JPS5949143B2 - automatic tool changer - Google Patents

Description

[Detailed description of the invention] The present invention relates to an automatic tool changer for a floor-type horizontal boring machine.

The tool changer for a floor-mounted, cross-boring machine is attached to a spindle head that moves downward along a column, and the rotation axis of the tool change arm is set parallel to the spindle, so that the tool changer in the standby position and Tools in the spindle are exchanged by rotating and advancing and retracting the tool exchange arm.

In this case, the tool change arm protrudes beyond the front surface of the spindle head, so consideration must be given to avoid interference with the workpiece, etc., and chips, etc. may accumulate on the tool grip of the tool change arm, making it difficult to grip the tool. could not.

The object of the present invention was made in view of the conventional problems, and the block equipped with a tool change arm, its driving mechanism, and a tool gripping mechanism for clamping a tool is rotatable in a horizontal plane, and is positioned parallel to the spindle axis. It is an object of the present invention to provide an automatic tool changer that improves workability and has dustproof properties by positioning the tool at two positions: a tool change position and a position orthogonal to the spindle axis, that is, a folding position.

DESCRIPTION OF THE PREFERRED EMBODIMENTS An automatic tool changer according to an embodiment of the present invention will be described below with reference to the accompanying drawings for a floor-type horizontal boring machine.

1 and 2 are a front view and a plan view, respectively, showing the entirety of a tool changing device provided on a floor-type horizontal boring machine, and reference numeral 1 in the figures indicates a column of the boring machine.

A spindle head 2 is provided on one side of the column 1 so as to be movable up and down along the column 1. A ram 6 movable in the front and back direction is provided on the front surface of the spindle head 2, and a motor (not shown) is provided on the front surface of the spindle head 2. supports the rotatable main shaft 5.

The column 1 is mounted on a column base 3 that is movable in the left-right direction in FIG. 1, and as the column base 3 is moved laterally, the column 1 is also moved.

A tool storage magazine 100 (FIG. 2) is provided on the upper left side of the column base 3, and stores a large number of tools arranged and stored on a horizontal plane with their axes vertical.
A horizontal transport mechanism 300 for horizontally transporting tools from the magazine 100 to near the bottom of the main shaft 5 is disposed on the front surface of the machine.

A first tool exchange mechanism 200 is provided between the magazine 100 and the starting end of the horizontal conveyance mechanism 300 to exchange tools therebetween.

A vertical conveyance mechanism 400 extending upward along the column 1 is provided near the end of the horizontal conveyance mechanism 300, and an intermediate tool pot mechanism 500 is located in the middle thereof.

A second tool exchange mechanism 600 is installed between the intermediate tool pot mechanism 500 and the main spindle 5, and thereby tools are exchanged between the pot mechanism 500 and the main spindle 5.

In the above device, the shank portion of the tool faces downward in the conveyance path from the magazine 100 to the intermediate tool pot mechanism 500, so that the tool is conveyed in a stable state, and the tool is conveyed in a stable state parallel to the main shaft 5 starting at the intermediate tool pot mechanism 500. The tool is rotated so that it is positioned horizontally, and in this state it is replaced with a used tool mounted on the main spindle 5.

During this transportation, a positioning key groove provided on the tool and a positioning key provided on each mechanism engage with each other, and the tool is transported while maintaining a predetermined position at all times, and is mounted on the main shaft 5.

Next, each mechanism of the above device will be explained with reference to the respective drawings.

Among these mechanisms, some control members such as limit switches and electromagnetic valves are omitted because their operations will be explained later in the drive circuit section.

The tool storage magazine 100 shown in FIG. 2 has a base 101 with an oblong recess formed in the center of the upper surface, and inside this recess, a number of tool pots 102 are arranged in a chain shape along the circumference of the recess. It is arranged.

Each pot 102 has an opening 103 at the center of the top surface for holding tools.
A key 104 is provided protruding near this opening for engaging with the positioning key groove of the tool to set the tool at a predetermined position.

A drive tooth is provided inside the tool pot 102, and this one drive tooth is engaged with a chain 105 provided inside the pot 102.

As a result, when this chain 105 is driven by the sprocket 106 rotated by the hydraulic motor 110,
Along with this one drive, the pot 102 is moved clockwise.

In order to smoothly transport the pot 102, in this embodiment, an extension is provided on the outside of the pot 102 and extends above the base 101, and a roller is rotatably supported on this extension. The rollers are designed to roll on the top and front of the base 101.

In order to index a tool held vertically with the shank downward through the opening 103 of each tool pot 102, different cord surfaces 10 are provided on the outer surface of the extending portion of each pot 102.
7 is formed, and this code surface 107 is connected to the base 101.
A code detection mechanism 108 provided above detects this and stops driving the sprocket 106.

That is, when a desired tool is stopped at an exchange position near the tool exchange mechanism 200 and this tool is exchanged, the code corresponding to this tool is transferred to the pot at the rotational direction forward position of the pot 102 that holds this tool. is formed, and this co-
The predetermined tool is stopped at the replacement position by detecting the closed surface.

In addition, a code is attached to the tool itself, and this code is detected by the detection mechanism 1.
The reading tool can also be identified by 08.

The code detection mechanism 108 may be of a type that reads the code by mechanically contacting the code surface, or may be of an optical type that reads reflected light or transmitted light from the code surface.

This device reads the code surface when the specified tool has slightly passed the replacement position, stops the pot, then reverses the pot counterclockwise at a very low speed, and then stops the pot by hitting a rattut-type stopper at the stop position. A mechanism is provided.

The first tool changing mechanism 200 will be explained with reference to FIG. 1, FIG. 3, and FIG. 3a.

The tool exchange mechanism 200 has the functions of transferring the tools in the exchange position of the magazine 100 into the tool carrier 302 of the horizontal transport mechanism 300 and storing the used tools in the tool carrier 302 into the pot 102 of the magazine 100. It has a tool exchange arm 201 with a

A gripping portion 203 for holding a tool is formed on opposite side surfaces of both horizontally extending arm portions 202 of the arm 201, each having a substantially semicircular arc surface.

In addition, passing through the center of rotation of the arm 201, both gripping parts 203
The straight line connecting the centers of is inclined by 15 degrees with respect to the normal reference axis.

Therefore, in order for the arm 201 to grip the tools in the tool pot 102 and the tool pot 311, it is only necessary to rotate the arm 201 by 85 degrees clockwise.

An arcuate protrusion 2 is provided on the inner surface of the gripping portion 203 to engage with a ring-shaped groove of the tool to reliably prevent the tool from falling downward.
04, and a key 205 that engages with the key groove of the tool to position the tool in a predetermined phase.

Further, near the inner base end of the gripping part 203, a lock pin 206 is provided which is constantly pressed inward by a spring.

Note that a shaft 211 is fixed to the lower part of the arm 201, and a pinion (not shown) is attached to the lower end of the shaft 211. (not shown) collapses.

Therefore, when the hydraulic cylinders 212 and 213 are selected and operated, the arm 201 moves to 85° and 180°, respectively.
Can be positioned at any angular position.

Note that since the shaft 211 is also connected to a hydraulic cylinder 214 extending in the vertical direction, the arm 201 can also move vertically.

Thus, when this arm 201 is rotated horizontally and its grip portion 203 approaches the side of the tool, the lock pin 206 is first pushed against the side of the tool and enters the arm 201 against the spring force. .

As a result, the tool enters the gripping part 203 consisting of a curved surface,
While engaging with the respective arcuate protrusions 204 and keys 205, the lock pin 206 protrudes again due to the spring force.
Hold this tool securely from the side.

The horizontal conveyance mechanism 300 shown in FIGS. 3 to 5 holds a tool vertically with its shank downward by a tool carrier 302, and transfers the tool between the first tool change mechanism 200 and the vertical conveyance mechanism 400. It is meant to be moved.

A pot 311 into which a shank portion of a tool is inserted and a key 312 that engages with a positioning key groove of the tool are formed on the upper surface of the tool carrier 302, respectively.

This horizontal conveyance mechanism 300 has a pair of guide bars 301 provided at the front part of the column 1 with a predetermined distance from each other.

These guide bars 301 are supported by guide bar supports 307 fixed to the column 1 so that the tool carrier 302 can move without any hindrance.

An endless chain 303 extends parallel to the guide bar 301, and a pair of sprockets 30 drive the endless chain 303.
It is passed over to 4.

The tool carrier 302 has a horizontal hole through which the guide bar 301 is loosely inserted, and a chain 303 is fixed thereto.As the chain 303 is driven by the sprocket 304, the tool carrier 302 moves along the guide bar 301. It is reciprocated between the exchange mechanism 200 of No. 1 and the vertical conveyance mechanism 400.

Although not shown, the sprocket 304 on one side is driven after being decelerated by a hydraulic motor (not shown).

The guide bar 301 is provided with a cover 308 as shown in FIG. 5 to protect it from cutting debris and the like.

This cover 308 is composed of a metal plate with a substantially angular cross-section whose side and top surfaces extend along the guide bar 301.
The lower part is pivotally supported by a pin 309 on the protrusion of the column 1, and the piston of a hydraulic cylinder 310 whose base end is pivotally supported on the column 1 is connected to the lower end.

As a result, by the operation of this hydraulic cylinder 310, the cover 308 can be rotated between the blocking position shown by the solid line and the open position shown by the imaginary line, and when the carrier 302 moves, it is held in the open position. , so that the movement of the carrier 302 is not hindered.

When exchanging tools between the tool pot 102 of the magazine 100 and the tool carrier 302 of the horizontal transport mechanism, first, when a tool call command is issued, the tool pot 102 holding the tool selected by the code detection mechanism 108 is exchanged. stopped in position.

At this time, the tool carrier 302 is placed in advance in front of the replacement position on the right side of FIG.

Here, the arm 201 is rotated 85° clockwise to grip a new tool with the gripping portion 203, and then the arm 201
A new tool is inserted into the two-tool carrier 302 by shifting the tool upward to remove the tool from the tool pot 102, then rotating the arm 201 by 180 degrees and lowering the arm 201.

At this point, if the arm 201 is rotated again by 85 degrees, it will return to the initial state.

When returning a used tool to the tool storage magazine 100 from the spindle side, it is transported from the right side to the left side via the tool carrier 302 in FIG. A used tool pot is indexed in advance, and the used tool is stored in a predetermined tool pot by the above-described operation of the tool exchange arm 201.

Vertical conveyance mechanism 400 shown in FIG. 6, FIG. 7, and FIG. 8
is a rotary shaft 40 extending vertically along the side wall of column 1.
3, whose lower end is rotatably supported by a support body 410 and whose upper end is rotatably supported by a bearing (not shown).

This rotary shaft 403 is provided in a support body 410, and is operated by hydraulic cylinders C3 and C4 facing each other.
It is rotated to a predetermined angle through a combination of a rack (not shown) fixed to each piston of the cylinder and a pinion (not shown) provided at the lower end of the rotary shaft 403 that meshes with the rack. .

The rotary shaft 403 has a keyway 403A, and the tool carrying arm 404, which has a key (not shown) that engages with the keyway 403A, is fitted to the rotary shaft 403, so the arm 404 is It can move up and down along the rotary shaft 403, and rotates together with the rotary shaft 403.

As shown in detail in FIG. 7, the tool transfer arm 404 has a mechanism similar to the grip part 203 of the first exchange mechanism 200 at its tip.

This gripping portion is also provided with an arcuate protrusion, a key, and a lock pin 414, so that the tool can be held vertically at a predetermined angular position with the shank portion facing down.

This lock pin 414 is inserted into the grip part so as to be able to move forward and backward, but in the holding position (the position of the lower imaginary line shown in FIG. 7 and the upper imaginary line rotated 180 degrees from the lower imaginary line) The tool is gripped by the engagement of the compression spring 415 provided in the section with the cam 420 and the piece 420a to prevent its insertion.

Note that when the arm 404 is at the imaginary line position to the left of the solid line in FIG. 7, the block pin 414 is not pressed because the piece 420a is away from the cam 420.

A horizontal cover 411 is provided at the base of this arm 404 to protect the rotating portion of this arm 404 from the cutting layer and the like.

A vertical cover 407 is also provided around the rotary shaft 403 to protect the shaft 403 in the same manner.

This cover 407 is provided outside the shaft 403 and
3 in the vertical direction.

The base end of this cover 407 is pivotally supported by a cover bracket 416, and as a result, it is rotatable on a horizontal plane about this pivot point.

A swing motor (not shown in this figure) is provided above the cover 407, and the arm 4 is driven by this swing motor.
04 is positioned at the lower end position of the rotary shaft 403 and is on standby, the cover 407 rotates to cover the rotary shaft to protect the rotary shaft 403 from chips and the like.

When the arm 404 is raised, the cover 407 is rotated so as not to prevent the arm 404 from rising.

An endless chain 402 is provided to extend along the rotary shaft 403, and the upper and lower ends of the endless chain 402 are wrapped around sprockets 401, respectively.

The upper sprocket 401 is rotated by a hydraulic motor M3 provided above it through a pair of pinions, a worm, and a worm wheel (not shown), and the chain 402 is driven by this rotation.

The lower sprocket 401 is supported by a bracket 413 attached to a threaded rod 412 protruding from a support 410.

A portion of this chain 402 is attached to the tool transfer arm 40
As a result, as the chain 402 moves, the arm 404 is moved up and down using the rotary shaft 403 as a guide.

To transfer a tool from the tool carrier 302 of the horizontal mechanism 300 to the above-mentioned arm 404, the arm 404 is placed at the lowest position of the rotary shaft 403 and at the imaginary line position to the left of the solid line in FIG.

In this state, when the carrier 302 is moved from the left to the right end and the arm 404 is rotated from the imaginary line to the solid line position, the tool is gripped by the gripping portion.

The intermediate tool pot mechanism 500 is positioned near the upper limit position of the exchange arm 404 as shown in FIG.
is attached to the side of the spindle head 2.

The entire pot mechanism 500 is approximately 90 degrees toward the front in the drawing.
The intermediate tool pot 502, which is a part of the tool pot, can be moved vertically along the guide rail 501.

The exchange arm 404 is controlled by a limit switch, which will be described later, within a predetermined stroke range of the rotary shaft 403.
It is designed to stop at a position corresponding to the position of the spindle head 2 and to perform a replacement operation.

That is, a stopper 642 is protruded from the spindle head 2, and a limit switch L10 (not shown) is attached below this, and both are moved in the vertical direction together with the spindle head 2.

On the other hand, a dog (not shown) of the limit switch L10 is fixed to the arm 404, and the arm 404 rises and collides with the stopper 642, causing the spindle head to
stops at the fixed position, and at the same time limit switch L10
This signal gives the arm 404 a rotation command of 180 degrees.

From the arm 404 of the vertical transport mechanism 400 to the tool box l-5
1 to 02: To transfer the tool, move the arm 404 to the position shown in Fig. 8 (
(solid line position in Fig. 7) and lift it from below.

As mentioned above, when it comes to a position corresponding to the spindle head while rising, it is stopped by the stopper switch LID and the stopper 642.

At this position, the arm 404 is rotated 180° from the position shown in FIG. 8 to the right side of the rotary shaft 403 (the upper imaginary line position in FIG. 7).

When the tool pot 502 is subsequently raised, the shank portion of the tool is inserted into the pot 502.

If the arm 404 is now rotated clockwise in FIG. 7, the hook 420a is removed from the cam 420, and the tool is separated from the grip of the arm 404 and supported only by the pot 502.

Subsequently, the pot 502 is rotated forward by 90 degrees and positioned in a position parallel to the axis of the spindle head 2.

Next, details of this intermediate tool pot mechanism 500 will be explained with reference to FIGS. 9 to 11.

The guide rails 501 are provided in parallel with each other at regular intervals, extend in the vertical direction, and have lower portions that are connected to the base 5.
It is fixed at 18.

The F section of the base 518 is pivotally supported by a support 515 protruding from the spindle head 2 via a pin 514.

On the other hand, a piston rod 519 of a hydraulic cylinder 517 is rotatably attached to the spindle head 2 on the upper part of the base 518.
The tip of the pin 516 is pivotally supported.

As a result, the pot mechanism 500 is tilted forward by 90 degrees around the pin 514 by the operation of the hydraulic cylinder 517.

A hydraulic cylinder 509 with a piston rod 510 facing upward is fixed to the front base 518, and a tool pot 5 is attached to the tip of the piston rod 510.
One end of a horizontal support plate 520 provided with an aperture 520 constituting 02 is attached.

The opening of this tool pot 502 has approximately the same diameter as the outer diameter of the tool, and is tapered so that the diameter becomes smaller as it goes downward.

A support cylinder 5 extending downward is provided on the lower surface of the support plate 520.
The upper end of the support plate 520 is coaxially and integrally fixed to the opening of the support plate 520.

Both ends of the support cylinder 521 are connected to the pair of rails 50.
1, and vertical movement is stabilized.

A cylindrical holder 513 is fitted into the lower part of the support cylinder 521 and screwed thereto.

A tool pocket 511 is provided within this holder 513 coaxially therewith and slidably relative to the holder 513.

This tool pocket 511 has an inner peripheral side surface into which a pull stud of a tool shank is inserted.

A plate 507 is screwed to the lower surface of the pocket 511 and extends so that its edge abuts the lower surface of the holder 513.

The dog 522 is fixed to the lower end of the guide rail 501.

This is to operate a limit switch (not shown) to detect the horizontal position when the hydraulic cylinder 517 tilts forward by 90 degrees.

As shown in FIG. 9, lower ends of tension springs 504 are connected to both ends of the plate 507, respectively.
The upper end of 04 is connected to a support member 508 extending from the outside of the support cylinder 521.

As a result, the tool pocket 511 provided on this plate 507 is raised together by the spring 504 as the support plate 520 is raised due to the rise of the piston rod 510.

Then, at the position where the tool is inserted into the tool pocket 511 near the highest point, both ends of the plate 507 are connected to the stopper 531.
Even if it comes into contact with a and is prevented from rising, this pocket 511
Independently of this, the support plate 520 further rises a little, and the tool shank support mechanism described below is activated to ensure that the shank is supported in the tool pocket 511.

That is, as shown in FIGS. 10 and 11, this support mechanism is installed in a plurality of horizontal holes (three in this embodiment) that are radially bored at equal intervals in the peripheral wall of the tool pocket 511. It has a lock pin 512 inserted so as to be slidable in the horizontal direction.

The bases of these lock pins 512 are normally attached to the holder 51.
As a result, the tip of this pin 512 does not protrude from the inner circumferential surface of the pocket 511 and is in an unlocked state.

Then, as described above, when the pocket 511 is stopped from rising near the highest position by the stopper 531a,
There is a holder 513 for this pocket 511.
As a result, the lock bin 512 is moved to the boulder 513.
Get on the inner circumference side of I-, and vomit.

Therefore, the tip of the lock pin 512 extends from the inner circumferential side of the pocket 511 j7, and as shown by the two-dot chain line in FIG. 10, it comes into contact with the pull stud of the tool from the radial direction, supports it, and becomes locked.

This intermediate tool barrel mechanism 500 is provided with a positioning mechanism that engages with a keyway of the tool to define the rotational position of the tool.

As shown in FIG. 9, this mechanism has a stopper bar 503 mounted to the side wall of a support cylinder 521 so as to be slidable in the vertical direction by means of a pair of presser plates 503a and 503b.

3. An engagement pin 530 is protruded from the lower part of the bar 503, and a notch formed at the tip of the swing lever 505 is engaged with the pin 530.

This lever 505 is pivotally supported by the support cylinder 521 approximately at the center, and the lower end of a tension spring 506, which is fixed to the support cylinder 521, is connected to the base end.

When this cylindrical body 521 is positioned at the lower blade as shown by the solid line, the lever 505 is biased by the spring 506 by 1 (f) in the direction of The tip of the retainer bar 503 does not protrude beyond the upper surface of the support plate 520 (1) and 2) when the support cylinder 521 is adjusted (J is in the unlocked state). , ) 2... The base end of the bar 505 is the guide rail.
-The lever 505 comes into contact with the stopper 531 installed in the middle of the lever 501, and as a result, the lever 505 is moved by the spring 50.
It resists the force of 6 and is rotated in the direction of time.

Then, during this rotation (around 69), the first toe bar 503 is moved to the top J with respect to the cylinder 521, and its tip engages with the key groove of the crown tool C1 from the upper surface of the support plate 520. death,
The tool is positioned and rotated to a locked state.

Next, a second tool exchange mechanism 600 is shown in FIGS.
This will be explained with reference to the drawings and FIGS. 13a to 13f.

As shown in FIG. 8, this mechanism 600 is located below the intermediate two-piece pot mechanism 500, and is a swinging block supported by a pivot member 630 for approximately 900 rotations in the horizontal direction on the spindle head 2. 631 is installed.

The swing block 631 rotatably supports the tool exchange arm 601 and drives the tool exchange arm 601 to rotate.

It has a built-in drive mechanism. At the lower end of this block 631 is a hydraulic cylinder 63 mounted on the front of the spindle head 2.
One end of the piston rod 633 extending to the water 3V of 2 engages with the swing [jJ function 1. 9 Therefore, the piston rod 633 moves to the right from the position shown, and the block 631
The arm 601 shown in the figure rotates 90 degrees from the left position to the forward position of the arm 601.

Details of the second L tool exchange mechanism 600 will be explained with reference to FIG. 12.

The hollow shaft 612 of the arm 601 has a flange portion that connects the arm 601, and is rotatably installed in the blower shaft 631 via bearings 613 and 614, and is coaxially formed on the outside. W-7, K-61
1 is fixed and 7 is fixed.

To this worm key '611 is a reduction gear 609a from the hydraulic motor gear 08.

A wono 610 rotated via 609b is engaged.

−] Sho? Jki ten sky lI! 1l1612 has a p';'J shape, and the sliding shaft 604 is inserted through this l-circle so as to be able to slide in the axial direction.

The 4+-1\1ml of this sliding shaft 604 is movable hydraulic pressure via the thrust bearing 651 and the axial direction.
7 is inserted with the other end of a fixed piston 606 whose one end is fixed to the block 631;
The guide pin 615 protrudes from the shaft and cannot be rotated.

Further, a compression spring 605 is accommodated in the hollow 612 for moving the sliding shaft 604 forward and always in the forward direction.

, or < +, and when the fluid pressure in the A chamber of the cylinder 607 is increased, the cylinder 607 moves forward together with the first sliding shaft 604.

The distal end of the moving shaft 604 has a tapered surface, and the engaging pin 603 is slidably provided in the arm 601 so that the proximal end is in contact with the distal end of the moving shaft 604.

A clamp shoe 602 is provided at the tip of the engagement pin 603, and as the sliding shaft 604 moves forward,
The clamp shoe 602 is pressed by the tapered surface of the tip, and the clamp shoe 602 extends to the gripping part of the ground 601, and this gripping part (not shown)
(same shape) to hold the tool.

In addition to such a locking mechanism, when the arm 601 rotates clockwise with the locking mechanism released,
A stop mechanism is provided to stop the arm 601 in a vertical position, and a horizontal holding mechanism is provided to allow the arm 601 to rotate freely clockwise, but to stop it in a horizontal position when it is rotated counterclockwise.

This stop mechanism is adapted to be operated in synchronization with the locking mechanism, as will be explained below.

A bottle 618 that moves linearly together with the cylinder 607 is protruded from the lower end of the plate 616 that protrudes from the cylinder 607 .

This bin 618 has a link plate 620 whose center is rotatably supported on the block 631 by a shaft 634.
It is loosely inserted into a notch formed on one end face of the.

One end of a stop bin 624 is brought into contact with the other end surface of this plate 620, and this bin 624 is always biased in the link play 1-620 direction by a compression spring 623.

Cylinder 607 is in front, clamp shoe 602
When the tool is held in a state in which the stop pin 624 extends from one end of the arm 601, the stop pin 624 does not protrude from the block 631 due to the pressing force of the spring 623, so that the arm 601 is kept free to rotate.

However, when the pressure oil acting on the cylinder 607 flows into the B chamber I7, and this cylinder 607 moves backward, the bottle 618 also moves backward at the same time, and the link play 1-
Rotate 620 clockwise.

As a result, this stop bin 624 has a spring 623
is moved to the left against the urging force of
1 comes into contact with a block (not shown) protruding from the back side of 01.
7, when this arm 601 is reversed clockwise, it is stopped at a vertical position.

The horizontal holding mechanism rotates the arm 601 clockwise in one stroke, and stops the arm 601 at a horizontal position when the arm 601 is reversed counterclockwise.

This horizontal holding mechanism has a swing shaft 640 rotatably supported by the block 631 so that its tip extends from the side of the block 631 at right angles to the hollow shaft 612 of the arm 601. .

A stop member 641 having an inclined surface on the arm side is fixed to the tip of the shaft 640.

A stopper screw 6 is provided on the other side of this stop member 641.
26 are screwed together, and the tip thereof is in contact with a fixed body 629 protruding from the block 631.

Furthermore, an engagement pin 625 is provided protruding from the back surface of the exchange arm 601.

When the arm 601 is rotated clockwise, the engagement pin 625 comes into contact with the inclined surface of the stop member 641 from below in the figure, and as it moves along this surface, the member 625
41, that is, the member 641 is rotated by the stopper screw 6.
26 is rotated in a direction away from the fixed body 629.

As a result, the rotation of the arm 601 is not restricted by this stop mechanism, and the arm 601 can freely rotate in the poetic direction.

(7) However, when the arm 601 is rotated counterclockwise and the arm A 601 is in the horizontal position, the engagement pin 625 hits the L surface of the stop member 641 to resist rotation and maintain the horizontal position.

Next, refer to Figure 13 a, t, f.1. The intermediate tool pot mechanism 500 is connected to the main shaft 5 by the second tool change mechanism 600. The exchange of tools between L- will be explained.

First, as shown in FIG. 13a, the intermediate tool pot mechanism 500
The tool pot 502 receives a tool from the arm 404 of the vertical transport mechanism 400 at its most extreme position and holds it.

At this time, the block 631 of the second tool change mechanism 600
has not yet been rotated, and the tool changer 601 provided thereon is located 1° to the side of the front surface of the spindle head 2.Next, as shown in FIG. il"kitsu"l ivy 6
31 is rotated 900 times in the direction of the arrow by a hydraulic cylinder 632 to place the tool exchange arm 601 in a position where its hollow shaft 612 is parallel to the main shaft 5 in the horizontal plane 1, and by rotation of this block 631, the intermediate A void is created in front of the pot mechanism 500.

Then, as shown in FIG. 13C, the cylinder 517 is operated to move its piston rod 519 forward, and the tool pot mechanism 500 is tilted forward by 90 degrees.

As a result, the tools held by the intermediate tool and tool holder I mechanism 500 are positioned parallel to each other within the main shaft 5.

Also, from the hollow shaft 612 of the tool exchanger 601 to the main shaft 5
The distances from the used tool held by the pot mechanism 500 to the dirty second tool held by the pot mechanism 500 are equal.

Further, since the arm 601 is not driven, it is maintained in the vertical state as in the initial state.

Next, as shown in FIG. 13d, the arm 601 is rotated 90° forward (counterclockwise), and the above-mentioned tools are held by the grips formed at both ends of the arm 601, respectively.

With the arm 601 gripping the tool in this manner, the support cylinder 521 is attached to the guide rail 5 as shown in FIG. 13e.
01, the main shaft 5 also retreats, and both tools are separated from the support cylinder 521 and the main shaft 5.

When the support cylinder 521 is retracted, the lock pin 512 that has been in contact with the pull stud of the tool releases the shank immediately after the cylinder 521 is retracted by the reverse operation of the locking operation.

In this manner, with both tools freed from their respective support mechanisms, arm 601 is reversed by 180 degrees, and both tools are replaced as shown in FIG. 13f.

Then, by moving the main shaft 5 and the support cylinder 521 forward, a new tool is supported by the main shaft 5 and a used tool 1 is supported by the support cylinder 521.

After that, the operation is the reverse of the previous operation, that is, the arm 601 is reversed by 90 degrees (clockwise), and the pot mechanism 500 is returned to the vertical position.

Next, the timing operation of each mechanism of the above configuration will be explained with reference to the hydraulic circuit diagrams shown in FIGS. 14A to 14C and the figures described above.

The magazine mechanism 100 shown in FIG.
It is operated by a hydraulic motor 110, which is one of the driving sources.

In this operation, the forward rotation solenoid valve v1 operates in response to a tool call command, and the hydraulic motor 110 rotates in the forward direction, and a large number of tool pots 102
rotates clockwise.

Next, when the code detection mechanism 108 selects the designated tool, the signal activates the reverse solenoid valve v2 and the low speed solenoid valve v3, the rotation of the tool pot 102 is reduced to a low speed, and a mechanical stopper (not shown) is activated. Stops due to

This stop signal activates the reversing solenoid valve v2, causing the tool pot 102 to rotate counterclockwise at a slow speed, and stopping the tool pot selected by another mechanical stopper at an accurate tool exchange position.

Meanwhile, the used tools are in a tool carrier 302 placed in front of the tool changing arm 201.

When the above-mentioned selected tool pot 102 stops at the tool exchange position, the solenoid valve v4 is energized by the signal and drives the rotating hydraulic cylinder 212, rotating the arm 201 by 85 degrees forward (or reverse) through the rack and pinion. (clockwise) and grip the tool with the gripping portions at both ends of the arm 201, respectively.

At the normal rotation limit of 85°, the limit switch L1 is turned on, and as a result, the electromagnetic valve (5) is energized, and the hydraulic cylinder 214 for vertical movement is activated to raise the arm 201 while gripping the tool.

When this upper limit is detected by the limit switch L2, the electromagnetic valve v6 is excited and the cylinder 213 is activated.

As a result, the piston is moved forward, and the arm 201 is rotated 180 degrees in the normal direction via the rack and pinion, thereby changing the position of the tool.

In this case, since a code is attached to the tool pot 102 side of the tool storage magazine 100, the tool pot 102 corresponding to the tool is indexed in advance.

Note that if the tool itself has a code, it is not necessary to identify a specific tool pot 102 because the tool itself has identification ability.

When this normal rotation is completed, limit switch L3 is turned on.
The electromagnetic valve 5 is deenergized.

As a result, the arm 201 is lowered and returned to its original position, a new tool is inserted into the tool carrier 302 of the horizontal transport mechanism 300, and a used tool is inserted into the tool pot 102 of the magazine 100.

When the above operation is completed, the limit switch L4 is closed, the valve V4 is deenergized, the arm 201 is reversed by 85 degrees, the tool is released, and the arm 201 is returned to the initial position.

The above-mentioned operations are normally performed during machining with the current tool attached to the spindle 5, and then, when machining with the tool is completed, a tool change command is issued.

This command energizes the electromagnetic valve 7 for the cover 407 of the rotary shaft 403, pressurizes the hydraulic motor M4, and rotates the cover 407 for the rotary shaft 403, causing the arm 404 to rotate.
to release the vertical movement path.

At the same time, the solenoid valve ■8 is also energized and the cylinder 3
10 is moved backward, the cover 308 of the guide rail 301 is rotated as shown by the imaginary line in FIG. 5, and the horizontal movement path of the tool pot is also opened.

When the cover 407 for the rotary shaft 403 is opened to the maximum, the limit switch L6 is turned on, and the advance solenoid valve 9 of the tool carrier 302 is energized.

As a result, hydraulic motor M2 is driven, and chain 303
moves forward, and the tool carrier 302 holding the new tool is sent near the vertical transport mechanism 400.

Note that when the tool carrier 302 reaches near its end, the deceleration valve V10 is activated, the rotational speed of the motor M2 is slowed down, and the tool pot 302 is decelerated and the mechanical stopper (
(not shown).

When the tool carrier 302 is stopped, the limit switch L7 is closed, and the solenoid valve V11 is energized and the hydraulic pressure is Cylinder C
3 is activated.

Due to this first iE rotation of the arm 404, the tool is grasped by the gripping portion of the arm 404, and at the same time, the limit switch 1
78 enters, and the electromagnetic valve V12 is energized.

Due to this excitation, the hydraulic motor M3 is rotated and the arm 404
will rise.

Near this rising point, the deceleration limit switch L9 is turned on, and the motor M3 is decelerated via the electromagnetic valve V13.

Then, near the highest point, the limit switch L10 is turned on, and the arm 404 rises a little further, and then the stopper 64
It collides with 2 and stops.

At this point, the electromagnetic valve V14 is excited by the LSI0.

As a result, the hydraulic cylinder C4 is actuated and the arm 404
is rotated 180 degrees forward and the In tool is held above the intermediate tool pot 502.

This second forward rotation closes the limit switch L11 and de-energizes the electromagnetic valve V15.

As a result, the hydraulic cylinder 50 of the intermediate tool pot mechanism 500
The piston rod 510 of No. 9 rises from the lower position, the support cylinder 521 rises, and the tool supported by the arm 404 is received.

At the highest position of this cylinder 521, the limit switch L1
2 is closed, the solenoid valve V14 is deenergized, and the arm 404 is reversed by 180 degrees.

When the arm 404 starts to reverse, the tool is automatically separated from the arm 404 and remains on the support cylinder 521.

At the rotation end position of the arm 404, the electromagnetic valve V16 is energized, the cylinder 517 is pressurized, and the supporting cylinder 521, that is, the tool, is tilted forward by 90 degrees.

Incidentally, this tilting is caused by the fact that when the IJ Mitswitch L13 is closed, the block 631 of the second tool change mechanism 600 is rotated 90° forward by the operation of the electromagnetic valve V17 and the cylinder 632, and the limit switch L25a is turned on. This becomes possible.

Further, cylinder C5 in FIG. 14C prevents the piston rod 510 of the cylinder 509, that is, the support cylinder 521, from descending when hydraulic pressure is lost due to a power outage or the like while the support cylinder 521 is in the raised position. Therefore, the piston rod comes into contact with the bottom of the support cylinder 521.

By tilting the support cylinder 521, that is, the intermediate tool pot mechanism, the limit switch L13 is closed, the electromagnetic valve V18 is energized, and the hydraulic motor 608 is driven to rotate the arm 601 90 degrees forward (counterclockwise). , arm 60
A new tool in the support cylinder 521 that has been sent into one of the gripping parts of the tool 1 is gripped.

At the same time, as described above, the used tool supported by the spindle 5 is gripped by the other gripping portion.

Due to the forward rotation of this arm 601, the limit switch L1
4 is closed, the electromagnetic valve V19 is energized, and the cylinder 607 is pressurized.

Due to this pressurization, the stop mechanism (stop pin 624, etc.) of the arm 601 is released and the clamp mechanism is activated, so that the arm 601 grips the tool.

Next, the movement of the cylinder 607 turns on the limit switch L15, and the main shaft 5 retreats, leaving the tool on the arm 601.

Almost simultaneously, the electromagnetic valve 15 is energized, the cylinder 509 is operated, and the support cylinder 521 is moved back, leaving the tool on the arm 601.

Next, as the support cylinder 521 retreats, the limit switch L16 is turned on, deenergizing v18, the motor 608 is reversed, and the arm 601 is reversed by 180 degrees (clockwise).

When the limit switch L17 detects this reversal of α0, the motor 608 is again rotated in the normal direction via the electromagnetic valve 18, and the arm 601 is rotated in the normal direction by α0, thereby moving the drawing tool to the position 18.
Convert it to 0°.

This extra normal rotation of α0 of the arm 601 causes the arm 6
01 engagement pin 625 abuts against the stop member 641 to properly stop the arm 601 on the horizontal position pin 625.

The limit switch L14 is actuated by the forward rotation of α0 of the arm 601, and the main shaft 5 moves forward to support the conveyed tool, and at the same time de-energizes the electromagnetic valve V15 to pressurize the cylinder 509 and pressurize the cylinder 521. advance to support the used tool.

As the support cylinder 521 moves forward, the cylinder 607 is moved to the right via the limit switch L12 and the electromagnetic valve V19 (see FIG. 12), the clamp shoe 602 is moved back, and the clamp mechanism is released.
24 to put the stop mechanism into operation.

Next, using L12, the electromagnetic valve 8 is deenergized, the arm 601 is reversed by 90 degrees (clockwise), and the tool is released.

At this time, the arm 601 is held in the correct vertical position by the stop pin 624.

By reversing the arm 601, it returns to the vertical position and L18
enters, the solenoid valve V20 is energized, and the cylinder 517
is activated, and the support cylinder 521 is rotated by 90 degrees to make the tool vertical.

This rotation closes the IJ Mitsutwitch L19, and the block 631 is rotated 90 degrees by the cylinder 632 via the electromagnetic valve V17, and the intermediate tool pot mechanism 50
It is stored below 0.

At this time, the limit switch L20 is closed almost simultaneously, and the arm 404 is opened at 180° via the electromagnetic valve V14.
° It is rotated counterclockwise and grips the tool with this grip.

With this rotation, the limit switch L11 is turned on, the electromagnetic valve 15 is energized, and the cylinder 509 causes the support cylinder 521 to
is descending.

At the same time, the arm 404 is reversed by 180 degrees (clockwise) via the electromagnetic valve V14 and the cylinder C4.

Next, the electromagnetic valve V21 is energized, the motor M3 is rotated, and the arm 404 is lowered, but near the end of this downward movement, the limit switch L21 is activated and the deceleration valve V13 is decelerated, and at the end of the downward movement, another limit is set. Switch L22 is closed.

Upon completion of this lowering, the used tool held by the arm 404 is inserted into the tool carrier 302.

As a result, the electromagnetic valve V11 is deenergized, the cylinder C3 is depressurized, and the pressing force of the cylinder C4 causes the cylinder 03 to retreat, rotating the arm 404 clockwise by 40 degrees and returning it to the solid line position in FIG.

At the end of this rotation, limit switch L23 is closed,
The electromagnetic valve V22 is energized, the motor M2 is reversed, the tool carrier 3ff'2 is moved backward, and the tool carrier 302 with the used tool inserted therein is brought near the magazine 100.

At the end of the conveyor operation, the deceleration valve V23 is operated in the same way as when the conveyor is moving forward, and the tool carrier 302 is decelerated and then stopped.

By stopping the tool carrier 302, the limit switch L24 is closed, and the cover for the rotary shaft 403 and the cover for the guide rail 301 are closed by the motor M4 and the cylinder 310, respectively.

By closing the cover for the rotary shaft 403, the limit switch L25 is closed, and preparations for returning the used tools in the tool carrier 302 to the magazine 100 are completed.

The used tools held in the tool carrier 302 are returned to the tool pot 102 of the magazine 100 by the first tool exchange arm 201 when the next tool call command is issued.

The newly selected tool is then transferred from the tool pot 102 to the tool carrier 302 of the horizontal transport mechanism 300.

The machine waits at this position until a tool change command is issued.

Such tool selection and return operations are performed during cutting,
We are trying to shorten the replacement time.

In addition, in FIGS. 14A to 14C, the control circuits in FIGS. a and b are connected to each other via lines TI, T2, and T3, and both are operated by the hydraulic power source mechanism S1.

The control circuit shown in FIG. 14C is operated by the hydraulic power source mechanism S2.

L26 is a limit switch for detecting when the conveyor cover 308 is brought to the blocking position by the drive of the cylinder 509.

As explained above, in the automatic tool changer of the present invention, a block equipped with a tool change arm incorporating a tool gripping mechanism for clamping a tool and a drive mechanism for driving the arm is mounted on one side of the spindle head. The above-mentioned block is rotatably supported in two positions: a tool exchange position where the spindle axis and the rotation axis of the tool exchange arm are parallel, and a folding position where the spindle axis and the rotation axis of the tool exchange arm are orthogonal. It is configured to rotate and position.

Therefore, the tool exchange arm does not protrude beyond the front surface of the spindle head except when exchanging tools, resulting in good workability and good dust-proofing properties.

[Brief explanation of the drawing]

The figures show an automatic tool changer according to an embodiment of the present invention, in which Fig. 1 is a front view of the whole, Fig. 2 is a plan view thereof, Fig. 3 is a front view of the horizontal conveyance mechanism, and Fig. 3a is a 3B is a sectional view taken along line 4-4 in FIG. 3, FIG. 5 is a sectional view taken along line 4-4 in FIG. 3, and FIG. 5 is a conveyor cover of the conveyance mechanism. 6 is a partially cutaway front view of the vertical conveyance mechanism, FIG. 7 is a sectional view taken along line 7-7 in FIG. 6, and FIG. 8 is a sectional view of the second tool exchange mechanism and its 9 is a front view showing the related mechanism, FIG. 9 is a front view of the intermediate tool pot, and FIG. 10 is 1o-i of FIG. 9. 11 is a sectional view taken along the line, FIG. 11 is a sectional view taken from FIG. 10, FIG. f
14A to 14C are schematic perspective views sequentially illustrating the operation of the second tool changing mechanism, and FIGS. 14A to 14C are operating hydraulic circuit diagrams of each mechanism. 1... Column, 2... Spindle head, 3...
...Column base, 4...Tool holder,
5...Main shaft, 6...Ram, 100...
...Tool storage magazine, 200...Tool exchange mechanism, 300...Horizontal transport mechanism, 400...
... Vertical conveyance mechanism, 500 ... Intermediate tool pot mechanism, 600 ... Tool exchange mechanism, 301.
...Guide bar, 302...Tool carrier, 303...Chain, 304...
Sprocket, 310... Conveyor cover, 4
01...Sprocket, 402...Chain, 403...Rotary shaft, 404...
...Tool transfer arm, 407...Elevator cover, 411...Cover, 501...
・Guide rail, 502...Intermediate tool pot,
503... Anti-rotation bar, 504°...
Spring, 505... Lever, 506...
... Spring, 507 ... Plate, 50
8... Spring support, 511...
Tool pocket, 512...Lock pin, 51
3...Holder, 514...Pin, 5
21... Elevator cover, 601...
・Tool exchange arm, 602... Clamp shoe, 604... Shaft, 605... Spring, 606... Piston, 610...
Worm, 611... Worm gear, 612
...Hollow shaft, 615...Lock pin.

Claims (1)

[Scope of Claims] 1. In an automatic tool changer that is equipped with a tool change arm equipped with tool gripping parts at both ends and performs tool change by simultaneously gripping a tool in the main spindle of a machine tool and a tool to be replaced. A worm 610 driven by a rotatable hydraulic motor 608; and a tool exchange arm 601 supported via a hollow shaft 612 coaxially with the worm 611 that meshes with the worm 610.
- A sliding shaft 604 that is located in the hollow part of the hollow shaft 612 and is slidably penetrated therein and has a tapered part at its tip; - A hydraulic cylinder 607 that interlocks with the end of the sliding shaft 604; cylinder 6 in order to move the same cylinder 607 in the axial direction.
A hydraulic device that supplies pressurized oil to the cylinder chamber A or B of the fixed piston 606 provided in 07; , a locking mechanism capable of locking a tool holder; - a stop mechanism that stops the arm in a vertical direction; and - a horizontal holding mechanism that stops the arm in a horizontal position.