JPH0677889B2 - Automatic tool change arm device - Google Patents

Description

Description: TECHNICAL FIELD The present invention relates to an automatic tool changing arm device, and more specifically, to a plurality of small-diameter and large-diameter tools housed in a tool magazine at a turning center or the like, for example. The present invention relates to an automatic tool changing arm device for automatically changing a tool attached to a turret.

[Prior art]

Conventionally, a numerically controlled compound machine tool (turning center) equipped with a quick change function that automatically changes the tool stored in the tool magazine installed on the side of the machine and the tool mounted on the turret of the machine with a change arm. )It has been known. By the way, the exchange arm in the conventional numerically controlled compound machine tool as described above is provided with only the clamp portion of a certain size, so for example, let's exchange a large-diameter tool attached to the spindle for a small-diameter tool. In that case, it was necessary to replace the replacement arm.

In addition, recently, a cross type exchange arm having large and small diameter clamp parts (grippers) and a one-character type exchange arm in which a large diameter and a small diameter clamp are formed in one clamp part have been proposed.

However, although the former cross-type exchange arm can clamp multiple large and small diameter tools at the same time,
There has been a problem that the replacement arm itself becomes large and inconvenient to handle. Also, the latter exchange arm requires opening and closing the clamp part (gripper) when clamping large and small diameter tools, so there are many accessories and it is necessary to check whether the tool has been completely clamped. However, there is a problem that the structure becomes complicated and the cost increases.

[Object of the Invention]

The present invention has been devised in view of the above conventional problems, and an object thereof is to provide a large diameter and a small diameter to at least one end side of an exchange arm without performing an opening / closing operation of a clamp part (gripper). By providing a large-diameter tool gripping member and a small-diameter tool gripping member that can easily and surely clamp the above tool, automatic tool exchange that can perform large-diameter tool and small-diameter tool automatically and quickly An arm device is provided.

[Structure of Invention]

In order to achieve the above-mentioned object, the present invention is capable of freely rotating the front and rear, the left and right, and the tool mounted on the turret for automatically exchanging a plurality of tools having a large diameter and a small diameter housed in a tool magazine. An automatic tool exchanging arm device including an arm main body, wherein a large-diameter tool gripping member having a large-diameter tool gripping portion for gripping a flange portion of the large-diameter tool is formed on at least one end side of the arm main body, A center that is provided in the vicinity of the large-diameter tool gripping member so that it can be lifted and lowered at least on one end side of the arm main body, and that the center position coincides with the large-diameter tool gripping part when lifted up to the large-diameter tool gripping member side. A small-diameter tool gripping member that holds a flange portion of the small-diameter tool with a small-diameter tool gripping portion having a position is provided between the arm body and the small-diameter tool gripping member. A driving body that raises and lowers a tool gripping position located on the tool gripping portion side and a retracted position separated from the large-diameter tool gripping member, and the small-diameter tool gripping member raises and lowers to either the tool gripping position or the retracted position. When a large-diameter tool is gripped by the large-diameter tool gripping member, the small-diameter tool gripping member is retracted to the retracted position, and a small-diameter tool gripping member When the tool is gripped, the gist is that the small-diameter tool gripping member is housed and positioned in the large-diameter tool gripping member with the axes aligned.

Example of Invention

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

FIG. 1 is a front view of a turning center 1 equipped with an automatic tool changing arm device 10 according to the present invention, FIG. 2 is a left side view of FIG. 1, and the turning center 1 is a side portion of a bed 2. A tool magazine 3 accommodating a plurality of tools T is installed therein, and the automatic tool changing arm device 10 is installed between the tool magazine 3 and the turret 4 to which the tools T are installed.

The automatic tool changing arm device 10 is slidably mounted in the left-right direction along two guide bars 6a and 6b arranged on a base 5 as shown in FIG.
Alternatively, the tool delivery in the turret 4 and the cross section of the automatic tool changing arm device 10 are omitted. The arm main body 11 formed in [1] is movable in the front-rear direction by a revolving device 52 and a back-and-forth moving device 53, which will be described later, and is also rotatable.

The large-diameter tool T and the small-diameter tool T housed in the pot 7 of the tool magazine 3 are the automatic tool changing arm device.
Clamp part 12 provided on one end side of the arm body 11 of 10
Clamped by (gripper) and moved to the turret 4 side,
On the turret 4 side, the used tool T is removed by a clamp portion 12 (gripper) attached to the other end side of the arm body 11 and moved to the tool magazine 3 side for tool exchange. is there.

The arm body 11 of the automatic tool changing arm device 10 has a third
As shown in FIGS. 7 to 7, a large-diameter tool gripping member 13 and a small-diameter tool gripping member 14 are provided on the clamp portions 12 provided on both ends of the arm body 11.

The tip portion of the large-diameter tool gripping member 13 is formed as a large-diameter tool gripping part that grips the flange part F of the large-diameter tool T, and the flange part F formed in a V-shaped cross section of the large-diameter tool T.
(See FIG. 3) It is formed in a semi-circular shape so that it can be inserted into the large-diameter tool gripping member 13, and the large-diameter tool gripping member 13 has a large-diameter tool T when the clamp portion 12 is inserted into the large-diameter tool T. A stopper member 15 (see FIG. 4) for preventing T from coming off is provided.

As shown in FIGS. 4 and 5, the stopper member 15 is pivotably supported on one side surface of the large-diameter tool gripping member 13 with a pin 16 as a fulcrum, and the tip 15 of the stopper member 15 is pivotally supported.
A clamp claw 15b for pressing the tool T is formed on a, and a tapered surface 15d is formed on the rear end 15c.

Then, the spring 17 and the stopper pin 19 biased in the direction in which the spring 17 is always in contact with the tapered surface 15d are in contact with each other, and the stopper member 15 is always in the direction in which the tool T is clamped (see FIG. 4). (Clockwise). The stopper pin 19 has a contact side and an opposite side,
As shown in FIG. 6, a pin slidable along a hole formed through the arm body 11 and a support member 35 described later.
It is arranged so as to face a concave portion 20 provided in the head portion 21a of 21.

The small-diameter tool gripping member 14 is provided in the vicinity of the large-diameter tool gripping member 13, and its tip portion 14a is formed in the small-diameter tool gripping portion that grips the flange portion f of the small-diameter tool t, and the small-diameter tool t. Flange f formed in a V-shaped cross section
(See FIG. 3) It is formed in a semi-circular shape so that it can be inserted into the semi-circular shape, and the small-diameter tool gripping member 14 has a small-diameter tool t that is firmly attached to the tip side of the small-diameter tool t when the concave surface is inserted into the small-diameter tool t. A stopper claw 24 for clamping is provided.

The stopper claw 24 is swingably mounted around a pin 25 as a fulcrum, and the tip of the stopper claw 24 is always clamped to the small-diameter tool t via a spring 26 incorporated on the rear end side (see FIG. 4). In the clockwise direction).

The tip 14a of the small-diameter tool gripping member 14 is fixed to the arm portion 27 of the small-diameter tool gripping member 14 with a bolt 29, as shown in FIG.

A piston rod 31 of a cylinder (driving body) 30 for rotating the small-diameter tool gripping member 14 in the front-rear direction about a pin 27a as a fulcrum is connected to an arm portion 27 of the small-diameter tool gripping member 14. Is pivotally supported by a pin 33 on the upper end of a hollow shaft 32 that is erected at the center of rotation of the arm body 11. The cylinder 30 allows the small-diameter tool gripping member 14 to be elevated and lowered to a tool gripping position located on the large-diameter tool gripping portion side and a retracted position separated from the large-diameter tool gripping member. Also, the operation of the cylinder 30 causes the small-diameter tool gripping member 14
Is elevated toward the large-diameter tool gripping member side, the center position of the semi-circular arc-shaped portion of the large-diameter tool gripping portion and the center position of the semi-circular arc-shaped portion of the small-diameter tool gripping portion are configured to coincide with each other. At the same time, when the small-diameter tool gripping member 14 is used to grip the small-diameter tool t, the small-diameter tool gripping member 14 is housed and positioned in the large-diameter tool gripping member 13 by aligning the central axes of the semi-arcuate portions. ing.

Further, 34 is a sensor for confirming whether or not the small-diameter tool gripping member 14 has been rotated by the cylinder 30, that is, a sensor for detecting whether the small-diameter tool gripping member 14 is in the elevation movement to the tool gripping position or the retracted position. (Detection member), this sensor 34 is provided in opposition to the detection piece 34a that is constantly biased inward from the spring 34b by the arm body 11 and protrudes, and the small-diameter tool gripping member 14 is raised and lowered to the retracted position. When moving, the detection piece 34a approaches the sensor 34 and the sensor 34 detects the detection piece 34a.
Is detected, it can be seen that the small-diameter tool gripping member 14 is in the retracted position. When the sensor 34 does not detect the detection piece 34a, it can be known that the small diameter tool gripping member 14 is at the tool gripping position.

Next, the swivel device 52 and the back-and-forth moving device 53 of the arm body 11 are configured as shown in FIGS. 3 and 7.

In the swivel device 52 of the arm body 11, a hollow stand-shaped support member 35 is fixed to the center of the arm body 11 via a bolt 36, and the inside of the hollow portion of the support member 35 is arranged on the base 5. A swivel shaft 39a, which is rotatably supported via a torque actuator 38, is provided on a support 10a of an automatic tool changing arm device 10 slidably supported along guide bars 6a, 6b. Is the arm body 11 and the support member 3
5 and 5 through spline engagement via a ball spline 39.

Further, in the forward-backward movement device 53, the forward-backward movement cylinder 40 is attached to the side portion of the torque actuator 38, and the tip of the piston rod 41 of the forward-backward movement cylinder 40 is a flange provided on the side portion of the support member 35. It is fixed to the portion 42 via a bolt nut 43.

Therefore, the automatic tool change arm device 10 is
When 40 is actuated and the piston rod 41 extends, the arm body 11 moves to the front side in FIG. 1, and when it contracts, the arm body 11 moves backward. When the turning shaft 39a is operated by a drive source (not shown), the arm body 11 rotates, and
As shown in FIG. 1, the arm body 11 is supported by the operation of the cylinder M mounted and supported on the tool magazine side.
Together with 10a, it reciprocates between the tool magazine 3 and the turret 4 left and right along the guide bars 6a, 6b.

Next, referring to FIG. 8, an automatic tool changing arm device 10
The action of will be described.

First, in the general operation of the automatic tool changing arm device 10, as shown in the schematic view of FIG. 8, the arm body 11 moves between the tool magazine position X, the standby position Y, and the tool changing position Z. By repeating the operation for 16 strokes, the tool T1 housed in the tool magazine 3 and the tool T2 mounted on the turret 4 are exchanged.

First, at the standby position Y in FIG. 8 (a), the tool T1 is clamped on the clamp portion 12 on the tool magazine 3 side of the arm body 11, and the tool T2 is not clamped on the opposite turret 4 side. Has become. A tool T2 to be replaced is attached to the turret 4.

From this state, the arm body 11 moves to the tool exchange position Z as shown in FIG. 8 (b), and the tool T2 is pulled out from the turret 4 at the position shown in FIG. 8 (c) so as to be exchanged. Arm body 11 with tool T2 removed from turret 4
Returns once to the standby position Y as shown in FIG.
Here, the tool T1 is turned to the turret 4 side by turning 180 degrees by the turning device 52 (FIG. 8 (e)).

Then, the arm body 11 transfers the tool T1 to the tool exchange position Z (Fig. 8 (f)) and inserts it into the empty turret 4 to fix it (Fig. 8 (g)). When this operation is completed, the arm main body 11 once returns to the standby position Y as shown in FIG. 8 (h), and is moved forward to a predetermined position by the forward / backward movement device 53, and then moved to the tool magazine position X (first position). 8 (i) and (j)), the used tool T2 is inserted into the empty pot 7 of the tool magazine 3 (FIG. 8 (k)). Then, the arm body 11 returns to the standby position Y again (Fig. 8 (l)), where the tool magazine 3
Next, the necessary tool T3 is indexed (Fig. 8 (m)), and the arm body 11 is returned to the standby position Y.
Is moved to the tool magazine position X as shown in FIG. 8 (n), and is moved forward by the forward / backward movement device 13 to clamp the tool T3 as shown in FIG. 8 (o).

From this state, the arm body 11 once moves to the standby position Y, returns to the retracted position by the forward / backward movement device 13, and moves to the first stroke of FIG. 8 (a) to perform the tool exchange operation. .

Although the above operation is a general tool exchange, in the case of the embodiment of the present invention, a large-diameter tool T and a small-diameter tool t are selected from the tool magazine 3 corresponding to the cutting work. The arm body 11 is clamped.

Next, the operation of clamping the large-diameter and small-diameter tools T, t will be described.

First, when a large-diameter tool T is clamped, the small-diameter tool gripping member 14 is contracted to actuate the cylinder 30 to stand up as shown on the right side of FIG. 3, and is housed in the pot 7 of the tool magazine 3. The arm body 11 is horizontally moved to the position of the large-diameter tool T, and the large-diameter tool gripping portion of the large-diameter tool gripping member 13 formed in a semi-arc shape is formed into a V-shaped cross section of the large-diameter tool T. It is inserted into the formed flange portion F. When the arm body 11 is moved forward and backward, the stopper member
The stopper pin 19, which is in contact with the tapered surface 15d of the rear end 15c of the rear end 15 of the spring 15, moves from the unlocked state shown in FIG. 6 to the spring 22a.
By the urging force of (Fig. 3), it moves downward as shown by the chain double-dashed line (Fig. 6), the upper head 21a of the recess 20 abuts on the stopper pin 19 and presses the stopper pin 19, The tapered surface 15d of the stopper member 15 is pressed by the stopper pin 19, and the stopper member 15 is rotated clockwise by this pressing force with the pin 16 as a fulcrum, and the clamp claw 15b on the tip side of the large-diameter tool T is used. Press the outer peripheral surface inward to fix it.

Next, when the small-diameter tool t is clamped, the small-diameter tool gripping member 14 is extended and the cylinder 30 is extended to vertically move to the tool gripping position on the large-diameter tool gripping member 3 as shown on the left side of FIG. , After storing and positioning them in the large-diameter tool gripping member 13 with their axes aligned, the arm main body 11 is moved horizontally to the position of the small-diameter tool t accommodated in the pot 7 of the tool magazine 3 to form a semi-arc shape. The tip portion 14a of the small-diameter tool gripping member 14 formed in the above is inserted into the flange portion f of the small-diameter tool t formed in a V-shaped cross section.

At this time, the stopper claw 24, which is always urged in the clockwise direction via the spring 26 on the tip portion 14a, is pressed in the counterclockwise direction by the force at the time of insertion, and then is pushed into the concave portion of the small diameter tool holding member 14. When the small diameter tool t is fitted, it is rotated clockwise by the elastic force of the spring 26 to clamp the outer peripheral surface of the small diameter tool t.

Further, since the holding force of the small-diameter tool t is weak only by the elastic force of the spring 26 that presses the stopper claw 24, the stopper member 15 is locked and the back surface of the stopper claw 24 is fixed by the clamp claw 15b of the stopper member 15. Press,
This is for holding and fixing the small diameter tool t.

Further, when it is desired to release the locked state, the operation reverse to the above operation is performed.

Under such operation, the tool body 3 and the turret 4 are automatically exchanged for the large-diameter and small-diameter tools T and t by the arm body 11. The operation of the arm body 11 at the time of replacement is based on the operation sequence of FIGS. 8 (a) to 8 (o) described above.

〔The invention's effect〕

As described above, the present invention provides an arm main body that can be swung freely before and after, left and right, by automatically exchanging a plurality of large-diameter and small-diameter tools housed in a tool magazine and a tool attached to a turret. An automatic tool exchanging arm device comprising: a large-diameter tool gripping member having a large-diameter tool gripping part for gripping a flange part of the large-diameter tool formed on at least one end side of the arm main body; It is provided at least on one end side so that it can be lifted up and down, is provided in the vicinity of the large diameter tool gripping member, and has a central position where the central position coincides with the large diameter tool gripping part when elevated to the large diameter tool gripping member side. The small-diameter tool gripping portion is provided between the small-diameter tool gripping member that grips the flange portion of the small-diameter tool, the arm body, and the small-diameter tool gripping member, and the small-diameter tool gripping member is the large-diameter tool gripping portion. A driving body for raising and lowering a tool gripping position located at a position and a retracted position separated from the large diameter tool gripping member, and which of the tool gripping position and the retracted position the small diameter tool gripping member is raising and lowering. When a large-diameter tool is gripped by the large-diameter tool gripping member, the small-diameter tool gripping member is retracted to the retracted position and the small-diameter tool gripping member grips a small-diameter tool. At this time, since the small diameter tool gripping member is housed and positioned in the large diameter tool gripping member by aligning the axes with each other, it is possible to easily perform the large diameter tool and the small diameter tool without opening and closing the clamp part (gripper). In addition, it is possible to securely clamp, and the large-diameter tool gripping member and the small-diameter tool gripping member enable exchange of large and small diameter tools between the tool magazine and the turret. In addition to the effect that it can be performed dynamically and quickly, it is possible to detect whether the small-diameter tool gripping member is moving up and down between the tool gripping position and the retracted position by the detection member. There is an effect that it is possible to easily determine whether or not there is a tool gripping member in a gripping state, and the operator can surely perform the tool mounting operation without making a mistake.

[Brief description of drawings]

FIG. 1 is a front view of a turning center embodying the present invention, FIG. 2 is a left side view of FIG. 1, FIG. 3 is a transverse sectional view of FIG. 4, and FIG. Front view of the arm body showing the parts, FIG. 5 is an explanatory view of the attachment of the stopper member, FIG. 6 is an explanatory view of the attachment of the stopper pin, and FIG. 7 is a sectional view of the swinging device and the forward / backward movement device of the arm body, 8 (a) to 8 (o) are diagrams for explaining the operation of the arm main body when the tool is changed. 3 ... Tool magazine, 4 ... Turret, 10 ... Automatic tool changing arm device, 11 ... Arm body, 13
…… Large diameter tool gripping member, 14 …… Small diameter tool gripping member, 30…
… Cylinder (driving body), 34 …… Sensor (detection member),
T: Large diameter tool, t: Small diameter tool, F: Large diameter tool flange, f: Small diameter tool flange.

Claims (1)

[Claims] Claim: What is claimed is: 1. An automatic machine equipped with an arm body which can be freely rotated before, after, left and right, by automatically exchanging a plurality of tools having a large diameter and a small diameter housed in a tool magazine and a tool mounted on a turret. A tool exchanging arm device, wherein a large-diameter tool gripping member having a large-diameter tool gripping part for gripping a flange part of the large-diameter tool is formed on at least one end side of the arm main body, and at least one end side of the arm main body. You can freely move up and down,
The small-diameter tool gripping part is provided in the vicinity of the large-diameter tool gripping member, and the small-diameter tool gripping part has a central position where the central position coincides with the large-diameter tool gripping part when elevated to the large-diameter tool gripping member side. A small diameter tool gripping member that grips a flange portion, a tool gripping position that is provided between the arm body and the small diameter tool gripping member, and that is located on the large diameter tool gripping portion side, and the large diameter. A drive member for raising and lowering a retracted position separated from the tool gripping member, and a detection member for detecting whether the small diameter tool gripping member is raising or lowering the tool gripping position or the retracted position are provided. When gripping a large-diameter tool with a diameter tool gripping member,
When the small-diameter tool gripping member is retracted to the retracted position and the small-diameter tool gripping member is gripped by the small-diameter tool gripping member, the small-diameter tool gripping member is housed and positioned with the axis aligned with the large-diameter tool gripping member. An automatic tool changer arm device characterized by the above.