JPS6057987B2 - Automatic exchange device for movable objects - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to an automatic exchanging device for movable bodies in which two movable bodies are moved linearly forward and backward between a machine tool body and a rotatable chain.

The present invention is effectively applied to automatic exchange devices for tool storage magazines, automatic exchange devices for pallets, etc.

The purpose of the present invention is to exchange the movable base between the machine tool and a storage stand (base) on which a spare movable body to be replaced is placed in order to call the movable body to the machine tool main body side according to work conditions. To provide an automatic exchange device according to the present invention, in which the movable body to be exchanged is moved forward and backward through a chain arranged in a closed loop in the storage base, and the movable body is moved forward and backward by the rotational movement of the chain. be. According to the above-described configuration, the movable body can be moved back and forth between the machine tool and the storage platform, and when the engaging body that engages the movable body with the rotating bending portion of the chain is rotated, the movable body can be moved back and forth between the machine tool and the storage platform. Since it can be moved at speeds and decelerations, even relatively large movable objects can be moved in and out smoothly.Moreover, the structure is simple in that the device is compactly integrated into an independently installed storage stand. It is. In addition, even if the mounting distance between the spare movable body and the standby movable body changes, the flexibility of the chain can be effectively used to cope with the change with slight changes such as changing the length of the raw chain. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS The present invention will be described in detail below as an embodiment in which the present invention is applied to an automatic exchange device for a tool storage magazine of a machine tool.

1 to 8 show an embodiment in which the present invention is applied to a machine tool of the type that is a horizontal machining center and has a tool storage magazine above the spindle.

The mounting position of the tool storage magazine is described as being on the machine tool main body side in the explanation, but it may be selected depending on conditions such as the type of machine or the number of tools, such as the top of the column, the side of the column, or a separate type. The present invention is not limited to this embodiment. The embodiment is an example in which one spare tool storage magazine is provided on the magazine storage stand. As shown in FIGS. 1 and 2, a table 3 is slidably placed on two table guide surfaces 2A and 2B formed horizontally on the bed 1. , an indexing table 4 that can be rotated and indexed about a vertical central axis is mounted.

A screw 6 rotated by a motor 5 attached to the side of the bed 1 moves the bull 3 onto the table guide surface 2A.
, 2B. A column 8 is slidably mounted on two column guide surfaces 7A, 7B formed horizontally on the bed 1 in a direction orthogonal to the table guide surfaces 2A, 2B. A screw 10 rotated by a motor 9 attached to the side surface of the bed 1 causes the column 8 to reciprocate and slide along the column guide surfaces 7A, 7B. Two vertical spindle head guide surfaces 11A and 11B are formed on the side surface of the column 8, and the spindle head guide surfaces 1
A spindle head 12 is supported by 1A and 11B so as to be slidable in the vertical direction.

A screw 14 rotated by a motor 13 mounted on the upper surface of the column 8 causes the spindle head 12 to vertically reciprocate along the spindle head guide surfaces 11A and 11B.
A main shaft 15 is rotatably supported on the main shaft head 12 about a horizontal rotation center axis parallel to the sliding direction of the table 3 . The main shaft 15 is provided with a tool insertion hole for removably attaching a tool shank, and a clamp device for pulling and fixing the tool shank attached to the tool insertion hole into the tool insertion hole. A magazine support stand 16 is fixed to the upper surface of the spindle head 12.
A magazine A is placed on the top surface 16A.

The magazine A can be lightly slid on the upper surface 16A of the magazine support stand 16 in a direction parallel to the spindle axis by means of a linear roller bearing 18 attached to the lower surface of the base 17 of the magazine A, as shown in FIG. and as shown in Figure 2,
After being carried onto the magazine support stand 16, it is fixed to the magazine support stand 16. Tool sockets 19A (for large diameter tools) and 19B (for small diameter tools) installed in magazine A are
As described later, two sprocket wheels 20A, 2
It is detachably attached to a chain 21 wound around 0B in a closed loop. A tool socket conveying device 22 is provided in front of the upper surface of the magazine support stand 16 and pivots between a vertical position and a horizontal position (parallel to the spindle axis) about a horizontal axis perpendicular to the spindle axis. The tool socket conveying device 22 removes the tool socket indexed to the tool socket attachment/detachment position of magazine A (X position in FIG. 2) from the chain 21, and rotates it to a slightly tilted position shown in FIG. 1. After waiting and completing machining with the tool attached to the spindle 15, the spindle rotates to a work exchange position parallel to the axis of the spindle. A tool exchange arm 23 is provided on the front surface of the magazine support base 16 between the tool socket conveyance device 22 and the main spindle 15, and is pivotable about an axis parallel to the main spindle axis and can move in and out in the direction of the main spindle axis. There is. Tool exchange arm 23
is a tool gripping claw 23A that can be opened and closed at both ends.
, 23B grips the tool carried on the tool socket transfer device 22 and the tool mounted on the spindle 15, moves forward parallel to the spindle axis to extract both tools, then rotates 180 degrees and then moves parallel to the spindle axis. Back up and swap both tools. Behind the bed 1 is the base 2 of the magazine storage stand 24.
5 is set upright, and a rectangular table 26 is placed on the base 25.
is installed.

A spare magazine B, which has the same structure as the magazine A but has a different arrangement of tool sockets, is placed on the table 26. 1 and 2 show a state in which the column 8 and the spindle head 12 are positioned at a position to carry out the magazine A to the magazine storage stand 24. FIG. Next, the structures of the magazines A, B and the magazine support stand 16 will be explained in detail.

Since magazines A and B have exactly the same structure, only the magazine A placed on the magazine support stand 16 will be described. As shown in FIGS. 3 and 4, three linear roller bearings 18 are attached to the lower surface of the base 17 of the magazine A on the left and right sides, and the entire magazine A is rotated on the upper surface 16A of the magazine support stand 16 on the main axis. It can be lightly slid in a direction parallel to the axis. Further, in the center of the upper surface of the magazine support stand 16, there is a square guide plate 2 extending parallel to the main shaft axis by approximately the length of the base 17 in the main shaft axis direction.
7 is installed. A guide groove 28 parallel to the main shaft axis is formed on the lower surface of the base 17 and closely fits with the guide plate 27. When the magazine A is carried onto the magazine support stand 16, the guide groove 28 of the base 17 is formed. The guide plate 27 is fitted to position the magazine A parallel to the main shaft axis. A support shaft 29 is erected on the front upper surface of the base 17, and a sprocket wheel 20A is rotatably supported on the support shaft 29 by bearings 30A and 30B.

Further, on the rear side of the base 17, a rotating shaft 32 is rotatably supported by bearings 31A and 31B, and a sprocket wheel 20B is keyed to the rotating shaft 32. Chains 21 are wound around these two sprocket wheels 20A and 20B in a closed loop in two stages, upper and lower, and hook pieces 34 of tool sockets 19A and 19B are engaged with each head of a chain pin 33 of the chain 21. As a result, a large number of tool sockets 19A, 1 are formed around the chain 21.
9B is removably held, and the tool holding interval can be changed in units of link pitches depending on the type of tool inserted into the tool socket. Next, the positioning means, which is a magazine rotation preventing means for preventing the magazine from shifting its rotational position when replacing the magazine, and for accurately indexing and positioning the magazine, will be described in detail.

A casing 35 is attached to the rear of the sprocket wheel 20A on the base 17, and a positioning pin 36 can slide in a small diameter guide hole 35A drilled in the casing 35 parallel to the spindle axis. is inserted into. The large diameter portion 36A of the positioning pin 36 is inserted into the large diameter hole 35B that is drilled concentrically with the small diameter guide hole 35A, and the positioning pin 36 is always urged in the projecting direction by the compression spring 37, and the positioning pin 36 is The tip of the pin 36 enters the teeth of the sprocket wheel 20A to prevent the sprocket wheel 20A from rotating. As shown in FIG. 3-A and FIG. 3-B, a pivot 38 is pivotally supported at the lower part of the casing 35, and a lever 39 facing the large diameter hole 35B is provided at the upper end of the pivot 38. is provided.

A pin 39A that protrudes upward is provided at the tip of the lever 39, and the pin 39A is fitted into a groove 36B formed in the large diameter portion 36A of the positioning pin 36. Also, the axis 38
A lever 40 that is perpendicular to the lever 39 is provided at the lower end of the lever 39, and a pin 40A that projects downward from the base 17 is provided at the tip of the lever 40. Next, the second release means that extracts the above-mentioned positioning pin 36 from the teeth of the sprocket wheel 20A and enables rotational indexing of the magazine will be described in detail.

A cylinder 41 is attached to the front lower surface of the magazine support base 16, and a piston rod 42 of a piston 42 is fitted into the cylinder 41 so as to be slidable in a direction perpendicular to the main shaft axis.
An engagement member 43 protruding from the top surface of the magazine support base 16 is provided at the tip of A, and an engagement groove 43A having the same width as the diameter of the pin 40A is formed on the top surface of the engagement member 43, and is aligned with the main shaft axis. formed in parallel. When the magazine A is carried onto the magazine support stand 16 when the piston 42 is at the backward end, the pin 40A fits into the engagement groove 43A, and when the piston 42 is advanced in this state, the levers 40 and 3
9 pivots clockwise, the positioning pin 36 is moved backward against the compression spring 37, and the tip of the positioning pin 36 comes out of the teeth of the sprocket wheel 20A, allowing rotational indexing of the magazine. The forward end and backward end of the piston 42 can be confirmed by checking the dogs D-1 and D- attached to the piston rod 42B that protrudes rearward from the cylinder 41.
2, limit switch LS-1 and ? -2. Next, the drive source for indexing the magazine and the tool calling device will be described in detail.

A motor 44 is attached to the rear lower surface of the magazine support stand 16, and a clutch 45 is attached to the output shaft 44A of the motor 44.
is locked. The clutch 45 is rotatably supported on the magazine support base 16 by a bearing 46 . As shown in FIG. 3-A and FIG. 3-C, the clutch 4
On the top surface of 5, there are two parallel latch claws 47A, 47B.
is formed to protrude from the upper surface of the magazine support stand 16. Further, a clutch pawl 4 is provided at the lower end of the rotating shaft 32.
A clutch pawl 48 is provided to protrude downward from the base 17 and tightly fits into the clutch groove 47C between the clutch grooves 7A and 47B. When the motor 44 is rotated and the magazine A is called to its original position, the clutch pawls 47A and 47B are moved to the third position.
If the magazine A is positioned parallel to the spindle axis as shown in FIG. Further, after this, when the spare magazine B is carried onto the magazine support stand 16, the clutch claw 48 of the magazine B smoothly fits into the clutch groove 47C of the clutch claws 47A, 47B, and the rotation of the motor 44 is transferred to the magazine B. rotation axis 32
becomes in a state where it can be transmitted to. Further, on the outer periphery of the clutch 45, a positioning groove 4 is provided on the opposite side of the clutch pawls 47A, 47B.
9 is formed, and a magazine clamp lever 50, which will be described later.
When the clamp lever 50 is in an unclamped state, the tip of the clamp lever 50 fits into the positioning groove 49, and the clutch 45 is positioned so that it will not rotate due to a shock or the like when replacing the magazine. A gear 51 is formed on the outer periphery of the lower end of the clutch 45, and an input shaft 52A of a tool calling device (encoder) 52 is attached to the rear lower surface of the magazine support stand 16.
It meshes with a gear 53 which is keyed.

The gear 53 of the encoder 52 is set at a gear ratio such that it rotates exactly once for each rotation of the magazine. In the embodiment of the present invention, the number of links of the chain 21 is 80, so a number of addresses are The signal is configured to be emitted as an electrical signal of an evolved w-adic code. Therefore, the tool sockets 19A and 19B attached to the chain pin 33 of the chain 21 at appropriate intervals depending on the tool each correspond to one of the addresses 80ff11 of the encoder 52. This correspondence relationship differs depending on the magazine, so as described later, PROM, . Record of ROM or RAM, etc. The correspondence between the address of the encoder 52 and the tool socket number is stored in the storage means, and selection is made according to the magazine. Next, a clamp device for clamping the magazine onto the magazine support stand 16 will be described in detail.

An abutment plate 54 is fixed to the front upper surface of the magazine support 16 with bolts, and an inclined surface 5 is attached to the rear surface of the abutment plate 54.
4A is formed. A pressing plate 55 having an inclined surface 55A complementary to the inclined surface 54A is bolted to the front lower surface of the base 17. Further, a pressing plate 56 that is pressed by the clamp lever 50 is bolted to the rear lower surface of the base 17. Clamp lever 50
is pivotally supported on the magazine support base 16 by a horizontal pivot 57 perpendicular to the main shaft axis. A cylinder 58 is attached to the lower surface of the magazine support stand 16, and a piston 5 is attached to the cylinder 58 so as to be slidable parallel to the main shaft axis.
9 is inserted. An engagement member 60 having an engagement groove 60A that engages with the lower end of the clamp lever 50 is attached to a piston rod 59A that projects rearward of the piston 59, and the clamp lever 50 is pivoted by the reciprocating movement of the piston 59. urge FIG. 3-A shows that the piston 59 is retracted and the clamp lever 50 is pivoted counterclockwise;
The pressing plate 56 is pressed forward with the tip of the clamp lever 50, and the inclined surface 55A of the pressing plate 55 is pressed against the inclined surface 5 of the abutting plate 54.
4A to position and clamp the base 17 of the magazine A against the magazine support stand 16. When the use of the magazine A is completed and the magazine A is to be carried out onto the magazine storage table 24, the piston 59 is advanced and the clamp lever 50 is pivoted clockwise, so that the clamp lever 50 separates from the pressing plate 56 and releases the clamp. At the same time, it fits into the positioning groove 49 of the clutch 45 described above and stops the clutch 45 from rotating. At this time, the upper end of the clamp lever 50 is at a position lower than the lower surfaces of the pressing plate 56 and the pressing plate 55, so there is no problem in carrying in and out the magazine. The forward end and backward end of the piston 59 can be confirmed by checking the piston rod 5 that protrudes forward from the cylinder 58.
Is the dog D-3 and D-4 attached to 9B a limit switch? -3 and μs-4. Next, the magazine identification code and magazine detection means will be described in detail.

As shown in FIG. 4, a magazine identification dog 61 is attached to the lower surface of the magazine base 17, and when the magazine A is carried onto the magazine support 16, a dog 61 is attached to the side of the magazine support 16. Two limit switches 62 and magazine detection means (multi limit switch) 3
-5 and LS-6, one limit switch field-
5, it is detected that magazine A has been carried in, and a magazine detection signal shown in FIGS. 10 and 11, which will be described later, is generated. When the magazine B is carried onto the magazine support stand 16, the dog 61 of the magazine B depresses the limit switch 6. Next, the structure of the magazine storage stand 24 will be explained in detail.

As shown in FIGS. 5 to 8, on the upper surface of the table 26 of the magazine storage stand 24, there are two guide plates 63A and 63B on the left and right sides that guide the linear roller bearings 18 on the left and right sides of the lower surface of the magazine when loading and unloading the magazine. One book at a time is attached, and a spare magazine B is placed on the guide plate 63B as shown by a two-dot chain line. Four sprocket wheels 64A to 64D are rotatably supported on the table 26.
A chain 65 is wound in a closed loop around the sprocket wheels 64A to 64D in two stages, upper and lower. The chain 65 is given appropriate tension by a tension pulley 66. As shown in FIG. 8, among the four sprocket wheels 64A to 64D, 64A is a driving sprocket wheel. That is, the rotating shaft 68 rotatably supported on the table 26 by bearings 67A, 67B has a sprocket wheel 64A.
The output shaft 69A of the motor 69 attached to the lower surface of the table 26 is keyed to the rotating shaft 68, and transmits the rotation of the motor 69 to the sprocket wheel 64A. A block 71 inserted into a chain pin 70A projecting downward from the chain 65 and a block 72 inserted into a chain pin 70B projecting upward are integrally connected by a bolt 73. A roller follower 74 is rotatably mounted on 72A. As shown in FIG. 1, FIG. 2, FIG. 3, FIG. 7-A, and FIG.
Engagement plates 75A and 75B that can be engaged with are extended rearward and attached.

Engagement grooves 76A, 76B having the same width as the outer diameter of the roller follower 74 are formed on the lower surfaces of the tips of the engagement plates 75A, 75B in a direction perpendicular to the spindle axis.
Positioning holes 77A and 77B for positioning the magazine on the magazine storage stand 24 are bored in the surface of B. As shown in FIGS. 1 and 2, when the spindle head 12 and column 8 are positioned at the magazine unloading position by a tape command, the magazine A is unloaded.

To check the height direction of the spindle head 12, check the spindle head 1 shown in Fig. 4.
This is done by a dog D-5 attached to column 8 and a limit switch LS-7 attached to the side of column 8. Further, the horizontal direction of the column 8 can be checked using the dog D-6 attached to the lower end of the rear surface of the column 8 and the limit switch LS-8 attached to the rear surface of the bed 1. (5LS-
9. The position for loading and unloading magazine A is the position where dog D-6 steps on limit switch 8, and the position for loading and unloading magazine B is at dog D-6.
is the position where limit switch 9 is pressed. At this time, the roller follower 74 is in the position shown in FIG. 5, and the block 72 is stopped at the position where the limit switch LS-10 is depressed.

When the motor 69 is driven to move the chain 65 counterclockwise, the roller follower 74 fits into the engagement groove 76A of the engagement plate 75A of the magazine A. As shown in FIG. 5, the position where the roller follower 74 fits into the engagement groove 76A is the position where the chain 65 is wound around the sprocket wheel 64B.
4 fits in parallel to the engagement groove 76A, so the magazine A
There is almost no velocity component in the pulling direction (force parallel to the spindle axis) on the table 26, and as the roller follower 74 enters the engagement groove 76A, the velocity component in the pulling direction increases. gradually increases, and reaches its maximum speed at the position where the link with the low rough follower 74 becomes parallel to the spindle axis, after which it is pulled in at a constant speed.In this way, the magazine A is unloaded. As the speed increases gradually, the magazine A is transferred onto the table 26 without impact,
A linear roller bearing 18 on the lower surface of the base 17 rolls while gradually moving from the upper surface 16A of the magazine support stand 16 to the guide plate 63A of the table 26.

Just before the magazine A finishes being transferred onto the table 26,
The link a with the roller follower 74 comes to a position where it meshes with the sprocket wheel 64A. Therefore, the speed component in the pulling direction of the magazine A onto the table 26 gradually decreases, and when the pulling speed reaches 0, the roller follower 74 comes out of the engagement groove 76A of the magazine A. Magazine A stops on table 26.
The chain 65 continues to move counterclockwise after this, and when the block 72 of the roller follower 74 steps on the limit switch LS-11, the motor 69 stops. As shown in Figures 5 and 7-A1 and Figure 7-B, table 2
6, positioning means 78A and 78B are provided directly above the sprocket wheels 64A and 64D, which operate in conjunction with the movement of the roller follower 74 to position and fix the magazine on the table 26.

Since the positioning means 78A and 78B have exactly the same structure, only one positioning means 78B will be described. As shown in FIGS. 7-A and 7-B, a block 79 is attached to the upper surface of the table 26, and a positioning pin 80 is supported on the block 79 so as to be slidable in a direction perpendicular to the spindle axis. There is. A pin 81 is vertically driven into the longitudinally intermediate portion of the positioning pin 80 , and the lower end of the pin 81 fits into a guide groove 82 formed in the block 79 in parallel with the axis of the positioning pin 80 . The rotation is stopped. Further, a pivot pin 83 is provided upright on the upper surface of the block 79, and a lever 84 is pivotally supported on the pivot pin 83. The bifurcated portion 85 on the positioning pin 80 side of the lever 84 sandwiches the pin 81 and
The width of the bifurcated portion 86 on the opposite side of 4 is formed to be the same as the outer diameter dimension of the roller follower 74. A steel ball 89 is inserted into a hole 87 vertically bored in the lever 84 and is pressed vertically downward by a spring 88 . The block 79 has notches 90A and 9 into which the steel balls 89 fit.
0B is formed and a steel ball 8 is formed at each pivot end of the lever 84.
9 fits into the notches 90A and 90B, thereby positioning the lever 84 at each pivot end. FIG. 7-A shows a state in which the positioning pin 80 is fitted into the positioning hole 77B of the magazine B, and the magazine B is positioned on the table 26. When the chain 65 is moved counterclockwise in order to carry the magazine B from the table 26 onto the magazine support stand 16 of the machine tool, the roller follower 74 moves between the forks of the lever 84 as shown in FIG. 7-A. 86 and pivot the lever 84 counterclockwise to pull out the positioning pin 80 from the positioning hole 77B. When the lever 84 pivots to the position shown by the two-dot chain line, the positioning pin 80 completely comes out of the positioning hole 77B, the magazine A becomes movable, and the roller follower 74 moves to the position shown by the lever 8.
It comes off from the forked part 86 of 4.

At this time, the steel ball 89 fits into the notch 90B and positions the lever 84 on the block 79. When the positioning of the lever 84 is completed, the roller follower 74 is moved to the magazine B.
The magazine B is pushed out from the table 26 while being gradually accelerated. On the other hand, magazine B
When pulling the chain 6 onto the table 26,
5 moves clockwise and moves the magazine B to the table knob L.
/． 26, and while gradually decelerating near the end, the roller follower 74 is inserted into the engaging groove 76 when the speed is 0.
Extract from B. Subsequently, the roller follower 74 enters the bifurcated portion 86 of the lever 84 located at the two-dot chain line position, pivots the lever 84 clockwise, and inserts the positioning pin 80 into the positioning hole 77B. When the roller follower 74 moves until it is disengaged from the bifurcated portion 86 of the lever 84, the positioning pin 80 completely fits into the positioning hole 77B, and the magazine B is positioned on the table 26. At this time, the steel ball 89 of the lever 84 fits into the notch 90A, and the lever 84
4 in block 79. Therefore, even when the magazine A is pulled onto the table 26 as described above, the roller follower 74 acts on the positioning means 78A at the end position of the pulling and pulls the magazine A onto the table 26. position on top. As mentioned above, when the unloading operation of the magazine A is completed and the limit switch LS-11 is stepped on, the column 8 moves to the position where the magazine B is loaded onto the magazine support stand 16 according to the tape command, and the column 8 moves to the position where the magazine B is loaded onto the magazine support stand 16. Is 6 a limit switch? In response to the confirmation signal from stepping on -9, the loading operation of magazine B is started.

That is, the motor 69 is driven to move the chain 65 counterclockwise, and as described above, the roller follower 7 is first moved.
4 acts on the positioning means 78B, and the positioning pin 80
is pulled out from the positioning hole 77B of the magazine B, and then the roller follower 74 is fitted into the engagement groove 76B, and the magazine B is pushed out from the table 26 while gradually accelerating and carried onto the upper surface 16A of the magazine support stand 16. Near the end of loading, the link with the roller follower 74 engages with the sprocket wheel 64C, so the loading speed of magazine B is gradually reduced, and at the position where loading of magazine B is completed, the loading speed of magazine B is 0. become,
The roller follower 74 is disengaged from the engagement groove 76B of the magazine B. The chain 65 continues to move counterclockwise after this, and when the block 72 of the roller follower 74 steps on the limit switch LS-12, the motor 69 stops. The loading/unloading operation of the magazine is now complete, and after clamping the magazine B with the clamp lever 50 mentioned above on the magazine support stand 16, the machine tool moves to the position where the next machining will be performed and stores it in the magazine B. Perform machining using the tools provided.

The above-mentioned mechanism for exchanging magazines between the machine tool body and the magazine storage table is not only for exchanging magazines.
It is also effective to use other exchange mechanisms, such as pallet changers.

As mentioned above, the magazine is provided with a magazine rotation blocking means to prevent the rotation index position of the magazine from shifting when the magazine is carried in and out.
4 is provided with a first release means for releasing the magazine rotation prevention means in order to freely index the magazine drawn onto the magazine storage stand 24 and exchange old and new tools.

As shown in FIGS. 5 and 6-A1 and FIG. 6-B, a first release means 91A for magazine A and a first release means 91A for magazine B are provided on the left and right sides of the table 26 of the magazine storage stand 24.
A release means 91B is provided.

Since the first release means 91A and 91B have almost the same structure, the first release means 91A shown in FIGS. 6A and 6B will be described in detail. table 26
A pivot shaft 92 is pivotally supported on the table 26, and a manual lever 93 protruding from the side surface of the table 26 is attached to the lower end of the pivot shaft 92. The manual lever 93 has a tension spring 94
A lever 95 is attached to the upper end of the pivot shaft 92. As mentioned above, the positioning pin 36 shown in FIGS. 3-A and 3-B, which is a magazine rotation preventing means and a magazine positioning means, is constantly inserted into the teeth of the sprocket wheel 20A by the compression spring 37. Rotation of the magazine is prevented, and the structure is such that the magazine cannot be rotated at all times, not only during the movement of loading and unloading the magazine, but also after the magazine is drawn into the table 26.

As mentioned above, after the use with the machine tool is completed, the magazine A
is pulled onto the table 26 and the magazine B is carried into the machine tool main body side, it is necessary to replace the worn tools stored in the magazine A or change the tool socket arrangement, so the above-mentioned manual Tools are replaced by operating the lever 93 and rotating the magazine A by hand. That is, as shown in Fig. 6-1B, when the manual lever 93 is turned clockwise, the lever 95 hits the pin 40A of the lever 40 on the positioning pin 36 side, and the lever 40
and 39 pivot clockwise and move the positioning pin 36 backward against the compression spring 37, so that the tip of the positioning pin 36 comes out of the teeth of the sprocket wheel 20A, allowing the magazine to rotate. After rotating the magazine A by hand and indexing the tool socket that needs to be replaced to a position where it can be easily replaced, if you let go of the manual lever 93, the tension spring 94 will return the manual lever 93 and the lever 95 to their original positions. Then, the positioning pin 36 enters the teeth of the sprocket wheel 20A again by the spring force of the compression spring 37, and prevents the magazine A from rotating. In this state, replace the tool or tool socket that has been indexed to a position where it can be easily replaced, repeat the above-mentioned replacement operation, and when all the tools that require replacement have been replaced, the encoder 52 and magazine A are In order to match the ejection position with the magazine A
is indexed to the original position, the hand is released from the manual lever 93, and the positioning pin 36 is inserted into the teeth of the sprocket wheel 20A to prevent rotation of the magazine A and prepare for the next magazine A replacement operation. Regarding magazine B, the above-described tool exchange operation can be performed in the same manner as for magazine A. In the embodiments described above, the first release means 91A, 91B are operated manually, but they can also be operated automatically using a power drive source. FIG. 9 is a hydraulic circuit diagram for operating the automatic tool storage magazine changing device of the present invention.

The motor 69 is rotated in forward and reverse directions by solenoid valves 96 in four boats and three positions, and drives the chain 65 when loading and unloading the magazine. The chain 65 is stopped by turning the solenoid valve 96 into a neutral boat block and stopping the motor 69.
The reciprocation of the piston 59 that operates the clamp lever 50 is performed by switching the solenoid valve 97 at the 4-boat 2-position. In order to clean the sloped surfaces 54A and 55A of the abutment plate 54 and the abutment plate 55 that are in close contact with each other when the magazine is carried onto the magazine support stand 16, an air nozzle 98 is provided in the abutment plate 54 and opens on the sloped surface 54A. By switching a solenoid valve 99 in two boats and two positions, air is blown onto the inclined surfaces 54A and 55A to clean them when the magazine is carried in. Next, a description will be given of a tool calling device in which tool numbers are arbitrarily set according to the tool arrangement of magazines carried into the magazine support stand 16, and are arbitrarily selected according to the type of magazine. FIG. 10-A and FIG. 10-B show an embodiment using PROM or ROM as the storage means. The NC tape 100 is read by the NC device 101, and in order to call the tool socket designated by the NC tape 100 to the tool socket attachment/detachment position X, the motor 44 is driven via the magazine rotation control circuit 102 to rotate the magazine. drive When the magazine rotates, the encoder 52 emits the addresses 00 to 79 as electrical signals in the binary coded pheasant code corresponding to the links of the chain 21 of the magazine, so the decoder 10
3 to the tool socket number in PROM or ROMIO4. As described above, when a magazine is carried into the magazine support stand 16, the magazine detecting means 62 determines whether the carried magazine is an A magazine or a B magazine. That is, when magazine A is carried in, limit switch LS-5 is stepped on, a signal of 0 is issued to the most significant bit 80 of decoder 103, and magazine B
Is the limit switch brought in? When -6 is stepped on, a 1 signal is issued to the most significant bit 80 of the decoder 103. Therefore, if magazine A is being carried in, P
00 to 7 of the storage area of ROM or ROMIO4
It is compared with the stored contents of the conversion memory for magazine A up to 9. In addition, if magazine B has been brought in, 80
It is compared with the stored contents of the conversion memory for magazine B up to 159. The conversion memory for magazine A has values from 00 to 00, corresponding to the arrangement of tool sockets stored in magazine A.
The correspondence between addresses up to 79 and tool sockets is stored, and the magazine B conversion memory contains
80, corresponding to the array of tool sockets stored in the
Correspondences between addresses from 159 to 159 and tool sockets are stored.

Therefore, for example, when magazine B is placed on the magazine support stand 16 and a command to call the No. 1 tool socket is issued from the NC tape 100, the magazine B rotates and the encoder 52 reads the command at address 01 l. When the signal is given,
The signal at address 81 is output from the decoder 103, and is compared with the contents stored at address 81 in the magazine B conversion memory.

The No. 1 tool socket is stored at address 81 in the conversion memory for magazine B, so the PROM or ROM1
A signal indicating that tool socket No. 1 has been called is output from O4 to the comparison circuit 105, and the comparison circuit 105 outputs an NC signal.
When a matching signal with the output from the device 101 is issued and the motor 44 is stopped via the magazine rotation control circuit 102, the No. 1 tool socket of the magazine B is indexed to the tool socket attachment/detachment position X. If the arrangement of the tool sockets in magazine A or magazine B is changed from the tool arrangement shown in FIG. In the case of a ROM, the ROM itself may be replaced with one with different storage contents. In an embodiment of the invention, one PRO
The storage area of M or ROMIO4 is divided to accommodate multiple magazines, but if one magazine stores a large number of tools, install PROM or ROM for the number of magazines and use the magazine support stand. Alternatively, the PROM or ROM corresponding to the magazine carried into the magazine 16 may be selected. FIG. 11 shows an embodiment using RAM as the storage means.

The computer 106 stores the correspondence between the address of the encoder 52 and the tool socket number in correspondence with the tool arrangement of the plurality of magazines A to N, and the required magazines are carried into the magazine support stand 16. Then, via the interface 107, the memory contents of the tool array corresponding to the loaded magazine of the computer 106 are transferred to the RAMlO.
Write in 8. The tool calling operation is performed using the PROM described above.
Or, similar to the case of ROM, the address output from the encoder 52 is transferred to the RAM lO through the decoder 103.
Enter 8 and RAr! At 4108, the address of the encoder 52 and the tool socket number are compared, and the comparison circuit 105 compares the address of the encoder 52 with the tool socket number.
It compares it with the command tool number from the C device 101 and controls the motor 44 via the magazine rotation control circuit 102. The above two embodiments are both cases of a fixed number method in which the position of the tool in the magazine is fixed, but in the case of RAM, an address rewriting method is also possible where the position of the tool changes with the tool exchange operation. It is.

That is, an address rewriting control circuit 109 shown by a broken line in FIG. 11 is installed. The address rewriting control circuit 109 stores the number of the tool in use that is attached to the spindle 115, and when the magazine is indexed and the next tool to be used is called up, the tool changer is used to exchange the tool with the spindle 15. When the old and new tools are exchanged with the magazine, the address rewriting control circuit 109 rewrites the currently called tool address in the RAMIO8 to the tool address that was mounted on the spindle. In this way, if the memory contents of the RAM are rewritten in conjunction with the tool exchange operation, when the use of the magazine mounted on the magazine support stand 16 is completed, the tool arrangement at that time will be stored in the RAMlO8. Therefore, when replacing the magazine, the contents stored in the RAM 108 are transferred to the computer 106. When the same magazine is carried into the magazine support stand 16 and used again, the contents transferred to the computer 106 can be written into the RAMIO8.
As stated above, the present invention is not limited to the configurations shown in the examples.Changes are expected within the scope of the technical idea of the present invention as described in the claims. .

[Brief explanation of the drawing]

FIG. 1 is an overall front view of the automatic tool storage magazine exchange device of the present invention, FIG. 2 is an overall plan view, and FIG. 3-A is an overall longitudinal sectional view of the magazine placed on a magazine support stand.
FIG. 3-B is a cross-sectional view of the magazine rotation prevention means shown in FIG. 3-A, FIG. 3-C is a plan view of the clutch 45, FIG. 4 is a side view showing the spindle head, and FIG. FIG. 6-A is a plan view of the magazine storage stand; FIG. 6-A is a vertical cross-sectional view showing a state in which the magazine is drawn onto the magazine storage stand; FIG. 6-B is an explanatory view for explaining the operation of the first release means; Figure 7-A is a partially sectional plan view showing the magazine positioning means, Figure 7-B is a view taken along the arrow A-A in Figure 7-A (7), and Figure 8 is a view of the sprocket wheel on the drive side. A vertical sectional view, and FIG. 9 is a hydraulic circuit diagram for driving the automatic tool storage magazine changing device of the present invention.
Figure 10-A and Figure 10-B are PROM or ROM
FIG. 11 is a block diagram of a tool calling device using RAM. In the figure, 12...Spindle head, 15...Spindle, 16
...Magazine support stand, 17...Base, 24...
Magazine storage stand, 36... Positioning pin, 41...
Cylinder, 42... Zeston, 43... Engagement member, 4
4... Motor, 45... Clutch, 50... Clamp lever, 52... Encoder, 61... Dog, 62... Magazine detection means, 69... Motor, 7
4... Roller follower, 78A, 78B... Positioning means, 91A, 9J1B... First release means, 10
3...Decoder, 104...PROM or ROM
llO9...RAMllO9...Address rewriting control circuit.

Claims (1)

[Claims] 1. A base provided close to a machine tool, a first movable body that moves forward and backward in a horizontal direction between the base and the machine tool main body; A second movable body is placed on the base so as to be movable forward and backward parallel to the moving direction of the movable body, and is movable forward and backward in a straight line on the machine tool body, and a first movable body and a second movable body are placed horizontally on the base. a rotatable chain that is arranged in a closed loop and has sides parallel to the locus of movement of the second movable body; a drive source provided on the base to drive the chain; an engaging body that is fixed and can be removably engaged with the first or second movable body according to rotational movement of the chain, and the first or second movable body is connected to the machine tool body and the base. The first or second movable body is moved forward and backward alternately by the rotational movement of the chain, and when the engaging body is rotated near the bending part of the chain, the first or second movable body is moved forward and backward in a manner capable of accelerating and decelerating. Features an automatic exchange device for movable bodies. 2. The automatic movable body changing device according to claim 1, wherein the first and second movable bodies are tool storage magazines.