JPS6017655B2 - Tool transfer arm - Google Patents

Description

[Detailed description of the invention] The present invention relates to a tool changing arm of a tool transfer device.

Conventionally, various methods have been adopted when tools are mutually exchanged between a tool storage magazine that stores a large number of tools on the side surface of a machine tool body and a main mouse of the machine tool.

For example, Mochikai Sho 53-41896 and Hakama Seki Sho-2
The tool exchange arm that stores the tools in the tool storage magazine in the tool pot of the tool exchange device swings in a horizontal plane by the tool transfer arm provided in the double tool storage magazine shown in Route 4, No. 6, and moves between the tool pot and the tool exchange arm. There is a method of mutually exchanging tools with the main spindle of a machine tool. However, the complexity of the operation of the tool transfer arm provided in the tool magazine and the complexity of controlling the rotation of the tool storage magazine pose problems, and improvements have been desired. In the present invention, a tool storage magazine in which tool pots connected in a chain can be rotated is arranged on the side of the machine tool. An object of the present invention is to provide a tool transfer arm in an automatic tool changer that exchanges tools via a tool transfer mechanism that transfers work odor between the tools.

Hereinafter, one embodiment of the present invention will be described with reference to FIGS. 1 to 12.

FIG. 1 shows a left side view of a machining center equipped with the tool transfer device of the present invention, FIG. 2 is an enlarged plan view of the vicinity of the tool transfer device in FIG. FIG. 3 is an enlarged front view showing the tool transfer device in the direction; In FIGS. 1 and 2, on the right side of the machine tool body 1,
A main shaft 101 is rotatably supported, and a tool storage magazine 200 holding a large number of tools is provided on the left side.

The tool storage magazine 200 is configured to connect a plurality of tool pots 201 in a chain so as to be rotatable, and to index a necessary tool to a position indicated by a tool pot 201a.

A tool transfer mechanism 4 is provided between the main shafts of the tool storage magazine 200.
00 and an automatic tool changer Fuji 350 fixed to the swing arm. The tool transfer mechanism 400 transfers tools between the tool located at the pupil indicated by the tool pot 201a of the tool storage magazine 200 and an intermediate tool pot provided in a tool exchange mechanism 350, which will be described later. The reception of tools from the tool storage magazine 200 to the spindle side of the machine tool is carried out via the tool transfer mechanism 400 and the automatic tool exchange mechanism 350 fixed to the swing arm. Tool transfer mechanism 40
0, a tool is transferred between a tool at a position indicated by a tool pot 201a of the tool storage magazine 200 and an intermediate tool pot 301 provided in a tool exchange mechanism 350, which will be described later. The axis of the intermediate tool pot 301 and the tool exchange layer 351
The rotation center of the main shaft 101 and the center of rotation of the main shaft 101 are repositioned in the same horizontal plane, and the swing arm 302 is aligned with the bin 304 shown in FIG.
The intermediate tool pot 301 is positioned at a position where the marking line of the intermediate tool pot 301 is parallel to the track line of the tool pot 201a and parallel to the axis of the main shaft 101. The swing arm 302 is equipped with an intermediate tool pot 301, a tool exchange arm 351, and a tool exchange mechanism 350 that rotates the arm 351. Therefore, the tool equipped with the intermediate tool pot 301 is conveyed by the swing arm 302, and when the intermediate tool pot 301 is positioned vertically so that the marquee line is parallel to the main axis, the tool changing arm 35
1, replace the tool in the intermediate pot 301 with the tool in the main shaft 101, rotate the swing arm and position it in the original position described above, and perform the reverse operation to the tool storage magazine. Return the tool and complete the tool exchange. Next, the detailed structure of the tool transfer equipment 400 will be explained in the third section.
This will be explained below with reference to FIGS. 12 to 12.

Figure 4 is a sectional view taken along line AA in Figure 3, Figure 5 is a sectional view taken along line B-B in Figure 4, and Figure 6 is taken along line C-C in Figure 4.
A cross-sectional view is shown respectively.

7 to 10 show the structure of the tool transfer arm 402, FIG. 7 is a partially sectional plan view, FIGS. 8 and 9 are sectional views taken along line D-○ in FIG. 7, Figure 10 is E-E of Figure 8.
The sectional view, FIG. 11, shows a view taken along arrow F in FIG. FIG. 12 shows a hydraulic system diagram for driving the tool transfer machine of the present invention. On the side of the tool storage magazine 200, as shown in FIG.
is fixed to one side of the magazine 200 with a bolt 404a.

As shown in FIGS. 4 and 6, a frame 404 horizontally supports both ends of a guide bar 403, and a knot-shaped guide 409 is loosely engaged with the guide bar 403.
is guiding. Further, a hydraulic cylinder 405 is provided to use the tool carriage 401 as a reciprocating mechanism. The hydraulic cylinder 405 is parallel to the bag line of the guide bar 403, with the cylinder side facing the tool storage magazine side as shown in FIG. As shown in FIG. 5, a tool carriage 401 is fixed to the section. 406 is a dock fixed to the tool carriage 401, and as shown in FIG. 3, a mitt switch 431 and a mitt switch 430 are fixed to the frame 404 for detecting the right-hand limit of the tool carriage 401 and the left-hand limit. There is.

A rotating shaft 407 shown in FIG. 4 is supported by the tool carriage 401 via bearings 411 and 417 in a direction perpendicular to the marking line of the guide bar 403, and has a tool transfer arm 402 fixed to one shaft end thereof. In addition, the rotating machine attached to the tool carrier 401 and for rotating the tool changing arm is a key fixed to a key groove turtle 07a carved in the sardine koji 407.
It consists of a pinion gear 41G whose rotation is prevented by 407b and engages with the rotary wheel 407, a sill 416 carved with a rack 412 that meshes with the gear 4101, and related equipment. As shown in FIG. 5, the pinion gear 410 is moved by a cylinder 416 which is fixed at the top and bottom to the tool carriage 401 and provided with a rod 413, and to which a rack 412 is fixed, which extends along the rod 413. That is, the rod 413 forms a piston 413a at its center, and the cylinder 416 circumscribes the piston 413a, and its upper and lower ends are closed in close contact with the rod 413. Further, an oil passage 414a and an oil passage 415a are bored in the rod 413, and an oil passage 415a is provided in an oil chamber 419 constituted by the cylinder 416 and the rod 413 and partitioned by the piston 413.
a, the oil passage 414a is connected to the oil chamber 419, and the twelfth
The hydraulic circuit shown in the figure is provided. (The hydraulic circuit diagram will be described later.) The forward and backward movement of the tool transfer arm 402 is performed by a hydraulic cylinder 42 arranged parallel to the flywheel of the rolling shaft 407, as shown in FIG. hydraulic cylinder 420
One end of the cylinder part is fixed to the carriage 401, and the end of the rod 420a is a bearing 4 that fits into the machine part of the rotating wheel 407.
17, and the bearing 41T is fixed to the support plate 421. Therefore, if pressure oil is supplied to the piston side or the rod side of the hydraulic cylinder 420, the reciprocating ball 407 can be moved left and right in FIG. 4 in conjunction with the rod 420a, and the tool transfer arm 402 can be moved forward and backward. Further, in FIG. 4, a detection bar 422 which is provided parallel to the marking line of the rotating shaft 407 and detects the forward limit and backward limit of the rotating rod 407 has its left end connected to the tool carriage 401 and the rib plate 42.
4, and the right end is provided with a protrusion 422a. The support plate 42 is provided on the left side of the protrusion 422a.
1 is engaged, and is engaged only when the detection bar 422 is moved to the right. The dock 4 is located on the left side of the detection bar 422.
23 is fixed, and the dock 423 and the carriage 401
A spring 425 is inserted between the rib plates 424 fixed to the spring 425, and a force is applied to move the detection bar 422 to the left. 426 is a B contact limit switch that detects the backward limit of the tool transfer arm 402.
is fixed to the tool carriage 401, and the dock 423
It is detected by engagement with the

Reference numeral 427 detects the forward and backward movement of the tool transfer arm 402, or detects the movement of the support body 421 and the mitt switch 427 using a mitt switch.

Next, the structure of the tool transfer arm 402 is shown in FIGS. 7 to 1.
This will be explained in detail with reference to FIG.

The tool transfer arm 402 has a right clamp arm 451 and a left clamp arm 452 stacked on top of each other as shown in FIG.
A spigot part 480 is provided in the hole of the right clamp arm 452 and the left clamp arm 451 in the shaft weave part of 07, and both arms 451, 452 can be opened and closed with the spigot part 480 as the center of the sardine.

The arm 451 and the arm 452 each have arcuate portions 451a and 452a corresponding to the cylindrical portion formed into a V-book,
Arc portion 451a. Tool keys 451b, 4 in 452a
52b is fixedly provided, and guide members 451c and 462c are also fixedly provided on the side surfaces of the arms 451 and 452, respectively. The tool transfer arm 402 has an arm 451 and stepped holes 454 and 455 that penetrate from the side of the arm 452.
are provided, and the holes 454, 455 are provided with stepped portions 454a, 456a.
, and a rattan 456 that fits together with the stepped hole 454 and the stepped hole 455 is attached. Large diameter portions 456a and 456b are provided at both ends of the shaft 456, and a stepped portion 454a
and the large diameter portion 456a and the stepped portion 455b and the large diameter portion 456b.
A spring 4 is inserted between them via washers 454c and 455c.
57 and 458 are inserted, and a spring force is applied so that the arms 451 and 452 clamp the tool. Arm 451 and arm 4 for more secure gripping of tools
52 is provided with a first stepped hole 459a and a second stepped hole 459b, which are bored on the same center line parallel to the axis of the rotating shaft 407 at the gripping position of the tool.

The first stepped pin 460 has a guide portion 460a and a large portion 46.
0b and a locating portion 460c, a large diameter portion 460b and a notch 460d are formed in the locating portion 460c.
The guide portion 460a of the first stepped pin 460 is inserted into the hole 459a, and supports the first stepped pin 460 so as to be slidable in the axial direction. The locate portion 460c can be inserted into the second stepped hole 459b. Therefore, when the first stepped pin 460 is actuated by a clamp key 471, which will be described later, and the locate portion 460c is inserted into the second stepped hole 459b, the arm 4
51 and arm 452 are locked together. Second
The stepped pin 461 has a guide portion 461a and a large folding portion 461b.
, a pressing portion 461c, and the guide portion 461a is slidably inserted into the second stepped hole 459b. In addition, a shaft 473 is inserted into a blind hole 472 bored in the medullary pulp 407 as shown in FIGS. It is fixed.

This shaft 473 has a stepped portion 473a formed at one end thereof.
3 has a stepped part 473a on one side and a nut 47 on the pond side.
A spring 476 that abuts on the nut 474 is inserted, and a notch 460 of the first stepped pin 460 is inserted to the left of the nut 474.
Clamp key 4 having a long notch 471a attached to d
71 are loosely engaged, and the clamp key is held by the spring 476.
A stopper 475 is fixed to the end of the shaft 473 to prevent the shaft 471 from moving to the left. Next, the hydraulic system of the apparatus of the present invention will be explained with reference to FIG.

Pressure oil from a hydraulic unit 500 having a built-in hydraulic V supply source is used for forward and backward movement of the tool transfer arm 402, rotational movement of the same arm 402, and leftward movement of the tool carriage 401 as well. The forward and backward movement of the tool transfer arm 402 is performed by switching the direction switching valve 501 and supplying pressure oil to the hydraulic cylinder 4201.

The rotational movement of the tool transfer arm 402 is controlled by the directional sliding valve 502.
"When pressure oil is supplied to the pressure chamber 4 and the shaft 8 through the check valve 503, the tool transfer arm 402 rotates clockwise due to the engagement between the rack 412 and the pinion gear 410, and the direction switching valve 502 is switched. By supplying pressure oil to the pressure chamber 419 via the check valve 505, the tool transfer arm 402 can be rotated counterclockwise.

Note that the variable throttle valves 504 and 506 can change the rotational speed of the tool transfer arm 402 by changing the throttle base. The left and right movement of the tool carriage 401 is performed by switching the direction switching valve 507 and supplying hydraulic pressure to the hydraulic cylinder 403.

Next, the operation of the tool transfer arm of the present invention will be explained.

First, a tool is selected on the side of the tool storage magazine 200 shown in FIG. 1, and the required tool is located at the position shown by the tool pot 201a.

Next, pressurized oil is supplied to the hydraulic cylinder 405 shown in FIG. 3 to move the tool carriage 401 at the right travel limit to the left, and the hydraulic cylinder 405 is actuated by the left limit detection signal caused by the contact of the dock 406 and the mitt switch 430. , the movement of the tool carriage 401 is stopped, and the tool transfer arm 40 is stopped.
The tool 600 is positioned within the second circular arc portions 451a and 452a so that it can be gripped. At this time, the transfer arm 402 is in the retracted position, and the right end of the stepped pin 461 is attached to the tool carriage 4.
01, the second stepped pin 461 is pressed toward the left in the drawing as shown in FIG. Since the engagement of 460c has been released, the tool transfer arms 451, 452 are in a state where they can be opened as shown in FIG. Furthermore, the hydraulic cylinder 420 is actuated by the left limit detection signal, and the tool transfer arm 402 is operated.
When the tool transfer arm 402 is moved forward, the tool transfer arm 402 moves forward while being guided by the actuating plate 463 and reaches the first stepped pin 4.
The tool transfer arm 402 is guided by the operating plate 463 shown in FIG. 4 and holds the tool until the locating portion 460c of the tool 60 is completely carried into the second stepped hole 459b. The tool transfer arm 402 moves forward, and the forward limit is detected by the support plate 421 and the mitt switch 427. Based on this detection signal, the hydraulic cylinder 420 stops and the hydraulic cylinder 405 operates to move the tool carriage 401 to the right. When the tool carriage 4QI is stopped, the right travel limit is detected by the right hand of the dock 406 and the mitt switch 431, and this right travel limit detection signal is used to stop the tool carriage 4QI. In addition, in response to the right travel limit detection signal, the directional control valve 502 and the pressure chamber 41
8 is filled with pressure oil. Therefore, the rack 412 fixed to the cylinder 416 and located at the upper limit lowers, and the pinion gears 4 and 10 rotate clockwise, so that the tool transfer arm 402 also rotates in the same direction, causing the limit switch 432 and the cylinder 416 to rotate. The forward rotation limit is detected by contact with the Next, the hydraulic cylinder 420 is actuated to move the tool transfer arm 402 backward, and the intermediate tool pot 3011 is loaded with a tool. At this time, the second stepped pin 461 and the dock (not shown) on the tool carriage turtle 01 side are brought into contact with each other, and before the tool 600 is inserted into the intermediate tool pot 3.0, the aforementioned operating plate 463 and the arm The lower surface of the stepped bin 461 and the tool carriage 401 come into contact with each other while the operating plate 463 and the lower surface of the arm 451 are separated, and the tool carriage 401 is moved to the first stage. When the attached pin 460 is pressed, the actuating plate 463 and the arm 451 are separated near the retraction limit, and the cage portion 460c of the first stepped pin 468 and the second stepped hole 459 are separated.
The iron joint b is released and the tool transfer arm 402 releases the tool. In addition, since both the tool transfer arm 402 and the detection bar 422 have moved backward, the 8-point glue mitt switch 42
6 and the dock 423 are disengaged, the backward limit is detected and the tool transfer arm 402 stops. Next, the tool carriage 401
moves to the left due to the operation of the hydraulic cylinder 405 and moves to the dock 40.
6 comes into contact with the limit switch 430 and stops at the left travel limit.

Next, the swing arm 302 shown in FIG. 2 is rotated by the operation of the hydraulic cylinder 303 and stops at a position where the mouse line of the main spindle 101 and the axis of the intermediate tool pot 301 are parallel, and the tool changing arm 351' is moved to the intermediate position. After the tool in the tool pot 301 and the tool in the spindle 101 are replaced at the same time, the swing arm 302 swings back to its original position. Next, the tool carriage 401 moves to the right again, and the arcuate portions 451a and tortoises 52a of the tool transfer arms 451 and 462 are positioned at the tool gripping portions in the intermediate tool pot 301. Next, the tool transfer arm 402 advances in the reverse operation described above to remove the tool from the intermediate tool pot 301, and the tool transfer arm turtle Q2 moves forward.
rotates 180 degrees counterclockwise. Next, the tool carriage 401 moves to the left and moves the tool transfer arm turtle 02 backward at the left limit to store the tools in the tool storage magazine 200, and the tool carriage 40S moves to the right and positions itself at the right limit to complete one cycle. finish. The spindle IQI of each tool stored in the tool storage magazine 200 and the machine tool main body 100
By sequentially repeating the above-mentioned operations for the tools in the machine, the tools can be replaced one after another and machining can proceed. As described above, the tool transfer arm of the present invention is capable of gripping tools reliably with a relatively simple foundation compared to conventional ones, and is particularly useful in outside machining centers where a large number of tools are stored. That thing.

[Brief explanation of drawings]

Fig. 1 is a left side view of a machining center equipped with the tool transfer device of the present invention, Fig. 2 is an enlarged plan view of the vicinity of the tool transfer device in Fig. 1, and Fig. 3 is a tool taken in the direction of the Y arrow in Fig. 2. 4 is an enlarged front view showing the transfer device; FIG. 4 is a sectional view taken along line A-A in FIG. 3; FIG. 5 is a sectional view taken along line B-B in FIG. 4; FIG. 7 to 10 show the structure of the tool transfer arm, FIG. 7 is a partially sectional plan view, and FIGS. 8 and 9 are D of FIG. 7.
-D sectional view, Figure 8 is a ○1D sectional view showing the tool transfer arm in an unclamped state, Figure 9 is a ○1D sectional view showing the tool transfer arm in a clamped state, and Figure 10 is a 9D sectional view showing the tool transfer arm in an unclamped state. E- in the diagram
E sectional view, Fig. 11 is a view from arrow F in Fig. 7, Fig. 12
The figure shows a hydraulic system diagram for driving the tool transfer device of the present invention. 100: Machine tool body, 101: Spindle, 200: Tool storage magazine, 300: Swing arm device, 350: Automatic tool change mechanism, 400: Tool transfer mechanism 401: Tool carriage, 402: Tool transfer arm 403: Guide bar, 404: Frame, 405: Hydraulic cylinder,
406: Dock, 407: Rotating shaft, 409: Bearing, 41
0: Pinion gear, 411: Bearing, 412: Rack, 4
13: rod, 420: hydraulic cylinder, 423 three docks, 422: detection bar, 460: first stepped pin, 421
: Support plate, 500: Hydraulic unit ~ 600: Tool, 46
1: Second stepped pin. Figure 11 Figure 1 Figure 2 Figure 10 Figure 3 Figure 4 Figure 5 Figure 6 Figure 7 Figure 8 Figure 9 Figure 12

Claims (1)

[Claims] 1 Right clamp arm 451 and left clamp arm 452
In the tool transfer arm, which can be freely opened and closed about a rotating shaft 407, and has arcuate portions facing each other for holding a tool at the tips thereof, (a) a step passing through the arm 451 and the arm 452 from the side direction; A hole 455 is provided, and the same hole 455 is
A shaft 456 has large diameter portions 456a and 456b fixed to both ends that are loosely engaged with each other, and a shaft 456 that is loosely engaged with the same shaft 456 and has one end fixed to the stepped hole 4.
55 end, and the other end is supported by the large diameter portion 456a, respectively.
Spring 457, 458 supported by 456b, (
b) When the arms 451, 452 are in the closed position, a first stepped hole 459a is provided on the arm 451 side on the same axis parallel to the axis of the rotation shaft 407;
A second stepped hole 459b is provided on the second side, and the first stepped hole 459b is provided on the second side.
59a, and further includes a large diameter portion 460b and a locating portion 460c that can be fitted into the second stepped hole 459b.
and (c) a second portion comprising a guide portion 461a guided by the second stepped hole 459b, a large diameter portion 461b, and a pressing portion 461c capable of contacting the locate portion 460c.
(d) the first stepped pin 46;
0, and a shift mechanism that constantly presses the first stepped pin 460 toward the second stepped pin, and when the end of the guide portion 461a is pressed, the clamp of the tool is released, A tool transfer arm characterized in that a tool is clamped by releasing the pressure of the tool.