KR100609341B1 - Automatic Tool Changer of Fixed Address Type for Machine Tool - Google Patents

Abstract

The present invention relates to an automatic tool changer for machine tools of fixed address type. Fixed tool type automatic tool changer according to the present invention includes a magazine portion, X and Y drive shaft portion, a gripper portion and a tool changer, the X drive shaft portion moves only in the X direction or the horizontal direction, Y drive shaft portion Y direction Alternatively, the tool may be moved by moving only in the vertical direction. The automatic tool changer according to the present invention has the effect of reducing the waiting time of the tool by changing the tool by moving only in the X and Y axis directions using the X drive shaft and the Y drive shaft.

Fixed address method, magazine part, gripper part, transfer arm, changer arm

Description

Automatic Tool Changer of Machine Tool {Automatic Tool Changer of Fixed Address Type for Machine Tool}

1 is a front view of a fixed address ATC (Automatic Tool Changer) according to the present invention.

Figure 2 shows a side view of a fixed address type automatic tool changer according to the present invention.

Figure 3 shows a plan view of the changer assembly of the fixed address automatic tool changer according to the present invention.

Figure 4 shows the structure and shape of the changer assembly and the cam box portion according to the present invention.

※ Description of main code of drawing

10: Magazine part 11A: X drive shaft 11B: Y drive shaft

12: gripper part 14: tool changer 15: manual tool changer

20: changing part 21: cam box part

30: transfer arm 31: gearbox 32: air cylinder

41: rotating cylinder 43: changer arm 45: transport port

The present invention relates to an automatic tool changer (ATC) for machine tools of fixed address type, specifically, a magazine part, an X, Y drive shaft of a robotic system, a gripper part, a changer An automatic tool changer for a machine tool having a box-type structure including a changing part and a cambox part.

In general, the ATC type is classified into a magazine transfer type ATC and a fixed address type ATC. The magazine transfer method ATC requires more than twice the space of the number of tools compared to the fixed address type, and has the disadvantage of generating noise and shortening the life of elements such as magazine driving. In addition, when the tool located at the farthest position is replaced, productivity decreases due to an increase in the processing waiting time, and the tool can be expanded, but the expansion is hardly achieved due to the difficulty of the equipment weight and assembly technology. On the other hand, the fixed address type generally includes an arm changer part, a slide part by an L / M guide on the X, Y, and Z axes, and a magazine part. The fixed address has the advantage that the space utilization can be maximized, and the life of the machine can be increased by a decrease in wear due to the fixed form. In addition, it is possible to improve productivity by preventing the loss of replacement waiting time, and also has the advantage that the addition of a cartridge unit (Cartridge Part) can be added only when the tool is added.

Prior art for the automatic tool changer as described above is Korea Utility Model Registration No. 20-0348143 "Automatic tool changer of the machining center". The above design prevents the linear and rotary motions from being simultaneously applied to the change arm, and reduces the accumulation of backlash by reducing the number of connection points and supporting points of the mechanism that applies the linear motion to the change arm. It aims to provide.

Another prior art for an automatic tool changer is Korean Patent Application No. 10-2003-0076679, "Tool Rotation Device for Fixed Address Type Automatic Tool Changer," filed and registered by the present applicant. It is an object of the present invention to provide a tool rotating device of a fixed address type automatic tool changer which can shorten the exchange time of the tool port by improving the rotation and withdrawal structure of the tool port. In order to achieve the above object, the invention of '679 is coupled to the plate portion and the plate portion for holding the tool mounted on the tool magazine or change arm, the forceps portion for detaching, supporting the forceps portion rotatably and guide the rotation path And a hydraulic cylinder for rotating the tongs of the tongs, wherein the tongs and the hydraulic cylinders are connected by a rotary link and a rotating shaft for converting the linear motion of the hydraulic cylinders into a rotary motion. The invention '679 is incorporated herein by reference.

In the case of the '143 design of the prior art presented above, there is a problem in that it has the disadvantage of the magazine transfer method ATC. In addition, the '679 invention uses a fixed address, but has a disadvantage that the forceps corresponding to the gripper part uses a rotating device method. In the case of the gripper part rotating method, the number of tools that can be installed is limited, and also, wear due to rotation of the gripper part is likely to occur. In addition to this, there is a further disadvantage that the gripper requires fine adjustment to hold the tool accurately. The present invention is to solve the above problems and has the following object.

An object of the present invention is to provide a fixed address type ATC comprising an arm changer part, a slide part by an L / M guide of X, Y, and Z axes, and a gripper part in a matrix form. In particular, the present invention includes an L / M guide in the X, Y, and Z axes to improve the moving speed of the tool.

It is another object of the present invention to provide a fixed address type ATC which can be driven in connection with a control system related to an X-Y-axis feeder. In the present invention, it is possible to program and control the demands of each position by the position of the servo motor of the X and Y axes and the operation relation diagram of various oil and pneumatics.

In order to achieve the above object of the present invention, the fixed address type automatic tool changer according to the present invention includes an X drive shaft portion and a Y drive shaft portion for moving a tool from the gripper portion to a tool exchange portion, wherein the X drive shaft portion includes an X direction or It moves only in the horizontal direction and the Y drive shaft portion is characterized by moving the tool by moving only in the Y direction or the vertical direction.

In the following the invention is described in detail with reference to the examples presented using the accompanying drawings. In the description of the embodiments presented, known or obvious matters or devices are briefly described or omitted, but they should not be construed as being excluded from the scope of the present invention.

1 is a front view of a fixed address ATC (Automatic Tool Changer) according to the present invention.

As shown in FIG. 1, the ATC according to the present invention includes a magazine part 10 mainly composed of a frame and a profile, an X driving shaft 11A driven by a robot system, a Y driving shaft 11B, Gripper part (12) holding tool, changing part (13) serving as a conveying tool for tool change, and tool part (Cambox Part) (14) for actually exchanging tool with machine (14). ). It may further include a manual tool changer (15).

The magazine unit 10 refers to a device that stores a tool fixed to the gripper unit 12. The magazine unit 10 may be any device known in the art. In general, fixed address type ATC is different from the conventional magazine feed type ATC. The tool is always located at its own unchanged address. If the tool change command is given by the control system, the tool change standby position is provided by the X and Y axis feeder. It is characterized by being moved to. Therefore, the tool stored in the magazine portion 10 has a unique address to be stored in the gripper portion 12.

The X and Y drive shaft portions 11A and 11B driven by the robot system are devices moved on the LM guide. The drive on the LM guide uses a method known in the art such as hydraulic pressure or pneumatic pressure. In order to move the X and Y drive shaft portions 11A and 11B, first, the X and Y drive shaft portions 11A and 11B are positioned on the LM guide in the X axis direction, that is, the horizontal direction, where the tool of the gripper portion 12 can be selected. To go together. In this position, the Y drive shaft portion 11B moves in the negative Y-axis direction, that is, the vertical downward direction, to select a tool necessary for work, that is, an exchange tool. The Y drive shaft portion 11B fixing the exchange tool again moves in the positive Y axis direction, that is, the vertical upward direction, so that the X and Y drive shaft portions 11A and 11B are coupled. The X and Y drive shafts 11A and 11B coupled as described above are positioned on the X-axis so as to move in the X-axis direction again on the LM guide to transfer the exchange tool to the tool changer 14. In this position, the X drive shaft portion 11B moves downward to be positioned in front of the tool change portion 14. In FIG. 1, the upper left portion shows the X and Y drive shaft portions 11A and 11B coupled together, and the right middle portion, that is, the tool change portion 14 in front, shows the X driven shaft portion 11B after moving. The state of each is shown. As described above, only the X drive shaft portion LM guide moves in the X axis direction, and the Y drive shaft portion 13 moves only in the Y axis direction. It is advantageous to control the exact positions of the X and Y drive shafts 11A and 11B on the X and Y axes, ie the LM guide as described above, by a robot. The movement on the X and Y axes, ie on the LM guides, in the same way as described above also reduces the tool waiting time.

In the fixed address type ATC according to the present invention, the gripper portion 12 in a rectangular or matrix form is included. An advantage of the above aspect is that a large number of tools can be maintained compared to the installation area, and control by a computer or the like is easy. In general, the rectangular or matrix shape, compared with the circular or other shape gripper part, has the advantage of not only easy setting and recognition of the address but also advantageously positioning the tool accurately. The gripper portion 12 includes a gripper and a tool holding device. The tool holding device is to be able to press the tool in the case of mounting and detachment of the tool is generally supported by the elasticity of the spring. However, in the case of manufacturing only the spring, the shear phenomenon may occur during the heat treatment process, and if it is manufactured so that the shear phenomenon does not occur, there is a disadvantage that the elasticity is not constant. Therefore, it is particularly advantageous to use a method of adjusting the elasticity with a spring on the ball and inside, and adjusting it as a set screw. As described above, the gripper portion 12 having a rectangular or matrix form is suitably 15 × 2 = 30 per line, and 120 tools may be installed when four lines are used.

The manual tool changer 15 is a device for use when it is necessary to manually supply a tool that is not stored in the magazine unit 10 if necessary.

The tool changer 14 will be described below with reference to FIG. 2.

Figure 2 shows a side view of a fixed address type automatic tool changer according to the present invention.

FIG. 2 shows a form in which the Y drive shaft portion 11B is set to a position where the tool fixed to the gripper portion 12 can be moved to the tool changer portion 14 by moving in the Y axis direction. As shown, the tool changer 14 includes a changing part 20 and a cam box part 21. In this position, the tool fixed to the Y drive shaft portion 11B is transferred to the tool changer 14, and again the transferred tool is the change part 20 and the cambox part 21 included in the tool changer 14. ) Exchanges with the tool in the spindle position, ie the tool to be changed. In the replacement process, a linear motion by an LM guide or the like and a rotational motion by a cam are used. Referring to FIG. 2, a process of exchanging a tool of the gripper part 12 with a tool of the spindle part is as follows.

(i) The robot associated with the X and Y drive shaft portions 11A and 11B is instructed to the address of the tool to be replaced and the address of the tool to be replaced.

(ii) In accordance with the above instruction, the robot moves the X and Y drive shaft portions 11A and 11B to the gripper portion 12 so as to pick up the exchange tool to be replaced.

(iii) The X drive shaft portion 11B holding the exchange tool moves to the tool exchange portion 14 front standby position.

In the above process, the X and Y drive shaft parts 11A and 11B are moved only in the X-axis or Y-axis direction. That is, the X and Y drive shaft portions 11A and 11B move only in the X-axis or Y-axis direction to move the tool to be replaced up to the front of the tool exchange portion 14.

(iv) The exchange tool moved to the front of the tool change portion 14 is exchanged with the changeable tool located in the spindle portion. In the replacement process, linear motion by the LM guide and rotational motion by the cam are used.

(v) The exchanged tool is again fixed to the corresponding address of the gripper portion 12 or to the magazine portion 10 using the reverse process of (i) to (iii).

In the fixed address type automatic tool changer according to the present invention for exchanging a tool through the above process, the tool utilizes a linear motion of the gripper portion 12 and the X and Y drive shaft portions 11A and 11B in a rectangular or matrix form. Allows you to change large quantities of tools quickly and accurately.

Figure 3 shows a plan view of the changer assembly or changing portion 20 of the fixed address type automatic tool changer according to the present invention.

As shown in FIG. 3, the changer assembly or changer 20 includes a transfer arm 30, a gearbox 31 and an air cylinder 32, which are separately shown in the front view at the bottom of the figure.

The transfer arm 30 includes fingers 301A and 301B formed at both ends and is fixed to the changing portion 20 by the fixing rod 302. The changing part 20 is moved in the standby port direction by the LM guide (not shown), that is, in the -X direction in FIG. 3 so that one finger 301B formed on the changer plate 30 is positioned in the line A-A '. The tool on the standby port will be mounted. The mounting of the tool is performed in such a way that the changing part 20 moves forward while the tool in the standby port is retracted to mount the tool on the finger 301B of the transfer arm 30. The transfer arm 30 which fixed the exchange tool in the same manner as described above slides back to its original position. In the original position, the changer assembly or the changer 20 is rotated 90 degrees using the air cylinder 32. After rotating the changer assembly 20 by 90 degrees as described above, the transfer tool 30 is rotated by the transfer arm 30 by 180 degrees using a lex gear (not shown) included in the gearbox 31. It is located above the standby position (see FIG. 4). The movement of the exchange tool from the transport port to the spindle portion is described with reference to FIG. 4.

Figure 4 shows the structure and shape of the changer assembly and the cam box portion according to the present invention.

The tool fixed by the transport arm 30 of the changer assembly 20 is fixed to the transport port 401 of the transport device 40 as described in connection with FIG. 3. The transfer arm 30 shown in FIG. 4 is in a state in which the exchange tool T transferred from the gripper portion 12 (see FIGS. 1 and 2) to the magazine changer arm 40 is fixed to the finger 301B. It is shown. If the changing part 20 rotates 90 degrees in the above state and the transfer arm 30 rotates 180 degrees using the arm rotating cylinder 42, the exchange tool T is transported on the transport port 45. It is located in the line B-B 'of the port. In this position, the transport port 45 is moved to the exchange position C-C 'line as the linear movement of the port slider 46 using the rotary cylinder 41. That is, the exchange tool T transferred from the standby position to the transport port 45 is moved to the exchange position through the linear movement of the port slide 46. The cam box part 21 (refer FIG. 2) contains the chamber arm 43 provided so that rotation was possible. As shown in FIG. 4, the changer arm 43 is provided with exchange ports 431A and 431B for fixing the tool at both ends. The changer arm 43 rotates counterclockwise to fix the exchange tool to the exchange port 431A above. At the same time, the opposite exchange port 431B fixes the exchanged tool (not shown) of the spindle portion 44. In this way, the two tools are continuously rotated while being fixed to the respective exchange ports 431A and 431B. The exchange tool fixed to the exchange port 431A is fixed to the spindle portion 42, while the exchanged tool fixed to the other exchange port 431B is fixed to the transport port 45. This completes the process of exchanging the tool.

The exchanged tool fixed to the transport port 45 is transported to the gripper part or the magazine part through the reverse path of the process in which the exchange tool T is transferred to the transport port 45 and fixed.

 The fixed address type automatic tool changer according to the present invention has been described in detail using the present embodiment. The presented embodiments are exemplary and can be made by those skilled in the art to various modifications and modifications to the disclosed embodiments without departing from the spirit of the present invention. The present invention is not limited by the above modifications and variations, but only by the claims appended hereto.

The fixed address type automatic tool changer according to the present invention has an effect that a large number of tools can be mounted in a predetermined space by forming a box shape and a gripper to which the tool is fixed becomes a rectangular or matrix type. In addition, by using the X drive shaft and the Y drive shaft to move the tool in the X and Y axis direction only to reduce the waiting time of the tool.

Claims (6)

In the fixed address type automatic tool changer for a machine tool comprising a magazine part, a gripper part and a tool changer, In order to move the tool from the gripper portion to the tool changer, the X driving shaft portion moving only in the X direction or the horizontal direction and the Y driving shaft portion moving only in the Y direction or the vertical direction, wherein the X driving shaft portion and the Y driving shaft portion Fixed address type automatic tool changer, characterized in that guided by the LM guide. The method according to claim 1, Fixed address type automatic tool changer, characterized in that the control of the X drive shaft and the Y drive shaft is made by a robot. The method according to claim 1, The gripper portion fixed address type automatic tool changer, characterized in that the overall form of a square or matrix. delete The method according to claim 1, The gripper part includes a gripper for fixing a tool, and the fixed address type automatic tool changer is characterized in that the fixing of the tool is performed in the form of adjusting elasticity by using a ball and a spring and adjusting elasticity again as a set screw. . In the method of exchanging a tool of a machine tool by using a fixed address type automatic tool changer for a machine tool including a magazine part, X and Y drive shaft parts, a gripper part and a tool change part, (i) instructing the robots associated with the X and Y drive shaft portions to instruct the address of the tool to be replaced and the address of the tool to be replaced; (ii) according to the instructions, the robot moves the X and Y drive shafts to the gripper to position the replacement tool to be replaced; And (iii) moving the X drive shaft portion fixing the exchange tool to a forward standby position of the tool change portion, In the above, the X and Y drive shaft portion is moved only in the X-axis and Y-axis direction, respectively, and the movement of the X and Y drive shaft portion is a tool change method of a machine tool, characterized in that guided by the LM guide.

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