JP6746429B2 - 工具交換装置 - Google Patents
工具交換装置 Download PDFInfo
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- JP6746429B2 JP6746429B2 JP2016160145A JP2016160145A JP6746429B2 JP 6746429 B2 JP6746429 B2 JP 6746429B2 JP 2016160145 A JP2016160145 A JP 2016160145A JP 2016160145 A JP2016160145 A JP 2016160145A JP 6746429 B2 JP6746429 B2 JP 6746429B2
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q3/00—Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine
- B23Q3/155—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q15/00—Automatic control or regulation of feed movement, cutting velocity or position of tool or work
- B23Q15/20—Automatic control or regulation of feed movement, cutting velocity or position of tool or work before or after the tool acts upon the workpiece
- B23Q15/22—Control or regulation of position of tool or workpiece
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q3/00—Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine
- B23Q3/155—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling
- B23Q3/1552—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling parts of devices for automatically inserting or removing tools
- B23Q3/15526—Storage devices; Drive mechanisms therefor
- B23Q3/15534—Magazines mounted on the spindle
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q3/00—Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine
- B23Q3/155—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling
- B23Q3/1552—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling parts of devices for automatically inserting or removing tools
- B23Q3/1554—Transfer mechanisms, e.g. tool gripping arms; Drive mechanisms therefore
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q3/00—Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine
- B23Q3/155—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling
- B23Q3/157—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling of rotary tools
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q3/00—Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine
- B23Q3/155—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling
- B23Q3/157—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling of rotary tools
- B23Q3/15713—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling of rotary tools a transfer device taking a single tool from a storage device and inserting it in a spindle
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q3/00—Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine
- B23Q3/155—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling
- B23Q3/157—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling of rotary tools
- B23Q3/15713—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling of rotary tools a transfer device taking a single tool from a storage device and inserting it in a spindle
- B23Q3/1572—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling of rotary tools a transfer device taking a single tool from a storage device and inserting it in a spindle the storage device comprising rotating or circulating storing means
- B23Q3/15722—Rotary discs or drums
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q3/00—Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine
- B23Q3/155—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling
- B23Q3/1552—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling parts of devices for automatically inserting or removing tools
- B23Q3/1554—Transfer mechanisms, e.g. tool gripping arms; Drive mechanisms therefore
- B23Q2003/155414—Transfer mechanisms, e.g. tool gripping arms; Drive mechanisms therefore the transfer mechanism comprising two or more grippers
- B23Q2003/155418—Transfer mechanisms, e.g. tool gripping arms; Drive mechanisms therefore the transfer mechanism comprising two or more grippers the grippers moving together
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q3/00—Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine
- B23Q3/155—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling
- B23Q3/1552—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling parts of devices for automatically inserting or removing tools
- B23Q3/1554—Transfer mechanisms, e.g. tool gripping arms; Drive mechanisms therefore
- B23Q2003/155414—Transfer mechanisms, e.g. tool gripping arms; Drive mechanisms therefore the transfer mechanism comprising two or more grippers
- B23Q2003/155425—Transfer mechanisms, e.g. tool gripping arms; Drive mechanisms therefore the transfer mechanism comprising two or more grippers pivotable
- B23Q2003/155428—Transfer mechanisms, e.g. tool gripping arms; Drive mechanisms therefore the transfer mechanism comprising two or more grippers pivotable about a common axis
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q3/00—Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine
- B23Q3/155—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling
- B23Q3/1552—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling parts of devices for automatically inserting or removing tools
- B23Q3/1554—Transfer mechanisms, e.g. tool gripping arms; Drive mechanisms therefore
- B23Q2003/155414—Transfer mechanisms, e.g. tool gripping arms; Drive mechanisms therefore the transfer mechanism comprising two or more grippers
- B23Q2003/155425—Transfer mechanisms, e.g. tool gripping arms; Drive mechanisms therefore the transfer mechanism comprising two or more grippers pivotable
- B23Q2003/155435—Transfer mechanisms, e.g. tool gripping arms; Drive mechanisms therefore the transfer mechanism comprising two or more grippers pivotable and linearly movable
- B23Q2003/155439—Transfer mechanisms, e.g. tool gripping arms; Drive mechanisms therefore the transfer mechanism comprising two or more grippers pivotable and linearly movable along the pivoting axis
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q3/00—Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine
- B23Q3/155—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling
- B23Q3/157—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling of rotary tools
- B23Q3/15713—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling of rotary tools a transfer device taking a single tool from a storage device and inserting it in a spindle
- B23Q3/1572—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling of rotary tools a transfer device taking a single tool from a storage device and inserting it in a spindle the storage device comprising rotating or circulating storing means
- B23Q3/15726—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling of rotary tools a transfer device taking a single tool from a storage device and inserting it in a spindle the storage device comprising rotating or circulating storing means the storage means rotating or circulating in a plane parallel to the axis of the spindle
- B23Q3/1574—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling of rotary tools a transfer device taking a single tool from a storage device and inserting it in a spindle the storage device comprising rotating or circulating storing means the storage means rotating or circulating in a plane parallel to the axis of the spindle the axis of the stored tools being arranged perpendicularly to the rotating or circulating plane of the storage means
- B23Q3/15746—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling of rotary tools a transfer device taking a single tool from a storage device and inserting it in a spindle the storage device comprising rotating or circulating storing means the storage means rotating or circulating in a plane parallel to the axis of the spindle the axis of the stored tools being arranged perpendicularly to the rotating or circulating plane of the storage means the storage means comprising pivotable tool storage elements
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/50—Machine tool, machine tool null till machine tool work handling
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Automatic Tool Replacement In Machine Tools (AREA)
Description
中心軸が前記主軸の軸線と平行に配設され、当該中心軸を中心として回転可能、且つ前記主軸の軸線に沿った方向に移動可能に設けられた保持部材と、
エンコーダを備える回転用サーボモータを有し、前記保持部材をその前記中心軸を中心として正逆に第1回転速度で回転させる回転機構と、
エンコーダを備える進退用サーボモータを有し、前記保持部材を前記主軸の軸線に沿った方向に第1進退速度で進退させる進退機構と、
前記保持部材の径方向に延びるように当該保持部材に配設されると共に、前記工具をその軸線が前記保持部材の前記中心軸と平行となるように保持する少なくとも一つの工具交換アームと、
第1閾値を予め記憶する記憶部と、
前記回転用サーボモータに対する指令値と前記回転用サーボモータの前記エンコーダの出力値との差分である第1差分を算出すると共に前記第1閾値と比較し、当該第1差分が前記第1閾値以上である場合には、前記回転機構による前記保持部材の回転速度を前記第1回転速度よりも遅い第2回転速度にし、前記第1差分が前記第1閾値未満である場合には、前記回転機構による前記保持部材の回転速度を前記第1回転速度に維持する制御装置と、を備えるものである。
図1に示した工作機械1は、従来周知であり、多くを説明するまでもないが、その構成を簡単に説明すると、当該工作機械1は、ベッド2、このベッド2上に立設されたコラム3、このコラム3に垂直方向に移動可能に配設された主軸頭4、この主軸頭4に回転自在に支持された主軸5、及び、水平な直交2軸方向に移動可能に、前記ベッド2上に配設され、適宜ワークが載置又は固定されるテーブル6等を備える。
工具マガジン70は、工具Tを保持する複数の工具ポット72と、円形をした板状の部材からなり、その外周部に工具ポット72を環状に配置した状態で保持する保持プレート73と、この保持プレート73を回転させる駆動モータ(図示せず)と、下端位置の工具ポット72を矢示A方向に移動させて待機位置に位置決めする一方、待機位置にある工具ポット72を矢示B方向に移動させて、保持プレート73に保持させる呼び出し機構(図示せず)とを備える。なお、図1中の符号71はカバーである。工具マガジン70の動作も、図示しない前記制御装置により制御される。
工具交換装置10は、待機位置に位置決めされた工具ポット72に保持される工具(次工具)Tと、主軸5に装着された工具(現工具)Tとを交換する装置であって、図2〜図4に示す工具交換アーム40、ハウジング11、第1支持軸17、第2支持軸18、進退機構12及び回転機構24と、後述の制御装置60(図6参照)とを含んで構成される。
5 主軸
10 工具交換装置
11 ハウジング
12 進退機構
13 進退用サーボモータ
13b エンコーダ
19 保持部材
24 回転機構
25 回転用サーボモータ
25b エンコーダ
40 工具交換アーム
42 工具保持部
52 工具保持部
60 制御装置
61 閾値記憶部(記憶部)
T 工具
Claims (4)
- 工作機械の工具交換位置に配設され、主軸に装着された工具を待機位置にある次工具と交換する工具交換装置であって、
中心軸が前記主軸の軸線と平行に配設され、当該中心軸を中心として回転可能、且つ前記主軸の軸線に沿った方向に移動可能に設けられた保持部材と、
エンコーダを備える回転用サーボモータを有し、前記保持部材をその前記中心軸を中心として正逆に第1回転速度で回転させる回転機構と、
エンコーダを備える進退用サーボモータを有し、前記保持部材を前記主軸の軸線に沿った方向に第1進退速度で進退させる進退機構と、
前記保持部材の径方向に延びるように当該保持部材に配設されると共に、前記工具をその軸線が前記保持部材の前記中心軸と平行となるように保持する少なくとも一つの工具交換アームと、
第1閾値を予め記憶する記憶部と、
前記回転機構及び進退機構を制御して、前記主軸に装着された工具と待機位置にある前記次工具と交換する工具交換動作を実行させる制御装置とを備え、
前記制御装置は、前記回転機構を制御する際に、前記回転用サーボモータに対する指令値と前記回転用サーボモータの前記エンコーダの出力値との差分である第1差分を算出すると共に、前記第1閾値と比較し、当該第1差分が前記第1閾値以上である場合には、前記回転機構による前記保持部材の回転速度を前記第1回転速度よりも遅い第2回転速度にし、前記第1差分が前記第1閾値未満である場合には、前記回転機構による前記保持部材の回転速度を前記第1回転速度に維持して、前記工具交換動作を中断無く実行させるように構成されていることを特徴とする工具交換装置。 - 前記第1差分は、工具交換動作における前記工具交換アームの回転動作のうち最初の回転動作を行う際の差分であることを特徴とする請求項1に記載の工具交換装置。
- 前記記憶部は、第2閾値を予め記憶するように構成され、
前記制御装置は、前記進退機構を制御する際に、前記進退用サーボモータに対する指令値と前記進退用サーボモータの前記エンコーダの出力値との差分である第2差分を算出すると共に、前記第2閾値と比較し、当該第2差分が前記第2閾値以上である場合には、前記進退機構による前記保持部材の進退速度を前記第1進退速度よりも遅い第2進退速度にし、前記第2差分が前記第2閾値未満である場合には、前記進退機構による前記保持部材の進退速度を前記第1進退速度に維持するように構成されていることを特徴とする請求項1又は2に記載の工具交換装置。 - 前記第2差分は、工具交換動作における前記工具交換アームの進退動作のうち最初の進退動作を行う際の差分であることを特徴とする請求項3に記載の工具交換装置。
Priority Applications (5)
Application Number | Priority Date | Filing Date | Title |
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JP2016160145A JP6746429B2 (ja) | 2016-08-17 | 2016-08-17 | 工具交換装置 |
PCT/JP2017/019542 WO2018034038A1 (ja) | 2016-08-17 | 2017-05-25 | 工具交換装置 |
DE112017004122.8T DE112017004122T5 (de) | 2016-08-17 | 2017-05-25 | Werkzeugwechsler |
US16/316,575 US10766110B2 (en) | 2016-08-17 | 2017-05-25 | Tool changer |
CN201780050328.6A CN109641335B (zh) | 2016-08-17 | 2017-05-25 | 工具交换装置 |
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JP2016160145A JP6746429B2 (ja) | 2016-08-17 | 2016-08-17 | 工具交換装置 |
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JP6746429B2 true JP6746429B2 (ja) | 2020-08-26 |
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JP (1) | JP6746429B2 (ja) |
CN (1) | CN109641335B (ja) |
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JP2020175481A (ja) * | 2019-04-19 | 2020-10-29 | Dmg森精機株式会社 | 工作機械、工作機械の制御方法、および、工作機械の制御プログラム |
TWI751829B (zh) * | 2020-12-10 | 2022-01-01 | 聖杰國際股份有限公司 | 圓盤式刀庫的控制系統及控制方法 |
CN117754309A (zh) * | 2024-01-08 | 2024-03-26 | 东莞市佛尔盛智能机电股份有限公司 | 一种叶轮加工设备 |
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JP6155902B2 (ja) * | 2013-06-27 | 2017-07-05 | ブラザー工業株式会社 | 工作機械 |
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US9630285B2 (en) * | 2014-06-19 | 2017-04-25 | Innoserv Fa Inc. | Servo-driven tool unclamping system for a machine tool |
EP2965861B1 (en) * | 2014-07-09 | 2018-02-14 | Innoserv Fa Inc. | Servo-driven tool unclamping system for a machine tool |
JP6279432B2 (ja) * | 2014-08-26 | 2018-02-14 | Dmg森精機株式会社 | 工具交換方法及び工具交換装置 |
JP5965044B1 (ja) * | 2015-09-16 | 2016-08-03 | Dmg森精機株式会社 | 工具交換装置 |
JP6490553B2 (ja) * | 2015-09-30 | 2019-03-27 | Dmg森精機株式会社 | 工具交換装置 |
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US10766110B2 (en) | 2020-09-08 |
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