the tapered portion 33 in a belt shape around a predetermined axis 110 . The flange portion 34 has a flange shape that extends outward in the radial direction of the predetermined shaft 110 from the tapered portion 33 . The collar portion 34 is arranged parallel to a plane orthogonal to the predetermined axis 110 . The outer peripheral edge of the collar portion 34 corresponds to the outer peripheral edge 31 p of the wheel portion 31 .

The wheel portion 31 is configured such that the base portion 32 forms a step with respect to the flange portion 34 in the axial direction of the predetermined shaft 110 . The base portion 32 forms a step with respect to the collar portion 34 so as to protrude away from the ATC tool standby position K in the axial direction of the predetermined shaft 110 . The projecting direction of the base portion 32 with respect to the collar portion 34 is common among the plurality of tool storage portions 21 .

The base portion 32 may form a step so as to protrude in the axial direction of the predetermined shaft 110 toward the ATC tool standby position K with respect to the collar portion 34 .

The tool storage section 21 further has a plurality of mounting sections 38 . The mounting portion 38 is configured to detachably mount the tool holding portion 51 .

A plurality of mounting portions 38 are arranged on the wheel portion 31 in the circumferential direction of the predetermined shaft 110 . A plurality of mounting portions 38 are provided on the collar portion 34 . The plurality of mounting portions 38 are provided on the opposite side of the base portion 32 with the flange portion 34 interposed therebetween in the axial direction of the predetermined shaft 110 . The mounting portion 38 is configured to be able to receive the mounting portion 38 from one direction along the axial direction of the predetermined axis 110 (the direction from the ATC tool standby position K toward the tool storage portion 21).

Referring to FIGS. 5 to 8, wheel portion 31 is provided with opening 36 . The opening 36 is cut away from the outer peripheral edge 31p of the wheel portion 31 toward the predetermined shaft 110 in a partial section 115 in the outer peripheral direction of the wheel portion 31 (the circumferential direction of the predetermined shaft 110) (see FIG. 7). see). The opening 36 penetrates in the axial direction (X-axis direction) of the predetermined shaft 110 .

The opening 36 is provided in the radial direction of the predetermined shaft 110 from the outer peripheral edge 31p of the wheel portion 31 to the ring body 39, which will be described later. The opening 36 is provided between the collar portion 34 , the tapered portion 33 and the base portion 32 in the radial direction of the predetermined axis 110 .

As a whole, the width of the opening 36 in the outer peripheral direction of the wheel portion 31 increases from the radially outer side to the radially inner side of the predetermined shaft 110 .

The plurality of tool holding portions 51 are arranged along the outer peripheral edge 31 p of the wheel portion 31 and are provided so as to be discontinuous in some sections 115 . The plurality of mounting portions 38 are arranged along the outer peripheral edge 31 p of the wheel portion 31 and are provided so as to be discontinuous in some sections 115 .

As shown in FIG. 7, the opening 36 is cut out within an angle α around the predetermined axis 110 at the position where the tool is stored (the flange 34 where the mounting portion 38 is provided). In this case, the angle α may be in the range of 5° or more and 35° or less (5°≦α≦35°) or may be in the range of 15° or more and 25° or less (15°≦α <25°). In the circumferential direction of the predetermined axis 110, the angle α may be greater than or equal to the angular range in which the two tool holding portions 51 are arranged, or may be greater than or equal to the angular range in which the three tool holding portions 51 are arranged.

As shown in FIGS. 2 to 4, during the tool transfer by the transfer device 14, the opening 36 is arranged at the in-magazine tool transfer position J in each of the tool storage portions 21 from the tool storage portion 21F to the tool storage portion 21A. may At this time, at least in all the tool storage units 21 located closer to the ATC tool standby position K in the X-axis direction than the tool storage units 21 storing the tools to be transported, the openings 36 are used for in-magazine tool transport. Placed at position J. For example, when tools to be transported are stored in the tool storage section 21E, at least in the tool storage section 21D, the tool storage section 21C, the tool storage section 21B, and the tool storage section 21A, the opening 36 is positioned at the in-magazine tool transfer position. Placed in J. A tool transport path 116 extending continuously in the axial direction of the predetermined axis 110 is formed between the in-magazine tool transport position J in the tool storage section 21 storing tools to be transported and the ATC tool standby position K. .

The in-magazine tool transfer position J is defined at a position away from the predetermined axis 110 to the outside in the radial direction of the predetermined axis 110 . The in-magazine tool transfer position J is defined at a position away from the predetermined axis 110 in the Z-axis direction. The position of the in-magazine tool transfer position J in the circumferential direction of the predetermined shaft 110 is not particularly limited.

Between the tool storage portion 21F and the tool storage portion 21A, the plurality of openings 36 are arranged so as to overlap each other when viewed in the axial direction of the predetermined shaft 110. As shown in FIG.

As shown in FIG. 4 , the transport device 14 has a mobile body 91 . The moving body 91 is configured to be movable in the axial direction of the predetermined shaft 110 through the plurality of openings 36 while holding the tool holding portion 51 . The moving body 91 is configured to be movable between an in-magazine tool transport position J in the tool storage section 21 storing tools to be transported and an ATC tool standby position K through the tool transport path 116 . ing.

A plurality of tool holding portions 51 arranged along the outer peripheral edge 31p of the wheel portion 31 are provided so as to be interrupted in a partial section 115 in which the opening portion 36 is provided. Therefore, the moving body 91 can move in the axial direction of the predetermined axis 110 through the tool conveying path 116 without interfering with the tool holding portion 51 .

1 to 4, the operation flow of the tool storage system 10 when calling the tool (tool holding portion 51) stored in the tool storage portion 21E to the ATC tool standby position K will be described as an example.

A movable body 91 that does not hold the tool holding portion 51 is arranged at the ATC tool standby position K. As shown in FIG. First, in each of the tool storage sections 21A, 21B, 21C, and 21D, the opening 36 is indexed to the in-magazine tool transfer position J by turning the wheel section 31. As shown in FIG. In the tool storage section 21E, the tool holding section 51 holding the tool to be transferred is indexed to the in-magazine tool transfer position J by turning the wheel section 31. As shown in FIG.

Next, the movable body 91 is moved from the ATC tool standby position K to the in-magazine tool transfer position J in the tool storage section 21E.

Next, the moving body 91 holds the tool holding portion 51 . Finally, the moving body 91 is moved from the in-magazine tool transfer position J to the ATC tool standby position K in the tool storage section 21E.

In the tool storage section 21E, the step of indexing the tool holding section 51 that holds the tool to be transported to the in-magazine tool transport position J is to move the moving body 91 from the ATC tool standby position K to the in-magazine tool position in the tool storage section 21E. It may be executed after the step of moving to the transport position J.

In the tool storage system 10 according to the present embodiment, the movable body 91 moves in the axial direction of the predetermined axis 110 through the plurality of openings 36 while holding the tool holding portion 51 when the carrier device 14 carries the tool. do. In this case, since the opening 36 is cut away from the outer peripheral edge 31p of the wheel portion 31 toward the predetermined axis 110, the moving body 91 can move from the outer peripheral edge 31p of the wheel portion 31 toward the predetermined axis 110 in the radial direction. It is possible to suppress overhanging. As a result, the tool storage system 10 can be configured compactly, and the installation area of the machine tool including the tool storage system 10 can be reduced.

Next, the structure of the tool magazine 12 will be described in more detail. 1 to 6, each tool storage section 21 further has a support section 61. As shown in FIG.

The support portion 61 supports the wheel portion 31 so as to be rotatable around a predetermined axis 110 . The tool storage section 21 is supported by a support section 61 at a position separated from the floor of a factory or the like where the machine tool is installed.

The support portion 61 has a frame body 62 and a plurality of support rollers 63 (63h, 63i, 63j). The frame body 62 consists of a frame extending in the vertical direction. The frame body 62 is arranged in a gap between the wheel portions 31 adjacent to each other in the axial direction of the predetermined shaft 110 .

A plurality of support rollers 63 are supported by the frame body 62 . The support roller 63 is provided so as to be rotatable about a central rotation axis 140 parallel to the predetermined axis 110 .

The plurality of support rollers 63 are spaced apart from each other in the circumferential direction about the predetermined axis 110 . A plurality of support rollers 63 are provided in the same plane perpendicular to the predetermined axis 110 . The support roller 63h and the support roller 63i are provided above the support roller 63j. The support roller 63h and the support roller 63i are provided at the same height.

Referring to FIGS. 3 and 5 to 8, wheel portion 31 further has ring body 39 .

The ring body 39 has a thickness in the axial direction of the predetermined axis 110 and has a ring shape centered on the predetermined axis 110 . The ring body 39 is provided along the inner peripheral edge of the wheel portion 31 . The ring body 39 is joined to the base portion 32 in the axial direction of the predetermined shaft 110 . The ring body 39 faces the tapered portion 33 in the radial direction of the predetermined shaft 110 . The tapered portion 33 is provided so as to surround the ring body 39 on the outer circumference of the predetermined shaft 110 .

The plurality of support rollers 63 are in contact with the ring-shaped wheel portion 31 from the inside in the radial direction of the predetermined shaft 110 . A plurality of support rollers 63 are in contact with the ring body 39 from the radially inner side of the predetermined shaft 110 . The plurality of support rollers 63 are arranged on the inner peripheral side of the wheel portion 31 .

According to such a configuration, since the plurality of support rollers 63 come into contact with the wheel portion 31 from the inner side in the radial direction of the predetermined shaft 110, the length of the support portion 61 projecting from the wheel portion 31 in the axial direction of the predetermined shaft 110 is set to can be made smaller. As a result, the distance between the wheel portions 31 adjacent to each other in the axial direction of the predetermined shaft 110 can be narrowed, so that the tool storage system 10 can be configured more compactly.

9 and 10 are perspective views showing the turning drive portion of the wheel portion. 3 to 10, the tool storage section 21 further has a turning drive section 41. As shown in FIG. The turning driving section 41 is a driving mechanism for turning the wheel section 31 about the predetermined axis 110 . The turning drive section 41 is provided for each tool storage section 21 (wheel section 31).

The turning drive unit 41 has a motor 42 , a speed reducer 43 , a first gear 44 and a second gear 37 . Motor 42 has an output shaft 42r (see FIG. 3). The output shaft 42 r outputs rotation about a rotation center axis 130 extending in a direction perpendicular to the predetermined axis 110 . The output shaft 42r outputs rotation about a rotation center axis 130 parallel to the Z-axis. An output shaft 42 r of the motor 42 is connected to the speed reducer 43 .

The speed reducer 43 has an output shaft 43r (see FIG. 3). The output shaft 43r outputs rotation about a rotation center axis 120 parallel to the predetermined axis 110 (X axis). The speed reducer 43 reduces the rotation from the motor 42 and converts the axial direction of the central axis of rotation by 90°.

An output shaft 43 r of the speed reducer 43 is connected to the first gear 44 . The first gear 44 rotates about the rotation center axis 120 together with the output shaft 43r.

The second gear 37 is provided around a predetermined shaft 110 . The second gear 37 is provided along the inner peripheral edge of the wheel portion 31 . The second gear 37 is joined to the ring body 39 in the axial direction of the predetermined shaft 110 . The ring body 39 is arranged between the base portion 32 and the second gear 37 in the axial direction of the predetermined shaft 110 . The second gear 37 meshes with the first gear 44 .

As shown in FIG. 9, the second gear 37 has a first plate 37e and a second plate 37f, and a plurality of pins 37g.

The first plate 37e and the second plate 37f are made of ring-shaped plate material centered on the predetermined axis 110. As shown in FIG. The first plate 37e and the second plate 37f are spaced apart from each other in the axial direction of the predetermined shaft 110 . The pin 37g extends in the axial direction of the predetermined shaft 110 and is connected at both ends to the first plate 37e and the second plate 37f. The multiple pins 37g are spaced apart from each other in the circumferential direction of the predetermined shaft 110 . In the second gear 37 , a plurality of pins 37 g form a plurality of teeth arranged in the circumferential direction of the predetermined shaft 110 .

The motor 42 outputs forward or reverse rotation to the wheel portion 31 . Rotation output from the motor 42 is transmitted to the second gear 37 via the speed reducer 43 and the first gear 44 in this order, so that the wheel portion 31 rotates in the forward direction or the Rotate in the opposite direction.

The motor 42 and the speed reducer 43 are provided on the support portion 61 (frame body 62). The motor 42 and the speed reducer 43 are supported by a support portion 61 (frame body 62).

As shown in FIG. 3, the motor 42 of one tool storage section 21 (for example, the tool storage section 21F) is a tool storage motor arranged adjacent to the tool storage section 21 in the axial direction of the predetermined shaft 110. As shown in FIG. It is partially located inside the wheel portion 31 of the portion 21 (eg, tool storage portion 21E).

Motor 42 of one tool storage section 21 (for example, tool storage section 21F) is arranged adjacent to tool storage section 21 (for example, tool storage section 21F) when viewed in the axial direction of predetermined shaft 110. , and the tool storage portion 21E) so as to overlap with the hollow portion inside the wheel portion 31 of the tool storage portion 21E). The motor 42 of one tool storage section 21 (for example, the tool storage section 21F) is arranged adjacent to the tool storage section 21 when viewed radially outward from the center of the predetermined shaft 110. It is arranged so as to overlap the inner peripheral edge of the wheel portion 31 of the storage portion 21 (for example, the tool storage portion 21E).

According to such a configuration, the distance between the wheel portions 31 of the tool storage portions 21 adjacent to each other in the axial direction of the predetermined shaft 110 can be narrowed. As a result, the tool storage system 10 can be configured more compactly.

Next, the structure of the transport device 14 will be described in more detail. FIG. 11 is a front view showing the tool magazine and carrier device in the range surrounded by the two-dot chain line XI in FIG. 12 is a side view of the tool magazine and carrier looking in the direction indicated by arrow XII in FIG. 4; FIG. 13 and 14 are perspective views showing the mounting structure of the guiding device and the feeding device. 15 and 16 are perspective views showing the moving body.

11 to 16, moving body 91 has top plate 93, first bottom plate 94 and second bottom plate 95, and tool clamping mechanism 210. As shown in FIG.

The moving body 91 has a rectangular parallelepiped appearance as a whole. The top plate 93 is arranged on the top of the moving body 91 , and the first bottom plate 94 and the second bottom plate 95 are arranged on the bottom of the moving body 91 .

The tool clamping mechanism 210 is provided between the top plate 93 and the first bottom plate 94 and the second bottom plate 95 in the vertical direction. The tool clamping mechanism 210 is configured to be operable between a clamped state in which the tool (tool holder 51) is gripped and an unclamped state in which the tool (tool holder 51) is released from the grip.

As shown in FIG. 12, the opening 36 is arranged at the in-magazine tool transfer position J. As shown in FIG. In FIG. 12, the trajectory drawn by the outer peripheral edge 31p of the wheel portion 31 when the wheel portion 31 turns about the predetermined axis 110 is indicated by a chain double-dashed line.

The moving body 91 is arranged radially inward of the predetermined shaft 110 from the outer peripheral edge 31 p of the wheel portion 31 when viewed in the axial direction of the predetermined shaft 110 . The moving body 91 is arranged radially outside the predetermined shaft 110 relative to the second gear 37 and the ring body 39 when viewed in the axial direction of the predetermined shaft 110 . The moving body 91 is arranged in the plane of the opening surface of the opening 36 when viewed in the axial direction of the predetermined shaft 110 .

The transport device 14 further has a guide device 71 . The guide device 71 is a device for guiding the moving body 91 in the axial direction of the predetermined shaft 110 .

The guide device 71 has rails 73 . The rail 73 extends along the axial direction of the predetermined shaft 110 . The rail 73 has a groove shape extending in the axial direction of the predetermined shaft 110 while forming a concave cross section. In this embodiment, the guide device 71 has a plurality of rails 73 (73p, 73q, 73r).

As shown in FIG. 11, the rail 73 is provided with a first notch portion 76 . The first notch 76 is provided on each of the rails 73p, 73q, and 73r. A first notch portion 76 is provided for each tool storage portion 21 . The first notch portion 76 penetrates the rail 73 in the outer peripheral direction of the wheel portion 31 (the circumferential direction of the predetermined shaft 110). The first notch portion 76 is configured so that the wheel portion 31 can pass through when the wheel portion 31 in each tool storage portion 21 rotates.

The first notch portion 76 is provided corresponding to the wheel portion 31 of each tool storage portion 21 . The first notch portion 76 is provided on the plane on which the base portion 32 of the wheel portion 31 is arranged. The first notch portion 76 is configured so that the base portion 32 of the wheel portion 31 of each tool storage portion 21 can pass therethrough when the wheel portion 31 of the tool storage portion 21 is rotating. The rail 73 is divided by the first notch portion 76 between the tool storage portions 21 adjacent to each other in the axial direction (X-axis direction) of the predetermined axis 110 .

11 representatively, the first notch 76 is formed on the plane on which the base portion 32 of the wheel portion 31 in the tool storage portion 21A is arranged, and on the base portion of the wheel portion 31 in the tool storage portion 21B. 32 are provided on each of the planes on which 32 are arranged. The first notch 76 is formed by a rail piece 73A that guides the moving body 91 at the in-magazine tool transfer position J in the tool storage part 21A, and a rail piece 73A that guides the moving body 91 at the in-magazine tool transfer position J in the tool storage part 21B. It is separated into a rail piece 73B that guides the moving body 91 and a rail piece 73C that guides the moving body 91 at the in-magazine tool transfer position J in the tool storage section 21C.

Each gap between rail piece 73A and rail piece 73B and between rail piece 73B and rail piece 73C is larger than the thickness of base 32 in the axial direction (X-axis direction) of predetermined shaft 110 .

With such a configuration, the wheel portion 31 can be turned around the predetermined axis 110 without interfering with the plurality of rails 73 (73p, 73q, 73r).

As shown in FIGS. 13 and 14, the plurality of rails 73 (73p, 73q, 73r) are supported by a support portion 61 (frame body 62). 11, the rail piece 73A is supported by the support portion 61 in the tool storage portion 21A, the rail piece 73B is supported by the support portion 61 in the tool storage portion 21B, and the rail piece 73C is supported by the tool storage portion 21B. It is supported by the support portion 61 in the storage portion 21C. The rail 73 is fixed and does not pivot with the wheel portion 31 .

The support 61 further has a lower support arm 72 and an upper support arm 74 . The upper support arm 74 and the lower support arm 72 extend like arms from the frame body 62 in the Z-axis direction. The upper support arm 74 is arranged above the lower support arm 72 . The upper support arm 74 and the lower support arm 72 face each other with a gap in the vertical direction (Y-axis direction).

Rails 73p and 73q are attached to lower support arm 72 . The rail 73r is attached to the upper support arm 74. As shown in FIG.

According to such a configuration, the support portion 61 that rotatably supports the wheel portion 31 is shared as a member for supporting the plurality of rails 73 (73p, 73q, 73r). A simple configuration is possible.

The guiding device 71 further has a rotating roller 92 . The rotating roller 92 is provided on the moving body 91 . The rotating roller 92 is provided so as to be rotatable about a rotation center axis extending in a direction perpendicular to the predetermined axis 110 (X axis). The rotating roller 92 is composed of a cam follower. The rotating roller 92 is fitted in a groove-shaped rail 73 .

The guide device 71 has a plurality of rotating rollers 92 (92p, 92q, 92r). The rotating roller 92p is provided on the first bottom plate 94 . A plurality of rotating rollers 92r are arranged in the X-axis direction on the first bottom plate 94 . The rotating roller 92 q is provided on the second bottom plate 95 . A plurality of rotating rollers 92q are arranged in the X-axis direction on the second bottom plate 95 . The rotating roller 92q is provided at a position away from the rotating roller 92p in the Z-axis direction. The rotating rollers 92p and 92q are provided so as to be rotatable around a central axis of rotation extending in the Z-axis direction.

The rotating roller 92 r is provided on the top plate 93 . A plurality of rotating rollers 92r are arranged on the top plate 93 in the X-axis direction. The rotating roller 92r is provided so as to be rotatable around a rotation center axis extending in the Y-axis direction. The rotating roller 92r is provided above the rotating rollers 92p and 92q.

The rotating roller 92p, the rotating roller 92q and the rotating roller 92r are fitted to the rail 73p, the rail 73q and the rail 73r, respectively.

As shown in FIG. 12 , the guide device 71 is arranged radially inward of the predetermined shaft 110 from the outer peripheral edge 31 p of the wheel portion 31 when viewed in the axial direction of the predetermined shaft 110 . The guide device 71 is arranged radially inside the predetermined shaft 110 relative to the flange portion 34 and the tapered portion 33 when viewed in the axial direction of the predetermined shaft 110 . The guide device 71 is arranged radially outside the predetermined shaft 110 relative to the second gear 37 and the ring body 39 when viewed in the axial direction of the predetermined shaft 110 .

With such a configuration, the guide device 71 does not protrude radially outward of the predetermined shaft 110 from the outer peripheral edge 31p of the wheel portion 31, so that the tool storage system 10 can be configured more compactly. .

The transport device 14 further has a feeding device 81 . The feeding device 81 is a device for feeding the moving body 91 in the axial direction of the predetermined shaft 110 .

The feeding device 81 has a rack 82 . The rack 82 extends along the axial direction of the predetermined shaft 110 .

As shown in FIG. 11 , the rack 82 is provided with a second notch 83 . A second cutout portion 83 is provided for each tool storage portion 21 . The second notch portion 83 penetrates the rack 82 in the outer peripheral direction of the wheel portion 31 (the circumferential direction of the predetermined shaft 110). The second notch portion 83 is configured so that the wheel portion 31 can pass through when the wheel portion 31 in each tool storage portion 21 rotates.

The second notch portion 83 is provided corresponding to the wheel portion 31 of each tool storage portion 21 . The second notch portion 83 is provided on the plane on which the base portion 32 of the wheel portion 31 is arranged. The second notch portion 83 is configured so that the base portion 32 of the wheel portion 31 of each tool storage portion 21 can pass therethrough when the wheel portion 31 of the tool storage portion 21 is turned. The rack 82 is divided by a second notch portion 83 between the tool storage portions 21 adjacent to each other in the axial direction (X-axis direction) of the predetermined axis 110 .

11 representatively, the second notch 83 is formed on the plane on which the base portion 32 of the wheel portion 31 in the tool storage portion 21A is arranged, and on the base portion of the wheel portion 31 in the tool storage portion 21B. 32 are provided on each of the planes on which 32 are arranged. The second notch 83 allows the rack 82 to be divided into a rack piece 82A that feeds the moving body 91 at the in-magazine tool transport position J in the tool storage part 21A, and a rack piece 82A that feeds the moving body 91 at the in-magazine tool transport position J in the tool storage part 21B. It is separated into a rack piece 82B for sending and a rack piece 82C for guiding the moving body 91 at the in-magazine tool transfer position J in the tool storage section 21C.

Each gap between rack piece 82A and rack piece 82B and between rack piece 82B and rack piece 82C is larger than the thickness of base 32 in the axial direction of predetermined shaft 110 (X-axis direction).

With such a configuration, the wheel portion 31 can be turned around the predetermined axis 110 without interfering with the rack 82 .

As shown in FIGS. 13 and 14, the rack 82 is supported by a support portion 61 (frame body 62). 11, the rack piece 82A is supported by the support portion 61 in the tool storage portion 21A, the rack piece 82B is supported by the support portion 61 in the tool storage portion 21B, and the rack piece 82C is supported by the tool storage portion 21B. It is supported by the support portion 61 in the storage portion 21C. The rack 82 is fixed and does not pivot with the wheel portion 31 .

A rack 82 is attached to the upper support arm 74 . The rack 82 is provided at a position away from the rail 73r in the Z-axis direction. The rack 82 is provided vertically between the rail 73r and the rails 73p and 73q.

According to such a configuration, since the support portion 61 that rotatably supports the wheel portion 31 is shared as a member for supporting the rack 82, the tool storage system 10 can be configured simply.

The feeding device 81 further has a motor 96 , a gearbox 97 and a speed reducer 98 . Motor 96 , gearbox 97 and speed reducer 98 are mounted on moving body 91 . The motor 96 and the speed reducer 98 are provided between the top plate 93 and the first bottom plate 94 and the second bottom plate 95 in the vertical direction. A speed reducer 98 is provided above the motor 96 . The gearbox 97 is provided adjacent to the motor 96 and the speed reducer 98 in the X-axis direction.

The motor 96 has an output shaft (not shown) that outputs rotation about a rotation center axis extending in the axial direction (X-axis direction) of the predetermined shaft 110 . Gear box 97 incorporates a plurality of gears for transmitting rotation from motor 96 to speed reducer 98 . The speed reducer 98 has an output shaft (not shown) that outputs rotation about a rotation center axis extending in the Z-axis direction. An output shaft of the speed reducer 98 is connected to a second pinion 87 which will be described later. The speed reducer 98 reduces the speed of rotation from the gear box 97 and converts the axial direction of the central axis of rotation by 90°.

The feeding device 81 further has a first pinion 86 , a second pinion 87 and a third pinion 88 . First pinion 86 , second pinion 87 and third pinion 88 are provided on moving body 91 .

The first pinion 86, the second pinion 87 and the third pinion 88 are rotatably provided around the first rotation center axis 150, the second rotation center axis 160 and the third rotation center axis 170, respectively. The first rotation center axis 150, the second rotation center axis 160 and the third rotation center axis 170 extend in the Z-axis direction.

The first pinion 86 , the second pinion 87 and the third pinion 88 are provided above the tool clamping mechanism 210 . The first pinion 86, the second pinion 87 and the third pinion 88 are provided facing the rack 82 in the vertical direction (Y-axis direction).

The first pinion 86 and the second pinion 87 are arranged apart from each other in the axial direction of the predetermined shaft 110 (the X-axis direction). The third pinion 88 is arranged between the first pinion 86 and the second pinion 87 in the axial direction (X-axis direction) of the predetermined shaft 110 .

A first pinion 86 and a second pinion 87 are engaged with the rack 82 . A third pinion 88 is engaged with the first pinion 86 and the second pinion 87 . The third pinion 88 is out of engagement with the rack 82 .

First rotation center shaft 150 and second rotation center shaft 160 are positioned apart from each other in the axial direction (X-axis direction) of predetermined shaft 110 . The third rotation center shaft 170 is positioned between the first rotation center shaft 150 and the second rotation center shaft 160 in the axial direction (X-axis direction) of the predetermined axis 110 . The distance between the rack 82 and the third rotation center shaft 170 in the vertical direction (Y-axis direction) is the distance between the rack 82 and the first rotation center shaft 150 and the second rotation center in the vertical direction (Y-axis direction). greater than each distance between the axis 160.

The interval between first rotation center shaft 150 and second rotation center shaft 160 in the axial direction of predetermined shaft 110 is greater than the notch length of second cutout portion 83 in the axial direction of predetermined shaft 110 . The length of the rack 82 (the length of the rack piece 82A, etc.) in each tool storage portion 21 in the axial direction of the predetermined shaft 110 is determined by the first rotation center axis 150 and the second rotation center axis 160 in the axial direction of the predetermined shaft 110. interval.

According to such a configuration, since the first pinion 86 and the second pinion 87 are positioned apart from each other in the axial direction of the predetermined shaft 110, the rack 82 is provided with the second notch 83. At least one of the first pinion 86 and the second pinion 87 can be engaged with the rack 82 without the first pinion 86 or the second pinion 87 . Further, since the third pinion 88 that is not engaged with the rack 82 is engaged with the first pinion 86 and the second pinion 87, the rotation of the first pinion 86 is rotated through the third pinion 88 to the second pinion. 87. Therefore, the moving body 91 can be smoothly fed in the axial direction of the predetermined shaft 110 by the feeding device 81 .

In this embodiment, the first pinion 86 is the drive wheel, and the second pinion 87 and the third pinion 88 are the driven wheels. Either pinion 87 or third pinion 88 may be used.

As shown in FIG. 12 , the feeding device 81 is arranged radially inside the predetermined shaft 110 relative to the outer peripheral edge 31 p of the wheel portion 31 when viewed in the axial direction of the predetermined shaft 110 . The feeding device 81 is arranged radially outside the predetermined shaft 110 relative to the second gear 37 and the ring body 39 when viewed in the axial direction of the predetermined shaft 110 . The feeding device 81 is arranged radially inside the predetermined shaft 110 relative to the flange portion 34 and the tapered portion 33 when viewed in the axial direction of the predetermined shaft 110 .

With such a configuration, the feed device 81 does not protrude radially outward of the predetermined shaft 110 from the outer peripheral edge 31p of the wheel portion 31, so that the tool storage system 10 can be configured more compactly. .

17 and 18 are other perspective views of the tool storage system of FIG. 1; 19 is a perspective view showing the tool storage system (with the cover body and the door portion closed) viewed in the direction indicated by the arrow XIX in FIG. 17. FIG. 20 is a perspective view showing the tool storage system (with the cover body and the door portion open) as viewed in the direction indicated by the arrow XIX in FIG. 17. FIG.

17 to 20, the tool magazine 12 further has a cover body 781. As shown in FIG. The cover body 781 forms an internal space 780 . The internal space 780 accommodates a plurality of tool storage sections 21 (21A, 21B, 21C, 21D, 21E, 21F). A plurality of tool holders 51 are accommodated in the internal space 780 .

A cover opening 783 is provided in the cover body 781 . The internal space 780 is open to the external space outside the internal space 780 through a cover opening 783 . The cover opening 783 forms an opening surface parallel to a plane (Y-axis-Z-axis plane) perpendicular to the predetermined axis 110 in the cover body 781 . An opening surface formed by the cover opening portion 783 faces a part of the tool storage portion 21F in the axial direction of the predetermined shaft 110 .

The tool magazine 12 further has a door portion 786 . The door portion 786 is provided in the cover opening portion 783 . The door portion 786 can operate between a closed state for closing the cover opening 783 and an open state for opening the cover opening 783 . The door portion 786 can slide in the Z-axis direction. The operation of the door portion 786 is not particularly limited, and for example, the door portion 786 may be capable of rotating about an axis extending in the Y-axis direction (vertical direction).

The tool magazine 12 is configured such that a tool held by the tool holding portion 51 can be manually attached and detached at the manual tool exchange position M in the tool storage portion 21F. The manual tool changing position M faces the opening surface formed by the cover opening 783 in the axial direction of the predetermined axis 110 .

As an example, the operation flow of the tool storage system 10 when the tool stored in the tool storage section 21B is indexed to the manual tool change position M will be described.

First, the moving body 91 is moved to the in-magazine tool transfer position J in the tool storage section 21B. Next, in the tool storage section 21B, the tool holding section 51 holding the tool to be replaced is indexed to the in-magazine tool transfer position J by rotating the wheel section 31 . Next, the moving body 91 holds the tool holding portion 51 .

Next, in each of the tool storage sections 21B, 21C, 21D, and 21E, the opening 36 is indexed to the in-magazine tool transfer position J by turning the wheel section 31. As shown in FIG. In the tool storage section 21F, the mounting section 38 in which the tool holding section 51 is not mounted is indexed to the in-magazine tool transfer position J by turning the wheel section 31. As shown in FIG.

Next, the movable body 91 is moved from the in-magazine tool transfer position J in the tool storage section 21B to the in-magazine tool transfer position J in the tool storage section 21F. The tool holding portion 51 is mounted on the mounting portion 38 waiting at the in-magazine tool transfer position J in the tool storage portion 21F. Next, in the tool storage section 21F, the tool holding section 51 to which the tool holding section 51 is mounted is indexed to the manual tool changing position M by turning the wheel section 31. As shown in FIG.

21 is a perspective view showing the tool magazine in the area surrounded by the two-dot chain line XXI in FIG. 17. FIG.

Referring to FIG. 21, a plurality of tool holding portions 51 are arranged on a predetermined path 620. As shown in FIG. The wheel portion 31 as a transport portion transports the plurality of tool holding portions 51 along a predetermined path 620 . Predetermined path 620 is a closed path. Predetermined path 620 is a circumference about predetermined axis 110 . A plurality of tool holders 51 are arranged at regular intervals on a predetermined path 620 .

The tool holding portion 51 has a cylindrical shape centering on the central axis 610 as a whole. The tool T is inserted into and removed from the tool holding portion 51 in the axial direction about the central axis 610 . The tool holding portion 51 is mounted on the mounting portion 38 in such a posture that the central axis 610 is parallel to the radial direction of the predetermined axis 110 .

The tool magazine 12 further has an actuator 741 and an operating section (not shown). The actuator 741 is positioned to face the tool holder 51 indexed to the manual tool change position M. As shown in FIG. The actuator 741 operates the tool holding portion 51 to hold the tool T when the tool T is attached to the tool holding portion 51 and/or moves the tool T when the tool T is removed from the tool holding portion 51. The tool holder 51 is operated so as to release the holding.

The actuator 741 is arranged inside a predetermined path 620 consisting of a circumference. The actuator 741 is arranged between the wheel portion 31 of the tool storage portion 21E and the wheel portion 31 of the tool storage portion 21F in the axial direction of the predetermined shaft 110. As shown in FIG. By driving the actuator 741, the locking mechanism incorporated in the tool holding portion 51 performs unlocking operation or locking operation.

An operation unit (not shown) is operated by an operator when driving the actuator 741 . The operation unit may be, for example, a foot switch or a push button.

Actuator 741 consists of a piston cylinder 746 . The piston cylinder 746 is hydraulically driven. The piston cylinder 746 is arranged inside a predetermined circumferential path 620 when viewed in the axial direction of the predetermined shaft 110 . Piston cylinder 746 has a piston 747 . Piston 747 extends radially of predetermined axis 110 . As the piston cylinder 746 is driven, the piston 747 can expand and contract in the radial direction of the predetermined shaft 110 .

The piston 747 is positioned to face the tool holder 51 indexed to the manual tool change position M in the radial direction of the predetermined axis 110 . When the piston 747 extends in the radial direction of the predetermined axis 110, the locking mechanism incorporated in the tool holder 51 unlocks, and when the piston 747 shortens in the radial direction of the predetermined axis 110, the tool A locking mechanism incorporated in the holding portion 51 performs a locking operation.

22 is a cross-sectional view partially showing the tool magazine as viewed in the direction of arrows on the line XXII-XXII in FIG. 18. FIG. FIG. 23 is a perspective view showing an actuator support.

21 to 23, tool magazine 12 holds tools held by tool holding portion 51 at a plurality of manual tool changing positions M (Ma, Mb, Mc, Md, Me) in tool storage portion 21F. It is configured to be detachable manually.

The manual tool change positions Ma, Mb, Mc, Md and Me are arranged at regular intervals in the circumferential direction of the predetermined axis 110 . As shown in FIG. 20, the tool holding portions 51 arranged at the manual tool changing positions Ma, Mb, Mc, Md, and Me have an opening surface formed by the cover opening portion 783 when the door portion 786 is opened. in the axial direction of the predetermined shaft 110 .

The tool magazine 12 further has an actuator support 751 . The actuator support portion 751 supports the actuator 741 (piston cylinder 746). Actuator support 751 is manually operated.

Actuator support 751 is operable to move actuator 741 along predetermined path 620 . The actuator support portion 751 can rotate about the predetermined shaft 110 so that the actuator 741 moves in the circumferential direction of the predetermined shaft 110 .

As shown in FIG. 21, the actuator 741 moves between the first position Pa, the second position Pb, the third position Pc, the fourth position Pd and the fifth position Pe as the actuator support portion 751 rotates. to move.

When the actuator 741 (piston cylinder 746) is arranged at the first position Pa, the actuator 741 (piston 747) is positioned to face the tool holder 51 arranged at the manual tool change position Ma. When the actuator 741 (piston cylinder 746) is arranged at the second position Pb, the actuator 741 (piston 747) is positioned to face the tool holder 51 arranged at the manual tool change position Mb. When the actuator 741 (piston cylinder 746) is arranged at the third position Pc, the actuator 741 (piston 747) is positioned to face the tool holder 51 arranged at the manual tool change position Mc. When the actuator 741 (piston cylinder 746) is positioned at the fourth position Pd, the actuator 741 (piston 747) is positioned to face the tool holder 51 positioned at the manual tool change position Md. When the actuator 741 (piston cylinder 746) is arranged at the fifth position Pe, the actuator 741 (piston 747) is positioned to face the tool holder 51 arranged at the manual tool exchange position Me.

As shown in FIG. 22 , the actuator support portion 751 has an arm portion 756 and a shaft portion 757 . Arm portion 756 extends in the radial direction of predetermined axis 110 . The arm portion 756 is made of a plate material whose thickness direction is the axial direction of the predetermined shaft 110 . The arm portion 756 is arranged between the wheel portion 31 of the tool storage portion 21E and the wheel portion 31 of the tool storage portion 21F in the axial direction of the predetermined shaft 110. As shown in FIG.

The shaft portion 757 is provided on the predetermined shaft 110 . The arm portion 756 is connected to the shaft portion 757 radially inside the predetermined shaft 110 . Arm portion 756 is supported by shaft portion 757 so as to be rotatable about predetermined axis 110 .

Arm portion 756 is rotatable around predetermined axis 110 independently of wheel portion 31 . That is, the arm portion 756 is stationary during the turning motion of the wheel portion 31 about the predetermined axis 110 . When the arm portion 756 rotates about the predetermined axis 110, the wheel portion 31 remains stationary. The shaft portion 757 is attached to the frame body 62 .

An actuator 741 (piston cylinder 746 ) is attached to the arm portion 756 . The piston cylinder 746 is attached at a position spaced radially outward from the predetermined axis 110 . The piston cylinder 746 is attached to the tip of the arm portion 756 radially outward of the predetermined shaft 110 .

The actuator support portion 751 further has an index portion 752 . The index portion 752 indicates the tool holding portion 51 operated by the actuator 741 (piston cylinder 746). The index portion 752 is made of a plate material whose thickness direction is the axial direction of the predetermined shaft 110 .

The index portion 752 is connected to the shaft portion 757 radially inside the predetermined shaft 110 . The index portion 752 is supported by the shaft portion 757 so as to be rotatable about the predetermined axis 110 together with the arm portion 756 .

The index portion 752 has a straight portion 752m and a tip portion 752n. The straight portion 752m extends straight from the shaft portion 757 toward the outside in the radial direction of the predetermined shaft 110 . The linear portion 752m is provided at a position overlapping the arm portion 756 when viewed in the axial direction of the predetermined shaft 110 . The tip portion 752n is provided at the tip of a straight portion 752m extending radially outward of the predetermined shaft 110 . The tip portion 752n has a design pointing to the tool holding portion 51 operated by the actuator 741 (piston cylinder 746). The tip portion 752n has a triangular shape with corners arranged radially outward of the predetermined axis 110 .

The indicator portion 752 is arranged on the opposite side of the arm portion 756 across the wheel portion 31 in the tool storage portion 21F. The index portion 752 faces the opening surface formed by the cover opening portion 783 in the axial direction of the predetermined axis 110 . At least the tip portion 752n of the indicator portion 752 faces the opening surface formed by the cover opening portion 783 in the axial direction of the predetermined shaft 110 .

Assume that the actuator 741 (piston cylinder 746) is located at the first position Pa as an initial state. When the operator replaces the tool held by the tool holding portion 51 at the manual tool changing position Ma in the tool storage portion 21F, first, the door portion 786 is closed and the target tool holding portion 51 is opened. Index to the manual tool change position Ma. The operator opens the door portion 786 . The operator operates an operation unit (not shown) to operate the actuator 741 to attach or detach the tool held by the tool holding unit 51 .

Here, in the conventional tool magazine, when the operator continues to change the tool held in another tool holding portion 51, the door portion 786 is closed and another tool holding portion is placed at the manual tool changing position Ma. A series of operations of indexing the portion 51, opening the door portion 786, and attaching/detaching the tool held in another tool holding portion 51 were required.

On the other hand, in the tool magazine 12 according to the present embodiment, the actuator 741 (piston cylinder 746) is supported by the actuator support portion 751 so that the plurality of tool holding portions 51 support the actuator 741 (piston cylinder 746). It can be moved between a first position Pa, a second position Pb, a third position Pc, a fourth position Pd and a fifth position Pe along a predetermined path 620 arranged.

For example, it is assumed that the operator performs a tool change at the tool holding portion 51 arranged at the manual tool changing position Mc, following the tool holding portion 51 arranged at the manual tool changing position Ma. In this case, the operator rotates the actuator support portion 751 around the predetermined axis 110 while gripping the index portion 752 (tip portion 752n), thereby moving the actuator 741 (piston cylinder 746) from the first position Pa. Move to the third position Pc. The actuator 741 (piston cylinder 746) is positioned in the radial direction of the predetermined axis 110 so as to face the tool holder 51 arranged at the manual tool change position Mc. The operator can operate the actuator 741 by operating the operation portion (not shown) to change tools in the tool holding portion 51 arranged at the manual tool change position Mc.

In this way, after a tool is attached to or detached from a specific tool holding portion 51, the actuator 741 can be moved to a position facing the tool holding portion 51 to which the next tool is to be attached or detached. A plurality of tools can be attached and detached without opening and closing 786 many times.

Further, in the present embodiment, the actuator support portion 751 is manually rotated by the operator. Such a configuration eliminates the need for a mechanism for automatically operating the actuator support section 751, so the actuator support section 751 can be configured simply. In addition, safety during operation of the actuator support portion 751 can be enhanced.

Referring to FIG. 22, tool magazine 12 further has position holding mechanism 758 . The position holding mechanism 758 is provided on the actuator support portion 751 .

The position holding mechanism 758 rotates the actuator support portion 751 so as to hold the actuator 741 at each of the first position Pa, the second position Pb, the third position Pc, the fourth position Pd, and the fifth position Pe. It is configured to restrict the movement of the actuator support portion 751 and allow the rotational movement of the actuator support portion 751 when an external force greater than or equal to a certain level is applied to the actuator support portion 751 in the circumferential direction of the predetermined shaft 110 .

The position holding mechanism 758 is built into the shaft portion 757 . As an example, the position holding mechanism 758 includes a stationary member attached to the frame body 62, a rotating member arranged opposite the stationary member and to which the arm portion 756 and the index portion 752 are connected, a stationary member and It is composed of a plurality of balls inserted between the rotary members, and an elastic member that biases the fixed member and the rotary member against each other. At least one of the fixed-side member and the rotary-side member is provided with a recess into which the ball is fitted.

According to such a configuration, when the operator manually rotates the actuator support portion 751, the actuator 741 is moved to the tool holding portions 51 arranged at the manual tool change positions Ma, Mb, Mc, Md, and Me. It becomes easy to move to each position facing .

In the present embodiment, the actuator 741 for operating the tool holding portion 51 is a piston cylinder 746 that operates hydraulically. There may be.

FIG. 24 is a front view showing an actuator support portion and a tool holding portion in the tool magazine of the first modified example. 25 is a side view showing the actuator support and tool holder viewed in the direction indicated by arrow XXV in FIG. 24; FIG.

24 and 25, the tool T is given an identifier 791 including information about the tool T in this modification. The identifier 791 is attached to the shank portion of the tool T, which is gripped by the arm portion 17 of the automatic tool changer 16 . The identifier 791 is provided facing the opening surface formed by the cover opening 783 in the axial direction of the predetermined axis 110 .

The identifier 791 stores, for example, the type, length or diameter of the tool T, or the history of work machining using the tool T. Identifier 791 is an IC chip. The identifier 791 may be a barcode or a QR (Quick Response) code.

The tool magazine 12 furthermore has a reader 771 . The reading device 771 is a device capable of reading information included in the identifier 791 .

The reading device 771 can read information contained in the identifier 791 from the tool T held by the tool holding portion 51 operated by the actuator 741 . The reading device 771 is provided on the actuator support portion 751 . The reading device 771 moves in the circumferential direction of the predetermined shaft 110 together with the actuator 741 when the actuator support portion 751 rotates. The reading device 771 is provided in the indicator section 752 . The reader 771 is provided at a position facing the identifier 791 in the axial direction of the predetermined shaft 110 .

The tool magazine 12 further has a display portion 772 . The display unit 772 can display information read by the reading device 771 . The display unit 772 is composed of, for example, a liquid crystal panel.

The display portion 772 is provided on the actuator support portion 751 . The display portion 772 is provided on the indicator portion 752 . The display portion 772 is provided facing the opening surface formed by the cover opening portion 783 in the axial direction of the predetermined axis 110 .

According to such a configuration, the reading device 771 and the display section 772 move in the circumferential direction of the predetermined shaft 110 together with the actuator 741 when the actuator support section 751 rotates. Accordingly, the reading device 771 can read information about the tool T held by the tool holding portion 51 operated by the actuator 741 from the identifier 791 attached to the tool T. FIG. Also, the operator can easily recognize information about the tool T held by the tool holding portion 51 operated by the actuator 741 through the display portion 772 .

FIG. 26 is a front view showing an actuator, an actuator support section, and a tool holding section in the tool magazine of the second modified example.

Referring to FIG. 26, a plurality of tool holders 51 are arranged on a predetermined path 620 in this modification. The predetermined path 620 extends linearly in a direction perpendicular to the central axis 610 of the tool holding portion 51 at a plurality of manual tool changing positions M (Ma, Mb, Mc).

The piston 747 of the actuator 741 (piston cylinder 746 ) has a piston base 796 , a piston middle section 797 and a piston tip section 798 .

Piston base 796 extends parallel to central axis 610 from the cylinder of piston cylinder 746 . The piston intermediate portion 797 is connected to the tip of the piston base portion 796 extending from the cylinder of the piston cylinder 746 . Piston middle portion 797 extends parallel to predetermined path 620 at a plurality of manual tool change positions M (Ma, Mb, Mc). A piston tip 798 extends parallel to the central axis 610 from the piston middle section 797 .

An actuator support portion 751 is provided in the piston intermediate portion 797 . Actuator support 751 supports piston tip 798 . Actuator support 751 is operable to move piston tip 798 along predetermined path 620 . Actuator support 751 is capable of linear movement in a direction parallel to predetermined path 620 .

The piston tip portion 798 moves among the first position Pa, the second position Pb and the third position Pc as the actuator support portion 751 linearly moves. When the piston tip portion 798 is arranged at the first position Pa, it is positioned so as to face the tool holding portion 51 arranged at the manual tool changing position Ma. When the piston tip portion 798 is arranged at the second position Pb, it is positioned to face the tool holding portion 51 arranged at the manual tool changing position Mb. When the piston tip end portion 798 is arranged at the third position Pc, it is positioned to face the tool holding portion 51 arranged at the manual tool changing position Mc.

As shown in this modified example, the actuator support section in the present invention may be configured to move a portion of the actuator for operating the tool holding section. The tool magazine in this modified example is suitably used, for example, as a chain magazine in which a plurality of tool holding portions 51 are connected to each other via a chain.

To summarize the structure of the tool magazine 12 according to the embodiment of the present invention described above, the tool magazine 12 as a magazine according to the present embodiment is arranged on a predetermined path 620, and the tool T as an object to be held. and a tool holding portion 51 as a plurality of holding portions for holding a tool holding portion 51 positioned to face the tool holding portion 51 so as to hold the tool T when the tool T is attached to the tool holding portion 51. 51 and/or to remove the tool T from the tool holding portion 51, an actuator 741 for operating the tool holding portion 51 to release the holding of the tool T; and an actuator support 751 operable to move along a predetermined path 620 .

According to the tool magazine 12 according to the embodiment of the present invention configured in this way, it is possible to improve the workability when performing the attachment/detachment operation of a plurality of tools.

In this embodiment, the case where the object to be held in the present invention is a tool has been described, but the object to be held may be a work without being limited to this. The workpiece has, for example, a columnar shape or a cylindrical shape. The structure of the holding portion when the held object is a work is the same as the structure of the tool holding portion 51 when the held object is a tool. The work is held by the holding portion while being attached to a member corresponding to the shank portion of the tool.

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

INDUSTRIAL APPLICABILITY The present invention is applied to machine tools such as machining centers.

10 tool storage system 12 tool magazine 14 transfer device 16 automatic tool changer 17 arm portion 21, 21A, 21B, 21C, 21D, 21E, 21F tool storage portion 31 wheel portion 31p outer peripheral edge 32 base , 33 taper portion, 34 flange portion, 36 opening portion, 37 second gear, 37e first plate, 37f second plate, 37g pin, 38 mounting portion, 39 ring body, 41 rotation driving portion, 42, 96 motor, 42r , 43r output shaft, 43, 98 speed reducer, 44 first gear, 51 tool holding portion, 61 support portion, 62 frame body, 63, 63h, 63i, 63j support roller, 71 guide device, 72 lower support arm, 73 , 73p, 73q, 73r rail, 73A, 73B, 73C rail piece, 74 upper support arm, 76 first notch portion, 81 feeding device, 82 rack, 82A, 82B, 82C rack piece, 83 second notch portion, 86 first pinion, 87 second pinion, 88 third pinion, 91 movable body, 92, 92p, 92q, 92r rotating roller, 93 top plate, 94 first bottom plate, 95 second bottom plate, 97 gear box, 110 predetermined shaft , 115 section, 116 tool carrier path, 120, 130, 140 rotation center shaft, 150 first rotation center shaft, 160 second rotation center shaft, 170 third rotation center shaft, 210 tool clamping mechanism, 610 center shaft, 620 Predetermined Path 741 Actuator 746 Piston Cylinder 747 Piston 751 Actuator Support Portion 752 Indicator Portion 752m Linear Portion 752n Tip Portion 756 Arm Portion 757 Shaft Portion 758 Position Holding Mechanism 771 Reader 772 Display Part, 780 Internal space, 781 Cover body, 783 Cover opening, 786 Door, 791 Identifier, 796 Piston base, 797 Piston intermediate part, 798 Piston tip, J Tool transfer position in magazine, K Tool standby position, M, Ma, Mb, Mc, Md, Me manual tool change position, Pa 1st position, Pb 2nd position, Pc 3rd position, Pd 4th position, Pe 5th position, T tool.

A magazine according to one aspect of the present invention includes a plurality of holders arranged on a predetermined path for holding objects to be held, which are tools or works, and positioned to face the holders. When the holding object is attached to the holding unit, the holding unit is operated to hold the holding object, and/or when the holding object is removed from the holding unit, the holding unit releases the holding of the holding object. and an actuator support supporting the actuator and operable to move the actuator along a predetermined path. As the actuator support portion operates, the actuator moves along a predetermined path between a plurality of positions arranged in the arrangement direction of the plurality of holding portions.
A magazine according to another aspect of the present invention includes a plurality of holders arranged on a predetermined path for holding objects to be held, which are tools or works, and positioned to face the holders. When the holding object is attached to the holding unit, the holding unit is operated to hold the holding object, and/or when the holding object is removed from the holding unit, the holding unit releases the holding of the holding object. and an actuator support supporting the actuator and operable to move the actuator along a predetermined path.

A magazine according to one aspect of the present invention includes a plurality of holders arranged on a predetermined path for holding objects to be held, which are tools or works, and positioned to face the holders. When the holding object is attached to the holding unit, the holding unit is operated to hold the holding object, and/or when the holding object is removed from the holding unit, the holding unit releases the holding of the holding object. and an actuator support supporting the actuator and operable to move the actuator along a predetermined path. As the actuator support portion operates, the actuator moves along a predetermined path between a plurality of positions arranged in the arrangement direction of the plurality of holding portions. The magazine further includes a conveying section that conveys the plurality of holding sections along a predetermined route.
A magazine according to another aspect of the present invention includes a plurality of holders arranged on a predetermined path for holding objects to be held, which are tools or works, and positioned to face the holders. When the holding object is attached to the holding unit, the holding unit is operated to hold the holding object, and/or when the holding object is removed from the holding unit, the holding unit releases the holding of the holding object. and an actuator support supporting the actuator and operable to move the actuator along a predetermined path.

Claims (9)

a plurality of holders arranged on a predetermined path for holding objects to be held, which are tools or workpieces;
Positioned to face the holding part, and when attaching a holding object to the holding part, operate the holding part to hold the holding object and/or remove the holding object from the holding part an actuator that operates the holding part to release the holding of the object to be held,
an actuator support that supports the actuator and is operable to move the actuator along a predetermined path. 2. The magazine according to claim 1, further comprising a conveying section that conveys the plurality of holding sections on the predetermined route. 3. The magazine according to claim 1, wherein said actuator support section has an index section pointing to said holding section operated by said actuator. the predetermined path is a circumference centered on a predetermined axis;
An object to be held is inserted into and removed from the holding portion in a radial direction of the predetermined shaft,
The actuator is a piston cylinder having a piston capable of expanding and contracting in the radial direction of the predetermined axis and arranged inside the circumference,
The actuator support section is an arm section that is rotatably supported about the predetermined axis, extends in a radial direction of the predetermined axis, and has the piston cylinder mounted at a position spaced radially outward from the predetermined axis. 4. A magazine as claimed in any one of claims 1 to 3, comprising: 5. A magazine according to any preceding claim, wherein the actuator support is manually operated. The plurality of holding parts are arranged at regular intervals, and
A position holding mechanism provided in the actuator support,
The position holding mechanism regulates the operation of the actuator support section so that the actuators are arranged at equal intervals and held at a plurality of positions facing the holding section. 6. A magazine according to claim 5, allowing movement of said actuator support. An identifier containing information about the retained object is attached to the retained object, and further,
7. The apparatus according to any one of claims 1 to 6, further comprising a reading device provided on said actuator support section and reading information included in said identifier from an object held by said holding section operated by said actuator. The magazine mentioned. 8. The magazine according to claim 7, further comprising a display section provided on said actuator support section and displaying information read by said reading device. a cover body that is provided with a cover opening and forms an internal space that accommodates the plurality of holding parts;
further comprising a door portion provided at the cover opening and operable between a closed state for closing the cover opening and an open state for opening the cover opening;
9. The actuator according to any one of claims 1 to 8, wherein the holding portion operated by the actuator moves within a range facing an opening surface formed by the cover opening when the door portion is in the open state. A magazine according to any one of the preceding claims.

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