JPS5924937A - Tool replacement device - Google Patents

Abstract

PURPOSE:To simplify construction of the drive mechanism of a tool chucking arm for replacement of tools and suppress the costs, by allowing an advancing/ retracting rack and a swinging member to swing the arm shaft with said tool chucking arm at its foremost part in two different angles. CONSTITUTION:A cylinder for swinging operation is put in service to swing a swinging member with the aid of swinging lever or the like. Following this swing, an arm shaft 26 also swings with the same angle to displace a tool chucking arm 60 from a position shown by the solid line in attached illustration to a postion by the dash and dot line. Thereby the chucking parts 61 hold a new 62 and a used 62 tool. The arm shaft 26 now advances downward because of the contracting piston of the arm shaft advancing/retracting cylinder to draw off the tools 61, 62 from the spindle and pot 72. Then a rack drive cylinder 34 is put in serivce to advance the piston rod, and a gear swings 180 deg. through an advancing/retracting rack 32 to place the new and used tools situated oppositely.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a tool changing device in a machine tool such as a machining center, and particularly to an I! H
Concerning improvement of the moving mechanism.

As shown in FIG. 1, a conventional tool changer drives an arm shaft 2 having a tool gripping arm 1 at its tip forward and backward in the axial direction by a cylinder (not shown), and The pinion 3 provided on the pinion 3 is swung at different angles, for example, 90 degrees and 180 degrees, by two racks 4.5 that can mesh with the pinion 3.
The tool gripping arm I is rotated 90 degrees from the tool non-gripping position to the gripping position I, and both ends of the tool gripping arm 萱 are attached to the new tool in the tool pot and the main shaft of the machine tool. The old tool that has finished machining is gripped at the same time, and then the arm shaft 2 is advanced by the cylinder to pull out both tools from the pot and the main shaft.After this, the arm shaft 2 is advanced to remove the rack 5 which is in mesh with the binion 3. Activate to rotate arm l 180 degrees and swap the positions of the new and old tools.
Next, the arm shaft 2 is moved backward by the cylinder, and the old tool is inserted into the tool pot, and the new tool is inserted into the main shaft.

Further, the rack 4 is moved in the opposite direction to that described above, and the arm 1 is also rotated 90 degrees in the opposite direction to release the grip on both tools and perform a tool exchange operation.

However, in such a conventional tool changer, the two racks 4 and 5 for swinging the arm axis are relatively long and i > Must be formed widely.

The two racks 4 and 5 are mounted along the T iM9 and lO provided in the housing 8 along with a sliding piece 6.7 having a cross-section of a ``1'' shape bolted along the central part of the back surface thereof. Since it is guided by sliding, it is formed relatively thin. For this reason, there is a drawback that warping is likely to occur in ranks 4 and 5, and it is therefore difficult to maintain a high processing increase A degree. 'Also, in order to manufacture highly accurate rank 4.5 without causing front IiC warpage, there is also the drawback that the unit cost of parts increases.

An object of the present invention is to provide a tool changing device that has a simple structure and can be manufactured at low cost.

The present invention has a tool gripping arm at the tip.In order to swing the arm shaft to two different angles, the arm shaft can move forward and backward so that it can engage with the gear of the arm shaft for one of the two swing angles. In addition to using a rank, for the other swing angle, a swinging member that can be engaged with and detached from a part integral with the arm shaft J and that swings the arm shaft together when it is engaged, and the movement of these back and forth. The meshing position between the rank and the gear and the locking position between the part integrated with the arm shaft and the swinging member can be meshed with the gear in order to maintain the relationship as it is when the arm shaft moves back and forth in the axial direction. A gear guide rank is fixedly provided in the housing, thereby making it possible to narrow the +lJ of the rank moving forward and backward.Therefore, in a forward and backward rack with a narrow IJ, it is possible to guide the forward and backward movement using the both sides of the rack as a guide. In addition to solving this problem, it also eliminates the conventional racks with wide widths and thin parts, and also eliminates the need for only one rack, which is expensive to manufacture, thereby reducing manufacturing costs, thereby achieving the above objectives. be.

Hereinafter, one embodiment of the present invention will be described based on the drawings.

In Figures 2 to 5 showing the overall configuration, an arm drive mechanism 20 is disposed on the apparatus frame 110 side, and a tool pot receiving turning mechanism 70 is provided on the other side.

The arm drive mechanism 20 includes a housing 21, and a substantially cylindrical swing member 23 is swingably supported on the upper part of the housing 21 via a bush 22. A '1-arm shaft 26 is supported in the swinging part 23 and in the lower part of the housing 21 through bushings 24 and 25, respectively, so as to be swingable and slidable in the axial direction (see FIG. 6). ).

A gear 27 is fixed in the middle of the arm +Ii+IJ26 by spline fitting. The upper surface of this gear 27 is projected in a ring shape, and two grooves 29 are formed in this ring-shaped portion 28 at 180 degree positions.
At 9, two protrusions 3o protruding from the lower surface of the swinging portion 23 are removably engaged. These ring-shaped parts 28
, /ii 29 and the protrusion 30 constitute a so-called tooth clutch 31 as an engagement means (see FIG. 8),
Due to the action of the tooth clutch 31, the swinging portion 1FA23 and the arm shaft 26 can rotate together when the tooth clutch 31 is engaged.

A relatively narrow reciprocating rack 32 is supported by the housing 21 so as to be slidable in a direction perpendicular to the sliding direction of the arm il+b 26, i.e., the axial direction.

As shown in FIG.
It is connected to the l-yorad 35 and moves forward and backward as the piston front 35 moves forward and backward. Here, the connecting plate 33 and the cylinder 34 constitute a rack advancing/retracting drive means. In addition, the teeth of advance/retreat rank 32 are as follows:
The arm inh 26 can be engaged with the gear 27, and when the arm inh 26 is engaged with the gear 27, the arm inh 26 can be swung by a predetermined angle, for example, 180 degrees. At this time, the advancement and hiding of the piston rod 35 is restricted by the bolt 36K attached to the frame 11.
G swing rounded corner 81. ! Inside the housing 21 there is a key and guide rank 3.
7 is fixed, and when the gear 27 integrated with the arm shaft 2 (5) moves from the solid line position 11 in FIG. 6 to the chain line position or vice versa, the arm shaft 2
The engagement position 1t, '# or gear 27 between the gear 27 and the protrusion 30 of the swinging member 23 without swinging the gear 27
and the advancing/retracting rack 32 are engaged with each other to slidably guide the screen arm shaft 26 holding the.

At the upper end of the arm ll1lII26, a connecting plate 38 is swingably but not axially movable.Jf',! This connecting plate 3B is connected to the piston rod 40 of the cylinder 39 (see FIG. 4) fixed to the housing 21, and the arm shaft 2
6 moves forward and backward in the vertical direction.

At this time, the connecting plate 38 is guided by the elongated hole 42 of a guide plate 41 fixed to the housing 21 so as to move forward and backward without swinging, and the connecting plate 38 is configured to protrude above and below the guide plate 38. Dock 43 is attached to guide plate 38 with bracket 44.45
Upper and lower limit switches 46.
47, the position of the piston rod 40 can be detected by limit switches 46 and 47, and the operation of the cylinder 39 can be controlled. Here, the connecting plate 38, the cylinder 39, and the guide plate 41 constitute an upward arm axis movement drive means.

A substantially σ-shaped swing lever 49 is fixed to the protrusion of the swing member 23 from the housing 21 via a key 48.
The tip of a piston rod 51 of a cylinder 50 is swingably connected to the protrusion of the swinging lever 49 via a bifurcated connector 52. The swing member 23 is configured to swing by a predetermined angle, for example, about 60 degrees. Here, the swing lever 49, the cylinder 5o, and the connector 52 constitute swing driving means for the arm shaft 26. 500 cylinders & iiA part is swingably supported by claim 11, and the cylinder 5 moves as the piston rod 5I moves back and forth.
The oscillation of 0 is reduced to 8J and is 5. moreover,
A dock 53 fixed to a coupling 52 is configured to operate limit switches 56 and 57 mounted on the frame 11 via brackets 54 and 55, and these limit switches 5 (3 and 57 actuate the piston rod 51 The position of the piston rod 51 can be detected and the operation etc. of the cylinder 50 can be controlled.
117j can be adjusted via a bracket 58 using several adjustment screws 59 on the coffin.

A tool gripping arm 60 is fixed to the lower end of the arm shaft 26. The gripping portions 61 are formed by semicircular recesses formed on both sides of the arm 6o, and claws 763 for preventing the tool 62 from falling off are protruded opposite the opening sides of the gripping portions 61. It is set up so that it can be submerged. This pawl 63 is made non-retractable at all times by a stop pin 64 provided so as to be able to protrude and retract in a direction perpendicular to the direction of missed throws of the pawl 63. When the claw 63 is retracted into the recess 60, the claw 63 can be retracted against a spring (not shown).

The tool pot receiving swivel +IJt 7 (l is a receiving member that can be rotated up and down from a horizontal position to a downward vertical position with respect to the frame 11, and that extracts and receives the tool bond 72 sent by the chino 71 from the chino 71 73
A cylinder 77 serves as a turning drive source for raising and lowering the receiving member 73 through a coupling 74, a turning lever 75, and a support shaft 76, and a tongue pin 78 protruding from the support shaft 76 provides the turning drive by the cylinder 77. Detect via 2
limit switches 79 and 80, and the receiving section, t4.
Two gripping/non-gripping detection methods detect whether the tool bond 72 is gripped or released by the tool bond 73 via a slide cam 81 provided on the receiving portion 73 and a lever 82 swingably attached to the frame 11. limit switch 8
3.84.

Incidentally, reference numeral 85 denotes a flat curved cam provided in the receiving part 73, which allows the stop bin 64 to be retracted and the pawl 63 to be retracted when the tool gripping arm 60 is rotated to the position indicated by the chain line in FIG.
Reference number 86 is a 1,000-m1 cam that is installed on the spindle head of a machine tool (not shown) and has the same function as the planar cam 85.

Next, the operation of this embodiment will be explained.

In the initial state, as shown by the solid line in Figure 5,
The arm 60 is installed in a position where it does not come into contact with either the old tool 62 attached to the main shaft of a machine tool (not shown) or the new tool 62 attached to the tool pot 72 of the tool magazine. The gripping parts 61 each have a tool 6
2 is not gripped. In this state, when the new tool 62 necessary for the next machining is sent along with the tool pot 72 by the chino 71 according to the program and stopped at the receiving member 73, the tool pot 72 is not received by the receiving member 73. Then, the receiving member 73 is pivoted from the horizontal position in FIG. 3 to the downward double position by the operation of the cylinder 77, so that the tool can be replaced. On the other hand, the main shaft of the machine tool (not shown) is also moved to a position where tools can be exchanged, ie, to a position symmetrical to the tool pot 72 which is rotated around the arm shaft 26.

After this, the cylinder 5-0 of the rocking drive means is activated,
Connector 52. The swinging member 23 is swung by a predetermined angle, for example, about 60 degrees, via the swing lever 49 and the key 48. At this time, since the cylinder 39 of the arm shaft forward/backward driving means is in the state shown in FIGS. 4 and 6 with the piston rod 40 advanced, the groove 29 of the gear 27 and the swinging member 23
is in engagement with the protrusion 30 of the swinging member 23.
As the arm shaft 26 swings, the arm shaft 26 also swings by the same angle. As a result, the tool gripping arm 60 is displaced from the solid line position in FIG. It will be grasped. When the arm 60 swings, the stop bins 64 that prevent the falling prevention claws 63 from retracting are in contact with the planar cams 85 and 86, respectively, so the winter melon 63 is retracted into the arm 60. oJ
hH, and does not interfere with gripping each tool 62.

Next, the piston rod 40 of the cylinder 39 for advancing and retracting the arm shaft is contracted, and the arm shaft 26 is advanced downward via the connecting plate 38, and as a result, each gripping portion 61 of the arm 60 is moved downward.
Each tool 62 held in the tool pot 72 and the main l
It is pulled out from the ll111, and the shaft 26 is made swingable. At this time, as the arm 60 moves downward, each stop bin 64 separates from the planar cam 85, 86, so each stop bin 64 protrudes to prevent the winter melon 63 from sinking in, and each tool 62 Falling off from the grip part 61 will be prevented.

Since the rank 37 is provided so that the gear 27 is engaged with the gear guide rack 37 before the projection 30 of the tooth clutch 31 and the ffl 29 are disengaged when the arm shaft 26 advances downward, The gear 27 is advanced while maintaining the locked position by the tooth clutch 31, and is meshed with the advancing/retracting rank 32 with an angle of 1σ. Even when the meshing is transferred from this gear guide rack 37 to the advancing/retracting rank 32, the gap between both ranks 37 and 32 is the tooth of the gear 27 + 1J.
It is narrower so that its position does not change during this relocation.

When it is detected that the gear 27 and the advancing/retracting rank 32 are completely engaged with each other by actuating the limit switch 47 by the dock 43 of the connecting plate 38 connected to the tip of the arm shaft 26 (see FIG. ), the cylinder 34 of the rank advance/retreat drive means is operated, the piston rod 35 is advanced from the state shown in FIG. 7, and the connecting plate 33 comes into contact with the bolt 36 and is stopped. Due to this movement of the piston rod 35, the gear 27 is swung 180 degrees via the rack 32, the positions of the new and old tools 62 are reversed, and then, contrary to the above, the piston of the cylinder 39 for moving the arm shaft The rod 40 is advanced, the arm shaft 26 is raised, and the new and old tools 6
2 are attached to the main +IQ& and tool bot door 2, respectively, and the exchange of the new and old tools 62 is accomplished. At this time, the gear 27 is guided by the gear guide rack 37 as described above, and since the grooves 29 of the gear 27 are provided symmetrically at 180 M [positions], the gear 27 can be rotated 180 degrees. There is no problem with the engagement of the tooth clutch 31 due to the movement. 11.

The tooth clutch 31 is engaged by the dog 43 of the connecting plate 38.
When it is detected from K that the limit switch 46 is actuated, the grounding and shaft movement cylinder 50 is actuated in the opposite direction to that described above, and the piston rod 51 is contracted. According to this, the connecting tool 52, the swinging lever 49, the key 4
8. The arm shaft 26 is swung by a predetermined angle, that is, approximately 60 degrees, in the opposite direction to the above-mentioned direction via the swiveling member 23, the tooth clutch 31, and the gear 27, and the tool gripping arm 60 returns to its initial position. becomes. At this time, each stop pin 64 comes into contact with each planar cam 85 and 86 as the arm shaft 26 rises and is retracted, so that the winter melon 63 can be moved backward, and the swinging of the arm 60 allows each tool to 62 is arm 6
0, and each gripping part 61 returns to the initial position IK (, 91 J!Th) in an empty state.

After the arm 60 returns to the initial position, the cylinder 77 of the tool pot receiving rotating mechanism 70 is operated in the direction opposite to that described in M, and the tool bond 72 is moved to the horizontal position together with the receiving member 73. At this time, the address (position) at which the old tool 62 removed from the main shaft should be mounted is exactly on the receiving member 7 of the chino 71.
3, the tool bond 72 is attached to this position, and then the tool bot 72 with the tool 62 necessary for the next machining attached is moved to the receiving member 73.
It is rotated to face the

Furthermore, between the return swinging of the arm 60 and the transfer of the tool bot 72 to the chino 71, the rack advancing/retracting cylinder 34 is operated in the opposite direction to that described above to prepare for the next operation.

Thereafter, by repeating the above operations, tools can be replaced in sequence.

According to this embodiment as described above, the wide and thin sliding racks 6 and 7 in the conventional example shown in FIG. 1 can be eliminated, and the structure of the reciprocating rack 32 can be made simple and inexpensive. Further, as mentioned above, not only can the advancement/retraction rack 32 be made inexpensive as a part itself, but only one advancement/retraction rack 32 is required, and the other parts are the fixed gear guide rack 37 and the gear 2.
It is a common part such as 7, and high-precision parts can be easily manufactured without special pipes *'lL, so from this point of view, it is inexpensive, high-precision, and smooth! We can provide equipment for Jh production.

In the above embodiment, "C" refers to the gear 2 as an engagement means that enables the swinging member 23 and the arm shaft 26 to rotate together.
Although a tooth clutch 31 consisting of a 180 degree 1#, K groove 29 and a protrusion 30 of the swinging member 23 is used, the present invention is not limited to this, and is not limited to a car pink coupling, Other removable means may also be used;
Furthermore, the swinging member 23 and the arm shaft 2 can be connected to each other without using the gear 27.
6 directly or by engaging the arm shaft 26 with an integral part. In short, the swinging portion *t 23 and the arm shaft 26 can swing together, and the arm shaft 26 may be engaged with the arm shaft 26 directly or with the arm shaft 26. 6
is a predetermined angle from the advance/retreat rank 321C, 1 in the above embodiment.
Any retaining means that can be smoothly engaged before and after being swung by 80 degrees is sufficient. E. As the oscillating drive means for the oscillating member 23, a cylinder 50, a oscillating lever 49, etc. may be used. However, the present invention is not limited to this, and it may also be possible to oscillate at a predetermined angle.

The swinging member 23 is not limited to the cylindrical shape as in the embodiment described above, but may have another shape such as a half-split shape.

As described above, according to the present invention, the tR construction is simple and can be manufactured at low cost.

[Brief explanation of the drawing]

Fig. 1 is a sectional view showing the main parts of a conventional example, Fig. 2 is a plan view showing an embodiment of the present invention, Fig. 3 is an enlarged right side view thereof, and Fig. 4 is an enlarged left side view of Fig. 2. Fig. 5 is an enlarged bottom view of Fig. 2, Fig. 6 is an enlarged sectional view taken along the line ■1-Vl of Fig.
The figure is an enlarged cross-sectional view taken along the line Vll--Vll in FIG. 3. FIG. 8 is an enlarged cross-sectional view taken along the line ■--■ in FIG. 21... Housing, 2-3... Swinging member, 26.
...Arm shaft, 27...Gear, 31...Tooth clutch, 32...Advancing/retracting rank, 33.34...Connecting plate and cylinder constituting rank advancing/retracting drive means, 37...
・Gear guide rack, 38.39.41... Connecting plate, cylinder and guide plate constituting the arm shaft advance/retreat drive means, 4
9゜50.52... Swinging lever, cylinder, and connector constituting the swinging drive means, 60... Tool gripping arm,
61...Holding part, 62...Tool. Agent Patent attorney Minoru Kinoshita (and 1 other person) (-) Fig. 2 V [Th Fig. 3 Fig. 6 38 52 ”, , 4B, o Rad ゛π゛ -4 4 ■ ■ 21 1 zs Figure 7 Figure 8 1 27 28 29 30

Claims (1)

[Claims] (1) An arm shaft that is supported by a housing so as to be movable in the axial direction and swingable in the circumferential direction, has a tool gripping arm at the tip protruding from the housing, and has a gear fixed halfway inside the housing; an arm shaft advancement/retraction drive means for driving the arm shaft forward and backward in the axial direction; and an arm shaft advancement/retraction driving means that is swingably supported by the housing and is removable from a part integral with the arm shaft, and when engaged, the arm shaft needle is integrated with the arm shaft needle. A swinging member for swinging, a swinging drive means for swinging the swinging member at a predetermined angle, and a swinging drive means fixed to the housing and capable of meshing with the gear to maintain a posture of the gear with the swinging member. a gear guide rack that guides the arm shaft so that it can move forward and backward while being held; and a gear guide rack that is supported so that it can move forward and backward in a direction perpendicular to the direction of movement of the arm shaft with respect to the housing, and that is capable of meshing with the gear and that when engaged, the gear guide rack It is characterized by comprising an advancing/retracting rack through which the arm shaft is swung, and a rank advancing/retracting and driving means for moving the advancing/retracting rank forward and backward by a predetermined amount to swing the arm shaft at an angle different from the swinging angle of the swinging member KjJ. Tool changing device.