JPS6268243A - Tool changing method for metal machining robot - Google Patents

Abstract

PURPOSE:To make plural tool holders attachable and vice versa with self-regulating motion of a metal machining robot, by setting up these tool holders, holding the specified cutting tools, in a tool stand. CONSTITUTION:A spindle 12 is driven for rotation by a motor 14, and a coil, where this spindle 12 is inserted, is given feed motion in an X direction by a motor 15. And, each quick change type tool holder 18 is housed in a housing groove 17 of a tool stand 16. A collor 29 having a pair of keys 28 is attached to a holder body 19 of the tool holder 18, and although this collor 29 is energized by a spring 30, it is slidable to the holder body 19 within the range of a clearance l with a clock nut 21. In addition, a taper part 24 of the tool holder 18 is inserted into the spindle 12, and the whole tool holder 18 is made to rotate around the axial center as far as 90 deg. whereby each of these tool holders 18 is clamped.

Description

DETAILED DESCRIPTION OF THE INVENTION Field of Industrial Application This invention relates to a tool changing method for a cutting robot that performs all operations such as drilling and tapping.

BACKGROUND OF THE INVENTION As an example of conventional technology, a tool changing method using an automatic tool changer (ATC) VC is widely known in a machine tool center or the like. Automatic tool exchange for machining centers, etc.@fit (1)
, There is a tool magazine that stores a large number of tools (to be exact, 9 tool holders) all aligned in advance, and a change arm that exchanges old and new tools between the tool magazine and the spindle. . And as for the rock, there is a tool selection function that selects from a magazine of all the tools used for Ku-no-kime 1J sword cutting, a tool selection function that moves all the selected tools to the tool exchange position, and cutting? When finished, remove the tool and store it back upright, then attach the loose tool to the spindle.

At this point, the layer of tools against the spindle, with a long history of pleasure,
Is the change arm a tool (tool holder)? Since it only has the ability to move the spindle backwards, usually a tool holder with a pull stud is used as a tool holder, and this pull stud is clamped to the spindle. One of them is dominant.

For example, as shown in FIG.
2, a drawbar 5-4 driven by a hydraulic cylinder 53 has N7T steel balls 55 arranged in a row, and the drawbar 54 is supported by the force of a disc spring 56.

By pulling in the direction, the steel ball 55 completely clamps the pull stud 51. Conversely, if the steel ball 55 is pushed against the force of the disc spring 56Z to the hydraulic cylinder 53 to the drawer 54'i
It can be opened and the entire tool holder 50 removed from the spindle 52.

While the invention is trying to solve the problem, In the conventional tool changing method as described above.

For example, in machining centers, which require a large number of tools and frequently perform tooling changes, there are cases where the number of tools required is small and tooling changes are performed with relatively small-scale equipment. All Uto Roe All'
If you try to do this, not only will the entire tool magazine and change arm be large-scale, but the structure of the spindle itself will be complicated. Moreover, it must be controlled while performing all functions of actuators such as l/c hydraulic cylinders and sending and receiving signals.
The necessary precision and control itself becomes troublesome.

Ninth Means for Solving Problems The present invention provides a rotating spindle structure for cutting. The purpose of this invention is to provide a simple automatic tool exchange method for cutting operations using a cutting robot.

Specifically, in addition to holding all of the predetermined cutting tools, a plurality of quick-change tool holders are arranged on a tool stand, and relative rotation with the spindle and relative movement in the axial direction are the conditions for attachment and detachment. The position of the spindle with respect to the tool stand, the rotation of the spindle, and the forward and backward movement of the spindle are servo controlled,
This is a method that allows the cutting robot to move autonomously to remove the tool holder.

In the quick-change tool holder mentioned above, the conditions for clamping and unclamping the spindle are relative rotation with the spindle and relative movement in the axial direction. The tth actuator for lamps and unclamps is not required.

According to the present invention, when the spindle is brought into alignment with the empty holder accommodating part of the tool stand by the movement of the robot itself, the holder accommodating part holds all the tool holders currently attached to the spindle. Is this an arm spindle? The spindle is disengaged from the tool holder by rotating and treating it a certain amount.

The new 7t tool holder is attached to the spindle by moving the spindle from the spindle to the position of the tool holder to be attached using the C movement of the robot itself, rotating the spindle fully, and moving it forward. Ru. Then, the tool exchange is completed by moving all the tool holders that have already been attached to the spindle out of the holder accommodating part by the #I movement of the robot itself.

Embodiment FIGS. 1 to 4 are diagrams showing an example of the hot cutting process used in the present invention, and illustrate a drilling robot.

As shown in factors 1 to 4, a pair of guide knolls 2 are provided, a slide base 3 is mounted on the tt base 1, and a column 4 is integrally mounted on the slide base 3. There is. The slide base 3 is fed in the horizontal direction by the servo motor 5, slides in the Y direction together with the column 4, and functions as a direct AM axis in the Y direction.

The column 4 has a pair of guide rails 6, and a carrier 7 is placed on the guide rails 6. The carrier 7 is given vertical feed by the servo motor 8 and the feed screw 9, and the carrier 7 slides 20,000 times. This
As a result, the entire I-stitch movement axis was completely bottomed out 20,000 times.

The carrier 7 is equipped with a quill-feed spindle unit, that is, a drilling unit t-, 10 as shown in Japanese Patent Application No. 60-127475, and the drilling unit IQ of C is mounted on the motor 1) as shown in FIG. 10M
Axis center of motor 1)? It can turn in the σ direction as the turning center. This is rotational movement in the U direction @'rf!
It will be completed.

Therefore, as shown in the fourth factor, the drilling unit 1
0 by a predetermined amount in the σ direction, and by extending the spindle 12 and the interpolating quill 13'iX universally as described later, it is possible to perform, for example, seven oblique drilling drills with respect to the workpiece W.

Incidentally, the spindle 12/j is rotationally driven by the motor 14.
, a motor 15 is applied to the quill 13 that interpolates the spindle 12 to feed it in the X direction.

A tool stand 16 stands near the cutting robot. Figure 5 and 6 on the tool stand 16
A plurality of accommodation grooves 1 as holder accommodation parts shown in the figure
7 is in shape, and the designated tool is in these accommodation T#17? Quick-change tool holder 1
8 is accommodated.

The tool holder 18 has a conventionally known structure as shown in FIG. 9(3) in addition to FIGS. For example, a drill 23 is held by a V-tool jack 22 consisting of.

19. A pull stud 25 is formed at the rear end of the tapered portion 24, and a groove 26 of the pull stud 25 is formed in the spindle 12 to which the tool holder 18 is attached, as shown in Fig. 9-1. A steel ball 27 corresponding to n is provided.
ing. Therefore, in the form of quasi-7 figure, from Buddha to Theba s 2
4 Insert into f spindle 12 and tool holder-1
By rotating the entire tool 8 by 90 degrees around its field center, the groove 26 of the pull stud 25 and the steel ball 27 engage, and the tool holder 18 is clamped.

′! A collar 29 having a pair of keys 28'i is attached to the holder body 19. Although this collar 29 is biased by a spring 30iC, it is slidable with respect to the holder main body 19 within a gap l between it and the lock nut 21.

Tsu'! As shown at 7t in FIG. 7, the taper portion 24 is inserted into the spindle 12, and the entire tool holder 18 is rotated by 90 degrees to attach it correctly. When the tip of the key 28 is formed on the spindle 12, T key! 31,
This means that relative rotation between the tool holder 18 and the spindle 12 is prevented.

As shown in FIGS. 7 and 8, a flat cutout groove 32 is formed in a part of the holder main body 19 and the collar 29, and this cutout #32 is used to accommodate the tool stand 16 (to be described later). will be engaged.

Accommodates 16 tool stands! 17 is formed in a rectangular shape as shown in Fig. 5 and Fig. 6, and this accommodation groove 17
By aligning the notch groove 32 of the tool holder 18 with the notch groove 32 of the tool holder 18, rotation of the tool holder 18 is prevented and the tool holder 18 is held.

A support plate 33 is attached to the back side of the storage monument 17. The support plate 33 is formed with a V-groove 34 that corresponds to the holder body 19 of the tool holder 18, and a lever 37 that is biased by a plunger 38Vr with a spring 35 is attached. There is. A roller 38 is attached to the tip of the lever 37.
The holder main body 19 of the tool holder 18 is entirely gripped by this roller 38 and the V-groove 34.

In other words, the tool holder 18 is prevented from moving and rotating in the front-rear direction (direction orthogonal to the plane of the paper in Fig. 5), and only when moved in the direction A in Fig. 5 □ All tool stands of the tool holder 18 It can be taken out from 16.

Note that the lever 37 shown in FIG. 5 can also be opened and closed using an air cylinder or the like.

More than just an arrow! i. An embodiment of the present invention will be explained below.

In Figures 1 to 3, assuming that the tool holder on the spindle 12 is made of plywood and is not elongated, the robot itself will move in the X and Y directions as described above. Any cell on the tool stand 16 to which the tool holder 18 is to be attached is carefully matched. At the same time, as shown in FIG. 7, adjust the rotational angle position of the spindle 12 so that the keyway 31 on the spindle 12 side is out of phase by 90 degrees with respect to the key 28 of the tool holder 18 to be attached. Step out to the side.

As is clear from FIG. 9, the tapered portion 24 of the tool holder 18 is inserted into the spindle 12 by feeding the quill 13 forward.

When the tip end surface 12a of the spindle 12 comes into contact with the key 2B, the collar 29 is pushed out. At this time, Fig. 9 (
As is clear from C), l1lB of pull stud 25
26 and the steel ball are out of phase, the taper portion 24 of the tool holder 18 is inserted into the spindle 12 to the insertion position lt. In addition, Fig. 9 1c'lv
'i, the same figure [This is a view taken along the line C-C of BI.

When the spindle 12 is rotated by -90f from t in the state shown in FIG. 9, 1pl, the keys 28 and key grooves 31 are separated as shown in FIG. 9(D), and the collar 29 is biased by the spring 30. The key 28 and the key groove 31 engage with each other. At the same time, it is clear from No. 91)+El that the groove 26 of the pull stud 25 and the steel ball 27 come into contact, and the tool holder 18 is clamped to the spindle 12 to prevent its removal.

In addition, FIG. 9 (F-) is a state seen from the green arrow E-E in FIG. 9 1 pl.

After the above operations are completed, the robot itself moves the tool holder 18't to A1 in FIG. It will be in a workable state.

Dimly, -! To remove the layered tool holder 18i, operate as shown below.

That is, since FIGS. 1 to 3 show the state in which the tool holder 18 is attached to the spindle 12, due to the movement of the robot itself, the empty storage space 17 of the tool stand 16 is The tool holder 18 attached to the spindle 12 is meticulously matched. At the same time, the rotational angle position of the spindle 12 is set to 1 so that the notch groove 32 of the tool holder 18 and the housing @ 17 on the tool stand 16 side are aligned. Take out t as a sin. Then, the tool holder 18 is moved in the direction B in FIG. 5 by the movement of the robot itself. As a result, the notch #I#32 of the tool holder 18 mounted on the spindle 12 engages with the housing groove 17, and at the same time, the tool holder 18 itself is held by the lever 37.

When the quill 13 is retracted until the collar 29 comes into contact with the lock nut 1-21 as shown in FIG. Then, from the state of the 101st prisoner, the spindle l 2 total 9
When rotated by 0V, the engagement between p#26 of the pull stud 25 and the steel ball 27 is n% as shown in FIG. 13, the tool holder 18 is removed from the spindle 12.

1) Figure 1) Figure 12 shows another embodiment of the present invention, in which the robot itself is rotated and narrowed in the β direction, and the tool stand 16 is also rotated by the cylinder 40. There are nine things that you can shift.

Therefore, when changing the tooling, the actuator 41 shown in FIGS. 13 and 14 is made to rotate the tool base 42 in the β direction, and the tool stand 16'iE is shifted in the same direction. Tool stand 16
And the throne with Spindle 12? It will be matched.

Effects of the Invention The second aspect of the present invention is that the cutting robot itself automatically performs tool change, which eliminates the need for conventional tool magazines, change arms, and other equipment that requires manual labor. Additionally, the spindle structure and control itself can be simplified.

[Brief explanation of drawings]

Fig. 1 is an explanatory diagram of the cutting robot used in the method of the present invention, Fig. 2 is a left side view of Fig. 1, Fig. 3 is a plan view of conduit 2, and Fig. 4 is the same as Fig. 1. Figure 5 is an enlarged view of the main parts of the tool stand, Figure 6 is a left side view of Figure 5, and Figure 7 is an enlarged view of the main parts of the tool stand.
The figure is a perspective view of the tool holder, Figure 8 is a half-sectional view of the tool holder, and Figure 9! Al, fEl, fcl
, (Dl, fEl and Figure 10 Prisoner, old) Sfc
Figure 1 is an explanatory diagram showing all the embodiments of the present invention, Figure 1) is an explanatory diagram of another cutting-specific erotic robot, Figure 12 is a plan view of Figure 1), Figures 13 and 14 are Figures 1 and 1. 15 is an explanatory diagram of a conventional tool holder. 10°...Drilling unit, 12...Spindle, 13...Quill, 16...Tool stand, 18
...Tool holder. 0 (N■

Claims (1)

[Claims] (1) A plurality of quick-change tool holders that hold predetermined cutting tools and that require relative rotation and axial movement between the spindle and the spindle when attaching and detaching the tools are arranged on a tool stand. A tool changing method for a cutting robot, characterized in that the position of the spindle with respect to a stand, the rotation of the spindle, and the forward and backward movement of the spindle are each servo-controlled, and a tool holder is attached and detached by autonomous movement of the cutting robot.