JPH0751969A - Tool changing device - Google Patents

Abstract

PURPOSE:To form a tool changing device, which is operated to change a tool used for a machining center, in a compact state. CONSTITUTION:A second shaft body 11 is axially relatively movably inserted into the center of a hollow first shaft body 15 arranged on a turning axis A supported on a frame 13. Further, the first shaft body 15 is supported on the frame 13 axially movably and turnably at 180 deg.C. The first and second shaft bodies 15 ad 11 are respectively coupled to corresponding axial moving mechanisms 30 and the first shaft body 15 is linked to a turning device 50. A pair of tool holding bodies 10 are radially movably supported to the tip of the second shaft body 11. Each tool holding body 10 and the first shaft body 15 are intercoupled through a link so as to be movable in an orthogonal direction through axial relative movement of the first and second shaft bodies 15 and 11.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a tool exchanging device used in a machining center or the like, and a tool exchanging device for taking out a tool from a tool magazine accommodating a large number of tools and rotating the tool to replace it with a tool for a spindle. Regarding

[0002]

2. Description of the Related Art Generally, in a machining center, a pair of tool holders are arranged in a direction of a turning axis between a tool magazine for storing tools so that the tools can be indexed and a spindle for mounting the tools in the tool magazine to machine a workpiece. The tool changer is provided so as to move in a direction orthogonal to this and to be rotatable, so that a new tool in the tool magazine and a used tool on the spindle can be replaced. For example, Japanese Patent Publication No. 46-
In a tool changing device for a machine tool including a large number of tools disclosed in Japanese Patent No. 791, an arm for tool changing is provided at a tip end of a shaft that is supported to be movable back and forth and is rotatable. This arm is equipped with a tool holder (tool clamp) that holds the tool at both ends, and the tool clamp is extended in the radial direction orthogonal to the pivot axis by the operation of the cylinder installed in this arm. Grip the tool on both ends of the arm, move it in the direction of the turning axis to extract the tool from the tool magazine and spindle, and then operate the cylinder to shrink the tool clamp in the radial direction and turn the tool by 180 degrees. After changing the position and extending the tool clamp in the radial direction again, the tool clamp is replaced by moving backward in the direction of the turning axis.

[0003]

In such a conventional tool changing device, the cylinder in the arm of the tool changing arm is actuated to expand and contract the tool holder in the radial direction. Therefore, the cylinder is actuated. There is a problem in that the piping mechanism such as hydraulic pressure or pneumatic pressure required for the operation must be compactly stored in a very limited place in the arm that is the revolving structure.

[0004]

In order to solve the above-mentioned problems, the present invention supports a pair of tool holders on a frame so as to be rotatable about a turning axis, and in the turning axis direction,
In a tool changer configured to move in a radial direction orthogonal to a turning axis, a second shaft is provided at the center of a hollow first shaft that is axially movable on the turning axis with respect to a frame. Inserted so that it can move relative to the axial direction,
One of the shafts is rotatably supported on the frame by 180 degrees, and the first and second shafts are connected to the corresponding axial movement mechanisms, respectively. The tool holder is movably supported in the radial direction, and the radial position of the tool holder is changed by changing the axial relative position between each tool holder and the other shaft body between the first and second shaft bodies. And a swivel mechanism for swiveling the tool holder around the swivel axis.

[0005]

The first and second shaft bodies are axially moved relative to each other by the corresponding axial movement mechanisms, and the pair of tool holders are moved from the standby position via the link between the tool holder and one shaft body. It is moved outward in the radial direction to grip the tool magazine corresponding to the tool holder and the tool on the spindle. Furthermore, the tool holder moves axially while holding the tool by the relative movement of the first and second shaft bodies, and moves toward the radial axis center to extract the tool from the tool magazine and the spindle. It is located at a position where the turning radius is small so that the tool does not come into contact with the adjacent tool in the tool magazine even when turning. The tool holder in the turning position is turned 180 degrees around the turning axis by the turning device to change the position. When the position of the tool holder is changed, the axial movement mechanism is operated in reverse, and
The axial movement of the second shaft body and the outward movement of the tool holder in the radial direction are generated, whereby a pair of tool holders holding the respective tools mount the used tools to the tool magazine and the new tools to the spindle. Then the tool exchange is completed.

[0006]

Embodiments of the present invention will now be described in detail with reference to the drawings. FIG. 1 shows a front view of a tool exchanging part of a machining center 1, in which a tool exchanging device 2 of the present invention is arranged in the central part. Above the tool changer 2 are several types of tools 3
A tool magazine 4 is provided which accommodates and can be indexed.
Further, below the tool changing device 2, a moving column 6 which supports a main shaft 5 on which a tool 3 is detachably mounted so as to be able to move up and down is arranged so as to be movable back and forth and left and right. The tool magazine 4 is provided with a large number of tool sockets 7 for mounting the tools 3 on an endless chain 8 at predetermined intervals, and the tool sockets 7 (only one is omitted in the figure) are circulated and divided in a state of facing forward. The tool 3 is indexed to the projecting position P. The indexing position P of the tool 3 and the spindle 5 are set to be on the same vertical line when the tool is replaced.

Next, the tool changing device 2 shown in FIG. 2 has two gripping means shown in FIG. 3 for gripping the tool 3 to be used in the tool magazine 4 and the used tool 3 on the spindle 5. A pair of tool holders (disclosed in Japanese Patent Application Laid-Open No. 63-105854) 10 in which the pawl 9 is opened and closed by a compression spring or the like to make the tool 3 detachable are provided outward in the radial direction orthogonal to the axis A of the second shaft body 11. It is arranged. The second shaft body 11 is supported movably in the axial direction and rotatable about the axis A through a pair of bearings 14 attached to a frame 13 integrally attached to the main body 12 of the machining center 1. The hollow first shaft body 15 is supported by a bearing 16 so as to be movable in the axial direction.

The front end of the second shaft 11 further projects from the front end of the first shaft 15 protruding from the front surface of the frame 13, and the tool holder 10 is connected to a holder supporting member 17 attached to the front end. . This tool holder 10 is a holder link 1 which is swingably supported by pins 18 on both left and right side surfaces.
9.19 and a holding member support member 17 via a parallel link constituted by a support member 21 which is pivotally supported by a pin 18a at the intermediate rear of the left and right holding member links 19.19 and is not swingable. Connected to. Therefore, the tool holder 1
0 becomes movable in the axial direction and the radial direction orthogonal to the turning axis A by swinging the holder link 19 and the supporting member 21. A pair of link support portions 20 are provided at the tip of the first shaft body 15 so as to project radially outward, and the intermediate portion of the support member 21 and the link support portion 20 are connected by a link 22 to connect the first shaft body 15 and the first shaft body 15 to each other. The tool holder 10 is moved in the radial direction by relative movement in the axial direction between the tool holder 10 and the biaxial body 11. The link support portion 2 is provided in the through hole 17a provided in the holder support member 17.
A pair of rods 23 fixed to 0 and projecting forward along the second shaft 11 are inserted, whereby the holder support member 17 is axially movable with respect to the second shaft 11,
In addition, it cannot rotate in the turning direction by itself.

Next, the rear end of the first shaft 15 projects from the rear surface of the frame 13, and the rear end has an outer peripheral groove 25.
The shifter 26 is wedged. Similarly, the rear end of the second shaft body 11 further projects beyond the first shaft body 15, and the second shifter 28 having the outer peripheral groove 27 is fixed to the rear end portion thereof. Below the first and second shifters 26 and 28, an axial moving machine groove 30 for axially moving the first shaft body 15 and the second shaft body 11 is provided.
Is provided.

Next, the axial moving machine groove 30 will be described. The frame auxiliary member 13a on the rear surface of the frame 13 integrally includes a drum cam 31 therein, and rotatably supports a drive shaft 32 whose axial direction is parallel to the first shaft body 15 through a pair of bearings 33 of the frame 13. is doing. This drive shaft 32
A shaft hole 32a is provided at the rear end in the center in the axial direction, and is keyed to a rotary shaft 34a of a drive motor 34 for forward and reverse rotation mounted on the rear surface of the frame auxiliary member 13a.
On the outer periphery of the drum cam 31 key-connected to the drive shaft 32, the second cam groove 3 for moving the second shaft body 11 back and forth is provided from the rear.
5, and first cam grooves 36 for moving the first shaft 15 back and forth are provided respectively. A second connecting lever 40 is swingably supported on the frame auxiliary member 13a by an intermediate portion supported by a pin 41. A cam follower 42 is attached to one end of the second connecting lever 40, and the cam follower 42 is rotatably fitted in the second cam groove 35. Second connecting lever 4
The cam follower 43 attached to the other end of 0 is fitted into the outer peripheral groove 27 of the second shifter 28 so as to be rotatable, and the movement of the second connecting lever 40 by the second cam groove 35 is caused by the movement of the second shaft body 1.
1 is transmitted.

The first connecting lever 45 is swingably supported by the frame auxiliary member 13a at its intermediate portion by a pin 46. A cam follower 47 is attached to one end of the first connecting lever 45, and the cam follower 47 is rotatably fitted in the first cam groove 36. First connecting lever 45
The cam follower 48 attached to the other end of the first shifter 2
6 is rotatably fitted in the outer peripheral groove 25, and the movement of the first connecting lever 45 by the first cam groove 36 is transmitted to the first shaft body 15. The first and second cam grooves 35,
The reference numeral 36 denotes the link 21 due to the relative movement in the axial direction between the first and second shaft bodies 15 and 11 during one rotation of the drum cam 31.
The tool holding body 10 is moved in the axial direction and the direction orthogonal to the turning axis A through the tool pulling operation (FIGS. 5 to 10) performed prior to the 180-degree turning of the tool holding body 10.
The cam shape is set so that the tool mounting operation (reverse operation to FIGS. 5 to 10) after turning 180 degrees can be performed.

Next, the turning device 50 will be described. Spline-shaped outer peripheral teeth 15a are provided in the middle portion of the first shaft body 15 located inside the frame 13 along the longitudinal direction. The outer peripheral teeth 15a are set to a length such that the outer teeth 15a and b teeth of the fan-shaped gear 51 are not disengaged when the first shaft body 15 moves back and forth, as shown in FIG. The sector gear 51 has an intermediate portion keyed to a front end of an intermediate shaft 53 rotatably supported by a pair of bearings 52 in the frame 13. The external gear 51a is provided at one end of the fan gear 51, and a long groove 54 having one opening is provided at the other end thereof. A locking groove 51b is provided so that it can be temporarily locked at that position when moved.

The lever 55 is key-connected to the front end of the drive shaft 32, and the outer periphery 55a of the mounting portion is engageable with the engaging groove 51b, and a part thereof is notched to engage with the engaging groove 51b. A notch 51c is formed to allow the fan-shaped gear 51 to oscillate. Further, in one rotation of the drive motor 34 (drum cam 31), the lever 55 is moved at a timing between the tool extracting operation and the tool mounting operation by the drum cam 31.
The cam follower 56 is inserted into and removed from the long groove 54 so that the fan gear 51 is swung by a predetermined angle. Fan gear 51
The gear ratio of the external tooth 51a and the external tooth 51a is 180 degrees in the forward or reverse direction when the first shaft body 15 is swung at a constant angle in the forward or reverse direction.
It is set to rotate once. In this embodiment, since the turning, the radial movement, and the axial movement of the tool holder 10 are all performed by the single drive motor 34, this greatly contributes to downsizing of the device.

The operation of the tool changing device 2 configured as above will be described. Since the pair of tool holders 10 at the standby position S have the same positional relationship with the corresponding tool 3 of the spindle 5 and the tool 3 at the indexing position P, respectively, the tool holders 10 are symmetric. Will be described, and an explanatory view of the other tool holder 10 will be omitted. In order to grip the tool 3 of the main spindle 5 that has been machined and the new tool 3 indexed to the indexing position P of the tool magazine 4, the tool holder 10 is in the axial position from the standby position S in FIG. Moving mechanism 30
The drive motor 34 is driven to rotate in the normal direction to rotate the drum cam 31 in the normal direction, thereby causing the first and second shaft bodies 15 and 11 to move back and forth through the first and second connecting levers 45 and 40.

Due to the relative forward movement of the first and second shaft bodies 15 and 11 in the axial direction, the tool holder 10 is retracted from the standby position S via the link 22 and the parallel link, and is radially outward from the inside. The tool 3 of the main spindle 5 and the tool 3 at the indexing position P are gripped by moving toward each other (FIG. 6). Next, the first and second shaft bodies 11 and 15 move forward by a predetermined amount while maintaining the axial relative positional relationship, and the tool holder 10 holds the tool 3 and holds the tool 3 in the tool socket 7 as shown in FIG. Stop pulling out from (spindle 3). Next, only the first shaft 15 is moved forward from the state of FIG. 7, and the tool 3 is completely moved from the tool socket 7 by the action of directing the tool holder 10 inward in the radial direction via the link 22 of the first shaft 15. (Fig. 8). Then, the first and second shaft bodies 15 and 11 start to move backward by the front and rear movement cam grooves 35 and 36 of the drum cam 31. The tool holder 10 moves backward inward and inward in the radial direction by the relative movement of the first and second shaft bodies 15 and 11 in the backward direction, and goes through the state shown in FIG. 9 to the turning position B shown in FIG. To position. The tool holder 10 at the turning position B is a position where the turning radius from the turning axis A that does not contact the adjacent tools 3 of the tool magazine 4 even when turning is reduced.

The cam follower 5 of the lever 55 of the turning device 50 is arranged at the timing when the tool holder 10 is located at the turning position B.
6 fits into the long groove 54 of the fan gear 51. Lever 55
Rotates as it is, and the fan-shaped gear 51 is rotated forward by a predetermined angle. The rotation of the fan gear 51 causes the first shaft 15 to move to the second
While rotating the shaft body 11 integrally, the tool holder 10 is rotated 180 degrees around the rotation axis A, and the position of the tool 3 gripped by the tool holder 10 is exchanged. The drive motor 34 continues to rotate in the normal direction, whereby a tool device operation that is the reverse of the tool extracting operation (the operation shown in FIGS. 5 to 10) that has been performed before turning 180 degrees is performed, and in this reverse operation, a pair of tool holders is operated. The tool 10 mounts a new tool 3 on the spindle 5, and the used tool 3 on the tool magazine 4. When the drum cam 31 makes one rotation, the tool returns to the standby position S and the tool exchange is completed. When the tool is changed next time, the drive motor 34 is rotated once in the reverse direction.

In the tool exchanging device 2 of this embodiment, the tool holder 10 has a holder link 19 and a support member 21 interposed between the tool holder 10 and the holder support member 17 of the second shaft 11. The tool 3 is attached to and detached from the first and second shaft bodies 15 and 11 while being supported so as to oscillate back and forth in the axial direction, but the present invention is not limited to this.
As shown in FIGS. 1 and 12, in place of the holder support member 17, the holder link 19 and the support member 21 at the tip of the second shaft 11A, the tool holder 10A is guided in the radial direction and slidable. A rod 17A for supporting the tool holder 1 is provided.
The link 22A at the tip of the first shaft 15A may be connected to 0A, and the second shaft 11A may be rotatably supported by the frame 13.

In this case, the tool holder 10A is guided by the rod 17A from the standby position S by the forward movement of the first shaft 15A shown in FIG. 11 and enters toward the tool 3 in the radial direction. Hold the corresponding tool 3 as indicated by the line. In this state, the first and second shaft bodies 15A, 11A
Simultaneously move forward, pull out the tool 3 and stop it at the position shown in phantom in FIG. Next, the first shaft body 15A retracts, and the tool holder 10A is guided by the rod 17A and returned to the position shown by the solid line in FIG. 12 inward in the radial direction. After that, in the tool holder 10A, the second shaft 11A is rotated and the positions are exchanged, and the first shaft 15A is moved forward again.
1A and 15A retract at the same time, the tools 3 are mounted on the corresponding spindles 5 and tool magazines 4, respectively, and returned to the standby position S.

[0019]

As described above, according to this tool exchanging device, the second shaft body is axially arranged about the center of the hollow first shaft body which is axially movable with respect to the frame. It is inserted so as to be relatively movable, and one of the first and second shafts is supported by a frame so as to be rotatable by 180 degrees, and the first and second shafts are connected to corresponding axial movement mechanisms, respectively, and a revolving device is also provided. And a pair of tool holders are movably supported in the radial direction at the tip of the second shaft body, and each tool holder and the first shaft body are radiused by relative movement of the first and second shaft bodies in the axial direction. Since the links are connected so as to move in the direction, the drive source for moving the tool holder in the radial direction orthogonal to the turning axis does not have to be housed in the turning member, and the structure can be simplified.

[Brief description of drawings]

FIG. 1 is a front view in which a tool changing device of the present invention is mounted on a machining center.

FIG. 2 is a side sectional view showing a tool changing device of the present invention.

FIG. 3 is an explanatory view of the tool holder seen from the front.

4 is a sectional view taken along line IV-IV in FIG.

FIG. 5 is an explanatory view showing the operation of the tool holder.

FIG. 6 is an explanatory view showing the action on the tool holder.

FIG. 7 is an explanatory view showing the action on the tool holder.

FIG. 8 is an explanatory view showing the action on the tool holder.

FIG. 9 is an explanatory view showing the action on the tool holder.

FIG. 10 is an explanatory view showing the action on the tool holder.

FIG. 11 is an explanatory diagram showing another embodiment.

FIG. 12 is an explanatory diagram showing another embodiment.

[Explanation of reference numerals] 2 tool changing device, 3 tools, 10 tool holder, 1
1 2nd shaft body, 13 frame, 15 1st shaft body,
22 links, 30 axial movement mechanism, 50 turning device, A turning axis

Claims (1)

[Claims] 1. A tool changer in which a pair of tool holders are rotatably supported about a turning axis with respect to a frame and are moved in a turning axis direction and a radial direction orthogonal to the turning axis. , A second shaft body is inserted into the center of a hollow first shaft body that is axially movable relative to the frame, and the second shaft body is relatively movable in the axial direction.
One of the second shafts is supported by the frame so as to be rotatable 180 degrees, and the first and second shafts are respectively connected to the corresponding axial movement mechanisms. A pair of tool holders are movably supported in the radial direction, and each tool holder and the other shaft body are positioned in the radial direction of the tool holder by changing the axial relative position between the first and second shaft bodies. A tool exchanging device, characterized in that the tool changing body is connected with a link for changing the rotation angle, and has a turning mechanism for turning the tool holder around the turning axis.