TWI574775B - Automatic tool exchange system for hot knife holder - Google Patents

Description

Automatic tool change system for hot tool holder

The present invention relates to an automatic tool (tool) exchange system for a hot-sleeve tool holder.

In a precision machine, a tool used for machining is an intermediate tool holder and is mounted on a spindle. Although there are various types of collet type or hot-sleeve type in the tool holder, the hot-sleeve method is currently used as a high-precision and small-sized tool holder. In the hot-sleeve mode, it is necessary to heat and cool the tool holder (hot-sleeve holder) when exchanging tools.

In Japanese Laid-Open Patent Publication No. 2005-118888, a method has been described in which a tool with a hot-sleeve holder is taken out from a spindle, and a hot-sleeve holder is heated outside the machine to remove only the tool from the hot-sleeve holder. After the new tool is installed in the hot-sleeve tool holder, the hot-sleeve tool holder is cooled outside the machine to fix the new tool in the hot-sleeve tool holder, and the spindle is equipped with a new tool with a hot-sleeve tool holder.

However, in this method, it is necessary to previously set a loading and unloading mechanism of the hot-sleeve holder to the spindle, which will enlarge the spindle. In a precision machine, when it is necessary to rotate the spindle at an ultra-high speed, once the spindle is large The influence of the vibration, the vibration, and the like becomes large, so that it is difficult to rotate the spindle at an ultra-high speed.

In order to solve this problem, there is also known a method of manually heating and cooling a hot-sleeve holder that cannot be attached to and detached from the spindle to exchange tools. However, in this method, it is necessary to stop the machine when the tool is exchanged, and it takes a long time to exchange the tools. Moreover, when it takes a long tool exchange time, there is a case where the temperature environment around the switch is changed after the tool is exchanged, and if the compensation is not compensated, the adjustment of the change adversely affects the machining accuracy.

In Japanese Laid-Open Patent Publication No. 2007-75904, there has been described a method of automatically exchanging tools for a hot-sleeve tool holder that cannot be attached or detached to a spindle. In this method, the tool is attached to the tool pod with the blade tip facing downward, and a special measuring instrument is used to measure the protruding amount of the tool (ie, the protruding height of the shank end face). position). Then, the tool attached to the tool holder is clamped and raised by the tool carrier based on the measurement result obtained by the special measuring instrument, and is positioned with high precision at a predetermined height determined in advance. In this state, the tool can be properly transferred to the hot-sleeve holder.

However, according to the knowledge of the inventor of the present invention, in the method described in Japanese Laid-Open Patent Publication No. 2007-75904, it is necessary to measure using a special measuring instrument in order to perform height control of a tool for appropriately performing tool transfer. The amount of the tool, so it will only be due to the measurement of the amount of protrusion Part of the time to extend the tool exchange time.

The present invention has been made based on the above knowledge and knowledge. The object of the present invention is to provide an automatic tool exchange for a hot-sleeve holder for positioning a tool in a short time without using a special measuring instrument to measure the protruding amount of the tool in a short time. system.

Alternatively, it is an object of the present invention to provide an automatic tool change system for a hot-sleeve holder that can cool a hot-sleeve holder that cannot be loaded and unloaded in a short time.

Alternatively, it is an object of the present invention to provide an automatic tool change system for a hot-sleeve tool holder that can effectively clean the tool holder and easily remove the workpiece residue from the inside of the tool holder.

The present invention relates to an automatic tool change system for a hot-sleeve tool holder, characterized in that it comprises: a tool cymbal for mounting a tool in a state where the shank end face is positioned at a predetermined position; and a tool handling device which is attached The tool 搬运 is transported between the tool holder and the hot-sleeve holder fixed to the main shaft; and the heating device heats the hot-sleeve holder to release the hot-sleeve holder; and the cooling device cools the hot-sleeve holder To lock the hot-sleeve tool holder, the tool-handling device has a tool-carrying unit capable of holding a tool mounted in the tool holder and capable of lifting and lowering the clamped tool and flipping up and down, The tool handling unit is capable of positioning the tool in a state in which the tool is released by the heating device after the tool is turned upside down and the tool end face of the tool is controlled to a predetermined height. Inside the folder.

According to the present invention, since the end surface of the shank is positioned at a predetermined position The tool is mounted on the tool holder, so that, for example, if the tool handling unit can hold the tool mounted on the tool holder at the same height position, the positional relationship between the tool and the tool handling unit can be Always become a certain. Then, the clamped tool is raised by the tool transport unit and turned upside down, whereby the height of the tool shank end face of the tool upside down can be controlled based on the positional relationship and the height of the tool transport unit itself. Based on this, the tool can be positioned in the hot-sleeve holder in a state where the end face of the tool is controlled at a predetermined height. Thereby, the tool can be positioned in the hot-sleeve holder in a short time without using a special measuring instrument to measure the amount of protrusion of the tool.

Preferably, the tool transport unit includes a rotation drive mechanism that rotationally drives the rotation output unit around the rotation axis, and a robot support portion that is coupled to the rotation output unit and the first machine that is openable and closable The hand is supported by the robot support portion, and the second robot that is openable and closable, and is supported by the robot support portion in a position and a posture in which the rotation axis is axially symmetrical with respect to the first robot. According to this aspect, the position and posture of the first robot and the second robot can be vertically inverted by the axis of the rotation by the robot support portion by 180°. Thereby, for example, after the tool held by the first robot is taken out from the hot-sleeve holder, the position of the first robot and the second robot is set before the tool to be taken out is returned to the tool holder. In the posture, the rotating shaft is turned upside down in an axisymmetric manner, whereby the next tool held by the second robot in advance can be positioned in the hot-sleeve holder. In this way, the tool exchange time can be further shortened.

More preferably, the first robot and the second robot are supported by the robot support portion in a state of being movable in a minute region, and the tool transport unit includes a first robot fixing member. The second robot is fixed to the robot support portion in a stationary manner, and the second robot fixed member is configured to fix the second robot to the robot support portion in a stationary manner. According to such an aspect, for example, when the tool held by the hot-sleeve holder or the tool attached to the tool holder is held by the first robot (or the second robot), (1) When the robot (or the second robot) is movable in a small area, it is possible to suppress the positioning error in a horizontal plane such as a horizontal plane, etc., and to suppress the tool and the first robot (or The higher stress caused by the eccentricity between the second robot), on the other hand, after the first robot (or the second robot) holds the tool, by the first robot (or In the second robot, the robot support portion is placed in a stationary state, and the subsequent operation can be smoothly performed.

More preferably, the tool transport unit has a wedge member that can advance and retreat in a direction parallel to the rotation axis by the linear drive mechanism, and the first robot is provided with a first push hole for positioning. The second robot is provided with a second push-out hole for positioning, and the first robot fixing member has a first push-out shaft that can be inserted into the first push-out hole, and the second robot The fixing member has a second push-out shaft that can be inserted into and removed from the second push-out hole, and the first push-pull shaft abuts against the wedge member and moves up and down according to advancement and retreat of the wedge member. The second push-out hole can be inserted and removed, and the second push-out shaft is coupled to The wedge member is lifted and lowered in accordance with advancement and retreat of the wedge member, thereby being detachable from the second push-out hole. According to this aspect, after the first push-pull shaft abuts against at least a part of the inner circumferential surface of the first push-out hole, the first push-pull shaft can be relatively guided along the inner peripheral surface, and is fitted to the first 1Push the hole. Thereby, the first robot can be positioned with high precision by the first push shaft. Further, after the second push-out shaft abuts against at least a part of the inner circumferential surface of the second push-out hole, the second push-out shaft can be relatively guided along the inner peripheral surface and fitted to the second push-out hole.

Thereby, the second robot can be positioned with high precision by the second push shaft.

Preferably, the tool transporting device has a mechanical arm member that can be rotated around a vertical second rotating shaft by a second rotational driving mechanism, and the tool transporting unit is fixed to the mechanical arm member. According to this aspect, by rotating the mechanical arm member around the second rotating shaft, it is possible to directly position the tool handling unit in the horizontal plane, for example, while maintaining the end surface of the shank of the clamped tool at a predetermined height. Positioned on the hot sleeve holder.

Moreover, the present invention is an automatic tool change system for a hot-sleeve tool holder, characterized by comprising: a tool holder for mounting a tool; and a tool handling device attached to the tool holder and the heat fixed to the spindle a set of tooling between the tool holders; and a heating device for heating the heat jacket knife holder to release the heat jacket knife holder; and a cooling device for cooling the heat jacket knife holder to lock the heat jacket knife holder; A cooling ring made of a heat conductive material improves the cooling efficiency of the hot sleeve holder by covering the periphery of the heat jacket holder.

According to the invention, it is possible to cover the periphery of the hot-sleeve holder by means of a cooling ring The cooling efficiency of the hot-sleeve holder is improved, so that the cooling time of the hot-sleeve holder can be effectively shortened.

Preferably, the cooling ring has a tubular body portion and a plurality of fins projecting outward from the outer surface of the body portion. According to this aspect, the heat dissipation efficiency of the cooling ring can be improved by the plurality of heat sinks, thereby making it possible to effectively improve the cooling of the hot-sleeve holder while making it a space-saving and easy-to-manufacture structure. effectiveness. Specifically, for example, at least a part of the plurality of fins has an annular shape.

Further, it is preferable that the cooling ring is provided with a cooling air supply unit that supplies cooling air to the outside of the cooling ring. According to this aspect, the cooling ring can be rapidly cooled by the cooling air supplied from the cooling air supply portion. In this case, it is easy to obtain cooling of the cooling ring in advance, and the cooling efficiency of the hot-sleeve holder can be further improved.

Moreover, the present invention is an automatic tool change system for a hot-sleeve tool holder, characterized by comprising: a tool holder for mounting a tool; and a tool handling device attached to the tool holder and the heat fixed to the spindle a set of tooling between the tool holders; and a heating device for heating the heat jacket knife holder to release the heat jacket knife holder; and a cooling device for cooling the heat jacket knife holder to lock the heat jacket knife holder The aforementioned tool holder is provided with an air supply portion that supplies air toward the end surface of the shank of the installed tool.

According to the present invention, the air supplied from the air supply portion can flow to the gap between the inner circumferential surface of the tool nip and the outer surface of the tool shank and flow out to the outside. Since the flow rate of air rises in this gap, it can be effectively cleaned Outside the shank. Moreover, the workpiece residue can be effectively removed from the inside of the tool holder.

10‧‧‧Automatic Tool Exchange System for Hot Tool Holders

11‧‧‧Tools

111‧‧‧1st tool

112‧‧‧Tools 2

12‧‧‧Tool handling device

13‧‧‧ heating device

14‧‧‧Cooling device

15‧‧‧ Tools

151‧‧‧1st tool

152‧‧‧2nd tool

16‧‧‧ Spindle

17‧‧‧Hot set knife holder

18‧‧‧Departure

20‧‧‧Tool handling unit

21‧‧‧Rotary drive mechanism

21a‧‧‧Rotary output

22‧‧‧Rotary axis

22a‧‧‧Rotary output

23‧‧‧ Robot Support

241‧‧‧1st robot

242‧‧‧2nd robot

251‧‧‧1st robot fixing member

252‧‧‧2nd robotic fixing member

261‧‧‧1st push hole

262‧‧‧2nd push hole

271‧‧‧1st push axis

272‧‧‧2nd push axis

28‧‧‧Wedge components

29‧‧‧Linear drive mechanism

29a‧‧‧Spring components

31‧‧‧Cooling ring

32‧‧‧External Department

33‧‧‧ Heat sink

34‧‧‧Cooling Air Supply Department

35‧‧‧Spring components

41‧‧‧Air Supply Department

43‧‧‧Tools Rotary Table

51‧‧‧ mechanical arm components

52‧‧‧2nd rotation axis

53‧‧‧2nd rotary drive mechanism

54‧‧‧ Lifting mechanism

55a, 55b‧‧‧ horizontal

56a, 56b‧‧‧ plumb

57a, 57b‧‧‧Sliding

Fig. 1 is a schematic side view showing an automatic tool change system for a hot-sleeve holder according to an embodiment of the present invention.

Fig. 2 is a schematic plan view of the automatic tool change system for the hot-sleeve tool holder of Fig. 1.

Figure 3 is a schematic front view of the automatic tool change system for the hot-sleeve tool holder of Figure 1.

Fig. 4 is a partial enlarged view showing a process in which the first robot and the second robot are in a stationary state with respect to the robot support portion in the automatic tool change system for the hot-sleeve holder of Fig. 1.

Fig. 5 is a schematic view showing a process of appropriately positioning the second tool holder for mounting the second tool in the automatic tool change system for the hot-sleeve holder of Fig. 1.

Fig. 6 is a view showing a process of the second tool attached to the second tool holder being held by the second robot in the automatic tool change system for the hot-sleeve holder of Fig. 1.

Fig. 7 is a schematic view showing the process of positioning the tool handling unit in the horizontal plane in the hot-sleeve holder in the automatic tool change system for the hot-sleeve holder of Fig. 1.

Figure 8 is a diagram showing the automatic tool change system for the hot-sleeve holder of Fig. 1 for explaining that the tool fixed to the hot-sleeve holder is held by the first robot Schematic diagram of the process.

Fig. 9 is a schematic view showing the process of taking out the tool held by the first robot from the hot-sleeve holder in the automatic tool change system for the hot-sleeve holder of Fig. 1.

Fig. 10 is a schematic view showing a process in which the first robot and the second robot reverse the axis of the shaft in an axisymmetric manner in the automatic tool change system for the hot-sleeve holder according to Fig. 1.

Fig. 11 is a view showing the process of positioning the second tool held by the second robot in the hot-sleeve holder in the automatic tool change system for the hot-sleeve holder of Fig. 1.

Fig. 12 is a view showing the process of positioning the tool transfer unit in the first tool pocket in the horizontal plane in the automatic tool change system for the hot-sleeve tool holder of Fig. 1.

Fig. 13 is a schematic view showing the step of mounting the first tool held by the first robot in the first tool holder in the automatic tool change system for the hot-sleeve holder of Fig. 1.

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

1 is a schematic side view of an automatic tool change system for a hot-sleeve holder according to an embodiment of the present invention, and FIG. 2 is a schematic plan view of the automatic tool change system for the hot-sleeve holder, and FIG. 3 is a heat jacket A schematic front view of the automatic tool change system for the toolholder.

As shown in Fig. 1, the automatic tool change system 10 for a hot-sleeve tool holder according to the present embodiment includes a tool holder 11 for mounting a tool 15 in a state where the end surface of the holder is positioned at a predetermined position; a tool handling device 12 for transporting the tool 15 between the tool magazine 11 and a heat jacket holder 17 fixed to the spindle 16; and a heating device 13 for heating the jacket knife holder 17 to release the jacket knife holder And a cooling device 14 that cools the hot-sleeve holder 17 to lock the hot-sleeve holder 17. Further, in the present embodiment, the main shaft 16 is configured to be movable up and down and horizontally moved.

The tool transporting device 12 has a tool transport unit 20 that can hold the tool 15 mounted in the tool magazine 11 and can lift and lower the clamped tool 15 upside down. The tool transport unit 20, After the tool 15 is turned upside down, the tool 15 can be positioned at a predetermined height to position the tool 15 in a hot-sleeve holder that can be released by the heating device 13 17 .

Specifically, as shown in FIGS. 1 and 3 , the tool transport unit 20 includes a rotation drive mechanism 21 that rotationally drives the rotation output unit 21 a around the rotation shaft 22 , and a robot support portion 23 that It is coupled to the rotation output unit 21a, and the first robot 241 that is openable and closable, and is supported by the robot support portion 23, and the second robot 242 that is openable and closable, and the rotation shaft 22 is axially symmetrical. The position and posture of the robot 241 are supported by the robot support portion 23.

The rotary drive mechanism 21 is specifically a motor, and the rotary shaft 22 is oriented in the horizontal direction.

The robot support portion 23 has a cylindrical shape extending in the horizontal direction The shape is arranged such that the central axis coincides with the rotation axis 22, and the base end portion is coupled to the rotation output portion 21a. By rotating the rotation output portion 21a around the rotation shaft 22, the robot support portion 23 can rotate around the rotation shaft 22 together with the rotation output portion 21a.

The first robot 241 and the second robot 242 are, for example, conventionally known parallel-opening type air chucks. Specifically, in particular, as shown in FIG. 3, the first robot 241 (or the second robot 242) is disposed opposite to each other and relatively movable relative to each other by air pressure. Movable member. When the pair of movable members approach each other, the tool 15 positioned between the pair of movable members can be sandwiched and held by the pair of movable members. On the other hand, when the pair of movable members are separated from each other, the tool 15 held between the pair of movable members is released.

In the present embodiment, the pair of movable members as the first robot 241 (or the second robot 242) are supported by the robot support portion 23 while being movable in the minute region. Specifically, for example, the first robot 241 (or the second robot 242) is inserted into the hole portion of the robot support portion 23 with a gap (in a movable state) to the robot support portion. 23 is a projection that connects the fixing portion. In this case, the first robot 241 (or the second robot 242) is attached to the inner circumference of the hole portion of the robot support portion 23 and the first robot 241 (or the second robot 242). The state in which the gap between the outer circumferences of the protruding portions is supported in a small region.

The tool handling unit 20 has a first robot fixing member 251 for fixing the first robot 241 to the robot support portion 23 in a stationary manner, and a second robot fixing member 252 for fixing the second robot 242 to the robot support portion 23 in a stationary manner. .

Specifically, the tool transport unit 20 has a wedge member 28 that can advance and retreat in a direction parallel to the rotary shaft 22 by the linear drive mechanism 29, and the first robot 241 is provided with a first push for positioning. The second robot 242 is provided with a second push-out hole 262 for positioning, and the first robot fixing member 251 has a first push-out shaft 271 that can be inserted into and removed from the first push-out hole 261. The second robot fixing member 252 has a second push-out shaft 272 that can be inserted into and removed from the second push-out hole 262. Then, the first push-out shaft 271 abuts against the wedge member 28, and moves up and down according to the advancement and retraction of the wedge member 28, thereby being able to be inserted into and removed from the first push-out hole 261, and the second push-out shaft 272 is also The wedge member 28 abuts against the wedge member 28 and moves up and down according to the advancement and retreat of the wedge member 28, thereby being able to be inserted into and removed from the second push-out hole 262.

More specifically, the wedge member 28 is coaxially inserted into the inside of the cylindrical robot support portion 23 by the elastic force of the spring member 29a interposed between the wedge member 28 and the robot support portion 23, the wedge The member 28 can be stretched in the left direction in Fig. 1. A slope which is lowered to the left in Fig. 1 is provided on the upper surface of the wedge member 28, and a slope which rises to the left in Fig. 1 is provided below the wedge member 28. Then, the lower end portion of the first push-out shaft 271 has a slope corresponding to the slope of the upper side of the wedge member 28 which is lowered to the left, and the two slopes abut each other. Further, the upper end of the second push shaft 272 has a leftward side with the lower side of the wedge member 28. The inclined surface corresponding to the rising slope, the two inclined surfaces abut each other.

The linear drive mechanism 29 has, for example, a pneumatic cylinder. When the wedge member 28 is linearly driven in the right direction by the linear drive mechanism 29, as shown in Fig. 4, while the spring member 29a is contracted, the first push-out shaft 271 is lowered to the left along the wedge member 28. The slope of the slope slides and the result can be lowered. On the other hand, the second push-out shaft 272 slides along the slope of the wedge member 28 that rises to the left, and as a result, can be raised. Next, when the linear drive to the right direction by the linear drive mechanism 29 is eliminated, as shown in FIG. 1, the wedge member 28 can linearly move in the left direction by the elastic force of the spring member 29a, the first The push-out shaft 271 slides along the slope of the wedge member 28 which is lowered to the left, and as a result, can be raised. On the other hand, the second push-out shaft 272 slides along the slope of the wedge member 28 which rises to the left, and as a result, can be lowered. At this time, the upper end portion of the first push-out shaft 271 is in contact with at least a part of the inner peripheral surface of the first push-out hole 261, and is guided relatively along the inner peripheral surface, and is fitted to the first portion. When the hole 261 is pushed and pulled, the first robot 241 can be positioned with high precision by the first push shaft 271. Further, the lower end portion of the second push-out shaft 272 is in contact with at least a part of the inner peripheral surface of the second push-out hole 262, and is guided relatively along the inner peripheral surface, and is fitted to the second portion. When the hole 262 is pushed and pulled, the second robot 242 can be positioned with high precision by the second push shaft 272.

Further, as shown in FIG. 2, the tool conveying device 12 of the present embodiment has a robot arm member 51 that can be rotated around the vertically rotatable second rotating shaft 52 by the second rotation driving mechanism 53, and the tool conveying unit 20 is fixed to the robot arm member 51.

Specifically, the second rotary drive mechanism 53 has a pneumatic cylinder and a link mechanism, and the link mechanism operates in accordance with a linear drive of the pneumatic cylinder, whereby the mechanical arm member 51 connected to the link mechanism can be wound around the second rotary shaft 52. And maneuver. When the robot arm member 51 is rotated around the second rotating shaft 52 by the second rotation driving mechanism 53, the tool conveying unit 20 fixed to the robot arm member 51 can also be rotated around the second rotating shaft 52.

In the present embodiment, as shown in Fig. 1, the arm member 51 has a pair of horizontal portions 55a and 55b which are disposed apart from each other in the vertical direction, and are attached to the pair of horizontal portions 55a and 55b. a pair of vertical portions 56a and 56b provided between the two, and a pair of sliding portions 57a and 57b capable of sliding the pair of vertical portions 56a and 56b, and the tool transport unit 20 is fixed to the pair of sliding portions Parts 57a, 57b.

Then, the elevating mechanism 54 is mounted on the horizontal portion 55a on the upper side of the arm member 51.

The elevator purchase 54, specifically, has a pneumatic cylinder and a chain mechanism, and the link mechanism operates in accordance with a linear drive of the pneumatic cylinder, whereby the sliding portions 57a, 57b connected to the link mechanism can follow a pair of vertical portions 56a , 56b moves in the vertical direction. Thereby, the tool conveying unit 20 fixed to the pair of sliding parts 57a and 57b can also move in the vertical direction.

As shown in Fig. 1, in the present embodiment, the heating device 13 and the cooling device 14 are fixed to the arm member 51, and are rotated around the second rotating shaft 52 together with the tool conveying unit 20.

The heating device 13 itself is a well-known heating device for a hot-sleeve holder, and the hot-sleeve holder is heated by covering the periphery of the hot-sleeve holder 17 17.

The cooling device 14, which is also known as a cooling device for a hot-sleeve holder, cools the hot-sleeve holder 17 by blowing cooling air around the hot-sleeve holder 17. Further, the heating device 13 and the cooling device 14 can be mounted as separate devices, or can be mounted as a single device having the functions of the two devices 13 and 14.

On the other hand, in the automatic tool change system 10 for a hot-sleeve tool holder according to the present embodiment, in order to assist the cooling function of the cooling device 14, the hot-sleeve cutter is further provided by covering the periphery of the heat-set tool holder 17. A cooling ring 32 made of a heat conductive material with a cooling efficiency of the clip 17. In the present embodiment, the cooling ring 32 has a cylindrical main body portion 33 and a plurality of fins 34 projecting outward from the outer surface of the main body portion 33. Specifically, for example, at least a part of the plurality of fins 34 has a ring shape.

The inner circumference of the cylindrical main body portion 33 has the same shape as the outer circumference of the hot-sleeve holder 17, and the thermal sleeve holder 17 is insertable and can be in close contact with the inside of the main body portion 33. When the main body portion 33 is lower than the hot-sleeve holder 17 at a lower temperature, heat is moved from the inserted hot-sleeve holder 17 toward the main body portion 33, whereby the hot-sleeve holder 17 can be cooled.

In the present embodiment, the spring member 35 is provided in the cooling ring 32, and the cooling ring 32 can be pressed against the hot-sleeve holder 17 by the elastic force of the spring member 35. Thereby, even in the case where the heat-set tool holder 17 after cooling is thermally contracted, the state in which the cooling ring 32 and the heat-seal holder 17 are in close contact can be maintained.

As shown in Fig. 2, in the cooling ring 32, cooling air is provided. The cooling air supply portion 34 is supplied to the outer side of the cooling ring 32. The cooling air supply unit 34 is specifically a known cold air generator itself. By blowing the cooling air supplied from the cooling air supply portion 34 to the cooling ring 42, the cooling ring 32 can be effectively cooled.

Further, in the present embodiment, the tool magazine 11 is provided in plural in the circumferential direction of the tool turntable 43 that is rotated around the vertical rotary shaft. The tool turntable 43 can position the tool magazine 11 so that the desired tool magazine 11 can transfer the tool 15 to the tool handling unit 20.

Returning to Fig. 1, the tool 11 of the present embodiment has a tubular shape, and a step portion 18 is provided at a predetermined height within the tool magazine 11. When the tool 15 is inserted into the tool holder 11 with the blade tip facing upward, the end face of the inserted tool 15 can abut against the step portion 18, whereby the end face of the inserted tool 15 is It is easy to locate at a predetermined location.

In the present embodiment, the air supply portion 46 that supplies air toward the shank end surface of the mounted tool 15 can be connected below the step portion 18 of the tool magazine 11. Specifically, the air supply unit 46 is configured to be movable up and down, and is retracted to the lower side of the tool magazine 11 when the tool turntable 43 rotates, and when the desired tool 11 is properly positioned at the tool handling unit 20 It can be raised toward the bottom of the tool cymbal 11 and connected to the bottom.

Next, as in the above-described operation of the present embodiment, referring to Figs. 5 to 13 to fix the spindle 17 to the hot-sleeve holder. The process of exchanging the first tool 151 in the first tool 151 in the 17th with the second tool 152 installed in the second tool pocket 112 will be described as an example.

As shown in FIG. 5, the second tool pocket 112 for mounting the second tool 152 in a state in which the end surface of the shank is positioned at a predetermined position is a method in which the tool can be transferred to the tool transport unit 20 by means of a tool. The turntable 43 is properly positioned in the horizontal plane. Then, an air supply portion 46 is connected to the bottom of the positioned second tool pocket 112.

Next, as shown in Fig. 6, after the second robot 242 of the tool transport unit 20 is released, the tool transport unit 20 is lowered by the elevating mechanism 54, and is stationary at a predetermined height position. At this time, at least a part of the second tool 152 attached to the second tool pocket 112 is inserted into the second robot 242.

Then, the second robot hand 242 (and the first robot hand 241) are in a state in which the robot hand support portion 23 is movable in the minute region by the second robot hand fixing member 252 (and the first robot hand fixing member 251). Then, the second robot 242 is locked, and the second tool 152 inserted into the second robot 242 can be held by the second robot 242. In this case, since the second robot 242 is movable in a state of being in a minute region, the second tool 152 and the second robot can be suppressed, for example, even when a positioning error in a horizontal plane is slightly generated. The occurrence of higher stress caused by eccentricity between 242.

In the present embodiment, the second tool 152 attached to the second tool holder 112 is positioned at a predetermined position on the end surface of the shank, and can be held by the tool transport unit 20 at a predetermined height position. Do not make The positional relationship between the height of the second tool 112 and the tool handling unit 20 can also be determined by using a special measuring instrument.

Next, as shown in Fig. 7, in the state where the second tool 152 is sandwiched by the second robot 242, air can be supplied from the air supply portion 46 toward the shank end surface of the second tool 152, and the lifting mechanism can be used. The tool transport unit 20 is raised, and the second tool 152 is removed from the second tool pocket 112. At this time, the air supplied from the air supply unit 46 flows into the gap between the inner circumferential surface of the second tool pocket 112 and the outer surface of the shank of the second tool 152, and flows out to the outside. Since the flow velocity of the air rises in the gap, the outer surface of the shank of the second tool 152 can be effectively cleaned. Moreover, it is easy to remove the workpiece residue from the second tool pocket 112.

Then, the first robot hand 241 is placed in the state where the first robot 241 is not moved by the first robot fixing member 251, and the second robot 242 is attached to the robot support portion by the second robot fixing member 252. 23 is set to a state of no movement. Then, the tool conveying unit 20 is rotated around the second rotating shaft 52 together with the mechanical arm member 51 by the second rotation driving mechanism 53, and the tool can be transferred to the hot-sleeve holder 17 so as to be appropriate in the horizontal plane. Positioning. At this time, since the first robot 241 and the second robot 242 are in a state in which the robot support portion 23 is not moved, the first robot 241 (or the second machine) can be suppressed from being rotated by the tool transport unit 20 . The hand 242) generates vibration, or the robot support portion 23 and the first robot 241 (or the second robot 242) rub against each other to generate noise.

Next, as shown in Fig. 8, after the first robot 241 is released, The main shaft 16 is lowered together with the hot-sleeve holder 17, the periphery of the hot-sleeve holder 17 can be covered by the heating device 13, and at least a part of the first tool 151 fixed to the hot-sleeve holder 17 can be inserted in the first The inside of the robot 241.

Then, the first robot hand 241 (and the second robot hand 242) are in a state in which the robot hand support portion 23 is movable in a minute region by the first robot hand fixing member 251 (and the second robot hand fixing member 252). . Then, the first robot 241 is locked, and the first tool 151 inserted into the first robot 151 can be held by the first robot 241. In this case, the first robot 241 is movable in a state in the minute region. Therefore, for example, even when the positioning error in the horizontal plane is slightly generated, the first tool 151 and the first robot 241 can be suppressed. The occurrence of higher stress caused by the eccentricity between.

Then, the heat jacket holder 17 is heated by the heating device 13, and the first tool 151 held by the first robot 241 can be released from the heat jacket holder 17.

Next, as shown in Fig. 9, the tool transport unit 20 is lowered by the elevating mechanism 54.

Thereby, the first tool 151 held by the first robot 241 can be taken out from the hot-sleeve holder 17. Then, the first robot hand 241 is placed in the state where the first robot 241 is not moved by the first robot fixing member 251, and the second robot 242 is attached to the robot support portion by the second robot fixing member 252. 23 is set to a state of no movement.

Then, as shown in Fig. 10, the machine is driven by the rotary drive mechanism 21. The hand support portion 23 is rotated by 180° about the rotation shaft 22, whereby the positions and postures of the first robot 241 and the second robot 242 can be vertically inverted with respect to the rotation shaft 22 in an axisymmetric manner. At this time, since the first robot 241 and the second robot 242 are in a state of being immobilized to the robot support portion 23, the first robot 241 (or the second) can be suppressed from being rotated by the robot support portion 23 . The robot 242) generates vibration, or the robot support portion 23 and the first robot 241 (or the second robot 242) rub against each other to generate noise.

When the rotary shaft 22 is vertically inverted by the position and posture of the first robot 241 and the second robot 242, the first tool 251 and the second robot held by the first robot 241 are vertically inverted. The second tool 152 held by the 242 can also be turned upside down.

In the present embodiment, the shank of the second tool 152 that has been turned upside down can be controlled based on the positional relationship between the height between the second tool 152 and the tool transport unit 20 and the height of the tool transport unit 20 itself. The height of the end face.

Then, the second robot hand 242 (and the first robot hand 241) are moved to the robot support portion 23 in a state of being movable in a minute region by the second robot fixing member 252 (and the first robot fixing member 251). .

Next, as shown in Fig. 11, when the shank end surface of the second tool 152 is controlled to a predetermined height, the tool transport unit 20 can be raised by the elevating mechanism 54 and held by the second robot 242. The end face of the shank of the second tool 152 can be positioned in the hot-sleeve holder 17 in a state released by the heating device 13. Thereby, even if special measuring instruments are not used The amount of protrusion of the second tool 152 can be measured, and the second tool 152 can be positioned in the hot-sleeve holder 17 in a short time.

Then, the heating of the hot-sleeve holder 17 by the heating device 13 is stopped, and the cooling of the hot-sleeve holder 17 by the cooling device 14 is started. The heat jacket holder 17 is cooled by the cooling device 14, whereby the heat jacket holder 17 is locked, and the second tool 152 positioned in the jacket knife holder 17 can be fixed to the jacket knife holder 17. At this time, since the second robot 242 is movable in the state of the minute region, for example, even when the positioning error in the horizontal plane is slightly generated, the second tool 152 and the second robot 242 can be suppressed. The occurrence of higher stress caused by the eccentricity.

Next, as shown in Fig. 12, the second tool 152 can be released from the second robot 242, and the spindle 16 can be raised together with the hot-sleeve holder 17.

Next, as shown in Fig. 1, the hot-sleeve holders 17 are inserted into the inside of the cooling ring 31 and are in close contact with each other. The cooling air 31 is supplied with cooling air from the cooling air supply unit 34, so that the cooling ring 31 can be rapidly cooled. By covering the periphery of the hot-sleeve holder 17 by the cooled cooling ring 31, the cooling efficiency of the hot-sleeve holder 17 can be improved, and the cooling time of the hot-sleeve holder 17 can be effectively shortened.

On the other hand, returning to Fig. 12, after the air supply unit 41 is retracted to the lower side of the second tool holder 112, the tool turntable 43 is rotated, so that the first tool set 111 not equipped with the tool can be placed at the horizontal plane. Position properly inside. Then, an air supply portion 46 is connected to the bottom of the first tool pocket 111 to be positioned.

Next, the first robot can be made by the first robot fixing member 251. 241 is in a state in which the robot support portion 23 is in a stationary state, and the second robot 242 can be moved to the robot support portion 23 by the second robot fixing member 252. Then, the tool conveying unit 20 is rotated around the second rotating shaft 52 together with the mechanical arm member 51 by the second rotation driving mechanism 53, and the tool is transferred to the first tool shank 111 in a horizontal plane as appropriate. Positioning. At this time, since the first robot 241 and the second robot 242 are in a state in which the robot support portion 23 is not moved, the first robot 241 (or the second machine) can be suppressed from being rotated by the tool transport unit 20 . The hand 242) generates vibration, or the robot support portion 23 and the first robot 241 (or the second robot 242) rub against each other to generate noise.

Then, the first robot hand 241 (and the second robot hand 242) can be made movable to the robot hand support portion 23 by the first robot hand fixing member 251 (and the second robot hand fixing member 252). status. Then, as shown in Fig. 13, air can be supplied from the air supply portion 46 toward the shank end surface of the first tool 151, and the tool transport unit 20 is lowered by the elevating mechanism 54, and is held by the first robot 241. The first tool 151 can be installed in the first tool magazine 111. At this time, the air supplied from the air supply unit 46 flows into the gap between the inner circumferential surface of the first tool shank 111 and the outer surface of the shank of the first tool 151, and flows out to the outside. Since the flow velocity of the air rises in the gap, the outer surface of the shank of the first tool 151 can be effectively cleaned. Further, it is possible to prevent the workpiece residue from entering the first tool pocket 111.

After that, the first tool 151 can be released from the first robot 241, and borrowed The tool transport unit 20 is raised by the elevating mechanism 54.

According to the present embodiment as described above, since the tool 152 is attached to the tool pocket 112 in a state in which the end surface of the shank is positioned at a predetermined position, the tool transport unit 20 is attached to the tool holder unit 20 at the same height position, for example. The tool 152 of the tool magazine 112 can always be fixed in relation to the positional relationship between the tool 152 and the tool handling unit 20. Then, the clamped tool 152 can be raised by the tool handling unit 20 and turned upside down, whereby the end surface of the tool 152 can be controlled by the positional relationship and the height of the tool handling unit 20 itself. height. Based on this, the tool 152 can be positioned in the hot-sleeve holder 17 with the shank end face of the tool 152 controlled at a predetermined height. Thereby, the tool 152 can be positioned in the hot-sleeve holder 17 in a short time without using a special measuring instrument to measure the amount of protrusion of the tool 152.

Further, according to the present embodiment, when the robot support portion 23 is rotated by 180 degrees, the positions and postures of the first robot 241 and the second robot 242 can be vertically inverted with respect to the rotation shaft 22 in an axisymmetric manner. Thus, for example, after the first tool 151 held by the first robot 241 is taken out from the hot-sleeve holder 17, the first tool 151 taken out is returned to the first tool holder 111, and The position and posture of the first robot 241 and the second robot 242 are vertically inverted so that the rotation shaft 22 is axially symmetrical, whereby the second tool 152 that has previously held the second robot 242 can be positioned in the heat jacket. Inside the tool holder 17. In this way, the tool exchange time can be further shortened.

Further, according to the present embodiment, it is held by the hot-sleeve holder 17 When the first tool 151 (or the second tool 152 attached to the tool set 112) is held by the first robot 241 (or the second robot 242), the first robot 241 is used (or When the second robot 242 is movable in a small area, it is possible to suppress the first tool 151 (or the second tool 152) and the like when a slight positioning error such as a horizontal plane has occurred. 1 The occurrence of a high stress caused by the eccentricity between the robot 241 (or the second robot 242), on the other hand, the first robot 241 (or the second robot 242) holds the first tool After the 151 (or the second tool 152), the first robot 241 (or the second robot 242) is placed in the stationary state of the robot support portion 23, and the subsequent operation can be smoothly performed.

Further, according to the present embodiment, the first push-out shaft 271 is in contact with at least a part of the inner peripheral surface of the first push-out hole 261, and can be guided relatively along the inner peripheral surface. The first push-out hole 261 is fitted. Thereby, the first robot 241 can be positioned with high precision by the first push shaft 271. Further, after the second push-out shaft 272 is in contact with at least a part of the inner peripheral surface of the second push-out hole 262, the second push-out shaft 272 can be relatively guided along the inner peripheral surface and fitted to the second push-out. Hole 262. Thereby, the second robot 242 can be positioned with high precision by the second push shaft 272.

Further, according to the present embodiment, by rotating the mechanical arm member 51 around the second rotating shaft 52, the tool handling unit 20 can be directly directly held, for example, while maintaining the shank end surface of the clamped tool 152 at a predetermined height. The hot-sleeve holder 17 is suitably positioned in the horizontal plane.

Moreover, according to the embodiment, the hot sleeve cutter is covered by the cooling ring 31. The cooling efficiency of the hot-sleeve holder 17 can be improved by the periphery of the clip 17, so that the cooling time of the hot-sleeve holder 17 can be effectively shortened.

Further, according to the present embodiment, the heat dissipation efficiency of the cooling ring 31 can be improved by the plurality of fins 33, whereby the heat jacket cutter can be effectively improved while making it a space-saving and easy-to-manufacture structure. 17 cooling efficiency.

Moreover, according to the present embodiment, the cooling ring 31 can be rapidly cooled by the cooling air supplied from the cooling air supply unit 34. In this case, it is easy to obtain cooling of the cooling ring 31 in advance, and the cooling efficiency of the hot-sleeve holder 17 can be further improved.

Further, according to the present embodiment, the air supplied from the air supply unit 41 can flow to the gap between the inner circumferential surface of the tool boring 11 and the outer surface of the shank of the tool 15, and can flow out to the outside. Since the flow velocity of the air rises in the gap, the outer surface of the shank can be effectively cleaned.

10‧‧‧Automatic Tool Exchange System for Hot Tool Holders

11‧‧‧Tools

12‧‧‧Tool handling device

13‧‧‧ heating device

14‧‧‧Cooling device

15‧‧‧ Tools

16‧‧‧ Spindle

17‧‧‧Hot set knife holder

18‧‧‧Departure

20‧‧‧Tool handling unit

21‧‧‧Rotary drive mechanism

21a‧‧‧Rotary output

22‧‧‧Rotary axis

23‧‧‧ Robot Support

241‧‧‧1st robot

242‧‧‧2nd robot

251‧‧‧1st robot fixing member

252‧‧‧2nd robotic fixing member

261‧‧‧1st push hole

262‧‧‧2nd push hole

271‧‧‧1st push axis

272‧‧‧2nd push axis

28‧‧‧Wedge components

29‧‧‧Linear drive mechanism

29a‧‧‧Spring components

31‧‧‧Cooling ring

32‧‧‧External Department

33‧‧‧ Heat sink

35‧‧‧Spring components

41‧‧‧Air Supply Department

43‧‧‧Tools Rotary Table

51‧‧‧ mechanical arm components

52‧‧‧2nd rotation axis

54‧‧‧ Lifting mechanism

55a, 55b‧‧‧ horizontal

56a, 56b‧‧‧ plumb

57a, 57b‧‧‧Sliding

Claims (9)

An automatic tool change system for a hot-sleeve tool holder, comprising: a tool cymbal for mounting a tool in a state where a shank end face is positioned at a predetermined position; and a tool handling device attached to the tool 匣Carrying a tool between the hot sleeve holder fixed to the main shaft; and a heating device for heating the hot sleeve holder to release the sleeve holder; and a cooling device for cooling the sleeve holder to lock the sleeve The hot-sleeve holder, the tool-handling device has a tool-carrying unit capable of holding a tool mounted in the tool holder, and capable of lifting and lowering the clamped tool and turning it upside down, the tool-handling unit The present invention includes a rotary drive mechanism that rotationally drives a rotation output unit around a rotation axis, and a robot support portion that is coupled to the rotation output unit and a first robot that is openable and closable, and is supported by The manipulator support portion and the second robot that is openable and closable are supported by the manipulator support portion in a position and a posture in which the rotation axis is axially symmetrical with respect to the first manipulator So that the manipulator by rotating the support portion 180 °, whereby the first The position and posture of the robot and the second robot can be reversed in an axisymmetric manner with respect to the rotating shaft; after the tool is turned upside down, the tool end face of the tool is controlled to a predetermined height, and The tool is positioned in the aforementioned heat jacket knife holder in a state released by the aforementioned heating device. The automatic tool change system for a heat jacket and a tool holder according to the first aspect of the invention, wherein the first robot and the second robot are supported by the first state in a state of being movable in a minute region. The robot support unit includes: a first robot fixing member that fixes the first robot to the robot support portion in a stationary manner; and a second robot fixing member The second robot is fixed to the robot support portion in a stationary manner. The automatic tool change system for a hot-sleeve tool holder according to the second aspect of the invention, wherein the tool-handling unit has a wedge member that can advance and retreat in a direction parallel to the rotation axis by a linear drive mechanism. The first robot is provided with a first push hole for positioning, and the second manipulator is provided with a second push hole for positioning, and the first robot fixing member is capable of being inserted and removed. In the first push-out shaft of the first push-out hole, the second robot hand fixing member has a second push-out shaft that can be inserted into and removed from the second push-out hole. The first push-out shaft abuts against the wedge member, and is lifted and lowered in accordance with advancement and retreat of the wedge member, thereby being detachable from the first push-out hole, and the second push-pull shaft is in contact with The wedge member is lifted and lowered in accordance with advancement and retreat of the wedge member, thereby being detachable from the second push-out hole. The automatic tool change system for a hot-sleeve tool holder according to any one of claims 1 to 3, wherein the tool-transporting device has a second one that can be wound by a second rotation drive mechanism. The robot arm member that rotates the rotating shaft, and the tool conveying unit is fixed to the robot arm member. An automatic tool change system for a hot-sleeve tool holder, characterized in that: a tool magazine for mounting a tool; and a tool handling device between the tool tool and a heat-set tool holder fixed to the spindle a handling tool; and a heating device that heats the heat jacket knife holder to release the heat jacket knife holder; and a cooling device that cools the heat jacket knife holder to lock the heat jacket knife holder; and cooling by a heat conductive material The ring enhances the cooling efficiency of the hot-sleeve holder by covering the periphery of the hot-sleeve holder. The automatic tool change system for a hot-sleeve tool holder according to the fifth aspect of the invention, wherein the cooling ring has a tubular body And a plurality of fins protruding further outward from the outer surface of the body portion. The automatic tool change system for a hot-sleeve tool holder according to claim 6, wherein at least a part of the plurality of heat sinks has a ring shape. The automatic tool change system for a hot-sleeve tool holder according to any one of claims 5 to 7, wherein the cooling ring is provided with a cooling air supply for supplying cooling air to the outer side of the cooling ring. unit. An automatic tool change system for a hot-sleeve tool holder, characterized in that: a tool magazine for mounting a tool; and a tool handling device between the tool tool and a heat-set tool holder fixed to the spindle a handling tool; and a heating device that heats the heat jacket knife holder to release the heat jacket knife holder; and a cooling device that cools the heat jacket knife holder to lock the heat jacket knife holder, in the tool holder An air supply portion that supplies air toward the end surface of the shank of the installed tool is provided.