JPS5819419B2 - Multi-axis machine tool with tool changer - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a multi-spindle machine tool equipped with a tool changer, and its purpose is to arbitrarily change the arrangement pitch of a plurality of spindles, and to To increase the flexibility of machining by allowing tools to be exchanged all at once using a pair of gripping arms, and to simultaneously exchange multi-axis tools by gripping a plurality of tools reliably.

In general, machine tools that are able to perform continuous multi-axis machining by automatically exchanging gearing heads that carry multiple tools are well known, but the mutual pitch between the tools of the gearing heads used in such machine tools is well known. The relationship is generally unchanged, and therefore it is necessary to prepare and replace a very large number of gigang heads depending on the processing content.

For this reason, we made it possible to position multiple spindles at any point on the machining head before starting machining the workpiece, and when changing the tool on the spindle, the spindles were indexed to a fixed array of tool exchange positions. After that, a tool gripping device equipped with the same number of tool gripping mechanisms as the number of spindles grips multiple tools simultaneously and takes them out from the spindle, and the taken out tools are transferred together with the tool gripping device to the front of an empty tool magazine for use. A multi-axis machine tool is proposed that includes a tool changer that stores used tools, takes out new tools from a tool magazine that stores replacement tools, and attaches them to the spindle.

However, the tool gripping mechanism of the tool changer in such a multi-axis machine tool uses a spring to elastically hold the tool, making it difficult to securely grip multiple tools. There is a risk that the grip may fall off, and an active gripping mechanism that does not rely on spring clamps has been desired.

The present invention has been made in view of the above problems, and includes a spacer that removably holds a spacer having a plurality of engagement recesses on the outer peripheral surface that engages with a tool in a machining head and a tool magazine, and a plurality of spacers that support a main spindle. The movable member is moved based on a control command, and at the time of tool exchange, the plurality of spindles can be positioned so that the tools on the plurality of spindles engage in engagement recesses formed in the spacer. The present invention is characterized in that an exchange arm is provided with a plurality of engagement portions that press into the engagement recess of the spacer, and in the case of tool exchange, the tool is held by the spacer and the exchange arm to exchange the tool. .

Embodiments of the present invention will be described below based on the drawings.

In FIG. 1, reference numeral 10 denotes a machining head installed facing the circuit workpiece.Horizontal guide surfaces 11, 12 and vertical guide surfaces 13, 14 are formed on this machining head 10. Two slide members 15 are guided on each of the guide surfaces 11-14.

Guide surfaces 16 are formed in the radial direction on these slide members 15, and a movable member 17 is slidably guided on the guide surfaces 16.

A main shaft 18 is mounted on the inner end of the moving member 17, and a tool T is removably housed in the end of the main shaft 18.

Further, the slide member 15 is screwed onto a screw shaft 21 rotated by a servo motor 20, and the movable member 17 is screwed onto a screw shaft 23 rotated by a servo motor 22.

Therefore, by driving the servo motor 20.22 by a numerical control device (not shown), the main shaft 18 is moved to the first position.
Positioning can be performed at any point within a plane within a predetermined angular range using the circumferential tool exchange position shown in the figure as a reference point.

Note that the main shaft 18 has a processing head 1 as shown in FIG.
The power from the driving source of the circuit fixed to the universal joint 19
The signal is transmitted from the rear end of the moving member 17 via the rear end of the moving member 17.

As shown in FIG. 3, this main shaft 18 includes a gripping member 31,
A tool clamping mechanism is provided which includes a rod 32, a spring 33, a protruding member 34, and an annular member 37, 38. In the clamped state shown by the solid line, the rod 32
is pressed to the right in the figure by the spring 33,
A gripping portion at the rear end of the tool T is clamped by a gripping member 31.

In this state, when the actuating arm 39 protruding from the outer circumference of the annular member 38 is rotated counterclockwise with respect to the main shaft axis, this rotational movement is formed on the retaining surface of the annular member 37, 38. This is converted into an axial movement by the cam surface, and the rod 32 is moved to the left in the figure.

As a result, the gripping member 31 moves to the left while expanding, and gripping of the tool T is released.

On the other hand, at the center of the circumferential tool exchange position and behind the moving member 17, as shown in FIGS. A plate-shaped operating member 40 is rotatably mounted, and this operating member 40 is fixed to one end of a piston 43 inserted into a fixed member 42 .

Further, this piston 43 is keyed to a rotating sleeve 45 fitted between a fixed sleeve 41 whose one end is fixed to the frame of the processing head 10 and a fixed member 42. As shown in FIG. 5, a rotating member 47 that is rotated by a cylinder 48 is fixed to the end portion.

Therefore, when pressure oil is supplied to the port 44b of the fixed member 42, the operating member 40 moves to the left in FIG. When the tool T held on the plurality of main shafts 18 is supplied, the operating member 40 rotates clockwise in FIG. are unclamped at the same time.

In FIGS. 1 and 2, reference numeral 24 denotes a spacer detachably held on the processing head 10, and the outer circumference of this spacer 24 has a plurality of engagements that engage with gripping grooves of the tool T, as shown in FIG. A mating recess 24b is formed.

In addition, a holding mechanism 5, which will be described later, is provided at the rear of this spacer 24.
A fitting hole 24c that fits into the fixed sleeve 41 of No. 0 is bored, and an engagement hole 24a is provided in the fitting hole 24c toward the outside in the radial direction.

The holding mechanism 50 is located at the center of the circumferential tool exchange position,
a fixed sleeve 41 extending to the front of the moving member 17;
A stopper 54 fitted on the outside of this fixed sleeve 41
and an engagement shaft 5 which is movably supported in the fixed sleeve 41 in the radial direction and whose tip engages with the engagement hole 24a of the spacer 24.
2, and a moving shaft 51 that moves the engagement shaft 52 in the radial direction by the operation of a cylinder 53 fitted inside the fixed sleeve 41 and disposed at the rear end of the fixed sleeve 41. As shown in FIG. 6, the tip of the shaft 51 has an inclined engagement groove 51 that engages with the rear end of the engagement shaft 52.
a is engraved toward the tip axis direction.

Therefore, when pressure oil is supplied to the port 53a of the cylinder 53, the engagement shaft 52 is moved radially inward, so that the tip of the engagement shaft 52 no longer engages with the engagement hole 24a of the spacer 24. , the spacer 24 can now be removed from the fixing sleeve 41.

Next, the tool magazine and tool exchange device will be explained.

In FIG. 1, reference numeral 25 denotes a tool magazine installed adjacent to the processing head 10, and a magazine disk 26 is rotatably mounted on the tool magazine 25.

At six locations on the circumference of this magazine disk 26, the main spindle 1 at the tool exchange position set on the machining head 10 is provided.
Eight tool sockets 27 are provided at the same pitch as in the arrangement of eight tool sockets, and in the center of these eight tool sockets, as shown in FIG.
A holding mechanism 60 is provided to hold the spacer 24' having the same shape as the spacer 24'.

This holding mechanism 60 includes a fixing member 61 having a sleeve part 61a that fits into the fitting hole 24c' of the spacer 24', and a stopper part 61b that positions the spacer 24', and a fixing member 61 that is fitted inside the fixing member 61. , a moving shaft 62 having a notch similar to the moving shaft 51 of the processing head 10 at its tip.
, an engagement shaft 63 supported by the fixed member 61 so as to be movable in the radial direction, and a spring 64 that presses the moving shaft 62 to the left in FIG. In the state in which no force is applied, the moving shaft 62 is located at the leftward end, and the distal end of the engaging shaft 63 is engaged with the engaging hole 24a' of the spacer 24'.

On the other hand, a cylinder 65 for operating the moving shaft is fixed to the fixed part of the tool magazine 25, and an engaging member 67 that engages with the engaging part 62b of the moving shaft 62 is fixed to the piston rod 66 of this cylinder 65. and engages with the moving shaft 62 of the holding device 60 indexed to the tool exchange position P of the tool magazine.

Note that the tool socket 27 only has a tapered hole 27a formed therein and does not have a gripping mechanism, and the tool V stored in the tool socket 27 is held in the engaging recess 24b provided around the tapered hole 27a and the spacer 24'. ′ is held by

Therefore, when pressure oil is supplied to the port 65a of the cylinder 65 after the eight tools T' to be replaced are indexed to the tool exchange position P, the holding of the spacer 24' is released and the tools T/
can be transported together with the spacer 24'.

In FIG. 1, reference numerals 28 and 29 denote a pair of exchange arms, and spacers 24 are provided at both ends of the exchange arms 28 and 29 to hold the tools T and T' indexed at the tool exchange positions of the machining head 10 and the tool magazine 25. Four arcuate notches 28a and 29a are each provided to press toward the engagement recess at angle 24'.

Among these exchange arms 28 and 29, exchange arm 28 is the eighth
As shown in the figure, the exchange arm 29 is fixed to one end of a support shaft 71 rotatably supported by the processing head 10, and the exchange arm 29 is fixed to a cylindrical support shaft 72 fitted on the outside of the support shaft 71.

Further, the movement of the exchange arm 29 in the axial direction relative to the exchange arm 28 is regulated by the exchange arm 28 and the stepped end surface 71a of the support shaft 71.

A piston 74 of a cylinder 73 fixed to the processing head 10 is fitted onto the outer circumferential surface of the center portion of the support shaft 72, and a piston 74 of a cylinder 73 fixed to the processing head 10 is fitted onto the outer circumferential surface of the rear end portion of the support shaft 72, as shown in FIG. A plate-shaped piston 77 fitted into the formed fan-shaped cylinder 76 is fixed.

On the other hand, a plate-shaped piston 79 is fixed to the rear of the support shaft 71 and is fitted into the other fan-shaped cylinder 78 formed within the cylindrical member 75.

Furthermore, a tooth groove 75a is formed on the outer peripheral surface of the cylindrical member 75, and this tooth groove 75a meshes with a rank 80 that is moved in a direction perpendicular to the plane of the paper in FIG. 8 by a cylinder (not shown).

Therefore, with the exchange arms 28, 29 in the positions shown in solid lines in FIG. 1 and the pistons 74, 77° 79 and rack 80 in the positions shown in FIGS. When pressure oil is supplied to 76a and 78b, rotation of the cylindrical member 75 is prohibited by the rack 80, so the exchange arm 28 is rotated clockwise in FIG. 1, and the exchange arm 29 is rotated counterclockwise. be done.

Then, the notches 28a, 2 of the exchange arms 28, 29
9a engages with the tools T and T' at the tool exchange position, and the tool T is replaced by the exchange arm 28, 29 and the spacer 24°24'.
, after the gripping of T' is completed, the port of the piston 73) 73
When pressure oil is supplied to a, the exchange arms 28 and 29 are moved to the left in FIG. 8 while holding the tools T, T' and the spacers 24 and 24'.

After that, the rack 80 is moved to the ninth position by a cylinder (not shown).
When moved to the right in the figure, both exchange arms 28 and 29 are rotated 180 degrees clockwise.

Then, after supplying pressure oil to the port 74b of the cylinder 73 and retracting the exchange arm, when pressure oil is supplied to the ports 76b and 78a of the cylinders 76 and 78, the exchange arm 28 is rotated counterclockwise. The exchange arm 29 is pivoted clockwise to remove the tools T, T' and spacers 24.
24' is released.

Next, a series of tool exchange operations of the multi-axis machine tool with the above configuration will be explained.

Now, machining with the tool T mounted on the spindle 18 is completed, and the tool T on the spindle 18 and the tool magazine 25 are indexed to the tool exchange position P.

If the tool T' is to be replaced, first, the servo motors 20 and 22 are driven to return the tool T to the circumferential tool replacement position shown in FIG.

As a result, the gripping groove of the tool T engages with the engagement recess 24b carved on the outer periphery of the spacer 24.

After this,. When pressure oil is supplied to the ports 76a and 78b of the cylinders 76 and 78 of the arm drive device, the exchange arm 28 is rotated clockwise and the exchange arm 29 is rotated counterclockwise, so that the exchange arm 28°29 The notches 28a and 29a of the machining head engage with the gripping grooves of the tool T of the processing head 10 and the tool T' of the tool magazine 25, and the tools T and T' fit into the engagement recesses 24b and 24b of the spacers 24 and 24', respectively. ' is pressed to the side.

As a result, the tool T is held between the exchange arms 28 and 29 and the spacer 24, and the tool T' is held between the exchange arms 28 and 29 and the spacer 24', and the tools T and T' are securely held.

Therefore, the subsequent rotation of the exchange arm 28,290,
The tools T and T' do not fall off due to impacts such as stopping, and the tools T and T' are transferred while maintaining the arrangement pitch of the tools T and T' at the tool exchange positions of the machining head 10 and the tool magazine 25. will be held.

After gripping the tools T and T' is completed in this way,
In order to unclamp the tool T of the spindle 18, pressure oil is supplied to the port 44a of the fixing member 42 of the processing head 10, and then to the port 48a of the cylinder 48.

As a result, the engagement roller 40a of the operating member 40
Since the actuating arm 39 is engaged with the actuating arm 39 of No. 8 and rotated counterclockwise, the grip on the tool T is released.

At the same time, pressure oil is supplied to the port 53a of the cylinder 53, and the moving shaft is moved to the right in FIG.
The distal end portion of 2 no longer engages with the engagement hole 24a of the pacer 24.

This allows the spacer 24 to be removed from the fixing sleeve 41.

On the other hand, since pressure oil is simultaneously supplied to the port 65a of the cylinder 65 fixed to the fixed part of the tool magazine 25,
The moving shaft 62 of the holding device 60, which is indexed to the tool change position P, is pulled to the right in FIG. 7, and the spacer 24'
hold is released.

Thereby, the spacer 24' indexed to the tool exchange position P can be removed from the fixing member 61.

After this, the port 73a of the cylinder 73 of the arm drive device
When pressurized oil is supplied to the tool T, the exchange arm 28゜29
, T' is held through the spacers 24 and 24' and moves to the left in FIG.

As a result, the tool T of the machining head 10 is taken out from the tool storage hole 30 of the main spindle 18, and the tool T of the tool exchange position P is removed.
' is removed from the tool socket 27.

Then, when the rack 80 is moved by a hydraulic cylinder (not shown), the exchange arms 28 and 29 are moved to the tool T.

While holding the T/, it is rotated 180 degrees in the same direction.

As a result, the tool T is placed in the tool socket 2 at the tool exchange position P.
7, the tool T' is mounted on the spindle 1 located in the tool change position.
8 with the arrangement pitch maintained.

Subsequently, when pressure oil is supplied to the port 73b of the cylinder 73, the exchange arms 28, 29 are moved to the right in FIG. 8, and the tools T and T' are housed in the tool socket 27 and the main shaft 18, respectively.

At this time, since the arrangement pitch of the tools T and T' is maintained accurately, the tools T and T' are smoothly stored in the tapered hole 27a of the tool socket 27 and the tool storage hole 30 of the spindle 18 without interfering with each other. Ru.

After the tools T and T' are stored in this manner, when pressure oil is supplied to the port 48b of the cylinder 48 of the processing head 10, the operating member 39 is rotated counterclockwise in FIG. Since the operating arm 39 of the main shaft 18 is returned to its original position, the tool T/ is clamped to the tip of the main shaft 18.

Then, when pressure oil is supplied to the port 44b of the fixed member 42, the engagement roller 40a of the operating member 40 no longer engages with the operating arm 39.

At the same time, the ports 53b and 65 of the cylinder 53 of the processing head 10 and the cylinder 65 of the tool magazine 25
When pressurized oil is supplied to b, the moving shafts 5L62 of the holding mechanisms 50, 60 are moved to the left in FIGS.
24 engagement holes 24a', 24a, and the spacer 24
', 24 are retained.

Tools T, T' clamps and spacers 24゜24
′ is completed, the piston 76 . of the tool changer is completed.
Pressure oil is supplied to ports 76b and 78b of 78.

Therefore, the exchange arm 28 is rotated counterclockwise and the exchange arm 29 is rotated clockwise to return to the original position.

As a result, the notches 28a and 29b provided at both ends of the exchange arm 28, 29 can be inserted into the tool T.

It no longer engages with T', allowing positioning of tools T and T'.

Becomes Noh.

When the tool change is completed as described above, the new tool T'
is positioned at an arbitrary point on the machining head 10, and machining of a workpiece (not shown) is resumed.

As described above, in the present invention, the arrangement pitch of a plurality of main axes can be freely changed, and the plurality of tools attached to these plurality of main axes can be exchanged, so that it can be used for a very wide variety of workpieces. It has the advantage of being compatible with processing.

In addition, in the present invention, a spacer having an engagement recess formed on the outer periphery is removably attached to the processing head, and when exchanging tools, after the tool is engaged in the engagement recess of the spacer, the spacer and the exchange arm are connected to each other. Since the tool is designed to hold multiple tools and perform tool exchange, it is possible to not only hold multiple tools reliably and perform tool exchange reliably.
There is also the advantage that the installation area of the processing device does not increase due to the tool exchange device, and the processing device can be installed in a narrow space.

[Brief explanation of the drawing]

FIG. 1 is a front view showing an example of a multi-axis machine tool according to the present invention, FIG. 2 is a cross-sectional view taken along the line ■-■ in FIG.
The figure is a cross-sectional view along the ■-■ line in Figure 1, and Figure 4 is a cross-sectional view of the
5 is a cross-sectional view taken along the line V-V in FIG. 2, FIG. 6 is a cross-sectional view taken along the VI-■ line in FIG. ■−■ in Figure 1
A cross-sectional view along the line, FIG. 8 is a cross-sectional view showing the arm drive device,
Figure 9 is a 1X-iX cross-sectional view in Figure 8,
FIG. 0 is a cross-sectional view taken along the line X--X in FIG. 8. 10... Processing head, 18... Main spindle,
24゜24'...Spacer, 24b, 24b'
...Engagement recess, 25...Tool magazine,
27... Tool socket, 28.29...
- Replacement arm, 28a, 29a... Notch part (engaging part), 50, 60... Holding mechanism, 71
．． 72...Support shaft, 73.76.78...
... Cylinder, 74.77.79 ... Piston, 75 ... Cylindrical member, 75a ... Tooth groove, 80 ... Rack, T, T'・・・・・・
tool.

Claims (1)

[Claims] 1. In a multi-spindle machine tool in which a plurality of spindles each having a tool removably held at its tip are mounted on a machining head, each of the spindles is supported, and on the machining head, the machine tool is mounted on a plane perpendicular to the axis of the spindle. a holding mechanism that removably holds, on the processing head, a plurality of moving members guided so as to be movable at least in a radial direction, and a spacer having a plurality of recesses formed on the outer periphery into which a plurality of tools can be inserted; The plurality of movable members are moved based on a control command, and at the time of tool exchange, the plurality of moving members are moved to a tool exchange position where the tools mounted on the plurality of spindles respectively enter the plurality of recesses formed in the spacer. A plurality of servo motors that position the tools, and a plurality of sets of the plurality of tools and the spacer are held in an arrangement corresponding to the arrangement pitch at the tool exchange position of the spindle, and one of them can be indexed to the exchange position. A tool magazine is engaged with a plurality of tools indexed at the tool exchange position of the processing head and a plurality of tools indexed at the exchange position on the tool magazine, and each tool is moved to the corresponding tool exchange position on the tool magazine. An exchange arm has a plurality of engagement parts formed at its tip to press toward the engagement recess of the spacer, and a plurality of tools indexed to the exchange position on the machining head and tool magazine by rotation of the exchange arm. An arm driving device is provided, which is gripped by the engaging portion of the exchange arm and the spacer and exchanges tools between the tool magazine and the machining head by axial movement and rotational movement of the exchange arm parallel to the main shaft axis. A multi-axis machine tool equipped with a tool changer characterized by: