JPS61284345A - Tool transfer device - Google Patents

Abstract

PURPOSE:To drive tools in three different directions with an actuator by providing composite cam bodies respectively having cam grooves and capable of rotating to each other and connecting a cam drive device to all cam grooves. CONSTITUTION:A tool transfer device 10 has composite cam bodies 12 provided respectively with cam grooves 12e, 12f, 12g in which cam rollers 13a of a cam drive device 13 are respectively connectively fitted. Also, on the left end of a cam tube 12a is provided a casing 21 through a casing 17 and a hollow shaft 20 (not shown) and further a gripper 26 for holding and transferring tools through a bevel gear 12i. Thus, by driving reciprocatingly the cam drive device 13 in one direction are driven and moved the respective cam bodies constituting composite cam bodies 12 in the respectively independent form, and casings 17, 21 connected to these cam bodies and the gripper 26 are driven to transfer tools in the respective desired directions in the independent forms.

Description

DETAILED DESCRIPTION OF THE INVENTION (a) Industrial Application Field The present invention relates to a tool transfer device for moving tools between a tool magazine and a predetermined position in a machine tool such as a machining center.

(b), Prior Art Conventionally, in this type of tool transfer device, when a tool is to be transferred between the tool storage pocket of the tool magazine and the intermediate stage sink, the number of tools corresponding to the direction in which the transfer device is moved is 1 cutiator was required. That is, the gripper that grips the tool is expanded and contracted in a predetermined direction, rotated by a predetermined angle in the first direction about a first point, and then moved at a second point in a direction different from the first direction. In order to rotate it by a predetermined angle around the center, a total of three single-cut movements were required.

(C) 0 Problems to be Solved by the Invention However, with this configuration, the space required to mount the actuator for driving the transfer device becomes large, which not only increases the size of the entire device, but also increases the space required for the actuator to drive the transfer device. This has the disadvantage that control is also complicated.

SUMMARY OF THE INVENTION In order to eliminate the above-mentioned drawbacks, the present invention aims to provide a tool transfer device that can be driven in three different directions with one actuator, and therefore has a simple overall configuration and is easy to control. It is something.

(d) Means for solving the zero problem, that is, the present invention provides a plurality of cam grooves (12e112f, 12
g), and are rotatably supported by each other.
, 12d), a cam drive device (13) is provided on the composite cam body (12), and a sliding engagement means (
13a), and the first cam body (
12a) and the first casing (17), connect the second cam body (12b) and the second casing (21), further connect the third cam body and the gripper (26),
By driving the cam drive device (13), the first casing (17) is moved in the first direction and the second casing (21) is moved in the second direction via the composite cam body (12). Furthermore, the gripper (26) is configured to be able to be driven in a third direction.

Note that the numbers in parentheses are for convenience and indicate corresponding elements in the drawings, and therefore, this description is not limited to the descriptions in the drawings. The following r (el
The same applies to the column ``, action''.

(e) Zero effect With the above configuration, the present invention provides a cam drive device (13)
By reciprocating in one direction, the composite cam body (12
) are independently moved and driven, and the first and second casings (17, 21) and grippers (26) connected to the cam bodies are moved independently in desired directions. The tool is driven in the shape and acts to carry out a tool transfer operation.

(f), Example Embodiments of the present invention will be described below based on the drawings.

Fig. 1 is a front view showing an example of the vicinity of the tool changer of a machining center in which an embodiment of the tool transfer device according to the present invention is used, Fig. 2 is a side view of Fig. 1, and Fig. 3 is the same as Fig. 1. Figure 4 is a cross-sectional view of the composite cam barrel part of the tool transport device, Figure 5 is a cross-sectional view of the cam drive device, Figure 6 is the line ■-■ in Figure 4. Fig. 7 is a cross-sectional view according to Fig. 6.
8 is a cross-sectional view taken along the line (■--) in the figure, and FIG. 8 is a developed view of each cam groove in the composite cam cylinder.

As shown in FIG. 1, a machining center 1, which is a machine tool, has a machine body 2, and the machine body 2 is provided with a known chain type one-tool magazine 3 formed in an endless shape. The chain-type one-tool magazine 3 is stretched between sprockets 3b rotatably provided on the machine body 2, and the chain-type one-tool magazine 3 also includes a tool storage pocket 3.
A plurality of a are formed on both sides of each link. Position X of the chain-type one-tool magazine 3 is a tool exchange position where tools are attached to and removed from the main spindle, which will be described later. As such, an intermediate station 5 is provided. The intermediate station 5 has a cylinder 5a, and a piston rod 5b is provided in the cylinder 5a so as to be able to protrude and drive in the directions of arrows A and B in FIG. piston rod 5
A tool pocket 5C is pivotally attached to b, and the tool pocket 5C is rotatably supported in the direction T shown in the imaginary line in FIG. 2, centering on the shaft 5d. As a result, the tool pocket 5c changes from a state in which the tool storage pocket 3a and the pocket 5C are positioned parallel to each other by the cylinder 5a (the state shown in FIGS. 1 and 3), to a state in which the tool pocket 5C is parallel to the main shaft 6. It is rotated over a range of 90 degrees between the positions in which it is positioned (the state shown by the imaginary line in FIG. 2). Also,
An automatic tool changer 9 that supports an ATC arm 7 in a swingable manner is provided at the lower part of the fuselage 2 in FIG.
A main shaft 6 on which a tool is mounted is provided on the right side of the automatic tool changer 9 in FIG. Note that only approximately the left half of the main shaft 6 is shown in FIG.

By the way, as shown in FIG. 4, the tool transfer device 10 according to the present invention has a compound cam cylinder 12 that is rotatably supported by a plurality of bearings 11 on the machine body 2 in the directions of arrows C and D. The composite cam cylinder 12 has a cam cylinder 12a directly supported by the bearing 11.

The cam cylinder 12a is connected to the cam cylinder 12a via a bearing 12b.
c is provided so that it can only rotate freely in the directions of arrows C and D,
Furthermore, the cam rod 12d is attached to the bearing 12 in the cam cylinder 12c.
It is provided so as to be freely rotatable only in the direction of arrow C1D via j. That is, these cam cylinders 12a112c and cam rods 1
As shown in FIG. 5, the cam cylinders 12a, 12c and the cam rod 12d are arranged and assembled on a concentric circle with a predetermined gap between them, and a cam groove 12e112f112g is bored in each of the cam cylinders 12a, 12c and the cam rod 12d. It is set up. These cam grooves 12e, 12f, 12g are provided with a cam drive device 1.
As shown in FIG. 5, the cam drive device 13 has a frame 13b on which the cam rollers 13a are mounted. Frame 13b
is fitted into and engaged with the cam cylinder 12a at the outermost periphery of the composite cam cylinder 12 so as to be slidable in the directions of arrows E and F in Fig. 4, and a roller 13c is provided at the upper part of the frame 13b in Fig. 5. It is installed. The frame 13b of the cam drive device 13 is slidably engaged with two guide rails 2b provided on the body 2 in the directions of arrows E and F, as shown in FIG.

As shown in FIG. 2, the roller 13c has a swinging arm 15 supported via a pin 2a so as to be swingable in the directions of arrows G and H with respect to the body 2. It is engaged through a groove 15a formed at the lower end, and the swinging arm 15 is connected to the fuselage 2 through a pin 16b with arrows ■,
A drive cylinder 16 supported swingably in the J direction is provided with a piston rod 16a pivotally attached via a pin 16c.

On the other hand, the cam cylinder 1 of the composite cam cylinder 12 of the tool transfer device 10
At the left end of 2a in Figure 4 is a tool transfer bag! A casing 17 that constitutes an outer shell of the cam cylinder 1 is provided, and a casing 17 that constitutes an outer shell of the cam cylinder 1
2b and the left end of the cam rod 12d in the figure, there is a bevel gear 12h.
, 12i are installed. The bevel gear 12h has a sixth
As shown in the figure, a hollow shaft 20 rotatably supported by a casing 17 via a bearing 19 is meshed with a bevel gear 20a attached to the upper end in the figure. A casing 21 constituting the outer shell of the tool transfer device 10 is fixed to the middle and lower end. Further, a shaft 23 rotatably supported by a hollow shaft 20 via a bearing 22 is meshed with the paddle gear 12i via a paddle gear 23a attached to the upper end of the shaft 23 in the figure. A gear 23b is attached to the lower end. As shown in FIG. 7, an arm 25 is supported on the gear 23b so as to be movable in the L direction, as shown by the arrow, with respect to the casing 21, and is engaged with the gear 23b via a rack 25a formed on the arm 25. A guide roller 25a is provided at the upper part of the arm 25 in the figure. A gripper mounting groove 25b is provided at the lower end of the arm 25 in the figure, and a gripper 26 for holding and transferring a tool is provided in the gripper mounting groove 25b, as shown in FIG.

Since the machining center 1 has the above configuration, when machining is performed using the tools stored in the chain-type one-tool magazine 3, the cylinder 5 of the intermediate station 5
a to project the piston rod 5b in the direction of arrow B and rotate the tool pocket 5c in the direction of arrow S in FIG. At this point, the tool to be used for the next machining is installed in the tool pocket 5c by the tool transfer device 10, so the used tool installed in the spindle 6 and the tool to be replaced stored in the tool pocket 5c are installed in the tool pocket 5c. Using the ATC arm 7 of the automatic tool changer 9, tools are attached and removed between the tool pocket 5c and the spindle 6, and a new tool is attached to the spindle 6 and a used tool is attached to the tool pocket 5c. . In this state, the main spindle 6 starts a new machining operation with the replaced tool, and the intermediate station 5 to which the used tool has been returned drives the cylinder 5a to move the tool pocket 5C in the direction of arrow T. As shown in FIG. 1, the tool storage pocket 3a and the tool pocket 5c of the chain-type one-tool magazine 3 are positioned so that the insertion and removal directions of tools are parallel to each other.

In this state, the used tool is returned to the designated tool storage pocket 3a of the chain-type one-tool magazine 3, and then the tool to be used for the next machining is transferred from the chain-type one-tool magazine 3 to the tool pocket of the intermediate stage 5. 5c and prepare for the next tool exchange operation.

Below, the operation of transferring tools between the chain-type one-tool magazine 3 and the intermediate stage 5 by the tool transfer device 10 will be described in detail.

First, the chain-type one-tool magazine 3 is driven to position the tool storage pocket 3a to which used tools are to be returned at a predetermined tool exchange position X. Next, the drive cylinder 16 is driven to protrude the piston rod 16a, and the swing arm 1
5 is swung in the direction of arrow H around the bottle 2a. Then, the cam drive device 13 engaged with the groove 15a moves in the direction of arrow F via the roller 13c. The cam drive device 13 properly moves in the F direction while being guided by a guide rail 2b provided on the body 2, and each cam cylinder 12a, 12c and cam rod 12d of the composite cam cylinder body 12 is moved by a cam roller 13a. , 11, 12b, and 12j to rotate each other independently by a predetermined angle.

That is, the cam grooves 12e, 12f, and 12g formed in each of the cam cylinders 12a, 12c and the cam rod 12d are formed as shown in FIG. has been done. First, position L
When the cam roller 13a moves from A to position LB, the cam rod 1 is moved by the engagement between the cam roller 13a and the cam groove 12g.
2d rotates by a predetermined angle θ1. The developed view of the cam grooves shown in FIG. 8 shows the cam grooves 12a, 12f formed in each cam cylinder 12a, 12b and cam rod 12d.

12g, and therefore the cam roller 13
A and B pass through the cam grooves, so that each cam cylinder 1
2a, 12c, and the cam rod 12d rotate in a manner corresponding to the shift amount of the cam groove in the vertical direction in the figure in the developed view. When the cam rod 12d rotates by an angle θ1, this rotation causes the arm 25 to protrude in the direction of the arrow in FIG. 7 via the bevel gear 12i, 23a, shaft 23, gear 23b1 and rack 25a.

Then, the gripper 26 provided at the tip of the arm 25 protrudes from the previously retracted position toward the tool pocket 5C, and grabs the used tool 27 stored in the tool pocket 5c.
grasp.

Next, when the cam roller 13a moves from position LB to LC, the cam cylinder 12c moves at a predetermined angle θ2t! The casing 2 rotates through the bevel gears 12h, 20a, and the hollow shaft 20.
1 to the casing 17, arrow N in FIGS. 3 and 4
direction by a predetermined angle. Then, the arm 25 provided in the casing 21 moves in the N direction together with the gripper 26 that grips the tool 27, and pulls out the tool 27 from the tool pocket 5C. At this time, as the casing 21 rotates, the relative positional relationship between the arm 25 and the gear 23b changes, and the gripper 26 tends to move in the direction of the arrow. LB
During 1LC, the cam groove 12g of the cam rod 12d moves by an angle θ2 in the direction of canceling the movement of the gripper 26 due to the rotation of the casing 21 (that is, in the direction in which the gripper 26 moves in the direction of the arrow), and the gripper 26 is held at a fixed position, and operates so that the gripper 26 can smoothly pull out the tool 27 from the tool pocket 5C.

Next, when the cam roller 13a moves from the position LC to the position LD, the cam cylinder 12a is rotated at a predetermined angle θ by the cam groove 12e.
3, rotate the casing 17 around the cam barrel 12a in the direction of arrow S in FIG. 2, and move the tool 27 to the tool storage pocket I-3a at the tool exchange position It faces the tool storage pocket 3a.

At this time, in order to prevent the casing 21 from slipping in the M direction and the arm 25 from protruding in the L direction due to the rotation of the casing 17 in the Q direction, each cam groove 12
f, 12g, when the casing 21 is in the N direction, the arm 25
The angle θ3 changes so that the casing 21 and the arm 25 move in the opposite direction, and as a result, the casing 21 and the arm 25 operate so as not to move.

In this way, when the tool 27 and the tool storage pocket 3a face each other, the cam roller 13a moves from the position LD to LE, and the cam barrel 12c is rotated by the angle θ2 from the previous position LB to LC by the cam tell 12 f. 02 rotation in the opposite direction, thereby causing the casing 21
is rotated by a predetermined angle in the direction of arrow M to fit and store the tool 27 gripped by the gripper 26 into the tool storage pocket 3a. In this case, the cam groove 12g is set at an angle θ2 so that the gripper 26 protrudes in the L direction so that the gripper 26 does not retreat in the direction of the arrow due to the movement of the casing 21.
As a result, the positional relationship between the gripper 26 and the tool storage pocket 3a does not change, and the tool 27 can be stored in the tool storage pocket 3a without any problem.

Further, when the cam roller 13a moves from the position LE to LF, the cam groove 12g moves the cam rod 12d to the position LAS.
The gripper 26 is rotated in the opposite direction by an angle θ1 equal to the angle θ1 between LB, and the gripper 26 is retreated in the direction of the arrow via the arm 25 and is housed in the casing 21. Then,
Gripper 26 that had previously held tool 27 and tool 2
7 is released, the tool 27 is stored in the tool storage pocket 3a, and the four-driving operation of the tool 27 to the chain-type one-tool magazine 3 is completed.

In this state, the chain-type one-tool magazine 3 is driven, and the tool storage pocket (3a) in which the tool 27 to be attached to the main spindle 6 is stored is positioned at the tool exchange position X, which is completely different from the above. When the cam drive device 13 is moved to the position LF or LA by the reverse procedure, each cam groove 12e112f112
By the action of g, the tool 27 is pulled out from the tool storage pocket 3a, further transferred to the tool pocket 5c of the intermediate stage transport 5, and stored therein. Therefore, tool pocket 5
c is rotated in the direction of arrow S in FIG. 2, tools are exchanged between the spindle 6 and the tool pocket 5C using the automatic tool changer 9, and machining is continued.

The tool 27 is transferred from the chain-type one-item magazine 3 to the intermediate stage one-item 5, as described above.
The procedure is completely the opposite of that for transferring , so its explanation will be omitted here.

Furthermore, in the above embodiment, the case where the tool magazine for storing tools is a chain-type one-tool magazine 3 has been described;
Of course, the tool magazine is not limited to the chain-type one-tool magazine 3, but may be any other type of magazine such as a drum-shaped magazine or a plate-shaped magazine.

(g) 0 Effects of the Invention As explained above, according to the present invention, the first casing 17 is provided rotatably in the first direction, which is the direction of the arrows Q and R, with respect to the fuselage 2. and the second casing 21 is moved relative to the first casing 17 in a second direction (in addition, the direction of arrows M and N in a plane intersecting the moving plane of the first casing 17). In the embodiment, the arrows M and N directions are in a plane perpendicular to the moving plane of the first casing 17), and the second casing 21 is rotatably supported. In the tool transfer device 10 that supports a gripper 26 capable of gripping a tool 27 so as to protrude freely in the third direction, a plurality of cam grooves 12e,
A composite cam body such as a composite cam cylinder body 12 consisting of first, second and third cam bodies such as cam cylinders 12a and 12c and a cam rod 12d, each of which is formed with cam cylinders 12f and 12g and which are mutually rotatably supported. A cam drive device 13 is provided in the composite cam body, and all the cam grooves 12e, 12f, 12g are connected to the composite cam body.
The first cam body and the first casing 1 are slidably engaged with each other through sliding engagement means such as a cam roller 13a.
7, connect the second cam body and the second casing 21, further connect the third cam body and the gripper 26, and drive the cam drive device 13. The first casing 17 is placed in the first direction, the second casing 21 is placed in the second direction, and the gripper 26 is placed in the third direction.
Since the cam drive device 13 is configured so that it can be driven in the direction of
There is no need to provide actuators for each of the first, second, and third different driving directions (therefore, the control is simple, and the tool transfer device 10 is small and has a simple configuration. It becomes possible to provide.

Furthermore, if a composite cam body is constructed by arranging and combining the first, second, and third cam bodies concentrically, the composite cam body can not only be constructed compactly, but also be easily engaged with the cam drive device 13. can also be easily taken.

[Brief explanation of the drawing]

FIG. 1 is a front view showing an example of the vicinity of the tool changer of a machining center in which an embodiment of the tool transfer device according to the present invention is used, FIG. 2 is a side view of FIG. 1, and FIG. 3 is the same as that shown in FIG. FIG. 4 is a sectional view of the composite cam barrel portion of the tool transfer device; FIG. 5 is a sectional view of the cam drive device; FIG. 6 is a cross section taken along line M-Vl in FIG. 4. 7 is a sectional view taken along the line ■--■ in FIG. 6, and FIG. 8 is a developed view of each cam groove in the composite cam cylinder. 2... Machine body 10... Tool transfer device 12... Compound cam body (compound cam cylinder body) 12a...
...First cam body (cam cylinder) 12c...Second
Cam body (cam cylinder) 12d...Third cam body (
Cam rods) 12e, 12f, 12g - Cam grooves 12 13... Cam drive device 13a... Sliding engagement means (cam roller) 17...
・First casing 21...Second casing 26...Gripper 27...Tool applicant Yamazaki Iron Works Co., Ltd. Agent Patent attorney Phase 1) Shinji (and one other person) ) Fig.6

Claims (3)

[Claims] (1) A first casing is provided rotatably in a first direction with respect to the fuselage, and a second casing is attached to a moving surface of the first casing with respect to the first casing. In a tool transfer device, the tool transfer device is rotatably supported in a second direction in a plane intersecting with the first casing, and a gripper capable of gripping a tool is supported in the second casing so as to be projectable in a third direction, A composite cam body including first, second, and third cam bodies each having a plurality of cam grooves and rotatably supported by each other is provided, and a cam drive device is installed in the composite cam body, and all of the cams are connected to the composite cam body. slidably engage with the groove via a sliding engagement means, connect the first cam body and the first casing, connect the second cam body and the second casing, and further By connecting the cam body of No. 3 and the gripper and driving the cam drive device, the first casing is moved in the first direction and the second casing is moved in the second direction via the composite cam body. Furthermore, the tool transfer device is configured to further drive the gripper in the third direction. (2) The tool transfer device according to claim 1, characterized in that the first, second, and third cam bodies are arranged and combined concentrically to form a composite cam body. (3) A second casing is supported with respect to a first casing so as to be rotatable in a second direction in a plane perpendicular to a plane of movement of the first casing. The tool transfer device according to scope 1 or 2.