JPS63191537A - Automatic tool change arm device - Google Patents

Abstract

PURPOSE:To improve the efficiency of the tool changing work by installing a gripper at right angles through a turning mechanism at the top edge of an arm body which can turn in the longitudinal and transverse directions and mounting and demounting a held tool from the direction of the axis center of the attachment of a turret. CONSTITUTION:When a tool is mounted at right angles with the axis center of an octagonal turret through an attachment, the cylinder 41 of a turning mechanism 40 is extended in the state where the tool is held by a gripper 12, and the gripper 12 is turned by 90 deg. at right angles, and an arm body 11 is shifted and installed by a turning device 20 and a longitudinally driving device 30. When the tool is mounted in parallel to the axis center, the turning device 40 is extended, and the tool caught in the state where the gripper 12 of the arm body 11 is extended in the horizontal state is shifted to the attachment position of the turret and mounted by the turning device 20 and the longitudi nally driving device 30. Therefore, even if the installation angle of the tool to be mounted onto the turret varies, the tool can be automatically mounted and demounted through a changing arm, and the efficiency of the tool changing work can be improved.

Description

[Detailed Description of the Invention] [Industrial Application Field] The present invention relates to an automatic tool change arm device used, for example, in a turning center, and more specifically, the present invention relates to an automatic tool change arm device used, for example, in a turning center. This invention relates to an automatic tool changing arm device that can be mounted.

[Prior art]

Conventionally, numerically controlled multi-tasking machine tools (turning centers) have a quick exchange function that automatically exchanges tools stored in a tool magazine installed on the side of the machine with tools attached to the machine's turret using an exchange arm. )It has been known.

By the way, the exchange arm in the conventional numerically controlled compound machine tool mentioned above can only attach and detach tools in a certain direction with respect to the axis of the turret.
For example, when attaching a tool attachment to the turret parallel to the axis of the turret, or when attaching a tool attachment in a direction perpendicular to the axis of the turret, attach the attachment required for machining to the turret via a bolt. Was.

For this reason, it is fine if the tool is always attached and detached in one direction, but if the angle of attachment of the tool changes, the tool attachment must be replaced, which requires a lot of effort and time, and improves work efficiency. It was difficult to improve.

[Purpose of the invention]

This invention was devised by paying attention to such conventional problems, and its purpose is to ensure that the tool mounted on the turret can be attached to the turret even if the angle changes, and the tools stored in the tool magazine can be transferred to the exchangeable arm. An object of the present invention is to provide an automatic tool change arm device that can be automatically attached and detached via the tool exchange arm device, and can significantly improve the efficiency of tool change operations.

[Structure of the invention]

In order to achieve the above object, the present invention provides an automatic tool changing arm device equipped with an arm body that can freely rotate forward and backward, left and right, and automatically attach a plurality of tools stored in a tool magazine to an attachment on a turret. The gist is that a gripper that can be rotated at right angles via a rotation mechanism is provided at the tip of the arm body, and a tool clamped by the gripper can be attached and detached from the axial direction of the attachment of the turret. It is something to do.

[Embodiments of the invention]

The present invention will be described in detail below based on the accompanying drawings.

1 and 2 show a plan view and a front view of an automatic tool change arm device according to the present invention installed in a turning center, and show a tool magazine 1 containing a plurality of tools T.
The automatic tool changing arm device 10 is installed between the tool T and the turret 2 on which the tool T is attached.

As shown in FIG. 1, the automatic tool changing arm device 10 is placed so as to be slidable in the left and right direction via a cylinder 4 along guide bars 5a and 6b arranged on a base 3 of a turning center. The tool receiver in each of the tool magazine 1 and the turret 2 performs a transfer operation.

Further, the arm body 11 of the automatic tool changing arm device 10 is
It is movable in the front-rear direction and can be rotated by a turning device 20 and a back-and-forth moving device 30, which will be described later.

Furthermore, a gripper 12 (clamp means) is provided at the tip of the arm body 11 to clamp the tool T stored in the pot 5 of the tool magazine 1, and this gripper 12 locks with a semicircular holder 13. It is configured to have a claw 14 and to be able to rotate 90 degrees with respect to the tip of the arm body 11 via a turning mechanism 40 (see FIGS. 7 and 8).

On the turret 2 side, the gripper 12 removes the used tool T and moves it to the tool magazine 1 side for tool replacement, and also transfers the tool T selected and clamped in the tool magazine 1 to the turret 2. The attachment 2a (see FIGS. 9 to 12) is attached in a predetermined direction.

As shown in FIGS. 3 to 8, the arm body 11 of the automatic tool changing arm device 10 is provided with the aforementioned gripper 12 that is rotatable about a fulcrum pin 15 provided on one side of the arm body 11. The holder 13 constituting this gripper 12 is formed in a semicircular arc shape so that it can be inserted into the flange portion F (see FIG. 3) formed with a V-shaped cross section of the tool T, and the side of the holder 13 is A stopper device 50 (FIG. 3, Figure 5, 6th
(see figure) is provided.

A transmission pin 16 inserted into the fulcrum pin 15 is provided at the rear end portion 14a of the lock claw 14, as shown in FIG.
The tip of the lock arm 18, which is rotatably supported by the arm body 11 via the pin 17, is in contact with the rear end of the transmission pin 16.

The rear end portion 18b of the lock arm 18 is formed into a tapered shape, and a spring 51 constituting the stopper device 50
and the stopper pin 53, which is biased in the direction of constant contact via the spring 52, come into contact with the stopper pin 53, and the stopper device 5
0 is constantly biased in the direction of clamping the tool T (in the direction of the hour hand in FIG. 3). A recess 54 is formed in the head 53a of the stopper pin 53 as shown in FIG.
A stopper pin 56 is engaged with this recess 54 via a spring 55.

Therefore, when the tool T is clamped by the gripper 12,
Mechanically locked by the elastic force of the spring 51 and the stopper pin 56 that engages with the recess 54 formed in the head 53a of the stopper pin 53, the tool T is clamped in a securely locked state, so the arm body 11 can be rotated. Even if the tool T is changed, the tool T will not come off, and safety can be improved when changing the tool.

Further, on the side of the gripper 12, there is provided the turning mechanism 40 for turning the gripper 12 within a range of 90 degrees using the fulcrum pin 15 as a fulcrum.
8, a rod 42 of a cylinder 41 (hydraulic cylinder in this embodiment) fixed to the side of the arm body 11 is connected to the side of the gripper 12 via a fulcrum pin 43. has been done.

Therefore, the cylinder chamber 44a or 44b of the cylinder 41
In addition, the supply/discharge passage 45. ! , 45b, the rod 42
The gripper 12 uses the fulcrum pin 15 as a fulcrum through the 90
The tool T, which is rotated and clamped within a range of degrees, is attached to an attachment 2a attached to a turret 2 in a predetermined direction.

Furthermore, a detection device 45 for detecting the rotation angle of the gripper 12 as shown in FIG.
When the gripper 12 comes into sliding contact with the rear end surface of the gripper 12 and the rotation angle of the gripper 12 changes, for example, a change in voltage is outputted to a detection display section (not shown). Next, the rotation device 20 and the forward and backward movement device 30 of the arm main body 11 are constructed as shown in FIGS. 3 and 7.

The rotation device 20 of the arm body 11 is configured to rotate the arm body 11.
A hollow table-shaped support member 21 is fixed to the support member 21 via bolts (not shown), and inside the hollow portion of the support member 21 is a pivot shaft 24 rotatably supported by the base 5 via a torque actuator 23. and are spline-fitted via a ball spline 25.

Further, the longitudinal movement device 30 includes a torque actuator 23
A longitudinally movable cylinder 31 is attached to the side of the support member 21, and the tip of a piston rod 32 of the longitudinally movable cylinder 31 is fixed to a flange portion 33 provided on the side of the support member 21 via a bolt nut 34.

Therefore, when the longitudinal movement cylinder 31 is retracted, the arm body 11 moves back and forth in the longitudinal direction, and also rotates via the torque actuator 23, the spline bush 24a, and the ball spline 25.

Next, the operation of the automatic tool changing arm device 10 will be explained with reference to FIGS. 9 to 12.

First, FIGS. 9 and 10 show the axis 0 of the octagonal turret 2.
When installing the tool T via the attachment 2a in a direction perpendicular to the turret (in front of the turret), the cylinder 41 of the turning mechanism 40 is driven with the tool T cribed, and the gripper 12 of the arm body 11 is set as a fulcrum. The arm body 11 is rotated by 90 degrees using the bin 15 as a fulcrum, and the arm body 11 is rotated by the rotation device 2.
0 and the longitudinal movement device 30 to move the turret 2 to the position of the attachment 2a, thereby attaching the turret 2.

In addition, as shown in FIGS. 11 and 12, when the tool T is mounted via the attachment 2a parallel to the axis O of the octagonal talent 2 (on the side of the turret), the gripper of the arm body 11 12 is attached by operating the rotation device 20 and the longitudinal movement device 30 to move the turret 2 to the position of the attachment 2a in the normal extended state.

In this way, even if the angle of attachment of the tool T to the octagonal talent 2 changes, the tool T can be attached from the tool magazine 1 by simply changing the gripping angle of the gripper 12 of the arm body 11 without replacing the accumulator 2a. The removed tool can be easily attached to the turret 2.

Next, referring to FIG. 13, attach the attachment 2 to the turret front in a direction perpendicular to the axis
A process for installing the tool T via the octagonal turret 2a and a process for installing the tool T parallel to the axis 0 of the octagonal turret 2 (on the side of the turret) via the attachment 2a will be described.

First, with the arm body 11 facing the tool magazine 1 side, the direction perpendicular to the axis O of the turret 2 (
In the process of installing the tool T on the turret front surface via the axo-timer 2a, in the first process, the arm body 1
1 does not clamp the tool T in any way, in the second and third strokes, the gripper 12 is bent 90 degrees via the rotation mechanism 40, and the arm body 11 is moved to a predetermined position via the forward/backward movement device 30. raise.

From this state, as shown in the fourth stroke, the arm main body 11 is rotated to the position of the two turrets via the rotation device 20, and at this position, in the fifth to ninth strokes, the arm body 11 is rotated from the turret 2 via the stopper device 50. The tool T is removed and clamped, and in the 10th stroke, the tool T is turned again to the tool magazine 1 side while being clamped.

Then, in the 11th stroke, the gripper 12 is extended horizontally via the turning mechanism 40, and in the 12th to 14th strokes,
The tool T is housed in the pot 5 of the tool magazine 1 via the back-and-forth movement device 30 and the turning device 20.

Then, the arm body 11 returns to its original position (the 14th
Step), the tool magazine 1 indexes, and the next tool T to be mounted is rotated to the position of the arm body 11 (15th step).

Then, in the 16th to 18th strokes, the tool T is clamped to the gripper 12 via the longitudinal movement device 3Q and the swing device 20, and in this state, the cylinder 41 of the swing mechanism 40 is driven to move the gripper 12 of the arm body 11. The fulcrum bin 1
5 as a fulcrum (19th stroke), and then the arm body 11 is rotated to a position on the turret 2 side via the rotation device 20 (20th stroke).

Here, the clamped tool T is moved from the 21st stroke to the 2nd stroke.
As shown in the fourth stroke, the longitudinal movement device 30. Swivel device 20. It is attached to the attachment 2a of the saucer throat 2 via the stopper device 50.

The arm body 11 includes a longitudinal movement device 30 and a swing device W.
20, the gripper 12 returns to its original position and rotates, and further, the gripper 12 rotates 90 degrees using the fulcrum bin 15 as a fulcrum via the cylinder 41 of the rotation mechanism 40, and returns to the horizontal state (25th to 28th strokes). process).

Next, the operation when the tool T is installed parallel to the axis O of the octagonal talent 2 (on the side of the turret) via the attachment 2a is different from the case where the tool T is installed on the front of the turret described above. These are the 10th stroke and the 20th stroke to the 26th stroke. In this operation, the gripper 12 is always in an extended state so that the tool T can be replaced, and the back and forth operation and rotational operation are performed when the gripper 12 is attached to the front side. It is exactly the same as when

Therefore, description of other operations will be omitted.

As described above, in this invention, even if the attachment angle of the tool T to the turret 2 changes, the tool T can be easily attached and detached by rotating the gripper 12 without replacing the attachment 2a. It can be done.

〔Effect of the invention〕

This invention allows a plurality of tools stored in a tool magazine to be automatically attached to attachments on a turret as described above.

An automatic tool changing arm device equipped with a rotatable arm body, wherein a gripper rotatable at right angles via a rotation mechanism is provided at the tip of the arm body, and the tool clamped by the gripper is transferred to the attachment of the turret. Since the tool can be attached and detached from the axial direction of the turret, even if the attachment angle of the tool to the turret changes, the tool stored in the tool magazine can be automatically attached and detached via the exchange arm, making it easy to exchange tools. This has the effect of significantly improving work efficiency.

[Brief explanation of the drawing]

Fig. 1 is a plan view of the automatic tool change arm device installed in a turning center, Fig. 2 is a front view of Fig. 1, Fig. 3 is a plan view of the arm body, and Fig. 4 is a front view of Fig. 3. , 5th
The figure is a cross-sectional view of the Stomper device, and Figure 6 is the ■- of Figure 3.
7 is a cross-sectional plan view showing the rotation mechanism of the gripper of the arm body; FIG. 8 is a longitudinal sectional view of the rotation device and the longitudinal movement device of the arm body; FIGS. 9 and 10. is an explanatory diagram when a tool is mounted via an attachment in a direction perpendicular to the axis of the turret (in front of the turret), and Figures 11 and 12 are side views of the turret in a direction perpendicular to the axis of the turret. FIG. 13 is an explanatory diagram showing the operation stroke of the arm body in which the present invention is implemented. 1... Tool magazine, 2... Turret, 2a...
・Attachment, 11...Arm body, 12...
Gripper, 40... Turning mechanism, T... Tool.

Claims (1)

[Claims] An automatic tool changing arm device equipped with an arm body that can be freely rotated back and forth, left and right, for automatically attaching a plurality of tools stored in a tool magazine to an attachment of a turret, the arm body having: An automatic tool changer characterized in that a gripper rotatable at right angles is provided via a turning mechanism, and a tool clamped by the gripper is attached and detached from the axial direction of the attachment of the turret.