JP3591860B2 - Machine tool tool changer - Google Patents

Description

[0001]
[Industrial applications]
The present invention relates to a tool changing device for a machine tool.
[0002]
[Prior art]
Various tool changers have been proposed to supply tools in a timely manner from a tool magazine attached to the side of a column of a machine tool to a spindle provided on the front of the column. For example, Japanese Patent Publication No. 3-35054 discloses that the center of rotation of a column of a machine tool is defined as the center of rotation, and that a tool socket transfer position above a center of a tool magazine and a tool change position just above a spindle are provided. There is disclosed a tool changer including a large swing arm for turning the tool 90 degrees.
[0003]
Although a large swing arm as disclosed in this publication cannot be arranged at the top of the column, there may be a case where the user wants to change tools rationally so as to draw a locus similar to that. In such a case, there is a mechanism capable of first moving the tool by a predetermined amount in a direction parallel to the axis direction of the main shaft, then turning the tool by 90 degrees in the direction of the main shaft, and then moving the tool closer to a tool changing position near the main shaft. Required.
[0004]
[Problems to be solved by the invention]
However, in the above-described mechanism, the operations are simply stacked such that the next operation starts only after one operation is completed, so that the entire operation time is inevitably increased, which is preferable. Absent.
Therefore, an object of the present invention is to provide a tool changer that can shorten the tool change time and can reasonably avoid physical and mechanical interference.
[0005]
[Means for Solving the Problems]
In order to solve the above-mentioned problem, the present invention provides a tool changing device for a machine tool for exchanging a tool between a tool magazine attached to a side surface of a column and a main shaft on a front surface of the column, the tool changing device moving in a direction parallel to an axis of the main shaft. A slider that is supported on the side surface of the column, a turning base that is supported on a front end of the slider so as to be horizontally rotatable by a predetermined angle in a direction perpendicular to a direction parallel to the axis of the main shaft, and the turning base. An arm carrier supported reciprocally above, an arm rotatably supported at one end of the arm carrier and reciprocally movable in the direction of the pivot axis, and an arm provided with a tool gripper at both ends; When moving from the magazine side to the spindle side, the arm carrier is moved backward in a direction opposite to the moving direction of the slider at a predetermined timing during the advance of the slider. Control means for controlling the drive units of the slider, the turning base and the arm carrier so that the turning operation of the turning base is started, a switch element provided at a rear end of the turning base, and movement of the turning base. A dog plate provided on the column side to engage with the switch element and excite or de-energize the switch element when the rotation of the revolving base starts earlier than the predetermined timing. The tool change operation is performed while avoiding mechanical interference between the column and the turning base.
[0006]
[Action]
Since the retracting operation of the arm carrier and the turning operation of the turning base are started during the forward movement of the slider, the entire operation time is shortened, and the tool change time is shortened.
Further, the tool change operation can be continued while avoiding mechanical interference between the turning base and the column by the switch element and the dog plate.
[0007]
Further, with respect to the tool change for the spindle and the tool magazine, since the respective elements are arranged so as to be partially sufficient when the arm carrier is moved forward and backward, it is not necessary to further add a drive device.
[0008]
【Example】
Hereinafter, an embodiment of a tool changing device for a machine tool according to the present invention will be described with reference to the drawings. First, referring to FIGS. 2, 3, and 4, which schematically show the overall configuration of a machine tool according to the present embodiment, the illustrated machine tool 1 is capable of high-speed operation from large parts having a maximum mass of several tens tons to precision dies. This is a so-called large horizontal machining center that can be processed with high accuracy and high efficiency. On the front side of the bed 3 of the machine tool 1, there is arranged a table 7 on which a pallet 5 on which a workpiece (not shown) is mounted is detachably mounted and which can be moved back and forth (Z direction). On the rear side of the bed 3, a column 9 that can move left and right (X direction) is provided. A spindle head 11 having a horizontal rotating spindle 13 is disposed on the front surface of the column 9 so as to be movable up and down (Y direction), and a tool magazine 15 is integrally mounted on the left side surface of the column 9. ing. The tool magazine 15 is rotatably supported on the column 9 and is provided with a plurality of cartridges 19 each containing three tool sockets capable of storing tools (e.g., 20 cartridges in the illustrated example). ) Are configured to be accommodated.
[0009]
A tool changer 21 shown in detail in FIG. 1 for changing tools between the spindle 13 and the tool magazine 15 is provided above the tool magazine 15. FIG. 1 shows a tool changer 21 (the tool itself is not shown) located at a position where a tool change is to be performed with respect to the spindle 13, and the tool changer 21 is connected to each other. It has a slider 23, a turning base 25, an arm carrier 27, and an arm 29.
[0010]
The slider 23 is connected to the axis of the main shaft 13 via a linear guide mechanism comprising a rail 31 fixed to the tool magazine based on the tool magazine 15 fixed to the side surface of the column and a support 33 slidably mounted on the rail. Driven by a long-stroke first cylinder 37 which is guided so as to be movable in a parallel direction and whose tip of a cylinder rod 35 is fixed to the tool magazine 15 and the cylinder rod is stationary and the cylinder itself moves. Can be done.
[0011]
The pivot base 25 is pivotally supported on the front end of the slider 23 and can be driven by the second cylinder 39.
The arm carrier 27 is guided by a third cylinder 45 so as to be able to reciprocate via a linear guide mechanism comprising a rail 41 fixed on the swivel base 25 and a support 43 slidably mounted on the rail 41 and driven by a third cylinder 45. obtain.
[0012]
The arm 29 has a grip portion for gripping a tool at both ends thereof, and is supported on one end of the arm carrier 27 so as to be pivotable and reciprocally movable in the pivot axis direction. Can be reciprocated.
The first cylinder 37 has three sensors LS1, LS2, and LS3 for detecting when the cylinder rod has completed moving forward, detecting when completing the retreat, and detecting the start of retreating the third cylinder 45 during the reciprocating movement. The second cylinder 39 is provided with two sensors LS4 and LS5 for detecting the completion of the advancement of the cylinder rod and detecting the completion of the retraction, and the third cylinder 45 is provided with two sensors LS4 and LS5. Two sensors LS6 and LS7 are provided for detecting time and detecting completion of retreat (to be described later, this is for starting the forward movement of the second cylinder 39).
[0013]
At the rear end of the turning base 25, a proximity switch 51 for avoiding physical and mechanical interference between the tool changing device 21 and the column 9 or the like is provided. On the other hand, on the tool magazine 15 side, A dog plate 53 having a shape corresponding to a locus C (shown by a plurality of small black dots that are curved and continuous) drawn by the proximity switch portion, which can excite (de-energize) the proximity switch, is provided. .
[0014]
A series of steps from the standby position (standby position) of the tool changer 21 of the present embodiment having the above-described configuration to tool exchange (tool K2 → K1) with the spindle 13 and return to the original standby position. The operation will be described below with reference to FIGS.
First, from the standby position shown in FIG. 5, the slider 23 starts moving forward by the first cylinder 37 as shown in FIG. 6 (forward 1 / ADV.1), and the sensor LS3 is turned on during this forward. When the arm carrier 27 is turned off (or turned off), the arm carrier 27 is moved backward by the third cylinder 45 (retreat 3 / RET.3). When the retreat of the arm carrier 27 (the third cylinder 45) is completed, the sensor LS7 of the third cylinder 45 is turned ON (or OFF), and in response thereto, the turning base 25 is turned by the second cylinder 39. , As shown in FIG. 7 (forward 2 / ADV.2). The time when the 90-degree turning is completed and the time when the movement of the slider 23 (the first cylinder 37) is completed are set so as to substantially coincide with each other, but it is preferable that the time when the movement of the slider 23 is completed be slightly earlier. Is set to
[0015]
Next, when the turning of the turning base 25 is completed, the sensor LS4 of the second cylinder 39 is turned on (or turned off), and in response, the arm carrier 27 is moved forward by the third cylinder 45 as shown in FIG. Accordingly, the tool to be replaced (K2) of the main shaft 13 is gripped by one grip portion of the arm 29 (forward 3 / ADV.3).
[0016]
Next, in the gripping state, the arm 29 moves forward (out / OUT) in the forward direction parallel to the spindle axis, whereby the tool to be replaced (K2) is pulled out (FIG. 9). As shown in FIG. 10, 29 is turned 180 degrees (forward rotation or reverse rotation / CCW), and is moved backward, so that it is gripped by the other grip located on the spindle axis. The replacement tool (K1) is mounted on the main shaft 13 (FIG. 11).
[0017]
Next, as shown in FIG. 12, the arm carrier 27 is retracted by the third cylinder 45, and in response to the completion of the retraction, the slider 23 starts moving backward by the first cylinder 37. Simultaneously (preferably slightly earlier), the turning base 25 is rotated by 90 degrees in the opposite direction by the second cylinder 39 as shown in FIG. 13, and in response to the completion of the rotation, the arm carrier 27 is moved. Move forward again (backward 2 / forward 3). After a predetermined time, the slider 23 (the first cylinder 37) completes the retreat operation (FIG. 14).
[0018]
With the above series of operations, the tool change for the spindle 13 is completed. This series of operations is controlled by the control device C.
Here, FIG. 15 shows a comparison between the timing chart of the present embodiment and the timing chart of the conventional device in the operations of FIGS. 5 to 10. As can be seen from the figure, in the case of the conventional device in which the operations are simply piled up, the total required time is the sum of the operation times, whereas in the case of the present embodiment, the advance 1 (ADV.1) The operation of the arm carrier 27 and the turning base 25 is completed during the operation time of (1), and the overall required time is shortened accordingly. That is, the tool change time can be substantially reduced.
[0019]
It is good if the above series of operations is performed without any problem. However, if the order of the operation elements is slightly out of order for some reason, for example, when the first cylinder 37 moves the slider 23 forward, If the turning base 25 starts turning earlier than the timing, the tip of the turning base 25 (or the arm carrier 27) may physically and mechanically interfere with the column.
[0020]
Therefore, when the turning base 25 rotates at such an early timing, the proximity switch 51 at the rear end of the turning base is configured to be excited (non-excited) by the dog plate 53, and in accordance with a signal at that time. Then, only the turning of the turning base 25 is stopped via the control device C to continue the movement of the other operating elements (movement of the slider, etc.). When returning to the state, the turning of the turning base 25 is restarted.
[0021]
By adopting such an operation sequence structure, even if the timing is shifted, the operation elements (such as the slider 23 and the swivel base 25) are fast and smooth, and the interference is as smooth as using a cam groove. , And frequent stoppages of the machine can be eliminated. In addition, this can be realized with a very simple non-contact structure, and is excellent in safety, reliability, durability and the like, which is extremely preferable.
[0022]
Next, after passing the tool (K2) from the standby position (standby position) of the tool changer 21 of the present embodiment to the empty cartridge 19 located at the upper tool change position in the center of the tool magazine 15 A series of operations up to the return to the original standby position will be described below with reference to FIGS.
[0023]
First, from the standby position shown in FIG. 16, the arm 29 moves outward (out) as shown in FIG. 17, and then the arm carrier 27 is moved by the third cylinder 45 as shown in FIG. (Retreat 3). Next, the arm 29 moves inward as shown in FIG. 19 (in), so that the tool (K2) gripped by one of the grip portions is moved to the empty cartridge 19 of the tool magazine 15. Be attached. Thereafter, the arm carrier 27 is advanced by the third cylinder 45 as shown in FIG. 20 (forward 3), and is returned to the original standby position, and the operation is completed.
[0024]
In the present embodiment, as can be understood from the above description, the movement stroke of the arm carrier 27 (when moving forward) when the tool is exchanged with respect to the spindle 13 and the movement of the arm carrier 27 (when retracting) when exchanging the tool with the tool magazine 15. ) An arrangement is adopted such that the movement stroke is the same.
[0025]
【The invention's effect】
As described above, according to the tool changing device of the present invention, since the operations can be overlapped, the tool changing time can be reduced and the tool changing can be speeded up.
Further, it is possible to safely exchange tools by avoiding mechanical interference that may occur due to duplication of operations.
[0026]
Further, since the movement stroke of the arm carrier in the tool exchange with respect to the spindle is the same as the movement stroke of the arm carrier in the tool exchange with the tool magazine, it is not necessary to separately prepare a separate drive unit and the like, and the configuration is simplified.
[Brief description of the drawings]
FIG. 1 is a detailed configuration diagram of an embodiment of a tool changing device for a machine tool according to the present invention as viewed from above.
FIG. 2 is an overall schematic plan view of the present embodiment.
FIG. 3 is an overall schematic front view of the present embodiment.
FIG. 4 is an overall schematic side view of the present embodiment.
FIG. 5 is a diagram showing a first stage (standby position) of a tool changing operation on a spindle.
FIG. 6 is a diagram showing a second stage (forward 1 / reverse 3) of the tool changing operation on the spindle.
FIG. 7 is a diagram showing a third stage (forward 2) of the tool changing operation on the spindle.
FIG. 8 is a diagram showing a fourth stage (forward 3) of the tool changing operation on the spindle.
FIG. 9 is a diagram showing a fifth stage (out) of the tool changing operation on the spindle.
FIG. 10 is a view showing a sixth stage (forward rotation or reverse rotation) of the tool changing operation on the spindle.
FIG. 11 is a diagram showing a seventh stage (in) of the tool changing operation on the spindle.
FIG. 12 is a diagram showing an eighth stage (retraction 3) of the tool changing operation on the spindle.
FIG. 13 is a view showing a ninth stage (retraction 2 / forward 3) of the tool changing operation on the spindle.
FIG. 14 is a view showing a tenth stage (retraction 1) of the tool changing operation on the spindle.
FIG. 15 is a diagram showing a comparison between an operation timing chart of the present embodiment and a timing chart of a conventional device.
FIG. 16 is a view showing a first stage (standby position) of a tool changing operation for the tool magazine.
FIG. 17 is a diagram showing a second stage of the tool changing operation on the tool magazine.
FIG. 18 is a diagram showing a third stage of the tool changing operation on the tool magazine.
FIG. 19 is a diagram showing a fourth stage of the tool changing operation on the tool magazine.
FIG. 20 is a diagram showing a fifth stage of the tool changing operation on the tool magazine.
[Explanation of symbols]
DESCRIPTION OF SYMBOLS 1 ... Machine tool 3 ... Bed 5 ... Pallet 7 ... Table 9 ... Column 11 ... Spindle head 13 ... Spindle 15 ... Tool magazine 19 ... Cartridge 21 ... Tool changer 23 ... Slider 25 ... Revolving base 27 ... Arm carrier 29 ... Arm 31 ... Rail 33 ... Support 35 ... Cylinder rod 37 ... First cylinder 39 ... Second cylinder 41 ... Rail 43 ... Support 45 ... Third cylinder 47 ... Cylinder 51 for turning / linear movement 51 ... Proximity switch 53 ... Dog plate

Claims (1)

In a tool changer of a machine tool for exchanging a tool between a tool magazine attached to a column side surface and a spindle on the front side of a column,
A slider supported on the column side surface so as to be movable in a direction parallel to the axis of the main shaft,
A turning base that is supported at the front end of the slider so as to be horizontally rotatable by a predetermined angle in a direction perpendicular to a direction parallel to the axis of the main shaft,
An arm carrier supported so as to be able to reciprocate on the turning base;
An arm that is pivotally supported at one end of the arm carrier and is reciprocally supported in the pivot axis direction, and includes a tool gripper at both ends.
When the arm moves from the tool magazine side to the main spindle side, a retreating operation in a direction opposite to a moving direction of the slider of the arm carrier and a turning operation of the turning base at a predetermined timing during the advancement of the slider. Control means for controlling the drive of the slider, turning base and arm carrier to be started,
A switch element provided at a rear end of the turning base;
A dog provided on the column side that engages with the switch element to excite or de-energize the switch element when the rotation of the pivot base starts earlier than the predetermined timing during the movement of the pivot base. And a plate,
A tool changing device for a machine tool, wherein a tool changing operation is performed while avoiding mechanical interference between the column and the turning base.

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