JPS6239142A - Assembly device for modular tool - Google Patents

Abstract

PURPOSE:To permit automatic assembly and disassembly of modular tools, by taking out each module of a holder, adapter and a blade portion together with a tool holder from a moving rack at tool assembly position and assembling them by a assembly head. CONSTITUTION:When a container rack 4 for designated modules a, b, c is transferred to an assembling position 5 in response to an input signal, an assembling head 7 stops at a position confronting the position 5 at the same time and a holding holder 12 of holder module is located at the position 4, the rack 4 stops and a taking out mechanism 19 causes a rod 21 to project so that the rod projects the holder 12 onto an assembling table 18 by pushing its. Then, a pin 22 is inserted into a hole 15 for positioning and a gripper 40 advances to a module a so that a taper portion 52 engages with a taper hole 44 and a chuck 45 grips a locking claw 53. Next, the rod 21 is inserted after the insertion of the pin 22 for retracting the holder 12 into a frame 10 and then the rack 4 positions the holding holder 12 of a blade portion module C at the table 18 at the position 5 so that the module a is combined with the module c.

Description

DETAILED DESCRIPTION OF THE INVENTION [Technical Field of the Invention] The present invention relates to a modular tool assembly device that takes out and assembles designated modules from a tool stocker that stores modules of modular tools used in machine tools and the like.

[Technical background of the invention and its problems]

Various tools to be installed on the machine tool are stored in a tool room, and tools specified based on production management information are taken out of the tool room and carried into the machine tool, and tools are automatically replaced with the machine tool. Automatic tool changers are known. In addition, an assembly-type modular tool has been developed in place of the conventional integrated tool. This modular tool is the 6th
As shown in the figure, it is composed of an adapter module a, a holder module b, and a blade module C, and the holder module b is attached to the adapter module a.
A modular tool A is constructed by attaching the blade module C to this holder module b. This modular tool A can be assembled by attaching the blade module C directly to the holder module a or via the adapter module b, and the blade module C at the tip can be assembled without replacing the entire tool. This makes it possible to replace only the parts, making it lightweight and easy to handle.
This also has the advantage of reducing the space in the tool room where tools are stored.

However, conventionally, the modular tool A is assembled and disassembled manually.

That is, a large number of holder modules a1, adapter modules b, and blade modules C are stored in an aligned state in the tool room, the order of assembling modular tools A is determined based on production control information, and the operator can assemble the modular tools A from the tool storage shelf in the tool room. The various modules required are taken out and assembled on an assembly table. Therefore, a lot of manpower is required to assemble and disassemble the modular tool A, and if the number of modules increases, there is a risk that mistakes in combination will occur.

Further, as a tool stocker for storing tools, an automatic tool rack is known in which a plurality of tool holders are provided on an endlessly running chain and these tool holders hold and transport the modules. The reality is that all storage and removal of items relies on the manual labor of workers.

[Objective 1 of the Invention] This invention has been made by focusing on the above-mentioned circumstances, and its object is to automatically assemble and disassemble a modular tool without human intervention. An object of the present invention is to provide a modular tool assembly device that can improve workability and safety.

[Summary of the invention]

In order to achieve the above object, the present invention holds a holder module, an adapter module, and a blade module that constitute a modular tool individually in a tool holder, transports the tool holder to the tool holder by a moving rack, and moves the tool to a tool assembly position. In the present invention, the mogicor is taken out together with the tool holder from the movable rack and assembled by the tool assembly head.

[Embodiments of the invention]

Hereinafter, one embodiment of the present invention will be described based on the drawings.

FIG. 1 shows a schematic configuration of an automatic tool exchange system, where 1 is a tool stocker and 2 is a machine tool. Inside the tool stocker 1 is a chain 3 that runs endlessly.
A plurality of movable racks 4 are arranged at equal intervals between the chains 3.3.
It is designed to be conveyed within the tool rack 1 as the tool runs. Furthermore, a tool assembly position 5 is provided at the front of the tool stocker 1, and a traverser mechanism 6 is provided along this tool assembly position 5. This traverser mechanism 6 is provided with a tool assembly head 7,
Modular tool A assembled by this tool assembly head 7
is carried out to the buffer station 8, and the machine tool 2 carries out the modular tool A of the buffer station 8'' by itself.
Alternatively, it is configured to be mounted by another robot or the like. Note that 9 indicates the tool rack 1, the machine tool 2,
This is a control device that collectively controls the traverser mechanism 6 and tool assembly head 7.

Next, the movable rack 4 will be explained. It is constructed as shown in FIGS. 2 and 3.

That is, the movable rack 4 consists of a U-shaped frame 10 and a support part 11 that horizontally supports the frame 10 on the chain 3.3.
2 is provided. This tool holder 12 also has the frame 1
Similar to 0, it is formed in a U-shape, and the upper surface thereof is provided with a plurality of tool holding parts 13 cut out in a substantially U-shape at equal intervals, and these tool holding parts 13 constitute a modular tool A. Holder module a1 adapter module b to be described later
and one blade module C are held at a time. Further, a roller 14 is provided on the bottom surface of the tool holder 12 so that the top surface of the frame 10 of the movable rack 4 can be moved in the front and back direction, and a positioning hole 15 is bored in the center of the bottom. In addition, tool holder 1
An engaging portion 17 is provided on the back surface of the movable rack 4 and is removably connected to a joint 16 provided on the frame 10 of the movable rack 4. Under normal conditions, the engaging portion 17 engages with the joint 16 to securely hold the tool holder 12 within the frame 10 of the movable rack 4.

Furthermore, the movable rack 4 runs endlessly as the chain 3.3 runs, but when stopped, the frame 10 is positioned on the same plane as the assembly table 18 provided at the tool assembly position 5. A take-out mechanism 19 is installed on the movable rack 4 at its stop position. This ejecting mechanism 19 consists of a cylinder 20 and a protruding rod 21 for pushing out the tool holder 12. are in contact.

Further, the tool assembly table 18 is provided with a pushing mechanism 19a for pushing the tool holder 12 into the movable rack 4 or a cylinder 2.
0a and a recessed rod 21a. Further, the tool assembly table 18 is provided with a positioning pin 22 that can be vertically protruded and retracted.
The tool holder 12 is positioned by inserting it into the positioning hole 15 of the tool holder 12 that projects upward.

The traverser mechanism 6 is composed of a screw rod 24 rotated by a servo motor 23 and a moving table 25 screwed into the screw rod 24. 27 are provided. The tool assembly head 7 and the nut runner 28 are mounted on this vertically movable plate 27.
is provided. This tool assembly head 7 has a function of gripping and assembling various modules a, b, c held in the tool holder 12, and its specific configuration is as follows.
It is configured as shown in the figure. That is, 40 is a tool gripper, and a rotary drum 43 is rotatably supported inside this gripper main body 41 via a bearing 42 . A tapered hole 44 is provided at the lower end of this rotating drum 43,
A drawbar 46 with a collet chaff 45 is provided at the bottom of the drawbar 46.
is provided. This drawbar 46 is a piston 4 of a hydraulic cylinder 47 provided inside the rotating drum 43.
8, and this drawbar 46 is biased in the retracting direction by a disc spring 49. In addition, 5
0 is a drive mechanism that rotationally drives the rotating drum 43;
1 is a rotary coupler that sends hydraulic pressure to the hydraulic cylinder 47. Then, the holder module a of the modular tool A is attached to the tapered hole 44.

Further, as shown in FIG. 5, the modular tool A is provided with petal-shaped engaging claws 53 and 54 at the tip and lower end of the tapered portion 52 of the holder module a. Further, an engagement hole 57 that can be engaged with the engagement claw 54 is provided at the upper end of the adapter module b, and an engagement claw 58 is provided protruding from the lower end. Further, at the upper end of the blade module C, an engagement hole 59 is provided that can be selectively engaged with the engagement claw 54 or 58.
is provided, and a blade portion 60 is provided at the lower end.

The blade module C can be connected to the holder module a via the adapter module b, and the blade module C can be connected directly to the holder module a.
are configured so that they can be connected.

Furthermore, an annular groove 55 is provided on the outer peripheral surface of each of the holder module a1, the holder module b, and the blade module C.
A flange portion 56 is provided, and an annular groove 55 provided in the flange portion 56 is engaged with and supported by the tool storage portion 28 of the tool holder 26. Note that 61 is a bolt that tightens the connecting portion between the adapter module a and the holder module b and the engaging portion between the holder module b and the blade module C.

The holder module a of the modular tool 4 configured as described above is fitted with its tapered portion 52 into the tapered hole 44 provided in the rotating drum 43 of the tool gripper 33, and the engaging claw 53 is engaged with the collet chuck 45. will be combined. That is, the collet chuck 45 opens and closes when the drawbar 46 advances and retreats, and when the piston 48 moves forward due to the hydraulic pressure sent by the hydraulic cylinder 47, it opens and releases the engagement with the engaging pawl 53, and the pressure of the hydraulic cylinder 47 is released. When the oil is removed, the drawbar 46 retreats due to the restoring force of the disc spring 49, closing the collet chuck 45 and clamping the engagement claw 53.

Next, the operation of the modular tool assembly apparatus configured as described above will be explained. Once the machining order is determined based on the production management information and the tools required for each machining are known, a program is created for each machining tool for each process in the order of the production process, and this is stored in the memory of the control device 9. do. A tool designation signal is input from the control device 9 to the tool stocker 1. The movable rack 4 runs endlessly based on the input signal, transports the movable rack 4 containing the designated modules aSb and c to the tool assembly position 5, and stops. At this time, the tool command signal is simultaneously input to the traverser device 6, so the screw rod 24 is rotated by the drive of the servo motor 23, and the tool assembly head 7 moves and stops at a position opposite the tool assembly position 5. do.

When the tool holder 12 holding the holder module a among the modules to constitute the designated modular tool A is positioned at the tool assembly position 5, the movable rack 4 stops and the take-out mechanism 19 is activated at the same time. Therefore, the protruding rod 21 protrudes by the cylinder 20, pushes the tool holder 12 forward, and the tool assembly table 1
8” Protrude to the second part.

When the tool holder 12 is located on the tool assembly table 18,
The positioning pin 22 protrudes and is inserted into the positioning hole 15 of the tool holder 12 to position the tool holder 12. Next, the tool gripper 40 moves forward relative to the holder module a, and the tool gripper 40 is attached to the tapered portion 52 of the holder module a.
At the same time, the collet chuck 45 clamps the engagement claw 53 of the holder module a. When the gripping of the holder module a is completed in this manner, the positioning pin 22 is retracted, and the protruding and retracting rod 21 is retracted by the cylinder 20 to draw the tool holder 12 into the frame 10 of the movable rack 4. Then, the movable rack 4 travels again and then guides the tool holder 12 holding the blade module C to the tool assembly position 5. Then, when the tool holder 12 holding the designated blade module C is located at the tool assembly position 5, the movable rack 4 stops. Here, the take-out mechanism 19 operates to move the tool holder 12 onto the tool assembly table 18 in the same manner as described above.
protrude upwards. After positioning the tool holder 12, the tool gripping tool 40 is lowered, but since the tool gripping tool 40 already grips the holder module a, the engaging claws 54 of the holder module a are connected to the blade module. The blade module C is coupled to the holder module a by engaging with the engagement hole 59 of C. A modular tool A is constituted by the holder module a and the blade module C, and the tool holder 12 is connected to the movable rack 4 by the protruding and retracting rod 21a protruding from the cylinder 20a.
While being pushed in, the tool assembly tool 7 is moved by the traverser mechanism 6 to the buffer station 8. The modular tool A transferred to the buffer station 8 is attached to the machine tool 2 by appropriate means, and the used modular tool A is transferred from the machine tool 2, and this used modular tool A is attached to the traverser mechanism 6. The modular tool A is conveyed to the tool assembly position 5 by the tool assembly head 7, which moves by the tool assembly position 5, and is disassembled at this tool assembly position 5. The various modules a, b, and c constituting the modular tool A are held one by one in the tool holder 13 of the tool holder 12, and when storing this module in the tool holder 12, the module is removed from the tool holder 12. The cycle is the opposite of that for taking out.

In addition, according to the above embodiment, the case where the modular tool A is constructed by combining the holder module a and the blade module C has been described, but the blade module C is connected to the holder module a via the adapter module b. The same applies when combining.

Further, in the above embodiment, the ejecting mechanism 19 is provided on the movable rack 4, and the pushing mechanism L9a of the tool assembly table 18 is
is provided to move the tool holder 12 forward and backward, but the tool holder 12 may be provided with a drive mechanism. Therefore, the ejecting mechanism 19 and the pushing mechanism 19a are not limited to the cylinder 20.20a and the protruding/retracting rod 21.21a, and each tool holding part 13 of the tool holder 12 is moved forward and backward individually. Good too.

〔Effect of the invention〕

As explained above, according to the present invention, the holder module, adapter module, and blade module that make up a modular tool can be taken out from the tool holder to the tool assembly position and assembled automatically, and the conventional manual This has the effect that workability and safety can be improved compared to assembly using conventional methods. Furthermore, since the module is taken out to the tool assembly position together with the tool holder and assembled, there is an effect that there is no restriction on the movement and mechanism of the tool assembly head.

[Brief explanation of the drawing]

1 to 5 show an embodiment of the present invention,
Fig. 1 is a schematic plan view of the automatic tool change system, Fig. 2 is a perspective view of the tool holder projected to the tool assembly position, Fig. 3 is a vertical side view of the assembly device, and Fig. 4 is the tool gripping system. FIG. 5 is a top view, front view, and bottom view of the modular tool in an exploded state, and FIG. 6 is a configuration diagram of a general modular tool. 1... Tool stocker, 4... Moving stocker, 5...
・Tool assembly position, 7...Tool assembly head, 12
...Tool holder, 19...Ejecting mechanism, a...Holder module, b...Adapter module, C...
・Blade module, A...Modular tool. Applicant's Representative Patent Attorney Takehiko Suzue IIZ Figure 3 Figure 4 Figure 5

Claims (1)

[Claims] A plurality of tool holders that individually hold holder modules, adapter modules, and blade modules that make up a modular tool, a moving rack that transports these tool holders and stops when the desired module is located at the tool assembly position, and a a take-out mechanism that moves each module together with a tool holder from the stopped movable rack to the tool assembly position when the module is located at the tool assembly position; and a tool that is provided at the tool assembly position and grips and assembles the plurality of taken out modules. A modular tool assembly device characterized by comprising an assembly head.