JP3921569B2 - Automatic tool changer - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to an automatic tool changer for automatically changing a tool with respect to a spindle rotatably supported by a spindle head in a machine tool, for example, a machining center.
[0002]
In this specification, the upper side in FIG. 1 is referred to as the front, the opposite side is referred to as the rear, and the left and right in FIG. 1 (left and right in FIGS. 2 to 4) are referred to as the left and right.
[0003]
[Prior art]
2. Description of the Related Art Conventionally, as an automatic tool changer, a tool magazine having a plurality of tool pots for holding a tool so that its length direction is orthogonal to the main axis direction, and rotatable about an axis parallel to the main axis direction. In addition, there is known a tool provided with a tool changing arm that is movable in the direction of the main shaft axis, and a tool conveying device disposed between the tool magazine and the tool changing arm. The tool transfer device pulls out the tool from the tool pot indexed to the tool magazine transfer position, and turns the tool 90 degrees so that its length direction is parallel to the spindle axis direction, and transfers it to the tool changer arm. It conveys to the position.
[0004]
[Problems to be solved by the invention]
However, this automatic tool changer requires a space to avoid interference with other equipment when the tool is transferred by the tool transfer device, and as a result, the installation area of a machine tool such as a machining center must be increased. There is a problem of not becoming.
[0005]
An object of the present invention is to provide an automatic tool changer capable of solving the above-described problems and reducing the installation area of a machine tool as compared with the conventional one.
[0006]
[Means for Solving the Problems and Effects of the Invention]
An automatic tool changer according to a first aspect of the present invention includes a chain-type tool magazine having a plurality of tool pots for holding a tool so that a length direction thereof is parallel to a Z-axis direction that is a main axis direction, and a Z-axis And a tool change arm for exchanging the tool between the spindle and the tool magazine, and a tool change arm for exchanging the tool between the spindle and the tool magazine. The tool pot indexed at the tool delivery position is arranged such that the tool pot indexed at the tool delivery position and at least the adjacent tool pots are aligned in a straight line, and each tool pot is pivotally attached to the tool magazine. The tool pot at least on both sides of the pot swings between the interference position located on the turning trajectory of the tool changing arm and the retracted position retracted from the turning trajectory. The tool pot at least on both sides of the tool pot indexed to the tool delivery position is swung from the interference position to the retracted position during delivery between the tool magazine and the tool exchange arm, and is not delivered as well. A gripping means provided with a pair of fingers that sandwich the tool pot indexed to the tool delivery position from the front and rear sides of the chain in the running direction of the chain. It has a member and has fixing means for clamping and fixing the tool pot from both the front and rear sides in the running direction of the chain using fingers.
[0007]
According to the automatic tool changer of the invention of claim 1, a tool magazine having a plurality of tool pots for holding the tool so that its length direction is parallel to the Z-axis direction which is the main axis direction, and the Z-axis Can be rotated around an axis parallel to the axis and movable in the direction of this axis, and has a tool change arm for exchanging tools between the spindle and the tool magazine. There is no need to provide a tool conveying device between the tool magazine and the tool changing arm as in the case of the changing device. Therefore, a space for avoiding interference with other equipment is not required when the tool is transferred by the tool transfer device, and as a result, the installation area of a machine tool such as a machining center is provided with a conventional automatic tool changer. It can be made smaller than the one. Further, when the tool magazine and the tool changing arm are delivered, that is, when the tool changing arm starts rotating from the standby position to the tool holding position in order to hold the next tool held in the tool pot of the tool magazine. After inserting the finished tool into the tool pot of the tool magazine, until the tool change arm finishes rotating to the standby position, the tool at least on both sides of the tool pot indexed to the tool delivery position by the swinging means If the pot is swung from the interference position to the retracted position, it is possible to avoid interference between the rotating tool change arm and the adjacent tool pot and the tool held by the tool changing arm. Therefore, the interval between adjacent tool pots can be reduced, and a large number of tool pots can be attached to the tool magazine. As a result, many tools can be attached to the tool magazine.
[0008]
The automatic tool changer according to the first aspect of the invention has a fixing means for fixing the tool pot indexed to the tool delivery position. In this case, the tool can be reliably gripped by the tool changing arm that has rotated from the standby position to the tool gripping position.
[0009]
Automatic tool changer apparatus according to the invention of claim 2, in have you to the first aspect of the present invention, the oscillating means, the swing center of the tool pot indexed in arranged on either side of the tool delivery position and a tool delivery position Two rotating members rotating around the center, driving means for driving one of the rotating members, and engaging with at least the adjacent tool pots of the tool pots attached to both rotating members and indexed to the tool delivery position A movable engaging member that engages with a tool pot fixed to the fixed portion and indexed to the tool delivery position, and a rotating member between the rotating members of the swinging means. And a gripping member that grips the tool pot that is stopped and indexed to the tool transfer position. In this case, the tool pot adjacent to the tool pot indexed to the tool delivery position can be configured to be swingable to the retracted position with a simple structure, and a single drive source can be used on both sides of the tool delivery position. The tool pot can be swung to the retracted position and the tool pot at the tool transfer position can be fixed. Furthermore, the direction in which the tool pot indexed to the tool delivery position and at least the adjacent tool pots are arranged and the direction connecting the axis of the main shaft and the rotation center axis of the tool changing arm can be arranged to be orthogonal to each other. Therefore, the width of the machine tool can be reduced.
[0010]
DETAILED DESCRIPTION OF THE INVENTION
Embodiments of the present invention will be described below with reference to the drawings.
[0011]
FIG. 1 shows the overall configuration of an automatic tool changer according to the present invention as viewed from below, and FIGS.
[0012]
In FIG. 1, the automatic tool changer automatically changes the tool (T) with respect to the spindle (1) that is rotatably supported by the spindle head of the machining center and whose Z axis is the vertical direction. A horizontal chain-type tool magazine (2) and a vertical axis parallel to the Z-axis and rotatable in the vertical direction, and the spindle (1) and the tool magazine ( And a tool change arm (3) for exchanging the tool (T) with 2). A gripper (4) for gripping the tool (T) is provided at both ends of the tool exchange arm (3).
[0013]
The tool magazine (2) includes a pair of sprockets (5) that are spaced apart in the front-rear direction and are rotatable about a vertical axis, and an endless chain (6) that spans both sprockets (5). And a plurality of tool pots (7) which are attached to the chain (6) at intervals in the length direction and hold the tool (T) downward.
[0014]
One of the two sprockets (5) is driven by a servo motor (both not shown) via a reduction gear device. The chain (6) is guided between both sprockets (5) by left and right linear guides (6A) (6B) extending in the front-rear direction, and is guided to each guide (6A) (6B). A plurality of tool pots (7) are arranged in a straight line in the portion to be formed. The front and rear center portions of the right guide (6B) are the tool delivery position (P) with the tool change arm (3). Then, as indicated by the chain line in FIG. 1, the two tool pots (7) on both the front and rear sides of the tool pot (7) indexed to the tool delivery position (P) are turned on the trajectory of the tool changing arm (3). (O) It is located on the top. As shown in FIGS. 3 and 4, the upper end of the tool pot (7) is pivotally attached to a bracket (9) fixed to the chain (6) by a horizontal pin (8). The pin (8) faces in the front-rear direction due to the tension of these guides (6A) (6B) and both sprockets (5) in the part where the chain (6) is guided by the left and right guides (6A) (6B). It is like that. As a result, the two tool pots (7) on both the front and rear sides of the tool pot (7) indexed to the tool delivery position (P) interfere with each other on the swivel path (O) of the tool change arm (3). Swing in the left-right direction around the pin (8) between the position (see the solid line in FIGS. 1 to 3) and the retracted position (see the chain line in FIGS. 1 to 3) retracted from the turning locus (O). It is made like that. Frame along the left guide (6A) on the inner side in the left-right direction at the lower end of each tool pot (7) (located on the right side of the left guide (6A) and on the left side of the right guide (6B)) (10) An engagement portion (12) that engages with a vertical strip guide (11) fixed to the lower surface is provided.
[0015]
The automatic tool changer has two tool pots (7) on both the front and rear sides of the tool pot (7) indexed to the tool delivery position (P), and the tool magazine (2) and the tool change arm (3). A swinging device (13) that swings from the interference position to the retracted position during delivery and also swings from the retracted position to the interference position when not handed over, and a tool pot (7) that is indexed to the tool delivery position (P). And a fixing device (14) for fixing.
[0016]
As shown in FIGS. 2 to 5, vertical plate brackets (15) are fixed to the lower surface of the frame (10) on both front and rear sides of the tool delivery position (P). Each bracket (15) has a notch (15a) for avoiding interference when the chain (6) and the tool pot (7) are moved. Along the front and rear inner surfaces of both brackets (15), there are arcuate rotating members (16) located on the circumference centering on the swing center of the tool pot (7) located on the right guide (6B). It is arranged. Each rotating member (16) has a circular arc shape opened downward in order to avoid interference when the chain (6) and the tool pot (7) move. Each rotating member (16) is guided around a plurality of guide rollers (17) attached to the inner surface of each bracket (15) and rotates around the swing center. Both rotating members (16) are connected to each other by a plurality of connecting rods (18) extending in the front-rear direction, and rotate integrally. These rotating members (16) are rotated by a driving air cylinder (19). The air cylinder (19) is located on the left side of the rear rotating member (16) with its piston rod (20) facing diagonally upward to the right on the circumference tangent to the rotating member (16). And is attached to the lower surface of the frame (10) via an attachment member (21). The tip of the piston rod (20) is pivotally attached to a block (22) fixed to the rear rotating member (16). At the left end of both the front and rear rotating members (16), a strip that extends in the front-rear direction and engages with the engaging portions (12) of the two tool pots (7) located on both front and rear sides of the tool delivery position (P) The movable engagement plate (23) having a shape is fixed. When the tool magazine (2) and the tool change arm (3) are not delivered, the rotating member (16) is in the state shown by the solid line in FIG. 3, and the movable engagement plate (23) is positioned in the vertical plane. Thus, it engages with the engaging portion (12) of the tool pot (7) to serve as a guide. The rotating member (16), the air cylinder (19), and the movable engagement plate (23) constitute a swing device (13).
[0017]
In the tool delivery position (P), the fixed engagement plate (24) in the form of a vertical strip extending to the left and right of the right guide (6B) and engaging with the engagement portion (12) of the tool pot (7) Is arranged. The fixed engagement plate (24) serves as a guide for the tool pot (7), and is fixed to the lower surface of the frame (10) via an attachment member (25). A gripping member (26) for gripping the tool pot (7) indexed to the tool delivery position (P) is provided between the right ends of both the front and rear rotating members (16). The gripping member (26) is integrally formed with a connecting rod (27) secured between the front and rear rotating members (16) and a left protruding portion at an intermediate portion of the length of the connecting rod (27), and It consists of a pair of fingers (28) that sandwich the tool pot (7) indexed to the tool delivery position (P) from both front and rear sides. The fixed engagement plate (24), the rotating member (16), the air cylinder (19), and the gripping member (26) constitute a fixing device (14).
[0018]
When the chain (6) travels and the tool pot (7) is moving for indexing the tool pot (7), as shown by the solid line in FIGS. 3 and 4, the air cylinder (19) The piston rod (20) is in a retracted state, and the movable engagement plate (23) is in a vertical state and engages with the engagement portion (12) of the tool pot (7), thereby serving as a guide. The fixed engagement plate (24) also engages with the engagement portion (12) of the tool pot (7) to serve as a guide.
[0019]
When the tool pot (7) holding the predetermined tool (T) is indexed to the tool delivery position (P), the piston rod (20) of the air cylinder (19) advances, and both rotating members (16) are shown in FIG. 3 and 4 are rotated clockwise as indicated by arrows. Then, the movable engagement plate (23) engaged with the engagement portions (12) of the two tool pots (7) on both the front and rear sides of the tool delivery position (P) also has a timepiece as shown by a chain line in FIG. The tool pot (7) is swung so that its lower end moves to the left. At the same time, the gripping member (26) moves clockwise as indicated by the chain line in FIG. 4, and the tool pot (7) indexed to the tool delivery position (P) is moved back and forth by both fingers (28). It is pinched and fixed.
[0020]
A tool changing method between the spindle (1) and the tool magazine (2) in the automatic tool changing apparatus having the above configuration will be described.
[0021]
During machining with the spindle (1), the tool change arm (3) is at the tool insertion position, which is its raised position, and at a standby position rotated 90 degrees from the tool gripping position (see FIG. 1). At this time, each gripper (4) of the tool change arm (3) is empty. During machining of the main shaft (1), the servomotor is activated by a tool change command from the NC unit, and one sprocket (5) is rotated via the reduction gear unit, so that the chain (6) travels. Then, the tool pot (7) holding the next tool (T) is indexed to the tool delivery position (P). During the indexing operation, the piston rod (20) of the air cylinder (19) is in the retracted state, and the movable engagement plate (23) serves as a guide together with the fixed engagement plate (24). The gripping member (26) is in a retracted position that does not interfere with the tool pot (7). The two tool pots (7) on both the front and rear sides of the tool delivery position (P) are at interference positions located on the turning locus (O) of the tool change arm (3).
[0022]
When the tool pot (7) holding the next tool (T) is indexed to the tool delivery position (P), the piston rod (20) of the air cylinder (19) is advanced and both rotating members (16) are illustrated. 3 and 4 in the clockwise direction indicated by the arrow. Then, the movable engagement plates (23) engaged with the engagement portions (12) of the two tool pots (7) on both the front and rear sides of the tool delivery position (P) also move in the same direction, and these four tools The pot (7) is swung to the left about the pin (8) from the turning locus (O) of the tool changing arm (3) to the retracted position (see FIG. 6). At the same time, the gripping member (26) also moves in the same direction, and the tool pot (7) indexed to the tool delivery position (P) is fixed by being clamped from both front and rear sides by both fingers (28). (See FIG. 7).
[0023]
When machining with the tool (T) attached to the spindle (1) is completed, the spindle (1) moves to the tool change position. Next, the tool change arm (3) is rotated 90 degrees from the standby position to the tool gripping position, and the used tool (T) of the spindle (1) is gripped by one gripper (4) and the other gripper ( The next tool (T) of the tool pot (7) indexed to the tool delivery position (P) by 4) is gripped. At this time, interference between the tool change arm (3) and the two tool pots (7) on both the front and rear sides of the tool delivery position (P) is prevented.
[0024]
Next, the tool change arm (3) is lowered, and the used tool (T) is pulled out from the main shaft (1) and the next tool (T) is pulled out from the tool pot (7). Next, the tool change arm (3) is rotated 180 degrees. Even at that time, the interference between the tool (T) gripped by the gripper (4) and the tool (T) inserted in the tool pot (7) on both the front and rear sides of the tool delivery position (P) is prevented. The tool change arm (3) is then raised, and the next tool (T) is inserted into the spindle (1) and the used tool (T) is inserted into the tool pot (7). Thereafter, the tool change arm (3) is rotated 90 degrees to return to the standby position. Also during the rotation of the tool change arm (3), interference between the tool change arm (3) and the two tool pots (7) on both the front and rear sides of the tool delivery position (P) is prevented. Thus, the tool change is completed.
[0025]
When the tool change is completed, the piston rod (20) of the air cylinder (19) is retracted, whereby both rotating members (16) are rotated counterclockwise in FIGS. Then, return to the vertical position the movable engagement plate (23), each of the two tool pot (7) of the front and rear side of the tool delivery position (P) is caused to swing to the right until the interference position. At the same time, the gripping member (26) is also moved counterclockwise in FIGS. 6 and 7 to leave the tool pot (7), and the tool pot (7) indexed to the tool delivery position (P). Fixing is released.
[0026]
When machining with the tool (T) newly attached to the spindle (1) starts, the tool pot (7) holding the next tool (T) is further moved to the tool delivery position ( P).
[0027]
Te above embodiment smell, the rocking device (13), the tool pot (7) the interference position of two each and a retracted position of both sides of the tool pot indexed to the tool delivery position (P) (7) However, the number of tool pots (7) to be swung is not limited to this.
[Brief description of the drawings]
FIG. 1 is a bottom view showing an overall configuration of an automatic tool changer according to the present invention.
FIG. 2 is a partially enlarged view of FIG.
3 is a cross-sectional view taken along line III-III in FIG.
4 is a cross-sectional view taken along line IV-IV in FIG.
FIG. 5 is a partially cutaway perspective view partially showing the rocking device and the fixing device.
6 is a cross-sectional view corresponding to FIG. 3, showing a state during tool delivery.
FIG. 7 is a cross-sectional view corresponding to FIG. 4 showing a state during tool delivery.
[Explanation of symbols]
(1): Spindle
(2): Tool magazine
(3): Tool change arm
(6): Chain
(7): Tool pot
(13): Oscillating device (oscillating means)
(14): Fixing device (fixing means)
(16): Rotating member
(19): Air cylinder (drive means)
(23): Movable engagement plate (movable engagement member)
(24): Fixed engagement plate (fixed engagement member)
(26): Holding member
(O): Turning trajectory of the tool change arm
(P): Tool delivery position

Claims (2)

A chain-type tool magazine having a plurality of tool pots for holding the tool so that its length direction is parallel to the Z-axis direction, which is the main axis direction, and rotatable about an axis parallel to the Z-axis A tool exchange arm that is movable in the direction of the axis and exchanges a tool between the spindle and the tool magazine, and has at least a tool pot indexed to a tool delivery position in the chain-type tool magazine; The adjacent tool pots are arranged in a straight line, and each tool pot is pivotally attached to the tool magazine, so that at least the tool pots at the positions adjacent to the tool pots determined at the tool transfer position are It swings between the interference position located on the swivel trajectory of the exchange arm and the retreat position retracted from the swivel trajectory. The tool pot at least on both sides of the tool pot that is indexed to the position is swung from the interference position to the retracted position when the tool magazine and the tool change arm are transferred, and is also swung from the retracted position to the interference position when not transferred. The gripping member is provided with a pair of fingers that sandwich the swinging means and the tool pot indexed to the tool delivery position from both the front and rear sides in the running direction of the chain of the chain-type tool magazine. An automatic tool changer having fixing means for clamping and fixing the tool pot from both the front and rear sides in the running direction of the chain . Two oscillating means are arranged on both sides of the tool delivery position and rotate around the oscillation center of the tool pot indexed to the tool delivery position, and a drive means for driving one of the rotatory members And a movable engaging member that engages with at least the adjacent tool pots of the tool pots that are respectively attached to both rotating members and indexed to the tool delivery position, and the fixing means is fixed to the fixing portion and A fixed engagement member that engages the tool pot indexed to the tool delivery position, and a gripping member that grips the tool pot indexed to the tool delivery position and secured between the rotating members of the swinging means. The automatic tool changer of Claim 1 provided.

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