JPH01199717A - Tool changing device for broaching machine - Google Patents

Abstract

PURPOSE:To improve a preparation changing operation property by providing a tool magazine which can house a plurality of broaching tools in an inclined condition for a broaching machine and automatically carrying out the change of tools between the tool magazine and the broaching machine via a manipulator. CONSTITUTION:A tool magazine 3 which has a plurality of tool housing portions 54 each of which inclinedly houses a plurality of broaching tools 2 and which can index each tool housing portion 54 to each changing position is provided on the side of a broaching machine 1. A guide way 4 horizontally connects the upper portion of the broaching machine 1 and the upper portion of the tool magazine 3. A manipulator 5 for mountably/removably holding the broaching tools 2 is provided movably along the guide way 4. The delivery of the broaching tools 2 to the tool stand of the broaching machine 1 and the tool housing portion 54 in the changing position of the tool magazine 3 is carried out by means of the manipulator 5 to change the broaching tools 2 between the broaching machine 1 and the tool magazine 3.

Description

DETAILED DESCRIPTION OF THE INVENTION (Field of Industrial Application) The present invention relates to a new turning broaching machine suitable for machining shaft parts such as journal parts and bottle parts in engine crankshafts. This invention relates to a tool changing device for a broaching machine that allows easy replacement of broaching tools.

(Prior art and its problems) An engine crankshaft W has a plurality of journal parts J1, J2, J3, and J as shown in FIG. 10, for example.
4. J5 and the bottle parts P1 at multiple locations eccentric to these
, P2, P3, and P4. This type of crankshaft W is, for example, pre-installed in the journal part or bottle part as shown in the figure 1.
After die-forging is cast into a shape with excess thickness as shown by the dotted chain line, it is cut into a product with the shape shown by the solid line in the figure.

Conventionally, a crankshaft lathe or a crankshaft milling cutter IM (generally called a miller) has been used for this type of cutting. However, since the impact and heat generated on the tool are extremely large, the tool life and machining accuracy are low, the machining time is long, and there are many problems such as poor workability during setup changes such as workpiece and tool changes. was.

(Means for Solving the Problems) In order to solve the many problems of conventional machining methods, the present applicant previously proposed a completely new technique called turning broach machining in Japanese Patent Application No. 61-87835. We are proposing a processing method.

This allows the workpiece to be rotated at high speed by a pair of spindles that are synchronously driven, and the broach tool is moved linearly in a direction perpendicular to the rotational axis of the workpiece, allowing for rough cutting to finish cutting all at once. This is how it was done.

According to this machining method, cutting is smoother and there is less impact on the tool compared to machining using conventional lathes and milling machines.
The tool life can be extended, and it is inexpensive because it does not require a complicated cutting motion mechanism.The linear cutting feed motion of the broach tool allows machining from rough cutting to finishing cutting to be performed at once, greatly reducing machining time. It is possible to easily perform stage change operations such as replacement and workpiece replacement, and it is possible to improve machining accuracy.

For example, in order to cut the rank shaft W as shown in FIG. 10, at least all the journal parts J1 to J
At least three types of broach tools, such as a broach tool for cutting 5, a broach tool for cutting the bottle parts P1 and P4, and a broach tool for cutting the bottle parts P2 and P3, are sequentially replaced on the broach machine, and the workpiece chuck part, etc. By changing the setup, it is possible to complete all machining of the journal part and the bottle part with one machine.

In addition, in the event of tool wear or damage, it is possible to quickly remove the broach tool from the broach machine and replace it with a new broach tool, or repair the tool.
There is a strong demand for automation of tool exchange in order to smoothly and reliably carry out such operations of carrying in and out of tools and chucking and unchucking them to the tool stand.

Therefore, the present invention provides such a broaching machine with a tool magazine that can store a plurality of broaching tools at an angle, and automatically exchanges tools between the tool magazine and the broaching machine via a manipulator. By doing so, all cutting processes can be performed continuously with one machine, and tool repair work can also be performed safely and easily at the tool magazine location.

That is, in the present invention, a broach tool is removably attached to a tool stand provided so as to be linearly movable in an inclined direction along an inclined guide surface, and a shaft workpiece is rotated at high speed by a pair of spindle devices driven to rotate synchronously. A device that replaces the broach tool on the tool stand with another broach tool for a broach machine that processes the peripheral surface of a workpiece by moving the tool stand in a straight line, and stores multiple broach tools in an inclined manner. A tool magazine, which has a plurality of tool storage parts and can index each tool storage part to a replacement position, is arranged at a side position of the broaching machine, and the upper part of the broaching machine and the upper part of the tool magazine are horizontally aligned. A manipulator for removably gripping the broaching tool is provided so as to be movable along the guideway, and the manipulator allows the broaching tool to be connected to the tool storage section at the tool stand and tool magazine exchange position of the broaching machine. The broaching tool is exchanged between the broaching machine and the tool magazine.

(Configuration of the embodiment) Fig. 1 is a front view showing an embodiment of the apparatus of the present invention, Fig. 2 is a view of the broaching machine as seen from Fig. 1, and Fig. 3 is a view of the broaching machine on the tool stand. The installation of the broach tool is shown in Figure 2, with the broach blade part omitted as seen in the B direction, Figure 4 is a sectional view taken along the line C-C in Figure 3 of the same above, and Figure 5 is a cross-sectional view of the same in Figure 3 of the same. 6 is a side view showing the tool gripping state on the broaching machine side of the manipulator, and FIG.
8 is a side view showing the tool gripping state on the tool magazine side of the manipulator, FIG. 9 is a sectional view taken along the line E-E in FIG. 1 showing the manipulator drive section, and FIG. The figure is a front view showing a crankshaft as a shaft workpiece.

First, in FIG. 1, the present invention apparatus is equipped with one or two broaches for turning a rank shaft W as a shaft workpiece, for example, as shown in FIG. 10! ! 11, a tool magazine 3 that can store a plurality of broaching tools 2 arranged on the side thereof, a guideway 4 that horizontally connects the upper parts of the broaching machine 1 and the tool magazine 3, and a guideway 4 for attaching and detaching the broaching tools 2. The manipulator 5 is provided so as to be freely graspable and movable along the guideway 4.

The manipulator 5 is moved and fed along the guideway 4 by, for example, servo motor control or various controllers, and moves the broaching tool 2 from the broaching machine 1 to the tool magazine 3 and from the tool magazine 3 by moving the gripping part up and down. The delivery operation to the broaching machine 1 is automatically performed.

As shown in FIGS. 1 and 2, the broach ai is disposed on a machine frame 10 consisting of a base 6, a pair of left and right support stands 7.8, and a central inclined portion 9, and on the support h7.8. A pair of spindle devices 11.12, a pair of rotary drive devices 13.14 corresponding to each of the spindle devices @11.12, an inclined guide stand 15 fixed to the central inclined portion 9 on the base 6, A tool stand 16 provided so as to be linearly movable in an inclined direction along an inclined guide surface 15a on the guide stand 15, a feed drive device 17 that drives the tool stand 16 to reciprocate linearly, and the tool stand 1.
The broaching tool 2 is mounted on the broaching tool 6.

That is, on the base 6 of the machine frame 10, the pair of support stands 7.8 are erected spaced apart from each other on both the left and right sides, and on both support stands 7.8, there is a headstock 18, respectively. .19
are individually slidably placed in the horizontal direction, that is, in the left-right direction in FIG. 1, by a feeding device (not shown). The pair of spindle devices 11 are mounted on each of the spindle heads 18 and 19.
．． 12 are each integrally supported.

This pair of spindle devices 11.12 is equipped with spindles 20.21 facing each other rotatably on the same horizontal axis (rotation axis, ML), and each of the spindles 20.21
Support members 22 and 23, each consisting of a slide type movable chuck or the like, which support both ends of the crankshaft W are integrally attached to the tips of the crankshafts.

This bearing member 22.23 can be attached to the spindle 20.21 by changing the relative position of the crankshaft W.
It has a structure that allows it to be gripped concentrically or eccentrically with respect to the 0-rotation axis in a detachable manner. Therefore, by changing the setup, it is possible to process both the journal part and the bottle part of the crankshaft W with one machine.

Each spindle device 11 integrated with the headstock 18, 19
．． 12 is slidably moved left and right on the support base 7.8, so that the gripping position of the crankshaft W by both the support members 22.23, that is, the support interval can be adjusted as appropriate.

Further, the pair of rotary drive devices 13.14 each comprising a drive motor 24.25 and a transmission mechanism 26.27 correspond to each of the spindle devices 11.12, respectively.
8.19 is integrally mounted on top. One rotary drive device 13 uses a drive motor 24 to drive a transmission I+126.
The spindle 20 of one main shaft device 11 is rotationally driven via the drive motor 25 of the other rotation drive device 14.
The spindle 21 of the other spindle device 12 is rotationally driven via the transmission mechanism 27. Further, both rotation drive devices 13, 14 are always electrically driven to rotate synchronously, for example, by controlling the rotation angle or pulse rotation speed of the drive motors 24, 25.

Further, the central portion on the base 6, that is, both the support stands 7.
The above-mentioned inclined portion 9 is provided between 8 and 8. As shown in FIG. 2, this inclined portion 9 is inclined downwardly toward the front in a direction perpendicular to the rotational axis of the spindle 20.21, and the guide table 1 is placed on this inclined surface.
5 is fixed. .: A feed screw 28 is rotatably supported at both ends on the guide stand 15 via a bracket (not shown).

The feed screw 28 is connected at its rear end to a feed drive motor 29 attached to the guide stand 15 via a speed reducer or the like. The feed drive motor 29, the reduction gear, the feed screw 28, and the tool stand 1 to be described later.
The feed drive device 17 is
is configured.

The tool stand 16 is assembled so as to be able to slide freely in the above-mentioned inclination direction along an inclined guide surface 15a having a flat surface formed on the guide stand 15 and a sliding surface of the square shape. A nut portion (not shown) screwed onto the feed screw 28 is integrally fixed to the bottom of the tool stand 16, and is reciprocated in the inclined direction via this nut portion following the rotation of the feed screw 28. It looks like this.

Further, one end side of a retractable dustproof cover 30.31 is attached to both end faces of the tool stand 16, respectively, to cover the entire upper surface of the feeding device 17 and the inclined guide surface 15a.
Each of the other sides is fixed to the machine frame 10 side.

In addition, on the upper surface of this tool stand 16, there are shown figures 3 to 5.
Two engaging bins 32, 33 on the center line as shown
and hydraulic clampers 34.35 at both top and bottom positions respectively.
is provided.

Correspondingly, the broaching tool 2 has a V-shaped engagement recess 36 and an engagement groove 37 formed on the center line on its bottom surface to be engaged with the engagement pins 32 and 33, respectively.

The V-shaped engagement recess 36 is formed in a ■-shape with the open side facing downward in the sliding direction, and is joined to one of the engagement bins 32 on the tool stand 16 by the weight of the broach tool 2 with its pair of tapered surfaces. Furthermore, the engagement groove 37 guides the other engagement bin 33 on the tool stand 16 in the direction of the center line, that is, in the direction of the inclination of the tool stand 16 to center the broach tool 2. It is possible to position it in position.

Furthermore, each of the hydraulic clampers 34 on the proach tool 2.
35, each clamping surface 38
．． 39 is notched.

The lower clamping surface 38 is formed parallel to the tool surface,
The upper clamping surface 39 is formed to be inclined with respect to the tool surface so that the slope is gentler than the slope of the tool rest 16 when the clamp surface 39 is attached to the tool rest 16.

On the other hand, regarding the hydraulic clampers 34 and 35 on the tool stand 16 side, the lower clamper 34 is attached so as to apply a clamping force in a direction perpendicular to the surface of the tool stand 16, and the upper clamper 35 is attached to the tool stand 16. It is attached so as to apply a clamping force in the direction of a composite vector having component forces in a direction perpendicular to the surface of the table 16 and in a direction that presses the broach tool 2 downward along the tool table 16.

Each clamper 34.35 is then connected to a clamp arm 42.4 by the action of each hydraulic cylinder 40.41.
The broach tool 2 is clamped and unclamped to the tool stand 16 by synchronizing the rotation and lifting movement of the broach tool 3.

Furthermore, a pair of lifting support bins 44 and 45 are provided on the left and right side surfaces of the broaching tool 2, respectively, protruding in the lateral direction.

The broaching tool 2 has one or more cutting tools 46 fixed thereto, each corresponding to the journal parts J1 to J5 and the bottle parts 21 to P4 of the crankshaft W, respectively. Each cutting tool 46 is formed by arranging a large number of broaching blades in the length direction, each consisting of a single blade or a combination of blades using, for example, a throw-away tip.

These broach blades are arranged with the shape, size, height of the blade edge, or blade pitch gradually changing from the cutting start side to the cutting end side, from rough cutting to finish cutting. When the broach blade is mounted on the tool stand 16, the cutting edge of the broach blade is spaced downward from the axis of rotation of the spindle 20.21, and journal portions J1 to J5 of the crankshaft W supported between the spindles 20.21. Alternatively, the height is set so that it can abut against the processed portions of the bottle portions P1 to P4, respectively.

In other words, when machining the journal parts J1 to J5 and the bottle parts P to P4 of the rank shaft W as shown in FIG. 10, the five journal parts J1, J2, J3, J4
, J5 respectively (indicated by [A] in FIG. 1), and two bottle parts P1. P
4 Broach tools each having two cutting tools (indicated by [ ] in FIG.
At least three types of broaching tools 2 (shown in FIG. 1 [A]) having two cutting tools corresponding to each of P3 and P3 are required, and all of these are stored in the tool magazine 3 in advance. , can be sequentially placed on the tool stand 16 by automatic conveyance by the manipulator 5.

Note that a chip receiver 47 is provided extending downward from the mounting surface 5a of the inclined part 5 of this broaching machine 1, and collects chips that naturally fall from the tool stand 16 along the dustproof cover 30, 31 and the inclined part 9. It is placed in a position where all can be collected.

Next, the tool magazine 3 will be explained.

A support shaft 49 is integrally erected on the base 48, and this support shaft 4
A rotary table 50 is mounted around 9 via a bearing or the like so as to be horizontally rotatable. This rotary table 50 is rotationally driven by a drive motor 51 provided on the base 48 side via gears 52 and 53.

The rotary table 50 is equally divided into four parts in the rotational direction, and tool storage parts 54 are formed at four positions, respectively. The tool storage section 54 is integrally formed with an inclined storage surface 55 having the same slope as the inclined guide surface 15a of the broach m1, and a locking edge 56 at the lower end thereof.

A tool stand 57 on which the broaching tool 2 can be attached and detached is mounted on the inclined storage surface 15a so as to be slidable in the inclined direction. A connecting rod 58 is protruded from the lower end of this tool stand 57, and this connecting rod 58 passes through a through hole 59 which is inserted through the locking edge 56 and projects outwardly, that is, forwardly, from the locking edge 56. There is. This connecting rod 58 can be connected to the piston rod of the cylinder 60 provided on the base 48 side at the exchange position G on the front side, and the tool stand 58 can only be connected at the exchange position G on the front side.
7 can be slid in the inclined direction along the inclined storage surface 55.

Further, on the upper surface of each tool stand 16, two engagement bins (not shown) similar to the tool stand 16 of the broaching machine 1 are protruded, and when the broach tool 2 is installed, the V-shaped engagement recess 3 of the broach tool 2 is provided.
6 and the engagement groove 37 .

In addition, tool clampers 61 are provided on both sides of the upper end of each tool stand 16.
are provided respectively, and the broach tool 2 is always held on the tool stand 16 by a built-in spring or the like so that the broach tool 2 does not fall from the tool stand 16 when the tool magazine 3 is indexed and rotated.
The clamp holds it in place. Then, the tool clamper 6
1 is connected to a piston rod of a cylinder (not shown) provided on the upper part of the support shaft 49 only at the exchange position G, and is unclamped by the cylinder when the broach tool 2 is attached or detached.

This rotation indexing of the tool magazine 3 is performed, for example, by servo motor control, various controllers, or manually.
The tool storage section 54 that stores the broaching tool 2 necessary for machining or the empty tool storage section 54 for receiving the broaching tool 2 removed from the broaching machine 1 can be positioned at the exchange position G. It has become.

Next, the manipulator 14 will be explained.

As shown in FIGS. 6 to 9, the manipulator body 6
2 is mounted on the guideway 4, and the guideway 4
A guide roller 63 that rolls in contact with the upper and front surfaces of the
．． 64 and 65 so as to be able to reciprocate along the guideway 4.

The feeding drive of the manipulator body 62 is performed by a drive motor 6 provided on the manipulator body 62 with respect to a rack member 66 in the feeding direction that is integrally provided on the rear side of the guideway 4.
This is done through meshing with a pinion 68 which is rotationally driven by 7.

Further, the support frame 6 protrudes forward of the manipulator main body 62.
A nut member 71 is built into the nut member 9 via a bracket 70 so as to be rotatable and restrained from vertical movement, and a vertical screw 72 is screwed into the nut member 71.

An elevating frame 73 is integrally supported at the lower end of this screw 72. Moreover, this elevating frame 73 has two parallel to the screws 72.
It has book guide shafts 74 and 75, which are respectively inserted into guide tubes 76 and 77 provided on the support frame 69 so as to be movable in the vertical direction.

Attached to the elevating frame 73 are four hook members 78 and 79, one pair each at the front and rear, which grip the broach tool 2 on the broach 111111 or on the tool magazine 3 in the inclined state when installed. There is. Each hook member 78,79 corresponds to the four support bins 44.45 of the broaching tool 2, and these support bins 44.4
5 to hang the broach tool 2.

Further, the nut member 71 is rotationally driven by a motor 80 provided at the upper part of the manipulator main body 62 via a belt 81 and a gear transmission means 82, etc., and gives a vertical movement to the screw 72 screwed therein, thereby causing the lifting frame to move. 73 up and down.

Further, position sensors 88, 84 are attached to both sides of the manipulator main body 62, and the position sensors 83, 84 detect the dogs 85, 86 at each position provided on the front surface of the guideway 4. Manipulator 5 for each broach m1 and tool magazine 3
It is designed to control the speed of the motor and determine each stopping position.

(Operation of the Embodiment) With the above configuration, the operation will first be explained for the broaching machine 1 on the right side of FIG. 1, taking as an example the turning broaching of the pin portions P1 and P4 of the rank shaft W as shown in FIG. 10. .

In the machining start state, the broach tool 2 is clamped to the tool stand 16 and moved to the guide stand 1, as shown in FIGS. 1 and 2.
It is stopped at the lowest position of 5.

In the case of bottle machining of the rank shaft W as described above, by shifting the movable chuck in the support member 22, 23 in the opposite direction to the eccentric direction of the bottle part, the bottle part P
1. With the axis of P4 and the axis of rotation of the support member 22.23 aligned, securely grip and fix it between the spindles 20.21.

From this state, when both spindles 20.21 are driven to rotate synchronously by both rotary shaft drive devices 18.14, the crankshaft W is rotated clockwise in FIG. Rotates at high speed.

Then, the feed drive motor 29 is activated and the feed screw 2
When the tool stand 8 is rotated, the tool stand 16 is tilted along the inclined guide surface 15a and sent upwardly toward the rear via the nut portion. That is, together with this tool stand 16, the broach tool 2
is fed and moved, and the broaching tool 2 touches the counterbalance part of the rotating crankshaft W and each pin part pt.
, turn and broach the circumferential surface of P4 at the same time.

The rotational drive of the crankshaft W and the feed drive of the broach tool 12 are controlled by an NC device (not shown), and all steps from rough cutting to finish cutting are completed with one unidirectional feed operation of the broach tool 2. Location bottle PL%
Immediately finish P4 into the shape shown by the solid line in Figure 10.

According to this turning broaching process, each broach blade passes through the workpiece W once and the chips are finely cut according to the number of blades, so the cutting heat is quickly removed by the chips, and the workpiece Heat transfer is not caused between the W and the tool, and therefore highly accurate machining is possible with less thermal deformation. On the other hand, chips are removed from the dust cover 30, 31 and the inclined part 9.
The chips fall down naturally and are all collected in the chip receptacle 47 below.

Further, since the broach tool 12 is fixed to a tool stand 16 guided by a guide stand 15, deformation due to cutting resistance is small, and from this point of view, extremely highly accurate machining is possible. Furthermore, when the tool rest 16 is fed for cutting from the lower front to the upper rear, the weight of the tool rest 16 and the direction of the cutting resistance work together to suppress the backlash of the nut (not shown), and the backlash of the feed drive part It is possible to perform highly rigid cutting without causing movement errors or vibrations.

In this way, when the machining of the bottle portion P4 is completed, the operation of exchanging the broach tool 2 is started in order to process the bottle portions P2 and P3 next.

The manipulator 5 is moved by the drive motor 67 from the standby position as shown in FIG.
0, the elevating frame 73 is lowered, and the hook members 78 and 79 at the tip are lowered to the position shown by the two-dot chain line in FIG.

At this time, the tool stand 16 and the broach tool 2 are
It is waiting at the position shown by the dotted chain line, that is, at the highest position, and its support bin 44.45 is attached to the hook member 78.79.
It is evacuated from the ascending and descending path of the vehicle and does not interfere with its descending movement.

When the hook members 78 and 79 reach the position shown by the two-dot chain line in FIG.
is driven to the lower tool attachment/detachment position shown by the solid line in FIG. At this time, the support bins 44 and 45 of the broach tool 2
into a position capable of engaging hook members 78,79.

Next, the lifting frame 73 is raised and temporarily stopped just before the hook members 78, 79 engage with the support bins 44, 45.

In this state, the hydraulic clampers 34, 35 of the tool stand 16 are unclamped by their respective cylinders 40, 41, and each clamp arm 42 releases the clamp of the broaching tool 2, and at the same time, swings and retreats from the broaching tool 2. do.

Even if the broach tool 2 is unclamped, the V-shaped engagement recess 36 and the engagement groove 37 are connected to the engagement pin 32 on the tool stand 16 side.
．． 33, and the support bins 44.45 are held on the tool carrier 16 by engagement with the hook members 78.33.
Since most of the end hook 79 is surrounded by the parts 78a and 79a, there is no risk of it falling from the tool stand 16 even in the event of shock or vibration.

Thereafter, the elevating frame 75 is further moved upward, and during the upward movement, the hook members 78 and 79 securely hook the four support bins 44 and 45 at the positions indicated by solid lines in FIG. It is then hung up to the conveyance height position, that is, to the height indicated by the two-dot chain line 2° in FIG.

Then, the manipulator 5 is moved leftward in FIG. 1 while gripping the broach tool 2, indexed to a position above the tool magazine 3, and stopped.

During this time, on the tool magazine 3 side, the empty tool storage section 54
is indexed to replacement position G. At the same time when the empty tool storage section 54 is indexed to the exchange position G, the connecting rod 58 of the tool stand 57 on the tool storage section 54 is engaged with the piston rod of the cylinder 60, and the tool clamper 61 is not shown. It is connected to a cylinder and unclamped.

In this state, the elevating frame 73 of the manipulator 5 is lowered,
The broach tool 2 gripped by the four hook members 78 and 79 is lowered onto the tool stand 57 provided in the empty tool storage section δ4 of the tool magazine 3.

That is, as shown in FIG. 8, the receiver is placed on the tool stand 57, and the hook members 78, 79 are further lowered to the support bins 44, 45.
Release and stop at the lowest position.

At this time, the broach tool 2 has the V-shaped engagement recess 36 and the engagement groove 37 on the bottom fit into the two engagement bins (not shown) on the tool stand 57, and furthermore, due to its own weight, the broach tool 2 is placed on the tool stand 57. The V-shaped engagement recess 36 is securely engaged with the engagement pin by sliding slightly.

Next, the cylinder 60 moves the tool stand 57 onto the inclined storage surface 5.
5, and the support pins 44, 45 of the broaching tool 2 are moved to a position where they are retracted from the lifting path of the hook members 78, 79.

Then, the elevating frame 73 of the manipulator 5 is sent upward,
Waits at the transport height position at the rising end.

As the manipulator 5 rises, the hook member 78.7
9 passes from the broach tool 2 on the tool magazine 3, the cylinder 60 moves the tool stand 57 onto the inclined storage surface 55.
The tool is fed downward along the tool and comes into contact with the locking edge 56 at the lower end, that is, stops at the tool attachment/detachment position.

At this position, the spring of the tool clamper 61 is returned by a cylinder (not shown), the tool clamper 61 is activated, and the broach tool 2 is clamped and held on the tool stand 57.

Then, the tool magazine 3 is loaded with the bin part P2 necessary for the next machining.
, a tool storage section 5 that stores a broach tool 2 for P3 processing.
4 to the replacement position G.

At this position, the tool stand 57 holding the broach tool 2
The hook member 78 is fed upward in the inclined direction by the cylinder 60 along with the unclamping operation of the tool clamper 61.
．． The robot is moved to a device consisting of 79 lifting paths.

At this -u5'A, the elevating frame 73 of the manipulator 5 is lowered and sent to the lowest position, and the tool stand 57 is again moved downward to the tool attachment/detachment position by the cylinder 60.

Then, the elevating frame 73 rises, and as shown in FIG. It is lifted up to the conveyance height shown by the two-dot chain line 2'' in FIG. 8, and conveyed to the broach m1 side on the right side of FIG.

When changing tools, the manipulator 5 is connected to the broaching machine 1.
Simultaneously with the upward movement both on the side and on the side of the tool magazine 3, the tool carriage 16.57 is returned to the tool loading/unloading position.

On the broaching machine 1 side, the tool stand 16 is empty and stopped at the tool loading/unloading position, and the manipulator 5 moves downward to place the broach tool 2 transferred from the tool magazine 3 onto the tool stand 16 of the broaching machine 1. Pass the uke.

As shown in FIG. 6, when the broaching tool 2 is lowered onto the tool stand 16, the engagement bins 32 and 33
In contrast, the V-shaped engagement recess 36 and the engagement groove 37 on the proching tool 2 side fit together. Furthermore, the hook members 78, 79 are lowered a little to a position slightly removed from the support bin 44, 45, that is, the end hook portions 78a, 79a surround most of the support bin 44, 45, and are once stopped. .

At the same time, the broach tool 2 slides on the tool stand 16 due to its own weight, the V-shaped engagement recess 36 firmly engages the engagement pin 32, and the centering is guided by the engagement groove 37 and the engagement pin 33. is also performed and positioned at a predetermined position.

The hydraulic clampers 34 and 35 are then operated to securely clamp and hold the broach tool 2 on the tool stand 16. One clamper 34 is in the direction of pressing the broach tool 2 vertically against the surface of the tool stand 16, and the other clamper 35 is in the direction of making the broach tool 2 slide downward on the tool stand 16, that is, V-shaped engagement with the engagement pin 32. the direction in which the recess 36 is pressed;
The clamping force is applied in the direction of pressing against the surface of the tool stand 16.

Therefore, the broaching tool 2 is always clamped and held in the correct position with respect to the tool stand 16 with high precision.

After the clamping is completed, the hook members 78 and 79 are lowered to the position shown by the two-dot chain line in FIG. It is lifted up and away from the broaching machine 1.

Then, the manipulator 5 returns to the standby position along the guideway 4, and on the broach m1 side, machining of the bottle portions P2 and P3 is started using the newly installed broach tool 2.

Similarly to the processing of the bottle parts P1 and P4 described above, the support member 2
2. Perform setup changes such as 23, align the axes of the bin parts P2 and P3 with the work rotation axis, move the tool stand 16 to the lowest position, and start carving.

When the broaching of the bottle portions P2 and P3 is completed, the tool is replaced again in order to process the remaining journal portions J and J5.

This tool exchange operation is performed in the same manner as described above.

In this way, by storing at least three types of broaching tools 2 in the tool magazine 3 in advance, tool attachment to the broaching machine 1 and tool exchange can be easily carried out in a short time via the manipulator 5. This allows a series of processes to be completed efficiently with one machine.

Broaching of the crankshaft W is performed in the same manner on the left broaching machine 1 in FIG.

In addition, the broaching machine 1 on the right side and the broaching machine 1 on the left side are
They are connected by a workpiece conveyance device (not shown), so that, for example, different processes on the crankshaft W can be performed efficiently.

Furthermore, one tool magazine 3 and one manipulator 5 can be shared with each other, and the operating rate of the manipulator 5 can be increased. In addition, if each workpiece is of the same type, the broaching tool can be shared between the two.
It is only necessary to prepare one set of broaching tools 2 for each broaching machine 1, and highly efficient workpiece machining can be performed by exchanging the tools.

In addition, in the event of an emergency such as tool wear or tool breakage during machining,
By operating the manipulator 5, the broaching tool 2 on the broaching machine 1 can be quickly transferred to the tool magazine 3. Tool repair work, etc. can be performed in a safe place.

The tool magazine 3 has a tool storage section 54, an index structure, a tool stand slide structure, a clamp structure, etc.
The structure is not limited to that shown in this embodiment, and any other deformed structure that can be considered in terms of design can be adopted.

Furthermore, by making the entire tool magazine 3 shiftable in the front and back direction without providing a sliding tool stand 57 in each tool storage section 54 of the tool magazine 3, the tool retracting operation when the manipulator 5 is raised and lowered can be performed. is easily possible.

(Effects of the Invention) According to the present invention, tools can be automatically exchanged by a manipulator between a tool magazine that can store a plurality of broaching tools attached to a broaching machine while tilting, and a manipulator. For example, all machining parts of a crankshaft journal or bottle can be continuously machined using a single machine by changing tools, thereby improving machining efficiency.

In addition, when tool wear or tool breakage occurs, the manipulator quickly transports the damaged tool from the broaching machine to the tool magazine, and by moving it onto the tool magazine or another location, the broken tool can be removed from the broaching machine. Tool repair work, etc. can be easily performed in a safe, remote location.

Furthermore, since the broaching tool is conveyed in the same tilted state as during machining, the tool deposition operation of the manipulator only requires the broaching machine to displace the tool in the tilting direction, that is, in the machining feed direction. This can be done smoothly by simply raising and lowering the hook, and there is no need to provide a special shift mechanism to allow the tool holding part to escape when the hook is raised or lowered.

Therefore, all tool exchange operations can be automated, making it extremely easy to carry in and out of heavy broaching tools.
By setting the timing of tool clamping and unclamping between the broaching machine and tool magazine, tool transfer operations can be performed very efficiently and safely, reducing machining time, improving work efficiency, and increasing productivity. This will contribute greatly.

[Brief explanation of the drawing]

Fig. 1 is a front view showing an embodiment of the device of the present invention, Fig. 2 is a view of the broaching machine as seen from the direction of a first country person, and Fig. 8 shows how the broaching tool is installed on the tool stand of the broaching machine. Fig. 2 is a view with the broach blade part omitted as seen from the Chunichi direction, Fig. 4 is a sectional view taken along the line C-C in Fig. 3 of the above, and Fig. 5 is a view of Fig. Figure 6 is a side view showing the tool gripping state on the broaching machine side of the manipulator, and Figure 7 is the
8 is a side view showing the manipulator in a tool gripping state on the tool magazine side; FIG. 9 is a sectional view taken along the E-IE arrow in FIG. 1 showing the manipulator drive section; FIG. 10 FIG. 2 is a front view showing a crankshaft as a workpiece. 1... Broaching machine, 2... Broaching tool, 3...
Tool magazine, 4... Guideway, 5... Manipulator, 11.12... Spindle device, 15a... Inclined guide surface, 16... Tool stand, 54... Tool storage section, W
...Crankshaft as a shaft workpiece, G...
exchange position. Patent applicant: Nippei Toyama Co., Ltd. Figures 5 and 6

Claims (1)

[Claims] (1) A broach tool is removably attached to a tool stand provided so as to be linearly movable in an inclined direction along an inclined guide surface, and the tool stand is rotated while a shaft workpiece is rotated at high speed by a pair of spindle devices driven by a pair of synchronous rotations. In contrast to a broaching machine that processes the circumferential surface of a workpiece by linear feed movement, the broaching tool on the tool stand is replaced with another broaching tool, and a plurality of broaching tools are stored in an inclined manner. A tool magazine having a tool storage part and capable of indexing each tool storage part to a replacement position is arranged at a side position of the broaching machine, and the upper part of the broaching machine and the upper part of the tool magazine are connected horizontally. A guideway is provided, and a manipulator that removably grips the broaching tool is provided to be movable along the guideway, and the manipulator transfers the broaching tool to the tool rest of the broaching machine and the tool storage section at the tool magazine exchange position. A tool changing device for a broaching machine, characterized in that the broaching tool is exchanged between the broaching machine and the tool magazine.