KR20130038083A

KR20130038083A - Device for transporting a tool in the tool magazine of a machine tool

Info

Publication number: KR20130038083A
Application number: KR1020110102736A
Authority: KR
Inventors: 김동권
Original assignee: 두산인프라코어 주식회사
Priority date: 2011-10-07
Filing date: 2011-10-07
Publication date: 2013-04-17

Abstract

The present invention relates to a tool transporting device of a tool magazine of a machine tool magazine, comprising: a tool storage unit accommodating a tool supplied to a main shaft of a machine tool, a gripper for gripping and rotating a tool accommodated in the tool storage unit, and the gripper. A rotating unit for rotating the shaft, a tool changing unit for exchanging the tool of the main shaft, a tool carrier for moving the standby port for receiving the tool supplied to the main shaft by the tool changing unit toward the tool changing unit, and receiving the tool from the gripper. A sub-conveying unit for transporting to and receiving the standby port, an X-axis conveying unit and a Y-axis conveying unit for moving the gripper toward the sub-conveying unit, and rotating the tool in advance in the direction in which the main shaft is fitted, thereby Tool in the tool carrier device to transfer the tool to the change unit The component which rotates can be eliminated, thereby simplifying the structure of the device.

Description

Device for transporting a tool in the tool magazine of a machine tool}

The present invention relates to a tool magazine of a machine tool, and more particularly, to a tool transport apparatus of a machine tool tool magazine for moving a tool to a tool changer in a tool magazine for storing a plurality of tools in a matrix form.

In general, a machine tool such as a machining center performs a variety of machining in one process by using a plurality of tools alternately, and has a tool magazine for storing a plurality of tools to shorten a tool change time.

The tool housed in the tool magazine is transferred to the tool changer by the tool transfer device, and the tool changer exchanges the tool mounted on the main shaft with the tool supplied from the tool magazine.

However, when the tool is mounted on the tool storage unit of the tool magazine, the axial direction of the tool to be mounted is different from the axial direction of the tool mounted on the main shaft, that is, the phase of the tool mounted on the tool storage unit of the tool is mounted on the main shaft. It may be different from the phase. For example, a large diameter tool having an asymmetrical shape or a large rotation radius of the tool may not be easily accommodated in the tool magazine or may interfere with other mechanical structures, so that the tool may be rotated at a right angle and accommodated.

Accordingly, the tool housing and the main shaft of the tool magazine are provided with a key block for inducing the tool to be seated in a predetermined phase, and a key groove is formed in the tool to accommodate the key block.

An example of a tool carrier, which is one of the devices for rotating a phase by rotating a conventional tool, is disclosed in Patent Application No. 10-2010-0101179 (name: Tool Carrier of Automatic Tool Changer, Prior Document 1) filed by the applicant of the present invention. It is.

However, as disclosed in the prior art, the tool carrier uses a cam to change the phase of the tool, and the cam blocks 200 and 300 corresponding to the cam track and the pins corresponding to the cam follow to implement the cam structure. In addition to having a 54), a pocket unit 50 for rotating the tool has to be provided, such that the structure is complicated and the design of the cam track has to be designed to match the phase.

On the other hand, the tool magazine is a matrix-type tool magazine (Matrix-type tool magazine) for receiving a plurality of tools in the form of a matrix, as an example of such a matrix tool magazine (Patent Document 2) (Patent Document 2). In the following, a plurality of tool holders having a plurality of tool accommodation portions are disclosed. The conventional tool holder is formed in a plate shape has a problem that is easily deformed by the load and external force of the tool.

The present invention was created to improve the problems of the tool transfer device of the conventional machine tool tool magazine as described above, the tool for transferring the tool from the standby port to the tool change unit by rotating the tool in advance in accordance with the insertion direction of the main shaft It is an object of the present invention to provide a tool conveying device of a machine tool tool magazine which can remove a component that rotates a tool from a carrier device, thereby simplifying the structure of the device.

In addition, another object of the present invention is to provide a tool transport apparatus of a machine tool tool magazine capable of firmly supporting a tool holder for accommodating a tool and preventing the tool holder from being deformed by a load or an external force of the tool.

In order to achieve the above object, the tool transport apparatus of a machine tool tool magazine according to the present invention includes a tool storage unit for storing a tool supplied to a main shaft of a machine tool, and a tool housed in the tool storage unit. A gripper for rotating the gripper, a rotating unit for axially rotating the gripper, a tool changing unit for exchanging a tool of the main shaft, a standby port for accommodating a tool supplied from the main shaft while receiving a tool supplied to the main shaft by the tool changing unit, A tool carrier for moving the standby port toward the tool change unit, a sub transport unit for taking a tool from the gripper, transferring the tool to the standby port, separating the tool from the standby port, and returning the tool; When moving toward the sub feed unit along (X axis direction) It is characterized in that it comprises a Y-axis transfer unit that moves the X axis feed unit, and the gripper towards the sub-transfer unit along the X-axis direction normal to the Y-axis direction of the tool receiving unit.

Preferably, the rotation unit includes a rotation support member for axially supporting the gripper, and a rotation actuator for forward and reverse rotation of the gripper in a predetermined angle range.

The sub conveying unit includes a sub changer that takes over and grips a tool from the gripper, an elevating unit for elevating the sub changer to a height of a standby port along a Y axis direction, and the sub changer with an X axis direction and a Y axis direction. And a Z-axis transfer unit that moves toward the standby port along the vertical Z-axis direction.

More preferably, the tool carrier includes a pivoting arm pivoting integrally with the standby port about a hinge axis parallel to the Y axis, and a pivoting unit for pivoting the pivoting arm.

As described above, according to the tool transport apparatus of the machine tool tool magazine according to the present invention, the tool is rotated in the tool carrier device which transfers the tool from the standby port to the tool change unit by rotating the tool in advance in accordance with the insertion direction of the main shaft. The component can be removed and thereby the structure of the device can be simply configured, and the tool holder can be firmly supported to prevent the tool holder from being deformed by the load of the tool.

1 is a perspective view showing a tool transport apparatus of a tool tool magazine according to an embodiment of the present invention;
Top plan view of FIG. 2,
3 is a perspective view of the gripper shown in FIG.
4 is an operating state of the gripper shown in FIG.
5 and 6 are a perspective view showing the sub-conveying unit shown in FIG.
7 is an operating state diagram of the sub-conveying unit shown in FIG. 5;
8 is an operating state diagram of the tool carrier shown in FIG.
9 and 10 are perspective views showing the operating state of the tool transfer device of the machine tool tool magazine shown in FIG.

Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings.

1 to 8, a tool transporting apparatus of a tool tool magazine according to an embodiment of the present invention includes a tool storage unit accommodating a tool supplied to a main shaft of a machine tool, and a tool accommodated in the tool storage unit. A gripper G for holding a gripper, a rotation unit for axially rotating the gripper G, a tool changing unit for exchanging a tool of the main shaft, and a tool supplied to the main shaft by the tool changing unit, A standby port 40 for receiving a tool, a tool carrier for moving the standby port 40 toward a tool change unit, a tool taken over from the gripper G, and transferred to the standby port 40 and the standby port 40 Sub-feeding unit for separating and returning the tool from the tool, and the gripper (G) is moved toward the sub-feeding unit along the lateral direction (X-axis direction) of the tool storage unit. An X-axis conveying unit for moving, and a Y-axis conveying unit for moving the gripper G toward the sub conveying unit along a Y-axis direction perpendicular to the X-axis direction of the tool storing unit.

The tool storage unit houses a plurality of tools T in a matrix form. The tool storage unit is provided with a base 11. A plurality of support frames 12 are provided at predetermined intervals along the transverse direction (X-axis direction) of the base 11, and the tool holder 1 is coupled to one side of each support frame 12. The support frame 12 is fixedly coupled to one side of the base 11 in the Y-axis direction to support the tool holder 13 in the Y-axis direction. Each of the tool holders 13 is provided with a plurality of tool receiving grooves 13a for accommodating tools at predetermined intervals along their longitudinal direction (Y-axis direction). As such, a plurality of tool holders 13 are arranged along the X-axis direction of the base 11 and each tool holder 13 is along the longitudinal direction of the support frame 12 (the Y-axis direction of the base member). By forming a plurality of tool receiving grooves 13a, the tool T can be stored in a matrix (matrix) form.

The support frame 12 is an H-shaped steel having a body portion 12a and an end portion 12b. The body portion 12a is disposed in a direction perpendicular to the tool holder 13 and the end portion 12b is a tool holder 13. ) Is placed in surface contact. The support frame 12 may have an H-shaped end 12b in surface contact with the tool holder 13 so that the support frame 12 may be firmly coupled to the tool holder 13 and may be easily coupled to the coupling piece. In addition, the body portion 12a of the support frame 12 is vertically coupled with the tool holder 13 so that the tool holder 13 is firmly prevented from bending in the width direction of the body portion 12a by the load of the tool. I can support it.

The tool accommodated in the tool holder 1 is gripped by the gripper G to rotate or move in and out of the tool receiving groove 13a of the tool holder 13 and move toward the main shaft.

The gripper (G) is rotated by the rotating unit to rotate the tool (T), the tool is brought in and out of the tool receiving groove (13a) by the X-axis transfer unit, the X-axis transfer unit and Y-axis transfer unit The tool is then moved to the sub feed unit. In addition, the gripper G is coupled to the gripper support block 21 so as to be slidably movable in opposite directions, respectively, and grips the tool T by hydraulic pressure.

As shown in Figure 3 and 4, the rotary unit is a rotary shaft 22 provided in the gripper support block 21, a rotary support member 23 for axially supporting the rotary shaft 22, and the It includes a rotary actuator 24 for rotating the rotary shaft 22 in a predetermined angle range.

The rotation support member 23 is fixedly coupled to one side of the Y-axis transfer unit, and the rotation shaft 22 is rotatably fitted to one side of the rotation support member 23.

The rotary actuator 24 is fixedly coupled to one side of the rotary support member 23 to rotate the rotary shaft 22 forward and backward with a phase difference of a predetermined angle, thereby the gripper (G) with the rotary shaft 22 The tool T is rotated while rotating.

When storing the tool T in the tool holder 13, the rotary actuator 24 is inserted so that the key block 13b formed on one side of the tool receiving groove 13a is fitted into the key groove T1 of the tool T. The gripper G is rotated and, on the contrary, after the tool T is removed from the tool holder 13, the rotary actuator 24 is operated to rotate the tool T at a predetermined angle before handing it to the sub feed unit. . For example, when the key block 13b of the tool receiving groove 13a and the key block of the main shaft have a phase difference of 90 degrees, the gripper G removes the tool T from the tool holder 13 and then the tool T The rotary actuator 24 is operated so that the tool rotates by 90 degrees.

In this way, the tool T is removed from the tool holder 13 and rotated in advance before being transferred to the sub transport unit so that the tool T can be supplied to the main shaft while maintaining the phase without rotating the tool T in the sub transport unit and the tool carrier. do. Thus, the sub conveying unit and the tool carrier can be configured in a simple structure without the device for rotating the tool T.

Since the tool change unit is disclosed in Publication Nos. 10-2010-0061887 (Citation Document 1) and Publication No. 10-2009-0130484 (Citation Documents 2), a detailed description thereof will be omitted. Corresponds to ATC cancer in the cited literature.)

The sub conveying unit includes a sub changer 31 which takes over and grips a tool from the gripper G, and a lifting unit which lifts the sub changer 31 to the height of the standby port 40 along the Y axis direction, and And a Z-axis transfer unit for moving the sub changer 31 toward the standby port 40 along the Z-axis direction perpendicular to the X-axis direction and the Y-axis direction.

The subchanger 31 has a pair of tongs 31a for holding the tool T, and has a key block 31b fitted to a key groove (not shown) of the tool T on one side. . Here, the key block 31b formed in the sub changer 31 has a phase difference of 90 degrees with the key block 13b formed in the tool receiving groove 13a of the tool holder 13. The tool T transferred from the gripper G is seated on the tongs 31a such that the key groove is fitted into the key block 31b of the sub changer 31.

The tongs 31a are pivotally hinged to one side of the tongs supporting member 31c about the pivot axis 31d and are elastically supported by the fixing spring 31e to elastically bite the tool T. . The forceps supporting member 31c is slidably coupled to the elevating guide 32 of the elevating unit, which will be described later, and the fixed spring 31e is coupled to one side of the forceps supporting member 31c, so that the pair of forceps ( An elastic force is applied so that 31a) pivots about the pivot axis 31d, respectively, to grab the tool T. As shown in FIG. Therefore, the pair of tongs 31a are held together by the elastic force of the fixed spring 31e, and are elastically opened when the tool T is fitted to bite and hold the tool T.

The elevating unit includes an elevating guide 32 for slidably supporting the gripper G in a Y-axis direction, and an elevating cylinder mechanism 33 for elevating the gripper G.

The lifting guide 32 supports the tong support member 31c so as to be slidably movable in the Y-axis direction, so that the gripper G together with the gripper G in a state where the gripper G rests the tool T on the tongs 31a. The tool T is moved in the Y axis direction. The lifting guide 32 is moved in the Y-axis direction by the lifting cylinder mechanism 33.

The tong support member 31c is fixedly coupled to the cylinder rod end of the elevating cylinder mechanism 33, and hydraulic pressure is supplied to the inside of the cylinder body to move the tong support member 31c. The lifting cylinder mechanism 33 is fixedly coupled to the cylinder support member 34, the lifting cylinder support member 34 is slidably coupled to the Z-axis transfer guide 35 of the Z-axis transfer unit to be described later.

The Z-axis conveying unit moves the Z-axis conveying guide 35 and the elevating cylinder mechanism 33 to slidably support the elevating cylinder mechanism 33 toward the standby port 40 along the Z-axis direction. Z-axis feed cylinder mechanism 36 is included.

The Z-axis feed guide 35 and the Z-axis feed cylinder mechanism 36 are fixedly coupled to one side of the base 11 of the tool storage unit. The Z-axis feed guide 35 is formed in the Z-axis direction of the base 11 to move the lifting unit in the Z-axis direction.

The lifting cylinder support member 34 is fixedly coupled to the cylinder rod end of the Z-axis transfer cylinder mechanism 36, and the hydraulic pressure is supplied to the inside of the cylinder body to move the lifting cylinder support member 34.

The tool carrier includes a swing arm 42 that pivots about a hinge axis 41 parallel to the Y axis, and a swing unit that pivots the swing arm 42.

The air port 40 is fixedly coupled to the tip of the swing arm 42 and the hinge axis 41 is provided parallel to the Y axis so that the pivot arm 42 pivots about an axis parallel to the Y axis. . Therefore, the standby port 40 receives the tool T from the sub-changer 31 at the standby position P1 and transfers it to the exchange position P2 where the tool change unit (not shown) is located. See Figure 8)

The swing unit includes a swing cylinder mechanism 43. The cylinder rod tip of the swing cylinder mechanism 43 is hinged to one side of the swing arm 42, and the swing cylinder body is hinged to one side of the base 11 so as to be pivotable. When the hydraulic pressure is supplied to the inside of the swing cylinder body, the cylinder rod is extended or stretched to pivot the swing arm 42 about the hinge shaft 41. At this time, the swing cylinder mechanism 43 is extended or stretched while turning with the swing arm 42.

The tool T moved to the exchange position P2 together with the standby port 40 by the tool carrier is exchanged with the tool of the main shaft by the tool change unit.

The X-axis transfer unit includes a rack 51 and a pinion gear (not shown) and drives the pinion gear with a drive motor to move the Y-axis transfer unit in the X-axis direction. The Y-axis transfer unit is provided to move integrally with the pinion gear of the X-axis transfer unit. The Y-axis transfer unit includes a ball screw and a nut member, and rotates the ball screw to linearly reciprocate the nut member to move the gripper G in the Y-axis direction. A gripper G is coupled to one side of the nut member. The configuration of the X-axis transfer unit and the Y-axis transfer unit is described in detail in Patent Application No. 10-2011-0094529 filed immediately before the applicant of the present invention will be omitted below. The X- and Y-axis transfer units correspond to the horizontal transfer unit and the vertical transfer unit at the source.

9 and 10, a process in which the tool T is transferred from the tool holder 13 to the main axis will be described.

(1) The gripper (G) grips the tool (T) in the tool receiving groove (13a) of the tool holder (13) and then takes out the tool (T) in the X-axis direction by the operation of the X-axis feed unit.

② The gripper G rotates by the operation of the rotary unit to rotate the tool T by 90 degrees.

③ The gripper G transfers the tool T to the sub changer 31 of the sub transfer unit by the operation of the X-axis transfer unit and the Y-axis transfer unit, and then mounts it on the tongs 31a.

Here, in the case where the tool entry direction to the forceps 31a is formed in the Y-axis direction, the gripper G must be moved in the Y-axis direction after the rotational operation of ② so that the tool T can be seated on the forceps 31a. This is because the tool T needs to be rotated before the tool T is seated on the forceps 31a, and the operation of entering and exiting the forceps 31a is the movement in the Y-axis direction. In this case, the operation in the X-axis direction can be performed both before and after the operation of ②. That is, it is also possible to perform the rotation operation of ② first, or to perform the operation in the X-axis direction first.

On the other hand, the gripper G which rests the tool T on the sub changer 31 releases the state which hold | grip the tool T by spreading the tongs 31a. The gripper G, which releases the gripped state of the tool T, returns to the tool holder 13 by reverse operation of the X-axis feed unit and the Y-axis feed unit.

④ In the state where the clamp 31a of the sub changer 31 grips the tool T, the lifting cylinder mechanism 33 of the lifting unit is extended to raise and lower the tool T to the height of the standby port 40. .

⑤ The tool T is stretched by extending the Z axis transfer cylinder mechanism 36 of the Z axis transfer unit while the tool T seated on the sub changer 31 is located at the same height as the standby port 40. It moves along the axis and is accommodated in the standby port 40.

Then, the sub-changer 31, in which the tool T is stored in the standby port 40, is lowered by the stretching operation of the lifting cylinder mechanism 33 of the lifting unit, and then the Z-axis transfer cylinder mechanism 36 is moved to the stretching operation. To return to the original position.

(6) After the sub-changer 31 receives the tool T in the standby port 40 and lowers it, the swing cylinder mechanism 43 of the tool carrier is extended to operate the swing arm 42 to swing the standby port 42. Together with 40, the tool T is transferred from the standby position P1 to the exchange position P2. (See FIG. 8)

⑦ With the standby port 40 in the exchange position P2, the tool change unit takes the tool T out of the standby port 40 and simultaneously pulls out the tool T from the main shaft.

⑧ The tool change unit rotates 180 degrees to change the position of the tool (T) taken out of the spindle and the tool (T) taken out of the standby port (40), and removes the tool (T) taken out of the spindle from the changed position. ) And at the same time insert the tool (T) taken out of the standby port (40) to the main shaft. Here, operations of ⑦ and ⑧ are disclosed in Citations 1 and 2.

After replacing the tool (T) fitted to the main shaft and the tool (T) transferred from the tool holder (13) to the standby port (40), the above steps are performed in reverse, and the tool holder (from the standby port 40) is replaced. 13) to transport the tool (T) to accommodate.

11 base 12 support frame
13: Tool holder 13a: Tool receiving groove
13b: key block 21: gripper support block
22: rotating shaft 23: rotating support member
24: rotary actuator 31: sub changer
31a: Forceps 31b: Key Block
31c: clamping member 31d: pivot shaft
31e: Fixed spring 32: Lift guide
33 lifting cylinder mechanism 34 cylinder support member
35: Z axis feed guide 36: Z axis feed cylinder mechanism
40: waiting port 41: hinge axis
42: swing arm 43: swing cylinder mechanism
51: rack 52: pinion gear

Claims

A tool storage unit for receiving a tool supplied to the main shaft of the machine tool;
A gripper (G) which grips a tool stored in the tool storage unit and rotates the tool;
A rotating unit for axially rotating the gripper (G);
A tool change unit for exchanging a tool of the spindle;
A standby port 40 for receiving a tool supplied to the main shaft by the tool change unit and for receiving a tool transferred from the main shaft;
A tool carrier for moving the standby port 40 toward a tool change unit;
A sub transport unit which receives the tool from the gripper (G), receives the tool into the standby port 40, and separates and returns the tool from the standby port 40;
An X-axis conveying unit for moving the gripper (G) toward the sub conveying unit along the lateral direction (X-axis direction) of the tool storing unit; And
And a Y-axis conveying unit for moving the gripper (G) toward the sub conveying unit along the Y-axis direction perpendicular to the X-axis direction of the tool storing unit.

The method of claim 1, wherein the rotation unit,
A rotation support member 23 for supporting the gripper G in axial rotation; And
And a rotary actuator (24) for forward and reverse rotation of the gripper (G) to rotate the tool housed in the tool storage unit.

The method of claim 1 or 2, wherein the sub transfer unit,
A sub changer (31) for taking over and holding a tool from the gripper (G);
An elevation unit for elevating the sub-changer 31 to the height of the standby port 40 along the Y-axis direction; And
And a Z-axis transfer unit for moving the sub-changer 31 toward the standby port 40 along the Z-axis direction perpendicular to the X-axis direction and the Y-axis direction. .

The method of claim 1, wherein the tool storage unit,
A tool holder (13) having a plurality of tool receiving grooves (13a) for accommodating a tool at predetermined intervals along its longitudinal direction; And
And a support frame (12) for supporting the tool holder (13) in the Y-axis direction.