JPS5845836A - Tool interchange device for machine tool - Google Patents

Abstract

PURPOSE:To provide accurate movement of a tool interchanging arm by rotating said arm with rotary cams forward, backard, 180 deg. and moving forward and backward respectively. CONSTITUTION:Cams 70, 47 rotated by a motor 52 are provided parallel to a tool spindle 6 and a tool interchanging arm 37, and the cam shaft 47 is provided with first to third cam bodies 50, 49, 66. The rotation of the first cam body 50 moves the tool interchanging arm 37 forward end backward through a cam groove 70, a cam roller 73 at one and of a rod 72 and a working roller 74 at the other end of the rod 72, and the second and third cam bodies 49, 66 rotate the interchanging arm 37 180 deg. forward and backward to the advancing and retreating positions of said arm 37 through a gear 60. The second cam body 49 transmits the rotation of a cam 55 to the interchanging arm 37 at the advancing position through the rotation of a Maltese wheel 57, and the third cam body 66 swings a cam lever 67 to rotate the interchanging arm 37 at the retreating position.

Description

[Detailed Description of the Invention] The present invention relates to a tool changing device for a machine tool, particularly a horizontal machining center, and more specifically, the present invention relates to a tool changing device for a machine tool, particularly a horizontal machining center. This invention relates to a device for exchanging tools with a tool using a tool exchange arm.

In such a rounding of exchange, the tool exchange arm is generally attached to the exchange arm shaft extending parallel to the main shaft and the upper part of the tool pot so as to extend on both sides, and the tool exchange arm and the exchange arm axis are For example, the tool changing arm is rotated from its initial position until it is fixed on the painter A, which is fully supported by the main shaft and the tool pot, through a positive rotational movement of a predetermined angle, and is engaged with the tool changing arm and held thereby. 1IiJ movement for a predetermined distance to extract both tools from the spindle and tool pot, 1000 rotation movement to exchange the positions of both extracted tools, and after exchanging the positions both tools are placed in the spindle and tool pot. In other words, a tool that was previously supported by a tool pot can now be moved backwards over a fixed distance to fit a tool that was previously supported by a tool pot into a tool pot, and can be detached from the tool. It is operated to achieve, in a predetermined order, a reverse rotational movement of a predetermined angle of the front needle to return the replacement arm to the initial position.

Traditionally, fluid pressure has been primarily used to achieve this type of actuation, but fluid pressure actuation, switches,
The need for A-lubes, piping, fluid sources, etc. makes maintenance difficult and expensive; the time it takes to apply, remove, and transmit fluid pressure slows operation; and the time required to It has many drawbacks, such as being impossible to change, and since each movement is performed by applying and removing fluid pressure, the progress of the movement cannot be controlled, and it is difficult to superimpose various movements.

The main object of the invention is to completely or substantially eliminate the various drawbacks of conventional tool changing as mentioned above.

To achieve this object, the tool changing device for a machine tool according to the present invention has one camshaft parallel to the main shaft and the changing shaft arm, and the camshaft has the aforementioned normal rotational movement and reverse rotational movement. a second cam element for causing the above-mentioned forward movement and a backward movement, and a third cam element for causing the above-mentioned 1000 rotation movement.
A cam element is mounted thereon, and rotation of the camshaft causes these movements to occur in a predetermined sequence.

According to such a configuration, the various movements described above are performed simply by the movement of a mechanical member consisting of a camshaft and a cam element attached to the camshaft, so the cost is low and maintenance management is easy). Actuation is immediate
c. Actuation can be achieved very quickly because of the camshaft's rotational speed, the time required for actuation can be varied to the desired degree by changing the rotational speed of the camshaft, and the cam curve of the cam element can be changed so that the course of motion can be adjusted to the desired degree. Can be controlled in endless turns,
Further, since cam elements formed independently from each other can be employed, there is an advantage that superimposition of various motions can be easily achieved.

Embodiments of the present invention will be described in detail below with reference to the drawings.

First, an example of a horizontal machining center, which is an example of a machine tool with a tool changer, will be briefly explained with reference to Fig. Power is distributed above the support shaft accommodating support section. The support shaft 3 accommodated therein extends in the horizontal direction in the drawing, hereinafter referred to as the first horizontal axis direction (Y direction), is movable in the Y direction and in the vertical direction (Y direction), and is capable of moving along the Y direction axis. It can be indexed and rotated as the center. An A-let is removably attached to and supported at the side end of the support shaft 3. Attachment was strange/Pallet II at Seret-tei
is located vertically. A workpiece (not shown) is removably attached to the Nonolet-tei. Support shaft housing support part
A spindle housing and support section S is arranged on the right side and in front of it, and a spindle stock that rotatably supports the spindle is provided on this section. In this, the main shaft 6, which is Km long in the left and right horizontal directions in the drawing, is a vertical sliding surface provided in two directions together with the headstock. It can be moved along the axis and rotated about two axes. The tool (m1
(not shown in the figure) is removably attached. A vertically disposed endless conveyor is disposed on the left side of the support shaft accommodating support section (FI) if necessary, and is movable along a circulation path in a vertical plane (Fi) and removably supports a number of pallets (G). In the vicinity of the endless conveyor, a pallet mounting table l located at a suitable height is arranged, on which pallets to be attached to or removed from the endless conveyor 7 can be placed. One of the pallets supported by the endless conveyor and the nine pallets supported by the support shaft 3) (1) are mutually exchanged by a pallet exchange device provided between the endless conveyor 7 and the support shaft housing support part. can.

Tool magazine lO attached above the spindle housing support part S
can store a large number of tools, and the tools stored in the tool magazine 10 and the tools attached to the spindle 6 can be exchanged with each other by a tool exchange device 1 disposed between the tool magazine IO and the spindle 6. .

A machining center is located in front of the spindle housing support section S.
□An operation panel 1 and a number device 13 are provided to achieve overall operation and numerical control, respectively.

Next, the structure of the main spindle 6 existing in the main spindle support housing part S and its support drive mechanism will be explained with reference to FIG. is rotatably supported by.

A spindle drive motor IS is fixedly mounted on the headstock l.
A main shaft drive shaft 16 is rotatably supported by a headstock and extends in the 2' direction, that is, parallel to the main shaft 4rc, on the output shaft of the main shaft. Directly connected by . A variable speed gear mechanism 1g is disposed between the main shaft 6 and the main shaft drive shaft 14, and according to this, the main shaft 6 can be driven to rotate around two-direction axes by the main shaft drive motor 15, and its rotational speed can be varied. is omitted.

Main turntable/4! t: t%vc Two-way guide l? installed on the machine frame as shown in Figure 3. and 20 and guided for movement in two directions. Headstock l
II can also be moved in two directions by the ball screw 2 extending in two directions and the ball screw nut part of this headstock that engages with it, and the main shaft 6 can also be moved in two directions by this. Details are omitted.

Mainly tool changer II and related main @J
The structure of UB will now be explained with reference to FIGS. 2, 7, and 5. The tool J to be attached to the main shaft 4 mentioned above has a truncated conical joint surface q at its rear, and a pinko SFi protrudes rearward from this joint surface q, and a slightly large grip portion = 6 is attached to the end of the pinko SFi that protrudes rearward from this joint surface q. I can fake it. The main shaft 6 has the shape of a hollow cylinder, and a conical joint surface t is formed in the front part of the hollow core, which contacts the truncated conical joint surface of the tool 3 when it is inserted. The hollow body of the main shaft 6 is further provided with a roller for elastically gripping the grip portion of the inserted tool 3. is placed. The collet opening shaft 30 extends rearward through the hollow body near the collet knob and protrudes from the rear end of the main shaft B, and the collet opening shaft 30 is connected to an annular protrusion 31 provided on the collet opening shaft 30 and a shoulder 3 formed in the hollow body of the main shaft. It is elastically pushed rearward by a compression spring 33 that sits on the opening shaft 30 and surrounds the opening shaft 30. In this state, collet 29
is urged to move rearward and interferes with the stepped portion of the inner diameter of the main shaft and is closed. An opening piece 3s pivotally connected to a pin 31I is arranged behind the main shaft O so as to be able to push the rear end of the collet opening shaft 3o. The opening piece 3s is pushed by the cam operation described later, and the spring 3 is thereby
If you push the collet opening shaft 30 forward while resisting the action of 3, the collet core will no longer interfere with the inner diameter of the main shaft and will open elastically, so that the partial rollers of the tool grip will not be interfered with by the collet knobs. Therefore, the tool 3 can be attached to and detached from the spindle 2.

One of the main components of the tool changer ii is the tool change arm 3A, which is attached to the front end of a two-way extending hollow change arm shaft 3 that is axially movable and rotatable. A semicircular tool gripping recess 3t as shown in FIG. 3 is formed at each # end of the tool grip extending on both sides. They are oriented in opposite directions (thus in the same direction of rotation).The inner surface of the recess 3S has a geometry such that it can be engaged with the three annular recesses of the tool holder 3.The rcFi tool gripping recess 3g and A pushing piece 4 that cooperates to restrain the tool 3
I0 is accommodated, and this pushing piece θ can be retracted by compressing the spring 4I/, but the tool exchange arm 36
It can be held in the elongated position, that is, the tool restraint position, by the action of the piece octopus located in the center. Komadako is a hollow exchangeable arm shaft 3
is fixed to the front end of the tool release shaft 4I3 that extends inside the
This shaft 4I3 projects rearward from the hollow exchange arm shaft 37, and has a compression spring 4I4! It is usually pushed backwards by the action of When the tool release shaft 41.7 is pushed backward, piece 4!
The push piece 4IOK acts to hold it in the forward position. However, a stopper 4IS is fixedly mounted behind the hollow exchange arm shaft 3 (fixed to the machine frame, etc.), and the tool exchange arm 3t moves backward, that is, to the right in Fig. 1.
'f! , the tool release shaft 4 (3) is held down by the stopper IIj at a distance such that the tool release shaft 4 (3) retreats, and therefore the tool release shaft 3 and the piece≠2 move forward relative to the tool conversion arm 36 while compressing the spring II By doing this, the piece octopus separates from the pusher piece ttto, so the pusher piece aO can be moved back by compressing the spring 4Il.This causes the tool 3t'i to be released from the tool changing arm 36. become able to.

Another major component of the tool changer II is the cam system, generally designated by the reference numeral 6, which extends in two directions and is located above the hollow exchange arm shaft 3, with a cam shaft 4!7. Equipped with The camshaft duct is attached to the machine frame 4'jK□ of the tool changer ll.
The cam member is rotatably supported against the cam member; fO and a driven gear 51 immediately after it are fixedly attached, and the driven gear 51 meshes with a driving gear 53 fixed to the output shaft of five camshaft motors identified on the machine frame t of the tool changer Il. .

By leveraging the camshaft motor S, both gears S, T,
The camshaft 4A7 rotates via the si, and therefore the VC first member 4! t and the second cam member 50 rotate. The first cam member da9 is directed towards lIJ and the third cam ki=
That is, the maltese car operating roller 5da and another cam element that can be attached to the FC, that is, the positioning cam 5St-sound,
Maltese car operating roller sti#' The Maltese hs of the Maltese car 5 installed on the Maltese shaft S6 extending in the z direction
can be engaged with t. Five Maltese cars are arranged at equal angular intervals.
There are six Malta@sts as shown in FIG. The Maltese wheel 5tVi further has a gear part S9, which has a gear 60 attached to the exchange arm shaft 37 and a gear ratio of 3:
Engage with l. Therefore, the Maltese wheel 5 rotates 4 times during the rotation of the camshaft 7 (details will be described later), and the shaft 37 and the tool exchange arm 34 rotate A, that is, 18 times.
0 positioning cam 5SFi that rotates 0° Suitable spindle A
When the rotation of the Maltese wheel S7 is completed, the stop protrusion 6S provided on the driven lever 63 is engaged with the cam roller 4da of the driven lever 63 which is pivotably mounted on / and is spring-loaded by the cane spring 62. Partially entered the entrance of $St and positioned 5 Maltese cars.

Then, at the time of rotation/start of the Maltese wheel 5, the stop protrusion 6S is released from the lock with the I-ruter Sg by the KFi positioning cam jS, and the Maltese wheel 5 becomes able to rotate.

Part 1? C is the first grooved cam A as the first cam element
A roller 61 attached to one end of the cam ζ 6 is formed and pivoted to the Maltese shaft S 6 , and engages in this first cam 66 . The cam lever 6 is the segment gear 6 on the opposite side of the p-ra 4g (worked against the Maltese shaft 56)! is fixedly mounted, this segment gear 69 is replaced by the arm shaft 3
At the rearmost position, the exchange arm shaft 3 is engaged with the gear 40 (which is at 40 aK position at this time) which is set at 1Rff. These members are configured and arranged so that the exchange arm shaft 3 (and thus the tool exchange arm 36-1) rotates by approximately 90 degrees in the phase formed when the camshaft duct rotates (described in detail later). . The second cam member 50 has a first cam element as a cam element, and a cam roller 73 is attached to l#A of the cam lever 7 which is pivoted on a suitable support shaft 7/. It is held in the cylindrical groove O. An actuating roller camel is attached to the other arm of the cam lever 72, and this is attached to the exchange arm shaft 37! 2I is secured in the rectangular annular piece 7S. According to this configuration, during the rotation of the cam I, the tool exchange arm 36 bends in two directions during the phase (details of which will be described later) caused by the action of the second cam O. Retreat or move in and out. The second cam member 50 has a cam roller 79 formed on the end surface as another cam element, and a cam lever S, which is pivotally mounted on a suitable support shaft 77 and loaded with a suitable spring, acts on this cam roller 79. It contacts the VC end face cam 76 by spring loading. The other end go of the cam lever g contacts one end of the opening piece 3S.

According to such a configuration, the housing piece 35 is pushed and rotated around the support shaft Jl of the opening piece 33Fi in the phase formed when the camshaft holder rotates (details will be explained later),
As described above, the tool 3 is in the state 11 that can be attached to and detached from the main shaft 6.

Next, please refer to Figure 2, Figure 6, Figure 7a to Figure 1.
The exchanging operation of the tool 3 will be explained with reference to the figure and the 1v diagram. Initially, the tool change arm 34 is positioned horizontally in the rear position, and the tool pot ti (for details, refer to (explanation is omitted), and the tool exchange arm 34 descends at a position symmetrical to the main axis B with respect to the axis (Fig. 71, diagram). In this state, the tool release shaft 4IS contacts the stopper jK and the exchange arm Axis J
The piece moves forward relative to the
Get away from me. At this time, the IK spindle 4 grasps the workpiece A and JB that had been machining up until now, and has retreated to the position t shown in the 7th (7) mm diagram (the position shown by the solid line in Figure 2). From this point on, the camshaft 4I7 rotates once. The starting point of the camshaft 4I7 is the point where the heel of the first #1 cam 66 is the lowest. With this rotation, the first
Due to the action of the cam element, that is, the first grooved cam 4 (indicated by M in FIG. 4), the tool changing arm 36 (indicated by M in FIG. 4) rotates about 90 degrees, and the tool gripping recess 3g and pushing piece lIO at the tip of the arm 36 rotates by about 90 degrees, and the tool gripping recess 3g and pushing piece lIO at the tip of the arm 36 rotates by about 90 degrees. (It will now be locked in the D@-shaped recess 3D. In this case!As mentioned above, the tool release shaft 4!3 is still in contact with the stopper holder 3, so the piece 4I is separated from the push piece DAQ. Therefore, when the push piece I10 locks on the tool 3 and 3B, the push piece 4IO interferes with it and moves backward while compressing the spring IIl, so that the tool gripping recess 3g is removed from the tool AJJA.
, 23B, it fits perfectly with the annular recess 3D. After the recess 31.39 is aligned with t6, the push piece 4IO is the spring +/
The tool 23B is then released from the collet cob due to the action of the end face force 6 (1 in Fig. 6). , followed by the action of the first cam element, that is, the first U-groove cam 700 (indicated by C in FIG. 6), and the tool changing arm 3
6 goes both ways as illustrated in FIGS. 7C and 7C. At this time, since the tool release shaft 3 separates from the stopper tray S, the tool release shaft 4I3 is moved back with respect to the exchange shaft arm 3 by the spring, and is locked to the spinning position by the pusher piece yoFi piece. The 3mm 0.23B is restrained and does not fall from the tool changing arm 36, making it extremely safe to work with. Thus, tool co3 and tool co3BI/'
1 is extracted forward from the tool pot gl and the main shaft 6, respectively. Thereafter, as indicated by D in FIG. 6, and as shown in FIG. 1 and FIG. The tool com J and 23B rotate and exchange their positions.

Thereafter, the tool changing arm 36 is moved backward by the action of the square-shaped groove O, so that the tools 23A and 13B are fitted into the main spindle 6 and the tool pot 1lvC, respectively (see FIGS. 1, 2 and 1 in FIG. 6). As the tool exchange arm 36 retreats, the rear end of the tool release shaft 3 is pushed into the stock/C lever 5, and the piece holder releases the lock of the pair of pushing pieces O, and the tools 23A, 2
3B is in a state where it can be detached from the tool exchange arm 36, and then, by the action of the end cam 76, the collector 9 grips the grip part roller of the workpiece A23 (F in FIG. 6). then the first
Due to the action of the cam 66, the low 26g of the cam lever reaches the 1st #.
The tip of the cam 66 is stuck at the lowest point, and the tool changing arm 36 rotates about 90 degrees to the horizontal position t, and maintains this state until the next changing operation. (FIG. G1 f and FIG. 7F in FIG. 6). In this manner, when the row 26g is inserted into the lowest groove of the first cam 66, the rotation of the cam shaft II7 is stopped and the initial state is reached. The above exchange operation is part of the cam glaze process.
This is done during the rotation and takes about 2 to 3 minutes, for example.
Seconds. Thereafter, the tool pot t/l-1 rises to its original position, and the spindle 6 moves forward together with the headstock/l toward the machining position.

As a modification of the embodiment of the invention described above, the tool release shaft 4t3. For example, in the modification shown in FIG. , 7? A fluid actuated device 1 consisting of a cylinder t fixed to a cylinder t and a piston (not shown) which is driven in the cylinder and fixed to the rear end of a shaft opening 30.
The forward and backward movement of the tool release shaft 3 is achieved by the movement 3.

Also, the operation of the collet knob in the main shaft B is the same as above.
The end cam 7 can also be accomplished by other means, by using a fluid actuator 6 consisting of a cylinder t connected to the headstock 1 and a piston t5 fitted thereto, as shown in the figure.

In this case, as shown by the arrow turtle, when pressure oil is supplied into the cylinder gt, the piston tS moves to the left and pushes the collet opening shaft 30 in one direction. 7bj Move forward and open. In order to fix the front machining machine A and J to the main shaft t, supply pressure oil as shown by a' and move the piston tS to the right so that the collet knob is oriented by the spring 33. This fixation is thus achieved. A limit switch 17 serves to check the above conditions.

In the cam diagram shown in the kA diagram, various motions are achieved sequentially without overlapping, but the 70th example shows a modified example in which the motions are superimposed.
As shown in the figure. According to the cam diagram of this 1st oM, the second groove cam. Nyoru tool change Tool change by Maltese car operating roller S Hiro before the forward movement (c) of arm 3 O is completed! to 3
6's 180' rotational movement (D) is started, and this 1800'
Before the rotational movement is completed, the tool changing arm 36 starts to move backward (1) by the second cam 70. In this case, the movement (EEE) of the tool opening shaft 3 is achieved by fluid action as shown in Figure 1, so this movement is not shown in this cam diagram.

[Brief explanation of drawings]

Figure 1 is an extremely simplified perspective view of a machining center, which is an example of a machine tool that employs the tool changer invented by Hi, and Figure 2 is an example of a spindle housing and an embodiment of the tool changer. Figure 3 is a cross-sectional view of various vertical sections of
An illustrative elevational view of the section corresponding to the figure, viewed from the side, FIG. 4I is a diagram showing the control cam and related elements included in the section shown in FIG. Figure 5 is the mu diagram, Figure 71, Figure m7b, Figure 7C, Figure 7d,
Figures 7e and 7f are diagrams showing the missing parts in order from one direction in the tool change process, Figure 7, Figure 7B, Figure 7.
Figure C, Figure 7D, Figure 7E, and Figure 71 are diagrams sequentially showing the tool changing process as seen from different directions, and Figure 7 is a modification of the tool changing device shown in Figure 1. FIG. 10 is a cam diagram showing a slightly modified version of the cam operating sequence shown in FIG. 6. In the drawing, 6Ifi spindle 1.74Fi tool change arm,
3J indicates the exchange arm shaft, ≠7 indicates the cam shaft, 51I indicates the third cam element, Anti first component, and OFi first component. Figure 4 Figure 5 Horse Figure 6 Figure 8/U Procedural amendment (voluntary) October 19, 1980 Dear Commissioner of the Japan Patent Office 1, Indication of the case 1982 Patent Application No. 155441 2, Name of the invention Machine tool Relationship between the tool changer 3 and the case of the person making the amendment Patent applicant address 1-18-16 Shinyoko, Minato-ku, Tokyo Name
Tsu Kami Co., Ltd. (6645) Name Yamoto 1) Shigeru 85, Detailed explanation of the invention column 6 of the specification subject to amendment, [9'/AJ in line 11 of page 16 of the specification of contents of the amendment] 23A”
and correct rEJ in line 11 of page 21 to rFJ.

Claims (1)

[Claims] l An exchange arm shaft extending parallel to the main shaft and the tool pot between the main shaft and the tool pot in order to exchange a first tool supported by the main shaft and a first tool supported by a tool pot parallel to the main shaft. (It has a tool changing arm attached to extend to both sides, and the tool changing arm and the changing arm shaft perform a positive rotational movement of a predetermined angle to rotate the tool changing arm from the initial position until it engages with the drawing tool.) , a predetermined distance I #I movement to extract the drawing tool from the spindle and the tool pot by the tool exchange arm, a 1110° rotation movement to exchange the position of the extracted drawing tool, and a first movement after exchanging the positions. The backward movement of the predetermined distance to fit the tool and the first tool into the tool pot and the spindle, and the reverse rotation movement of the predetermined angle to return the tool change arm to the timing position are achieved in a predetermined order during tool change. A device having one camshaft parallel to the main shaft and the exchange shaft arm, a first cam element for causing the camshaft to cause forward rotational movement and reverse rotational movement as described in 1rLj; a first cam element for causing movement and said 18
Third cam to cause 0° rotation movement! ! 1. A tool changing device for a machine tool, in which a tool element is attached, and these movements are performed in a predetermined order by rotation of a camshaft. A coaxial gear is identified on the exchange armlet, and this gear is actuated by the first cam element when the exchange arm is retracted.
The tool changer according to claim 1, wherein the tool changer engages a gear operated by a third cam element and engages a gear operated by a third cam element when the change shaft arm advances. 3. The first cam element is formed of a grooved cam, and has a row 2 at one end that engages in the control cam.A segment gear is provided at the other end of the cam, and this segment gear is connected to the exchange arm shaft. The tool changing device according to claim 2, which is capable of engaging the fixed gear. @ The third cam element is constituted by a Maltese wheel actuating roller arranged to rotate with the camshaft, the Maltese wheel actuated by this drives a gear part, and this gear part is fixed to the exchange arm shaft. A tool changing device according to claim 2 or 3, which can be fitted to a gear. A tool changer according to claim 1, wherein a further cam element is mounted on the camshaft to achieve the positioning of the left Maltese car.