JPS6150733A - Tool storage and supply device - Google Patents

Abstract

PURPOSE:To shorten the opening and closing time of tool racks provided with tool pockets in which tools to be frequently used, etc. are set, to mobilize the supply of tools, by arranging more than one stationary racks among mobile racks laid on a guide means on a frame. CONSTITUTION:More than one tool racks 30B are stationarily arranged, independently from a group of tool racks 30 which are moved by a distance ST by means for moving the tool racks 30, composed of rack opening cylinders. Accordingly, tools set on the stationary tool racks 30B may be loaded and unloaded by a tool robot 10 at once without opening and closing operation of the racks, tools which are frequently used, or whih are used for a short fabrication time so that the time of tool supply to a machine tool would be longer than the fabrication time if the selection of tools is made after the opening and closing of the racks, these tools are set on the racks 30B to shorten the tool supply time by the time required for opening and closing the racks 30, thereby a highly mobilized tool supply may be made.

Description

DETAILED DESCRIPTION OF THE INVENTION (a) Industrial Application Field The present invention relates to a tool storage device suitable for application to a tool storage and supply device (ζ) for supplying tools to machine tools such as machining centers.

(b), Prior Art Conventionally, drum-shaped tool magazines, chain-type tool magazines, etc. have been known as this type of tool storage device, but each of them can only store dozens of tools. That was the limit.

(C)0 Problems that the invention attempts to solveHowever, recently,
Machining 8I Unmanned machining methods are becoming popular, and in such cases, in order to process many types of workpieces, the number of tools that must be supplied to the machine tool becomes extremely large. With the conventional number of tools stored on the order of several dozen, there was a problem in that proper machining operations could not be executed.

Therefore, it is possible to store multiple tools by installing multiple drum-shaped tool magazines and replacing the magazines with the machine tool, or by extending the chain in a chain-type single-tool magazine. Store a large number of tools 1
Various storage methods have been devised, such as a storage system with multiple chain-type single-tool magazines installed in parallel, but these methods take a long time to supply tools to the machine tool, and the installation, base, etc. There were many problems such as an increase in the size of the tool, and it could not be said to be very practical for supplying 100 to several 100 tools.

There was also a method in which tools were stored in a three-dimensional storage shelf and the tools were delivered using a tool transfer means such as a tool transport robot. When taking out and storing tools, it is necessary to avoid interference between the robot and adjacent tools, so it is not possible to store tools with a density of 7J, and in order to store several hundred tools, the installation This had the disadvantage of increasing space.

In order to eliminate the above-mentioned drawbacks, the present invention has been made to prevent the occurrence of interference between the tools and the transfer and conveyance means, and to store a large number of tools in a high density and therefore in a narrow space. It is an object of the present invention to provide a tool storage device that can be used.

(d) Means for solving the zero problem, that is, the present invention has a frame and a plurality of strip-shaped tool racks, a guide means is provided on the frame, and a plurality of tool ranks are arranged on the guide means. At least one tool rack is fixedly provided on the frame, and tools can be stored in all of the tool racks.A plurality of tool pockets are arranged in the longitudinal direction of the tool rack. Be configured.

(e) 0 effect With the above configuration, tools are stored in the tool pockets of each tool rack, and when inserting or removing a tool, the corresponding tool rack is moved and the tool is loaded into the tool rack and the tool rack. The tool receiver prevents interference between the tool and the transfer means, and furthermore, for tools stored in a fixed tool rack, the tool can be punched out immediately without moving the tool rack. Work as best you can.

(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 using an embodiment of the tool storage device according to the present invention; FIG. 2 is a front view showing a main frame portion of the tool storage and supply device of FIG. 1; Figure 3 is a front view showing the sole 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 mechanism of the tool robot, Fig. 7 is a plan view of Fig. 6, and Fig. 8 is a plan view of Fig. 3. Fig. 6 is a view in the direction of the arrow in Fig. 6 showing the tool grip, Fig. 9 is a front view of the tool rack portion, Fig. 10 is a plan view of Fig. 9, Fig. 11 is a side view of Fig. 9, Figure 12 is a front view showing the combined state of the tool rack;
Fig. 13 (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, 17 is a side view of FIG. 16, and FIG. 18 is a cross-sectional view taken along the line X--X of FIG. 17.

As shown in FIG. 1, the tool storage and supply device 1 has a main frame 2 constituting a tool storage device 4 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 of the main frame 2 and subframe 3.

At the tip of the bracket 5, a guide rail 6 is laid across the main frame 2 and the sub-frame 3 in the left-right direction in FIGS. Similarly, racks 7 are installed along the left and right directions in FIGS. 3 and 4. 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 10 is attached to the guide rail 6.9 in a guide groove provided in the tool robot body 11. 12 and guide rollers 13, it is movable in the directions of arrows A and B in FIG. At the top of the main body 11 (Yo, motor 1
5 is provided, and a pinion gear 17 is provided on the motor 15 through a power transmission means such as a reduction gear 16 so as to be rotatably driven. The pinion gear 17 meshes with the rack 7, and therefore, by appropriately driving the motor 15 in the forward and reverse directions, the main body 11 is moved along the guide rail 6. 9
It is driven to move in the directions of arrows A and B while being guided by.

Further, the main body 11 is provided with a motor 19, and the motor 19 is connected to a feed screw 21 (supported and installed rotatably in the vertical direction in FIG. 3) of the main body 11 via a power transmission means such as a timing belt 20. The hand til1 part 22 is screwed into the feed screw 21, and the J% land structure 22 is connected to the main body 11 through the feed screw 21.
It is engaged with two guide rails lla formed in parallel with the guide rails 21 so as to be movable in the installation direction of FIG. A hydraulic cylinder 23 is provided in the And Tiit structure 22, and a piston rod 23a is provided in a bent shape so that it can freely protrude and retract in the directions of arrows C and D.
As shown in FIG. 6, multiple slide bearings 22a are provided.
However, the guide IJ!
A hole 2sb for supplying pressure oil to the tool gripping portion 25 is bored through the center along the center of the hole 2sb, and a guide hole 25a
' has a hole 25b' for installing a cord connected to a proximity sensor 27, which will be described later. In addition, the tool grip part 25
The tip of the piston rod 23a mentioned above is fixed to.

Moreover, as shown in FIG.
A piston 25d is provided in the cylinder 25c so as to be movable in the direction of the arrow E1F. A coil spring 25a is compressed between the piston 25d and the cylinder 25c, and the coil spring 25e always urges the piston 2Sd in the direction of arrow E. Further, an arm 26 is provided on the tool gripping portion 25 so as to be rotatable in the directions of arrows G and H via a pin 26m, and the tip of the piston 25d mentioned above is attached to the left end of the arm 26 in FIG. are abuttingly engaged.

Furthermore, a proximity sensor 27 is provided in the tool gripping part 25 with its tip facing a tool gripping groove 25f formed in a U-shape in the tool gripping part 25. It is possible to detect the presence or absence of a tool.

On the other hand, the steel plate 29 of the main frame 2 and subframe 3
As shown in FIGS. 9 and 11, upper and lower brackets 29a 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 seat 29b A guide groove 29c is formed in the A and B directions, and a guide groove 29c is formed in the upper bracket 29a.
A guide rail 29d is similarly installed in the AXB direction. A guide rail 29d and a guide groove 29clζ (a plurality of regular long strip-shaped tool racks 30 are installed).
Each tool rack 30 has a plurality of tool pockets 31 that can hold tools in the vertical direction in FIG. The grooves 30 are provided in a line in the longitudinal direction. Each tool pocket 31 is provided with a key 311F 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 moving inside the tool pocket 31. Prevent rotation.

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 fixed bin 32a with its tip protruding toward an adjacent tool rack 30 to be connected.

As shown in FIG. 14, an engagement groove 32b is bored at the tip of the bin 32a, and an engagement hole 32c is formed in the adjacent tool rack 30 at a position facing the bin 32a.
is formed so that the bottle 32a can be freely inserted and engaged therein. As shown in FIG. 13, the engagement hole 32c is provided with a hole 32d perpendicular to the engagement hole 32c.
A lock pin 32a is fitted into the hole 32d so as to be movable in the directions of arrows C and D. A bin 32f is installed in the lock bin 32a, and the bin 32f is inserted into a hole 32h that is bored parallel to the hole 32d above the hole 32d in FIG.
Release bottle 32g inserted so as to be movable in the directions of arrows C and D
It is inset and engaged. A coil spring 32i is compressed between the release pin 32g and the hole 32h, and the coil spring 32i always urges the release pin 32g in the direction of arrow C.

As shown in FIG. 15, at a top and bottom position of the tool robot main body 11 facing the coupling mechanism 32 of the tool rank 30, a release cylinder 33 is provided so that the piston rod 33a can be freely protruded and retracted in the directions of arrows C and D. They are set up in different shapes.

In addition, among the plurality of movably provided tool racks 30, regarding the main frame 2 and the sub-frame 3,
In Fig. 1, the tool rack 30 installed at the rightmost or 62nd position of each frame has a 10th
As shown in the figure, the rank release cylinder 35 installed on the side plate 29 is connected to the rank release cylinder 35 via a screw 35a provided so as to be able to protrude and retreat in the directions of arrows A and B. Drive piston rod 3
511 in the ASB direction, the tool rack 30A is moved along the guide rails 29d, etc. A and B.
You can move in the direction of uJ.

In the main frame 2 and subframe 3, the rightmost tool rack 30 in FIG. ．． 30. For example, the tool racks 30 of the main frame 2 are each fixed to a side plate 29, and an intermediate transfer pocket 36 is provided at approximately the center of the tool rack 30 of the main frame 2. As shown in FIGS. 16 and 17, the intermediate transfer pocket 36 has a frame 36a fixed to the tool rack 3011, and a rotary holder 36b is rotatably attached to the frame 36a via a bearing 36c or the like. It is provided. The rotary holder 36b is further provided with a cleaning brush 36d rotatably via a bearing 36e. 36g with a protruding brush portion at the tip. A gear 36h is formed on the outer periphery of the Kryungholg 36d, and the gear ashtc is a gear 36i attached to a shaft 36i rotatably supported by the frame 36a.
They mesh through a slit 36m formed in 6b. A gear 36k is provided at the other end of the shaft 361, and meshes with the gear 361 formed at the left end of the rotary holder 36b in FIG. 17. In addition, the rotating holder 36
A pinion gear 36p is completely formed at the right end in the figure b, and the pinion gear 36p has a rod-shaped rod 3 provided so as to be able to protrude freely in the direction of arrow ISJ by a cylinder 36q.
The racks 36s formed at 6r are engaged with each other, as shown in FIG. Further, a lock pin 36 (as shown in FIG. 17) is provided on the rotating holder 36b so as to be movable in the direction of the arrow lSJ, and the lock pin 36t is biased in the direction of the arrow 1 by a coil spring 36u. This lock pin 36t engages with the groove portion 37b of the pull stud 37a of the tool 37 fully attached to the tool holder 36g by utilizing the Wl property of the fill spring 36u, and 36g to prevent the T-cone tool 37 from accidentally falling off from the tool holder 36g.
This is a proximity sensor for detecting whether or not it is inserted.

Since the tool storage and supply device J1 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 and the operator's instructions, the tool robot 10 is moved in the directions of arrows A and B in FIG. Move as appropriate. This move! As already explained, the l1lI operation is performed by rotating the motor 15 on the sole robot body 11 in the forward and reverse directions as appropriate to set the deceleration value to 16, the pinion gear 17,
Furthermore, this is performed by the rack 7 that meshes with the pinion gear 17. The tool robot 10 is driven in directions A and B to a position facing the tool rack 30 on which tools 37 to be supplied to the machine tool are mounted. As already mentioned, the guide rail 6.9 is connected to the main frame 2 and the subframe 3.
The tool robot 1 is installed so that it passes through the
o can freely travel between the main frame 2 and subframe 3.

On the other hand, in the sole pocket 31 of each tool rack 30,
Tools 37 to be supplied are stored (in this embodiment, 14 tools 37 are stored for each sole rack 30), and each tool rack 3 stores one of these tools.
In the normal state, as shown in FIG. 9, adjacent tool racks 30 are connected to each other by a connecting mechanism 32 and are integrated. Tool rack 30..Excluding 30.). The tool rack 30 is integrated with the main frame 2 and the sub-frame 3 as one unit, so the tool rack 30 at the right end of each frame is fixed to each main frame 2 and sub-frame 3. In the other tool racks 30, in the connected state, the piston rod 35a of the rank open cylinder 35 of each frame is
, by protruding and retracting in direction B, the guide rails 29d5 and 29c are moved in one piece, respectively!
[ilI be driven.

In this way, the sole robot 10 supplies the tool 37
15, the piston rods 33a of the two release fringes 33 provided above and below the tool robot main body 11 are positioned opposite the tool rack 30 having the sole pocket 31 in which the tool robot body 11 is housed. Project and move in the direction of the arrow. Then, the tip 1"d of the piston rod 33a comes into contact with the release pin 32g of the M connection 1b12 of the tool rack 3o, and the release pin 32g is moved in the direction of the arrow in FIG. 13 against the elasticity of the fill spring 32i. As a result, the lock bin 32e also moves in the D direction via the bin 32f, and the tool rack 3o0 on the right side of FIG. The bin 32a (in which a tool 37 to be supplied at 3o0 is stored) is disengaged from the lock bin 326 and is ready to be removed from the engagement hole 32c into which the pin 32a was fitted.

Then, the release bin 32 [the tool rack 30 with + suppressed]
The rank opening cylinder 35 provided in the corresponding frame of either the main frame 2 or the subframe 3 is driven, and the piston rod 35a is
The protrusion M is moved in the direction of arrow B in the WcIo diagram. As the piston rod 35a slides over the circular protrusion 1IiII in the 1IIB direction, the tool rack 30. which is fixed to the piston rod 3Sa. and one or more tool racks 3 connected to the sole rank 3OA via the connection 8J structure 32.
o starts moving in direction B (of course, depending on the situation, there may be times when only the tool rack 30A is present). The tool rack 30 is connected and engaged with a tool rack 3o provided with a release bin 32g with which a release fringe 33 is abutted and engaged, through an engagement hole 32c, the right side of FIG. The pin 32a moves in the B direction with the pin 32a separating from the engagement hole 32c, and the tool rack 3oo on the leftmost side in FIG. There is a rank open shilling 35 between the tool racks 30 on the left side of Solla νri 30o in Figure 14.
A space corresponding to 0 stroke ST is formed.

Note that in the drawings of FIGS. 12 and 14, tool racks 30A and 30. However, it goes without saying that this explanation applies regardless of whether they match or do not match.

In this way, from the tool rack 30° portion where the tool 37 to be supplied is mounted, the tool rack 30 on the right side of FIG. 1 is all stroked STf! When the robot moved in the B direction, the motor 9 of the tool robot 1o was driven to rotate.
The feed screw 21 is moved in the forward and reverse directions by an appropriate predetermined angle t! via the timing belt 20 and the like. Rotate. Then, the hand 81#lt portion 22 screwed into the feed screw 21 moves through the guide rails 11a and lla to the arrow mark J in FIG.
move on the main body 11 in the direction. Therefore, hand 8115
Hold the tool gripping section 25 provided in the i section 22 to the target tool 3.
7 is stored in the tool pocket 3], and in that state, drive the fringe 23 to move the piston rod 23a in the direction of the arrow, as shown in FIGS. 6 and 7. 2 wooden guide rods 25m for tool gripping part 2s,
25a' is moved in sliding contact with the slide bearing 22a so that it protrudes. Then, the tool gripping section 25 is moved to the tool rack 30 opened by the rack release cylinder 35.
．． 30 into the space between the tool racks 30 and the like without interfering with each other, and as shown in FIG.
4425 f and the target tool 37 in the tool rack 30o
and have the same phase in the direction of the arrow CSD, and the third
Position them so that the phase in the vertical direction of the figure also matches. Therefore, when the motor 15 is rotated by a predetermined amount again and the main body 11 is moved in the direction B together with the tool gripping portion 25, the tool gripping groove 2
The tool holder of the tool 37 is fitted and engaged with 5f. 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. Arm 2
6 is biased toward the H side by the fill spring 25e even in the normal state, so even if the supply of pressure oil to the cylinder 25c is stopped, the tool 37 will not hold.
It will not fall off from iig25f. Further, the insertion and engagement operation of the tool 37 into the tool grip J 2 s f is performed in a state where pressure oil is not supplied to the cylinder 25c.
is carried out by moving toward the tool 37 in the B direction, so the tool holder of the tool 37 fits into the tool gripping groove 25f while rotating the arm 26 in the C direction against the elasticity of the coil spring 25e. , the gripping operation of the tool 37 should be performed smoothly.

In this way, when the tool 37 is gripped by the tool gripping portion 25,
Now move the piston rod 23a of the cylinder 23 back 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 eight directions, passing through the main frame 2, and fixing it to the rightmost side of the main frame 2. A tool rack 30 is provided with up to 37 tools.
Transfer the object while it is being held. Furthermore, during that time, the motor 19
by driving the hand mechanism section 22 and the tool gripping section 25.
, move the tool 37 in the tool gripping section 25 as appropriate in the J direction.
the intermediate transfer pocket 36 of the tool rack 30.1
Match the vertical position of

In the meantime, the rank release cylinder 35 moves the piston rod 35a backward in the A direction, and returns the plurality of tool racks 30 including the tool rack 30 that had been moving in the B direction to the A direction, as shown in FIG. As shown, the tool rack 30 was separated earlier and the tools 37 were taken out.
Insert the tool 37 into the engagement hole 32c of the tool rack 30 to the left of
Insert and engage the bin 32a of the removed tool rack 30°. As a result, the space previously formed is closed, and the stroke ST of the rack opening cylinder 35 is
The distance corresponding to the distance between the rightmost tool rack 30 and tool rack 30A of the main frame 2 or subframe 3 is
is formed between. On the other hand, the pin 32a is connected to the engagement hole 32c.
When the pin 32a is inserted into the lock pin 32e, the lock pin 32e is inserted into the pin 32f, 8'l removal pin 32.
The engagement groove 3 is forcibly moved in the direction of the arrow in FIG.
2b, and the tool rack 3o, which had been separated until then, and the tool rack 3o to its left are connected via the bin 32a as before. In addition, the engagement groove 32b and the bottle 32I! 1 connection is on each other's inclined surfaces 32J132k
Because of this imitation, the connection between the tool rack 30° and the tool rack 3o to the left of the tool rack 3o can be smoothly and reliably connected with both racks 3o in close contact with each other.

Thus, the tool rack 30. When all the tool racks 30 other than the main frame 2 and the sub-frame 3 are integrated, the tool robot 10 positioned opposite the intermediate transfer pocket 36 of the tool rack 308 of the main frame 2 moves the cylinder 23. The piston rod 23a is driven to protrude in the D direction, and the tool 37 held by the tool gripping part 25 is pushed into the tool holding part 36g of the intermediate transfer pocket 36. At this time, all the tool racks 3o other than the tool rack 30a are
Move in the direction of figure A, so the tool rack 3° and 30AI
III is formed with an interval corresponding to (or more than) the stroke ST of the rack opening cylinder 35, so even if the tool gripping part 25 is protruded in the direction of the tool 30 or in the D direction, The tool gripping section 25, the tool rack 30, and the tool 37 mounted on the rack 30 should not interfere with each other, and the tool 37 should be smoothly inserted into the tool holding section 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 25a.
While rotating in the G direction against the elastic force of The pushed lock pin 36 (and the groove portion 37b of the pull stud 37m are held in such a manner that they engage with each other).

By the way, the tool 37 stored in the intermediate transfer pocket 36
is then transferred again to a machine tool such as a machining center by an ATC device (abbreviation for "automatic tool changer"; hereinafter simply referred to as "ATC device") installed on the machine side of the machine, and the main spindle is The tool 37 that has been mounted on the spindle and has been mounted on the spindle and has undergone machining is returned to the intermediate transfer pocket 36 by the ATC device. In the tool storage and supply device 1, the tools 37 are transferred to the intermediate transfer pocket 36 more accurately than the tools 37 placed on each tool rack 30, as shown in FIGS. 1 and 2. This is done by grasping the left part of the tool holder 37C of the tool 37 in the figure, but normally the ATC device on the machine tool side
Hold the right part in the figure to change the tool. Therefore,
It is fine if the tool holder 37c is symmetrical, but
Regarding the special tool 37 attached to the left-right asymmetrical tool holder 37c, when the tool gripping section 25 grips the grippable part on the left side of the tool, the ATC9li side cannot grip the tool 37 inserted into the intermediate transfer pocket 36 as it is. There will be inconveniences that will disappear.

Then, when the tool 37 is pushed into the intermediate transfer pocket 36 by the sole robot 10, the cylinder 36q is driven, and the rod 36r is driven to protrude in the direction of the arrow {circle around (2)} in FIG. Then, as shown in FIG.
The rotary holder 36b rotates 1800 times via the rank 36s1 pinion gear 36p formed at 6r. 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 gears 36 and 361c.
61 and further rotate the cleaning holder 36d in the same direction as the rotary 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 taper of the tool holder 37c, which holds the tool 37 in close contact with the main spindle, is rotated. Foreign matter such as deafness attached to the shaft 37d is removed to enable accurate machining work. Since the cleaning holder 31zf rotates several times during 1800 rotations of the rotary holder 36b due to the gear ratio Cζ, cleaning of the tapered shaft 37d can be smoothly performed over the entire circumference of the tapered shaft 37d. At the same time, compressed air is supplied into the tool holder 36g from the air supply hole 36w provided at the right end of the frame 36a in FIG. 17 through the rotary holder 36b. Foreign matter such as dust removed by this is discharged to the outside through the gap 38 between the workpiece A37 and the rotary holder 38b, and the tapered shaft 37d is maintained in a clean atmosphere. In this way, while cleaning the taper shaft 37d, the tool 37 is rotated 1800 times within the tool holder afB so that the grippable side of the tool 37 is rotated by the ATC device of the machine tool to the gripping side, that is, to the right side in FIG. Positioned, A
The transfer operation of the tool 37 to the corresponding machine tool by the TC device should be carried out 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 to the right in FIGS. 17 and 14. Then, the rotary holder 36b rotates 180° in the opposite direction via the rack 36s and the pinion gear 36p, and the graspable side of the tool 37 is moved from the right side in FIG. 1 to the sole robot 10. The tool 37 is moved to the left side where it can be gripped, and the cleaning brush 36f performs the leaning operation in the same manner as described above.
7d 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, as described above, the tool gripping part 25 enters the tool rack 30 etc. without any distance while the distance between the sole racks 30A and 308 in the open state becomes ST (or more), and the tool The grip 16γ25+ and the tool holder 37c of the tool 37 returned by the ATC device in the intermediate transfer pokestop 36 are
Position so that the phases match in the directions of arrows C and D, and the phases in the vertical direction in FIG. 3 also match.

Then, the motor 15 is rotated by a predetermined amount again, and the tool holder 37c of the tool 37 is fitted and engaged with the tool grip ill 25f to move the main body 11 together with the tool grip part 25 in the B direction. 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.

In this way, 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 workpiece A 37, which is being held by the tool gripping part 25, separates from the intermediate transfer pocket 36 and moves together with the tool gripping part 25 in the C direction and is 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. Mat 2, meanwhile motor 1
9 to move the hand mechanism section 22 and the tool gripping section 25 appropriately in the {circle around (2) and J} directions, and then move the tool 37 of the tool gripping section 25 as appropriate.
is positioned 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
When the tool robot body 11 is completely positioned in a position facing the tool rack 30 having the tool pocket 31 to be stored therein, the piston rods 33a of the two release cylinders 33 provided above and below the tool robot body 11 move in the direction indicated by the arrow in FIG. Be driven forward in the direction. Then, the piston rod 33a
The tip 0+llt and the release pin 32 (H) of the connection mechanism 32 of the sole rack 30 come into contact, 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 bin 32a also moves in the D direction via the bin 32f, and the tool 37 to be returned to the adjacent tool rack 30, which is engaged with the lock bin 32e via the engagement i7432b, is As shown in FIG. 14, the bin 32a (which has a tool pocket 31 for storage) is disengaged from the lock bin 32a and can be removed from the engagement hole 32c into which the bin 32a was fitted. becomes.

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 bin 32g pushed is installed, is driven, and the piston rod 35a
WJArdJ protrudes in the direction of arrow B in the figure. As the piston rod 35a is driven to protrude in the direction of arrow B, the tool rack 3 fixed to the piston rod 35a
0 and the one or more tool racks 30 connected to the tool rack 30A via the connection mechanism 32 start moving in eight directions. Tool lever νri 30, release cylinder 3
The tool rack 30 on the right side of FIG. 14 was connected and engaged with the tool rack 30 through the engagement hole 32c.
0°, the bin 32a moves in the B direction away from the engagement hole 32c, and the tool rack 30° and the tool rack 3o.

A space corresponding to the stroke ST of the shift opening cylinder 350 is formed between the tool racks 30 on the left side of FIG.

Thus, the tool pocket 3 to which the tool 37 is to be returned
1 provided tool rank 30. From the part, the sole rack 30 on the right side of Fig. 1 is all stroke S T r! When the main body 11 is moved in the direction B, the main body 11 is moved a predetermined amount in the direction B, and the tool 37 of the tool gripping part 25 and the tool rack 3 are
Place the tool pockets 31 in which the tool 37 of No. 0 should be returned to face each other. So, Nlinda 23 is M! Push 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 is moved to the tool rack 30 opened by the rack release cylinder 35.
．． The tool 37 is inserted into the space between 30 degrees without interfering with the tool rank 30 and the like, and the tool 37 being held is inserted into a predetermined tool pocket 31 in the tool rank 30.

When the tool 37 is inserted into the sole 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 insertion 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 rotates in the C direction against the elasticity of the tool 5a.
The tool 37 remains in the tool pocket 31.

In this state, the tool gripping section 25 is returned in the C direction, and the rack opening cylinder 35 is further driven in the inward direction, so that the tool rack 30, which has been divided for return, is re-integrated via the connection mechanism 32. , the return operation by the tool robot 10 is completed, and the tool robot 10 returns the next tool 37.
& Prepare for action.

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 sole pocket 31A from the bottom of the tool rack 30 on the leftmost side 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/supply device, and collects the used tool 37 from each tool pocket 31, the operator uses the tool pocket 31 to collect the used tool 37 from the 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 have the tool robot 10 grasp the tool 37 attached to the tool pocket 31, 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 37 to be stored are set in the tool pockets 31A one after another, and the tools 37 are 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 tools 37 are collected from each tool pocket 31, and the tool 37 to be collected from each tool pocket 31 is removed from the tool pocket 31 by the tool robot 10.
The tool 37 is transported and installed to A, and then an operator or the like removes and collects the tool 37. In this way, by using the predetermined tool pocket 31A as a tool attachment/detachment stand, the operator or the like can attach the tool 37 to the tool pocket 31! This makes it extremely convenient because the tool 37 can be set at any location in the tool storage and supply device 1, and the tool 37 can also be retrieved from the tool storage and supply device 1 at a single location in the tool pocket 31A. It is. In addition,
The tool attachment/detachment stage is not limited to the sole pocket 31, but it is also possible to use a plurality of tool pockets 31 as a tool attachment/detachment stage.

Furthermore, the tool storage and supply device 1 according to this embodiment is composed of two frames, a main frame 2 and a sub-frame 3, and the main frame 2 and sub-frame 3 are also shown in FIG. 1 and the second factor. As shown in the figure, it has a monoyl structure that can be freely separated and connected, so the tool 3 to be supplied is
Depending on the number of subframes 7, it is possible to configure only the mainframe 2, the mainframe 2 and the subframe 3, or even the mainframe 2 and a plurality of subframes 3. That is, the main frame 2 and the sub-frame 3 are provided with power idle rails 6 for the tool robot 10 to run on.
．． 9. Since the traveling guide means such as the rack 7 is provided so as to be freely extendable and connectable along the traveling direction of the tool robot 10, the sub-frame 3 can be added to the main frame 2 as needed, and the traveling guide When the means is connected so as to pass through both frames, the sole robot 10 can immediately run between the two frames, and the number of tools to be supplied can be easily increased.

In addition, although the above-mentioned embodiment described the case where the tool rack 30 was installed vertically in the figure as shown in FIGS. 1 and 2, the tool rack 30 does not necessarily need to be installed vertically. Instead, it may be placed in a horizontal position.

Further, in the above-described embodiment, the intermediate transfer pocket 36 is connected to the sole rack 30 fixedly provided within the tool storage bag g14.
As described above, the intermediate transfer pocket 3
6 does not necessarily need to be provided on the tool rack 30, and can of course be provided at an appropriate location outside the storage device 4.

Furthermore, in the case of this embodiment, a case has been described in which the respective tool racks 30 are configured to be freely connected to each other by the connecting mechanism 32. 30
It goes without saying that the structure does not necessarily require that the tool receivers of the tool robot 10 or the like can be connected to each other as long as interference with the transfer and conveyance means can be eliminated by the movement of the tool robots 10 and the like.

(g) 0 Effects of the Invention As described above, the present invention has frames such as the main frame 2 and the sub-frame 3 and a plurality of band-like tool racks 30, and the frames have guide grooves 29.
c. A guide means such as a guide rail 29d is provided, a plurality of the tool racks 30 are movably provided on the guide means, and at least one tool rack 308 is fixedly provided on the frame, all of the above. Since the tool rack 30 is configured with a plurality of tool pockets 31 arranged in the longitudinal direction of the tool rack 30 in which the tools 37 can be stored, the tool rack 30 can be stored in a high density in the tool rack 30. Not only that, but tool robot 1
When the tool 37 is transferred by the transfer means, the movable sole rack 30 is guided by the guide means and moves in a loose manner, so that the receiver is transferred to the tool rack adjacent to the transfer means. Since the tools 37 and the like of 30 are prevented from interfering with each other, there is no need to set a fixed distance between the tool racks 30 to eliminate interference, and therefore the tool racks 30 can be arranged continuously. This makes it possible to easily store hundreds of tools 37 in a narrow space.

U・Tsuku open shilling 35 etc. tool rack 30
one or more tool racks 30 independently of a group of tool racks 30 that are moved and released by a moving drive means;
．． is fixedly provided, so that the fixed tool rack 30. Regarding the tool 37 installed in
Since the tool 37 can be immediately removed from the tool 37 by the tool robot 10 without opening the tool rack, the tool 37 can be used frequently, the machining time is short, and the opening/closing operation of the tool rack 30 is normal. If tool selection was performed using tool robot 10, tool 3 would be selected by tool robot 10.
If the supply operation time to the machine tool 7 is longer than the machining time, the time required to open and close the tool rack 30 can be shortened by mounting the tool 37 on a fixed tool rack 30°. Therefore, it is possible to supply the tool 37 with high 81 motion.
-Furthermore, since a large number of tools 37 can be stored compactly, the tools 37 can be transferred between the tool rank 30 and the intermediate transfer pocket 36 in a short time using the transfer means, and the tools 37 can be transferred to the workpiece 61672. 37 can be supplied quickly.

[Brief explanation of drawings]

FIG. 1 is a front view showing an example of a tool storage and supply device in which an actual example of the tool storage device according to the present invention is used, and FIG. 2 is a front view showing the main frame portion of the tool storage and supply device of FIG. , Figure 3 is a front view showing the tool robot part, and Figure 4 is a front view showing the tool robot part.
The figure is a plan view of figure FG3, figure 5 is a side view of figure 3, and figure 6 is a side view of figure 3.
(Fig. 7 is a top view of Fig. 6, and Fig. 8 shows the tool gripping part.)
Fig. 6 is a view from the ■ arrow in 7ζ, Fig. 9 is a front view of the tool rack section, Fig. 10 is a plan view of Fig. 9, and Fig. 11 is a view of the tool rack section.
Figure 12 is a front view showing the combined state of the tool rack, Figure 13 is a C view of Figure 12, Figure 14 is the first
2 is a plan view, 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.
FIG. 7 is a sectional view taken along line X-XvI of FIG. 7; 2 ゛°Frame (main frame) 3... Frame (subframe) 4 Tool storage equipment 29c Guide means (guide groove) 29d Guide means (guide rail) 30... Sole rack 31 Tool pocket 37 - Tool applicant Co., Ltd. Yamazaki Iron Works Agent Bentsushi Oguchi 1) Shinji (and others) 8 people

Claims (1)

What is claimed is: a frame and a plurality of band-shaped tool racks, the frame is provided with guide means, the guide means is provided with a plurality of the tool racks so as to be movable; and the frame is provided with at least one tool rack. 1. A tool storage device comprising at least one tool rack fixedly provided, and a plurality of tool pockets capable of storing tools in all of the tool racks arranged in the longitudinal direction of the tool rack.