JPH08174365A - Method and device for automatically changing tool of nc machine tool - Google Patents

Abstract

PURPOSE: To shorten a tool change time by a method wherein a transfer body is rotated from a tool change position on the main spindle side to a waiting position or a tool change position on the magazine side. CONSTITUTION: By rotating a transfer body 3 in an angle β arc to the waiting position A side, a used tool T' is pulled off from a main spindle S. When the used tool T' is pulled off from the main spindle S, a twin arm 4 is rotated in a 180 deg. arc to change the position of a subsequent using tool T grasped by one grasping part with that of the used tool T' grasped by the other grasping part. Thereafter, the transfer body 3 is rotated in an angle B arc to the tool change position B side on the main spindle side, and the subsequent use tool T grasped by one grasping part of the twin arm 4 is inserted in the tool mounting hole of the main spindle S.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention has a compact movable part of an automatic tool changer in which the operation between the spindle side tool change position and the twin arm 180 degree turning position is performed by the turning movement of the feeding body. And an automatic tool changing method and apparatus for an NC machine tool that can achieve higher speed and faster tool changing operation.

[0002]

2. Description of the Related Art An automatic tool changer shown in FIG.
In an NC machine tool (for example, a machining center) equipped with an ATC), a tool magazine 52 in which a large number of tool pots for storing the tools 51 are arranged in a chain or a matrix is fixed on the bed 50. Are automatically exchanged between the tool magazine 52 and the spindle 53. Spindle 5
3 is rotatably supported by the spindle bed. The spindle bed is slidably supported on the column 54 in the Y-axis direction, and is moved and positioned by a ball screw or the like of the Y-axis servomotor 55. The rotation of the main shaft 53 is controlled by driving means (not shown). The column 54 is slidably mounted on the bed 50 in the Z-axis direction and moved by the Z-axis servomotor 56. The table 57 on which the workpiece is placed is formed so as to be movable in the X direction (perpendicular to the Y and Z directions) by the X-axis servomotor 58. After machining the workpiece with the tool fixed to the spindle 53, the spindle 53 is positioned at a predetermined position (tool replacement position), and the automatic tool replacement of the tool 51 is performed by the ATC 59. FIG. 16 is a diagram showing a conventional twin-arm type ATC. In the figure, 60 is ATC5
9 shows twin arms. A'indicates a tool magazine side tool exchange position of the ATC 59, B'indicates a spindle side tool exchange position of the ATC 59, and C'indicates a standby position of the ATC 59. The conventional twin-arm ATC is shown in FIG.
As shown in FIG. 6, the tool detachment / insertion operation in the spindle 53 or the tool magazine 52 at each tool exchange position is performed by the advancing / retreating operation in the spindle axis direction.

[0003]

As described above, the conventional AT is used.
In C59, since the operation for removing and inserting the tool between the spindle mounting position and the twin arm 180 ° turning position in the tool changing position was performed by the forward / backward movement in the main spindle axis direction, this forward / backward movement mechanism must be provided. , There is a problem that the moving part of the ATC cannot be made compact. The present invention has been made to solve the above-mentioned problems, and the tool is detached from the spindle by the turning operation of the transfer body.
By performing the insertion operation and performing the reciprocating operation of the twin arm while the transfer body reciprocally rotates between the tool changing position and the twin arm 180 degree revolving position where the tool is completely separated from the spindle, the tool changing time can be reduced. An object of the present invention is to provide an automatic tool changing method for an NC machine tool and a device therefor capable of shortening and downsizing the movable part of the automatic tool changing apparatus.

[0004]

An automatic tool changing method for an NC machine tool according to the present invention for solving the above-mentioned problems is provided near a column to store a plurality of tools and select a predetermined tool. A tool magazine, a main shaft on which the tool can be removably mounted, and a tool magazine-side tool exchange position that is pivotally supported by a rotary shaft on a tool exchange device base and that exchanges tools between the tool magazine by drive means, A spindle body that rotates between a spindle-side tool exchange position for exchanging tools between the spindle and a standby position that waits between two tool exchange positions, and a pivotal support for the swing body on the swing shaft. And has a grip portion for gripping a tool at both ends, 1
An automatic tool exchanging method in an automatic tool exchanging device for an NC machine tool comprising a twin arm capable of turning by 80 degrees, wherein the tool magazine side tool exchanging position or the standby position with at least one gripping part empty Waiting step, moving and positioning the spindle to a tool exchange position, rotating the transfer body from the tool magazine side tool exchange position or the standby position to the spindle side tool exchange position, the twin Arm
In the case where the tool is mounted on the main shaft by rotating the transfer shaft from the transfer state by γ angle about the rotary shaft to position the one gripping portion at a tool gripping position where the tool mounted on the main spindle can be gripped. Gripping step, and after the spindle has unclamped the tool, the twin arm is rotated 180 degrees with the tool being gripped by the gripping portion between the spindle-side tool exchange position and the standby position. Even if the tool is mounted on the main shaft by rotating the transfer body by a β angle to a twin arm 180 ° turning position that does not interfere with the main shaft, the main body moves the tool by rotating the transfer body. Further pulling out, rotating the twin arm 180 degrees to reverse the positions of the one grip portion and the other grip portion, and the transfer body to the twin arm 1 Rotating from the 80-degree turning position to the main spindle side replacement position by -β angle, and inserting the tool into the main spindle when the tool to be used next time is grasped by the other grasping portion by the rotational movement of the transfer body, After the spindle clamps the tool, the twin arm is swung by a -γ angle about the swivel axis to return the twin arm to the transfer state, and the transfer body is made to stand by from the spindle side tool exchange position. And a step of rotating the tool magazine to the tool magazine side tool changing position.

Further, the automatic tool changer for an NC machine tool according to the present invention is provided between a tool magazine which stores a plurality of tools and can select a predetermined tool, and a spindle which can detachably mount the tools. In an automatic tool changing device for an NC machine tool for changing tools, a changing device base provided in the vicinity of the tool magazine, a rotating shaft rotatably provided on the changing device base, and attached to the rotating shaft. The
A transfer body that rotates between the tool magazine-side tool exchange position or the standby position and the spindle-side tool exchange position, and the swing body is rotatably attached to the swing body.
A twin arm having gripping portions formed on both ends for forming the tool, and the transfer body between the spindle side tool exchange position and the standby position or the tool magazine side tool exchange position, or the spindle side tool exchange position. Between the twin arm and the 180-degree turning position,
When the rotary operation is performed between the spindle side tool exchange position and the twin arm 180-degree pivot position, the twin body is rotated by 180. It is characterized in that it comprises a twin arm turning means for performing a turning operation.

Further, in the automatic tool changer for an NC machine tool of the present invention, the first rotating means for rotating the rotating means between the spindle side tool changing position and the twin arm rotating position. And a second rotating means for rotating between the spindle-side tool exchange position and the standby position.

Further, the second rotating means of the automatic tool changing device for an NC machine tool according to the present invention comprises one gear attached to the transfer body so as to be rotatable about an axis, and the rotating shaft. The other gear that is rotatably provided and meshes with the one gear, the fixing means that fixes the other gear so that it does not rotate, and the swinging gear that is attached to the one gear and swings about the shaft as a fulcrum. A moving lever, a first cam attached to the rotating shaft, which swings the swing lever between a reference position and a predetermined angular position while the rotating shaft makes one rotation, and the rotating shaft. You may comprise with a drive body. Further, as the fixing means, rotatably provided on the rotary shaft, and the other gear that meshes with the one gear,
A fixed clutch plate provided on the exchange device base, a movable clutch plate engageable with and disengageable from the fixed clutch plate, and a first convex portion provided on the other gear and always engaged with the movable clutch plate; A clutch mechanism is provided on the rotating shaft, the clutch mechanism including a second convex portion that engages with the movable clutch plate when the movable clutch plate and the fixed clutch plate are disengaged from each other. The rotating shaft may be rotated by a driving body common to the means.

Further, a standby tool holding portion is provided on the transfer body, the next tool to be used is transferred from the tool magazine to the pot, the spindle is moved to the tool exchange position, and the transfer body is standby. The step of rotating the tool magazine side tool exchange position from the tool magazine side tool exchange position to the spindle side tool exchange position together with the tool holding part, and rotating the twin arm from the transfer state by γ angle around the pivot axis to finish machining on the spindle. When the used tool is attached, the used tool is held in one of the holding parts, and when the next used tool is held in the standby tool holding part, the next used tool is held in the other holding part. , A step of gripping at the same time, and after the main shaft unclamps the used tool, the main shaft side tool exchange position and the tool magazine side tool exchange position And the twin arm is rotated 180 degrees in a state where the tool is gripped by the gripping part, the transfer body is rotated by β angle to a twin arm 180 degree swivel position where it does not interfere with the spindle, When the used tool is attached, a step of pulling the used tool out of the main shaft by the rotation operation of the transfer body, and rotating the twin arm by 180 degrees to grasp the one gripping portion and the other gripping portion. Reversing the position of the part and replacing the position of the next used tool with the position of the used tool, and the transfer body to the twin arm 180.
Rotating from the turning position to the main shaft side replacement position by -β angle, and inserting the tool into the main spindle when the tool to be used next time is grasped by the other grasping portion by the rotational movement of the transfer body, After the spindle clamps the tool, the twin arm is swung by -γ angle about the swivel axis to return the twin arm to the transfer state, and the transfer body is moved from the spindle side tool exchange position to the tool. The automatic tool changing method for the NC machine tool may be configured by the step of rotating the tool to the magazine side tool changing position. Further, an exchange device base provided in the vicinity of the tool magazine, a rotary shaft rotatably provided on the exchange device base, and a tool exchange position on the tool magazine side and a spindle tool attached to the rotary shaft. A transfer body that rotates between an exchange position and the transfer body, which is provided on the transfer body to hold the tool, and when the transfer body is rotated to the spindle-side tool exchange position, the axis of the tool is the spindle. A standby tool holding part that holds it so that it is parallel to the axis,
A twin arm that is rotatably attached to the transfer body and has gripping portions formed at both ends for gripping a used tool mounted on the spindle by a swiveling operation and a tool to be used next time held by the standby tool holding portion, , The transfer body is rotated between the spindle-side tool exchange position and the tool magazine-side tool exchange position, or between the spindle-axis tool exchange position and the twin arm 180 ° swivel position, and the spindle is rotated. When rotating between the side tool changing position and the twin arm 180 ° turning position, the turning means of the feeding body for removing and inserting the tool with respect to the main shaft and the twin arm turning 180 °. Automatic tool changer from twin arm turning means to operate. Also in this device, a clutch mechanism may be adopted as the rotating means.

[0009]

[Function] The ATC's twin arm is the next tool T received from the tool magazine at the tool exchange position on the tool magazine side.
After being held at one of the holding portions and waiting at the standby position A,
The spindle moves to the tool exchange position in order to exchange the used tool mounted on the spindle. In the ATC, the twin arm is erected so that the twin arm and the spindle do not interfere with each other, and the transfer body is rotated to the spindle side by the angle α to be positioned at the spindle side tool exchange position B. Next, the twin arm is swung by an angle γ, and the used tool attached to the spindle is held by the other holding portion which is not holding the used tool next time.
Next, the used tool is pulled out from the spindle by rotating the transfer body toward the tool magazine by the angle β.
The position where the transfer body is rotated by the angle β is the twin arm 180 ° turning position C where the used tool is completely pulled out from the tool mounting hole. The transfer body draws a used tool from the spindle while drawing an arc around the rotation axis. At this time, the used tool is pulled out from the tool mounting hole without interfering with the spindle. When the used tool is pulled out from the main shaft, the twin arm pivots to switch the positions of the next-used tool gripped by one grip and the used tool gripped by the other grip. After that, the transfer body is rotated by the angle β toward the tool exchange position B on the spindle side, and the next tool to be gripped by one grip of the twin arm is inserted into the tool mounting hole of the spindle. The tool to be used next time is inserted into the tool mounting hole and mounted on the spindle without interfering with the spindle, as in the case of pulling out the used tool.
After the tool to be used next time is mounted on the spindle, the twin arm swings by an angle γ in the vertical plane to release the grip of the tool to be used next time. The ATC rotates the transfer body to the tool magazine side by an angle α in a transfer state in which a twin arm is erected.
In the case where the transfer body is provided with the standby tool holding part, the twin arm swings to grip the used rear part inserted in the spindle and at the same time grips the next used tool held in the standby tool holding part. By rotating the transfer body to the tool exchange position on the spindle side by reversing the arm 180 degrees, it becomes possible to insert the next used tool into the spindle and hold the used tool in the standby tool holding portion. .

[0010]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of an automatic tool changing method for an NC machine tool according to the present invention will be described with reference to the drawings. FIG. 1 is a flow chart of an automatic tool changing method of the present invention, FIGS. 2 to 4 are schematic diagrams for explaining the operation of an automatic tool changing device (ATC), and FIG. 2 is a perspective view showing the overall configuration of the ATC, FIG. Is an operation explanatory view of the transfer body, and FIG. 4 is an operation explanatory view of the twin arm. In the following description, when the term "rotation" is used, the transfer body 3 with the twin arm 4 attached between the tool magazine-side tool exchange position (not shown) for exchanging tools with the tool magazine and the spindle S is used. Shows the operation of rotating in the horizontal plane between the spindle side tool exchange position B for tool exchange and the standby position A provided between both exchange positions.
When referred to as "turning", the twin arm 4 turns in a vertical plane to change the position of the gripping portion. Further, in this embodiment, the NC machine tool is described as a horizontal machining center, but it may be a vertical machining center. In that case, the transfer body 3 rotates in a vertical plane, and the twin arm 4 rotates in a horizontal plane.

2 to 4, reference numeral S is a spindle having a tool mounting hole Sa at one end, and reference numeral 4 is a tool T at both ends.
Twin arm having gripping portions 4a and 4b of T ', reference numeral 3
Is a transfer body in which the twin arm 4 is rotatably attached and can be rotated between the standby position A and the tool exchange position B on the spindle side about the rotary shaft 2. The transfer body 3 is rotated to the tool magazine-side tool replacement position to perform tool replacement with the tool magazine, but since it is almost the same as the tool replacement on the spindle S, detailed description thereof will be omitted. Then, the transfer body 3 is provided with a first rotating means for rotating the transfer body 3 around the rotary shaft 2, a twin arm rotating means for rotating the twin arm 4 in a vertical plane, and the transfer body 3. 2nd turning means for pulling out the used tool T from the main spindle S by rotating the tool for a predetermined angle or inserting the next used tool T'into the main spindle. Reference numerals 5 and 6 are driving bodies for operating the above-mentioned first rotating means, twin arm rotating means, second rotating means, and the like. In the twin arm 4 rotatably attached to the transfer body 3, the turning operation of the twin arm 4 causes the gripping portions 4a and 4b to engage with the engaging portions (V grooves or the like) of the tools T and T '. It is a known device for gripping T and T '.

The procedure for exchanging tools will be described below with reference to the flowchart of FIG. The twin arm 4 of the ATC holds the next-use tool T received from the tool magazine at the tool magazine-side tool exchange position with one of the holding parts 4a and waits for the standby position A.
It is waiting at (step S1). The spindle S is moved and positioned to the tool exchange position B in order to exchange the used tool T ′ mounted on the spindle S (step S2). In the ATC, the twin arm 4 is erected so that the twin arm 4 and the spindle S do not interfere with each other, and the transfer body 3 is rotated to the spindle S side by an angle α to be positioned at the spindle side tool exchange position B (step S3). Note that steps S2 and S3 can be operated simultaneously by providing a known interference prevention synchronizing means. Further, at the position where the transfer body 3 is rotated by the angle α, the axis line of the tool T to be used next held by the one gripping portion 4a and the spindle axis line are parallel to each other.

Next, the twin arm 4 is swung by an angle γ and the other gripping portion 4 which is not gripping the tool T to be used next time.
The used tool T'mounted on the spindle S is gripped by b (step S4). At this time, since the clamped state of the used tool T ′ mounted on the spindle S has been released, the used tool T ′ is then rotated by rotating the transfer body 3 by the angle β to the standby position A side. Can be pulled out from the spindle S (step S5). The position where the transfer body 3 is rotated by the angle β is the twin arm 180 ° turning position C where the used tool T ′ is completely pulled out from the tool mounting hole Sa. The transfer body 3 draws the used tool T'from the spindle S while drawing an arc around the rotary shaft 2, but at this time, the used tool T'is drawn from the tool mounting hole Sa without interfering with the spindle S. Be done. When the used tool T ′ is pulled out from the spindle S, the position of the next used tool T gripped by the one gripping portion 4a and the used tool T ′ gripped by the other gripping portion 4b by the twin arm 4 pivoting 180 degrees. Are replaced (step S6).
After that, the transfer body 3 is rotated to the tool exchange position B on the spindle side by the angle β, and the next-use tool T gripped by one gripping portion 4a of the twin arm 4 is inserted into the tool mounting hole Sa of the spindle S ( Step S7). The tool T to be used next time is inserted into the tool mounting hole Sa without interfering with the spindle S, is mounted on the spindle S, and is clamped by a tool clamping mechanism (not shown), similarly to when the used tool T ′ is pulled out.

After mounting the tool T to be used next time on the spindle S,
The twin arm 4 is swung by an angle γ in the vertical plane and separated from the tool T to be used next time (step S8). The ATC sets the twin arm 4 in the transfer state and rotates the transfer body 3 toward the tool magazine (step S9). After the twin arm 4 releases the grip of the tool T to be used next time, the main axis S becomes -α.
It moves to the processing position so as not to interfere with the swinging swinging body 3, the swinging body 3 returns to the standby position A (step S10), and predetermined processing is performed with the opening / closing door of the splash guard (not shown) closed. Then, the tool exchange between the used tool and the next used tool is performed between the ATC and the tool magazine. Then, the ATC waits at the standby position A while holding the tool to be used next time on the one gripping portion 4a of the twin arm 4 (step S11). In the drawing process of the used tool T ′, before the used tool T ′ is completely separated from the tool mounting hole Sa, the spindle S and the tool T,
It goes without saying that the tool change time can be further shortened by starting the turning operation of the twin arm 4 within the range where it does not interfere with T '.

Since the automatic tool changing method of the present invention is constructed as described above, the tool changing operation including the removal and insertion of the used tool T'and the next used tool T is performed by the turning operation of the transfer body 3. Therefore, the operation of moving the twin arm 4 back and forth in the axial direction of the spindle is unnecessary, and the tool exchange time can be shortened. In addition, since a mechanism for moving the twin arm 4 forward and backward in the axial direction of the spindle is not required, it is possible to obtain an ATC with a simple structure, the transfer body 3 is made compact, and the transfer operation is small, so that the ATC itself does not interfere. It has a feature that it can be reduced.

Next, A of the present invention will be described with reference to FIGS.
An example of TC will be described. FIG. 5 is a sectional view showing the structure of the ATC of the present invention. The rotating shaft 2 is rotatably supported on the base 1 of the ATC by bearings 1a and 1b. A second motor 6'as a driving body is provided on the upper portion of the base 1, and the rotary shaft 2 is rotated by the second motor 6 '. The transfer body 3 is rotatably provided on the rotary shaft 2. A sleeve 8 having a gear 8a which is the other gear at the upper end is rotatably fitted below the rotary shaft 2 and meshes with a gear 10 which is one gear rotatably attached to the transfer body 3 by a shaft 9. are doing. The lower end of the sleeve 8 extends below the transfer body 3, and the gear 12 is fixed to the lower end of the sleeve 8 by a fixing member (Spring ring). The gear 12 meshes with the drive gear 13 rotated by the first motor 5'which is a driving body.
The above-mentioned first motor 5'has a built-in brake mechanism and can restrict the sleeve 8 and the gear 8a from rotating via the drive gear 13. That is, this first motor 5'is a fixing means for fixing the other gear 8a so as not to rotate. The fixing means is not limited to the first motor 5'having a built-in brake mechanism. For example, a separate brake mechanism may be provided on the sleeve 8, and the drive gear 13 or the gear 12 or the gear 12 may be provided by a clutch mechanism or a pin. The rotation of the sleeve 8 and the like may be restricted.

On the upper surface of the gear 10, a swing lever 15 is
It is fixed with a key and a key, and one end side of this swing lever 15
A rotatable cam follower 15a is attached to
It The roller of this cam follower 15a is attached to the rotary shaft 2.
Of the drum cam 17 as the second cam fixed by
Groove of groove cam 18 which is a first end surface cam formed on the lower surface
Is fitted to. FIG. 6 shows the groove cam 18 and the swing lever 15.
Of the movement of the transfer body 3 and the rotation operation of the transfer body 3 will be described.
It is a top view. The drum cam 17 rotates with the rotating shaft 2.
Then, the rocking lever 15 moves along the shape of the grooved cam 18.
Angle θ around 9₁Just rock. This swing lever 15
Swinging motion is transmitted to the gear 10 to rotate the gear 10.
However, at this time, the first motor 5'is locked and slipped.
The valve 8 and gear 8a so that they do not rotate
And the gear 10 is a gear that is in mesh with the gear 8a in a fixed state.
It will roll around 8a. Gear 10 and transfer body
Since it is connected to the shaft 3 by the shaft 9,
The fact that the gear 10 rolls around means that the rotating shaft 2
The transfer body 3 is at an angle θ₂Other than just turning
I won't. The swing degree θ of the swing lever 15 ₁And transfer
Rotation angle θ of D3₂Is the gear of gear 8a and gear 10.
In the present embodiment, the gear 8a and the teeth are determined.
Since the gear ratio of the vehicle 10 is 1, the swing angle θ₁And rotation angle
Degree θ₂Has a proportional relationship with. The second motor 6 ',
First motor 5 ', shaft 9, gear 8a, gear 10, swing arm
The transfer body 3 with the tool 15, groove cam 18, etc.
Rotate between the changing position B and the twin arm 180 degree turning position C.
A second rotating hand for moving and detaching and inserting the tools T, T '
The steps are configured.

On the side surface of the drum cam 17, there is formed a cam portion 17a having a predetermined shape for determining the timing and the turning angle for turning the twin arm 4. A rotating member 19 that rotates about an axis orthogonal to the rotating shaft 2 is provided in the vicinity of the drum cam 17, and a plurality of rollers 19a are arranged on the rotation circumference of the rotating member 19 at a uniform pitch. The rotating member 19 is provided on the cam portion 17a of the drum cam 17 so that the roller 1
9a comes into contact with the roller 1 as the drum cam 17 rotates.
9a is rotated by moving along the cam portion 17a. That is, the timing of rotation and stop of the rotary member 19 is determined by the shape of the cam portion 17a, but the timing mechanism of the rotary timing composed of the drum cam 17 and the rotary member 19 having the roller 19a is publicly known. . The rotation of the rotating member 19 is transmitted from the gear 20 meshing with the teeth formed on the outer periphery of the rotating member 19 to the swivel shaft 24 of the twin arm 4 via the gears 21 and 22. In this embodiment, the drum cam 17, the rotating member 19 and the gears 20 and 2 which are the rotation transmitting means are described.
1, 2 and the like form a twin arm turning means for turning the twin arm 4. Reference numeral 11 indicates a limit switch, a photoelectric switch, a proximity switch or the like for detecting the rotational position or the rotational stop position of the rotary shaft 2 for the tool changing operation and positioning the rotary shaft 2 at a predetermined rotation angle position. It is a detection means.

Next, the operation of the automatic tool changer having the above structure will be described with reference to FIG. In the timing chart of FIG. 7A, the horizontal axis indicates the rotation angle Φ (0 degree to 36 degrees) of the groove cam 18.
(0 degree), the relationship between the rotation angle Φ of the drum cam 17 and the groove cam 18, the timing of the turning operation of the transfer body 3 and the timing of the turning operation of the twin arm 4 is shown. The starting point of the rotation angle of the drum cam 17 and the groove cam 18 is 0 degree when the transfer body 3 is at the spindle side tool exchange position B. FIG. 7 (b) shows FIG.
Main points [(1) to (10)] of the timing chart in (a)
2 is a simplified diagram showing the state of the twin arm 4 and the state of the transfer body 3, in which the upper stage is the twin arm 4 and the lower stage is the transfer body 3. In FIG. 7B, the direction in which the transfer body 3 and the twin arm 4 rotate or swivel is indicated by an arrow, and the tool T to be used next time gripped by the gripping portion 4a of the twin arm 4 is indicated by a black circle and the gripping portion 4b is indicated. The grasped used tools T'are represented by white circles.

First, the first motor 5'is driven to rotate the transfer body 3 to the tool exchange position B on the spindle side. At this time, the second motor 6 ', the rotary shaft 2, the drum cam 17, and the gear 10 are rotated together by a notch-shaped connecting member (not shown). When the drive gear 13 and the sleeve 8 are rotated by the drive of the first motor 5 ', the gear 8a rolls along the gear 10. However, the gear 8a is provided concentrically with the rotating shaft 2, and the gear 10 is attached to the transfer body 3 by the shaft 9, and the lever 15 integral with the gear 10 and the roller of the cam follower 15a are the cam 17 and the roller of the cam 17. Since the groove cam 18 prevents rotation and cannot rotate on its own, the transfer body 3 rotates around the rotation shaft 2. The first motor 5 ', the drive gear 13, the gear 12, the lever 15, the groove cam 18, etc. constitute a second rotating means. In this way, the transfer body 3 rotates from the standby position A to the spindle S side by the angle α (90 degrees in this embodiment), and is positioned at the spindle side tool exchange position B. When the transfer body 3 rotates to the tool exchange position B, the drive of the first motor 5'is stopped and the gear 8a
Is fixed. After that, the second motor 6'is driven to start the tool changing process.

The first position of the roller of the cam follower 15a in the groove cam 18 is the position shown by the solid line in FIG. 6 (0 degree).
Is. The groove cam 18 rotates counterclockwise from here. When the second motor 6'starts driving, the roller 19a moves along the cam portion 17a of the drum cam 17 to rotate the rotating member 19, so that the twin arm 4 starts to rotate about the rotating shaft 24 ( (1) in the timing chart. For the turning of the twin arm 4, the rotation angle Φ of the drum cam 17 is (2) in the timing chart.
It ends by the time it reaches the position ((2) in the same paragraph). At this time, the other gripping portion 4b which is not gripping the tool T to be used next time is the spindle S.
The used tool T ′ attached to the tip of the is gripped. The tool clamp mechanism of the spindle S is brought into an unclamped state. After that, the ATC next moves the transfer body 3 to the standby position A by the angle β.
It is rotated to the side to move the used tool T ′ out of the tip of the spindle S.

When the rotation angle Φ of the groove cam 18 reaches the position (3) in the timing chart, the rotation of the transfer body 3 is started (the same (3)). When the rotation angle Φ of the groove cam 18 reaches the position (4) in the timing chart, the rotation angle of the transfer body 3 becomes maximum (β = 15 degrees in this embodiment) (same as above).
(Four) ). This position is the twin arm 180 ° turning position C (see FIG. 4). The transfer body 3 has a groove cam 18
The twin arm is held at the 180-degree turning position C until the rotation angle Φ of the rotation angle Φ reaches the position (5) in the timing chart ((4) to (5)). On the other hand, immediately before the rotation angle Φ of the groove cam 18 reaches the position (4) in the timing chart, the position (6) in the timing chart, that is, the transfer body 3
The drum cam 17 rotates the rotating member 19 to start the 180-degree turning operation of the twin arm 4 immediately before the twin arm 180 reaches the 180-degree turning position C.

The turning operation of the twin arm 4 is continued until the rotation angle Φ of the drum cam 17 reaches the position (7) in the timing chart. That is, within the range in which the spindle S does not interfere with the used tool T ′ or the next used tool T, the used tool T ′ is being extracted or the next used tool T is
By rotating the twin arm 4 during the inserting operation of the tool, the used tool T ′ is pulled out, the twin arm 4 is rotated, and the tool T to be used next time is continuously performed as a series of operations, and more quickly. The tool can be changed.

When the rotation angle Φ of the groove cam 18 starts to rotate from the position (5) in the timing chart and reaches the position (8) in the timing chart, the transfer body 3 reaches the tool exchange position B on the spindle side, The tool T to be used next time is inserted into the spindle S. The rotation angle Φ of the groove cam 18 is shown in the timing chart.
From the position (8) to the position (9) in the timing chart, the tool T to be used next time is mounted and fixed to the spindle S by the tool clamp mechanism or the like. After this, the drum cam 17 is moved to the twin arm 4
Is turned by 75 degrees to release the grip of the tool T to be used next time, and one gripping portion 4a is separated from the tool T to be used next time. When the above operation is completed, the second motor 6 stops. Then, the locked state of the first motor 5'is released. First
When the motor 5'is driven, the gear 10 rolls around the gear 8a, so that the transfer body 3 rotates to the standby position A side. The transfer of the tools T and T'between the tool magazine and the ATC at the tool exchange position on the tool magazine side is performed in the same manner as above. Hereinafter, the above operation is repeated.

According to the invention of this automatic tool changer, the turning operation of the transfer body 3 and the turning operation of the twin arm 4 can be performed by one driving body (motor 6 '). That is, by forming the shape of the groove cam 18 as shown in FIG. 8, the turning operation between the spindle-side tool exchange position B of the transfer body 3 and the twin arm 180-degree turning position C and the twin movement can be performed by one driving body. It is characterized in that not only the turning operation of the arm 4 but also the turning operation between the standby position A and the spindle side tool exchange position B can be performed. Further, according to the ATC of the above-described embodiment, it is possible to move the twin arm 4 forward and backward in the axial direction of the turning shaft 24 to some extent with one driving body. By providing this advancing / retreating movement, it becomes easier to avoid the interference between the collet and the pull stud during the turning operation. In this case, a groove cam 26, which is a second end surface cam, is separately provided on the rotary shaft 2, and a lever 28 that swings about the shaft 27 in a direction parallel to the axis of the turning shaft 24 by the rotation of the groove cam 26 is provided. It should be provided. Then, a groove is formed on the outer peripheral surface of the revolving shaft 24 provided in the transfer body 3 so as to be movable back and forth, and the roller 28a provided at the tip of the lever 28 may be fitted into this groove. Further, a cam follower 28b is provided at the other end of the lever 28, and the cam follower 28b is provided.
The roller is fitted into the groove cam 26. According to this aspect, when the lever 28 swings, it is pushed by the roller 28a and the turning shaft 24 moves forward and backward. 7 (a) shows the timing of forward / backward movement of the turning shaft 24.
The rotation angle Φ of is from the (11) position in the timing chart to the (14) position in the timing chart (in FIG. 8A, from the (15) position in the timing chart to the (18) position in the timing chart, that is, The swivel shaft 24 is advanced by a predetermined amount until the used tool T'is grasped and pulled out by the grasping portion 4b and the next used tool T 'grasped by the other grasping portion 4a is inserted. Is N
The system may be fixed to the base (for example, bed) of the C machine tool or may be a separate system that is separate from the NC machine tool.

Next, the operation of another embodiment of the automatic tool changer having the above structure will be described with reference to FIG. In the timing chart of FIG. 8A, the horizontal axis indicates the groove cam 18 similarly to FIG.
As the rotation angle Φ (0 to 360 degrees) of the drum cam 1
7 shows the relationship between the rotation angle Φ of the groove cam 18, the timing of the turning operation of the transfer body 3 and the timing of the turning operation of the twin arm 4. FIG. 8B is the same as FIG.
Main points of the timing chart in (a) [(1) to (14)]
2 is a simplified diagram showing the state of the twin arm 4 and the state of the transfer body 3, in which the upper stage is the twin arm 4 and the lower stage is the transfer body 3. In FIG. 8B, the direction in which the transfer body 3 and the twin arm 4 rotate or swivel is indicated by an arrow, and the tool T to be used next time gripped by the gripping portion 4a of the twin arm 4 is indicated by a black circle and the gripping portion 4b is indicated. The grasped used tools T'are represented by white circles.

First, the first motor 5'is driven to rotate the transfer body 3 to the spindle side tool exchange position B ((1) and (2) in the timing chart). When the second motor 6'starts driving, the roller 19a moves along the cam portion 17a of the drum cam 17 to rotate the rotating member 19, so that the twin arm 4 starts to rotate about the rotating shaft 24 ( (3) in the timing chart. Twin arm 4
The turning of is ended until the rotation angle Φ of the drum cam 17 reaches the position (4) in the timing chart (the same (4)).
At this time, the other gripping portion 4b which is not gripping the tool T to be used next time grips the used tool T ′ attached to the tip of the spindle S. The tool clamp mechanism of the spindle S is brought into an unclamped state. After that, the ATC then rotates the transfer body 3 to the standby position A side by the angle β to move the used tool T ′ out of the tip of the main shaft S.

When the rotation angle Φ of the groove cam 18 reaches the position (5) in the timing chart, the rotation of the transfer body 3 is started (the same (5)). When the rotation angle Φ of the groove cam 18 reaches the position (7) in the timing chart, the rotation angle of the transfer body 3 becomes maximum (β = 15 degrees in this embodiment) (same as above).
(7)). This position is the twin arm 180 ° turning position C (see FIG. 4). The transfer body 3 has a groove cam 18
The twin arm is held at the 180-degree turning position C until the rotation angle Φ of the above is at the position (8) in the timing chart ((7) to (8)). On the other hand, immediately before the rotation angle Φ of the groove cam 18 reaches the position (7) in the timing chart, the position (6) in the timing chart, that is, the transfer body 3
The drum cam 17 rotates the rotating member 19 to start the 180-degree turning operation of the twin arm 4 immediately before the twin arm 180 reaches the 180-degree turning position C.

The turning operation of the twin arm 4 is continued until the rotation angle Φ of the drum cam 17 reaches the position (9) in the timing chart. That is, within the range in which the spindle S does not interfere with the used tool T ′ or the next used tool T, the used tool T ′ is being extracted or the next used tool T is
By rotating the twin arm 4 during the inserting operation of the tool, the used tool T ′ is pulled out, the twin arm 4 is rotated, and the tool T to be used next time is continuously performed as a series of operations, and more quickly. The tool can be changed.

When the rotation angle Φ of the groove cam 18 starts rotating from the position (8) in the timing chart and reaches the position (10) in the timing chart, the transfer body 3 reaches the spindle side tool exchange position B, The tool T to be used next time is inserted into the spindle S. The rotation angle Φ of the groove cam 18 is shown in the timing chart.
Between the position (10) and the position (11) in the timing chart, the tool T to be used next time is mounted and fixed to the spindle S by a tool clamp mechanism or the like. After this, the drum cam 17 is moved to the twin arm 4
Is turned by 75 degrees to release the grip of the tool T to be used next time, and one gripping portion 4a is separated from the tool T to be used next time. When the above operation is completed, the transfer body 3 rotates to the standby position A side ((13) and (14) in the timing chart). The transfer of the tools T and T'between the tool magazine and the ATC at the tool exchange position on the tool magazine side is performed in the same manner as above. Hereinafter, the above operation is repeated.

Next, a third embodiment of the tool changing device of the present invention will be described. In the above-described first embodiment, when the tool T to be used and the used tool T'are exchanged at the spindle side tool exchange position B, the sleeve 8 and the gear 8a are rotated by the first motor 5'having a brake mechanism. It was regulated not to do it. In this embodiment, the first feature is that the clutch mechanism regulates the sleeve 8 and the gear 8a so that they do not rotate.
Is different from the embodiment of FIG. FIG. 9 is an explanatory view of the essential parts of the tool changing device in this embodiment, FIG. 10 is a sectional plan view in which a part of the internal structure of the transfer body in the third embodiment is omitted, and FIG. 11 is provided in the transfer body. It is a figure explaining the structure of a standby pot, (a) is a top view of a standby pot, (b) is a OO direction arrow view of (a). In the drawings, the same parts and members as those in the first embodiment are not shown and detailed description is omitted.

In this embodiment, the transfer body 3 is provided with a standby pot 38 as a standby tool holding portion capable of holding the tools T and T'as shown in FIGS. A part of the upper and lower parts of the standby pot 38 is removed along the locus when the twin arm 4 turns (shown by the one-dot chain line in FIG. 11B), and a cutout 38a is formed.
A plunger 39 is provided at the bottom of the standby pot 38 (on the right side in FIGS. 10 and 11 (a)) to constantly urge a ball 39a that engages with the pull studs of the tools T and T'by means of a spring. . Further, the tools T, T'are inserted into the standby pot 38 on the inlet side (see FIGS. 10 and 11).
On the left side in (a), a tapered engagement portion 38b that engages with the tapered shank portion of the tools T and T'is formed. The tools T and T ′ gripped by the twin arm 4 pass through the cutout portion 38a of the standby pot 38 by the turning operation of the twin arm 4 and are positioned in the standby pot 38. When the twin arm 4 is retracted (moved in the direction of the arrow in FIG. 10), it is inserted into the standby pot 38 so that the pull stud engages with the plunger 39, and the base of the taper shank on the side of the flanges Ta and Ta '. Is held in the standby pot 38 by engaging with the engaging portion 38b of the standby pot 38. Therefore, in this state, the twin arm 4
Is rotated in the direction shown by the alternate long and short dash line in FIG. 11B, the engagement between the gripping portion 4a (4b) of the twin arm 4 and the tool T (T ') is released.

In the vicinity of the pot 38, there is provided a positioning member 40 which is rotatable about a shaft 42 as a support shaft. The positioning member 40 is constantly urged toward the standby pot 38 by the spring 41, but the position is regulated by the stopper 43 provided on the positioning member 40 contacting the side surface of the standby pot 38. This positioning member 40
Engages with the key grooves formed in the flange portions Ta and Ta 'of the tools T and T'held in the standby pot 38 to position the tools T and T'in the standby pot 38 in the rotational direction. Tool T, T ′ is in the standby pot 3
It is regulated not to rotate within 8. Tool T, T '
However, when the twin arm 4 is pulled out from the standby pot 38 by the forward movement and the turning movement of the twin arm 4, the tools T, T '
Rotates the positioning member 40 against the urging force of the spring 41 to release the engagement with the key groove. With this configuration, the tool T and T'can be exchanged at the same time between the spindle S and the transfer body 3. The first
Also in the second embodiment, the same effect can be obtained by providing the transfer body 3 with the standby pot 38.

The clutch mechanism 29 is fixed to the base 1 concentrically with the rotating shaft 2 and has a plurality of convex portions 30 on the upper surface on the rotating shaft 2 side.
Disc-shaped fixed clutch member 30 having a and 30b formed therein
A cylinder 35 fixed to the lower surface side of the fixed clutch member 30, and a piston rod 35 of the cylinder 35.
The pushing member 36 attached to a and inserted through the center of the fixed clutch member 30, and the bearing 3 at the tip of the pushing member 36.
6a is rotatably attached, and as the cylinder 35 is driven, the pushing member 36 is moved up and down, and is moved up and down between the sleeve 8 and the fixed clutch member 30.
4a and 34b, a movable clutch member 34, a first convex portion 31 formed at the lower end of the sleeve 8 and engaging with a convex portion 34a on the upper surface side of the movable clutch member 34, and fixed to the lower end of the rotary shaft 2 with a key. The cylindrical body 32 is fitted in the through hole of the sleeve 8 and has at its lower end a second convex portion 33 that engages with the convex portion 34a on the upper surface side of the movable clutch member 34.
It consists of and.

12A and 12B are views for explaining the structure and operation of the clutch mechanism. In FIGS. 12A and 12B, FIGS. 12B and 12C show a developed view of the clutch and an engagement state of the convex portion. To do. As shown in the figure, the convex portion 34a on the upper surface side of the movable clutch member 34 is centered on the reference line (0 degree) and is centered on the ± 45 degree position and the ± 135 degree position along the circumference.
The protrusions 34b on the lower surface side are formed in two places centered on the position of ± 90 degrees. The fixed clutch member 30 has two kinds of high and low convex portions 30a and 30b on the upper surface side, and the higher convex portion 30a has a +45 degree position and −13 degrees.
The lower convex portions 30b are provided at two positions of 5 degrees and two positions of +135 degrees and -45 degrees. Also,
The concave portions 30c and 30d formed between the respective convex portions 30a and 30b of the fixed clutch 30 are formed such that the concave portion 30c at the 0 degree position and the 180 degree position is deep and the concave portion 30d at the ± 90 degree position is shallow. There is.

The first convex portion 3 formed at the lower end of the sleeve 8
1 is at a 0 degree position, a 180 degree position, and ± 90 degrees so that it can be engaged with the upper convex portion 34a of the movable clutch member 34.
The movable clutch member 34 is formed at four positions, and is formed slightly larger than the lifting stroke of the movable clutch member 34 so that the movable clutch member 34 can maintain the engagement with the convex portion 34a even when the movable clutch member 34 moves up and down. There is. The second convex portion 33 formed at the lower end of the cylindrical body 32 is formed at a position of ± 90 degrees, and the convex portion 34b on the lower surface side of the movable clutch member 34 fits into the deep concave portion 30c of the fixed clutch member 30. The engagement is released when they are fitted.

Next, the operation of the clutch mechanism 29 having the above structure will be described with reference to FIG. FIG. 12A shows the clutch mechanism 29 when the movable clutch member 34 is raised and is at the drive side position. The convex portion 34 a on the upper surface side of the movable clutch member 34 is the second convex portion 33 on the lower end of the cylindrical body 32.
The lower protrusion 34b is located between the higher protrusions 30a, 30a of the fixed clutch member 30. That is, the convex portion 34b contacts one convex portion 30a with the other convex portion 30a, thereby restricting the rotation shaft 2 and the transfer body 3 from rotating more than 90 degrees. If a sensor, a stopper or the like is provided so that the transfer body 3 can be reliably rotated within a predetermined angle, the convex portion 34b of the movable clutch member 34 can be changed to the convex portion 30a.
It is not always necessary to bring the protrusion 30a into contact with the protrusion 30a to restrict the rotation of the transfer body 3 or the like.
You may form so that it may become substantially the same height.

FIG. 12 (B) shows the clutch mechanism 29 when the movable clutch member 34 is lowered and is in the fixed side position. In this state, the convex portion 34b is fitted in the deep concave portion 30c of the fixed clutch member 30, and the engagement with the second convex portion 33 of the cylindrical body 32 is released. In addition,
The engagement between the first protrusion 31 and the protrusion 34b of the sleeve 8 is maintained. Therefore, the cylindrical body 32 and the rotating shaft 2 are rotatable, but the rotation of the sleeve 8 is restricted. Although not particularly shown, when the convex portion 34b is fitted into the shallow concave portion 30d, the first convex portion 31 and the second convex portion 33 are formed.
Since both of them engage with the upper convex portion 34a of the movable clutch member 34, the transfer body 3 and the rotary shaft 2 can be locked. Of course, when it is not necessary to lock the transfer body 3 and the rotary shaft 2, the recess 30
It is not necessary to provide a difference in depth between c and 30d.

Next, the operation of the third embodiment of the present invention will be described with reference to FIG.
And it demonstrates according to FIG. FIG. 13 is a flow chart showing the procedure of tool exchange in the third embodiment, FIG.
Is a timing chart in the third embodiment, (b)
Is each main point [(1) ~ (1
4)] state of twin arm 4 and transfer body 3
The state is shown in a simplified diagram, in which the upper stage is the twin arm 4 and the lower stage is the transfer body 3. In addition, in the timing chart of FIG. 14A, the scale on the upper side is the rotary shaft 2.
Of the drum cam 17 and the groove cam 18 (see FIG. 5) on the lower scale. The starting point of the rotation of the rotary shaft 2 is that the transfer body 3 is at the tool magazine side tool exchange position A (in this third embodiment, the tool magazine side tool exchange position is the same as the standby position,
The angle at the tool magazine side tool exchange position A) is 0 degree.

The transfer body 3 receives the next used tool T from a tool conveying means (not shown) of the tool magazine, holds it in the standby pot 38, and stands by (step S1 '). Therefore, in this state, the grip portions 4a, 4 of the twin arm 4 are
The tool T to be used next time is not gripped in any of b. At the time of tool exchange, the spindle S moves to the tool exchange position (step S2). The transfer body 3 is rotated 90 degrees to the tool exchange position B on the spindle side (step S3). In order to rotate the transfer body 3 from the tool exchange position A on the tool magazine side to the spindle S side, the movable clutch member 3 is driven by driving the cylinder 35.
4 is moved to the driving side, and the motor 6'is rotated in the reverse direction. In this state, the rotary shaft 2 and the sleeve 8 can rotate 90 degrees as shown in FIG.
Can be rotated 90 degrees from the tool magazine side tool exchange position A to the spindle side tool exchange position B. That is, the rotating shaft 2 and the sleeve 8 are integrated by the clutch mechanism 29.
Further, the clutch mechanism 29 can rotate 90 degrees. When the rotary shaft 2 and the sleeve 8 rotate integrally, the gear 10 meshed with the gear 8a of the sleeve 8 cannot rotate around the shaft 9 because it is restricted by the cam follower 15a. Therefore, the gear 10 makes a planetary motion of rolling around the gear 8a while meshing with the gear 8a. That is, the transfer body 3 rotates about the rotation shaft 2. At this time, since the drum cam 17 and the groove cam 18 rotate together with the transfer body 3, the twin arm 4 is held in the transfer state and does not rotate.

The rotation of the motor 6'is stopped by a detection signal from a limit switch or a sensor. Then, the cylinder 35 is driven to lower the movable clutch member 34. The convex portion 34b is the deeper concave portion 30c of the fixed clutch member 30.
12B, the rotary shaft 2 becomes rotatable while the sleeve 8, that is, the gear 8a is fixed. Therefore, when the motor 6'starts rotating (normal rotation), the groove cam 18 and the drum cam 17 rotate together with the rotating shaft 2 to start the tool changing operation.
In this case, the turning operation of the twin arm 4 and the turning operation of the transfer body 3 between the spindle-side tool changing position B and the twin arm 180-degree turning position C are the same as those in the first embodiment. In the point that the tool T to be used next time is transferred between the twin arm 4 and the standby pot 38.

That is, when the twin arm 4 pivots counterclockwise from the transfer state at the position (4) in the timing chart, the one gripping portion 4a grips the tool T to be used next time held in the standby pot 38. , The used tool T'inserted on the spindle S is held by the other holding portion 4b (step S4 '). After that, the transfer body 3 rotates to the twin arm 180-degree turning position C, but the twin arm 4 moves forward slightly earlier than this and the standby pot 38 moves.
The engagement between the plunger 39 and the pull stud of the tool T to be used next time is released. The operation of rotating the groove cam 26 to swing the lever 28 to move the turning shaft 24 forward or backward is as described in the first embodiment.

When the transfer body 3 is turned to the side of the twin arm 180 ° turning position C, the used tool T'is pulled out from the spindle S (step S5), and the twin arm 4 is moved to the position (6) in the timing chart. Invert (step S6). As a result, the next used tool T gripped by one gripping portion 4a is released from the standby pot 38 while pushing the positioning member 40 open, and the used tool T ′ gripped by the other gripping portion 4b is operated in the same manner. It is inserted into the standby pot 38. Timing chart for transfer body 3
The tool T to be used next time is inserted into the spindle S at the positions (8) to (10) (step S7), and the plunger 39 of the standby pot 38 and the used tool are moved by the backward movement of the revolving shaft 24 at the position (15) in the timing chart. The pull stud of T'is engaged, and the used tool T'is held in the standby pot 38. After the tool T to be used next time is clamped on the spindle, when the twin arm 4 turns at the position (11) in the timing chart, the gripping portion 4a grips the tool T to be used next time, and the gripping portion 4b uses the used tool T. The grip of 'is released (step S9).

After the replacement of the tools T and T'is completed, the motor 6'is temporarily stopped and the cylinder 35 is driven to move the movable clutch member 34 to the driving side, as shown in FIG.
Set to the state of (A). Thereafter, the motor 6'is driven to rotate in the normal direction to rotate the transfer body 3 together with the rotary shaft 2 to the tool magazine side tool exchange position A (step S9). That is, the operation is the reverse of step S3. The spindle S moves to the processing position (step S10). Thereafter, the tools T and T'are exchanged between the transfer body 3 and the tool magazine at the tool exchange position A on the tool magazine side (step S11). After that,
The above operation is repeated.

By constructing the automatic tool changer as in the third embodiment, the tool magazine side tool change position A
Of the transfer body 3 between the main shaft side tool exchange position B and the spindle-side tool exchange position B, the twin arm 4180 degrees rotation position C and the main shaft side tool exchange position B, and the rotation of the twin arm 4. Since the operation can be performed by one motor 6 ', the structure of the automatic tool changer can be simplified. Further, the automatic tool change time that affects the machining time of the NC machine tool is determined in steps S4 'to S8.
Therefore, the point of shortening the automatic tool change time is maintained. In the third embodiment described above, the standby tool holding portion is described as the standby pot 38, but the turning operation of the twin arm 4 can hold or release the tools T, T'in a fixed position of the transfer body 3. The standby pot 38 is not limited as long as it is possible.

[0046]

Since the present invention is constructed as described above, the tool can be exchanged only by the swinging operation of the twin arm without moving the twin arm forward and backward, so that the exchange time of the tool can be shortened. can do. Further, since a mechanism for moving the twin arms forward and backward is not necessary, the structure of the automatic tool changer can be simplified and the transfer body, which is a movable part, can be made compact. Further, since the movable part is compact, it is possible to reduce the interference area with other parts.

[Brief description of drawings]

FIG. 1 is a flow chart of an automatic tool changing method for an NC machine tool according to the present invention.

FIG. 2 is a schematic view for explaining the operation of the automatic tool changer (ATC), and is a perspective view showing the overall configuration of the ATC.

FIG. 3 is a schematic view for explaining the operation of the automatic tool changer (ATC), and is an operation explanatory view of the transfer body.

FIG. 4 is a schematic view for explaining the operation of the automatic tool changer (ATC) and is an operation explanatory view of the twin arm.

FIG. 5 is a cross-sectional view showing the configuration of the automatic tool changer of the present invention.

FIG. 6 is a plan view illustrating the relationship between the operations of the groove cam and the swing lever and the swing operation of the transfer body.

7 (a) is a time chart showing the relationship between the rotation angle of the groove cam and the operation of the transfer body and the twin arm, and FIG. 7 (b) is each main point of the timing chart of FIG. 7 (a) ( 1) Shows the state of the twin arm and the state of the transfer body in (10).

8 (a) is a time chart showing the relationship between the rotation angle of the grooved cam and the operation of the transfer body and the twin arm, and FIG. 8 (b) is each main point of the timing chart of FIG. 8 (a) ( 1) Shows the state of the twin arm and the state of the transfer body in (14).

FIG. 9 is an explanatory diagram of a main part of a tool changing device according to a third embodiment.

FIG. 10 is a sectional plan view in which a part of the internal structure of the transfer body in the third embodiment is omitted.

11A and 11B are views for explaining the configuration of a standby pot provided on the transfer body, where FIG. 11A is a top view of the standby pot, and FIG. 11B is a view taken in the direction of the arrow O-O of FIG.

FIG. 12 is an operation diagram of the clutch mechanism in the third embodiment, (A) shows a state where the movable clutch member is at a drive side position, and (B) shows a state when the movable clutch member is at a fixed side position. It is a figure.

FIG. 13 is a flowchart illustrating a procedure of tool exchange in the third embodiment.

FIG. 14A is a time chart showing the relationship between the rotation angle of the groove cam and the operation of the transfer body and the twin arm in the third embodiment, and FIG. 14B is each main point (1) of the timing chart of FIG. ) To (14) show the state of the twin arm and the state of the transfer body.

FIG. 15 is a schematic view showing an example of an NC machine tool including an automatic tool changer.

FIG. 16 is a diagram showing a conventional twin-arm type automatic tool change;

[Explanation of symbols]

1 base 1a, 1
b: bearing 2 rotating shaft 3 transfer body 4 twin arms 4a, 4
b: gripping portion 5,6 driving body 5'first motor (driving body) 6'second motor (driving body) 8 sleeve 8a gear (other gear) 9 shaft 10 gear (one gear) 11 detection means 12 gear 13 Drive gear 15 Swing lever 15a:
Cam follower 17 Drum cam (second cam) 17a:
Cam portion 18 Groove cam (first cam) 19 Rotating member 19a:
Rollers 20 to 22 Gears 24 Swivel shaft 28 Lever (for forward / backward movement of the swivel shaft) 29 Clutch mechanism 30 Fixed clutch member 31 First convex portion 32 Cylindrical body 33 Second convex portion 34 Movable clutch member 35 Cylinder 36 Pushing member 38 Standby Pot (standby tool holding part) 39 Plunger 40 Positioning member 41 Spring 42 Axis 43 Stopper A Standby position B Spindle side tool replacement position C Twin arm 180 degree turning position T Tool (next tool used) T'Tool (used tool) S Spindle Sa: Tool mounting hole

Claims (7)

[Claims] 1. A tool magazine provided near a column for storing a plurality of tools and capable of selecting a predetermined tool, a main shaft on which the tools can be removably mounted, and a rotary shaft on a tool exchange device base. Between a tool magazine side tool exchange position for pivoting and exchanging tools with the tool magazine by a drive means, a spindle side tool exchanging position for exchanging tools with the spindle, and two tool exchanging positions It is composed of a swing body that rotates between a standby position for standby by and a twin arm that is pivotally supported by the swing body and that has a grip portion for gripping a tool at both ends and that can swivel 180 degrees. An automatic tool changing method in an automatic tool changing apparatus for an NC machine tool, wherein at least one of the gripping parts is in an empty state and waits at the tool magazine side tool changing position or the standby position. A step of moving and positioning the spindle to a tool exchange position, rotating the transfer body from the tool magazine side tool exchange position or the standby position to the spindle side tool exchange position, and the twin arm, In the case where the tool is mounted on the main shaft by rotating the transfer shaft from the transfer state by γ angle about the rotary shaft to position the one gripping portion at a tool gripping position where the tool mounted on the main spindle can be gripped. Is held between the spindle-side tool exchange position and the standby position after the spindle has unclamped the tool, and the twin arm is 18 when the tool is gripped by the gripping portion.
Twin arm 18 that does not interfere with the main shaft even when it turns 0 degrees
Rotating the transfer body to a 0 degree turning position by a β angle, and when a tool is attached to the main shaft, pulling out the tool from the main shaft by a rotating operation of the transfer body; Rotating the swing body to invert the positions of the one grip portion and the other grip portion, and rotating the swing body from the twin arm 180 degree swing position to the spindle side exchange position by -β angle to shift the swing body. When the tool to be used next time is gripped by the other grip part by the rotating operation, the step of inserting the tool into the spindle, and after the spindle clamps the tool, the twin arm is centered around the pivot axis. turning the γ-angle to return the twin arm to the transfer state, the transfer body from the spindle side tool exchange position to the standby position or the tool magazine side tool An automatic tool changing method for an NC machine tool, comprising the step of rotating to an exchange position. 2. An automatic tool changer for an NC machine tool, which exchanges tools between a tool magazine that stores a plurality of tools and can select a predetermined tool, and a spindle that can detachably mount the tools. An exchange device base provided in the vicinity of the tool magazine, a rotary shaft rotatably provided on the exchange device base, and a tool exchange position on the tool magazine side or the standby position attached to the rotary shaft. And a swing body that rotates between the spindle-side tool exchange position, a twin arm that is rotatably attached to the swing body, and has gripping portions formed at both ends for gripping the tool, and the swing body that connects the spindle body to the spindle. Between the side tool exchange position and the standby position or the tool magazine side tool exchange position, or the spindle side tool exchange position and the twin arm 1 The tool is rotated between the 0-degree turning position, and when the turning operation is performed between the spindle-side tool exchange position and the twin arm 180-degree turning position, the tool is detached from and inserted into the spindle. An automatic tool changer for an NC machine tool, comprising: a rotating body rotating means; and a twin arm rotating means for rotating the twin arm by 180 degrees. 3. The first rotating means according to claim 2, wherein the rotating means of the transfer body is configured to rotate between the spindle-side tool exchange position and the twin arm 180-degree rotating position. An automatic tool exchanging device for an NC machine tool, comprising a second rotating means for rotating between a standby position or a tool magazine side tool exchanging position and the spindle side tool exchanging position. 4. The third rotating means according to claim 3, wherein the second rotating means is one gear mounted on the transfer body so as to be rotatable about an axis, and the second rotating means is rotatably provided on the rotating shaft. The other gear that meshes with the gear, the fixing means that fixes the other gear so that it does not rotate, a swing lever that is attached to the one gear and that swings about the shaft as a fulcrum, A first cam that is attached and swings the swing lever between a reference position and a predetermined angle position while the rotary shaft rotates once; and a driving body that rotates the rotary shaft. Automatic tool changer for NC machine tools. 5. A tool magazine which is provided in the vicinity of a column and which stores a plurality of tools and can select a predetermined tool, a main shaft on which the tools can be removably mounted, and a rotary shaft on a tool changer base. A swinging body that is pivotally supported and rotates between a tool magazine side tool exchange position for exchanging tools by the drive means with the tool magazine and a spindle side tool exchange position for exchanging tools with the spindle. A twin arm that is pivotally supported by the swing body on both ends and has a gripping portion that grips a tool at both ends, and that can swing 180 degrees about the swing axis; An automatic tool exchanging method in an automatic tool exchanging device for an NC machine tool, which comprises a standby tool retaining section for retaining a tool to be used next time from the tool magazine to the pot. A step of passing over, a step of moving and positioning the spindle to a tool exchange position, a step of rotating the transfer body together with the standby tool holder from the tool magazine side tool exchange position to the spindle side tool exchange position, From the transfer state of the twin arm, γ around the rotation axis
When the used tool that has been machined is attached to the spindle by turning the angle, the used tool is held in one of the holding parts, and the next used tool is held in the standby tool holding part. Is the step of simultaneously gripping the next used tool in the other gripping part, and, after the spindle unclamps the used tool, between the spindle side tool exchange position and the tool magazine side tool exchange position, Even if the twin arm rotates 180 degrees while the tool is gripped by the grip portion, the transfer body is rotated by β angle to the twin arm 180 degree rotation position where it does not interfere with the spindle, and the used tool is attached to the spindle. When attached, a step of pulling out the used tool from the main shaft by a rotating operation of the transfer body; and rotating the twin arm by 180 degrees to provide one gripping portion. Reversing the position of the other gripping portion and replacing the position of the next used tool with the position of the used tool; rotating the transfer body from the twin arm 180-degree turning position to the spindle side replacement position by -β angle rotation. Moving, and inserting the tool to be used next time in the other grip by the turning operation of the transfer body into the main spindle; and after the main spindle clamps the tool, Rotating the twin arm to the transfer state by turning the twin arm about -γ angle about the center, and rotating the transfer body from the spindle side tool exchange position to the tool magazine side tool exchange position. An automatic tool changing method for an NC machine tool, which is characterized in that 6. An automatic tool changer for an NC machine tool, which exchanges tools between a tool magazine capable of storing a plurality of tools and selecting a predetermined tool, and a spindle capable of detachably mounting the tools. An exchanging device base provided in the vicinity of the tool magazine, a rotating shaft rotatably provided on the exchanging device base, and a tool exchanging position on the tool magazine side and the spindle side attached to the rotating shaft. A swing-in body that rotates between a tool exchange position and a swing-in body, which is provided in the swing-in body and holds the tool, and when the swing-in body rotates to the spindle side tool exchange position, the axis line of the tool is A standby tool holder that holds the tool so that it is parallel to the axis of the spindle, and a used tool that is attached to the spindle by a swinging motion and is attached to the spindle by a swinging motion. And a twin arm having gripping portions formed at both ends capable of gripping a tool to be used next time held by the standby tool holding portion, and the transfer body between the spindle side tool exchange position and the tool magazine side tool exchange position. Or when rotating between the spindle-side tool changing position and the twin arm 180-degree turning position, and turning between the spindle-side tool changing position and the twin-arm 180-degree turning position. Is an automatic tool changer for an NC machine tool, comprising: a swing body rotating means for removing and inserting the tool with respect to the spindle; and a twin arm rotating means for rotating the twin arm by 180 degrees. . 7. The gear according to claim 3 or 6, wherein the second rotating means is provided on one gear rotatably attached to the transfer body about an axis and rotatably provided on the rotating shaft. The other gear that meshes with the one gear, a fixed clutch plate provided on the exchange device base, a movable clutch plate that is disengageable from the fixed clutch plate, and the other gear provided on the other gear. A first convex portion that is constantly engaged with the movable clutch plate, and a second convex portion that is provided on the rotating shaft and that engages with the movable clutch plate when the engagement between the movable clutch plate and the fixed clutch plate is released. And a swing mechanism attached to the one gear and swinging about the shaft as a fulcrum. The swing mechanism is attached to the rotary shaft and the swing lever is mounted while the rotary shaft makes one rotation. Reference position and predetermined angle position First cam and, wherein rotating the rotating shaft first pivot means and a common driver and the automatic tool changer of the NC machine tool, characterized in that it consists of swinging between.