JPS6228142A - Tool exchanger of machine tool - Google Patents

Abstract

PURPOSE:To have smooth transfer of a tool to a spindle by furnishing a rotary tool magazine of cartridge accommodation type, which has ability to accommodate tools in high density, and a device which is to transport a tool socket. CONSTITUTION:A disc type tool magazine 23 includes a base 23a in the form of a disc to accommodate eight radially arranged cartridges 25, each of which accommodates three tool sockets 27 removably. This magazine base 23a is equipped in its center with a cylindrical inner wall 61 and an inner gear 63, and two of its surfaces 65, 67 in the thickness direction are formed flatly. Each cartridge 25 is formed in a lightweight frame provided at its lateral side-face with openings 40 in longitudinal arrangement, wherein three openings 40 serve as mounting/demounting holes for accommodating three tool sockets 27 removably together with tool. A tool socket transport device serves hand-over of a tool socket 27 having desired tool, pulling-out from cartridge 25 and transport to the tool exchange position.

Description

[Detailed description of the invention] [Industrial application field] The present invention relates to a tool changing device for a machine tool.

[Prior art]

For machine tools, an automatic tool changer that stores a plurality of tools in a tool magazine and automatically transfers the plurality of tools contained in the tool magazine to the tool spindle of the machine tool is well known. No. 50-39864. This known automatic tool changer includes a tool transfer device that directly stores various tools in a rotating magazine in the order of use and transfers the tools to an intermediate station run relative to the tool spindle, and a tool transfer device that directly stores various tools in a rotating magazine according to the order of use. A configuration is adopted in which the tools are sequentially transferred to the tool spindle according to the order of use using a tool attached to the tool spindle and a transfer arm for exchanging tools. In contrast to such known automatic tool changers, there has already been provided a tool changer that improves the storage density of tools in a tool magazine and that performs automatic tool change without being restricted by the order of use. An example is disclosed in Japanese Patent Publication No. 59-35738. That is, here, a configuration is adopted in which a plurality of cartridges each having a plurality of tool sockets are stored in a disc-shaped rotary tool magazine, and the cartridge is moved in the radial direction from the tool magazine at a predetermined cartridge indexing position. The tool socket holding the desired tool is indexed to the tool exchange position, the desired tool is extracted from within the tool socket by a tool transfer device, and the used tool is transferred to the tool spindle position and attached to the tool spindle. It is designed to be exchanged with

[Problems to be solved]

According to the latter tool exchange device described above, the storage density of tools stored in the tool magazine is certainly improved, and there is an advantage that a wide variety of tools can be used for tool exchange). In addition, there is a drawback that the mechanism for transferring the tool in the opposite direction and the structure of the pick-up tool transfer device are somewhat complicated. Focusing on the fact that this is because the tool is directly extracted from the cartridge and carried to the tool spindle for tool replacement, the present invention has conceived of a configuration that allows the tool to be detached from the cartridge. Machine tool tool exchange 4 with a simplified tool transfer mechanism! The aim is to provide the equipment.

[Solution]

In order to achieve the above-mentioned object of the invention, the present invention provides a tool changer for a machine tool using a tool magazine in which a plurality of cartridges having a plurality of tool sockets are arranged, in which a plurality of tool sockets can be freely attached and detached. The installed cartridge is held movably in a plurality of storage positions arranged radially within the disk surface, and the cartridge with the desired tool tuck is held at the indexed position for tool delivery. The desired tool socket is transferred between a disc-shaped rotary tool magazine that can be pulled out and slid from the storage position of the rotary tool magazine, and the cartridge that is pulled out of the rotary tool magazine at the indexed position for tool transfer. a swing arm type tool socket transfer device that transfers the tool to a tool exchange position near the tool spindle of a machine tool; a tool in the tool socket that is gripped and transferred by the swing arm type tool socket transfer device to the tool exchange position; and the tool pressure 1
! A tool changing device for a machine tool is provided, which is equipped with a tool changing arm for exchanging a tool in a tool magazine, and a tool changing arm for exchanging a tool in a tool magazine. The tool can be transferred to the tool spindle using a tool socket transfer device 1 operated by a small number of fixed power sources and a tool exchange arm. Hereinafter, the present invention will be described in detail based on embodiments shown in the accompanying drawings.

〔Example〕

Fig. 1 is an external front view of a machine tool equipped with a tool changer according to the present invention, Fig. 2 is a top view of the same machine tool as seen from the arrow ■-■ direction in Fig. 1, and Fig. 3 is a rotational view. Enlarged front view 1 showing the structure of the tool magazine Figure 4 shows the third part of the tool magazine.
5 is a plan view showing the structure of the tool socket transfer device, and FIG. 6 is a partially sectional enlarged view showing the detailed structure of the socket gripper of the tool socket transfer device. FIG.

First, with reference to FIGS. 1 and 2, the configuration of a machine tool equipped with the tool changer according to the present invention and capable of performing automatic tool change will be explained. It is equipped with a table 3 that slides in the z-axis direction, a column 5 that slides in the z-axis direction, and a spindle head 7 that slides on the front surface of this column 5 in the y-axis direction. 9, a Y-axis drive motor 11 and a Z-axis drive motor 13, respectively. A tool spindle 15 is rotatably supported on the spindle head 7, and a tool 17 is detachably held at the tip of the tool spindle 15. A desired shape is processed according to the relative movement in the axial direction.

In addition, the machine tool wave is rotatably supported by a base 21 installed at the rear of the side surface of the ped 1, and is equipped with a disc-shaped tool magazine 23 that stores a large number of tools. A plurality of cartridges 25 are housed within the tool magazine 23 in a radial arrangement with respect to the center of rotation of the tool magazine 23 and are slidable in the radial direction. A large number of tools are housed in the disk-shaped tool magazine 23 while being attached to tool sockets 27 that are detachably held in the respective bolts 25. Each cartridge stored in the disk-shaped tool magazine 23, :,'
25 can be indexed into two index positions, an index position 29 for tool transfer and an index position 31 for tool replacement, by magazine indexing operation, and in the former index position 29 for tool transfer, the first cartridge By sliding into and exiting the guide device 33, the tool socket 27 is ready for transfer between the tool socket transfer device 43 and the tool socket transfer device 43, which will be described later. Furthermore, at the latter tool replacement index position 31, the cartridge 25 is slidably transferred from the disc-shaped tool magazine 23 into the second cartridge guide device 35, allowing the operator to freely replace the necessary tools. It's like that. In this case, the control mechanism for the indexing operation of the disc-shaped magazine 23 and the sliding movement of the cartridge 25 at the index position 29 for tool delivery and the index position 31 for tool replacement will be described later. And index position 2 for tool delivery
When the cartridge 25 indexed at 9 is slid into the first cartridge guide 33 for transfer, the tool socket 27 holding the desired tool in one cartridge 25 is inserted into the first cartridge guide 33 for transfer. The tool socket is positioned as a tool socket at a predetermined tool socket delivery position 37 of the first cartridge guide device 33, and from this tool socket delivery position 37, a tool socket transfer device 43 is used to move the tool socket provided close to the spindle head 7. position 3
Transferred to 9. In this case, the desired tool is the tool to be used next, and the tool socket 27 holds the tool to be used next and is positioned at the tool change position 39, where it is mounted on the tool spindle 15. This is carried out by the tool change arm 41 between the finished tool 17 and the tool held in the tool socket 27. Tool exchange arm 41
In this case, the functions include a function of extracting the respective tools installed in the tool socket 27 and the tool spindle 15 positioned at the tool exchange position 39 in the axial direction, a function of exchanging the extracted drawing tools, and a function of exchanging the extracted drawing tools. It is only necessary to have a function of reloading the tool into the tool socket 27 and the tool spindle 15 in the opposite direction to when it is taken out. Therefore, for example, if the transfer arm is the same as the transfer arm shown in the above-mentioned Japanese Patent Publication No. 50-39864. good.

After the tool exchange, the tool socket 27 holding the used tool 17 is returned to the tool socket delivery position 37 by the tool socket transfer device 1i43, where it is again stored in the storage space of the cartridge 25. The cartridge 25 that has re-stored the tool socket 27 is returned to the disk-shaped tool magazine 23 via the tool delivery index position 29, and then the cartridge 25 that has stored the next necessary tool is returned.
25 indexing is performed. Of course, the tool mounted on the tool spindle 15 in the spindle head 7 is used for machining the workpiece W.

Next, in FIGS. 3 and 4, the disc-shaped tool machine 23
is constructed by storing eight cartridges 25 in a radial arrangement in which three tool sockets 27 are removably housed in a disk-shaped magazine base 23a. The disk-shaped magazine base 23a has a cylindrical inner wall 61 and an internal gear 63 formed in the center, and two faces 65 in the thickness direction.
, 67 are formed on flat surfaces. Four rows 269 rotatably attached to the base 21 come into contact with and support the cylindrical inner wall 61, and a pair of rollers 71 rotatably attached to the base 21m are moved to the magazine base. The disk-shaped magazine base 23a is rotatably supported with respect to the base 21 by providing four positions so as to sandwich the two surfaces 65 and 67 of the magazine 23a. Magazine base 2
3a has eight radially cutout-shaped cartridge storage portions 9, each of which stores a cartridge 25. This cartridge 25 is slidably housed by engaging with the cartridge accommodating portion 73 of the magazine base 23a through a guide groove, and is inserted into a disk shape when necessary for tool exchange or tool replacement as described later. It has a structure in which it slides in the radial direction with respect to the tool magazine 23 and is ejected.

Each cart 2) 25 has a light frame shape with openings 40 arranged vertically on the lateral side, and these three openings 40 serve as attachment/detachment ports to accommodate three tool sockets 27 together with tools in a detachable manner. It has a structure. 3 tool sockets 27
Since eight cartridges 25 for receiving the tools are stored in the magazine base 23a, a total of 24 tools are stored in the disc-shaped magazine base 23a together with the tool rack 27. Similarly, by adding, for example, 20 cartridges 25 to the tool magazine base 23, a disk-shaped rotary tool magazine capable of storing 60 tools together with the tool socket 27 can be formed. The magazine indexing motor 75 attached to the base 21 has a gear 77 fixed to its rotating shaft, and this gear 77 meshes with an internal gear 63 provided at the center of the magazine base 23a, so that the magazine base 23m
is formed so that it can be indexed to a desired rotation angle position. Further, a first cartridge guide device 33 is provided above the base 21, and the cartridge 25 stored in the magazine base 23a is moved to the first index position 29, and the first cartridge guide device 33
The structure is such that the cartridge 25 can be received when the cartridge 25 is indexed to the tool delivery index position aligned with the lower end of the tool.

Here, one cartridge 2 in the magazine base 23a
A mechanism for moving the cartridge 25 to the first cartridge guide device 33 when the cartridge 5 is indexed to the first index position 29 will be explained. Each cartridge 25 is provided with a hook portion 79 at its inner end so that it is located concentrically with respect to the rotation center of the disc-shaped magazine base 23aO when the cartridge 25 is stored in the cartridge accommodating portion 73 of the magazine base 23a. An index rod 83 having a recess 81 that engages with the hook 79 is provided between the magazine base 23m and the base 21 so as to be movable up and down. A nut 85 is attached to the lower part of the indexing rod 83, and is screwed into a feed screw 87. The feed screw 87 is connected to a cartridge indexing motor 91 fixed to the base 21, and is adapted to move the indexing rod 83 up and down by rotation of the cartridge indexing motor 91. Then, the cartridge 25 indexed to the first indexing position (indexing position for tool delivery) 29 in this manner is transferred from the cartridge storage section 73 of the magazine base 23m to the inside of the IJ horn guide device 33. The desired tool socket 27 is guided and moved toward the tool socket delivery position 37 to position it at the previously described tool socket delivery position 37.

Tool socket holder of the first cartridge guide device 1j33 (
Tool socket 27 indexed to rotation position 37 (Fig. 1)
The tool socket transfer device 43 that transfers the tool socket to the tool exchange position 39 (FIG. 2) of the spindle head 7 near the tool spindle 15 will be described later. Incidentally, the indexing of the magazine base 23a by the magazine indexing motor 75 mentioned above and the indexing of the desired tool socket 27 to the tool socket delivery position 37 by the cartridge indexing motor 91 are performed using a well-known dog and proximity nwitch or lead nwitch. Both the motors 75 and 91 may be controlled using detection means based on the above.

Next, the structure of a cartridge replacement drive device for inserting and removing a desired cartridge 25 into and from the second cartridge guide device 35 will be described. When the magazine base 23m is indexed by the magazine indexing motor 75 as described above and the desired cartridge 25 is positioned at the tool replacement index position, that is, the second index position 31, the magazine base 23m and the base 21 are A recess formed at the tip of the piston 137 of the cylinder device 135 provided between the cartridges 2 and 2 is similar to the recess 81 formed in the index rod 83 described above.
5 engages, and then the cylinder device 1
35 pushes out the piston 137, and the cartridge 25 is moved to the second cartridge guide device 35. The cartridge 25 thus moved and housed in the second cartridge guide device 35 is moved to the second cartridge guide device 35.

Tools can be replaced in any of the three tool sockets 27 stored in the slot 25.

When returning the cartridge 25 that has been moved to the second cartridge guide device 35 to the magazine base 23a, the empty cartridge storage section 73 in the magazine base 23a is positioned to the second indexing position 31, and the cylinder device It is pulled back by the action of 135. In this way, the cylinder device 135 operates to insert and remove the cartridge 25 between the magazine base 23a and the second cartridge guide device 35.

This second cartridge guide device 35 (cartridge) 2
5 can be moved safely and easily by once pulling out the cartridge 25 to a position away from the rotary tool magazine 23 when it is desired to replace the tool in the tool magazine 23 with another tool as described above. This is so that it can be replaced.

Next, the basic configuration of the tool socket transfer device 43 includes a swing arm 47 that swings back and forth about a rotation center 45 provided on the base 21 as a fulcrum, and a single fluid that drives the swing arm 47 to swing back and forth. The socket gripper 51 is composed of a pressure cylinder device 49, a socket gripper 51 provided at the tip of the swing arm 47, and a means for operating the socket gripper 51. It swings back and forth along a guide rail 53 provided on the upper surface of the base 21 as shown by the reciprocating arrow in FIG.

Here, in FIGS. 5 and 6, the swing arm 47 of the tool racket transfer device 43 is rotated at the center of rotation 4 as described above.
The rotation center 45 is an arm member that reciprocates around a center 5, and the rotation center 45 is a tool socket delivery position 37 provided in the @1 cartridge guide device 33 and a tool exchange position 39 provided close to the spindle head 7. It is provided at the center of the rotation radius with 2 points on a concentric circle, and the swing arm 47
A tip 55a of a telescoping rod 55 of the fluid pressure cylinder device 49 is pivotally attached to approximately the midpoint of the cylinder. A socket grip 4'-51 provided at the tip of the swing arm 47 is connected to the swing arm 47 by a plurality of port screws 141, as shown in an enlarged view in FIG. The fluid pressure cylinder device 49 has the above-mentioned telescopic rod 55 and also has a cylinder body 57, in which the telescopic rod 5 is disposed.
Built-in piston integrated with 5, fluid pressure pipe 59m, 5
By supplying and discharging pressure fluid such as pressure oil through 9b, the piston is operated, and the telescoping rod 55 is operated to extend and contract. When the telescopic rod 55 is extended, the swing arm 47 is moved to the socket grip 1 as shown in FIG.
4-51 to the tool changing position 39 and retracts, the swing arm 47 moves to the tool changing position 39 with the socket gripper 51, and the tool socket receiver as shown in FIG. 6 moves to the passing position 37.
It moves to. In addition, the tool socket receiver has adjustable stoppers 1 at the transfer position 37 and the tool exchange position @39, respectively.
43 and 145 are provided to enable accurate positioning of the swing arm 47, and a detector 147 such as a proximity switch or a limit switch is installed adjacent to the fall of the adjustment stoppers 143 and 145. By providing this, it is possible to know in which of the two positions 37 and 39 the swing arm 47 is located. Of course, the detectors 147 may be provided at both positions 37 and 39 if necessary. The above-mentioned fluid pressure cylinder device 49 is
In order to smooth the expansion and contraction action of the telescoping rod 55 when swinging the swing arm 47, the cylinder body 57 is attached to the fulcrum 14.
9 and is pivotably provided.

Next, the socket hole 51 fixed to the tip of the swing arm 47 with a screw bolt 141 is attached to a base plate 151, a fixing claw 153 fixed to the base plate 151 by screw connection, etc., and a rear part of the fixing claw 153. Planted pin 15
5 engaged with the oblong hole 157 and the splash receiver 7 flange 159
a horizontal rod 161 which is provided so as to be movable in the lateral direction orthogonal to the axial direction of the swing arm 47, and the side surfaces of the spring receiver 7 runno 159 and the fixed claw 153 of the horizontal rod 1-61. A spring 1 is compressed and arranged between the springs 1 and 1, and biases the horizontal rod 161 toward the end opposite to the horizontally elongated hole 157.
63, one end of which is pivotally attached to the end of the horizontal rod 161 opposite to the end where the horizontally elongated hole 157 is provided, and the substrate 151.
a link 167 pivotally attached via a pivot 165 to the link 1'67; and a movable claw 169 pivotally connected to the other end of the link 1'67 and disposed opposite the fixed claw 153.
and an engaging end 153a of the fixed claw 153.

153b and the engaging end 169a of the movable claw 169 to grip the tool socket 27.

Now, when the movable claw 169 of this socket grip/#-51 reaches the socket-to-toe transfer position 37 by the swinging of the swing arm 47, the movable claw 169
A is attached to the first cartridge guide device 33 in the shape of a protrusion, and comes into contact with the Z bolt 171.
Since the horizontal rod 161 compresses the spring 163 and is guided by the bin 1550, the horizontal rod 161 moves laterally (in the right direction of the arrow in FIG. 6). As a result, since the link 167 pivots about the bit 165, the movable pawl 169 pivotally attached to the link 167 opens in the direction of separating from the tool socket 27. The socket gripper 51 is at the tool socket delivery position 3
Moving away from 7, the above-mentioned Nutoppa Delt 171 and horizontal rod 16
Since the contact state with 1 is released, as a result, the movable claw 16
9 moves toward the fixed claw 153 to close. In other words, the tool socket 27 is gripped.

Here, the first cartridge guide device 33 has an opening 32 formed at a tool socket delivery position 37, as shown in FIGS. 1 and 3. Therefore, when a tool is replaced, the indexed cartridge in the rotary tool magazine 23, No.
5 is slid into the first cartridge guide 33, the swing arm 47 of the tool socket transfer device 43 is swung to move the socket gripper 51 through the opening 32 of the first cartridge guide 33. If the tool socket delivery position 37 is reached, the socket gripper 5
The first movable claw 169 waits in an open state with respect to the fixed claw 153, and the first movable claw 169 waits in an open state with respect to the fixed claw 153, and the first movable claw 169 moves upward toward the cartridge 25 sliding upward along the guide rails 33m and 33b (third [1)] into the first cartridge guide device 33. It is prepared to grasp the desired stored tool socket 27. Then, the desired tool socket 27 is positioned at the tool socket delivery position 37 and rotated, and the swing arm 47 swings so that the socket grit tJ? -51 through the opening 32 to the tool exchange position 39 (FIGS. 1 and 5),
As described above, as the horizontal rod 161 of the socket gripper 51 moves away from the stopper delt 171, the movable claw 169 moves to close, thereby firmly gripping the desired tool socket 27. Figure 6 shows the socket and toggle 14-5 mentioned above.
1 shows that the first movable claw 169 is in two states: an open state and a closed state (indicated by a chain line). Further, the grip of the tool socket 27 by the socket gripper 51 is continuously maintained after it is separated from the stopper delt 171, and even when the tool socket 27 reaches the tool changing position 39 as shown in FIG. Transfer device 43
It is gripped by the socket gripper 51 of.

On the other hand, the tool exchange arm 41 mentioned above at the tool exchange position 39
After the tool is replaced by the action shown in FIG. 1 and the used tool 17 is returned to the tool socket 27, the tool socket 27 holding the used tool 17 is The cartridge 25 is returned to the tool socket delivery position 37 again, but at this time, the empty space for the cartridge 25 is waiting at the tool socket delivery position 37, so the socket gripper 51 is moved to the opening 3 of the first cartridge guide device 33.
2 and returns the tool socket 27 holding the used tool in the cartridge 25 to the empty space of the cartridge. route 17
1 to open the movable claw 169. In this way, one cycle of the tool socket transfer action of the tool socket transfer device 43 is completed.

As shown in FIGS. 5 and 6, the first cartridge guide device 33 is provided with a socket detector 175 facing the opening 32 at the tool socket delivery position 37. Since the device 175 is formed of, for example, a known proximity switch, it detects the dog 177 pre-installed in the tool socket 27 housed in the cartridge 25 that is returning and rising through the first cartridge guide device 33. , a detection signal indicating the presence or absence of a tool socket in the cartridge 25 is sent out.

Therefore, this detection signal can be used to control the operation timing of the fluid pressure cylinder device 49 of the tool socket and transfer device 43, or to control the operation timing for returning the cartridge 25 to the tool magazine 23 after the tool exchange is completed. This is possible. A similar socket detector 175 is also appropriately placed at the tool change position 39, and the tool socket 2
By detecting the presence or absence of the tool 7, the tool exchange operation by the tool exchange arm 41 (FIG. 1) can be controlled.

Now, the tool socket transfer device 43 has the basic configuration and operation as described above, but when transferring the tool socket 27 by the reciprocating swing of the swing arm 47, it performs a long arc-shaped reciprocating motion. During this time, the tool socket 27 is stably inserted and toggled i'? A rolling roller 179 is appropriately installed on the bottom surface of the Socutgrino saw 51 so as to be able to roll, and this rolling roller 179 is installed on the top surface of the base 21 of the machine tool. By traveling on the circular arc-shaped fixed track 53, the socket grid ?
-51 is ensured, and in turn, the tool socket 27 is stably and smoothly transferred.

〔Effect of the invention〕

As described above, according to the present invention, a car having a high-density tool storage capacity, a rotary tool maga-syn of a stowable type, and a single fluid cylinder device can hold a desired tool. Since a tool socket transfer device is used that transfers a tool socket, extracts it from a cartridge, and places the tool socket in the tool exchange position all at once, the tool exchange device can automatically attach various tools to the tool spindle of a machine tool. This has the effect of simplifying the structure and ensuring smooth operation. By thus reducing the number of drive sources and simplifying the structure and operation, it also contributes to reducing the manufacturing cost of the tool changer.

[Brief explanation of the drawing]

Fig. 1 is an external front view of a machine tool equipped with a tool changing device according to the present invention, and Fig. 2 is a view of the machine tool as seen from arrows ■-■ in Fig. 1.
3 is a front view showing the configuration of an embodiment of the rotary tool magazine. 4 is a sectional view taken along line V-IV in 3, and 5 is a tool socket transfer device. FIG. 6 is a partially enlarged plan view including a partial cross section showing the tool socket transfer device of FIG. 5 in a tool socket delivery position. 7... Spindle head, 15... Tool spindle, 17... Tool, 21... Base, 23... Disc-shaped tool magazine 12
5°... Cartlitz, 27... Tool Tsuk, To, 29
...Tool receiver is at indexing position, 37...Tool socket delivery position, 39...Tool exchange position, 41...
Tool exchange arm, 43... tool socket transfer device, 5
1...Socket Grits 9-0 1st figure 2nd figure 1-'-u 3rd figure 4th figure 6th figure

Claims (1)

[Claims] 1. In a machine tool tool changer using a tool magazine in which a plurality of cartridges each having a plurality of tool sockets are arranged, the cartridges each having a plurality of removably attached tool sockets are arranged radially within the disk surface. A rotary disc-shaped rotary disc that is slidably held at a plurality of storage positions provided therein, and at which a cartridge having a desired tool socket is pulled out from the storage position on the disc surface and slid at an indexing position for tool delivery. A swing that transfers the desired tool socket between the tool magazine and the cartridge extracted from the rotary tool magazine at the tool transfer index position and transfers the tool socket to a tool exchange position near the tool spindle of the machine tool. an arm type tool socket transfer device; and a tool exchange arm for exchanging the tool in the tool socket gripped and transferred by the swing arm type tool socket transfer device to the tool exchange position with the tool mounted on the tool spindle. A tool changing device for a machine tool, characterized in that it is configured to include the following: