JPS6150744A - Tool lock and unlock device in automatic tool exchanger - Google Patents

Abstract

PURPOSE:To make it possible to grip a tool and to rapidly exchange tools, in a tool lock and unlock device in an automatic tool exchanger for a machine tool, by enabling the tool lock and unlock device to be associated with the tool exchanging operation. CONSTITUTION:A column 14 is retracted in the direction Z under a tool exchange instruction. A dog 1,405 and a limit switch 10001 issue detection signals in accordance with which an automatic tool exchanger 19 being on stand-by while it grips a next tool, initiates its swing toward a spindle. Simultaneously with the stopping of the column at a tool exchanging position, a cam follower in the tool exchanger 19 abuts against a stopper to complete the swing. Then, an arm holder 3 is advanced to confine the gripping of a tool 11 so that the tool 11 may surely be held even if a rapid motion is performed. Thus, the tool may be rapidly exchanged.

Description

[Detailed Description of the Invention] [Field of Industrial Application] The present invention provides a tool lock/unlock device in an automatic tool changer of a machine tool, which is suitable for shortening automatic tool change time and shortening non-cutting time. Regarding.

[Conventional technology]

In a numerically controlled machine tool as shown in Fig. 1,
A tool magazine 12 holding a large number of tools 11 is fixed on top of the tool 0, and the tools 11 are automatically exchanged between the tool magazine 12 and the spindle 13. The main shaft 13 is supported by the column 14 so as to be slidable in the Y-axis direction, and is configured to be moved by a motor 15 and rotated by a driving means (not shown). Further, the column 14 is placed on the bed 10 so as to be slidable in the Z direction, and is moved by a motor 16. A table 17 on which a workpiece is placed is movable in the X direction (Y, orthogonal to the X direction) by a motor 18.

After processing the workpiece with the tool fixed to the spindle 13,
The main shaft 13 and the tool magazine 12 are positioned in a predetermined relationship, and the tools 11 are automatically replaced by an automatic tool changer I9.

Locking and unlocking of the claws of the tools 11 in the automatic tool changer 19 have been performed separately by actuators.

[Problem that the invention seeks to solve]

However, since a separate actuator is used as a device to lock and unlock the tool, it has a separate drive source and does not work well with other means.
Furthermore, there was a problem in that the entire device became large-scale.

The present invention was proposed in order to solve the problem in view of the above circumstances, and its purpose is to provide a unique drive system.
To provide a tool locking/unlocking device for an automatic tool changing device, which does not have a power source and can lock and unlock tools reliably and quickly in conjunction with the transfer operation of the automatic tool changing device. be.

[Means and operations for solving the problems] The present invention has been proposed to achieve the above-mentioned object. Transfer-type automatic aS machine tool that processes workpieces by moving the column back and forth and by moving the spindle unit up and down 9 angles.
In the tool changer, a transfer body is pivotally supported by a tool magazine provided near the column, and rotates between a tool loading position of the tool magazine and the spindle of the spindle unit, and a transfer body is provided on the transfer body and rotates the tool. The tool exchange mechanism includes a magazine and an arm holder for gripping and exchanging tools on the spindle, and a pawl member provided in the tool exchange mechanism for locking and unlocking the tools, and the mechanism includes It is characterized in that the positioning member of the arm holder is pressed against a stopper member on the wall of the tool magazine, and the claw member is locked and unlocked by moving the arm holder back and forth.

Thus, the mechanical interlocking mechanism allows the tool to be locked and unlocked reliably and quickly without a driving source.

(b) Examples Embodiments of the present invention will be described below based on the drawings.

FIG. 2 is a plan view of the vJ1 diagram viewed from the arrow A.

The main shaft 13 moves back together with the column 14 in the Z direction and is positioned at a predetermined relationship value 1 for tool exchange.

A large number of tool holders 1200 are arranged in the tool magazine 12 while being supported by a chain 1201 of a chain wheel, and the tools 11 are stored in the tool holders 1200.

In the 90° space between the spindle 13 and the tool magazine 12, an automatic tool changer 19 is installed at an angle of 30° from the tool magazine 12.
(denoted by θ) are positioned at a distance.

As will be explained in detail later, this position will be the origin position of the automatic tool changer 19.

The automatic tool changer 19 is connected to the main shaft 1 of the tool magazine 12.
s A swinging part 1 which is pivotally supported by the OPJ 614 and is formed so as to be rotatable toward the main shaft 13 side and the tool magazine 12 side with the above-mentioned origin position as a reference point, and a swinging part 1 which is pivoted in a direction along the swinging direction of the swinging part l. A sliding part 2 that is movably supported; and an arm holder that is supported by the sliding part 2 so as to be slidable in a direction orthogonal to the sliding direction thereof, and is rotatably held around the sliding axis. 3, an arm 4 which is fixed to the arm holder 3 and has a claw portion (not clearly shown in the drawings) that is removably engaged with the tool 11, and a tool locking means 5 (not shown) that will be described later.

As will be described in detail later, the automatic tool changer 19 pulls out a desired tool 11a from the tool magazine 12, waits at the origin position, rotates by 60 degrees, and transfers the tool 11a to the main shaft 13. It operates so that it can be inserted into the The tool magazine 12 and the main shaft 13 are separated by a cover 20 that can be opened and closed to prevent chips and lubricating oil from scattering during machining.

Each element of the automatic tool changer 19 will be explained in sequence below.

First, the swinging section 1 will be explained.

Figure 3 is a front view in the direction of arrow B in Figure 1, and Figure 4 is the same as Figure 2.
As shown by the dotted chain line, the automatic tool changer 19 is connected to the main shaft 13.
/! I! It is a partial plan view showing the state at the position where the money has been transferred to I.

The swinging unit 1 is roughly divided into a support metal 101 that is pivotally supported by the tool magazine 12, and a moving machine f11 that rotates the support metal 101.
02.

As shown in FIGS. 2 and 3, the support 101 is pivotally supported by a support 103 fixed to the tool magazine 12 via a pin 104 so as to be swingable. As shown in FIG. 3 and FIG. 8, which will be described later, a guide portion 107 is formed in the support fitting 101, and a guide bar 105 for guiding the sliding portion 2 is attached to the bolt 106 (as shown in FIG. 8). ) is fixed. Further, as shown in FIG. 5, the moving mechanism 10
The bin 108 to which the two are connected is fixed. As shown in FIG. 4, a bracket 110 to which a cam follower 109 is pivotally mounted is integrally formed on the support metal 101, and a metal fitting 112 that supports a connected hydraulic hose 111 is fixed thereto. Figure 3.

As shown in FIG. 4, a cam follower 10 is installed on the column 14 side.
The stopper 1301 that 9 abuts is fixed by the stopper 1302. Note that FIG. 3 shows a sliding guide 1401 on which the column 14 slides in the Z direction, and FIG. 4 shows a Y-axis guide 1402 that supports the main shaft 13 that slides along the column 14 in the Y direction. It is shown.

As shown in FIG. 2, the moving mechanism 102 includes a cylinder 113 with a stroke of 30 degrees and a cylinder 114 with a stroke of 60 degrees, which are connected in series, and a pivot fitting 115 connected to the open end of the cylinder 114 is supported. Metal fittings 10
A pivot metal 11 is coupled to the bottle 108 fixed to the cylinder 1 by a spherical joint and connected to the open end side of the cylinder 113.
6 is connected to a pin 1202 fixed to the tool magazine 12 by a spherical joint. Note that the tilt stopper 117 engages with the tool magazine 12 and prevents the moving mechanism 102 from swinging.

With the above configuration, when the cylinder 113 is operated, the automatic tool changer 19 is moved toward the tool magazine 12 by 30 degrees from the original position, and when the cylinder 114 is operated, it is shifted toward the main shaft 13 by 60 degrees.

Next, the sliding part 2 will be explained.

Fig. 5 is a view taken from arrow C in Fig. 2, Fig. 6 is a view taken from arrow D of Fig. 5, Fig. 7 is a sectional view taken along the line ■-■ in Fig. 5, and Fig. 8 is a view taken from Fig. 2 taken from Fig. 2. It is a sectional view taken along the line -■.

The sliding bodies 201a and 201b are integrally connected with bolts 203 to form a box (FIG. 5). As shown in FIGS. 6 and 8, a guide bush 202 for guiding the guide bar 105 is fitted into the sliding body 201a.

As clearly shown in FIGS. 6 and 7, the sliding body 201a
On one side α, one end side of the bracket 204 is attached to the bolt 2.
05, and one end of a piston rod 206 is coupled to the other end of the bracket 204. The piston rod 206 is inserted into a bushing 119 fitted into a cylinder hole 118 (shown in FIGS. 7 and 8) formed through the guide part 107 of the swinging part 1, and the piston 207 slides into the bushing 119. possible to engage. As shown in FIG. 7, lids 208 and 209 are attached to both open ends of the cylinder hole 11B to close them, and oil passages 2103211 are formed within the lids 208 and 209. Oil passage 210
．． 211 communicates with a passage 120 that communicates with the hydraulic hose 111 (FIG. 4), and also communicates with the interior of the bush 119. Further, a top plug 212 is screwed onto the lid 209, and the other end of the piston rod 206 comes into contact with the top plug 212 to determine the stop position.

With the above configuration, when pressure oil from the hydraulic hose 111 is introduced from the passage 210 into the oil passage 211 of the lid 209, the piston 207 is pressed, the piston lower F206 moves to the right in the figure, and the oil is transferred through the bracket 2o4. Sliding body 20
1a is moved rightward along the guide bar 105.

Conversely, by introducing pressure oil from the lid 208 (1111) using a switching valve (not shown), the sliding body 201a moves to the left in the figure.

Next, the arm holder 3 will be explained.

As shown in FIG. 8, a bush 302 is inserted into the long tube 301, and both are fixed via an arm body 401, which will be described later. A ball spline 303 is inserted into the inner diameter of the bush 302. One end of a drive shaft 304 is inserted into the bush 302 via a ball spline 303. Therefore, Bunosh 302 drives 'Elh 30
The other end of the drive shaft 304, which meshes with the drive shaft 304 and is movable along its axis, is keyed to the sleeve 305 and fixed by a bolt 31O via a plug 309. The sleeve 305 is supported by a bearing 306, and the bearing 306 is fitted and held in a hole 307 formed in the sliding body 201a in a direction perpendicular to the guide bar 105. Further, a torque morph 308 engages with the sleeve 305 and rotates it.

A connecting plate 31 is connected to the outer diameter of the bush 302 via a bearing 311.
2 is inserted into the connecting plate 312, and a piston rod 313 is inserted into the connecting plate 312.
One end side of is connected. A piston 314 formed on the other end side of the piston rod 313 is slidably held within a bushing 315, and the bushing 315 is attached to the sliding J body 201b.
Schilling hole 3 with N1I11 formed parallel to hole 307 in
16. Also, lids 317 and 318 are attached to both ends of the cylinder hole 316! Oil passages 319 and 320 formed at 317° and 318 are bushes 3]5,
l'94. m iI revised ``'!''''4:i[fE#
-X"" pull 211 communicates with path 121.

With the above configuration, the piston rod 313 supplies pressure oil from the hydraulic hose 111 side to the passage 121 and the oil passages 319, 320.
By introducing it into the figure, it moves in the left and right directions in the figure.

As shown in FIG. 6, a rod 323 to which a dog 321° is attached is connected to the connecting plate 312, and limit switches 324 and 325 are connected to the arm holder 3 by the dog 321°.
Detect the moving position of.

With the above configuration, the long cylinder 301 is connected to the piston rod 313.
The drive shaft 3044 moves in its axial direction by
It is rotated by.

As shown in FIG. 8, the arm body 401 is fixed to the long tube 301, moves in the axial direction, and rotates around the drive shaft 304. The arm body 401 is controlled to rotate by 180 degrees.

Next, arm 4 will be explained.

FIG. 9 is a partial cross-sectional view taken in the direction of arrow E in FIG. 8, and claw portions 402 are formed at both ends of a flat arm body 401. The claw portion 402 includes a claw member 403, a locking portion 404 formed on the arm body 401, which engages with the grip portion 1101 (FIG. 13) of the tool 11, and a locking portion 404 that fits into the positioning groove 1102 (FIG. 13) of the tool 11. It is formed from a matching positioning piece 405.

As shown in FIGS. 9 and 12, the claw member 403 is formed into a lever shape, and is pivotally supported near the center of the claw member 403 to the arm body 401 via a pin 406, and has one end attached to the grip portion 1101 of the tool 11. A locking claw-like projection 403a is formed.

A claw member 403 is located near the claw portion 402 of the arm body 401.
A hole 4 in which a spring 409 that comes into contact with the other end is housed
10 is formed. The spring 409 biases the claw-like protrusion 403a of the claw member 403 toward the closing side.

The positioning piece 405 is fixed to the arm body 401 with a bolt 407, and the positioning piece 405 of the arm body/101
An escape groove 408 in which the tool stopper 1203 of the main spindle 13 is housed is cut in a position facing the main shaft 13 (FIG. 13).

With the above configuration, the arm main body 401 rotates 180 degrees at a time to engage with the tool II, and the claw portion 402 grips the tool 11. The gripping force is proportional to the spring force of springs 409 and 405, and the tool 11 is removed by rotating the claw member 403 around the bin 406 against this spring force.

Next, the tool locking means 5 will be explained.

As shown in FIG. 9 and FIG. 13, a hole 301b is formed in a pair of bosses 301a that are formed facing each other on the outer circumference of the long tube 301 that is coupled to the arm body 401, and a wedge-shaped positioning hole 301b is formed in the hole 301b. Bin 501 is inserted. The wedge-shaped positioning pin 501 passes through the arm body 401 and the bush 302, projects toward one end surface of the sliding body 201b, and has a protrusion 501a formed at its protruding end. Further, a spring 502 is interposed between the end surface of the wedge-shaped positioning pin 501 opposite to the protrusion 501a and the closed end of the hole 301b.
02 acts to urge the protrusion 501a toward the sliding body 201b. Further, a small through hole 301c is formed in the boss 301a and communicates with the hole 301b, thereby venting air from the hole 301b.

A groove 501b and an inclined surface 501c are formed at an intermediate position between the wedge-shaped positioning and 7501.

Next, we will explain how to release the arm claw lock when the arm is swung toward the main shaft.

A positioning bolt 213 is screwed onto the end face of the arm body 401 example of the sliding body 201B.
The protrusion 501a is inserted into the positioning hole 213a formed in the positioning hole 213a. Concavity of wedge-shaped positioning bin 501/il'750
1b is formed so as to be located approximately at the center of the plate thickness of the arm body 401 in the above-mentioned restrained state.

As shown in FIGS. 9 and 11, approximately at the center of the thickness of the arm body 401 is a hole 504 into which a wedge pin 503 is inserted.
is formed. One end of the hole 504 is open, and
The other end side communicates with the wedge-shaped positioning pin 501 side. One end of the wedge pin 503 contacts the other end of the claw member 403, and an inclined portion 503a that closely contacts the inclined surface 501c of the wedge-shaped positioning pin 501 is formed at the other end. Also wedge pin 50
A spring 505 is interposed between the head 503b of No. 3 and the hole 504, and the head 503h of the imitation bottle 503 is connected to the claw portion F No. 40.
It is biased to press against the 3rd side.

Further, a long groove 503C is cut in the wedge pin 503, and rotation is prevented by a rotation prevention pin 506 screwed onto the arm body 401.

FIGS. 14 and 15 show a mechanism for releasing the mechanical lock of the pawl when the arm pivots toward the magazine. Sliding body 201
A positioning metal fitting 507 is provided on the arm-side end surface of b. The positioning metal fitting 507 is slidably held by a guide 508 screwed onto the sliding body 201b side, and a spring 509 is interposed between the positioning metal fitting 507 and the sliding body 201b 111.

On the other hand, a stopper pole l-
1204 is fixed and adjustable. Automatic tool changer 1
9 is transferred to the tool magazine side, and the positioning metal fitting 50
7 comes into contact with the stopper bolt 1204, the circumference of the stopper bolt 1204 is adjusted to a position where the protrusion 501a of the wedge-shaped positioning pin 501 of the arm holder 3 can fit into the hole 510 of the positioning metal fitting 507.

When the positioning metal fitting 507 comes into contact with the stopper eye 204, the positioning metal fitting 507 moves in a direction approaching the sliding body 201b against the spring force of the spring 509.

In this state, the hole 510 formed in the positioning metal fitting 507 is formed so as to be positioned at the same circumferential position facing the positioning hole 213a of the positioning bolt 213.

Note that the sliding body 20 of the positioning fitting 507 shown in FIG.
The height h from the end surface of 1b is formed to be the same as the height H of the positioning bolt 213 (shown in FIG. 13).

With the above configuration, the arm 4 rotates and the protrusion 501a of the wedge-shaped positioning pin 501 is inserted into the positioning hole 213a of the positioning bolt 213 or the hole 510 of the positioning metal fitting 507, so that the arm 4 rotates and the wedge-shaped positioning pin 501
The longitudinal direction of is constrained. In addition, the wedge pin 5033 (the oblique portion 503a is the inclined surface 501 of the wedge-shaped positioning bin 501)
When it comes into contact with c, the movement of the claw-like protrusion 403a in the outward opening direction is restricted, and the tool 11 gripped by the claw portion 402 is locked. Further, when the inclined portion 503a is in a position facing the groove 501b, the above-mentioned restraint is released and the tool 11 is unlocked.

(c) Effect Next, the operation of this embodiment will be explained.

FIG. 16 tal shows the origin position of the automatic tool changer 19.

For convenience of explanation, the part where the swinging part l transfers into the tool magazine 12111 will be referred to as the magazine side, and the tool 11 held by the arm 4 in a 30 degree transferred state is formed to be in a position facing the tool holder 1200. Further, the movement of the swinging portion 1 from the origin position to the main shaft side is referred to as the main shaft side. When the sliding portion 2 moves toward the tool magazine 12, it is referred to as left-hand movement, and when it moves toward the spindle side, it is referred to as right-hand movement.

When the arm holder 3 moves upward in the drawing, it is called backward, and when it moves in the opposite direction, it is called forward.

The origin position is a state in which the swinging part 1 is at θ=30°, the U-moving part 2 is at the left end position, the arm holder 3 is backward, and the arm 4 is in a horizontal state as shown in FIG.

Further, the predetermined relative position for tool exchange is a position where the column 14 is moved back in the Z direction and comes close to the tool magazine 12, as shown in FIG. This position is as shown in FIG.
03, detected by limit switch 1001. That is, the column 14 retreats in the Z direction in response to a tool change command, and a detection signal is issued by the limit switch 1001 before the tool change position (dog 1403), and this signal causes the automatic tool that was waiting to grip the next tool to The exchange device 19 starts transferring to the spindle side. Column 14
At the same time as the tool stops at the tool changing position, the tool changing device 1
The cam follower 109 of No. 9 comes into contact with the stopper 1301, and the transfer operation is completed. The calling position of the tool called out for replacement is on the central spindle side of the tool 12 in the Y direction, as shown in FIG.

As shown in FIG. 16 fal, the tool 11 that is returned to the tool magazine 12 is held by the arm 4 at the original position.

After the machining is completed, the main spindle 13 starts moving backward toward a predetermined relative position for tool exchange. The operations described below are performed until the main shaft 13 reaches a predetermined relative position.

That is, the arm boulder 3 moves forward as shown in FIG. 16(b). As will be explained in detail later, the gripping of the tool 11 is restricted by the forward movement, and the tool 11 is reliably gripped even if a rapid movement is performed. As shown in FIG. 16(C), the swinging portion 1 rotates toward the magazine and positions the tool 11 at a position facing the tool holder 1200. Here stopper pol l-12
0/l comes into contact with each other, and the positioning metal fitting 507 of the tool locking means 5 is placed in the claw lock release position as described above.Next, when the arm holder 3 is retreated as shown in FIG. It is stored in the holder 1200. At the same time, the wedge-shaped positioning pin 501 hits the top surface of the positioning metal fitting 507 and the pin 501 retreats.
As shown in FIG. 11, the inclined portion 503a of the wedge pin 503 can enter the groove 501b of the wedge-shaped positioning pin 501, thereby releasing the mechanical lock of the claw member 403.

At this time, the positioning metal odor 507 is the stopper bolt 1204.
The metal fitting 507 tries to be returned by the spring 509, but since the protrusion 501a at the tip of the wedge-shaped positioning pin 501 is inserted into the hole 510, the positioning metal 507
07 remains in that position, the wedge-shaped positioning pin 501 also maintains its position, and the claw member 403 releases the mechanical lock. Therefore, as shown in FIG. 16 (81), when the sliding part 2 moves to the right, the arm 4 is removed from the tool 11. Next, the tool magazine 12 is operated by means not shown, and as shown in FIG. 11a is sent to the above-mentioned tool calling position.Next, the sliding part 2 is moved to the left,
The tool 11a is held by the arm holder 3 as shown by the dotted line in FIG. 16 (td). Below, Figure 16 (C) and (b)
, As shown by the dotted line in (a), the tool 11a is moved to the origin position and is on standby. At this time, the tool 11a is gripped by the arm holder 3, and at the same time the tool 11a is removed from the pot by forward motion, the wedge-shaped positioning pin 501 is moved to the positioning metal fitting 50.
7, the wedge-shaped positioning pin 501 moves forward, and the inclined portion 501c of the wedge-shaped positioning pin 501 comes into contact with the inclined portion 503a of the stem pin 503, thereby locking the claw member 403. Therefore, the tool 11a does not come out of the claw portion 402 due to the movement of the arm holder 3. In this state, the main shaft is moved to a predetermined relative position as described above.

FIG. 17 [81 to td) shows the operation of inserting the standby tool 11a into the spindle 13 side.

As shown in FIG. 17 (al), the main shaft 13 is
When the main shaft 13 is retracted, the cover 20 is opened and the main shaft 13
A used tool 11b is inserted into. Figure 17 (b
As shown in 1, when the swinging part 1 rotates toward the main shaft, the arm 4
is positioned at a position facing the grip portion 1101 of the tool 11b. At this time, the arm holder 3 is in a backward state, and the tip of the wedge-shaped positioning pin 501 is retracted by one end of the positioning bolt 213. Opposing the groove 501b, the claw member 403 is released from the mechanical lock.

Next, as shown in FIG. 17(e), when the sliding portion 2 is moved to the right, the arm 4 grips the tool 11b. In this state, the first
As shown in Fig. 7+d), when the arm holder 3 is moved forward, the tool 11b is pulled out from the main shaft 13, and the claw member 403
Since the tool 11b is mechanically locked by the forward movement, the tool 11b is restrained and held by the arm.

Next, although not shown, the arm holder 3 is rotated 180 degrees to move the tool 11a to a position facing the main shaft 13, and by retreating the arm holder 3, the tool 11a is moved to the main shaft 13.
3 (the state shown in FIG. 17(C)).

Thereafter, the tool change is completed by moving the sliding part 2 to the left as shown in Fig. 17 (dl) and returning to the original position shown in Fig. 17 (a).Hereafter, the operation shown in Fig. 16 is repeated. It will be done.

Next, the operation of the tool locking means 5 will be explained.

As shown in FIG. 18 (al), when the automatic tool changer is positioned at the original position, the protrusion 501a of the wedge-shaped positioning pin 501 is inserted into the hole 201c bored in the sliding body 201b, and The pressing force of the spring 502 causes the inclined surface 501C to engage with the inclined portion 503a of the wedge pin 503.

As a result, the movement of the wedge pin 503 is restricted, and the claw member 40
3. Movement in the opening direction is restricted. Therefore, the tool 11 is firmly gripped by the claw member 402. Also, positioning metal fittings 507
is placed away from the sliding body 201 by a spring 509.

Next, as shown in FIG. 18 fbl, the automatic tool changer 19
The arm holder 3 is moved forward, and the tool magazine 12 is moved forward.
When rotated to the side, the stopper eye 204 and the positioning metal fitting 507 come into contact with each other, and the hole 510 is positioned to face the hole 201c of the sliding body 201b and the protrusion 501a of the wedge-shaped positioning pin 501. At this time, the claw part [fourth
The movement of 03 in the opening direction maintains the restricted state.

As shown in FIG. 18 tC+, when the automatic tool changer 19 is retreated, the projection 501a is inserted into the hole 510, and the wedge-shaped positioning pin 501 is pushed up. (around slope 50
1c and the inclined portion 503a of the cutting pin 503 are separated.

The mock pin 503 and the claw member 403 are pressed together by the spring 505, and are attached in the closing direction of the claw member 403.
Since a gap is formed between the inclined portion 503a and the recessed portion 501b, the claw member 403 can move freely in the opening direction by this amount. Therefore, the restraint of the claw member 403 is released.

FIG. 19 shows a flowchart of tool exchange.

Figure 19 (al shows the overall flow of tool exchange,
In step 1 (hereinafter referred to as p+), a tool AA to be inserted into the spindle is selected. At P2, the standby tool AA at the origin position of the automatic tool changer is compared with the tool AA, and if they are equal, the flying tool is replaced at P1. If they are not equal, a tool pot call is made to store the used tool BB, and the tool BB is returned at P4. Next, the tool AA is called into the tool pot at P5, the tool AA is grabbed at P6, and the tool AA is positioned at the origin position and becomes a standby tool, and the tool is replaced at P1.

FIG. 19 (bl shows the flow for calling the tool pot.

At Pl, the tool pot number of the tool BB to be called and the tool pot number at the calling position are compared, and if they are equal, the process advances to P8 and the calling is completed. If not equal, P
At step 2, the locate pin of the tool magazine is pulled out, at P3 the shortcut direction to the calling position is determined, at P4 the tool magazine rotates in that direction, at P5 the locate pin is inserted,
Indexing is completed at P6, the tool magazine stops at Pl, and pe
The desired tool pot number is called to the calling position and the process is completed.

FIG. 9 (C1 shows the flow of tool return.

The arm moves forward at P'+, and the presence or absence of a tool in the tool bot at the calling position is checked at P2. If a tool is present, an alarm will be issued and the machine will stop. If there is none, proceed to P3, rotate the arm toward the tool magazine, move the arm backwards with P series, and store the tool in the tool pot.

Next, move the arm to the right at P5 and release A-J from the tool. Instruct the required tool in P6, rewrite the standby tool number, and complete in Pl.

911th FdH;! The flow of grabbing a desired tool from a tool magazine is shown.

At p+, move the arm to the left and grip the desired tool in the tool magazine. At P2, the arm is moved forward and the tool is pulled out, and at P3, the tool number is rewritten and set as standby tool AA. The arm is rotated to the original position at P4, the arm is moved back at P5, and returned to the original position, and the process is completed at P6 with the standby tool AA being gripped.

〔effect〕

Since the present invention is configured to be able to operate in conjunction with the tool exchange operation at the same time, reliable gripping can be performed and even faster tool exchange is possible.

The tool locking/unlocking mechanism of the present invention does not require a driving source such as a motor, so it has a simple and lightweight structure, and the claw member is mechanically locked or unlocked by the movement of the arm 4, so it operates quickly. is possible.

[Brief explanation of drawings]

Fig. 1 is a side view showing the overall structure of a machine tool to which an embodiment of the present invention is applied, Fig. 2 is a plan view taken in the direction of arrow A in Fig. 1, and Fig. 3 is a view taken in the direction of arrow B in Fig. 1. 4 is a partial plan view showing the structure around the swinging part when it is swung into the main shaft side, FIG. 5 is a view taken in the direction of arrow C in FIG. 2, and FIG.
The D arrow view in the figure, the cuff diagram is a sectional view taken along the line ■-■ in Figure 5, and
The figure is a sectional view taken along the line ■-■ in Fig. 2, Fig. 9 is a partial sectional view taken in the direction of arrow E in Fig. 8, Fig. 10 is a side view of Fig. 9, and Fig. 11 is an XI in Fig. 9. -XI line sectional view, Figure 12 is a partial bottom view of Figure 9, Figure 13 is an xm-xm line sectional view of Figure 9,
Fig. 4 is a bottom view showing the mounting state of the positioning fitting of the tool locking means, Fig. 15 is a sectional view taken along the line XV-XV of Fig. 14, and Fig. 16 (al to ffl are explanations showing the operations of tool return and tool gripping). Figures 17 (al to fd+ are explanatory diagrams showing the operation of exchanging tools with the spindle side, Figures 18 (A) to C1 are explanatory diagrams showing the operation of the tool locking means, Fig. 19
Figures (al to d) are diagrams showing the flow of tool exchange. ■... Swinging part 2... Sliding part 3... Arm holder 4... Arm 5... Tool locking means 6... Control means 10... Bed IL ll
a, Ilb...Tool 12...Tool magazine 1
3... Main shaft 14... Column 15.16
．． 18...Motor 17...Table 19...
Automatic tool changer 101... Support fitting 102... Moving mechanism 10
5... Guide bar 107... Guide part 109...
・Cam follower 111...Hydraulic hose 1301...
・Stopper 113.114 ...Cylinder 20
1a, 201b - Sliding body 202... Guide bush 206... Piston rod 207... Piston 301... Long cylinder 301a
... Boss 303 ... Ball spline 3
04... Drive shaft 308... Torque motor 3
12...iI Connection 313...Piston rod 314...Piston 401...Arm body 402...Claw portion 403...Claw member 5
01...Wedge-shaped positioning pin 213...Positioning bolt 503...Wedge pin 507...Positioning patent applicant Hitachi Seiki Co., Ltd. Fig. 16 (d) (e) (f) Fang Fig. 17 (0 ) (b) Fang 18th figure (a) Thorn 19th figure (a) (b) (b
) (C) Figure 19 (C) (d)

Claims (1)

[Claims] In a transfer-type automatic tool changer for a machine tool that performs machining by relative movement between the spindle and workpiece in planes orthogonal to each other, a transfer body that rotates between the tool magazine and the spindle, and a transfer body that rotates between the tool magazine and the spindle are used. A sliding member is provided so as to be slidable in the tangential direction of the transfer motion of the body, and a second member is provided on the sliding member so as to be rotatable for exchanging tools and for inserting and removing tools, and that grips the tool on the spindle side. a tool changing arm having a first gripping member and a second gripping member that grips a tool on the magazine side; a restraining member disposed at a position where they can be engaged; a release member disposed on the sliding member at a position opposite to each gripping member transferred to the main shaft side; a second release member disposed at a position opposite to each gripping member freely provided and transferred to the magazine side; A tool lock/unlock device for an automatic tool changer, comprising a stopper member provided to position a second release member in a release position.