JPS6144545A - Tool rack - Google Patents

Abstract

PURPOSE:To accommodate a number of tools into a narrow space by fitting tools onto a plurality of tool pockets arranged in one line in the longitudinal direction of a band-shaped frame and arranging in proper number of said frames in parallel. CONSTITUTION:The accommodation of tools 37 in an exceedingly high density is permitted, and further increasing and reducing the number of tools 37 in a rack 30 as one unit for a tool storing and feeding apparatus 1 is permitted by arranging a number of tool racks 30 in which a plurality of tool pockets 31 onto which the tools 37 can be installed in the longitudinal direction of a band-shaped frame 30C are arranged in one line. Therefore, the tool storing and feeding apparatus 1 which can accommodate the tools in the number corresponding to the working contents can be prepared easily, and the succeeding extension performance of the tool storing and feeding apparatus 1 can be exceedingly increased.

Description

TECHNICAL FIELD The present invention relates to a tool rack that is used in a tool storage and supply device for supplying tools to a machine tool such as a machining center and holds the tools in the device.

(b), Prior Art Conventionally, drum-shaped tool magazines and chain-type single-tool magazines have been known as this type of tool holding means.

(C)0 Problems that the invention attempts to solveHowever, recently,
Unmanned machining methods are becoming more common in machine tools, and in such a case, the number of tools that must be supplied to the machine tool becomes extremely large in order to process many different types of workpieces.

However, traditional drum-type or chain-type magazines
The area occupied by each holding tool is large (the area occupied by the magazine is reduced by the number of tools that can be held), and if you try to increase the number of tools that can be held, the diameter of the drum will increase or the tension of the chain will increase. This had the disadvantage that the installation area was expanded and it was not possible to hold high-density tools.

SUMMARY OF THE INVENTION In order to overcome the above-mentioned drawbacks, the present invention aims to provide a tool rack that can store a large number of tools in a high density and therefore in a small space.

+at, a means for solving the problem, that is, the present invention has a tool formed in a band shape, and a plurality of tool pockets into which tools can be installed are arranged in a row in the longitudinal direction of the frame. configured.

(e) Zero effect With the above-described configuration, the present invention allows tools to be attached to the tool pocket provided in the frame, and furthermore, by arranging an appropriate number of cough plates, an arbitrary number of tools can be held. It acts to make it possible.

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

1 is a front view showing an example of a tool storage and supply device to which an embodiment of the tool rack according to the present invention is applied; FIG. 2 is a front view showing the main frame portion of the tool storage and supply device of FIG. 1; Figure 3 is a front view showing the tool pot part, Figure 4
The figure is a plan view of Fig. 3, Fig. 5 is a side view of Fig. 3, Fig. 6 is a front view showing the hand part of the tool robot, Fig. 7 is a plan view of Fig. 6, and Fig. 8 is a tool Fig. 6 is a view from the ■ arrow in Fig. 6 showing the gripping part, and Fig. 9 is a front view of the tool rack part.
Fig. 10 is a plan view of Fig. 9, Fig. 11 is a side view of Fig. 9, Fig. 12 is a front view showing the coupled state of the tool rack, Fig. 13 is a side view of Fig. 12, Fig. 14 is a plan view of Fig. 12, Fig. 15 is a plan view showing the lock release mechanism of the tool robot, Fig. 16 is a front view showing the intermediate transfer pocket, Fig. 17 is a side view of Fig. 16, and Fig. 18 is a plan view of Fig. 12. X in Figure 17
It is a sectional view taken along the -X line.

As shown in FIG. 1, the tool storage and supply device 1 has a main frame 2 and a subframe 3 connected to the left side of the main frame 2. As shown in FIG. 5, a bracket 5 is formed on the top thereof. At the tip of bracket 5,
Guide rail 6 connects main frame 2 and sub frame 3
3 and 4, and a rack 7 is installed on the bracket 5 along the guide rail 6. It is laid and installed in the direction. Further, a guide rail 9 is installed in parallel to the guide rail 6 at the lower part of the main frame 2 and the sub-frame 3, and the tool robot 1o is attached to the guide rail 6.9 in a guide groove provided in the tool robot body 11. 12 and guide roller 13, the third
It is provided so as to be movable in the direction of arrow ASB in the figure. Main body 1
A beak and a motor 15 are provided on the upper part of the motor 1.
5 is provided with a pinion gear 17 rotatably driven via a power transmission means such as a reduction gear 16. The pinion gear 17 meshes with the rack 7. Therefore, by appropriately driving the motor 15 in forward and reverse directions, the main body 11 is moved along the rack 7 and onto the guide rail 6.9 via the reduction gear 16 and the pinion gear 17. It is guided and driven to move in the directions of arrows A and B.

Further, the main body 11 is provided with a motor 19, and the motor 19 is connected to a feed screw 21 of the main body 11, which is rotatably supported in the vertical direction in FIG. 3, via a power transmission means such as a timing belt 20. , connected through its upper end. A hand mechanism section 22 is screwed into the feed screw 21, and the hand mechanism section 22 has two guide rails lla formed on the main body 11 in parallel with the feed screw 21, and as shown in FIG. It is engaged so as to be movable in a direction perpendicular to the inner paper surface, that is, in the direction in which the feed screw 21 is installed. In the hand mechanism section 22, a hydraulic cylinder 23 moves a piston rod 23a in the direction of arrow C.
, is provided in such a way that it can protrude and retreat freely in the D direction,
Further, the hand mechanism section 22 is provided with a plurality of slide bearings 22a, as shown in FIG. It is provided movably in the direction of arrow CSD via rods 25a and 25a'. In addition,
A hole 25b for supplying pressure oil to the tool gripping portion 25 is drilled through the guide rod 25a along its center, and the guide rod 25a' has a hole 25b for installing a cord connected to a proximity sensor to be described later. A hole 25b' is bored therein. Note that the tip of the aforementioned piston rod 23a is fixed to the tool gripping portion 25.

As shown in FIG. 8, the tool gripping portion 25 is formed so that a cylinder 25c communicates with a hole 25b formed in the guide rod 25m. It is provided movably in the E1F direction. A coil spring 25e is compressed between the piston 25d and the cylinder 25c, and the coil spring 2'5e always urges the piston 25d in the direction of arrow E. Further, an arm 26 is attached to a pin 26 in the tool gripping portion 25.
The arm 26 is provided rotatably in the directions of arrows G and H through the arm 26, and the aforementioned piston 25 is located at the left end of the arm 26 in FIG.
The tips of d are abuttingly engaged.

Further, a proximity sensor 27 is provided in the tool gripping portion 25 in a U-shape (ζ-formed tool gripping groove 25f), and the proximity sensor 27 is located inside the tool gripping groove 25f. It is possible to detect the presence or absence of a tool.

On the other hand, the side plates 29 of the main frame 2 and subframe 3
As shown in FIGS. 9 and 11, upper and lower brackets 29m and 29b are installed in the directions of arrows A and B, which are the running directions of the tool robot 10, respectively, and the lower bracket 29)+ (The guide groove 29c is A, B
Furthermore, guide rails 29d are similarly installed in the A and B directions on the upper bracket 29a. The guide rail 29d and the guide groove 29c are provided with a plurality of tool racks 30741 formed from an elongated strip-shaped frame 30c, and the guide grooves 30a1 and guide rollers 30b provided on the tool rack 30 are connected to the guide rail 29d and the guide groove 29c. Each tool rack 3
0 has a plurality of tool pockets 31 that can hold tools,
They are provided in a line in the vertical direction in FIG. 9, that is, in the longitudinal direction of the frame 30c. Each tool pocket 31 is provided with a key 31a for preventing rotation, and the key 31a engages with a key groove provided on the tool side to prevent the tool attached to the tool pocket 31 from rotating within the tool pocket 31. prevent.

Furthermore, as shown in FIGS. 12 to 14, the upper and lower parts of the tool rack 30 are provided with a connecting mechanism 32 that connects the tool racks 30 to each other.
It has a pin 32a which is fixed in such a way that its tip protrudes toward the adjacent tool rack 30 to be connected.

As shown in FIG. 14, an engagement groove 32b is bored at the tip of the pin 32a, and an engagement hole 32c is formed at a position facing the pin 32& of the adjacent tool rack 30.
is formed so that the pin 32a can be freely inserted and engaged therein. As shown in FIG. 13, the engagement hole 32c has a hole 3.
2d is bored perpendicularly to the engagement hole 32c, and a lock pin 32e is fitted into the hole 32d so as to be movable in the directions of arrows C and D. Lock bin 32e has pin 3
2f is planted, and the pin 32f is inserted into the first hole 32d.
A release pin 32g is fitted into a hole 32h drilled parallel to the hole 32d in the upper part of FIG. 3 so as to be movable in the directions of arrows C and D. Between release bottle 32g and 632h,
A coil spring 32i is compressed, and the coil spring 321 always biases the release pin 32g in the direction of arrow C.

8. At a vertical position of the tool robot body 11 facing the coupling mechanism 32 of the tool rack 30, as shown in FIG. Each is set up in the form of a.

Furthermore, regarding the main frame 2 and sub-frames 3 in the plurality of movably provided tool racks 30, the tool rack 30A provided second from the rightmost side of each frame in FIG. As shown in FIG. 10, a rack release cylinder 35 installed on the side plate 29 is connected to the upper and lower portions of the rack opening cylinder 35 via a piston rod 35a that is provided so as to be able to protrude and retract in the directions of arrows A and B. Drive the rack release cylinder 35 to release the piston rod 35a.
By protruding and retreating in the A1B direction, the tool rack 30 can be moved in the A and B directions along the guide rail 29d and the like.

In the main frame 2 and the subframe 3, the rightmost tool rack 30 in FIG. It is being The intermediate transfer pocket 36 is connected to a frame 36 fixed to the tool rack 30, as shown in FIGS. 16 and 17.
The frame 36 & has a rotating holder 36b.
is provided at the rotation point via a bearing 36c or the like.

A cleaning holder 36d is further rotatably provided on the rotating holder 36b via a bearing 36θ,
A cleaning brush 36f is attached to the cleaning holder 36d.
is provided on the cleaning holder 36d with a brush portion at the tip thereof protruding from a tool holding portion 36g formed in a conical shape. A gear 36h is formed on the outer periphery of the cleaning holder 36d, and a gear 36j attached to a shaft 361 rotatably supported by a frame 36a is connected to the gear 36h through a slit 38m formed in the rotary holder 36b. They mesh together. A gear 36k is provided at the other end of the shaft 361, and a rotary holder 36 is attached to the gear 36.
It meshes with a gear 361 formed at the left end in FIG. 17 of b. Further, a pinion gear 36p is formed at the right end of the rotation holder 36b in the figure.
As shown in FIG. 18, a claw 36s that can be freely projected in the directions of arrows 1 and J by a cylinder 36q is engaged with p. Further, as shown in FIG. 17, a lock pin 36t is provided on the rotary holder 36b so as to be movable in the direction of arrow ISJ, and the lock pin 36t
It is provided so as to be biased in the direction of the arrow 1 by u. This lock pin 36t engages with the groove portion 37b of the pull stud 37a of the tool 37 attached to the tool holder 36g by utilizing the elasticity of the coil spring 36u, and the lock pin 36t engages with the groove portion 37b of the pull stud 37a of the tool 37 attached to the tool holder 36g. Tool holding part 36
This prevents it from accidentally falling off from the g.

In addition, the number 39 is a proximity sensor for detecting whether the tool 37 is inserted into the tool holding part 36g.

Since the tool storage and supply device 1 has the above configuration, in order to supply the tool 37 to a machine tool such as a machining center (not shown) using the tool storage and supply device 1, first, based on the machine program or the operator's instructions, The tool robot 1G is moved along the guide rail 6.9 laid across the main frame 2 and the sub-frame 3 as indicated by the arrow A in FIG.
, Move appropriately in direction B. As already explained, the moving operation of B is performed by the motor 15 on the tool robot body 11.
By rotating the gear in forward and reverse directions as appropriate, the speed reducer 1
6, a pinion gear 17 and a rack 7 that meshes with the pinion gear 17.

The tool robot 10 supplies a tool 37 to a machine tool.
A to the position facing the tool rack 30 on which the
, are driven in the B direction. As mentioned above, the guide rail 6.9 is installed so as to pass through the main frame 2 and the sub-frame 3, so the tool robot 10 can freely run between the main frame 2 and the sub-frame 3. .

-4. In the tool pocket 31 of each tool rack 30,
Tools 37 to be supplied are stored (in this embodiment, 14 tools 37 are stored in each tool rack 30), and the tool racks 30 storing these tools are normally As shown in Fig. 9, adjacent tool racks 30 are connected to each other by a coupling mechanism 32 to form an integrated structure (excluding tool rack 30..30.te on the rightmost side of each frame). . The tool rack 30 is integrated with the main frame 2 and the sub-frame 3 as one unit. Therefore, the tool rack 30 is fixed to each main frame 2 and sub-frame 3, except for the tool rack 30 at the right end of each frame. tool rack 30
In the connected state, the piston quadrilaterals 35a of the rack open cylinders 35 of each frame are projected and retracted in the directions A and B in FIG. Driven to move.

In this way, the tool robot 10 supplies the tool 37
When the tool rack 30 is positioned opposite to the tool rack 30 having the sole port seat 1-31 stored therein,
The piston 13 pistons 33a of the two release cylinders 33 provided on the upper and lower sides of the tool robot main body 11 are driven to protrude in the direction of the arrow in FIG. Then, the tip of the piston rod 33a and the release bottle 32g of the coupling mechanism 32 of the tool rack 30 come into contact, and the release bottle 32g is
Push in the direction of the arrow in the figure against the elasticity of the coil spring 32i. As a result, the lock bin 32e also moves in the D direction via the bin 32f, and the tool rack 30 on the right side of FIG. The bin 32a (in which the tool 37 to be used is stored) is released from the locked state with the lock bin 32e and can be removed from the engagement hole 32c into which the bin 32a was fitted.

Then, the rack release cylinder 35 provided on the corresponding frame of either the main frame 2 or the subframe 3 on which the tool rack 30 to which the release bin 32g was pushed is installed is driven, and the piston member 35a is moved to the thirteenth position. It is driven to protrude in the direction of arrow B in the figure. When the piston rod 35m is driven to protrude in the direction of arrow B, the tool rack 30A fixed to the piston rod 35a and one or more tool racks connected to the tool rack 30A via the coupling mechanism 32 are moved. 30 starts moving in direction B (depending on the situation, it is of course possible that only the tool rack 30A is present). The tool rack 30 is connected and engaged with the tool rack 30 provided with the release bin 32g with which the release cylinder 33 abuts and engages, through the engagement hole 32c, the right side of FIG. The tool rack 30 moves in the B direction with the bin 32a separating from the engagement hole 32c, and the tool rack 30 starts moving.
A space corresponding to the stroke ST of the rack opening cylinder 35 is formed between the tool rack 30° on the leftmost side in FIG. 14 and the tool rack 300 on the left side of the tool rack 30° in FIG. Ru.

Although the tool racks 30A and 300 match in the drawings of FIGS. 12 and 14, it goes without saying that the present description applies regardless of whether they match or do not match.

In this way, when all the tool racks 30 on the right side of FIG. 1 have moved in the direction B by the stroke ST from the tool rack 30o portion where the tools 37 to be supplied are mounted, the motor 19 of the tool robot 10 is rotated and moved. Then, the feed screw 21 is rotated by a predetermined angle in the forward and reverse directions via the timing belt 20 and the like. Then, feed screw 2
The hand mechanism section 22 screwed into the guide rail 1
1a, lla, arrow 1. Main body 1 in J direction
Move up by 1. Therefore, the tool gripping section 25 provided in the hand mechanism section 22 is aligned with the vertical position of the tool pocket 31 in which the target tool 37 is stored, and in this state, the cylinder 23 is driven to move the piston rod 23a. ,
As shown in FIGS. 6 and 7, the two guide rods 25a125a' of the tool gripping portion 25 are projected in the direction of the arrow so as to slide into contact with the slide bearing 22a.

Then, the tool gripping portion 25 fits into the space between the tool racks 30130 opened by the rack release cylinder 35 without interfering with the tool racks 30, and as shown in FIG. tool rack 3
The target tool 37 within 0o is positioned so that the phases in the directions of arrows C and D match, and the phases in the vertical direction in FIG. 3 also match. Therefore, when the motor 15 is rotated by a predetermined amount again and the main body 11 is moved in the B direction together with the tool gripping portion 25, the tool holder of the tool 37 is fitted into and engaged with the tool gripping groove 25f. In this state, pressure oil is supplied to the cylinder 25c, and the arm 26 is pressed in the H direction centering on the bottle 26a, thereby firmly supporting the tool 37 without falling into the tool gripping groove 25f. Even in the normal state, the arm 26 is urged toward the H side by the coil spring 25e, so even if the supply of pressure oil to the cylinder 25c is stopped, the tool 37 will not fall out of the tool grip groove 25f. Further, the insertion and engagement operation of the tool 37 into the tool grip W125f is performed by moving the tool grip part 25 toward the tool 37 in the B direction without pressure oil being supplied to the cylinder 25c. The tool holder fits into the tool gripping groove 25f while rotating the arm 26 in the G direction against the elasticity of the coil spring 25a, and the gripping operation of the tool 37 is performed smoothly.

In this way, when the tool 37 is gripped by the tool gripping portion 25,
Next time? The piston rod 23a of the cylinder 23 is moved backward in the C direction. Then, the tool 37 held by the tool gripping part 25 leaves the tool pocket 31 and is moved in the C direction together with the tool gripping part 25 and taken out. When the tool gripping part 25 is moved in the C direction together with the tool 37,
The motor 15 is driven to move the main body 11 in the B direction, passing through the main frame 2 and transporting the tool 37 while being held to the tool rack 3011 fixedly provided on the rightmost side of the main frame 2. do. Furthermore, during that time, the motor 19 is driven, and the hand mechanism section 22 and the tool gripping section 25 are
, in the direction J, and move the tool 37 of the tool gripping section 25 to the intermediate transfer pocket 3 of the tool rack 30.
Match the vertical position of 6.

In the meantime, the rack release cylinder 35 moves the piston rod 35aie backward in the A direction, and returns the plurality of tool racks 30 including the tool rack 30A that had been moving in the B direction to the A direction, as shown in FIG. Then, the tool 37 is inserted into the engagement hole 32c of the tool rack 30 on the left side of the tool rack 30° from which the tool 37 was taken out after being separated earlier.
The pin 32a of the removed tool rack 30 is inserted and engaged. As a result, the space previously formed is closed, and the stroke ST of the rack opening cylinder 35 is
The rightmost tool rack 30. of the main frame 2 or subframe 3 has an interval corresponding to . and tool rack 30
is formed between. On the other hand, the pin 32a is connected to the engagement hole 32c.
When inserted, the pin 32a engages with the four-pin pin 32e in a manner that forcibly moves the lock pin 32e together with the pin 32f1 and the release pin 32g in the direction of the arrow in FIG. 13 against the elasticity of the coil spring 32i. The tool rack 30° that has been engaged through the groove 32b and the tool rack 30 to the left of the tool rack 30 degrees that were previously separated are connected as before through the pin 32m. Note that the engagement groove 32b and pin 32e
The connection between the tool racks 30 and the tool rack 30 on the left side is performed smoothly and reliably due to this imitation, with both racks 30 in close contact with each other. .

In this way, ゛? - When all the tool racks 30 other than the tool rack 308 of the main frame 2 and the sub-frame 3 are integrated, the tool racks 30 of the main frame 2. The tool robot 10, which is positioned facing the intermediate transfer pocket 36, drives the cylinder 23 to project the piston rod 23a in the D direction, and intermediately transfers the tool 37 held by the tool gripping section 25. Insert into the tool holding portion 36g of the pocket 36. On this occasion,
All tool racks 3o other than tool rack 308 move in the direction A in FIG. 1, thus tool racks 30 and 30A
Since an interval corresponding to the stroke ST of the rack opening cylinder 35 is formed between them, the tool gripping portion 25
Even if it protrudes in the direction D, which is the direction of the tool rack 30,
There is no interference between the tool gripping part 25, the tool rack 30, and the tool 37 mounted on the rack 30, and the tool 3
7 is smoothly inserted into the tool holding portion 36g.

When the tool 37 is inserted into the tool holding portion 36g, the supply of pressure oil to the cylinder 25c is cut off, and in this state, the main body 1
1 moves in the A direction together with the tool gripping section 25. Then,
The arm 26 of the tool gripping portion 25 is a coil spring 25e.
The engagement with the tool 37 is released while rotating in the C direction against the elasticity of the tool 37, and the tool 37 is moved into the intermediate transfer pocket 36 by the coil spring 36u as shown in FIG. The lock pin 36t biased in the direction and the groove portion 37b of the pull stud 37a are held in an engaged manner.

By the way, the tool 37 stored in the intermediate transfer pocket 36
is then installed on a machine tool such as a machining center using an ATC device (“automatic tool changer”) installed on the machine tool side.
Abbreviation for. Hereinafter, it will be simply referred to as the "ATC device." ), the tool 37 is transferred again and attached to the spindle, and the tool 37 that has been attached to the spindle and has completed the machining operation is returned to the intermediate transfer pocket 36 by the ATC device. In addition, in the tool storage and supply device 1, the tools 37 are transported to the intermediate transfer pocket 36, as shown in FIGS. 1 and 2, the tools 37 stored in each tool rack 30, more precisely, The tool holder 37C of No. 37 is exchanged by gripping the left side part in the figure, but normally the ATC unit on the machine tool side performs tool exchange by gripping the right side part of the tool 37 in the figure. Therefore, it is sufficient if the tool holder 37c is symmetrical, but the special tool 3 attached to the asymmetrical tool holder 37c
7, when the tool gripping section 25 grips the grippable part on the left side of the tool, the intermediate transfer pocket 3 is opened on the ATC device side.
A problem arises in that the tool 37 inserted into the tool 37 cannot be held as it is.

Therefore, when the tool 37 is pushed and set in the intermediate transfer pocket 36 by the tool robot 10, the cylinder 36q is driven and the rod 36r is driven to protrude in the direction of the arrow 1 in FIG. 17. Then, as shown in FIG.
The rotary holder 36b rotates 180° via the rack 36s1 formed on the rack 6r and the pinion gear 36p. As shown in FIG. 16, the rotary holder 36b is provided with a key 36v that can engage with a keyway provided in the tool 37, so the tool 37 rotates in synchronization with the rotation of the rotary holder 36b.
Rotate 80°. On the other hand, when the rotating holder 36b rotates 180 degrees, the rotation is transmitted to the shaft 3 through the gear 361.36k.
61 and further rotate the cleaning holder 36d in the same direction as the rotating holder 36b via the gears 36j and 36h.

Then, the cleaning brush 36f attached to the cleaning holder 36d also rotates together with the cleaning holder 36d, and when the tool 37 is attached to the main spindle of the machine tool, the tapered shaft 37d of the tool holder 37c holds the tool 37 in close contact with the main spindle. Removes foreign matter such as dust attached to the machine to enable accurate machining work. The cleaning holder 36d is
Depending on the gear ratio, the rotary holder 36b rotates several times during 180° rotation, so cleaning of the tapered shaft 37d is smoothly performed over the entire circumference of the tapered shaft 37d. At the same time, compressed air is supplied from the air supply hole 36w provided at the right end of the frame 36a in FIG. 17 to the tool holding part 36g through the rotary holder 36b.
Foreign matter such as dust emitted by the cleaning brush 36f is discharged to the outside through the gap 38 between the tool 37 and the rotary holder 36b, and the tapered shaft 37d is maintained in a clean atmosphere. In this way, while cleaning the tapered shaft 37d,
When the tool 37 is rotated 1800 times in the tool holder 36g, the grippable side of the tool 37 is positioned on the side gripped by the ATC device of the machine tool, that is, on the right side in FIG.
The subsequent transfer operation of the tool 37 to the machine tool by the device is performed smoothly.

On the other hand, regarding the tool 37 returned to the intermediate transfer pocket 36 by the ATC device, the cylinder 36q is driven,
The rod 36r is moved in the direction J in FIGS. 17 and 18. Then, the rotary holder 36b rotates 180° in the opposite direction to the previous direction via the rack 36s and the vinyl grip τ3Gp, and the grippable side of the tool 37 is moved from the right side in FIG. 1 to the tool robot 10. The tool 37 is moved to the left side where it can be gripped, and the cleaning brush 36f performs the same leaning operation as described above on the tapered shaft 3 of the tool 37.
? d to clean the tapered shaft 37d.

Next, the cylinder 23 of the tool robot 10 is driven to cause the piston rod 23a to protrude in the direction of the arrow, as shown in FIGS. 6 and 7. Then, the tool gripping section 25 opens the tool racks 30A, 30. While the interval between them becomes ST, as described above, the tool 37 enters the tool rack 30A etc. without interfering with the tool holding groove 25f and the tool holder 37c of the tool 37 returned by the ATC device in the intermediate transfer pocket 36. are positioned so that the phases in the directions of arrows C and D match, and the phases in the vertical direction in FIG. 3 also match. Then, when the motor 15 is rotated by a predetermined amount again and the main body 11 is moved in the B direction together with the tool gripping portion 25, the tool holder 37c of the tool 37 is fitted into and engaged with the tool gripping groove 25f. In this state, the cylinder 25c
Pressure oil is supplied to press the arm 26 in the H direction around the pin 26a, and the tool 37 is firmly supported without falling into the tool gripping groove 25f.

In this way, when the tool 37 is gripped by the tool gripping portion 25,
This time, the piston rod 23a of the cylinder 23 is moved back in the C direction. Then, the tool 37 held by the tool gripping part 25 leaves the intermediate transfer pocket 36 and is moved in the C direction together with the tool gripping part 25 and taken out. When the tool gripping part 25 is moved in the C direction together with the tool 37,
The motor 15 is driven to move the main body 11 in the A direction, and the tool 37 is moved to the tool rack 30 where the tool 37 is to be stored.
Transfer the object while it is being held. Also, during that time, the motor 19
Drive the hand mechanism section 22 and tool gripping section 25!
, in the C direction to position the tool 37 on the tool gripping section 25 at a position corresponding to the tool pocket 31 of the tool rack 30 to which the tool 37 is to be returned.

In this way, the tool robot 10
The piston rods 33a of the two release cylinders 33 provided above and below the tool robot main body 11 move in the direction indicated by the arrow in FIG. It is driven to protrude in the direction. Then, the piston rod 33.
The tip of a is brought into contact with the release pin 32g of the coupling mechanism 32 of the tool rack 30, and the release pin 32g is further pushed in the direction of the arrow in FIG. 13 against the elasticity of the coil spring 32i. As a result, the lock pin 32e also moves in the D direction via the pin 32f, and the lock pin 32 gate and the engagement groove 3
The adjacent tool rack 30° that was in the locked state via 2b (the tool 37 to be returned to this tool rack 30
There is a tool pocket 31 for storing. ) pin 32a
As shown in FIG. 14, the locking hole 32 into which the pin 32a was inserted has been disengaged from the four pins 324.
It becomes possible to leave from c.

Then, the rack release cylinder 35 provided on the corresponding frame, either the main frame 2 or the subframe 3, in which the tool rack 30 with the release pin 32g pressed is installed, is driven, and the piston rod 35m
It is driven to protrude in the direction of arrow B in the figure. Piston rod 35a
is driven to protrude in the direction of arrow B, and accordingly, the tool rack 30A fixed to the piston rod 35a and one or more tool racks 30 connected to the tool rack 30A via the coupling mechanism 32. Start moving in direction B. The tool rack 30 is connected and engaged with a tool rack 30 provided with a release pin 32g with which a release cylinder 33 abuts and engages, through a retaining hole 32c, the right side of FIG. The pin 32a moves away from the engagement hole 32c in the direction B, and the tool rack 30 degrees and the tool rack 3
A space corresponding to the stroke ST of the rack opening cylinder 35 is formed between the tool racks 30 on the left side of FIG. 14 at 0°.

Thus, the tool 37 is returned to the knoll pocket 3.
When all the tool racks 30 on the right side of FIG. 1 have moved in the B direction by the stroke ST from the tool rack 30 provided in the tool rack 1, the main body 11 is moved by a predetermined amount in the B direction, and the tool 37 of the tool grip part 2S is moved. The tool pockets 31 in which the tools 37 of the tool rack 30 are to be returned are opposed to each other.

Therefore, by driving the cylinder 23, the piston rod 23a
is made to protrude in the direction of the arrow, as shown in FIGS. 6 and 7. Then, the tool gripping part 25 fits into the space between the tool racks 30 and 30o opened by the rack release cylinder 35 without interfering with the tool rack 30, etc., and the tool 37 being gripped is inserted into the tool rack 30. into a predetermined tool pocket 31 of the tool.

When the tool 37 is inserted into the tool pocket 31, the supply of pressure oil to the cylinder 25c is cut off, and in this state, the main body 11 moves in the A direction together with the tool gripping portion 25. Then, the arm 26 of the tool gripping part 25 is connected to the coil spring 2.
The tool 37 is disengaged from the tool 37 while moving in the direction C against the elasticity of the tool 5e, and the tool 37 is held in the tool pocket 31.

In this state, the tool gripping part 25 is returned in the C direction, and the rack opening cylinder 35 is further driven in the A direction, and the tool rack 30 that has been split for return is connected again via the coupling mechanism 32. The tool robot 10 completes the through-return operation, and the tool robot 10 moves to the next tool 37.
Prepare for supply operation.

Next, the case where the tool 37 is set in the present tool storage and supply device 1 will be explained.

Among the tool racks 30 provided on the subframe 3 of the tool storage and supply device 1, the third tool pocket 31A from the bottom of the leftmost tool rack 30 in FIG. 1 is used as a tool attachment/detachment stage. When the operator sets the tool 37 in the tool pocket 31 of each tool rack 30 of the tool storage and supply device 1, and collects the used tool 37 from each tool pocket 31, Perform the work. That is, when the tool 37 is installed and set in the tool pocket 31 of each tool rack 30, the tool 37 to be installed is installed and set into the tool pocket 31A manually or via a tool supply means such as a predetermined tool supply robot. do. In this state, the tool robot 10 is driven to make the tool robot 10 grip the tool 37 attached to the tool pocket 31A, and is exactly the same as when storing the tool 37 from the intermediate transfer pocket 36 into each tool pocket 31. , the tool 37
The tool 37 is transferred to the tool pocket 31 where it is to be stored and further stored. In this way, the tools 3 to be stored one after another
7 is set in the tool pocket 31, and then the tool 37 is set in the tool storage and supply device 1 by being stored in each tool pocket 31 by the tool robot 10. The same applies to the case where the installed tool 37 is collected from each tool pocket 31, and the tool 37 to be collected from each tool pocket 31 is transferred to the tool pocket 31, which is the tool removal stage, by the tool robot IO.
The tool 37 is transported and installed until a worker or the like removes and collects the tool 37 from there. In this way, the predetermined tool pocket 3
1 as the tool attachment/detachment stage 1, an operator or the like can simply attach the tool 37 to the tool pocket 31A, and then move the tool 37 to any location in the tool storage/supply device 1.
It is extremely convenient because the tool 37 can be set and furthermore, the tool 37 can be retrieved from the tool storage/supply device 1 at a single location in the tool pocket 31A. Note that the tool attachment/detachment stage is not limited to one tool pocket 31A, and it is naturally possible to use a plurality of tool pockets 31 as a tool attachment/detachment station.

Further, as in this embodiment, some tool racks 3011 are fixedly provided independent of a group of tool racks 30 that are moved and opened by a movement drive means for tool racks 30 such as a rack opening cylinder 35. and the fixed tool rack 30. As for the tools 37 that are installed and set, the tool robot 10 can immediately attach and detach the tools 37 without opening the tool rack. Therefore, if the tool selection is performed by the normal opening/closing operation of the tool rack 30, but if the operation time for the tool robot 10 to supply the tool 37 to the machine tool becomes longer than the machining time, the tool 37 will be By mounting the tools 37 on a fixed tool rack 30, the time required to open and close the tool rack 30 can be shortened, making it possible to supply the tools 37 with high mobility.

Furthermore, the tool storage and supply device 1 according to this embodiment is composed of two frames, a main frame 2 and a subframe 3, and the main frame 2 and subframe 3 are also shown in FIGS. 1 and 2. As shown in the figure, it has a module configuration that can be freely separated and connected, so the tools 3 to be supplied can be
70 Depending on the number of frames, it is possible to configure only the main frame 2, the main frame 2 and the sub-frame 3, or even the main frame 2 and a plurality of sub-frames 3. That is, the main frame 2 and subframe 3 are equipped with tool robots! Guide rail for O to run6.
9. The running guide means such as the rack 7 is connected to the tool robot 1.
Since it is provided so that it can be extended and connected along the running direction of the main frame 2, the subframe 3 can be attached to the main frame 2 as needed.
By adding a tool robot 10 and connecting the traveling guide means so as to pass through both frames, the tool robot 10 can immediately travel between both frames, and the number of tools to be supplied can be easily increased.

Note that the above embodiment is based on the tool rack 30 according to the present invention.
As shown in FIGS. 1 and 2, the tool rack 30 according to the present invention does not necessarily have to be installed vertically in the figure, but it is not necessarily necessary to install it vertically, but it can be placed horizontally. It may be provided in the form. Further, the tool rack 30 is formed into a shutter shape via a chain or the like, and the tool rack 30 formed in the shutter shape is moved appropriately to exchange the tools 37 between the tool exchange device provided at a predetermined position. Of course, it is also possible to configure it so that exchange is performed.

In addition, a tool pocket 3 provided in the tool rack 30
1 does not necessarily have to be an equal pitch, and can of course be changed as appropriate depending on the size of the tool 37 to be stored. In the case of this embodiment, the lowermost tool pockets 31 of the tool rack 30 in FIGS. 1 and 2 are arranged at a pitch larger than that of the other tool pockets 31, so that large-diameter tools 37 can be stored. It makes it seem possible.

(g) 0 Effects of the Invention As explained above, according to the present invention, the frame 30c is formed in a band shape, and the frame 30C has a plurality of tool pockets 31 in which tools 37 can be attached in the longitudinal direction. Since the tool racks 30 are arranged in one row, by arranging a large number of tool racks 30 as shown in FIGS. 1 and 2, it is not only possible to store the tools 37 at an extremely high density. Since it is possible to increase or decrease the number of tools 37 in the tool storage and supply device 1 using the tool rack 30 as one unit, it is possible to easily create the tool storage and supply device 1 with the number of tools stored in accordance with the processing content. Furthermore, the subsequent expandability of the tool storage and supply group W1 can be greatly increased.

[Brief explanation of drawings]

1 is a front view showing an example of a tool storage and supply device to which an embodiment of the tool rack according to the present invention is applied; FIG. 2 is a front view of the main frame portion of the tool storage and supply device of FIG. 1; Figure 3 is a front view showing the tool robot part, Figure 4
The figure is a plan view of Fig. 3, Fig. 5 is a side view of Fig. 3, Fig. 6 is a front view showing the hand part of the tool robot, Fig. 7 is a plan view of Fig. 6, and Fig. 8 is a tool Figure 6 is a view from the ■ arrow in Figure 6 showing the gripping part, Figure 9 is a front view of the tool rack part,
Fig. 10 is a plan view of Fig. 9, Fig. 11 is a side view of Fig. 9, Fig. 12 is a front view showing the coupled state of the tool rack, Fig. 13 is a side view of Fig. 12, Fig. 14 is a plan view of Fig. 12, Fig. 15 is a plan view showing the lock release mechanism of the tool robot, Fig. 16 is a front view showing the intermediate transfer pocket, Fig. 17 is a side view of Fig. 16, and Fig. 18 is a plan view of Fig. 12. X in Figure 17
It is a sectional view taken along the -X line. 30...Tool rack 30c...Frame 31...Tool pocket Applicant Yamazaki Iron Works Co., Ltd. 0 (J Rochi)

Claims (1)

[Claims] 1. A tool rack comprising a frame formed in a band shape, and a plurality of tool pockets arranged in a row in the longitudinal direction of the frame into which tools can be attached.