JP3642069B2 - Automatic tool changer - Google Patents

Description

[0001]
[Industrial application fields]
The present invention relates to an automatic tool changer for a machine tool.
[0002]
[Prior art]
In the conventional automatic tool changer in the prior art, a tool magazine 20 is provided at the rear part of the bed 90 of the machining center as shown in FIG. 8, and further between the tool delivery position below the spindle head 13 and the tool magazine 20. A tool conveying / changing device 92 having a tool changing arm 91 that moves and rotates / moves up and down is provided. Then, the tool conveying / changing device receives the tool selected in the tool magazine by the tool changing arm 91 and conveys it to the tool delivery position below the spindle head 13, and the tool changing arm 91 transfers the used tool to the spindle 18. A new tool T that has been removed and conveyed is mounted on the spindle 18. Thereafter, the spindle head 13 returns to a predetermined position, and the tool conveying / changing device 92 returns the used tool T to the tool magazine 20 for storage.
[0003]
[Problems to be solved by the invention]
In the conventional machining center, since it is desired to reduce the height of the bed 90 in terms of rigidity, operability, cost, etc., the height of the tool magazine 20 attached to the machining center in the conventional technique is also high. Lower. Accordingly, the tool transfer position of the tool transfer / exchange device 92 that transfers the tool between the tool magazine 20 and the tool transfer position below the spindle head 13 is also naturally lowered. Therefore, in the tool transfer, the spindle 18 to the spindle head 13 are used. Needs to descend below the height of the machining position.
[0004]
The lowering / raising of the spindle 18 to the spindle head 13 for tool delivery is undesirable from the viewpoint of work efficiency.
An object of the present invention is to eliminate the necessity of lowering / raising of the spindle or spindle head for tool delivery to the spindle in automatic tool change.
[0005]
[Means for Solving the Problems]
  The automatic tool changer of the present invention has an endless strip that is indexed and rotated, a tool pot in which the tool can be attached and detached by pressing and pulling in the axial direction, and projects outward from the endless strip, A tool magazine with a gripping claw that removably engages the tool pot body and holds the tool pot, and a plurality of grippers arranged in an endless strip, reciprocating in the axial direction, and rotating around the axis And a tool changing arm device provided with a swivel arm having a gripping part for holding a tool at both ends, and a tool lifting device provided between the tool magazine and the tool changing arm device.
[0006]
  The tool lifting device is provided in a direction connecting the tool changing position in the tool magazine and the tool gripping / releasing position of the tool changing arm device, and is horizontal from the tool magazine side to the tool gripping / releasing position side of the tool changing arm device. And a follower engaged with the guide cam groove. The guide cam is provided movably along the guide cam groove and engages with the tool pot. An engagement element is formed, and a holding part for holding the tool pot;Grip bodyAnd reciprocating drive means connected through a link.
  The guide cams are provided opposite to both sides of the gripping portion, and the cam grooves of each guide cam are a pair of two in parallel, and the four cam grooves areGrip bodyThe position of the forward / backward direction and the direction orthogonal to the forward / backward direction are shifted.
[0007]
[Action]
  In the tool magazine, each gripper holds a tool pot holding a tool by gripping claws. When the endless strip is rotated, the tool pot held by the gripper, that is, the tool turns.
  The tool pot of the tool used for the next machining reaches the tool change position in the tool magazine, the tool pot is engaged with the engaging element of the gripping portion of the tool lifting device, and the endless strip is stopped.
[0008]
  Next, in the tool lifting device, the reciprocating drive means is activated,Tool pot gripping part via linkIt advances along the horizontal area of the guide cam groove. Then, the tool pot is engaged by the engagement of the engagement element.Along with the gripThe tool pot is moved and is held by the gripping part while being detached from the gripping claws of the tool magazine gripper.
[0009]
  Furthermore, by the operation of the reciprocating drive means,Grip part via linkWhile holding the tool pot where the tool to be used next is mounted,Tool magazineContinue to move outward through the opening.
  At that time, because of the link connection, it is free to rotate,Of the gripFollower isCam grooveEngage with the slope and slide. Accordingly, the gripping part, that is, the tool, rises obliquely with advance and reaches the tool gripping / releasing position of the tool changing arm device.
[0010]
On the other hand, in the machining center, one step of machining is completed, and the used tool of the spindle is sent to the tool gripping / releasing position of the tool changing arm device.
Therefore, in the tool changing arm device, the turning arm is turned following the raising of the turning arm. Then, both holding claws hold the old and new tools. Next, when the swivel arm is lowered, the used tool already released in the main shaft is pulled out from the main shaft, and the tool used for the next processing held in the tool pot is pulled out from the tool pot.
[0011]
Then, the reverse rotation of the working shaft, that is, the swivel arm that grips the old and new tools with the gripping claws, is performed, the old tool becomes coaxial with the empty tool pot, and the new tool becomes coaxial with the main shaft. become. Subsequently, as the swivel arm is raised, the new tool is mounted on the spindle and the old tool is held in the tool pot. Further, when the operation shaft is rotated in reverse, that is, when the revolving arm is reversely rotated, both gripping claws are detached from the old and new tools, and the revolving arm is returned to the original position.
[0012]
  In the tool lifting device, the reciprocating drive means operates,Grip part via linkRetract while holding the tool pot with the old tool. ThenGrip partThe follower engages with the cam groove inclined region and slides. Therefore, the gripping part, that is, the old tool is lowered and retracted obliquely. And the gripping part is further cam grooveofIf the tool pot that holds the old tool is engaged with the gripping claw of the tool magazine gripper at the tool change position in the tool magazine, the tool pot that holds the old tool It is held by a gripper.
[0013]
【Example】
An automatic tool changer according to an embodiment of the present invention will be described with reference to the drawings.
In the following description, the upper, lower, left, and right directions refer to the directions in FIG. 1, and the horizontal axis is the X axis direction, the vertical direction is the Y axis direction, and the vertical direction to the page is the Z axis direction.
1 and 2, a portal bed 2 is installed in the central area of the base 1 of the machining center. On one end side of the base 1, that is, behind the portal bed 2, operating parts described later are provided. The control device 3 to be controlled is provided on the other end side, that is, in front of the portal bed 2, a workpiece transfer device 4 for transferring the workpiece W in the Z-axis direction, and a hydraulic cylinder (not shown) for positioning and supporting the workpiece W Accordingly, a workpiece jig 5 that moves up and down with respect to the workpiece conveyance device 4 and a clamp arm 7 that is rotated by a hydraulic cylinder 6 are installed to clamp the workpiece W on the workpiece jig 5.
[0014]
On the upper surface of the portal bed 2, a feed base 9 slidable along the guide 8 in the X-axis direction is placed, and on the upper surface of the feed base 9, a column slidable along the guide 10 in the Z-axis direction. 11 is mounted, and a spindle head 13 that is slidable along a guide 12 in the Y-axis direction is attached to the front surface of the column 11.
[0015]
The feed base 9 is feed-driven in the X-axis direction by an X-axis feed servo motor 14 provided at the rear part of the portal bed 2, and the column 11 is feed-driven in the Z-axis direction by a Z-axis feed servo motor 15, The head 13 is feed-driven in the Y-axis direction by a Y-axis feed servomotor 16 provided at the top of the column 11. A spindle 18 that is rotationally driven by a spindle drive motor 17 provided on the top surface of the spindle head 13 and is detachably mounted on the lower end portion of the spindle head 13 is rotatably attached to the spindle head 13.
[0016]
As shown in FIGS. 1 and 3, a tool magazine 20, a tool lifting and lowering device 40, and a tool changing arm device 70 as described below are sequentially adjacent to the internal space of the portal bed 2 opened in the X-axis direction. is set up.
In the tool magazine 20, a pair of Y-axis direction shafts 25 and 26 are provided below the top plate 24 of the stand 23 erected on the base 1 with an interval in the X-axis direction. The stand 23 is rotatably attached and is driven to rotate by a servo motor 27, and a sprocket 28 is attached. The other shaft 26 is fixed to the top plate 24, and the sprocket 30 is attached via a bearing 29. It is supported rotatably.
[0017]
An endless chain 31 wound around the sprocket 28 and the sprocket 30 and having an elliptical shape has a number of grippers 32 for gripping a tool pot 80 as shown in FIG. 6 as shown in FIG. Mounted on the pitch,
The tool pot 80 is detachably engaged with the gripper 32 in a radial direction.
[0018]
At the outer peripheral edge of the top plate 24, as shown in FIG. 3, support pins 33... Facing downward are planted at appropriate intervals so as to surround the endless chain 31. Two oval guide rails 36, 36 that are substantially parallel to the chain 31 are attached in an up-and-down direction. The guide rails 36, 36 are held by a gripper 32 as will be described later, and the endless chain 31 travels. It is formed so as to be adjacent to or in contact with the outer peripheral surface of the tool pot body 81 of the tool pot 80 to be conveyed.
Accordingly, the guide rails 36, 36 prevent the tool pot 80 from jumping out of the gripper 32.
[0019]
In the guide rails 36 and 36, an opening 34a through which the tool pot 80 can pass is formed in a region closest to the tool changing arm device 40, and an opening in the X axis direction following the opening 34a is also formed in the top plate 24. A portion 24a is formed (see FIG. 4).
[0020]
Here, the tool pot 80 will be described. The tool pot main body 81 has a cylindrical shape, and a tapered hole 82 into which the taper shank S of the tool T is fitted is formed to open on one end face (the lower face in FIG. 3). A small-diameter hole 83 into which the pull stud P of the tool T is fitted is formed in the back of the tapered hole 82. The small-diameter hole 83 has a diametrically opposed ball hole, and a stopper ball 85 and a compression coil spring 86 are fitted into the ball hole. The stopper ball 85 is pressed by the compression coil spring 86 and has a small diameter. A part can protrude from the inner peripheral surface of the hole 83.
[0021]
When the tool T having the groove F is held in the tool pot 80, the taper shank S is fitted into the taper hole 82 and the pull stud P is fitted together in the small diameter hole 83, and is pressed by the compression coil spring 86 so that the small diameter hole A stopper ball 85 partially protruding from the inner peripheral surface of 83 is engaged with the pull stud P, so that the tool T is prevented from falling off from the tool pot 80 having a downward opening.
[0022]
The engagement of the stopper ball 85 with the pull stud P is due to the spring force of the compression coil spring 86, and the stopper ball 85 can be buried in the ball hole against the spring force of the compression coil spring 86. The tool T can be attached to and detached from the tool pot 80 by pushing or pulling the tool T in the axial direction, that is, in the vertical direction.
[0023]
In addition, a wide recess 87 having a flat bottom surface that is parallel to each other in a diametrically opposed position is formed on the outer peripheral surface of the tool pot main body 81, and the recess 87 on the small diameter hole 83 side. A transverse groove 88 is formed in a direction perpendicular to the horizontal direction.
The gripping device 32 of the tool magazine 20 includes plate-shaped gripping claws 35 and 35 projecting outwardly from the endless chain 31 having an oval shape and parallel to each other. It fits into the recesses 87, 87 of the pot body 81.
[0024]
  As shown in FIGS. 3 and 4, in the tool lifting device 40, a hydraulic cylinder 41 is attached on the top plate 24 in the tool magazine 20, and the operating direction of the hydraulic cylinder 41 is the same as the opening 34 a of the outer wall portion 34. This is a direction connecting the tool gripping / releasing position of the tool exchange arm device 70 (that is, the same X-axis direction as the opening 24a of the top plate 24). The base end portion of the connecting arm 42 is fitted to the fork-like tip portion 41 a of the piston rod of the hydraulic cylinder 41 and pivotally attached, and the tip end portion of the connecting arm 42 refracted into a letter-shape is the opening 24 a of the top plate 24. It is pivotally attached to a thick plate-shaped gripping part main body 44 (the gripping part 43 will be described later) having a width that can be inserted into the head.
  As will be described later, the grip portion 43 is next attached to the main spindle from the tool change position retracted into the tool magazine 20 shown in FIG. 3 to the tool grip / release position of the tool change arm device 70 advanced as shown in FIG. The tool pot of the tool is gripped and moved upward while moving diagonally upward. On the contrary, the tool pot in which the used tool is stored is moved backward from the tool gripping / release position to the tool replacement position. The gripping portion 43 is configured to grip the tool pot while moving forward and upward from the tool replacement position, moving back and down after tool replacement, and returning to the tool replacement position again.
[0025]
The grip portion 43 will be described. As shown in FIGS. 4 to 7, a drooping portion is formed at each of the front end portion and the rear end portion of the thick plate-shaped gripping portion main body 44, and the drooping portion on the front end side is gripped. An interpolating guide surface portion 45 for interpolating the guide rail 36 lacked in the opening portion 34 a at the retracted position of the portion 43, and the hanging portion on the rear end side is an engaging claw that can engage with the lateral groove 88 of the tool pot 80. 46. A groove portion 47 in the X-axis direction into which the distal end portion of the connection arm 42 is inserted is formed at the center of the rear portion of the grip portion main body 44, and the connection arm 42 and the grip portion 43 are connected to each other by a connection arm inserted into the groove portion 47. The distal end portion of 42 is pivotally attached to the grip portion main body 44 by a pivot 48.
[0026]
In the gripping part main body 44, two guide holes 49, 49 in the X-axis direction are formed in parallel by opening rearward, and the tip of the guide hole 49 becomes a small-diameter hole part with a stepped part. 44 is open on the front side. The plunger 50 slides into the guide hole 49, and the guide rod 51 extending from the front end of the plunger 50 protrudes from the small diameter hole portion, and at the protruding end is a plate-like gripping claw 35 in the gripper 32 of the tool magazine 20. The plate-shaped gripping claws 52 are suspended and attached by a bracket 53 so as to face the gripping claws 35 of the gripper 32. That is, the gripping claws 52, 52 of the guide rods 51, 51 are opposed to the plate-shaped gripping claws 35, 35 in the gripper 32 positioned at the opening 34 a of the outer wall portion 34 of the tool magazine 20.
[0027]
A compression coil spring 54 in which a guide rod 51 is wound between the step portion and the front end surface of the plunger 50 is fitted in the guide hole 49, and the guide rod 51, that is, the gripping claw 52 is caused by the spring force. The bracket 53 is provided with a stopper 55 that is biased toward the engaging claw 46 and sandwiches the tool pot main body 81 so as to face the engaging claw 46 in a state in which the tool pot 80 is gripped and transferred.
[0028]
The plate cams 61 and 62 in the tool lifting / lowering device 40 sandwich the both side surfaces of the gripping portion main body 44 and guide the forward and backward movement of the gripping portion 39 by the hydraulic cylinder 41 between the tool magazine 20 and the tool changing arm device 70. The base is fixed to the top plate 24 of the tool magazine 20 and is erected in parallel. Below the plate cams 61, 62, the gripping claws 52, 52 are not retracted from a predetermined position even when the gripping portion main body 44 is in the last retracted position, that is, in the opening 34 a of the outer wall portion 34 of the tool magazine 20. A stopper 56 that abuts against the bracket 53 is provided so as not to abut against the tool pot 80 that is positioned.
[0029]
Two inclined cam grooves 61a and 61b are formed in parallel on the inner surface of the plate cam 61 that faces the plate cam 62, and rises from the rear toward the front, and the upper ends of the inclined cam grooves 61a and 61b. The portions are horizontal stopper groove portions 61c and 61d, and the lower end portion is continuous with the common horizontal groove portion 61e. Similarly to the plate cam 61, inclined cam grooves 62a and 62b, horizontal stopper groove portions 62c and 62d, and a horizontal groove portion 62e are also formed on the inner surface of the plate cam 62. However, the inclined cam grooves 61 a and 61 b of the plate cam 61 and the inclined cam grooves 62 a and 62 b of the plate cam 62 are parallel to each other, but the interval between the inclined cam grooves 62 a and 62 b of the plate cam 62 is the inclination of the plate cam 61. It is narrower than the interval between the cam grooves 61a and 61b, and the X-axis direction positions of the four members are different.
[0030]
Furthermore, the groove depth in the Z-axis direction of the inclined cam grooves 61a and 61b of the plate cam 61 is different, and the groove depth of the inclined cam grooves 62a and 62b in the plate cam 62 is different. Since the driven rollers 63a, 63b; 64a, 64b, which will be described later, are engaged with the inclined cam grooves 61a, 61b; Moved horizontally.
[0031]
  Then, driven rollers 63a, 63b and 64a, 64b corresponding to the positional relationship in the X-axis direction of the inclined cam grooves 61a, 61b and the inclined cam grooves 62a, 62b are provided on both side surfaces of the grip portion main body 44, and the driven rollers 63a. 63b and 64a, 64b engage with the corresponding inclined cam grooves 61a, 61b; 62a, 62b.
  The tool changing arm device 70 stands upright on the base 1, and the center of the swivel arm 72 is attached to the top of an operating shaft 71 that is moved up and down by a driving device (not shown). A gripping claw 73 that engages with the groove F is attached.
[0032]
The operation / action of the automatic tool changer will be described.
In the tool magazine 20, each gripper 32 holds a tool pot 80 holding the tool T downward by gripping claws 35, 35 engaged with the recesses 87, 87. When the servo motor 27 is driven under the control of the control device 3, the shaft 25, that is, the sprocket 28 rotates, whereby the endless chain 31 rotates, and the tool pot 80 held by the gripper 32 is It is guided by the guide rails 36, 36 and swivels without disengaging outward, and the tool T also turns integrally.
[0033]
The tool pot 80 of the tool Tn used for the next machining reaches a position where the tool pot 80 is engaged with the grip portion 43 in the retracted position. That is, the outer peripheral surface of the tool pot main body 81 faces the interpolation guide surface portion 45 of the grip portion 43, and the lateral groove 88 is engaged with the engagement claw 46 of the grip portion 43 from the lateral direction, and the servo motor 27 is stopped. The
Next, in the tool lifting / lowering device 40, when the hydraulic cylinder 41 is operated under the control of the control device 3, the piston rod in the retracted state protrudes and the connecting arm 42 moves forward, the gripping portion main body 44 in the retracted position is driven. The rollers 63a and 63b; 64a and 64b are guided by sliding along the horizontal grooves 61e and 62e, and advance in the horizontal direction.
[0034]
Then, the tool pot 80 is pushed by the engaging claw 46, and the concave portions 87 and 87 of the tool pot 80 are disengaged from the gripping claws 35 and 35 of the gripper 32, and the grip portion 43 is positioned at a fixed position by the stopper 56. The tool pot main body 81 is sandwiched between the engaging claw 46 and the stopper 56. The compression coil spring 54 extends due to the advancement of the grip portion main body 44, that is, due to the relative displacement between the grip portion main body 44 and the plunger 50, but even if it is sandwiched between the engagement claw 46 and the stopper 56, Leave the spring force in the compressed state.
[0035]
Further, since the connecting arm 42 moves forward by the operation of the hydraulic cylinder 41, the gripping portion 43 keeps gripping the tool pot 80 on which the tool Tn is mounted with the engaging claw 46, the stopper 56, and the gripping claws 52, 52. , Keeps moving forward out of the opening 34a.
At that time, since the base end of the connecting arm 42 is pivotally mounted and freely rotatable, the driven roller 63a is in the inclined cam groove 61a, the driven roller 63b is in the inclined cam groove 61b, and the driven roller 64a is in the inclined cam groove. The driven roller 64b slides in engagement with the inclined cam groove 61b, and the driven rollers 63a, 63b; 64a, 64b reach the stopper groove portions 61c, 61d; 62c, 62d, respectively, and stop. Accordingly, the gripping portion 43, that is, the tool Tn, rises obliquely with advance and reaches the tool gripping / release position of the tool changing arm device 70.
[0036]
Since the inclined cam grooves 61a, 61b; 62a, 62b have different X-axis direction positions and Z-axis direction groove depths, the grip portion main body 44 is advanced while receiving force at four points. Therefore, in the forward movement, the inclination of the gripping portion 43 is prevented, the horizontal grooves 61e of the driven rollers 63a, 63b enter the inclined cam grooves 61a, 61b, respectively, and the horizontal cam portions 62e of the driven rollers 64a, 64b enter the inclined cam grooves 62a, Each approach to 62b is prevented from being erroneously performed.
[0037]
On the other hand, in the machining center, one process is completed, the column 11 is moved to the central position by the Z-axis feed servomotor 15, the feed base 9 is moved to the retracted position by the X-axis feed servomotor 14, and the spindle head 13 is moved to the Y-axis. It is sent to the lowered position by the axis feed servomotor 16 respectively. That is, the used tool To reaches the tool gripping / releasing position of the tool changing arm device 70.
[0038]
Therefore, in the tool change arm device 70, the drive shaft 71, that is, the swivel arm 72 is rotated, that is, the swivel arm 72 is swung after the operation shaft 71, that is, the swivel arm 72 is raised. Then, the gripping claws 73 and 73 engage with the groove rods F of the tools Tn and To. Next, when the operating shaft 71, that is, the swivel arm 72 is lowered, the used tool To that has already been released from the main shaft 18 is pulled out from the main shaft 18 and is used for the next processing held in the tool pot 80. Tn is extracted from the tool pot 80. Then, the reverse rotation of the operation shaft 71, that is, the reverse swing of the swivel arm 72 gripping the tools To, Tn with the grip claws 73, 73 is performed, and the tool To is in a coaxial line relationship with the empty tool pot 80, The tool Tn is coaxial with the main shaft 18.
[0039]
Subsequently, when the operating shaft 71, that is, the turning arm 72 is raised, the tool Tn is mounted on the main shaft 18 and the tool To is held in the tool pot 80. Further, when the operation shaft 71 is rotated in reverse, that is, the revolving arm 72 is reversed, the gripping claws 73 and 73 are disengaged from the respective groove rods F of the tools Tn and To, and the revolving arm 72 is brought into the original position.
[0040]
In the machining center, the feed base 9, the column 11 and the spindle head 13 are appropriately fed by an X-axis feed servo motor 14, a Y-axis feed servo motor 16 and a Z-axis feed servo motor 15, respectively. Then, the next machining is performed on the workpiece W by the tool Tn that is rotationally driven by the spindle driving motor 17 via the spindle 18. At that time, the workpiece W is positioned on the workpiece jig 5 and clamped by the clamp arm 7 operated by the hydraulic cylinder 6. The replacement of the workpiece W is sequentially performed by releasing / clamping the clamp arm 7, lowering / raising the workpiece jig 5, and loading / unloading of the workpiece W by the workpiece conveyance device 4.
[0041]
On the other hand, in the tool elevating device 40, when the hydraulic cylinder 41 is operated under the control of the control device 3, the piston rod is retracted, and the connecting arm 42 is retracted, the gripping portion 43 is in the tool pot 80 in which the tool To is mounted. Is retracted while being held by the engaging claw 46, the stopper 56 and the holding claws 52, 52. Then, the driven rollers 63a, 63b; 64a, 64b are separated from the stopper groove portions 61c, 61d; 62c, 62d, the driven roller 63a is in the inclined cam groove 61a, the driven roller 63b is in the inclined cam groove 61b, and the driven roller 64a is in the inclined cam. The driven roller 64b slides in the groove 62a by engaging with the inclined cam groove 61b, and each driven roller slides in the horizontal groove portions 61e and 62e. Accordingly, the gripping portion 43, that is, the tool To descends obliquely and retracts.
[0042]
When the gripping portion 43 continues to retreat inward from the opening 34a, the bracket 53 first comes into contact with the stopper 56, the retraction of the gripping claws 52, 52 and the plunger 50 is prevented, and the gripping portion 43 stops at a fixed position. Only the part main body 44 moves backward against the spring force of the compression coil spring 54. At that time, the tool pot body 81 is pushed back by the interpolation guide surface 45. As a result, the tool pot main body 81 is separated from the stopper 55, and the recesses 87, 87 of the tool pot 80 are disengaged from the gripping claws 52, 52 of the gripping portion 43, while the tool pot 80 held by the tool Tn is gripped and empty. The tool pot 80 that is engaged with the gripping claws 35 of the gripper 32 of the tool magazine 20 and holds the tool To is gripped by the gripper 32.
[0043]
In this case, when the gripper 32 is determined for each tool T, the servo motor 27 is driven by the ascending control device 3 to drive the shaft 25 prior to delivery of the tool pot 80 holding the tool To. That is, when the sprocket 28 rotates, the endless chain 31 rotates and reaches a position where a predetermined empty gripper 32 is engaged with the grip portion 43 in the retracted position.
[0044]
【The invention's effect】
In the automatic tool changer according to the present invention, the tool pot holding the tool is moved up and down in the inclined direction between the tool magazine and the tool changer arm device, so that the tool can be moved relative to the lower tool magazine. The tool change position with respect to the spindle by the exchange arm device can be increased. Accordingly, it is possible to omit or reduce the elevation or lowering of the spindle or spindle head for tool delivery by the tool exchange arm device. As a result, the cycle time of the tool exchange is shortened and the working efficiency is improved.
Moreover, since the trouble is not caused by lowering the position of the tool magazine, the tool magazine can be installed under the bed without increasing the bed, and the installation area of the machining center can be reduced.
[0045]
  The cam groove is a pair of two on both sides, and the position of the inclined area of the cam groove in the moving direction of the gripping part is different, so that the inclination of the gripping part is prevented in advance, and the cam groove is inclined from the horizontal area of the driven roller. It is prevented that the entrance to each of the areas is mistakenly performed, and the horizontal posture of the grip portion is maintained.
[Brief description of the drawings]
FIG. 1 is a front view of a machining center provided with an automatic tool changer according to an embodiment of the present invention.
FIG. 2 is a side view of a machining center according to an embodiment of the present invention.
FIG. 3 is a partial cross-sectional front view of an automatic tool changer according to an embodiment of the present invention.
FIG. 4 is a plan view of an automatic tool changer according to an embodiment of the present invention.
FIG. 5 is a partial cross-sectional front view of the tool lifting device of the automatic tool changer according to the embodiment of the present invention.
6 is a cross-sectional front view of a tool pot and a gripping portion of the tool lifting device of FIG. 5 according to an embodiment of the present invention.
7 is a cross-sectional view taken along line VII-VII in FIG.
FIG. 8 is a front view of a machining center provided with an automatic tool changer according to a conventional technique.
[Explanation of symbols]
1 base 2 portal bed
3 Control device 4 Workpiece conveying device
5 Workpiece jig 6 Hydraulic cylinder
7 Clamp arm 8 Guide
9 Feeding base 10 Information
11 Column 12 Information
13 Spindle head 14 X-axis feed servo motor
15 Z-axis line feed servo motor 16 Y-axis line feed servo motor
17 Spindle drive motor 18 Spindle
20 Tool magazine 23 Stand
24 Top plate 24a Opening
25 and 26 axes 27 Servo motor
28 Sprocket 29 Bearing
30 Sprocket 31 Endless chain
32 Gripper 33 Support pin
34 outer wall 34a opening
35 gripping claw 36 guide rail
40 Tool lifting device 41 Hydraulic cylinder
41a Fork tip 42 Connecting arm
43 Gripping part 44 Gripping part body
45 Interpolation guide surface 46 Engaging claw
47 Groove 48 Axis
49 Guide hole 50 Plunger
51 Guide rod 52 Grip claw
53 Bracket 54 Compression coil spring
55 Stopper 56 Stopper
61, 62 Plate cam
61a, 61b; 62a, 62b inclined cam groove
61c, 61d; 62c, 62d Horizontal stopper groove
61e, 62e Horizontal part
63a, 63b, 64a, 64b driven roller
70 Tool change arm device 71 Actuating shaft
72 swivel arm 73 gripping claw
80 Tool pot 81 Tool pot body
82 Taper hole 83 Small diameter hole
85 Stopper ball 86 Compression coil spring
87 Recess 88 Horizontal groove
T tool S taper shank
F Groove P Pull stud
W Workpiece

Claims (2)

An endless strip driven by indexing rotation, a tool pot in which the tool can be attached and detached by pushing and pulling in the axial direction, and projecting outward from the endless strip, releasably engaged with the tool pot body A tool magazine having a gripping claw for holding a tool pot, and a plurality of grippers arranged in an endless strip, driven by reciprocation in the axial direction and rotation around the axis. A tool changing arm device having a swivel arm having a gripping part for holding the tool, and a tool lifting device provided between the tool magazine and the tool changing arm device;
The tool lifting device is provided in a direction connecting the tool change position in the tool magazine and the tool gripping / releasing position of the tool changing arm device, and has a horizontal region extending from the tool magazine side to the tool gripping / releasing position side of the tool changing arm device. A guide cam formed with a guide cam groove having a rising inclination area that follows, and a follower engaged with the guide cam groove, and is provided so as to be movable along the guide cam groove and engages with a tool pot. An automatic tool changer comprising: a holding part for holding a tool pot in which a tool pot is formed; and reciprocating drive means to which a tool pot holding part body is connected via a link.   Guide cams are provided on opposite sides of the gripping portion, and the cam grooves of each guide cam form a pair of two in parallel, and these four cam grooves are orthogonal to the forward / backward direction and the forward / backward direction of the tool pot gripping portion main body. The automatic tool changer according to claim 1, wherein the position in the direction of movement is shifted.

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