JPS63102804A - Method of indexing multi-spindle head in multi-spindle head exchange type machine tool, and device therefor - Google Patents

Abstract

PURPOSE:To make it possible to smoothly move a multi-spindle head for exchange so as to enhance the machining efficiency, by moving a multi-spindle head selected in accordance with the kind of a new workpiece to a predetermined position on a first guide rail during a certain workpiece is machined. CONSTITUTION:The positions of multi-spindle heads on first and second guide rails 5, 6 are detected. Further, during a certain workpiece is machined, first and second index mechanisms 25, 26 and an elevating mechanism 60 are operated in accordance with the kind of a new workpiece to be machined so that a multi-spindle head corresponding to the new workpiece is moved to a predetermined position on the first guide rail 5. Accordingly, it possible to allow the stand-by of a multi-spindle head corresponding to a new workpiece to be machined at a predetermined position during machining by a certain multi-spindle head. As a result, it is possible to smoothly move multi-spindle heads, coping with a change among the kinds of workpieces, thereby it is possible to enhance the machining efficiency.

Description

Detailed Description of the Invention A1 Objective of the Invention Tl) Industrial Application Field The present invention provides a processing unit that is arranged on a base so as to be able to move back and forth between an original position and a processing position, and that is integrated with the processing unit. The movable rail and the fixed rail constitute a first annular guide rail that surrounds the machining unit in the original position, and a second annular guide rail that is coaxial with the first guide rail at a position shifted in the axial direction. is arranged, a plurality of multi-axis heads are movably supported on the first and second guide rails,
First and second index mechanisms for driving angular displacement of the multi-axis heads on the first and second guide rails are connected to each other in a detachable manner, and the multi-axis heads are connected to each of the multi-axis heads at a position offset from the movable rail. A multi-axis head splitter in a multi-axis head exchangeable machine tool is provided with an elevating mechanism on the sides of the first and second guide rails for exchanging the multi-axis head between the first and second guide rails. The present invention relates to an output control method and device.

(2) Conventional technology Conventionally, such multi-axis exchangeable head machine tools
It is known from the publication No. 13923.

(3) Problems to be Solved by the Invention In the above-mentioned conventional technology, the multi-axis heads are arranged in order on the first and second guide rails in accordance with the order of the workpieces. Changes in the order of multi-axis heads during high-mix, low-volume machining and random machining are performed by visual confirmation. For this reason, when the type of workpiece is changed midway through, it is necessary to stop the transport device and machine tool that transports the workpiece, and during this time, the machining operation is stopped and production planning is disrupted.

The present invention was made in order to eliminate such conventional drawbacks, and makes it possible to smoothly bring a multi-axis head to a processing position according to the workpiece, thereby making it possible to cope with changes in the type of workpiece. An object of the present invention is to provide a multi-axis head indexing control method and device in a multi-axis head exchangeable machine tool.

B0 Structure of the Invention (Means for Solving Problems 11) According to the method of the present invention, the position of each multi-axis head on the first and second guide rails is detected, and when machining a certain workpiece, the position of each multi-axis head is detected. activating the first and second index mechanisms and the lifting mechanism based on the type of workpiece to be processed;
The multi-axis head corresponding to the new work is moved to a predetermined position on the first guide rail.

Furthermore, in the device of the present invention, each multi-axis head is equipped with a transmitter that outputs a signal according to its type, and the fixed position corresponding to the first and second guide rails receives the signal from the transmitter. At least one detector is disposed, and the detector is configured to store each position of the multi-axis head on the first and second guide rails in a sequencer that controls the operation of the first and second indexing mechanisms and the lifting mechanism. is connected, and the workpiece detector detects the type of workpiece to be newly machined, and the multi-axis head corresponding to the new workpiece is
It is connected to a control panel that outputs a preparation movement signal to the sequencer in order to move the guide rail to a predetermined position.

(2) Effect In the method of the present invention, the multi-axis head corresponding to a new workpiece moves to a predetermined position on the first guide rail and waits during machining by a certain multi-axis head, so the multi-axis head can be replaced smoothly. Therefore, it is possible to deal with changes in the type of workpiece.

Furthermore, in the device of the present invention, each position of the multi-axis head on the first and second guide rails is accurately detected by receiving the signal from the transmitter attached to the multi-axis head with the detector, and the detected position and a signal from the control panel, it becomes possible to move a desired multi-axis head to a predetermined position on the first guide rail.

(3) Example Hereinafter, an example of the present invention will be explained with reference to the drawings. First, in FIGS. 1 and 2, on the base 1 fixed to the floor, there is an original HP and , a processing unit 2 is disposed such that it can freely move forward and backward between the processing position MP at the side end. That is, a pair of parallel advance/retreat guide members 3 are arranged on the base 1, and the processing unit 2 is guided by the advance/retreat guide members 3 to move between the original position HP and the machining position M.
Move forward and backward between P. Further, a moving motor 4 is fixedly supported on the base 1.
is connected to the processing unit 2.

A pair of upper and lower annular first guide rails 5°5 are arranged so as to surround the processing unit 2 at the original position HP,
The upper position of the first guide rail 5.5 has the first vertical interval.
A pair of upper and lower annular second rails that are identical to the guide rail 5.5.
A guide rail 6.6 is arranged. Moreover, the first and second
The center position and radius of the guide rails 5.5; 6.6 are set to be the same.

Referring to FIGS. 3 and 4 together, the first guide rail 5 is configured in an annular shape by a movable rail 7, a pair of fixed rails 8.9, and a lifting rail 10. The movable rail 7 is
It is placed in the part corresponding to the processing position MP, and the lifting rail 1
0 is arranged on the opposite side of the movable rail 7 with respect to the center of the first guide rail 5. Movable rail 7 and lifting rail 10
For example, the fixed rail 8.9 is 11
It is formed in an arc shape with a central angle of 5 degrees, and the base 1
Fixed. That is, the fixed rails 8 and 9 of the lower first guide rail 5 are each fixed on the base 1 via the leg members 11, and the upper and lower pair of fixed rails 8, 8; 9.9 are arranged in an arc shape. They are each integrated by a curved side plate 12.

In addition, the upper and lower pair of movable rails 7.7 are connected to the processing unit 2.
The processing unit 2 is integrated with the processing unit 2 and moves together with the processing unit 2.

Further, the upper and lower pair of lifting rails 10.10 are integrated by a rail support 13.

Horizontal support plates 14 are each integrated with the fixed rails 8.9 of the upper first guide rail 5, and a plurality of support legs 15 each extend inward from these support plates 14. The lower end of the column 16 extending vertically is the first
and second guide rails 5.5; fixed and supported concentrically with the second guide rails 5, 5 and 6.

Referring also to FIG. 5, the second guide rail 6 is configured in an annular shape with a fixed rail 17 and a lifting rail 18.
The lifting rail 18 is formed in an arc shape with the same center angle as the lifting rail 10 in the first guide rail 5, and is arranged at a position corresponding to the lifting rail 0.

The fixed rail 17 of the upper second guide rail 6 is fixed to a support plate 19 extending radially outward from the center of the support column 16, and is connected to the upper and lower pair of fixed rails 18.
．． 18 is integrated with a plurality of connecting plates 20 spaced apart in the circumferential direction. Above again.

The lower pair of lifting rails 18.18 is a rail support 21
integrated through.

The first guide rail 5.5 has a plurality of, for example, six types of multi-axis heads A1. A2. A3. Bl, B2 and B3 are movably supported, and a plurality of, for example, six types of multi-axis heads CI are mounted on the second guide rail 6 and 6.

C2, C3, Di, B2. B3 is movably supported. That is, each multi-axis head A1 to A3. B1-B3. C
1 to C3 and Di to D3, a pair of wheels 22 that can be moved on the upper surfaces of the upper first guide rail 5 and the upper second guide rail 6 are respectively pivotally supported. A pair of wheels 23 that rotate along the inner surfaces of the first and second guide rails 5 and 6 are respectively pivotally supported, and each of the multi-axis heads Al to A3. Bl~B3. C1~C3, Di~
At the bottom of D3, there are lower first and second guide rails 5,
a pair of wheels 2 that rotate along the inner and outer surfaces of 6;
4 are each pivotally supported.

Here, each multi-axis head A1 to A3. B1~B3゜01~C
3,0i to D3, alphabetic characters A and B.

The reference numerals C, D and numbers 1, 2, and 3 are used in combination for convenience in distinguishing and displaying the corresponding workpieces and processes.

C and D indicate the types of corresponding workpieces. Also the number 1.2
．． 3 indicates a machining process; for example, 1 is for drilling, 2 is for tapping, and 3 is for reaming.

Multi-axis head A that can run along the first guide rail 5.5
l~A3. B1 to B3 are driven for angular displacement by the first index mechanism 25, and the multi-axis heads A1 to A3 . Bl～B
3 is arranged at a position corresponding to the movable rail 7.7 or the lifting rail 10.10. In addition, the multi-axis heads C1 to C3 can run along the second guide rail 6.6.
, DI-D3 are driven for angular displacement by the second indexing mechanism 26, and any one of the multi-axis heads C1-C3, Di-D3 is arranged at a position corresponding to the lifting rail 18.18.

The first index mechanism 25 includes a rotary plate 27 that is rotatably supported at the intermediate portion of the support column 16, and extends radially outward from the rotary plate 27 at a plurality of locations, for example, six locations, equally spaced in the circumferential direction. index arm 28 and rotary plate 27
and a drive source 29 for driving the angular displacement. The second index mechanism 26 is basically configured in the same manner as the first index mechanism 25, and includes a rotary plate 30, an index arm 31, and a drive source 32.

The tip of each index arm 2B, 31 is connected to a multi-axis head A1 to A3. B1-B3. C1-C5°D1-D3 are removably engaged with locking blocks 36 fixedly installed on the upper portions of D1-D3, respectively.

6, 7, and 8, each index arm 28.31 has its own multi-axis heads A1-A3. Bl~B3. Approximately U-shaped guide portions 37 that are open to the C1 to C3 and Di to D3 sides are formed, respectively.

This guide section 37 includes each multi-axis head A1 to A3. B1-
B5. A substantially U-shaped engagement member 38 is slidably engaged with C1-C5 and D1-D3 so as to be able to approach and separate from them. A guide shaft 39 that is inserted into the index arms 2B and 31 is fixed to the engagement member 38, and the guide shaft 39 is surrounded by the index arms 28 and 31 and the retaining member 38.
A spring 40 interposed therebetween allows the engaging member 38 to connect to each of the multi-axis heads A1 to A3 . Bl~B3. C1~C3, Di~D
It is elastically biased in a direction approaching 3. Furthermore, a stopper 41 that can be engaged with the index arms 28, 31 is fixed at the end of the guide shaft 39 protruding from the index arms 28, 31, and the retaining member 38 biased by a spring 40 is Detachment from arms 28, 31 is prevented.

Each of the multi-axis heads A1 to A3. Bl~B3. Slanted fitting surfaces 42 and 43 are respectively formed so that they approach each other as they move away from C1 to C3 and D1 to D3. In addition, each multi-axis head A1 is provided at the upper center and lower center of the retaining member 38.
~A3. Bl~B3. Guide protrusions 44 and 5 protruding toward the C1 to C3 and D1 to D3 sides are integrally provided. The distal end surfaces of these guide protrusions 44.5 include, in order from above, a first guide surface 46.47 that slopes toward the distal end as it goes downward, a second guide surface 48.49 that is vertical, and a second guide surface 48.49 that extends upward. As the third guide surface 50.51 slopes toward the tip side, a third guide surface 50.51 is formed.

On the other hand, each multi-axis head A1 to A3. B1~B3゜01~C
3. At the top of Di~D3, index arm 2B,
A locking block 36 protruding toward the 31 side is fixedly provided. The locking block 36 has the inclined fitting surface 42.
The outer surfaces 52 and 53 corresponding to the outer surfaces 52 and 53 are formed so as to be inclined toward each other toward the distal end side. Also,
At the tip of the locking block 36, there is a first contact surface 54 inclined corresponding to the third guide surface 50.51, and a second guide surface 48.51.
49, a vertical second contact surface 55, and a first guide surface 4.
A third contact surface 56 inclined corresponding to 6.47 is provided in order from above.

According to the tip structure of the index arm 28.31 and the structure of the locking block 36, the outer surface 52.5
3 is brought into contact with the inclined fitting surfaces 42 and 43, and the third contact surface 56 is brought into contact with the first guide surface 47.
6 and the retaining member 38 are engaged, the locking block 36, that is, each of the multi-axis heads A1 to A3. B1-B3.
When C1 to C3 and Di to D3 are raised, the first contact surface 5
4 comes into contact with the third guide surface 50, and the engagement member 38 engages the spring 40.
The outer surfaces 52 and 53 are separated from the inclined fitting surfaces 42 and 43 to release the engaged state. Also, from below the index arm 28°31, a locking block 36, that is, each multi-axis head A1 to A3. Bl~B3
．． When C1 to C3 and D1 to D3 rise, the first contact surface 54 comes into contact with the third guide surface 51 of the retaining member 38 which is resiliently biased by the spring 4o, and the engaging member 38 is pushed in. Next, when the third contact surface 56 rises to a position corresponding to the first guide surface 47, the engagement member 38 moves forward until the first guide surface 47 contacts the third contact surface 56, and is locked. Inclined mating surfaces 42.4 on both outer surfaces 52 and 53 of the block 36
3 are in contact with each other, and the index arm 28.31 and the multi-axis head A1-A3°B1-B3. C1~C3, Di~D3
are in an engaged state. This is for each multi-axis head A1 to A3.
．． B1-B3. The same applies when C1 to C3 and Di to D3 descend from above.

Lifting rail! 0.10; In the part corresponding to 18.18,
A lifting mechanism 60 is disposed on the sides of the first and second guide rails 5, 5; 6°6.

In FIG. 9, the elevating mechanism 60 includes a pair of guide columns 61.61 extending vertically, a pair of upper and lower elevating bodies 62.62 that can be raised and lowered along the guide columns 61.61, and an elevating body 62.6.
2 is provided.

A board 64 is arranged on the floor on the side of the base 1, and guide columns 61°61, each having a cylindrical shape with a rectangular cross section, are erected on the board 64 with intervals between them. Ru. Also, guide pillar 6
1.61 are interconnected by a connecting plate 65, and the connecting plate 65 and the base 1 are interconnected by a pair of connecting members 66.66 made of I-beam steel. Further, the upper portions of the guide columns 61 and 61 are connected to each other by a connecting plate 67.

Furthermore, a bracket 68.68 is fixedly installed on the upper side of the guide column 61.61 on the sides that are separated from each other, and the bracket 68.68 has a connecting member 69 made of, for example, I-beam steel.
．． One end of 69 is fixed. These connecting members 69.6
The other end of the support column 9 is commonly fixed to the upper end of the support column 16 .

In this way, the guide column 61.61 is substantially integrated with the base 1 at its upper and lower portions and is stably supported.

Elevating guide members 70.70 extending vertically are fixed to the side surfaces of one example of the base of the guide column 61.61, and the elevating body 62.62 ascends and descends along these guide members 70.70. . In other words, both elevating bodies 62.62 are connected to both guide columns 61.
．． A horizontal plate 72.72 extending to one side of the base is fixed at a right angle to the lower part of a vertical plate 71.71 extending between 6L,
A pair of fitting leg portions 73.73 that fit into the guide members 70.70 are provided at each end of the vertical plate 71.71.

Both elevating bodies 62.62 are connected to each other via a connecting member 74, and an elevating drive means 63 is connected to the upper elevating body 62.
are concatenated. This elevating/lowering driving means 63 is, for example, a hydraulic cylinder, extends in the vertical direction, and is supported by one guide column 61 . Therefore, both the elevating bodies 62.62 are driven up and down by the elevating drive means 63 along the guide members 70.70.

At the upper ends of both guide columns 61.61, a pair of sprocket wheels 76.76 share a common shaft 75 so as to rotate synchronously.
are pivotally supported, and these sprocket wheels 76.
One ends of the chenos 77 and 77 wrapped around 76 are respectively connected to the upper elevating body 62. Also Cheno 77,7
The other end of 7 is inserted into the guide column 61.61 from the upper end and is connected to a balance weight 78.78 that can be moved up and down within the guide column 61.61.

Each sprocket wheel 76.76 has a guide post 61.61
It is covered by a cover 79.79 attached to the upper end of the. Further, a lower elevating body 62 is provided at the lower end of the guide member T0.70.
A stopper 80 is attached to each of the guide members 70, 70 to determine the lower limit position of each elevating body 62, 62.
The upper end of each elevator body 62 is in contact with the elevator body 62 above.
．． A stopper 81 that determines the upper limit position of 62 is attached to each.

In the state where they are connected by the connecting member 74, the distance between the horizontal plates 72, 72 in both elevating bodies 62, 62 corresponds to the distance between the lower first guide rail 5 and the lower second guide rail 6. The horizontal plates 72.72 of both lifting bodies 62.62 are respectively connected to lifting rails 10.18 on the lower first and second guide rails 5.6. Therefore, as the lifting body 62.62 moves up and down, the lifting rails 10, 10i18
18, but when the elevating body 62.62 is at the lower limit position, the elevating rail 10.10 moves up and down the first guide rail 5.18.
5 and the lifting rail 18.18
is at a position corresponding to the second guide rail 6.6 and the lifting body 62.62 is at the upper limit position, as shown in FIG.
The upper and lower limit positions of the elevating body 62.62, that is, the mounting position of the stopper 80.81, are set so that they are located at positions corresponding to .

In FIG. 11 and FIG. 12, the lifting rail to, 1
A pair of support guides 82.82; 83, 8 extend vertically at an interval larger than the width of the locking block 36.
3 are fixedly installed respectively. Also, support guide 82.
The guide rods 84 and 84 that are in sliding contact with the first guide rail 5
．． A guide rod 85 extends vertically between 5 and 5, is fixed to the support plate 14, and slides on the support guides 82, 82; 83, 83.
, 85 extend vertically between the second guide rails 6.6 and are fixed to the support plate 19. This stabilizes the elevating and lowering operations of the elevating bodies 62 and 62.

Between the index arms 2g and 31 located at positions corresponding to the lifting rails 10.18, the multi-axis head Al-A3. B1-83. Cl-C5
, Di to D3 extend vertically and are fixed to the support plate 19, and a head main internal member 87 extending vertically above the index arm 3I is fixed to the connecting member 69. These head guide members 8
6.87, the locking block 36, that is, each multi-axis head A1 to A3. Bl~B3. Elevating and lowering operations of C1 to C3 and D1 to D3 are stabilized.

Referring again to FIG. 4, the support plate 14, which is integral with the fixed rail 8.9 of the upper first guide rail 5, has multi-axis heads A1 to A3. Bl-B3, Cl-C5, Di to D3
Detectors 88 and 89 are installed to detect the type of each multi-axis head A1 to A3. Bl~B3. C1~
A transmitter 91 is attached to each of C3°Di to D3 for transmitting a signal according to the type when facing the detectors 88, 89.

In addition, in FIG. 5, the support plate 19 that is integral with the fixed rail 17 in the upper second guide rail 6 has multi-axis hems A1 to A3.
~B3. Detectors 90 for receiving signals are installed opposite to the transmitters 91 of CI NC3 and DI to D3, respectively.

In FIG. 13, the multi-axis interchangeable head machine tool M configured as described above is designed to machine multiple types, for example, four types of workpieces WA, WB, WC, and WD, which are intermittently conveyed, from both sides. A plurality of processing stations, for example, five processing stations Sl, S2. S3゜S4. One pair each is arranged in S5. That is, the conveyor 95 is arranged in an endless manner so as to sequentially pass through the processing stations S1 to S5.
The machine tools M are arranged on both sides of the conveyor 95 at positions corresponding to each processing station 5l-35.

A plurality of pallets 96 are placed on a conveyor 95, and a plurality of pallets 96 of multiple types are loaded at a loading station Si set at a fixed position before entering each processing station 81 to s5.
)--one of WA, WB, WC, and WD is placed on the pallet 96. In addition, a payout station So is set at a fixed position after passing through each processing station 81 to s5, and the workpieces 7WA, WB, WC, and WD processed at each processing station 31 to s5 are paid out. It is delivered from a pallet 96 at station SO. However, the pallet 96 after being delivered is circulated to the input station SL.

At the input station St, there are works WA and WB.

A workpiece detector 97 is provided to detect which of the WC and WD is input, and a signal detected by this workpiece detector 97 is input to an overall control panel 98. On the other hand, each machine tool M has a sequencer 99 and a CNC device 10.
0 is attached to each of them, and the type of workpiece input to the input station St is transmitted from the overall control panels 9 and 8 to each sequencer 99.

In each machine tool M, a signal from a transmitter 91 is read by a detector 89.90, so that multi-axis heads A1 to A3.
Bl~B3. It is detected whether any of C1 to C3 and D1 to D3 is engaged, and the data is stored in the sequencer 99. A multi-axis head read command and a machining command signal are inputted from the CNC device 100 to the sequencer 99, and by comparison with data stored in the sequencer 99, a desired multi-axis head is moved to a machining position MP. At this time, if there is a desired multi-axis head on the first guide rail 5.5, the desired multi-axis head is moved to the processing position MP by the operation of only the first index mechanism 25, but the desired multi-axis head is on the second guide rail 5.5. When on the guide rail 6.6, the desired multi-axis head is lowered onto the first guide rail 5.5 by the action of the lifting mechanism 60 and the second index mechanisms 26, and further moved to the processing position by the first index mechanism 25. He is forced to move to MP.

Further, from the overall control panel 98, the type of workpiece, the number of stations and the number of processes from input station Si to the relevant station are inputted to the sequencer 99 as standard commands, and the preparation command signal and the sequencer 99 are inputted as reference commands.
A multi-axis head to be prepared is searched for by comparison with the data stored in the sequencer 99, and the multi-axis head to be prepared is sequentially moved to the first guide rails 5, 5 by a command from the sequencer 99.

Next, the operation of this embodiment will be explained with reference to FIG. 14. In a certain machine tool M, for example, a workpiece W
A, WB, WC, WD are delivered in this order, and each work WA, WB.

When performing three steps of drilling, tapping, and reaming in order for WC and WD, Fig.
1, on the first guide rails 5, 5 there are multi-axis heads A1 to A3. Bl to B3 are arranged in order, and multi-axis heads C1 to C3 and Di to D3 are arranged on the second guide rail 6.6.
Assume that they are arranged in order.

In this case, after bringing the multi-axis head AI to the processing position fMP and drilling the workpiece WA, the multi-axis head A2
．． A3 is sequentially brought to the processing position MP, and tapping and reaming are sequentially performed.

After that, as the workpiece WB is transported, the machining position MP is moved to the multi-axis 7-axis B1 as shown in FIG. 14(b).
to perform drilling. At this time, the next workpiece wC to be transported is the corresponding multi-axis head C1, C2.
, C3 are on the second guide rail 6.6, the multi-axis head CI is moved from the second guide rail 6.6 to the first guide rails 5, 5 during processing by the multi-axis head Bl.

That is, the multi-axis heads AI and D3 located at the positions corresponding to the lifting rails 10, 10; 1B and 1B are shown in FIG. 14(e).
As shown, the lifting mechanism 60 raises it to the upper limit position. This causes the multi-axis head A1 to move to the second guide rail 6.
．． 6, and the multi-axis head D3 moves to the second position.
Retract upward from the guide rail 6.6. At this time, the data of the evacuated multi-axis head D3 is erased from the sequencer 99, and the data from the transmitter 91 of the multi-axis head A1 is read by the detector 90, so that the second index mechanism 2
The relationship between the index arm 31 and the multi-axis head A1 at No. 6 is newly stored in the sequencer 99.

Next, as shown in FIG. 14 1dl, the second index mechanism 26 moves the multi-axis heads 01 to C3° DI, D2
．． Al moves clockwise along the second guide rail 6.
The angular displacement is driven by 0 degrees. For this reason, the multi-axis head C1
comes to a position corresponding to the lifting rail 18.18.

Therefore, as shown in FIG. 14(e), the elevating mechanism 60 is lowered to lower the multi-axis head D3 to a position corresponding to the second guide rail 6.6, and the multi-axis head CI
is lowered to a position corresponding to the first guide rails 5,5. At this time, the multi-axis head D3 and the second index mechanism 26
The relationship with the index arm 31 is stored anew in the sequencer 99, and within the sequencer 99, the second
The data of the multi-axis head C1 corresponding to the index mechanism 26 is stored in association with the index arm 28 of the first index mechanism 25.

Such operation is performed by the multi-axis head B2. The same process is performed during machining operation by multi-axis head B3, and when machining by multi-axis head B2, multi-axis head C2 is lowered from the second guide rail 6.6 to the first guide rail 5.5. During machining, the multi-axis head C3 moves to the second guide rail 6.6
from there to the first guide rails 5,5. Moreover, in place of multi-axis heads C2 and C3, multi-axis head A2. A
3 is moved from the first guide rail 5.5 to the second guide rail 6.6.

Therefore, when the workpiece wc is transported after processing the workpiece WB, the multi-axis heads C1, C2 and C3 are sequentially brought to the processing position MP, and each multi-axis head C1, C2, C
3 can be performed in sequence.

During processing using such multi-axis heads CI, C2, and C3, the multi-axis heads D1. D2. D3 is lowered from the second guide rail 6.6 onto the first guide rail 5.5.

For example, during processing using the multi-axis head C2, the multi-axis head D2 is lowered onto the first guide rail 5.5 as shown in FIG.
．． At 6, the multi-axis head D3 is located above the multi-axis head D2.

Therefore, when the first index mechanism 25 is activated to bring the multi-axis head C3 to the machining position MP after the machining by the multi-axis head C2 is completed, the second index mechanism 26 is also activated as shown in FIG. 14 (gl). Then, the multi-axis head D3 is angularly displaced by 60 degrees.

The multi-axis head c3 is advanced to the processing position MP and the workpiece WC is
When machining, the lifting mechanism 60 is operated to raise and lower,
As shown in FIG. 14(h), the multi-axis head B3 is raised to the second guide rail 6.6, and the multi-axis head A1 is retracted upward from the second guide rail 6.6.

Thereafter, as shown in FIG. 14 (1), the second index mechanism 26 is operated by 60 degrees in the opposite direction to that shown in FIG.
．． Put it on 10.

By lowering the elevating mechanism 60 in this state, the multi-axis head D3 is moved to the first
It can be lowered onto the inner rail 5.5.

In this way, each multi-axis head At-A3, 81 to B3
．． Since C1 to C3 and Di-D3 can be arbitrarily brought to the processing position MP and processed, and the multi-axis head can be prepared and arranged in preparation for the next processing, processing efficiency is improved. In addition, the first and second guide rails 5, 5; 6
, 6 can store the same number of multi-axis heads, so it is possible to store a larger number of multi-axis heads than the conventional one.

In the lifting mechanism 60, the guide column 61.61 is connected to the connecting member 66.6.
Since it is substantially integrated with the base 1 at 6i69.69, it becomes possible to stably support the vertical state of the guide column 61.61. In addition, when the lifting mechanism 60 is raised and lowered, the rail support 13 that connects the lifting rails xo and to and the rail support 21 that connects the lifting rails 18°18,
Guide rod 84.84;85. as, the multi-axis heads A1 to A3. Bl~B3. C1'-C3, DI-D3
The locking blocks 36 are guided by the head guide members 86, 87, so that 7FA1-A3, B1-B3. Cl
-C5, Di to D3 move up and down stably. Furthermore, above,
The lower pair of elevating bodies 62, 62 are connected by a connecting member 74,
A pair of chenos 77.77 connected to the upper elevating body 62 are wrapped around sprocket wheels 76.76 which are pivotally supported at the upper end of the guide column 61.61, and balance weights 78.78 are connected to these chenos 77.77. Therefore, the elevating body 62,62 can be stably raised and lowered while maintaining its horizontal position, and can be driven by a single elevating and lowering drive means 63.

In the first and second index mechanisms 25.26, a substantially U-shaped retaining member 38 is disposed at the tip of each index 7-mem 28.31 and resiliently biased in a direction protruding from the tip.
Guide protrusions 44 and 5 are provided at the upper and lower center of the retaining member 38.
In addition, since the tip of the locking block 36 is formed corresponding to the guide protrusions 44 and 45, each multi-axis head A1
~A3°B1~B3. According to the elevation of C1 to C3 and DI to D3, the locking block 36 and index arm 2B,
31 can be easily engaged and disengaged, and the engaged state can be firmly maintained.

C9 Effects of the Invention As described above, according to the method of the present invention, the position of each multi-axis head on the first and second guide rails is detected, and the type of workpiece to be newly machined is determined when machining a certain workpiece. Based on this, the first and second index mechanisms and the lifting mechanism are operated, and the multi-axis head corresponding to the new work is moved to a predetermined position on the first X inner rail, so that the multi-axis head corresponding to the new work is moved to a predetermined position on the first X inner rail. The multi-axis head can be kept in standby at a predetermined position when processing a certain multi-axis head,
The multi-axis head can be exchanged and moved smoothly in response to changes in the type of workpiece, improving machining efficiency.

Furthermore, in the device of the present invention, each multi-axis head is equipped with a transmitter that outputs a signal according to its type, and the fixed position corresponding to the first and second guide rails receives the signal from the transmitter. At least one detector is disposed, and the detector is configured to store each position of the multi-axis head on the first and second guide rails in a sequencer that controls the operation of the first and second indexing mechanisms and the lifting mechanism. is connected, and a workpiece detector that detects the type of workpiece to be newly machined moves the multi-axis head compatible with the new workpiece to the first
It is connected to a control panel that outputs a preparation movement signal to the sequencer in order to move it to a predetermined position on the X inner rail, so the position of each multi-axis head at each time can be accurately grasped and the commands from the control panel Based on this, a desired multi-axis head can be found and moved to a predetermined position, and the method of the present invention can be appropriately implemented.

[Brief explanation of the drawing]

The drawings show one embodiment of the present invention, and FIG. 1 is an overall perspective view of an exchangeable machine tool with a multi-axis head, and FIG. 2 is a simplified exploded perspective view with the multi-axis head of FIG. 1 removed. , Fig. 3 is a simplified partially cutaway side view seen from the direction of the arrow ■ in Fig. 1, Fig. 4 is a sectional view taken along the fV-ff line in Fig. 3, and Fig. 5 is a cross-sectional view taken along the line V in Fig. 3. Fig. 6 is a large sectional view taken along the line Vl-Vll in Fig. 4. Fig. 7 is a view taken from the ■ arrow in Fig. 6, and Fig. 8 is a view taken from Fig. 7 with the locking block removed. Fig. 9 is a view from the ■ arrow in Fig. 3, Fig. 10 is a side view corresponding to Fig. 3 when the elevating mechanism is raised, and Fig. 11 is a view of X I - X I, %! in Fig. 3.
Fig. 12 is a sectional view taken along the xri-xII line in Fig. 3, Fig. 13 is a simplified diagram showing an example of the arrangement of a multi-spindle head exchangeable machine tool, and Fig. 14 shows the multi-spindle head exchange operation in sequence. It is an explanatory diagram for explanation. DESCRIPTION OF SYMBOLS 1... Base, 2 River unit, 5... First guide rail, 6... Second guide rail, 7... Movable rail,
8゜9... Fixed rail, 25... First index mechanism, 26... Second index mechanism, 60... Lifting mechanism, 88.89.90... Detector, 91... Transmission device, 97... workpiece detector, 98... control panel, 9
9... Sequencer, A1 to A3. BL~B3. C1~C3, DI~D3...
・Multi-axis head, HP...original position, MP...processing position

Claims (2)

[Claims] (1) A processing unit is arranged on a base so as to be able to move forward and backward between the original position and the processing position, and a movable rail and a fixed rail that are integrated with the processing unit form an annular structure surrounding the processing unit in the original position. A first guide rail is configured, and a second guide rail is disposed coaxially and annularly at a position shifted from the first guide rail in the axial direction. The shaft head is movably supported and the first
First and second index mechanisms for driving the angular displacement of the multi-axis heads on the second guide rail are connected to each other in a detachable manner, and the first and second index mechanisms are connected to each of the multi-axis heads on the second guide rail in a position deviated from the movable rail. Multi-axis head indexing control in a multi-axis head exchangeable machine tool in which a lifting mechanism is installed on the side of the second guide rail to exchange the multi-axis head between the first and second guide rails. A first method,
and detecting the position of each multi-axis head on the second guide rail, and operating the first and second index mechanisms and the lifting mechanism based on the type of workpiece to be newly processed when processing a certain workpiece, A multi-axis head indexing control method in a multi-axis head exchangeable machine tool, characterized in that the multi-axis head corresponding to the new work is moved to a predetermined position on a first guide rail. (2) A processing unit is arranged on a base so as to be able to move forward and backward between the original position and the processing position, and a movable rail and a fixed rail that are integrated with the processing unit form an annular structure surrounding the processing unit in the original position. A first guide rail is configured, and a second guide rail is disposed coaxially and annularly at a position shifted from the first guide rail in the axial direction. The shaft head is movably supported and the first
First and second index mechanisms for driving the angular displacement of the multi-axis heads on the second guide rail are connected to each other in a detachable manner, and the first and second index mechanisms are connected to each of the multi-axis heads on the second guide rail in a position deviated from the movable rail. Multi-axis head indexing control in a multi-axis head exchangeable machine tool in which a lifting mechanism is installed on the side of the second guide rail to exchange the multi-axis head between the first and second guide rails. The device includes a transmitter that outputs a signal according to the type of the multi-axis head, and a detector that receives the signal from the transmitter at a fixed position corresponding to the first and second guide rails. A sequencer in which at least one device is disposed and controls the operation of the first and second index mechanisms and the lifting and lowering mechanism;
The detector is connected to memorize each position of the multi-axis head on the first and second guide rails, and the workpiece detector detects the type of work to be newly machined. A multi-axis head indexing control device for a multi-axis head exchangeable machine tool, characterized in that the device is connected to a control panel that outputs a preparation movement signal to a sequencer in order to move the head to a predetermined position on a first guide rail.