JPH0225738B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to a tool socket transfer device in a tool changing device of a machine tool, and particularly to a tool socket transfer device for a tool changer of a machine tool and a tool magazine having a plurality of cartridges each having a plurality of tool sockets. This invention relates to a tool socket transfer device installed on a machine.

[Prior art]

It is already well known that tool changing devices for machine tools store a large number of tools in a tool magazine so that they can be inserted and removed freely through tool sockets, and that automatic tool changing is performed by operating a tool transfer device or a tool changing arm. It is. In addition, in order to improve the mounting density of tools in the tool magazine, a plurality of movable cartridges are housed in the magazine and a plurality of tool sockets are provided in the magazine. In this case, by sliding a cartridge in an indexed position for constant tool change,
The desired tool socket in the cartridge is positioned at a fixed position, the tool is extracted from the tool socket at this fixed position and transferred to the tool spindle in the spindle head of the machine tool, and the tool is exchanged with the used tool mounted on the tool spindle. A tool transfer device is provided to perform this. However, in a tool changing device that transfers tools in this way, it is generally necessary to change the direction of the main axis of the tool in the process of changing the main axis of the tool from the state stored in the tool magazine to the tool main axis of the machine, or vice versa. However, in order to eliminate the inconvenience of complicating the configuration of the tool transfer device, there is also a device that extracts the tool socket itself along with the tools from the tool magazine and inverts it to a position suitable for tool exchange, for example, in Japanese Patent Publication No. 59-102550. It is publicly known in No.

[Problems to be solved]

However, the tool socket overturning device disclosed in the latter known document also uses two mechanisms, a luffing drive mechanism and a forward/backward drive mechanism, while extracting the tool socket from the tool magazine and transferring it to the tool spindle of the machine tool and the position where the tool is exchanged. This method requires two drive mechanisms, and therefore has the problem of lack of structural simplicity.
Therefore, an object of the present invention is to simplify the configuration so that a single drive device can be used to transfer a tool socket in a tool magazine to the tool spindle of a machine tool at once to a position where tools are exchanged. It is an object of the present invention to provide a tool socket transfer device.

[Means of solution and action]

In view of the above-mentioned object of the invention, the present invention provides a tool socket transfer device that is installed on a machine tool together with a tool magazine in which a plurality of cartridges having a plurality of tool sockets are disposed, and a tool socket transfer device that is mounted on the base of the machine tool. between a swing arm that is attached to the tool magazine and is provided to be able to reciprocate in a plane, a tool socket delivery position for delivering and receiving a tool socket of a cartridge indexed from the tool magazine, and a tool exchange position near the tool spindle of the machine tool. a cylinder device that swings the swing arm; a socket gripper that is provided at the tip of the swing arm and that grips a tool socket with a fixed claw and a movable claw;
a gripper operating means capable of opening a movable claw of the socket gripper only at the tool socket delivery position, and a tool for transferring the tool socket between the tool socket delivery position and the tool exchange position. A socket transfer device is provided, and a tool socket is transferred using the above-mentioned cylinder device as a single driving source.

Hereinafter, the present invention will be described in detail based on embodiments shown in the accompanying drawings.

〔Example〕

Fig. 1 is a plan view showing the tool socket transfer device according to the present invention installed on the base of a machine tool, and Fig. 2 is a plan view showing the configuration at the tool socket delivery position as seen from the - arrow line in Fig. 1. FIG. 3 is an enlarged plan view including a partial cross section as seen from the arrow line of FIG.
FIG. 4 is a partial side view seen from the - arrow line in FIG. 3. 5 and 6 are an external front view and a top view of a machine tool equipped with a tool changing device equipped with this tool socket transfer device.

First, referring to FIGS. 5 and 6 for the configuration of a machine tool with a tool changing device equipped with a tool socket transfer device according to the present invention, the machine tool has a table that slides in the X-axis direction on a bed 1. 3 and Z
It is equipped with a column 5 that slides in the axial direction and a spindle head 7 that slides on the front surface of this column 5 in the Y-axis direction. Each is driven by a shaft drive motor 13. A tool spindle 15 is rotatably supported on the spindle head 7, and a tool 17 is detachably held at the tip of the tool spindle 15. , the desired shape is processed according to the relative movement in the Z-axis direction.

The machine tool is rotatably supported by a base 21 installed at the rear of the side surface of the bed 1, and is equipped with a disc-shaped tool magazine that stores a large number of tools. A plurality of cartridges 25 are housed in a radial arrangement with respect to the center of rotation of the tool magazine 23 so as to be slidable in the radial direction. A large number of tools are housed in the disc-shaped tool magazine 23 while being attached to tool sockets 27 that are detachably held in the respective cartridges 25. Each of the cartridges 25 stored in the disk-shaped tool magazine 23 can be indexed to two index positions, a tool delivery index position 29 and a tool replacement index position 31, by a magazine indexing operation. At the former index position 29 for tool delivery, it slides into the first cartridge guide device 33 and prepares for the delivery of the tool socket 27 between it and a tool socket transfer device 43 of the present invention, which will be described later. Furthermore, at the latter tool replacement index position 31, the cartridge 25 is slidably transferred from the disc-shaped tool magazine 23 into the second cartridge guide device 35, thereby allowing the operator to freely replace the necessary tools. It is now possible to do it. Note that the method for controlling the indexing operation of the disc-shaped tool magazine 23 and the sliding movement of the cartridge 25 at the indexing position 29 for tool delivery and the indexing position 31 for tool replacement is already known, and for example, the method described above is known. The one disclosed in Japanese Patent Publication No. 59-35738 is applicable. Furthermore, when the cartridge 25 indexed to the tool delivery index position 29 is slid into the first cartridge guide device 33 for tool delivery, a desired tool socket 27 in one cartridge 25 is moved. The tool is positioned at a predetermined tool socket delivery position 37 of the first cartridge guide device 33, and from this tool socket delivery position 37, the tool socket transfer device 43 according to the present invention transfers the desired tool socket 27, that is, the next tool socket to be used. The tool socket holding the tool is transferred to the tool exchange position 39 provided close to the spindle head 7, where the used tool 17 mounted on the tool spindle 15 is exchanged with the tool to be used next. This is accomplished by a known tool changing arm 41. After the tool exchange, the tool socket 27 holding the used tool 17 is returned to the tool socket transfer position 37 by the tool transfer device 43, where it is re-stored in the empty space of the cartridge 25. The cartridge 25 that has re-stored the tool socket 27 is returned to the disc-shaped tool magazine 23 via the tool delivery indexing position 29, and then the cartridge 25 that has stored the necessary tools is indexed.

Now, the tool socket transfer device 43 according to the present invention
The basic configuration is a rotation center 4 provided on a base 21.
Swing arm 47 that swings back and forth using 5 as a fulcrum
, one fluid pressure cylinder device 49 that drives the reciprocating swing of this swing arm 47 , a socket gripper 51 provided at the tip of the swing arm 47 , and an actuation means for this socket gripper 51 ( (not shown in FIGS. 5 and 6), and the socket gripper 51 grips the fifth gripper along the track or guide rail 53 provided on the upper surface of the base 21 when transferring the tool to the socket. It swings back and forth as shown by the reciprocating arrow in the figure.

Next, the tool socket transfer device 43 according to the present invention
Referring to FIGS. 1 to 4, the swing arm 47 of the device 43 is an arm member that swings back and forth around the rotation center 45 as described above. 1. A tool socket delivery position 37 provided in the cartridge guide device 33 and a tool exchange position 3 provided close to the spindle head 7.
The tip 5 of the telescopic rod 55 of the fluid pressure cylinder device 49 is provided at the center of the rotation radius, which is located at two points on a concentric circle with 9.
5a is pivotally mounted. The socket gripper 51 provided at the tip of the swing arm 47 is a third,
It is connected to the swing arm 47 by a plurality of bolts and screws 69, as shown in an enlarged view in FIG. The fluid pressure cylinder device 49 has the above-mentioned telescopic rod 55 and a cylinder body 57. A piston integrated with the telescopic rod 55 is built in the cylinder body 57, and pressure oil, etc. is supplied via fluid pressure pipes 59a and 59b. The piston is operated by supplying and discharging the pressure fluid, and the telescoping rod 55 is operated to extend and contract. When the telescoping rod 55 is extended, the swing arm 47 moves to the tool exchange position 39 by holding the socket gripper 51 as shown in FIG.
When the swing arm 47 is moved to and retracted, the swing arm 47 moves with the socket gripper 51 to the tool socket transfer position 37 as shown in FIG. In addition, adjustable stoppers 6 are provided at the tool socket delivery position 37 and the tool exchange position 39, respectively.
3, 65 are provided to enable accurate positioning of the swing arm 47, and a detector 67 such as a proximity switch or a limit switch is provided adjacent to either one of the adjustable stoppers 63, 65.
By providing this, it is possible to know in which of the two positions 37 and 39 the swing arm 47 is located. Of course, if necessary, the detector 6
7 may be provided at both positions 37 and 39. In the above-mentioned fluid pressure cylinder device 49, the cylinder main body 57 is provided so as to be pivotable on a fulcrum 61 in order to smooth the expansion and contraction action of the telescoping rod 55 when swinging the swing arm 47.

Next, attach the screw bolt 6 to the tip of the swing arm 47.
The socket gripper 51 fixed at 9 is
It has a base plate 71, a fixed claw 73 fixed to the base plate 71 by screw connection or the like, an oblong hole 77 engaged with a pin 75 implanted in the rear of the fixed claw 73, and a spring receiving flange 79, A horizontal rod 81 is provided to be movable in a lateral direction orthogonal to the axial direction of the swing arm 47, and is compressed and arranged between the spring receiving flange 79 of this horizontal rod 81 and the side surface of the fixed claw 73, A spring 83 biasing the horizontal rod 81 toward the end opposite to the horizontally long hole 77;
a link 87 whose one end is pivotally attached to the end opposite to the end where the horizontally elongated hole 77 of No. 1 is provided, and which is pivotally attached to the substrate 71 via a pivot 85; A movable claw 89 is pivotally attached to the other end and is disposed opposite to the fixed claw 73. The engagement ends 73a, 7 of the fixed claw 73
3b and the engaging end 89a of the movable claw 89, the tool socket 27 is gripped. Now, when the movable claw 89 of this socket gripper 51 reaches the tool socket delivery position 37 by the swinging of the swing arm 47, the movable claw 89
1 end 81a is the first cartridge guide device 33
At this time, since the amount of protrusion of the stopper bolt 91 is adjusted in advance with the nut 93, the horizontal rod 81 compresses the spring 83 and moves horizontally under the guidance of the pin 75. (in the right direction of the arrow in Figure 3). As a result, the link 87 pivots about the pivot 85, so that the movable pawl 89 pivotally connected to the link 87 opens in the direction of separating from the tool socket 27. The socket gripper 51 is located at the tool socket delivery position 37.
When separated from the stopper bolt 91 and the horizontal rod 8
Since the contact state with 1 is released, the movable claw 89 closes toward the fixed claw 73 as a result. In other words,
The tool socket 27 is now gripped.

As clearly shown in FIG. 2, the first cartridge guide device 33 is provided with an opening 32 at a tool socket transfer position 37. As shown in FIG. Therefore, when a tool is to be replaced, before the indexed cartridge 25 of the tool magazine 23 is slid into the first cartridge guide device 33, the swing arm 47 of the tool socket transfer device 43 is swung. If the socket gripper 51 reaches the tool socket delivery position 37 through the opening 32 of the first cartridge guide device 33, the movable claw 89 of the socket gripper 51 will open relative to the fixed claw 73. the first cartridge guide device 3.
A desired tool socket 27 housed in the cartridge 25 that slides upward along the guide rails 33a and 33b within the tool socket 3 is prepared to be grasped. When the desired tool socket 27 is positioned at the tool socket delivery position 37, the swing arm 47 swings to move the socket gripper 51 through the opening 32 to the tool exchange position 39.
(FIG. 1), as described above, as the horizontal rod 81 of the socket gripper 51 moves away from the stopper bolt 91, the movable claw 89 closes, and the desired tool socket 27 is moved. Hold it firmly. FIG. 3 shows how the movable claws 79 of the socket gripper 51 are in two states: an open state and a closed state. Further, the grip of the tool socket 27 by the socket gripper 51 is maintained continuously after it is separated from the stopper bolt 91, and the tool socket 27 is always held even when the tool exchange position 39 is reached as shown in FIG. It is gripped by the socket gripper 51 of the tool socket transfer device 43.

On the other hand, after the tool is exchanged at the tool exchange position 39 by the action of the tool exchange arm 41 (FIG. 5) described above and the used tool 17 is returned to the tool socket 27, the swing arm 47 swings. Therefore, the tool socket 27 holding the used tool 17 is returned to the tool socket delivery position 37 again, but at this time, since there is an empty space in the cartridge 25 waiting at the tool socket delivery position 37, the socket grip is not replaced. The par 51 passes through the opening 32 of the first cartridge guide device 33 and returns the tool socket 27 holding the used tool in the cartridge 25 to the empty space of the cartridge.
comes into contact with the stopper bolt 91 and opens the movable pawl 89. In this way, one cycle of the tool socket transfer action of the tool socket transfer device 43 is completed.

As shown in FIGS. 2 and 3, the first cartridge guide device 33 is provided with a socket detector 95 facing the opening 32 at the tool socket delivery position 37. is formed by, for example, a known proximity switch, and detects the dog 97 that is predetermined and provided in the tool socket 27 housed in the cartridge 25 that slides up the first cartridge guide device 33. A detection signal indicating the presence or absence of a tool socket in the cartridge 25 is sent out. Therefore, this detection signal can be used to control the actuation timing of the hydraulic cylinder device 49 of the tool socket transfer device 43, or to control the actuation timing for returning the cartridge 25 to the tool magazine 23 after the tool exchange is completed. It is. A similar socket detector 95 is also appropriately placed at the tool change position 39, and the tool socket 2
7 and detects the presence or absence of the tool change arm 41 (fifth
The tool exchange operation can be controlled according to the method shown in Fig.).

Now, the tool socket transfer device 43 has the basic configuration and operation as described above, but when transferring the tool socket by the reciprocating swing of the swing arm 47, the long arcuate reciprocating motion is performed. The socket gripper 5 holds the tool socket stably during
1 can be gripped by the socket gripper 51.
A rolling roller 99 shown in FIGS. 3 and 4 is mounted so as to be able to roll on the bottom surface of the base plate 71, and this rolling roller 99 is attached to an arc-shaped fixed plate provided on the top surface of the base of the machine tool. By traveling on the track 53, stable transfer operation of the socket gripper 51 is ensured.

〔Effect of the invention〕

As described in detail above, the tool socket transfer device of the present invention cooperates with a cartridge-storage type tool magazine to transfer a single tool from the tool socket delivery position close to the tool magazine to the tool exchange position close to the spindle head of the machine tool. It is possible to achieve both gripper operation, which uses a hydraulic cylinder as a drive source to grip and release the tool socket, and socket transfer, which transports the tool socket between two positions: the tool socket delivery position and the tool exchange position. Since only a single drive source is used in this way, the mechanism of the tool socket transfer device can be simplified compared to conventional ones, making it possible to provide a device that is inexpensive as a mechanical device and has fewer failures. It is.

[Brief explanation of drawings]

FIG. 1 is a plan view of a tool socket transfer device in a tool changer according to the present invention, FIG.
The tool socket transfer device shown in the figure is in the tool socket delivery position, and is a partially enlarged plan view including a partial cross section as seen from the direction of the arrow in FIG. 5 is a front view of a machine tool with a tool changing device equipped with the same tool socket transfer device, and FIG. 6 is a top view seen from the arrow line in FIG. 7... Spindle head, 15... Tool spindle, 21... Base, 2
3...Disc-shaped tool magazine, 25...Cartridge,
27... Tool socket, 29... Index position for tool delivery, 33... First cartridge guide device, 37... Tool socket delivery position, 39... Tool exchange position, 4
3...Tool socket transfer device, 45...Rotation center, 4
7... Swing arm, 49... Fluid pressure cylinder device, 51... Socket gripper, 53... Fixed orbit,
73...Fixed claw, 81...Horizontal rod, 83...Spring, 89...
Movable claw, 91...stopper bolt, 95...rolling roller.

Claims (1)

[Scope of Claims] 1. In a tool socket transfer device installed on a machine tool together with a tool magazine in which a plurality of cartridges each having a plurality of tool sockets are disposed, the tool socket transfer device is pivotably mounted on the base of the machine tool and is arranged in a plane. A swing arm is provided to be able to swing back and forth, and the swing arm is moved between a tool socket delivery position where a tool socket of a cartridge indexed from the tool magazine is delivered and a tool exchange position close to the tool spindle of the machine tool. a cylinder device for swinging; a socket gripper provided at the tip of the swing arm to grip the tool socket by a fixed claw and a movable claw; and a socket gripper for gripping the tool socket only at the tool socket delivery position. A tool socket transfer device comprising a gripper operating means capable of opening a movable claw of the gripper, and transferring a tool socket between a tool socket delivery position and a tool exchange position. 2. The gripper operating means includes a spring means that biases both the fixed and movable jaws of the socket gripper toward the closed position, and a spring means that abuts the movable jaw connection body at the tool socket delivery position and presses the spring means. 2. The tool socket transfer device according to claim 1, further comprising a fixed protrusion that applies an opening force against the means. 3. The socket gripper has rolling rollers, so that it rolls along a fixed track provided on the base of the machine tool in accordance with the reciprocating swing of the swing arm. The tool socket transfer device according to item 1 or 2.