WO2004037484A1 - Machine-outil, dispositif a bras rotatif, et chargeur d'outils - Google Patents

Machine-outil, dispositif a bras rotatif, et chargeur d'outils Download PDF

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Publication number
WO2004037484A1
WO2004037484A1 PCT/JP2002/010975 JP0210975W WO2004037484A1 WO 2004037484 A1 WO2004037484 A1 WO 2004037484A1 JP 0210975 W JP0210975 W JP 0210975W WO 2004037484 A1 WO2004037484 A1 WO 2004037484A1
Authority
WO
WIPO (PCT)
Prior art keywords
tool
arm
lever
magazine
lock
Prior art date
Application number
PCT/JP2002/010975
Other languages
English (en)
Japanese (ja)
Inventor
Tatsuya Fukuta
Yoshio Iwase
Yong Sung Park
Original Assignee
Kira Corporation
Meko Seiki Inc.
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Kira Corporation, Meko Seiki Inc. filed Critical Kira Corporation
Priority to PCT/JP2002/010975 priority Critical patent/WO2004037484A1/fr
Priority to JP2004546369A priority patent/JPWO2004037484A1/ja
Publication of WO2004037484A1 publication Critical patent/WO2004037484A1/fr

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q3/00—Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine
    • B23Q3/155—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling
    • B23Q3/1552—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling parts of devices for automatically inserting or removing tools
    • B23Q3/1554—Transfer mechanisms, e.g. tool gripping arms; Drive mechanisms therefore
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q3/00—Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine
    • B23Q3/155—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling
    • B23Q3/1552—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling parts of devices for automatically inserting or removing tools
    • B23Q3/1554—Transfer mechanisms, e.g. tool gripping arms; Drive mechanisms therefore
    • B23Q2003/155414—Transfer mechanisms, e.g. tool gripping arms; Drive mechanisms therefore the transfer mechanism comprising two or more grippers
    • B23Q2003/155418—Transfer mechanisms, e.g. tool gripping arms; Drive mechanisms therefore the transfer mechanism comprising two or more grippers the grippers moving together
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q3/00—Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine
    • B23Q3/155—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling
    • B23Q3/1552—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling parts of devices for automatically inserting or removing tools
    • B23Q3/1554—Transfer mechanisms, e.g. tool gripping arms; Drive mechanisms therefore
    • B23Q2003/155414—Transfer mechanisms, e.g. tool gripping arms; Drive mechanisms therefore the transfer mechanism comprising two or more grippers
    • B23Q2003/155425—Transfer mechanisms, e.g. tool gripping arms; Drive mechanisms therefore the transfer mechanism comprising two or more grippers pivotable
    • B23Q2003/155428—Transfer mechanisms, e.g. tool gripping arms; Drive mechanisms therefore the transfer mechanism comprising two or more grippers pivotable about a common axis
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q3/00—Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine
    • B23Q3/155—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling
    • B23Q3/1552—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling parts of devices for automatically inserting or removing tools
    • B23Q3/1554—Transfer mechanisms, e.g. tool gripping arms; Drive mechanisms therefore
    • B23Q2003/155414—Transfer mechanisms, e.g. tool gripping arms; Drive mechanisms therefore the transfer mechanism comprising two or more grippers
    • B23Q2003/155425—Transfer mechanisms, e.g. tool gripping arms; Drive mechanisms therefore the transfer mechanism comprising two or more grippers pivotable
    • B23Q2003/155435—Transfer mechanisms, e.g. tool gripping arms; Drive mechanisms therefore the transfer mechanism comprising two or more grippers pivotable and linearly movable
    • B23Q2003/155439—Transfer mechanisms, e.g. tool gripping arms; Drive mechanisms therefore the transfer mechanism comprising two or more grippers pivotable and linearly movable along the pivoting axis

Definitions

  • the present invention relates to a ray that automatically inserts a tool. Also, it relates to an arm device used for W and a magazine. In particular, it relates to technology for achieving high-speed tool santan.
  • the "tool” in this specification includes a tool holder with a fixed tool and a tool and a tool holder with H $.
  • the rays most likely to be relevant to the present invention are disclosed in Patent No. 28976969.
  • the ray disclosed in this Utami includes a spindle for detachably clamping a tool, a tool magazine for accommodating a plurality of tools, and an arm for exchanging tools between the spindle and the tool magazine.
  • the arm has a pair of grippers at both ends. By rotating from the stand-up position, the gripper grips the spindle of the spindle with one of the tool grippers and grips the rail of the magazine with another gripper. The arm then moves away from the spindle along the direction in which the spindle extends. As a result, the tool gripped by the arm grip is pulled out of the spindle and the wheel magazine. The arm then rotates 180 degrees.
  • the tool removed from the spindle moves to the tool magazine side, and the tool removed from the tool magazine moves to the spindle side. Then, by moving the arm toward the main shaft along the direction in which the main shaft extends, the tool removed from the main shaft is stored in the tool magazine, and the tool removed from the tool magazine is clamped by the main shaft. After that, the arm rotates until it stands by without interfering with the main shaft.
  • FIG. 15 briefly shows the structure of the arm 500 used in the ray described in ⁇ above.
  • reference numeral 502 denotes a wheel grip
  • reference numeral 501 denotes a tool gripped by a tool grip 502
  • an arm 500 can rotate around the axis 501.
  • the arm 500 is provided with a lever sound 504 that swings between a first position (the position shown in FIG. 15 (a)) and a second position (FIG. 15 (b) (Dim)).
  • Lever »First end of 5 0 4 5 0 4a is provided with a connecting sound 506 force that can slide in the length direction of the arm 500.
  • the second end 504 b of the lever member 504 is vertically displaceable in the drawing.
  • the first end 504a is displaced in the length direction of the arm 504. This causes the ⁇ mm ⁇ 06 to slide in the length direction of the arm 500.
  • the communication 506 is in contact with the rule 5110. As a result, the tool 5 10 0 of the tool display 1550 2 is locked.
  • the tool 500 may push the member 506 back to the left in FIG. 15 due to the shock when the arm 500 is stopped at the wheel 5.
  • the lever member 504 at the first position swings to the second position side while applying force to the first end 504 a of the lever member 504 at the first position;
  • the tool 5110 may 3 ⁇ 4 ⁇ when the rotation of the arm 500 is stopped.
  • the present invention shares a feature that the locking mechanism at the lock position does not displace to the unlock position even when receiving a force from a tool held by the tool. As a result, the number of rotations of the arm can be increased, and the speed of the tool can be increased.
  • the present invention provides a spindle for detachably clamping a tool, a tool magazine for accommodating a plurality of tools, and a pair of tool grips for gripping the tool with the tool spindle. It is equipped with an arm that carries tools between them. The arm is provided with a lever member that swings between a first position and a second position.
  • FIG. 14 briefly shows the above-mentioned arm according to the present invention.
  • the arm 600 shown in FIG. 14 is an embodiment of the present invention, and the present invention is not limited to the structure of the arm 600.
  • the first position of the lever member 604 set in the present invention is not ⁇ ⁇ to the position shown by the solid line in FIG.
  • the first position may be set at a position two positions away from the position where the lever member 604 and the fiber member 606 become the -g spring.
  • the lever sound 604 receiving the leftward force does not swing to the second position side.
  • Fig. 14 shows an example of the structure where the lever contacts the tool, the lever in the first position itself contacts the tool to activate the tool.
  • the present technology can be applied.
  • the work view of the present invention includes a spindle for detachably clamping a tool, a tool magazine having a plurality of tool ports for accommodating the tool, and an arm for carrying the tool between the spindle and the tool magazine.
  • Each tool port has a lock position for locking the stored tool and a lock position for unlocking the unlock position.
  • the e-learn magazine has a member that moves between the first position and the second position and that is infested with a lock / unlock member formed by knitting the e-ports in the erect position.
  • the lock / unlock member that locks the tool when the insect removing member that is located at the third position is in the first position locks the tool, and the rock that is exterminating when the insect removing member that is assembled is at the second position.
  • the unlocking member unlocks the tool. Then, the edited ⁇ ⁇ ⁇ ⁇ ⁇ ⁇ ⁇ ⁇ ⁇ ⁇ is attached to the clamp 'unclamping the tool on the spindle. To move.
  • the tools contained in each report port are licked to prevent the tool from coming off the tool pot. I have.
  • the wheel is unlocked so that the wheel can be delivered smoothly.
  • the lock / unlock sound and the grub are attached, the spindle is clamped and unclamped and the fiber is attached to the shaft. It moves between the second positions. Specifically, when unclamping the wheel from the main vehicle due to the above-mentioned leakage, the g ⁇ gPW moves from the first position to the second position.
  • the machine tool includes: a spindle for detachably clamping a tool; a magazine having a plurality of pockets for feeding a tool;
  • the tool pot has a lock 'unlocking member which moves between a position where the tool is locked and a position where the tool is unlocked.
  • the tool moves between the 1st position and the 2nd position, and has a tool ⁇ f.
  • the insect lock member unlocks the tool
  • the insect removal member is in position 2nd position 2nd position 2nd position 2nd position 2nd position
  • the insect lock member unlocks.
  • the arm is unlocked, and the trimming sound attached is set to ⁇ , which moves the arm in the direction of the main shaft force of 5 ⁇ , and the first position along with the movement of the arm. And between the 2nd position.
  • This third invention is different from the above-mentioned second invention in that the insect removing member moves in conjunction with the movement of the arm along the main axis direction.
  • the insect removing member moves in conjunction with the movement of the arm along the main axis direction.
  • the loosing material moves from the first position to the second position. It is necessary to smoothly carry out the tool while simultaneously releasing the tool from the portal and unlocking the tool from the spindle by moving the arm away from the spindle. it can. This can speed up the tool tan.
  • the arm moves in the direction approaching the main shaft and the tool is inserted into the main shaft and the tool pot, the translation is moved from the second position to the first position.
  • the mechanism for simultaneously opening the tool to the tool port can be realized simultaneously by one mechanism, so that the tool can be smoothly performed. This makes it possible to increase the speed of.
  • the present invention also provides a tool for exchanging tools for a tool having a tool.
  • This arm device has a tool grip that holds the tool. And a lever that swings between a first position and a second position.
  • the reno member When the reno member is at the first position, the lever »or the sound of the lever member abuts against the wheel gripped by the wheel grip portion, and when the reno, '1» is at the second position, the reno member Alternatively, the knitted thread is sent from the tool gripped by the tool grip. Then, the first position that was recognized is in a standing position, where the lever gripped by the tool gripper applies a force to the lever to move the lever from the first position to the second position. Have been.
  • the lever sound at the first position does not swing to the second position side even when receiving the force applied by the tool of the ifg. Can be raised.
  • the tool magazine itself for rays having the ability of the tool is also a product of the present invention.
  • This tool magazine is provided in each of a plurality of buckets for storing tools, and each tool pot moves between a position for locking and unlocking the stored tool. It has a lock / unlock member, and a member that moves between the first position and the second position and that removes a self-locking lock / unlock attachment of a tool port in a standing position.
  • the locking / unlocking sticks that are removing the insects lock the wheels, and when the three insect removal members are in the second position, the insects are locked. Unlock sound unlocks the tool.
  • the worms are used to clamp and unclam the tool on the spindle.
  • the tool can be smoothly clamped to clamp (unclamp) the tool on the spindle and to open (unlock) the tool on the port at the same time. Can be. This can speed up tool change.
  • the following e-learning magazine is also a creation of the present invention.
  • this tool magazine is provided with a plurality of tool pots, each of which has an IR sensor, and is provided in each tool pot.
  • the tool magazine moves between a position where the stored tool is locked and a position where the tool is unlocked.
  • Lock between the first and second positions and the locked / unlocked members and ⁇ ⁇ a member for insects.
  • the lock-unlock member locks the tool when the ilB is in the first position, and the lock-unlock that locks the tool when the three-dimensional translation is in the second position. Unlock.
  • the leaked member is used as ⁇ , which moves the tool tandem along the direction in which the main shaft extends.
  • Fig. 1 shows a front view of the present invention.
  • FIG. 2 shows a view of FIG. 1 viewed in the direction of arrow D2.
  • FIG. 3 shows a plan view of the arm.
  • FIG. 4 shows a front view of the arm of FIG.
  • FIG. 5 shows a diagram when the arm in FIG. 4 has moved to the side opposite to the main spindle.
  • FIG. 6 shows the machine tool command of FIG. 1 viewed in the direction of arrow D6.
  • FIG. 7A shows a tool port in a state where the tool is locked and a peripheral view thereof.
  • FIG. 7 (b) shows a view of FIG. 7 (a) viewed from the right side.
  • Fig. 8 (a) shows a bucket with the tool unlocked and its surroundings.
  • FIG. 8 (b) shows a view of FIG. 8 (a) viewed from the right side.
  • FIG. 9 shows a plan view of the arm of the second embodiment.
  • FIG. 10 shows a front view of the arm of FIG.
  • Fig. 11 shows a diagram when the arm in Fig. 9 moves to the "chain”.
  • FIG. 12 shows a front view of the arm of FIG.
  • FIG. 13 shows a third example.
  • FIG. 14 briefly shows the structure of the arm of the ray according to the present invention.
  • FIGS. 15 (a) and 15 (b) briefly show the structure of the other arm.
  • FIG. 1 is a front view showing a general threat of ray A10.
  • the beam I command 10 includes a spindle device 20, a tool magazine 80, an arm 50 provided between the main vehicle drive device 20 and the vehicle magazine 80, and the like.
  • a spindle device 20 for example, a tool magazine 80
  • an arm 50 provided between the main vehicle drive device 20 and the vehicle magazine 80, and the like.
  • FIG. 1 other components (for example, a work pedestal stand) provided in the 3 ⁇ 4 10 are not shown, and only components related to the present invention are shown.
  • the spindle device 20 includes a spindle 22 on which a tool 32c is removably mounted, a spindle housing 24 rotatably rotating the spindle 22, and the like.
  • a work (not shown) is set below the spindle device 20. The work is caloed by the tool 32c. In FIG. 1, a specific tool is not shown and only the tool holder is shown. There are a wide variety of tools used in the machine tool 10, and there are various types of work that can be used as a tool.
  • the main shaft housing 24 incorporates a bearing (not shown).
  • the spindle housing 24 rotatably supports the spindle 22 via the bearing.
  • FIG. 1 the purchase of the inner sound of the main shaft housing 24 is shown in a very simple manner.
  • the spindle device 20 has a built-in motor (not shown). The motor is connected to the main shaft 22.
  • the main shaft 2 2 rotates around the axis C 1 when Moruhi hides. As a result, the operation of the tool 3 2 c machining a peak is realized.
  • FIG. 6 is a view of the machine tool 10 viewed in the direction of arrow D6 in FIG.
  • the lever 15 2 is rotatable about the fulcrum 150, and the upper part (hereinafter referred to as the second ⁇ ) is connected to the roller 16 4.
  • the rollers 1 6 4 It is tied to the cam «i2 1 1 shown well in Although this point will be described in detail later, the fiber 170 moves up and down when the cam column 2 11 changes. In FIG. 1, the member 170 is at the uppermost position.
  • a clamp for clamping and unclamping the reel 32c to the spindle 22 (the cramp member is not shown).
  • O Clamping is linked to 170.
  • the main shaft 22 has a built-in panel that urges the upper part 170 upward.
  • the cramp member is also urged to ⁇ ⁇ .
  • the clamp member clamps the rule 32c.
  • the fiber member 170 moves downward by the operation of the lever 152, the crump member also moves downward.
  • the crimp »moves downward the clamping of the tool 3 2 c with the cramp is released.
  • the tool 3 2 c can be easily removed from the main shaft 22.
  • the detailed structure of the clamp member is disclosed in Japanese Patent Application No. 2002-2228339.
  • the arm 50 has a K ⁇ square shape.
  • FIGS. 3 to 5 show the details of the arm 50 in detail.
  • the arm 50 is connected to an arm shaft 122 for rotating the arm 50 around the axis C 2 (FIG. 1) and moving the arm 50 in the vertical direction in FIG.
  • An arm shaft nosing 120 that supports the arm shaft 122 so as to be rotatable and vertically movable is provided on the upper part of the arm 50.
  • a motor (not shown) for moving the arm shaft 122 is built in the arm shaft housing 120. A more detailed configuration and operation of the arm 50 will be described later.
  • the e-learning magazine 80 has a plurality of tools 32a, 32b, etc. on its periphery (all the tools are not denoted by reference numerals in FIG. 2).
  • FIG. 2 is a view of the machine tool 10 viewed in the direction of arrow D2 in FIG. In FIG. 1, only the tools 32a and 32b at the uppermost position and the lowermost position are shown. In this example, the example magazine 80 stores 20 tools 32 (these symbols are abbreviated and the letters are omitted).
  • the e-mail 32 is contained in e-mail port 86. In FIG. 1, the tool 32a is stored in the tool pot 86a, and the tool 32b is stored in the tool port 86b.
  • the tool magazine 80 has 90 points of rotation. In this rotation Lord 90, Each tool port 86 is connected via a bearing.
  • the wheel magazine 80 rotates the wheel pots 86 using the motor indicated by the reference numeral 84 as a source of horses (rotates the tools 32 around the axis C3).
  • the reference numeral 88 in FIG. This is a cylinder that rotates a certain port 86b 90 degrees around axis C4.
  • the pot 86 b shown by the solid line is before 90 degrees rotation
  • the pot 86 b shown by the bark line is after 90 degrees rotation.
  • the arm 50 can grip the tool 32b stored in the corresponding port port 86b (that is, the arm 50). It is a renenken).
  • Reference numeral 82 in the figure denotes a stopper cylinder for accurately determining the rotational position of each tool 32 and temporarily fixing it.
  • FIG. 7 (a) shows a diagram in a unilateral equilibrium standing position (that is, a diagram of a broken line & 6 in FIG. 1), and a part is shown in a cross-sectional view.
  • FIG. 7A also shows a state around the tool pot 86.
  • FIG. 7B is a view of FIG. 7A viewed from the right side.
  • the tool port 86 has a substantially cylindrical job.
  • the diameter of the tool (tool holder) 32 included in 1K in the wall report 86 decreases from the lower side to the upper side. However, a bulged portion 232 having a slightly larger diameter is provided in the 3 ⁇ 4 ⁇ portion.
  • Two spheres 2 24 a and 2 26 a are provided in one hole shown in the figure.
  • two spheres 2 24 b and 2 26 b are also stored.
  • Two spheres are stored, not shown. Note that the number of holes provided in the port body 87 can be changed, and more or less than four holes can be provided.
  • the spheres 2 26 a and 2 26 b inside are smaller in diameter than the spheres 2 24 a and 224 b that are inside. In this example, the diameter of the inner sphere is smaller than that of the outer sphere, but the diameter may be the same.
  • the diameter of the inner sphere can be made larger than that of the outer sphere.
  • the reporter 86 has a cylindrical body 220 that closes the hole of the main body 87.
  • the cylindrical body 220 can slide up and down with respect to the main body 87.
  • the upper part 220 a of the cylindrical body 220 has a magic whose inner surface is cut.
  • Single pot body 8 7 and cylinder A spring 222 is set between the body 220. In the state shown in FIG. 7, the springs 222 are naturally long. When the cylindrical body 220 moves downward, a biasing force of ⁇ ⁇ by the spring 222 acts on the cylindrical body 220.
  • FIG. 8A shows the state of the tool pot 86 and its surroundings when the cylindrical body 220 is lowered from the state of FIG.
  • FIG. 8B is a view of FIG. 8A viewed from the right side.
  • FIG. 8 (a) when the cylinder 220 is lowered, the hole of the report body 87 and the upper part 220a of the cylinder become the same height.
  • the upper / lower devils 250 are composed of a weaving insect member 2 18, a lever sound 2 14, a torsion panel 2 16, a wire 210, and the like.
  • the upper and lower IWi250 do not rotate with the 90-degree rotation of the tool port 86 around the axis C4. That is, ⁇ T3 ⁇ 4W250 has a substantially fixed position, and accepts a 90 ° rotated portport 86 (cylindrical body 220).
  • the upper surface of the collar 2 2 Ob of the cylindrical body 220 is attached to the upper surface of the body.
  • This contact member 2 18 is connected to the lever member 2 14 (the job of the lever 2 14 is easy to see in FIGS. 7 (b) and 8 (b)).
  • a pin 228 is inserted in the lever member 214, and the pin 228 is attached to a fixed member below the tool magazine 80.
  • the lever 3 ⁇ 4 ⁇ 2 14 can swing about the pin 228.
  • the pin 2 28 is fitted with a torsion spring 2 16. One end of the torsion spring 2 16 is inverting with pin 2 19, and ⁇ «is invoking with pin 2 21.
  • the pins 219 are inserted into fixing members below the tool magazine 80. Pins 2 2 1 It is fixed to the lever member 2 14.
  • Lever 14 is connected to one end of wire 210.
  • the wire 210 is connected to the lever member 200 of the cam leak 211 as shown in FIG.
  • the operation of the cam right 2 11 will be described in detail later, and the wire 2 10 is guided in the direction of arrow A or the direction of arrow B by this ⁇ .
  • Reference numeral 2 12 in the figure is a member for positioning the wire 210.
  • the insect member 218 is connected to the lever member 214.
  • the lever sound 2 14 swings in the direction D 3
  • the insect removing member 2 18 is guided downward.
  • the slug member 2 18 and the slinging cylindrical body 220 move downward (the state shown in FIG. 8), and the wheel 32 is unlocked.
  • the lever 3 ⁇ 43 ⁇ 4 ⁇ 2 14 swings in the direction D4 from the state shown in Fig. 8, the withdrawal attachment 218 moves to.
  • the cylindrical body 220 moves ⁇ ⁇ (return to the state of FIG. 7) by the upward biasing force of ⁇ , 22 and 22 and the roll 32 is locked.
  • FIG. 3 is a plan view of the arm 50 at the uppermost position.
  • FIG. 4 is a front view of the arm 50 of FIG. 3, showing a part of the internal structure.
  • FIG. 5 is a front view of the arm 50 at the lowermost position, and shows a part of its internal structure.
  • the arm 50 has an arm frame 51 extending in the left-right direction in FIG. 3 around the arm axis 122.
  • the arm 5 0 of the left and right positions, have been made tool bunch »7 0 a 5 7 O b force Research to grip the tool 3 2.
  • In the arm frame 5 1 ⁇ (in the vicinity, two holes are provided so as to sandwich the arm shaft 1 2 2.
  • the members 56 a and 56 b protrude upward from each of the holes. This is best illustrated in Figure 4.
  • the upper ends of the members 56a, 56b have a rounded shape and the upper ends of the members 56a, 56b are The arm shaft housing 120 and the lower surface 120 a of the arm 120.
  • the member 56 a extends vertically inside the arm 50.
  • the spring 60 2 is provided inside the arm 50.
  • One end force of the lever member 60a is applied to the member 56a.
  • the other end of the lever member 60a is connected to the connecting member 54a.
  • the lever member 60a extends upward to the right.
  • the lever 60a extends almost to the right (slightly; fe ⁇ ).
  • the position of the lever member 60a in the state of FIGS. 3 and 4 is referred to as a second position
  • the position of the lever sound 60a in the state of FIG. 5 is referred to as a first position.
  • connection »54 a has a substantially circular thread extending in the length direction of the arm 50.
  • the connecting member 54 a is slidable in the length direction of the arm 50 with respect to the arm frame 51.
  • a lever member 60b (not shown) is also applied to the member 56b, and a connecting portion f54b is connected to the lever member 60b. Since the right half structure and the left half structure of the arm 50 are the same, the following description will focus on the right half structure. In addition, the symbols are described by omitting the alphabet: There is ⁇ .
  • the reno member 60 at the second position swings and reaches the first position.
  • the connecting member 54 slides in the direction of the tool handle 70 in conjunction with the swing of the lever member 60.
  • the adjusting member 58a which is made of a fiber at the right end of the coupling member 54a, comes into contact with the tool 32 of the tool holding portion 70a.
  • the adjustment sound 58a is a member that is configured so that its position in the left-right direction can be adjusted. By adjusting the position of the adjustment box 58a in advance, it is possible to securely hold the wheel 32.
  • the lever 0 in the first position has its 3 ⁇ 4 located slightly above its «.
  • the member 56 has a lower diameter that is larger than the diameter of the child of the arm frame 51. For this reason, in Appendices 56, if they move upward, they are removed to the arm frame 51, and it is forbidden to move further ⁇ . This state is shown in FIG. Since the sound appendage 56 is prohibited from moving further in the ⁇ direction, further swinging of the lever ⁇ appendix 60 toward the ⁇ 2 position is also prohibited.
  • the arm 50 of the present example is located at the position above the line of action of the force applied by the tool 32 (the line extending in the length direction of the connection 54) with the lever ⁇ in the first position.
  • the left end of the lever member 60 at the second position is located below the action line. That is, the lever member 60 in the first position and the lever member 60 in the second position are arranged so as to straddle the upper and lower regions on the line of action of force.
  • the arm 50 can be rotated at a high speed, and a high-speed tool exchange is realized.
  • FIG. 6 a detailed configuration of the lever 152 and the cam 211 will be described.
  • the lever 15 2 has a T-shape.
  • the first end of the lever 15 2 has a roller 16 2 connected thereto, and the roller 16 2 is in contact with the sound 170 a of the member 170 (see Fig. 1).
  • the second ⁇ of the lever 15 2 has a roller 16 4 power machine.
  • Roller 1 6 4 constitutes cam column 2 1 1
  • the lever member 200 is received in 210 of the two.
  • the third 5g of leverage 152 is followed by Laura 160 power mistress.
  • the piston of the cylinder 154 is connected to the roller 160.
  • the lever 15 2 is set at its central support point 150.
  • the cam mechanism 211 includes a cam plate 190, a motor 5 for rotating the cam plate 190, a lever member 200, and the like.
  • the cam plate 190 has a substantially elliptical shape ⁇ ⁇ .
  • the lever member 200 can swing about the reference numeral 192 as a fulcrum.
  • the upper part of the lever member 200 the cam plate 190 and the roller 194 that is removing the insects.
  • a motor for rotating the cam plate 190 is miniaturized by providing the pneumatic cylinder 154.
  • a more detailed explanation of this point is described in Japanese Patent Application Laid-Open No. 2002-126926.
  • the one end force of the wire 210 is connected to the lever attachment 200, and the wire 210 is held slightly below the swing fulcrum 192 .
  • the wire 210 is guided (pulled) in the ⁇ direction when the lever member 200 swings counterclockwise from the pillow state in FIG. Conversely, when the lever member 200 swings clockwise, the wire 210 is guided in the B direction.
  • the arm 50 is moved downward by moving the arm shaft 122 downward.
  • the tool 32 is removed from the spindle 22 and the tool pot 86.
  • the member 56 of the arm 50 moves upward, and the lever 3 ⁇ 60 is placed at the first position.
  • the adjusting member 58 of the arm 50 comes into contact with the tool 32, and the tool 32 is locked.
  • the tool tansan operation can be performed smoothly. it can. As a result, the speed of the tool is reduced to 1 *.
  • the description will focus on the parts that differ from the first embodiment.
  • the tool is gripped by the arm gripper and the tool is removed from the arm gripper.
  • the tool is delivered between the arm and the spindle, or between the arm and the wheel magazine, by turning the spindle device or tool magazine away from the arm.
  • the configuration of this arm will be described.
  • 9 to 12 show the configuration of the arm 350 of the present example. At both ends of the arm 350, a pair of pockets 370a and 370b are provided. ⁇ 2 010975
  • the rule holder »370a has scissors ⁇ 372a and 373a.
  • the two scissors 7 2 a and 3 7 3 a sandwich the tool 3 3 2, thereby gripping the tool 3 3 2.
  • the scissor member 372a can swing with respect to the arm frame 351 using the pin 380a as a fulcrum. Similarly, the scissors 377a can swing with respect to the arm frame 351 around the pin 381a.
  • a spring 374a is inserted between the two scissors 370a and 373a. The scissor members 3772a and 3773a, which are biased by the spring force of the spring 374a, are prohibited from further swinging by contacting the key 390a.
  • the scissors When the spindle device moves and the tool 3332 clamped to the spindle device is inserted between the scissor members 3772a and 3773a, the scissors are attached. Hold the tool 3 3 2 while opening. When the scissors are attached, the spring force of the spring 374a urges the scissor members 372a, 373a to f. When the ruler 332 is sandwiched between ⁇ , the scissor members 372a and 3733a return to the state shown in FIG.
  • the structure of the tool handle fg370b is the same as the structure of the tool handle 370a.
  • FIG. 10 is a front view of the arm 350 in the state of FIG.
  • Reference numerals 35a, 360a, and 362a are the same as reference numerals 56a, 60a, and 62a, respectively, of the first difficult example.
  • a reference numeral 354a is a connecting member connected to the lever member 360a and slidable in the length direction of the arm frame 351.
  • FIG. 11 is a diagram when the arm shaft 4 2 2 moves downward.
  • FIG. 12 is a front view of the arm 350 in the state of FIG. When the arm shaft 4 2 2 moves downward, the lever 3 6 6 a moves upward and the lever »3 6 0 a moves.
  • the position of the lever in FIG. 11 and FIG. 12 is referred to as the first position 3, and the position of the lever member 360 in FIG. 9 and FIG. 10 is referred to as the second position. Describe.
  • the connecting member 354a is fitted between the scissor members 372a and 373a (see FIG. 11).
  • the scissor members 372 a and 373 a cannot be opened, the pen 332 is firmly locked.
  • the point that the lever sound 360a cannot swing to the second position side is the same as in the first example.
  • the lever sound 360a at the first position is slightly extended as in the first difficult example described above. Accordingly, even when the armor 350 pushes the coupling 354a to the left when the arm 350 is turned, the lever ⁇ 1360a does not swing by the force. Even with the configuration of the arm 350 of this example, the arm 350 can be rotated at a high speed, and the speed of the sniper is increased.
  • Fig. 13 shows a diagram of the work in this example.
  • the same members as in the first example are denoted by the same reference numerals as in the first example.
  • This example is different from the first example in that the wire 210 is connected to the section 400.
  • the member 400 is a sound associated with the vertical movement of the arm shaft 122.
  • the attachment 400 also moves upward, and the wire 210 is guided in the direction of arrow ⁇ .
  • the tool 32 is locked to the eel port 86.
  • the attachment 400 Conversely, when the arm shaft 122 (arm 50) moves downward, the attachment 400 also moves downward, and the wire 210 is guided in the direction of arrow ⁇ ⁇ . This unlocks the rule 32 from the report port 86.
  • the lever member 60 is rocked using the member 56, the panel 62, or the like.
  • the arm 50 may be provided with a horse concealing source for swinging the lever section 60.
  • the adjustment member 58 recommended for the lever 60 is in contact with the tool 32 to lock the tool 32, but the lever member 60 itself is in contact with the tool 32.
  • the tool 32 may be locked.
  • the lever 50 When the lever 50 is in the first position, the arm 50 does not swing to the second position even if it receives force when the arm 50 is stopped. The speed of the tool can be increased.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Automatic Tool Replacement In Machine Tools (AREA)

Abstract

L'invention concerne une machine-outil capable d'effectuer un changement d'outil à une vitesse élevée, comprenant une broche de fixation amovible de l'outil, un chargeur d'outils, destiné au stockage d'une pluralité d'outils, un porte-outil, et un bras rotatif permettant l'échange d'outil entre la broche et le chargeur, le bras comprenant en outre un levier (60a) pivotant entre une première position et une seconde position. L'invention est caractérisée en ce que, dans le cas où le levier se trouve en première position, ce levier, ou un élément associé à celui-ci, peut prendre appui sur l'outil (32) maintenu par le porte-outil (70a), et en ce que, dans le cas où le levier se trouve en seconde position, ce levier, ou un élément associé à celui-ci, est séparé de l'outil maintenu par le porte-outil, et en ce que la première position est réglée de façon telle que le levier ne puisse pivoter de la première position vers la seconde, par une force appliquée par l'outil maintenu par le porte-outil, vers ledit levier lorsque la rotation du bras est stoppée.
PCT/JP2002/010975 2002-10-23 2002-10-23 Machine-outil, dispositif a bras rotatif, et chargeur d'outils WO2004037484A1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
PCT/JP2002/010975 WO2004037484A1 (fr) 2002-10-23 2002-10-23 Machine-outil, dispositif a bras rotatif, et chargeur d'outils
JP2004546369A JPWO2004037484A1 (ja) 2002-10-23 2002-10-23 工作機械とツールマガジン

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/JP2002/010975 WO2004037484A1 (fr) 2002-10-23 2002-10-23 Machine-outil, dispositif a bras rotatif, et chargeur d'outils

Publications (1)

Publication Number Publication Date
WO2004037484A1 true WO2004037484A1 (fr) 2004-05-06

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JP (1) JPWO2004037484A1 (fr)
WO (1) WO2004037484A1 (fr)

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CZ298128B6 (cs) * 2004-12-14 2007-06-27 Toshulin, A. S. Hydraulická upínka s mechanickým zámkem
CN101905426A (zh) * 2010-07-02 2010-12-08 张家港玉成精机有限公司 活扳手拉方孔夹具
US20160039060A1 (en) * 2014-08-07 2016-02-11 Dmg Mori Co., Ltd. Tool Changer
US20170087679A1 (en) * 2015-09-30 2017-03-30 Dmg Mori Co., Ltd. Tool Changer
CN108481062A (zh) * 2018-03-12 2018-09-04 无锡贝斯特精机股份有限公司 钻铆机器人末端执行器用伸缩式浮动放刀机构

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS56126549A (en) * 1980-02-29 1981-10-03 Osaka Kiko Co Ltd Tool holder in automatic tool replacer
JPS61249239A (ja) * 1985-04-25 1986-11-06 Toyo Seiki Kogyo Kk マシニングセンタ用工具交換装置
JPS649037U (fr) * 1987-07-06 1989-01-18

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS56126549A (en) * 1980-02-29 1981-10-03 Osaka Kiko Co Ltd Tool holder in automatic tool replacer
JPS61249239A (ja) * 1985-04-25 1986-11-06 Toyo Seiki Kogyo Kk マシニングセンタ用工具交換装置
JPS649037U (fr) * 1987-07-06 1989-01-18

Cited By (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CZ298128B6 (cs) * 2004-12-14 2007-06-27 Toshulin, A. S. Hydraulická upínka s mechanickým zámkem
CN101905426A (zh) * 2010-07-02 2010-12-08 张家港玉成精机有限公司 活扳手拉方孔夹具
US20160039060A1 (en) * 2014-08-07 2016-02-11 Dmg Mori Co., Ltd. Tool Changer
CN105364602A (zh) * 2014-08-07 2016-03-02 Dmg森精机株式会社 工具交换装置
US9969040B2 (en) * 2014-08-07 2018-05-15 Dmg Mori Co., Ltd. Tool changer
CN105364602B (zh) * 2014-08-07 2019-03-12 Dmg森精机株式会社 工具交换装置
US20170087679A1 (en) * 2015-09-30 2017-03-30 Dmg Mori Co., Ltd. Tool Changer
US10081085B2 (en) * 2015-09-30 2018-09-25 Dmg Mori Co., Ltd. Tool changer
CN108481062A (zh) * 2018-03-12 2018-09-04 无锡贝斯特精机股份有限公司 钻铆机器人末端执行器用伸缩式浮动放刀机构

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