JPH0623398Y2 - Automatic tool changer - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [Object of the Invention] (Industrial field of application) The present invention relates to an automatic tool changer used in a machine tool.

(Prior Art) An automatic tool for automatically exchanging tools between a tool storage magazine (hereinafter referred to as "tool magazine") having a large number of tool pots for storing tools and a spindle of a machine tool. A switching device is used.

When the tool magazine is placed on one side of the machine tool column and the axis of the tool pot and the spindle are orthogonal, special consideration is required to avoid interference between tools when changing tools. is there.

Therefore, a method of using an intermediate arm and an intermediate pot in addition to the tool changing arm (for example, JP-A-55-14494).
No. 6), or a method in which the tool pot indexed to the tool exchange position is swung to a position where its axis is parallel to the main axis of the machine tool.

Further, by making the entire tool exchanging arm supporting device reciprocable between the tool magazine and the spindle, and by making the tool exchanging arm supporting device 90 ° rotatable,
There is also known a method for shortening the tool changing time and simplifying the structure of the tool changing device (Japanese Patent Application No. 60-126933).

(Problems to be solved by the invention) However, since the tool exchanging method as described above has a limit to the movement amount of the tool exchanging arm supported by the tool exchanging arm supporting device in the spindle direction, When the extension head having a large axial length is attached, the tool changing operation cannot be performed. Further, when the angle head having the tool mounting portion orthogonal to the spindle is attached to the spindle head or the ram, the tool gripping portion of the tool exchanging arm cannot engage with the tool holder, and the tool exchanging operation cannot be performed. .

The present invention has been made in consideration of such points, and it is an object of the present invention to provide an automatic tool changer capable of automatically changing tools even when an extension head is attached to a spindle head or a ram. To aim. Another object of the present invention is to provide an automatic tool changing device capable of automatically changing tools even when an angle head is attached to a spindle head or a ram.

[Constitution of device]

(Means for Solving the Problem) The present invention is directed to a tool magazine equipped with a large number of tool pots mounted on the side surface of a column of a machine tool and arranged in a direction orthogonal to the machine tool spindle, and a machine tool spindle. An automatic tool changer for automatically changing tools between
It is attached to the front of the machine tool column so that it can move back and forth, and it is mounted so that it can slide along the guide rail to the rail base that has a guide rail that is arranged between the tool magazine and spindle head. Mounted saddle, a support base that is attached to the saddle so that it can be swiveled around an axis that is orthogonal to the sliding direction of the saddle, a tool replacement arm that has a tool grip at the tip, and a support An arm support device that is attached to the table and has an arm drive mechanism that moves the tool changing arm forward and backward in the direction of the rotation and rotation axis;
It is characterized by comprising a rail base drive mechanism for moving the rail base back and forth, a saddle drive mechanism for sliding the saddle, and a support base turning mechanism for turning the support base.

(Operation) According to the present invention, by rotating the tool exchanging arm and moving back and forth in the direction of the rotation axis, the used tool and the new tool are respectively connected between the tool pot of the tool magazine and the tool mounting portion of the spindle. The exchange operation is performed. In addition, the sliding movement of the saddle causes the tool to be conveyed between the tool magazine and the spindle head, and the support table pivots 90 °, so that the tool exchanging arm of the tool magazine is orthogonal to the spindle. The axes of the tool grips can be aligned.
Further, by moving the rail base back and forth, it is possible to correspond to the axial length of the extension head mounted on the spindle head, and by rotating the arm supporting device 90 °, it is orthogonal to the spindle. Even when an angle head having a tool mounting portion is used, the tool can be automatically replaced.

Embodiment An embodiment of the present invention will be described below with reference to the drawings.

FIG. 1 is a schematic perspective view showing an automatic tool changer for a machine tool according to the present invention. In the figure, reference numeral 11 is a column of a machine tool such as a horizontal boring machine, and a tool magazine 13 provided with a large number of tool pots 12 for accommodating tools on one side surface 11a of the column has an axis line of the tool pot 12 ( It is arranged so that the axis line of the housed tool T) is directed in the X-axis direction.

A spindle head 14 is arranged on the front side 11b of the column 11 so as to be movable in the vertical direction (Y-axis direction).
Further, in FIG. 1, the extension head 15 having a large axial length is mounted. The tool To is attached to the extension head 15 in the Z-axis direction (main axis direction).

Column front face 11 between the tool magazine 13 and the spindle head 14
In b, a plate-shaped rail base 2 having a partial cutout 21a is formed.
1 is a plurality of links 2 pivotally attached to the front surface 11b of the column
It is mounted so as to be able to reciprocate in the front-rear direction (Z-axis direction).

The tool magazine 1 is attached to the rail base 21 in the X-axis direction.
A guide rail 23 extending between the shaft 3 and the spindle head 14 is provided.

A saddle 24 is attached to the rail base 21 so as to be slidable along a guide rail 23. This saddle 2
A support pin 25 is attached to the upper and lower ends of 4 in the Y-axis direction orthogonal to the main axis, and a support base 26 is attached to the saddle 24 by the support pin 25 so as to be rotatable.

Reference numeral 31 is a tool exchanging arm having tool gripping portions at both ends, and the tool exchanging arm 31 is provided with an arm drive mechanism for moving the tool exchanging arm 31 forward and backward in the direction of the rotation axis and the rotation axis. It is supported by the support device 32.

The arm support device 32 is supported by a support pin 33 attached to the lower end of the support base 26 in the X-axis direction.
It is supported so as to be rotatable around the X axis.

At the upper end of the rail base 21, the rear end is the column front surface 11b.
The front end portion 41b of the rod 41a of the rail base driving hydraulic cylinder 41 pivotally attached to the base 41 is pivotally attached. Further, at the lower end of the rail base 21, the tip of the rod 42a is attached to the saddle 2
A saddle drive hydraulic cylinder 42 connected to the No. 4 is attached.

In the vicinity of the tool exchange position of the tool magazine 13 on the side surface 11a of the column, a hydraulic cylinder 43 for pivotally driving the support base 26 is swingably mounted in a horizontal plane. A hook 43b having a concave groove is attached to the tip of a rod 43a of the turning drive hydraulic cylinder 43, and is engageable with a short shaft 44 fixed to one end of the support base 26.

A hydraulic cylinder 45 that pivotally drives the arm support device 32 in the YZ plane is swingably attached to the upper end portion of the support base 26 in a substantially Y-axis direction, and the tip end portion of the rod 45a is attached to the arm. It is pivotally attached to a pin 32a fixed to the support device 32 in the X-axis direction. Reference numeral 46 is a hydraulic cylinder for moving the tool changing arm 31 back and forth in the direction of the rotation axis.

Next, the operation of this embodiment having such a configuration will be described.

2 to 4 are perspective views showing one step of a tool changing operation when the extension head 15 is mounted on the spindle head 14, and FIG. 5 shows a series of tool changing operations of this embodiment. It is an explanatory view shown.

First, FIG. 2 shows a state in which the tool changing arm 31 is in the standby position (FIG. 5 (XVii)). That is, the rail base 21 is pulled to the column front surface 11b side by the hydraulic cylinder 41, and the link 22 is positioned substantially parallel to the column front surface 11b. The saddle 24 is the guide rail 2
3, the arm supporting device 32 is arranged such that the rotation axis of the tool exchanging arm 31 faces the Z-axis direction (main axis direction). Further, the hydraulic cylinder 43 is in a state in which the rod 43 a is extended, and the hook 43 b is attached to the short shaft 4 of the support base 26.
4 is engaged.

In this state, a tool change command is issued, and the used tool (old tool) To mounted on the extension head 15 and
The replacement operation with the new tool TN stored in the tool magazine 13 is performed.

FIG. 3 is a perspective view showing a state in which the tool exchanging arm 31 in the standby position is actuated to grip the new tool TN stored in the tool magazine 13. That is, the hydraulic cylinder 4
3 operates to reduce the rod 43a, and the support 43 is swung 90 ° toward the tool magazine 13 side by the hook 43b.

The tool changing arm 31 pivots 90 ° in the horizontal plane,
The tip of the tool exchanging arm 31 grips the new tool TN of the tool magazine 13 (FIG. 5 (i)). (To be precise, the tool holder that holds the new tool TN is gripped).

Subsequently, the hydraulic cylinder 46 is activated, and the tool changing arm 3
1 is moved forward to pull out the new tool TN from the tool storage pot of the tool magazine 13 (see FIG. 5 (i
i)).

In this state, the hydraulic cylinder 43 operates again and the rod 43
By extending a, the support base 26 is pivotally moved by 90 °, the rotation axis of the tool changing arm 31 is directed in the same direction as the main axis (FIG. 5 (iii)), and the hydraulic cylinder 46 is moved.
Is activated and the tool changing arm 31 is moved to the arm supporting device 3
Move backward to side 2 (Fig. 5 (iv)).

FIG. 4 is a perspective view showing a state in which a predetermined operation is continued from the state shown in FIG. 3 and the old tool To attached to the extension head 15 is held by the tool exchanging arm 31. That is, the hydraulic cylinder 42 is operated subsequent to the above-described operation, and the rod 42a is extended to cause the saddle 24 to slide along the guide rail 23 toward the spindle head 14 and stop at the intermediate position (Fig. 5 ( v)). During the movement of the saddle 24, the engagement between the hook 43b and the short shaft 44 is released. Then, the hydraulic cylinder 41 is operated to extend the rod 41a, so that the rail base 21 is pushed forward from the column front surface 11b (FIG. 5 (vi)).
The forward movement distance of the rail base 21 is determined by the axial length of the extension head 15, and the end of the tool exchanging arm 31 is attached to the extension head 15 by the sliding process of the saddle 24 described below. T
It is adjusted to a position that accurately grips o.

The saddle 24 again slides toward the spindle head 14 and stops when the end portion of the tool exchanging arm 31 grips the old tool To (Fig. 5 (vii)).

Next, the hydraulic cylinder 46 is activated, and the tool changing arm 3
1 is performed, the old tool To is pulled out from the extension head 15 (FIG. 5 (viii)), and subsequently, the tool changing arm 31 is moved by the turning mechanism in the arm supporting device.
Is rotated 180 ° (Fig. 5 (ix)). When the tool exchanging arm 31 is moved backward in this state, the new tool TN held at one end of the tool exchanging arm 31 is attached to the extension head 15 (FIG. 5 (x)).

The saddle 24 again slides toward the tool magazine 13 and stops at the intermediate position (FIG. 5 (xi)). The hydraulic cylinder 41 operates to move the rail base 21 backward to the column front surface 11b side (Fig. 5 (xii)), and the saddle 24 moves the guide rail 2
It slides along 3 and stops at the tool exchange position with the tool magazine 13 (Fig. 5 (xiii)). Tool changing arm 31
Moves forward (Fig. 5 (xiv)), and the support base 26 turns 90 ° in the horizontal plane (Fig. 5 (xv)). By moving the tool exchanging arm 31 backward at this position, the old tool To grasped by the tool exchanging arm 31 is inserted and stored in the tool pot of the tool magazine 13 (see FIG. 5 (xv
i)). When the support base 26 pivotally moves by 90 ° and returns to the standby position, a series of tool changing operations is completed (Fig. 5 (xvii)). The above series of operations is controlled by a general sequence control technique.

As described above, according to this embodiment, even when the extension head 15 having a large axial length is attached to the spindle head 14, the tool exchange work can be automatically and quickly performed.

FIG. 6 is a perspective view showing a state in which an extension head is not attached to the spindle head 14 and a tool is directly attached to or detached from the spindle 16. In this case, in the above-described tool exchanging operation, only the rail base 21 is not moved back and forth, and other operations are exactly the same. That is, the rail base 21 remains retracted toward the column front surface 11b, and by sliding the saddle 24 along the guide rail 23, the old tool attached to the spindle 16 and the tool magazine 13 are held. A tool transfer operation between the spindles 16 is performed. Further, the tool exchange operation with the tool magazine 13 is performed by rotating the support base 26 by 90 ° at the tool exchange position of the tool magazine 13.

FIG. 7 is a perspective view showing a tool changing operation when a long angle head 17 having an axial length in the main axis direction and having an axis line orthogonal to the main axis is used. In this case, the rail base 21 is moved forward from the column front surface 11b, the arm support device 32 is rotated 90 °, and the rotation axis of the tool exchange arm 31 is oriented in a direction orthogonal to the main axis.

FIG. 8 is an explanatory view showing a series of tool changing operations when the long angle head 17 is used. First, in response to a tool change command, the tool changer starts operation from the standby position (Fig. 8 (xix)), receives the new tool stored in the tool magazine 13, and saddles 24 to the intermediate position of the rail base 21.
Since the steps up to sliding (FIGS. 8 (i) to (v)) are the same as those in the above-described embodiment, the description thereof will be omitted.

After the tool exchanging arm 31 moves to the intermediate position of the rail base 21, the hydraulic cylinder 41 operates and the rail base 21 is moved forward from the column front surface 11b (FIG. 8 (vi)). Subsequently, the hydraulic cylinder 45 is operated to pivotally move the arm support device 32 by 90 °, and the tool changing arm 3 is moved.
Orient the rotation axis of No. 1 in the direction orthogonal to the main axis (Fig. 8 (vi
i)).

When the saddle 24 is further slid by the hydraulic cylinder 42 and one end of the tool exchanging arm 31 grips the old tool To attached to the long angle head 17, the saddle 24 stops (FIG. 8 (viii)).

The tool changing arm 31 moves forward to extract the old tool To from the long angle head 17 (Fig. 8 (ix)),
It turns 180 ° (Fig. 8 (x)). In this state, the tool exchanging arm 31 moves backward, and the new tool TN held at the other end is mounted in the long angle head 17 (Fig. 8 (xi)).

The saddle 24 slides to the middle position of the rail base 21 (8th
(Xii)), the arm support device 32 is pivoted again by 90 °, and the rotation axis of the tool changing arm 31 is oriented in the same direction as the main axis (FIG. 8 (xiii)).

The hydraulic cylinder 41 operates and the rail base 21 moves backward toward the column front surface 11b (FIG. 8 (xiv)). Saddle 2
4 slides along the guide rail 23 to the tool exchange position with the tool magazine 13 (Fig. 8 (xv)).

The tool changing arm 31 moves forward (see FIG. 8 (xv
i)), and then turn 90 ° (Fig. 8 (xvii)). When the tool exchange arm 31 moves backward, the old tool To
Is inserted and stored in a predetermined pot of the tool magazine 13 (Fig. 8 (xviii)). The support base 26 is swiveled again by 90 ° and returned to the standby position (Fig. 8 (xix)), thereby completing a series of tool exchange operations.

As described above, according to this embodiment, even when the long angle head 17 having a large axial length in the spindle direction is attached to the spindle head 14, the tool can be automatically and quickly replaced.

FIG. 9 is a perspective view showing a tool exchange state when a normal angle head 18 having a small axial length in the spindle direction is mounted on the spindle head 14. In this embodiment, the arm supporting device 32 is turned by 90 ° and the rotation axis of the tool exchanging arm 31 is oriented in the direction orthogonal to the main axis, which is different from the embodiments shown in FIGS. 7 and 8 above. Have in common. The displacement of the tool mounting position extended in the spindle direction by mounting the angle head 18 on the spindle head 14 is eliminated by setting the position of the pin 32a, which is the turning center of the arm support device 32, to an appropriately eccentric position. can do. Therefore, in this embodiment, the rail base 21 is not moved forward, but is left retracted to the column front surface 11b side. The other operations are exactly the same as the case where the long angle head 17 described above is used, and the description thereof will be omitted.

Although the hydraulic cylinders 41 and the links 22 are used as the front and rear driving means of the rail base 21 in the description of some of the above-described embodiments, a plurality of hydraulic cylinders are directly connected to the rail base 21 to operate. You may let me.

[Effect of device]

As described above, according to the present invention, after the tool is attached to the extension head by the automatic tool changing arm, the rail base retracts and largely separates from the work.
The automatic tool changing arm is prevented from interfering with the work. Therefore, even when an extension head, a long angle head, an ordinary angle head, or the like having a large shaft length is mounted on the spindle head, the tool can be automatically and quickly replaced. Further, during machining, the rail base can be moved backward to prevent interference between the automatic tool changer and the work.

[Brief description of drawings]

FIG. 1 is an external perspective view showing an embodiment of the present invention, and FIGS. 2 to 4 are perspective views showing respective states of a tool changing operation when an extension head is mounted on a spindle head. The figure is a process chart showing a series of tool changing operations when an extension head is attached to the spindle head,
The figure is a perspective view of the present embodiment showing a case where a tool is directly replaced and mounted on the spindle without mounting an extension head on the spindle, and FIG. 7 is a tool replacement operation when a long angle head is mounted on the spindle. FIG. 8 is a process diagram showing a series of tool changing operations when a long angle head is mounted on the spindle head, and FIG. 9 is an angle head with a short axial length mounted on the spindle head. FIG. 6 is a perspective view showing a tool changing operation in the case of being on. 11 ... column, 11b ... column front, 13 ... tool magazine, 14 ... spindle head, 15 ... extension head, 17 ... long angle head, 18 ... angle head, 21 ... rail base, 23 ... ... guide rail, 24 ... saddle, 26 ... support stand, 31 ... tool changing arm, 32 ... arm support device, 41 ... rail stand drive hydraulic cylinder, 42 ... saddle drive cylinder, 43 ... ... hydraulic cylinder for swinging support base, 45 ... hydraulic cylinder for swinging arm support device, 46 ... hydraulic cylinder for driving arm for tool exchange.

Claims (2)

[Scope of utility model registration request] Claim: What is claimed is: 1. A tool magazine, which is attached to a side surface of a column of a machine tool and has a large number of tool pots arranged in a direction orthogonal to a spindle of the machine tool, and a spindle of the machine tool. In the automatic tool changer that replaces each other, the rail base with the guide rail that is attached to the front of the column of the machine tool so that it can move back and forth and that is located between the tool magazine and the spindle head, and the rail base, A saddle slidably mounted along the guide rail, a support base attached to the saddle so as to be rotatable about an axis line in a direction orthogonal to the sliding direction of the saddle, and a tool gripping portion at the tip. A arm for exchanging a tool, and an arm supporting device having an arm driving mechanism attached to the support base for moving the arm for exchanging the tool in the direction of the rotation and the rotation axis. A rail table driving mechanism for a rail platform is moved back and forth, and the saddle drive mechanism for sliding the saddle, the support base turning mechanism for the support table is pivotal movement, the automatic tool changer device including a. 2. The automatic tool changer according to claim 1, wherein the arm support device is attached to the support base so as to be rotatable about an axis line in the same direction as the guide rail.