JPH0379143B2 - - Google Patents

Description

[Detailed Description of the Invention] (1) Purpose of the Invention (a) Field of Industrial Application The present invention provides an automatic tool changer for a machine tool suitable for shortening automatic tool change time and shortening non-cutting time. Regarding.

(b) Prior art In a numerically controlled machine tool as shown in Figure 1,
A tool magazine 12 holding a large number of tools 11 is fixed on the bed 10, and the tools 11 are automatically exchanged between the tool magazine 12 and the spindle 13. The main shaft 13 is supported by the column 14 so as to be slidable in the Y-axis direction, and is configured to be moved by a motor 15 and rotated by a driving means (not shown). Further, the column 14 is placed on the bed 10 so as to be slidable in the Z direction, and is moved by a motor 16. The table 17 on which the workpiece is placed is powered by a motor 18
It is formed to be movable in the X direction (orthogonal to the Y and Z directions).

After machining a workpiece with the tool fixed to the spindle 13, the spindle 13 and the tool magazine 12 are positioned in a predetermined relationship, and the automatic tool changer 19
Automatic exchange of the tool 11 is performed by this.

(C) Problem In order to change a tool, it takes time for the spindle 13 to move to the above-mentioned relative position, time for forwarding the desired tool 11 within the tool magazine 12 to a predetermined exchange position, and automatic tool exchange for the forwarded tool 11. It takes time to pull it out with the device 19 and insert it into the spindle 13, and in the prior art, this additional time becomes non-cutting time, which is considered to be a major factor in reducing the machine operating rate.

(D) Purpose The present invention was made in view of the above circumstances, and its purpose is to shorten automatic tool change time and non-cutting time, and to reliably and quickly change tools in conjunction with tool change operations. An object of the present invention is to provide an automatic tool changer for a machine tool that improves the operating rate of the machine by gripping the tool.

(2) Structure of the invention (a) Solution In order to achieve the above object, the present invention includes a base body,
A column that guides a spindle to which a tool can be attached and a spindle unit that pivotally supports the spindle in a vertically movable manner and is movable on the base body in the axial direction of the spindle, and a column that is provided adjacent to the column. An automatic tool changer that is installed in a machine tool that has a tool magazine that stores a plurality of tools, and that changes tools between the spindle and the tool magazine,
A transfer body is pivotally supported by the tool magazine and rotates between the main spindle and the tool magazine, and a transfer body is provided for waiting at a predetermined angular position between the main spindle and the tool magazine. a first cylinder that is provided astride the tool magazine and the transfer body and rotates the transfer body between the spindle and the tool exchange origin position; a first drive body having a second cylinder that rotates between the tool magazine and the tool exchange origin position; an exchange arm that is movable in a direction perpendicular to the axis; a second drive body that is provided on the transfer body and that rotates the exchange arm; and a second drive body that is provided on the transfer body that rotates the exchange arm about a third driver that moves the exchange arm in the axial direction; a fourth driver that is provided on the transfer body and that moves the exchange arm in a direction perpendicular to the axis;
A tool locking means is provided at the tip of the exchange arm for gripping the tool, and a tool locking means is provided between the column and the base body to detect when the column has moved to a predetermined position and lock the tool into the main shaft. The present invention is characterized by an automatic tool changer for a machine tool comprising a detection means for outputting a signal for opening a cover separating the tool change origin position and for rotating the transfer body toward the main shaft.

With this configuration, the present invention starts rotation of the transfer body from the tool exchange origin position toward the spindle side during the movement of the column to the tool exchange position, and causes the column to reach the tool exchange position. When this occurs, the transfer body has also reached a position where tools can be exchanged between it and the main spindle.

(b) Examples Examples of the present invention will be described below based on the drawings.

FIG. 2 is a plan view of FIG. 1 viewed from arrow A.

The main shaft 13 retreats in the Z direction together with the column 14,
Positioned in a predetermined relative position for tool exchange. A large number of tool holders 1 are stored in the tool magazine 12.
200 are arranged and supported by a chain 1201 of a chain wheel, and the tools 11 are housed in the tool holder 1200.

An automatic tool changer 19 is positioned within the 90° space between the main shaft 13 and the tool magazine 12 at an angle of 30° (indicated by θ) from the tool magazine 12 side. As will be explained in detail later, this position will be the origin position of the automatic tool changer 19.

The automatic tool changer 19 includes a swinging part 1 that is pivotally supported at the end of the tool magazine 12 on the main shaft 13 side and is formed to be rotatable toward the main shaft 13 and the tool magazine 12 with the origin position as a base point, and the swinging part 1 A sliding part 2 is supported to be slidable in a direction perpendicular to the sliding direction, and a sliding part 2 is supported to be slidable in a direction perpendicular to the sliding direction, and a sliding part 2 is supported to be slidable in a direction perpendicular to the sliding direction. An arm holder 3 that is rotatably held, an arm 4 that is fixed to the arm holder 3 and has a claw portion (not clearly shown in the figure) that removably engages with the tool 11, and a tool lock (not shown) that will be explained later. Means 5
Consists of etc.

As will be explained in detail later, the automatic tool changer 19 includes 2
As shown by the dotted chain line, a desired tool 11a is pulled out from the tool magazine 12, waits at the origin position, rotates by 60 degrees, and moves the tool 11a to the main shaft 13.
It operates so that it can be inserted into the The tool magazine 12 and the main shaft 13 are separated by a cover 20 that can be opened and closed to prevent chips and cutting fluid from scattering during machining.

Each element of the automatic tool changer 19 will be explained in sequence below.

First, the rocking section 1 will be explained.

3 is a front view as viewed from arrow B in FIG. 1, and FIG.
9 is a partial plan view showing a state in a position where the wire is transferred to the main shaft 13 side.

The swinging section 1 is roughly divided into a support metal fitting 101 that is pivotally supported by a tool magazine 12, and a moving mechanism 102 that rotates the support metal fitting 101.

As shown in FIGS. 2 and 3, the support fitting 10
1 is a support 103 fixed to the tool magazine 12
It is pivotally supported via a pin 104 and is swingably supported. As shown in FIG. 3 and FIG. 8, which will be described later, a guide portion 107 is formed in the support fitting 101, and a guide bar 105 for guiding the sliding portion 2 is attached to the bolt 106 (as shown in FIG. 8). ) is fixed. Further, as shown in FIG. 5, the pin 108 to which the moving mechanism 102 is connected is fixed. Fourth
As shown in the figure, a bracket 110 to which a cam follower 109 is pivotally mounted is integrally formed with the support metal fitting 101, and a metal fitting 112 that supports a hydraulic hose 111 to be connected is fixed thereto. As shown in FIGS. 3 and 4, a stopper 1301 against which the cam follower 109 abuts is fixed to the column 14 side by a bolt 1302. Note that FIG. 3 shows a sliding guide part 1401 on which the column 14 slides in the Z direction,
FIG. 4 shows a Y-axis guide 1402 that supports the main shaft 13 sliding along the column 14 in the Y direction.

As shown in FIG.
A cylinder 114 with a stroke side is provided, and a pivot fitting 115 connected to the open end side of the cylinder 114 is connected to a pin 10 fixed to the support fitting 101.
A pivot fitting 116 connected to the open end side of the cylinder 113 is connected to a pin 1202 fixed to the tool magazine 12 by a spherical joint. Note that the steady rest 117 engages with the tool magazine 12 to prevent the moving mechanism 102 from swinging.

With the above configuration, when the rod of the cylinder 113 is moved in the compression direction, the automatic tool changer 19 is moved to the tool magazine 12 side by 30 degrees from the origin position, and when the rod of the cylinder 114 is moved in the extension direction, It will be transferred to the spindle 13 side by 60 degrees from the origin position.

Next, the sliding portion 2 will be explained.

Fig. 5 is a view taken in the direction of arrow C in Fig. 2, Fig. 6 is a view taken in the direction of arrow D in Fig. 5, Fig. 7 is a sectional view taken along the - line in Fig. 5, and Fig. 8 is a sectional view taken in the - line in Fig. 2. It is a diagram.

The sliding bodies 201a and 201b are bolts 20
3 to form a box (Fig. 5).
As shown in FIGS. 6 and 8, the sliding body 201
A guide bush 202 for guiding the guide bar 105 is fitted into the inside a. As clearly shown in FIGS. 6 and 7, one end of a bracket 204 is fixed to one side of the sliding body 201a by a bolt 205, and one end of a piston rod 206 is coupled to the other end of the bracket 204. The piston rod 206 is inserted into a bush 119 fitted into a cylinder hole 118 (shown in FIGS. 7 and 8) formed through the guide portion 107 of the swinging portion 1, and the piston 207 is slidably inserted into the bush 119. engage. As shown in FIG. 7, the cylinder hole 11
Lids 208 and 209 are attached to both open ends of 8 to close them, and oil passages 210 and 211 are formed within the lids 208 and 209. Oil passage 21
0,211 is a passage 1 communicating with the hydraulic hose 111
20 and also communicates with the inside of the bush 119. Further, a stop plug 212 is screwed onto the lid 209, and the other end of the piston rod 206 comes into contact with the stop plug 212 to determine the stop position.

With the above configuration, when pressure oil from the hydraulic hose 111 is introduced from the passage 120 into the oil passage 211 of the lid 209, the piston 207 is pressed, the piston rod 206 moves rightward in the figure, and slides through the bracket 204. Move the moving body 201a to the guide bar 1
05 to the right. Conversely, by introducing pressure oil from the lid 208 side using a switching valve (not shown), the sliding body 201a moves to the left in the figure.

Next, the arm holder 3 will be explained.

As shown in FIG. 8, a bush 302 is inserted into the long tube 301, and both are fixed via an arm body 401, which will be described later. A ball spline 303 is inserted into the inner diameter of the bush 302.
One end of a drive shaft 304 is inserted into the bush 302 via a ball spline 303. Therefore, the bush 302 meshes with the drive shaft 304 and is slidable along the axis of the drive shaft 304.
The other end of 04 is keyed to a sleeve 305 and fixed with a bolt 310 via a plug 309. The sleeve 305 is supported by a bearing 306, and the bearing 306 is fitted and held in a hole 307 formed in the sliding body 201b in a direction perpendicular to the guide bar 105. Further, a torque motor 308 is engaged with the sleeve 305 and rotates it.

A connecting plate 312 is fitted onto the outer diameter of the bush 302 via a bearing 311, and one end of a piston rod 313 is connected to the connecting plate 312. Piston 31 formed on the other end side of piston rod 313
4 is slidably held within a bush 315, and the bush 315 is fitted into a cylinder hole 316 formed through the sliding body 201b in parallel with the hole 307. In addition, lids 31 are provided on both ends of the cylinder hole 316.
7, 318 are attached, and the oil passages 319, 320 formed in the lids 317, 318 are connected to the bush 315.
The hydraulic hose 111 communicates with a passage 121 that communicates with the hydraulic hose 111 .

With the above configuration, the piston rod 313 moves in the left-right direction in the figure by introducing pressure oil from the hydraulic hose 111 side into the passage 121 and the oil passages 319 and 320.

As shown in FIG. 6, there is a dog 3 on the connecting plate 312.
21, is connected to the rod 323, and the limit switch 324, 3 is connected by the dog 321.
25 detects the movement position of the arm holder 3.

With the above configuration, the long cylinder 301 is moved in its axial direction by the piston rod 313, and
It is rotated by a drive shaft 304.

Next, arm 4 will be explained.

As described above, the arm main body 401 is fixed to the long tube 301 and moves in the axial direction, and the drive shaft 30
Rotates around 4. The arm body 401 is controlled to rotate by 180 degrees.

FIG. 9 is a partial cross-sectional view taken in the direction of arrow E in FIG. 8, and claw portions 402 are formed at both ends of a flat arm body 401. The claw portion 402 is formed on the claw member 403 and the arm body 401, and is attached to the grip portion 11 of the tool 11.
01, and a positioning piece 405 that fits into the positioning groove 1102 of the tool 11.

The claw member 403 is as shown in FIGS. 9 and 12.
It is formed in the shape of a lever, and its center portion is pivotally supported by the arm body 401 via a pin 406, and a claw-like projection 403a that engages with the grip portion 1101 of the tool 11 is formed on one end side thereof.

A hole 410 is formed in the vicinity of the claw portion 402 of the arm body 401 in which a spring 409 that comes into contact with the other end of the claw member 403 is accommodated. spring 4
09 urges the claw-like protrusion 403a of the claw member 403 toward the closing side.

The positioning piece 405 is fixed to the arm body 401 with a bolt 407, and an escape groove 408 in which the tool stopper 1203 of the main shaft 13 is housed is provided in a position of the arm body 401 facing the positioning piece 405.

With the above configuration, the arm main body 401 rotates 180 degrees at a time, engages with the tool 11, and grips the tool 11 with the claw portion 402. Gripping force is spring 40
The detachment of the tool 11 is proportional to the spring force of the pins 9 and 505, and the separation of the tool 11 resists this spring force and moves the claw member 403 to the pin 40.
This is done by rotating around 6.

Next, the tool locking means 5 will be explained.

As shown in FIGS. 9 and 13, the arm body 40
A hole 301b is formed in a pair of bosses 301a that are formed facing each other on the outer circumference of a long cylinder 301 that is coupled to the tube 1, and a wedge-shaped positioning pin 501 is formed in the hole 301b.
is inserted. The wedge-shaped positioning pin 501 passes through the arm body 401 and the bush 302, protrudes from both sides of one end of the sliding body 201b, and has a protrusion 501a formed at the protruding end. In addition, the end surface of the wedge-shaped positioning pin 501 opposite to the protrusion 501a and the hole 301
A spring 502 is interposed between the closed ends of b,
The spring 502 slides the protrusion 501a onto the main body 20.
It acts to bias toward the 1b side. Also boss 30
1a has a small through hole 301c that communicates with the hole 301b.
is formed and serves as an air vent for the hole 301b.

A groove 50 is provided at the middle position of the wedge-shaped positioning pin 501.
1b and an inclined surface 501c are formed.

A positioning bolt 213 is screwed onto the end surface of the sliding body 201b on the arm body 401 side, and a positioning hole 213a formed in the positioning bolt 213
A protrusion 501a is inserted into. This restricts the movement of the wedge-shaped positioning pin 501 in the longitudinal direction. The groove 501b of the wedge-shaped positioning pin 501 is formed so as to be located approximately at the center of the plate thickness of the arm body 401 in the above-mentioned restrained state.

As shown in FIGS. 9 and 11, the arm body 40
A hole 504 into which a wedge pin 503 is inserted is formed approximately at the center within the thickness of the plate. One end of the hole 504 is open, and the other end communicates with the wedge-shaped positioning pin 501 side. One end of the wedge pin 503 abuts the other end of the claw member 403, and an inclined portion 503a that closely contacts the inclined surface 501c of the wedge-shaped positioning pin 501 is formed at the other end. Also wedge pin 50
A spring 5 is installed between the head 503b of 3 and the hole 504.
05 is interposed to urge the head 503b of the wedge pin 503 to press against the claw member 403 side. Further, the wedge pin 503 is provided with a long groove 503c, and is prevented from rotating by a rotation preventing pin 506 screwed onto the arm body 401.

As shown in FIGS. 14 and 15, the sliding body 20
A positioning fitting 507 is provided on the arm side end surface of 1b. The positioning metal fitting 507 is slidably held by a guide shaft 508 screwed onto the sliding body 201b side, and a spring 509 is interposed between the positioning metal fitting 507 and the sliding body 201b side.

On the other hand, a stopper bolt 1204 is adjustably fixed to the side surface of the tool magazine 12. The automatic tool changer 19 is transferred to the tool magazine side, and the positioning metal fitting 507 is attached to the stopper bolt 12.
04, the protrusion 501a of the wedge-shaped positioning pin 501 of the arm holder 3 contacts the positioning metal fitting 5.
The stopper bolt 1204 is adjusted to a position where it can fit into the hole 510 of 07.

The positioning metal fitting 507 is the stopper bolt 120
4, the positioning metal fitting 507 moves in a direction approaching the sliding body 201b against the spring force of the spring 509. In this state, the hole 510 formed in the positioning metal fitting 507 is inserted into the positioning bolt 2.
It is formed so as to be positioned at the same circumferential position facing the No. 13 positioning holes 213a.

Note that the height h of the positioning metal fitting 507 from the end surface of the sliding body 201b shown in FIG. 15 is formed to be the same as the height H of the positioning bolt 213 (shown in FIG. 13).

With the above configuration, the arm 4 rotates and the protrusion 501a of the wedge-shaped positioning pin 501 is inserted into the positioning hole 213a of the positioning bolt 213 or the hole 510 of the positioning fitting 507, so that the arm 4 is rotated in the longitudinal direction of the wedge-shaped positioning pin 501. is restrained. Further, when the inclined portion 503a of the wedge pin 503 comes into contact with the inclined surface 501c of the wedge-shaped positioning pin 501, the movement of the claw-like protrusion 403a in the outward opening direction is restrained, and the tool 11 gripped by the claw portion 402 is locked. . Further, when the inclined portion 503a is in a position facing the groove 510b, the above-mentioned restraint is released and the tool 11 is unlocked.

(c) Effect Next, the operation of this embodiment will be explained.

FIG. 16a shows the origin position of the automatic tool changer 19.

For convenience of explanation, the part where the swinging part 1 transfers the tool to the tool magazine 12 side will be referred to as the magazine side. The tool 11 held by the arm 4 in a 30-degree swung state is formed to be in a position facing the tool holder 1200. Further, the movement of the swinging portion 1 from the origin position to the main shaft side is referred to as the main shaft side. When the sliding portion 2 moves toward the tool magazine 12, it is referred to as left-hand movement, and when it moves toward the spindle side, it is referred to as right-hand movement. When the arm holder 3 moves upward in the drawing, it is called backward, and when it moves in the opposite direction, it is called forward.

The origin position is the swinging part 1 at θ=30°, the sliding part 2 at the left end position, the arm holder 3 retreating, and the arm 4
is in a horizontal state as shown in FIG.

Further, the predetermined relative position for tool exchange is a position where the column 14 is moved back in the Z direction and comes close to the tool magazine 12, as shown in FIG. This position is as shown in Fig. 2, with dog 1403 and limit switch 1
001 is detected. That is, the column 14 moves backward in the Z direction in response to a tool exchange command, and a detection signal is generated by the dog 1403 and limit switch 1001 before the tool exchange position, and in response to this signal, the next tool is gripped and is on standby. The automatic tool changer 19 starts transferring to the spindle side. At the same time as the column 14 stops at the tool changing position, the cam follower 109 of the tool changing device 19 comes into contact with the stopper 1301, and the transfer operation is completed. The calling position of the tool called out to be replaced is on the central spindle side in the Y direction of the tool magazine 12, as shown in FIG.

As shown in FIG. 16a, the tool 11 that is returned to the tool magazine 12 is held by the arm 4 at the original position. After machining is completed, the main spindle 13 starts moving backward toward a predetermined relative position for tool exchange. Main shaft 1
3 reaches a predetermined relative position, the operations described below are performed.

That is, the arm holder 3 moves forward as shown in FIG. 16b. As will be explained in detail later, tool 1 is moved forward.
The grip of the tool 11 is restrained, and the tool 11 is reliably gripped even when a quick movement is performed. As shown in FIG. 16c, the swinging portion 1 rotates toward the magazine and positions the tool 11 at a position facing the tool holder 1200. Here, the stopper bolt 1204 comes into contact with the positioning fitting 50 of the tool locking means 5 as described above.
7 is placed in a predetermined position. Next, as shown in FIG. 16D, when the arm holder 3 is moved backward, the tool 11 is stored in the tool holder 1200, and the restraint between the arm 4 and the tool 11 is released.

As shown in FIG. 16e, when the sliding portion 2 moves to the right, the arm 4 is removed from the tool 11. Next, the tool magazine 12 is operated by means not shown, and the standby tool 11a is transported to the above-mentioned tool calling position as shown in FIG. 16f. Next, move the sliding part 2 to the left and move the tool 11a to the arm 4 as shown by the dotted line in FIG. 16d.
Grip with. Thereafter, the tool 11a is moved to the original position and is on standby, as shown by dotted lines in FIGS. 16c, b, and a. In this state, the main shaft is moved to a predetermined relative position as described above.

FIGS. 17a to 17d show the operation of inserting the above-mentioned standby tool 11a onto the main shaft 13 side.

As shown in FIG. 17a, when the main shaft 13 is retracted to a predetermined relative position, the cover 20 is opened and the used tool 11b is inserted into the main shaft 13. As shown in FIG. 17b, when the swinging part 1 rotates toward the main shaft side, the arm 4 moves the grip part 11 of the tool 11b.
It is positioned at a position facing 01.

Next, as shown in FIG. 17c, when the sliding portion 2 is moved to the right, the arm 4 grips the tool 11b. In this state, as shown in FIG. 17d, when the arm holder 3 is advanced, the tool 11b is pulled out from the main shaft 13 and is held and held by the arm.

Next, although not shown, set the arm holder 3 at 180 degrees.
The tool 11a is rotated once to move the tool 11a to a position facing the main shaft 13, and by retracting the arm holder 3, the tool 11a is inserted into the main shaft 13 (the state shown in FIG. 17c). Thereafter, the tool exchange is completed by moving the sliding portion 2 to the left as shown in FIG. 17b and returning to the original position shown in FIG. 17a. Below, the 16th
The operations shown in the figure are repeated.

Next, the operation of the tool locking means 5 will be explained.

As shown in FIG. 18a, automatic tool changer 19
is positioned at the origin position, the protrusion 501a of the wedge-shaped positioning pin 501
The inclined surface 501 is inserted into the hole 201c drilled in the hole 201c by the pressing force of the spring 502.
c engages with the wedge pin 503a.

As a result, the movement of the wedge pin 503 is restricted, and the movement of the claw member 403 in the opening direction is restricted. Therefore, the tool 11 is firmly gripped by the claw member 403.
Moreover, the positioning metal fitting 507 is arranged at a position separated from the sliding body 201b by a spring 509.

Next, as shown in FIG. 18b, when the arm holder 3 of the automatic tool changer 19 is advanced and further rotated toward the tool magazine 12, the stopper bolt 1204 and the positioning metal fitting 507 come into contact, and the hole 5
10 is positioned at a position facing the hole 201c of the sliding body 201b and the protrusion 501a of the wedge-shaped positioning pin 501. At this time, the movement of the claw member 403 in the opening direction remains restricted.

As shown in FIG. 18c, when the arm holder 3 is retreated, the projection 501a is inserted into the hole 510, and the wedge-shaped positioning pin 501 is pushed up.
Inclined surface 501c and inclined portion 503a of wedge pin 503
be separated from. The wedge pin 503 and the claw member 403 are pressed together by the spring 505, and the claw member 403
However, since a gap is formed between the inclined portion 503a and the groove 501b, the claw member 403 can move in the opening direction when a large load is applied by the urging force of the spring 505.
Therefore, the restraint of the tool by the claw member 403 can be released.

FIG. 19 shows a flowchart of tool exchange.

FIG. 19a shows the overall flow of tool exchange. In step 1 (hereinafter referred to as _P1 ), the tool AA to be inserted into the spindle is selected. At P ₂ , the standby tool at the origin position of the automatic tool changer is compared with tool AA, and if they are equal, the flying tool is replaced at P ₇ . If they are not equal, a tool pot is called to store the used tool BB, and the tool BB is returned at _P4 . Then tool in P ₅
The tool pot of AA is called, the tool AA is grabbed at _P6 , and the tool AA is positioned at the origin position and becomes a standby tool, and the tool is replaced at _P7 .

FIG. 19b shows the flow for pot calling.

In P ₁ , the tool pot number of the called tool BB and the position pot number at the calling position are compared,
If they are equal, the process advances to _P8 and the call is completed. If they are not equal, the locate pin of the tool magazine is pulled out at P ₂ , the shortcut direction to the calling position is determined at P ₃ , the tool magazine is rotated in that direction at P ₄ , the locate pin is inserted at P 5, and the locating pin is inserted at P ₅ . Indexing is completed at _{step 6} , the tool magazine stops at step _P7 , and the tool with the desired tool pot number is called up to the calling position at step _P8 .

FIG. 19c shows the flow of tool return.

The arm moves forward at P ₁ , and the presence or absence of a tool in the tool pot at the calling position is checked at P ₂ . If a tool is present, an alarm will be issued and the machine will stop. If there is none
Proceed to P ₃ , rotate the arm to the tool magazine side,
Move the arm back with P ₄ and store the tool in the tool pot.

Next, move the arm to the right at _P5 and release the arm from the tool. Indicate the tools required on P ₆ ,
Rewrite the standby tool number and complete with P ₇ .

FIG. 19d shows the flow of grabbing a desired tool from the tool magazine.

Move the arm to the left with P ₁ and grasp the desired tool in the tool magazine. At P ₂ , move the arm forward and pull out the tool, and at P ₃ , rewrite the tool number and set it as the standby tool AA. Rotate the arm to the home position at P ₄ , move the arm back at P ₅ , return to the home position, and complete at P ₆ while holding the standby tool AA.

(3) Effects of the invention According to the present invention, the following effects can be achieved.

(1) Since the desired tool is already waiting at the origin position at an arbitrary angle closer to the spindle side, the tool exchange time at the spindle section is shortened and the machine operating rate can be improved.

(2) While the spindle is moving toward a predetermined tool exchange position, the desired tool is pulled out from the tool magazine and waits at the home position, and during the movement, the door is opened and the tool is reached. Since the transfer operation is completed and the tool is replaced at the same time, non-cutting time (chip-to-chip time) can be significantly shortened and machine operating efficiency can be improved.

(3) Since the tool loading position is set at the center of the tool magazine, tool exchange time can be shortened.

(4) Since the device can rotate, move left and right, and move forward and backward independently, tool exchange operations can be performed quickly and reliably.

(5) The tool is locked and unlocked in conjunction with the tool exchange operation, and the tool is reliably gripped, allowing quick tool exchange.

(6) Since there is no need to attach a drive source such as a motor to lock and unlock the tool, the structure is simple and lightweight, and quick operation is possible.

[Brief explanation of drawings]

Fig. 1 is a side view showing the overall structure of a machine tool to which an embodiment of the present invention is applied, and Fig. 2 is A of Fig. 1.
3 is a front view taken from arrow B in FIG. 1, FIG. 4 is a partial plan view showing the structure around the swinging part when it is swung into the main shaft side, and FIG. 5 is a plan view taken from arrow B in FIG. FIG. 6 is a view taken along arrow D in FIG. 5, FIG. 7 is a sectional view taken along the - line in FIG. 5, FIG. The figure is a partial sectional view taken in the direction of arrow E in Figure 8, Figure 10 is a side view of Figure 9, Figure 11 is a sectional view taken along the - line in Figure 9, and Figure 12 is a partial bottom view of Figure 9. Fig. 13 is a sectional view taken along the - line in Fig. 9, Fig. 14 is a bottom view showing the mounting state of the positioning bracket of the tool locking means, Fig. 15 is a sectional view taken along the - line in Fig. 14, and Fig. 16a. 17A to 17F are explanatory diagrams showing the operation of tool return and tool gripping, FIGS. 17A to 17D are explanatory diagrams showing the operation of exchanging tools with the spindle side, and FIGS. 18A to 18C are explanatory diagrams showing the operation of the tool locking means. , FIGS. 19a to 19d are diagrams showing the flow of tool exchange. DESCRIPTION OF SYMBOLS 1... Swinging part, 2... Sliding part, 3... Arm holder, 4... Arm, 5... Tool locking means, 6
...Control means, 10...Bed, 11, 11a,
11b...Tool, 12...Tool magazine, 13...
...Main shaft, 14...Column, 15, 16, 18...
Motor, 17... Table, 19... Automatic tool changer, 101... Support fitting, 102... Moving mechanism, 105... Guide bar, 107... Guide section,
109...Cam follower, 11...Hydraulic hose,
1301... Stopper, 113, 114... Cylinder, 201a, 201b... Sliding body, 20
2... Guide bush, 206... Piston rod, 207... Piston, 301... Long tube, 30
1a...Boss, 303...Ball spline, 3
04... Drive shaft, 308... Torque motor, 31
2... Connection plate, 313... Piston rod, 31
4...Piston, 401...Arm body, 402
... Claw part, 403 ... Claw member, 501 ... Wedge-shaped positioning pin, 213 ... Positioning bolt, 503
...Wedge pin, 507...Positioning metal fitting.

Claims (1)

[Scope of Claims] 1. A base body, a main shaft to which a tool can be mounted, and a main shaft unit that pivotally supports this main shaft, which is movably guided in the vertical direction, and is movable on the base body in the axial direction of the main shaft. An automatic tool changer installed in a machine tool having a column and a tool magazine provided adjacent to the column and storing a plurality of tools, and configured to change tools between the main spindle and the tool magazine, a transfer body that is pivotally supported by the tool magazine and rotates between the main spindle and the tool magazine; and a transfer body that is provided to wait at a predetermined angular position between the main spindle and the tool magazine. a first cylinder that is provided astride the tool magazine and the transfer body and rotates the transfer body between the spindle and the tool exchange origin position; a first driving body having a second cylinder that rotates between the tool magazine and the tool exchange origin position; an exchange arm that is movable in a direction perpendicular to the axis; a second drive body that is provided on the transfer body and that rotates the exchange arm; and a second drive body that is provided on the transfer body that rotates the exchange arm about the rotation axis. a third driver for moving the exchange arm in the axial direction; a fourth driver provided on the transfer body for moving the exchange arm in a direction perpendicular to the axis; and a fourth driver for moving the exchange arm in a direction perpendicular to the axis; a tool locking means provided at the tip; and a tool locking means provided between the column and the base body, detecting that the column has moved to a predetermined position;
a detection means for outputting a signal to open a cover that partitions the main shaft and the tool exchange origin position and rotate the transfer body toward the main shaft, and during the movement of the column to the tool exchange position, Rotation of the transfer body from the tool exchange origin position toward the spindle is started, and when the column reaches the tool exchange position, the transfer body has also reached a position where tools can be exchanged with the spindle. An automatic tool changer for a machine tool, characterized in that: