JP3742537B2 - Tool changing device and tool changing method - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
  The present invention relates to a tool changer and a tool change method for changing a tool attached to a spindle in a machine tool or the like.
[0002]
[Prior art]
  In a machine tool or the like, a plurality of tools are used for machining operations. Generally, a plurality of these tools are stored in a tool magazine. Then, if necessary, the tool is taken out from the tool magazine, and the tool is replaced with a tool attached to the main shaft by a tool changer to perform a machining operation.
[0003]
  Conventionally, in relation to such a tool changer, Japanese Patent Application Laid-Open No. 11-58612 discloses a tool magazine including a tool changer. This tool magazine is fixed on a frame and includes a rack having a plurality of rack units. In addition, a robot apparatus that grips and conveys the tool and a swivel arm that conveys the tool between the rack apparatus and the tool change position are provided for each storage position of the rack apparatus. Furthermore, the rack unit is provided with a gripper in which the flange portion of the tool is attached and detached in a direction perpendicular to the axis of the tool.
[0004]
[Problems to be solved by the invention]
  However, like a tool automatic changer in a tool magazine disclosed in the above publication, a conventional tool automatic changer generally has a complicated mechanism such as a composite cam device. The automatic tool changer itself performs operations such as shifting and turning. Therefore, the structure of the automatic tool changer itself has to be complicated, and failure is likely to occur.
[0005]
  Also toolsAutomaticWhen the tool is attached to the swivel arm in the exchange device, the tool is gripped by the gripping member, but an actuator for driving the gripping member is required separately. Therefore, there has been a problem that an operation time for driving the actuator is required.
[0006]
  Accordingly, the main problem of the present invention is to prevent the occurrence of a failure and improve reliability by using a tool changer that does not require the use of a complex mechanism device such as a composite cam device. is there. In addition, when using a gripping device that grips the tool, an actuator for driving the gripping device is provided separately.InThe purpose is to eliminate the need to provide them.
[0007]
[Means for Solving the Problems]
  The invention according to claim 1 for solving the above-described problem has a tool magazine provided with a tool changing arm for exchanging a tool mounted on the main shaft with another tool and having a plurality of tool holding portions formed therein. And a tool loader that takes out the tool held in the tool holding portion in the tool magazine, moves to the tool change position to the tool change arm, and delivers the tool change arm to the tool change arm. The tool is exchanged with the tool loader at the tool change position on one end side and the other end side of the tool change arm, and the tool is exchanged with the spindle at the tool mounting position on the spindle. A tool changer in which a tool gripper is formed,
  Each of the tool loader and the main shaft is movable along the longitudinal direction of the tool change arm, and the tool change arm is centered on the center thereof.Just to rotateThe tool gripper includes a clamp arm that is openable and closable so as to open outward in the longitudinal direction of the tool change arm, and the clamp arm can be opened and closed at the center thereof. And a tool gripping member for gripping the tool on one outer side with the opening / closing pivot joint as a boundary, and the tool gripping portion grips the tool when gripped by the clamp arm. A locking device that locks the state, and a lock release mechanism that releases the locked state of the tool by the locking device, and the locking device is located on the inner side of the other end with the opening / closing pivot joint portion of the clamp arm as a boundary. And a lock lever provided rotatably between the clamp arms, and the clamp provided on the lock lever and having the opening / closing pivot part as an opening / closing axis. It includes a locking projection for locking the disabling condition of opening of the tool-holding member Npuamu, wherein the unlocking mechanism, the locking projectionsFaced each otherThe lock release hole provided in the clamp arm and the main shaft are inserted into the tool change arm from the longitudinal outer side of the tool change arm so as to release the lock state of the clamp arm that cannot be opened. When the clamp arm is moved in the approaching direction and grips the tool attached to the main shaft, the lock protrusion is inserted into the lock release hole so as to face each other as the main shaft moves. And a cam for rotating the lock lever.
[0008]
According to the tool changer of the present invention according to claim 1, when exchanging the tool carried by the tool loader from the tool holding part of the tool magazine and the tool attached to the spindle, the tool loader and the spindle are connected to the tool. By moving each of the exchange arms in the direction approaching the one end side and the other end side from the outside in the longitudinal direction, each tool gripping part formed to open outward on the one end side and the other end side, Each of the tools can be gripped.
Further, when the tool transported by the tool loader and the tool attached to the spindle are respectively gripped by the clamp arm of the tool gripping portion, this gripping state is provided on a rotatable lock lever of the lock device. It is locked so as not to be opened by the locking protrusion. And it accompanies the movement of the tool loader and the spindle that move so as to approach the tool changing arm (for example, move so as to approach from the outside of the tool changing arm). For example, with the movement of the main shaft, the cam provided on the main shaft rotates the lock lever by the movement of the cam that moves relative to the lock lever, so that the lock protrusion of the lock lever moves to the clamp arm. Provided The lock state of the clamp arm is released by being fitted into the respective lock release holes, and the tool held by the clamp arm is exchanged to be attached to the main shaft.
[0009]
  The invention according to claim 2The tool loader is configured to move straight along a tool magazine arranged in a straight line with the tool holding portions opened in one direction.In the tool changer.
[0010]
  According to the invention of claim 2,By using a so-called linear magazine that moves straight as a tool loader, a newly attached tool can be easily transported to the spindle.
[0011]
  The invention according to claim 3The tool holder in the tool magazine is formed so as to hold a plurality of tools side by side, and is formed so as to mesh with the shape of the shank formed in each tool. ToIt is a tool changer.
[0012]
  In the invention according to claim 3,Since the tool holding portion in the tool magazine is configured to mesh with the shank formed on the tool, the tool can be effectively prevented from dropping even when the tool is housed in the tool magazine.
[0013]
  The tool change method of the invention according to claim 4 is a tool change method in which the tool mounted on the spindle is replaced with another tool by a tool change arm.
  The tool held in the tool magazine is taken out by a tool loader, and conveyed by the tool loader to a position outside the tool change arm in the longitudinal direction from the tool change position where one end side or the other end side of the tool change arm is located. The main shaft located on the outside in the longitudinal direction of the tool exchange arm with respect to the tool mounting position on which the other end side or one end side of the tool exchange arm is located, and located on the outside in the longitudinal direction of the tool exchange arm with respect to the tool exchange position. The tool loader to be moved is moved to the tool mounting position and the tool changing position, respectively, and the tool and the tool attached to the spindle are transported by the tool loader to one end side of the tool changing arm and the other. A tool gripping portion formed on the end side so as to open toward the outside in the longitudinal direction of the tool change arm. After gripped respectively Te, in the tool loader and the spindle is moved retreated toward the rear, then by rotating the tool changing arm, the tool exchange positionOn the one end sideTool grip orThe other end sideThe tool gripping part of the tool is moved to the tool mounting position side, and at the tool mounting position.On the other end sideTool grip orThe tool grip on one endThe tool is moved to the tool change position side, and then the tool loader and the main shaft are moved forward, and the tool is attached to the tool loader and the main shaft by moving and returning to the tool change position and the tool mounting position, respectively. There is a tool change method characterized by the above.
[0014]
  According to the tool changing method of the present invention according to claim 4, when exchanging the tool transported by the tool loader from the tool holding portion of the tool magazine and the tool attached to the spindle, the tool loader and the spindle are By moving the tool changer arm from the outside in the longitudinal direction toward the one end side and the other end side of the tool change arm, each tool gripping portion formed to open outwardly on the one end side and the other end side is provided. Each of the tools is gripped, and then a tool change arm isJust rotate itThus, the replacement work can be performed.
[0015]
DETAILED DESCRIPTION OF THE INVENTION
  Hereinafter, embodiments of the present invention will be specifically described with reference to the drawings.
  1 is a front view of a machining center having a tool magazine according to the present invention, FIG. 2 is a plan view thereof, FIG. 3 is a right side view thereof, and FIG. 4 is a left side view thereof.
  As shown in FIGS. 1 and 2, a column 2 is provided on a base 1 of a processing machine, for example, a machining center.Indicated by arrow ZBack and forth andNot shownThe column 2 is provided with a spindle head 3 so as to be movable in the left-right direction.Move up and down as indicated by arrow YSupported as possible. A main shaft 4 is rotatably supported by the main shaft head 3, and a tool T such as a drill is detachably attached to the tip of the main shaft 4.
  And the spindle head 3 is shown in FIG.Two pointsAt the lower machining position indicated by the chain lineMoveIn this state, the spindle 4 rotates, the column 2 moves relative to the workpiece on the table (not shown), and the workpiece T is subjected to predetermined machining by the tool T. A tool changer 5 according to the present invention is disposed above the spindle head 3.
[0016]
  Further, a frame 11 composed of a vertical portion 11 </ b> A and a horizontal portion 11 </ b> B is erected on the base 1, and an end portion of the horizontal portion 11 </ b> B in the frame 11 extends to a position above the spindle head 3. . At a position above the spindle head 3 at the end of the horizontal portion 11B of the frame 11, as shown in FIG. 3, a tool changing arm 12 constituting the main part of the tool changing device 5 passes through the central portion in the longitudinal direction. The main shaft 4 is supported so as to be rotatable around an axis parallel to the axis of the main shaft 4.
  Further, tool gripping portions 13 and 14 are formed at both ends of the tool changing arm 12, respectively.. Tool change arm 12, The tool T1 at the tool attachment position P1 on the spindle 4 side and the tool T2 transferred from the tool magazine 15 to the tool change position P2 by the so-called linear magazine type tool loader 16 are used as the tool gripping portions 14 and 13. It is gripped by and removed and replaced at the same timeLike.
[0017]
  On the horizontal portion 11B of the frame 11, a horizontally long flat plate-shaped tool magazine 15 is provided and extends in the axial direction of the main shaft 4. Further, a plurality of holding grooves 15 a, 15 a... That are tool holding portions are formed along the upper edge of the tool magazine 15, arranged at a predetermined pitch on a horizontal straight line, and each upward in the same direction. It is open.
  Further, tool pots 17, 17 are provided in the holding grooves 15 a, 15 a... In the tool magazine 15, and the tools are held by these tool pots 17, 17.
[0018]
  Further, an elevating device 18 is provided behind the vertical portion 11A in the frame 11, and an auxiliary device is provided.toolA magazine 19 is provided. The auxiliary tool magazine 19 is provided via the chain 18A by driving a lifting motor (not shown).ingThe tool T held in the tool pot 17 can be moved upward and attached to the tool loader 16.
[0019]
  The moving body 21 constituting a part of the tool loader 16 shown in FIGS. 1, 2, 4, and 5 is located between the tool delivery position P <b> 3 and the tool change position P <b> 2 corresponding to the tool change arm 12. A ball screw 22 and guide rails 23 and 23 are supported on the horizontal portion 11B of the frame 11 so as to be linearly movable in the front-rear direction.
  Further, the ball screw 22 is rotated by the moving motor 24, and the moving body 21 is moved in the front-rear direction. And the cable bear 25 which assists the movement of the mobile body 21 is provided.
[0020]
  As shown in FIG.A rotating body 26 constituting the tool loader 16 is rotatably supported on the moving body 21, and an engaging pin 26 </ b> A projects through the moving body 21 at a part thereof. The cam groove 27 is formed in the horizontal portion 11 </ b> B of the frame 11 so as to extend along the ball screw 22, and is formed on a cam plate 28 embedded on the side corresponding to the tool change arm 12. A cam groove 27 formed on the cam plate 28 forms a curved portion 27A.
  When the engaging pin 26A of the rotating body 26 is engaged with the cam groove 27 and the moving body 21 is moved to the right end side, which is one end side corresponding to the tool changing arm 12, the bending portion of the cam plate 28 is obtained. By the action of 27A, a counterclockwise turning force is generated in the rotating body 26 through the engaging pin 26A as shown by an arrow A in FIG.
[0021]
  Further, as shown in FIGS. 4 and 5, a pair of gripping arms 31 and 31 are vertically suspended on the rotating body 26 in the moving direction of the moving body 21 and a hook member 32 is attached. Yes. Further, on the rotating body 26, a delivery cylinder 33 for delivering the tool T provided in the tool magazine 15 to the tool change arm 12 is supported in a horizontal state.
[0022]
  A swing arm 35 is rotatably connected to the piston rod 34 of the cylinder 33, and the swing arm 35 is supported by a base portion of a support arm 36. This swing arm35The hook member 32 is pivotally connected to the hook member 32 to form a vertical movement mechanism for the hook member 32.
  The rotating body 26 is connected to a pair of attachment arms 37.GripArm 31 is fixed and thisGripThe hook member 32 moves up and down along the arm 31.
[0023]
  The hook member 32 is moved to the lower position by the cylinder 33.MoveIn the stateAs shown in FIG.When the moving body 21 is moved to a position corresponding to each holding groove 15a of the tool magazine 15,As shown in FIG.A pin 17 </ b> A on the tool pot 17 is engaged with the hook member 32. Then, the hook member 32 is raised by the delivery cylinder 33.MakeThus, the tool pot 17 is inserted and held between the holding arms 31 and 31.
[0024]
  Thereafter, in a state where the tool pot 17 is gripped by the gripping arms 31 and 31 of the tool loader 16, the tool 21 is moved to a forward position corresponding to the tool change position P <b> 2 by the movement of the moving body 21. Then, due to the engagement between the engagement pin 26A and the curved portion 27A of the cam groove 27, the rotating body 21 of the tool loader 16 is shown in FIG.With arrow AIt is turned counterclockwise as shown. As a result, the tool T is positioned at the tool change position P <b> 2 where the axis of the tool T matches the axial direction of the main shaft 4.
  Subsequently, the tool loader 16 and the main shaft 4 are moved so as to approach each other along the longitudinal direction of the tool changing arm 12, so that the tools T <b> 1 and T <b> 2 are simultaneously attached and detached between the main shaft 4 and the tool pot 17 of the tool loader 16. Exchanged.
  Thereafter, when the tool loader 16 returns to the rear position by the movement of the moving body 21, the tool T on the tool loader 16 is rotated together with the rotating body 26 so that the axis line thereof is in the horizontal direction by the action of the cam groove 27. Then, the tool is stored in a predetermined holding groove 15 a in the tool magazine 15.
[0025]
  Here, another form of the tool loader will be described. In addition, about the member which has the same effect | action as said tool loader 16, the same number is attached | subjected and the detailed description is abbreviate | omitted.
  As shown in FIG. 6, a tool loader 16 ′ according to another embodiment moves the tool pot 17 up and down by a ball screw mechanism 40. The ball screw mechanism 40 includes a ball screw 41, and a moving block 42 is screwed into the ball screw 41 and is configured to move up and down by the action of the ball screw 41.
[0026]
  A guide rail 43 is erected on the side of the ball screw 41, and a guide 44 that moves along the guide rail 43 is fitted in the moving block 42. Further, a hook member 45 that holds the tool pot 17 is fixed to the moving block 42.
  When the ball screw drive motor 47 fixed to the horizontal frame 46 is activated, the ball screw 41 rotates and the guide 44 and the moving block 42 move up and down along the guide rail 43. As the moving block 42 moves up and down, the hook member 45 moves the tool pot 17 up and down.
  Further, at the tool change position P2, the tool T attached to the tool pot 17 is lowered by the ball screw mechanism 40 and inserted into the tool gripping portion 13 in the tool change arm 12 shown in FIG.
[0027]
  Next, the operation of the tool changer 5 in the present inventionFIG.This will be described with reference to FIGS.
  The tool T2 conveyed by the tool loader 16 and changed in its direction by the cam groove 27 is one end side of the tool changing arm 12 (the upper side in FIG. 3).Tool change position P2). On the other hand, the tool T1 attached to the main shaft 4 at this time is the other end side of the tool changing arm 12 (the lower side in FIG. 3).Tool mounting position P1).
  Then, the tool loader 16 is moved downward toward the tool change arm 12, and at the same time, the spindle 4 (spindle head 3) is moved upward toward the tool change arm 12.(The state from the two-dot chain line in FIG. 1 to the solid line). Then, the tool T2 gripped by the tool loader 16 is gripped by the tool gripping portion 13 in the tool change arm 12. On the other hand, the tool T1 attached to the spindle 4 is gripped by the tool gripping portion 14 in the tool change arm 12. When the tools T1 and T2 are gripped by the tool gripping portions 13 and 14, respectively, the tool loader 16 and the spindle 4 (spindle head 3) are moved.Each tool T1, T2 is directed toward the rear away from the tool gripping portions 13, 14 that have been handed and gripped.at the same timeMoveEvacuate.For example, in the case of the main shaft 4, as shown in FIG. 8D, the main shaft 4 is moved and retracted rearward along the axis. As a result, the tool T (T1) attached to the spindle 4 is transferred and gripped to the tool gripping portion 14 of the tool exchange arm 12.
[0028]
  Subsequently, the tool change arm 12 is rotated 180 ° so that the top and bottom are reversed. By this rotation, the tool T2 becomesTool mounting position P1 sideAnd the tool T1 isTool change position P2 sideWill be located.
  Thereafter, the tool loader 16 and the spindle 4 (spindle head 3) are moved forward to the respective tool change position P2 and tool attachment position P1.MoveBy returning, the tool T2 is attached to the spindle 4, and the tool T1 is attached to the tool loader 16. Then, the tool loader 16 is raisedMoveAnd let the spindle 4(Spindle head 3) in the direction of arrow Y shown in FIG.DescentMoveThen, the tool change arm 12 is rotated by 90 ° to complete the change of the tool T.
[0029]
  Next, as a preferred embodiment of the present invention, the structure of the tool gripping portions 13 and 14 in the tool changing arm 12 will be described. Since both have almost the same structure, the tool gripping part14 sideThe structure will be described using.
  As shown in FIGS. 7 and 8, the tool gripping portion14Includes clamp arms 51 and 52. This clamp arm 51,52 are pivotally attached to each other through a connecting link 53 at a substantially central portion in the longitudinal direction. As shown in FIG. 7, the clamp arms 51 and 52 have tool gripping members 51 </ b> A and 52 </ b> A on one end outside (the lower end side in FIGS. 7 and 8) at the opening / closing pivot P by the connecting link 53. It is formed so that the tool T may be grasped or released.
[0030]
  Further, the tool gripping portion 14 includes a lock device that locks the gripping state when the tool T is gripped by the clamp arms 51 and 52, and the lock release that releases the lock state of the tool T by the lock device. It has a mechanism.
[0031]
  The lock device is formed by a lock lever 54 shown in FIGS. 7 and 8 and lock protrusions 54A and 54B provided on the lock lever 54.
  The lock lever 54 is rotatably provided between the clamp arms 51 and 52 on the inner side of the other end (upper end side in FIGS. 7 and 8) with the opening / closing pivot part P of the clamp arms 51 and 52 as a boundary. .
The lock protrusions 54A and 54B are on the rotation circumference of the lock lever 54 with the opening / closing pivot P as an axis. The clamp arms 51 and 52 are formed so as to be unlocked without being opposed to the lock release holes 51a and 52a, which will be described later, by turning the lock lever 54, in a state where they are removed from the lock release holes 51a and 52a. It has become.
[0032]
  As shown in FIGS. 7 and 8, the lock release mechanism includes lock release holes 51 a and 52 a provided in the clamp arms 51 and 52, and a cam 55 provided in the spindle head 3.
  The lock release holes 51a and 52a are inserted when the lock protrusions 54A and 54B of the lock lever 54 face each other (see FIGS. 8B and 8C), and the clamp arms 51 and 52 cannot be opened. The lock lever 54 corresponding to the lock protrusions 54A and 54B on the inner side of the other end (upper end side in FIGS. 7 and 8) with the opening / closing pivot portion P of the clamp arms 51 and 52 as a boundary is released. It is formed on the moving circle.
[0033]
  As shown in FIG. 8, the cam 55 moves the spindle head 3 closer to the tool gripping portion 13 or 14 of the tool change arm 12 along the longitudinal direction from the outside in the longitudinal direction of the tool change arm 12 (FIG. 8). When the clamp arms 51 and 52 hold the tool T attached to the spindle 4 as shown in FIG. 8C, the spindle head 3 is moved upward in the direction indicated by the arrow Y in FIG. Along with the upward movement, the lock lever 54 is rotated against the urging force of the spring 56 in a direction in which the lock protrusions 54A and 54B provided on the lock lever 54 are fitted to face the lock release holes 51a and 52a, respectively. The spindle head 3 is provided so as to be moved.
[0034]
  The spring 57 shown in FIGS. 7 and 8 is attached between the other ends of the clamp arms 51 and 52 as shown.
[0035]
  Next, the operation of the tool gripping portion 14 at the tool attachment position P1 when the tool T attached to the main shaft 4 is received from the main shaft 4 will be briefly described with reference to FIGS.  First, as shown in FIG. 7A and FIG. 8A, the clamp arm 51 before the tool T is gripped., 52The tool gripping members 51A and 52A are in a closed state. The lock protrusions 54A and 54B of the lock lever 54 areUnlocking holeFacing 51a, 52aWithout being in a state of being removed from the unlock holes 51a and 52a,The tool gripping members 51A and 52A areIn a closed stateLocked.
[0036]
  continue,As shown in FIG. 7A, the spindle head 3 moves upward in the direction indicated by the arrow Y so as to approach the tool gripping portion 14 along the longitudinal direction from the outside in the longitudinal direction of the tool changing arm (12).
Then, as shown in FIGS. 7B and 8B, the spindle head 3 until the tool gripping members 51 </ b> A and 52 </ b> A of the clamp arms 51 and 52 try to grip the tool T attached to the spindle 4. Is further moved upward, and the cam 55 provided on the spindle head 3 is raised and brought into contact with the lock lever 54 of the tool gripping portion 14 with the upward movement. Then, as shown in FIG. 7B, the lock lever 54 is rotated upward against the spring 56, and the lock protrusions 54A and 54B of the lock lever 54 are moved as shown in FIG. The clamp arms 51 and 52 are unlocked while facing the lock release holes 51a and 52a. As a result, the tool gripping members 51A and 52A of the clamp arms 51 and 52 areThe tool T can be opened and the tool T can be gripped.
[0037]
  Thus, when the tool T attached to the spindle 4 is gripped by the tool gripping portion 14 of the tool changing arm 12, the spindle head 3 moves as shown in FIG. Evacuate. That is, when the main shaft 4 is moved and retracted along the axis toward the rear as indicated by the arrow Z away from the tool gripping portion 14, the cam 55 is moved from the lock lever 54 along with this movement. And the lock lever 54 is rotated downward by the spring 56. As a result, as shown in FIG.The lock projections 54A and 54B of the lock lever 54 are disengaged from the lock holes 51a and 52a, respectively, so that the clamp arms 51 and 52 cannot be opened, and the gripping state of the clamp arms 51 and 52 that grip the tool T is locked.
[0038]
  On the other hand, due to the same action, the tool loader 16 also has a tool.TGrip. Although not shown, the tool gripping arm 12 is rotated as it is, and the tool isTExchange. In addition, toolsTWhen attaching to the main shaft 4, the tool can be attached to the main shaft 4 through a process reverse to the above-described process.
[0039]
  Next, an example of a tool magazine that does not require the use of a tool pot in the present invention will be described. As shown in FIG. 9, the groove 61 formed in the tool magazine 60 is formed in a shape that fits with the grip portion TG of the tool shank in the tool T. Furthermore, toolsTA rotation stopper 62 is formed to prevent the rotation.
[0040]
  In the tool magazine 60, as shown in FIG. 9, the grip portion TG of the tool shank is inserted into the groove 61 formed in the tool magazine 60. The tool T is not dropped from the tool magazine 60 by fitting the grip portion TG of the tool shank into the groove 61. Thus, the tool can be held without using the tool pot.
[0041]
  The preferred embodiment of the present invention has been described above, but the present invention is not limited to this embodiment. For example, the number of tool grips in the tool change arm can be three or more. Moreover, although what was called a linear magazine type was used as a tool loader, the thing of another aspect can also be used.
[0042]
【The invention's effect】
  As aboveAccording to the tool changer of the present invention according to claim 1, when exchanging the tool conveyed by the tool loader and the tool attached to the spindle, it can be performed only by rotating the tool change arm. This eliminates the need for providing a complicated mechanism for moving the tool change arm forward and backward as in the conventional device, thereby providing a tool change device with a simple configuration. Therefore, it is possible to improve the reliability with few occurrences of failures.
In addition, the tool gripping part formed on one end side and the other end side of the tool change arm receives and grips the tool from the tool loader and the spindle while securely gripping without dropping, and After being moved to the tool change position and the tool attachment position by the rotation of the tool change arm, it can be attached to the tool loader and the spindle.
  In addition, the lock and unlock to hold the tool gripper in an unopenable state is performed by the relative movement contact of the cam lock lever with the movement of the main shaft, so that the tool can be changed to grip the tool. There is no need to separately provide an actuator or the like for driving the arm.
[0043]
  Further, according to claim 2Tool changer of the present inventionAccording toBy using a so-called linear magazine that moves straight as a tool loader, a tool that is newly attached to the spindle can be easily transported.
[0044]
  According to claim 3Tool changer of the present inventionAccording toSince the tool holding portion in the tool magazine has a shape that meshes with the shank formed on the tool, even when the tool is housed in the tool magazine, it is possible to effectively prevent the tool from dropping.
[0045]
  According to claim 4Tool changing method of the present inventionAccording toA tool change arm like a conventional device Since it is not necessary to provide a complicated mechanism for moving forward and backward, a simple configuration can be achieved. Therefore, the occurrence of a failure or the like can be effectively prevented, and as a result, the reliability can be improved.
[Brief description of the drawings]
FIG. 1 is a front view of a machining center including a tool changer according to the present invention.
FIG. 2 is a plan view of a machining center including a tool changer according to the present invention.
FIG. 3 is a right side view of a machining center including a tool changer according to the present invention.
FIG. 4 is a left side view of a machining center including a tool changer according to the present invention.
FIG. 5 is a plan view of the tool loader.
FIG. 6 is a side sectional view of another example of a tool loader.
FIG. 7 is a front sectional view showing a gripping action of a tool gripping portion of a tool exchange arm.
FIG. 8 is a side view showing the gripping action of the tool gripping portion of the tool exchange arm.
FIG. 9 is an enlarged perspective view of a tool magazine.
[Explanation of symbols]
1 base
2 columns
3 Spindle head
4 Spindle
5 Tool changer
11 frames
12 Tool change arm
13, 14 Tool gripping part
15 Tool magazine
15a Holding groove (tool holding part)
16 Tool loader
17 Tool pot
51,52 Clamp arm
51A, 52A Tool gripping member
51a, 52a Unlocking hole (unlocking mechanism)
53 Link
54 Lock lever(Locking device)
54A, 54B Lock protrusion (lock device)
55 cam(Unlock mechanism)
T (T1, T2) Tool
P Opening and closing pivot part
P1 Tool mounting position
P2 Tool change position
P3 Tool delivery position

Claims (4)

A tool change arm (12) for exchanging the tool (T) mounted on the spindle (4) with another tool (T);
In addition, the tool has a tool magazine (15) in which a plurality of tool holding portions (15a, 15a ...) are formed, and the tool held by the tool holding portions (15a, 15a ...) in the tool magazine (15). A tool loader (16) is provided that takes out (T), moves to the tool change position (P2) to the tool change arm (12), and delivers to the tool change arm (12).
The tool (T) is transferred to and from the tool loader (16) at the tool change position (P2) on one end side and the other end side of the tool change arm (12), and the spindle (4) A tool changer in which tool gripping portions (13, 14) for transferring the tool (T) to and from the main shaft (4) at the tool mounting position (P1) are respectively formed.
The tool loader (16) and the main shaft (4) are each movable along the longitudinal direction of the tool change arm (12),
Said tool change arm (12) is supported turnably to the only rotational movement its central portion as an axis,
The tool gripping portion (13, 14) includes an openable / closable clamp arm (51, 52) formed so as to open outward in the longitudinal direction of the tool change arm (12). , 52) includes a tool gripping member (51A, 52A) that is pivotally mounted at the center thereof so as to be openable and closable, and grips the tool (T) on one outer side with the opening / closing pivoting portion (P) as a boundary,
Further, the tool gripping portion (13, 14) includes a lock device that locks the gripping state when the tool (T) is gripped by the clamp arm (51, 52), and the lock device A lock release mechanism for releasing the locked state of the tool (T),
The locking device is a lock lever (51) that is rotatably provided between the clamp arms (51, 52) inside the other end with the opening / closing pivot (P) of the clamp arms (51, 52) as a boundary. 54)
Provided on the lock lever (54) to lock the tool gripping member (51A, 52A) of the clamp arm (51, 52) having the opening / closing pivot (P) as an opening / closing axis in an incapable state. Locking projections (54A, 54B)
The lock release mechanism is inserted when the lock protrusions (54A, 54B) face each other , and the clamp arms (51, 52) are released so as to release the unlocked locked state of the clamp arms (51, 52). ) Provided in the lock release holes (51a, 52a),
The clamp shaft (51, 52) is attached to the main shaft (4) by moving the main shaft (4) from the outside in the longitudinal direction of the tool change arm (12) in a direction approaching the tool change arm (12). When the tool (T) is gripped, the lock protrusions (54A, 54B) are inserted into the lock release holes (51a, 52a) facing each other as the main shaft (4) moves. And a cam (55) for rotating the lock lever (54) in a direction.   The tool loader (16) moves straight along the tool magazine (15) arranged in a straight line with the tool holders (15a, 15a...) Opened in one direction. The tool changer according to claim 1, wherein:   The tool holders (15a, 15a ...) in the tool magazine (15) are formed so as to horizontally hold a plurality of tools (T), and the shank formed on each tool (T). The tool changer according to claim 1 or 2, wherein the tool changer is formed so as to mesh with the shape. In the tool changing method of exchanging the tool (T) mounted on the spindle (4) with another tool (T) by the tool changing arm (12),
The tool (T) held in the tool magazine (15) is taken out by the tool loader (16), and the tool changer in which one end side or the other end side of the tool change arm (12) is positioned by the tool loader (16). Transport to the position in the longitudinal direction of the tool change arm (12) from the position (P2),
The spindle (4) positioned on the outer side in the longitudinal direction of the tool changing arm (12) with respect to the tool mounting position (P1) where the other end side or one end side of the tool changing arm (12) is located, and the tool changing position ( Moving the tool loader (16) located on the outer side in the longitudinal direction of the tool changing arm (12) from P2) to the tool mounting position (P1) and the tool changing position (P2), respectively.
The tool (T) that has been transported by the tool loader (16) and the tool (T) that is attached to the spindle (4) are placed on one end side and the other end side of the tool change arm (12), The tool loader (16) and the main shaft (4) are moved rearward after being held by the tool holding portions (13, 14) formed so as to open outward in the longitudinal direction of the tool change arm (12). Move and retreat towards
Thereafter, the tool changing arm (12) is rotated, and the one end side tool gripping portion (13) or the other end side tool gripping portion (14) at the tool changing position (P2) is moved to the tool mounting position (P1). And the tool gripping portion (14) on the other end side or the tool gripping portion (13) on the one end side at the tool attachment position (P1) is moved to the tool change position (P2) side,
Next, the tool loader (16) and the spindle (4) are moved forward to the tool change position (P2) and the tool mounting position (P1), respectively, thereby returning the tool loader (16) and the spindle ( 4) A tool change method characterized in that each tool (T) is attached to 4).

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