WO2018033604A1

WO2018033604A1 - Machine tool and machine tool arrangement

Info

Publication number: WO2018033604A1
Application number: PCT/EP2017/070876
Authority: WO
Inventors: Sascha Jaumann; Wolfgang RÖMPP
Original assignee: Mauser-Werke Oberndorf Maschinenbau Gmbh
Priority date: 2016-08-19
Filing date: 2017-08-17
Publication date: 2018-02-22
Also published as: EP3500399A1

Abstract

The invention relates to a machine tool (1) having at least one tool spindle or working spindle (2, 4) which is movable along linear guides in the X-, Y- and/or Z-direction and is guided on a machine frame (6), and having a tool magazine (13) with a multiplicity of holders for tools (36) which are insertable into the working spindle (2, 3) or removable therefrom by means of a manipulator (62), and having a workpiece carrier (82, 84) for a workpiece (76) to be machined, characterized in that the tool magazine (13) is arranged above the working spindles (2, 4, 48, 50) and the manipulator (62) has a rack (64) which has, per working spindle (2, 4, 48, 50), at least one tool receptacle (66) for a new tool (36) to be removed from the tool magazine (13) and an empty space (68) for a tool (36') held in the working spindle (2, 4, 48, 50), and which is movable, preferably in the X- and Z-direction, between the tool magazine (13) and the working spindle (2, 4, 48, 50) for a tool change, wherein the machine tool is designed to move the working spindle (2, 4, 48, 50) synchronously with the rack (54) during the tool change.

Description

Machine tool and machine tool arrangement

The invention relates to a machine tool according to the preamble of claim 1 and to a machine tool arrangement designed with such machine tools.

Machine tools or machining centers for machining of workpieces in series production are augeführt as single or multi-spindle, with customary as single spindle and double spindle with single quill and four- and six-spindle are designed with monobloc quills, in which several work spindles are arranged parallel next to each other. The sleeves are movable in the Z direction in a carriage, which in turn is adjustable in a frame in the Y direction. The entire frame with the carriage can be moved along an X-axis. The workpieces to be machined are arranged on a workpiece carrier, which is often designed with rotary axes, which allow an adjustment of the workpiece held thereon in an A-axis and / or B-axis. The tool change is preferably carried out automatically, wherein the tools are arranged in a tool magazine. For tool change, a robot or handling device can be used, which removes a tool to be replaced from the one or more work spindles and places in an empty space of the tool magazine and parallel takes a new tool from the tool magazine and inserts into the work spindle. Such a tool change system requires a considerable device complexity, especially in multi-spindle machines. In addition, the tool change takes a relatively long time, so that the chip-to-chip time is considerable and thus adversely affects the productivity of the machining center.

The device complexity can be reduced somewhat if a so-called "pick-up system" is used, in which the tools are held, for example, in a chain-shaped tool magazine and the work spindle (s) suitable control are moved in the direction of the tool magazine to store the workpiece no longer required at an empty place and take over a new tool. A disadvantage of this solution is that the process in the pick-up position due to the long travels is relatively slow, so that even in such a system, the chip-to-chip times are capable of improvement.

In contrast, the invention has for its object to provide a machine tool and a machine tool assembly, which allow a quick tool change.

This object is achieved by a machine tool having the features of claim 1. With regard to the machine tool assembly, the object is achieved by the feature combination of claim 18. Advantageous developments of the invention are the subject of the dependent claims.

The machine tool according to the invention has at least one tool or work spindle, which can be moved along linear guides in the X, Y and / or Z direction. The machine tool further has a tool magazine with a plurality of holders for tools that can be inserted or removed from the work spindle by means of a manipulator. The machine tool further has a workpiece carrier for at least one workpiece to be machined. According to the invention, the tool magazine is arranged above the work spindles. The manipulator is designed in the manner of a rake, which has at least one receptacle per work spindle for a new tool to be removed from the tool magazine and an empty space for a tool held in the work spindle. This manipulator / rake is movable for tool change in the X and Z direction in the direction of a provision position between the tool magazine and the work spindle, wherein the machine tool is designed such that the work spindle for tool change at least in sections can be controlled synchronously to the manipulator. The term "rake" is understood to mean a gripper construction in which the receptacles for the tool to be removed from the tool magazine and the tool to be removed from the work spindle are oriented in the same direction In the takeover position, both shots point in the same direction. The rake can be made in one piece or else from several elements. The latter solution is used when the rake is to be assigned to multiple spindles.

Thus, already during the machining of a workpiece by means of a tool, a tool required in the sequence can be brought by means of the manipulator in the direction of the transfer / provision position. For tool change then the manipulator / rake and the work spindle are controlled synchronously so that the held in the work spindle "old" tool is transferred to the empty space of the rake and in a subsequent relative movement held on the rake "new" tool is inserted into the work spindle ,

This inventive design of the machine tool, the tool change and thus the chip-to-chip time can be significantly reduced compared to the prior art described above, the device complexity is minimal. For example, in a multi-spindle machine, only the rake with a corresponding number of shots / empty spaces must be executed in order to carry out the tool change for all work spindles in a single operation.

In a particularly preferred embodiment of the invention, the movements of the work spindle and the rake are synchronized either mechanically or control technology. The change is particularly simple when the tool magazine has a quiver for each tool, in which the tool is used axially parallel to the spindle axis.

The rake, via which the tool or tools can be moved in the direction of the provisioning position, has in one variant of the invention a gripper which can be opened towards the work spindle. The construction of the tool magazine is particularly simple when it is formed with a revolving chain conveyor on which the tools are arranged with their axes in one plane, preferably in a horizontal plane. Such a tool magazine with tools arranged in one plane requires a minimum of installation space, so that the entire machine tool can be made compact.

A chain pitch of a chain of the tool magazine is preferably designed as a function of the number of work spindles, so that the number of work spindles corresponding number of tool holders and empty spaces is provided on the manipulator / rake with minimal space.

The transfer of the tools to the rake can be simplified by a rear slider for pushing out the tools from the quiver.

As mentioned, are in a multi-spindle, whose spindles in one

Sleds in Z-direction are adjustable, assigned to each work spindle on a rake an empty space and a transfer point for a to be taken or a "new" tool, which are then arranged transversely to the spindle axis side by side, wherein the axial distance of the tools the center distance corresponds to the work spindles.

The rake may be formed in one piece or by a plurality of individual rakes.

In one exemplary embodiment, it is provided that a rake is assigned to each work spindle in the case of a multiplicity of work spindles. In one variant of the invention, the rake can be carried out with a rake on which an empty space is formed for a pickup and a tool holder for a "new" tool, in other words, at each rake there is a transfer place and an empty place These images are oriented in the same direction, ie, in an arrangement in which the tool magazine is arranged above (in the direction of gravity) of the work spindle (s), they are oriented downwards, ie in the direction of the respective work spindle. The arithmetic arm is preferably designed with a pivot drive, via which the arithmetic arm can be pivoted from a basic position into a displacement position. In both the home position and in the travel position, the recording has, in principle, the same orientation explained above (preferably in the direction of the work spindle):

In a particularly simply constructed embodiment of the invention, the recordings are connected via a suitable kinematics, for example a parallelogram kinematics with the pivot drive and the rake, so that the orientation described is maintained during the pivoting.

Of course, instead of such a parallelogram kinematics, it is also possible to provide a different kinematics, for example a slide kinematics or a transmission kinematics, or else a suitable motor control in order to maintain the orientation.

The control of the or the rake (s) is simplified if the manipulator is designed with a tool length measuring device that detects the tool length, so that in dependence on the tool length, the control takes place. The productivity of the machine tool can be further improved if a torpedo changer is provided for long tools. Such a Torpedowechsler has a torpedo magazine, which is arranged in the region between the at least one work spindle and the tool magazine or the manipulator and which has a linear axis for moving out a long tool from the torpedo magazine in a transfer position. The long tool can then be transferred in this transfer position to an empty location of the rake or directly to an empty space of the tool magazine.

It is particularly preferred if several long tools are arranged side by side in the torpedo magazine.

The device complexity for the torpedo magazine is minimal, if this is held in the movable carriage in the Y direction. Accordingly Then a long tool can be moved by adjusting the carriage in the X and Y direction in its transfer position.

The Applicant reserves the right to make independent claims on this torpedo changer.

The flexibility of the machining center / machine tool in coping with different manufacturing tasks is particularly great when the back of another additional tool magazine is provided in which the tools with their

Axes are held parallel to the tools in the torpedo magazine and / or in the tool magazine. The transfer of the held in the additional tool magazine tools can then be done via another manipulator.

In the case of the machine tool according to the invention, at least two of the above-described machine tools are linked to one another, wherein the tool magazines of the individual machine tools, in particular the additional machine tool, are operatively connected via a linking manipulator.

Preferred embodiments of the invention are explained in more detail below with reference to schematic drawings. Show it:

Figure 1 is a three-dimensional view of a machine tool, which is designed with a tool magazine according to the invention; FIG. 2 shows a rear view of a guide of working spindles of the machine tool according to FIG. 1;

Figure 3 is a schematic diagram of the arrangement of tool magazines of a machine tool according to Figure 1;

FIG. 4 shows an individual view of a monoblock quill for a machine tool according to FIG. 1; FIG. 5 shows an individual view of a tool magazine of the machine tool according to FIG. 1;

FIG. 6 shows a rear view of a manipulator for a tool magazine according to FIG. 5;

FIG. 7 shows a variant of the manipulator according to FIG. 6;

FIG. 8 shows a schematic illustration to illustrate a fast tool change;

FIG. 9 shows a schematic diagram for clarifying the function of a torpedo changer of the machine tool according to FIG. 1; FIG. 10 shows a machine tool arrangement with a multiplicity of machine tools according to FIG. 1;

Figure 1 1 shows a variant of a manipulator and Figure 12 shows the manipulator according to Figure 1 1 in a travel position.

FIG. 1 shows a three-dimensional representation of a machining center according to the invention, referred to hereafter as machine tool 1. In this exemplary embodiment, the machine tool 1 is designed as a double spindle with two working spindles 2, 4 designed as single quills. However, this is only an example, of course, the machine tool can also be performed with only one spindle or with more spindles, for example as a four-spindle or six-spindle. In these multi-spindle systems, a monoblock quill (see FIG. 4) is preferably used for all work spindles. The sleeves of the work spindles 2, 4 are movably guided on a carriage 5 of the machine tool 1 in the Z direction (ie in the direction of the spindle axis). The carriage 5 is adjustable along a vertical Y-axis on a frame 8 of a machine frame 6 by means of two linear drives 12, 10. This frame 8 is in turn movable via a linear drive 24 along an X-axis. By speaking controls the linear axle kinematics and quills are held on spindles 2, 4 tools in the X, Y and Z direction adjustable.

The tools required for machining the workpieces are stored in a tool magazine 13, in which these tools 36 are received with their axes in the horizontal direction (X direction). This tool magazine 13 thus extends approximately in the horizontal direction above the work spindles 2, 4. In addition, a torpedo changer 17 is provided for long tools in the area above the work spindles 2, 4.

In the region of the machine tool 1 indicated on the right in FIG. 1, inter alia, a hydraulic unit 14, a central lubrication unit and other devices for supplying energy and fuel are arranged. In the illustration according to FIG. 1, a part of a panel 16 of the machine tool 1 is removed so that a working space 18 and a loading space 20 are visible. A changing device for the workpieces to be machined is formed by a pivotable double-turn clamp 22, which has two workpiece carriers, one of which is arranged in the loading space 20, so that it can be loaded with workpiece blanks to be machined. The other workpiece carrier is arranged in the working space 18, so that the workpieces clamped there can be processed simultaneously via the work spindles 2, 4.

Figure 2 shows the machine frame 6 without casing and accessories from the rear, i. seen from the side facing away from the working space 18 side. In this illustration, the frame 8, which can be adjusted in the X-direction by means of the linear axis 24 (see FIG. 1), can be seen, which slides along horizontal guides 26, 28 on the

Machine frame 6 is guided. In the frame 8, the carriage 5 in the vertical direction (Y direction) by means of the two linear axes / linear motors 10, 12 adjustable. In the slide, two individual quills of the work spindles 2, 4 are guided in the illustrated embodiment, which can be moved in the Z direction in the carriage 5. In the exemplary embodiment illustrated in FIG. 2, instead of a double reversing clamp, a A simple reversing clamp 22 'is used - such a modification can be easily realized by the modular machine tool concept depending on the requirement profile.

To the back of the machine tool 1 towards a chip conveyor 30 is further formed.

According to the illustration in FIG. 2, the tool magazine 13, which will be explained in greater detail below, is guided circumferentially in a horizontal plane in the upper region of the machine frame 6 and extends through openings 32 in side cheeks of the machine frame 6.

The torpedo changer 17 (not shown in FIG. 2) is arranged on the upper side of the carriage 5 visible in FIG. FIG. 3 shows a further rear view of a machine tool 1 according to the invention. In this illustration, the course of the tool magazine 13 is clearly visible. Accordingly, this is designed as a chain conveyor and has a chain 34, on which the individual tools 36 are held so that their axes are approximately in a horizontal plane. The chain 34 is formed circumferentially and extends approximately along a rectangular path with rounded deflection regions, where they - as explained above - through openings 32 of the side cheeks 37, 38 extend therethrough. A drive of the double reversing clamp 22 or of the turning clamp 22 'is mounted on the machine frame side. In the illustrated embodiment, a gantry drive is used for the turnbuckle whose rotary axes are mounted in receptacles 40 of the side cheeks 36, 38 and 22 can be brought into operative engagement with the double-vice clamp 22 by means of a coupling / interface with the arranged in the working space tool carrier.

As can also be seen in FIG. 3, the machine tool 1 can be designed with an additional tool magazine 42 on the back. This additional tool magazine 42 has a circumferential chain 44, on which the tools 36 are also held with their axes in the horizontal direction. However, this chain runs in a vertical plane - the trajectory of the auxiliary tool magazine 42 is thus employed perpendicular to the trajectory of the tool magazine 13. On this additional tool magazine 42 tools can be kept, which are not required in the current processing operation, but can be supplied to the tool magazine 13 in the processing of other workpieces via manipulators, not shown, so that a very fast conversion to different manufacturing tasks is possible.

FIG. 4 shows a monoblock spindle 46 in which four synchronously driven work spindles 2, 4, 48, 50 are mounted. The Monoblockpinole 46 can be adjusted along the Z guides 52 in the Z direction in the carriage 5. Accordingly, the machine tool 1 depending on the manufacturing task as a one-, two-or multi-spindle (for example, with four or six work spindles) are performed. As mentioned, single-pinolenoids are used in single- or twin-spindle machines, whereas in arrangements with more than two working spindles, single-block quillols are preferred. Depending on the number of work spindles 2, 4, 48, 50, the workpiece carrier is loaded with a corresponding number of workpieces to be machined.

FIG. 5 shows an individual view of the tool magazine 13. As explained, this tool magazine 13 has a chain 34 running around in the horizontal direction, which is guided along a chain guide 54. The drive takes place via two drive motors 56, 58 which drive the chain 54 via pinion or the like. On the chain a plurality of tool holders 60 are mounted. These each have a U- or V-shaped, in the view of Figure 5 downwardly opening gripper 61 which engages in a gripper groove of the respective clamping cone (HSK) of the tool 36 and can be opened for transfer. The illustration according to FIG. 5 clearly shows the horizontal arrangement of the tools 36 held on the chain 34.

The tool change can be further accelerated if, instead of the gripper 61 in FIG. 6, quivers 78 (see FIG. 8) are used, which embrace the tool-cone-side region of the respective tool 36 and hold it in the horizontal position shown in FIG. The transfer to the manipulator then takes place only by pulling the tool 36 in the axial direction of the quiver. This will be in Explained in more detail below. This excavation movement can be assisted by a rearward slide arrangement (not shown)

FIG. 6 shows a first exemplary embodiment of a manipulator 62, which is preferably held movably on the machine frame 6 in the Z and Y directions. In the illustrated embodiment, the manipulator 62 has a rake 64 which is adjustable via said linear axis kinematics in the Y and Z directions. This linear axis kinematics enables a position-controlled positioning of the rake 64. This has a tool holder 66a corresponding to the number of working spindles 2, 4, 48, 50,... For each work spindle or for each tool 36a, 36b, 36c, 36d to be inserted therein , 66b, 66c, 66d and adjacent to these tool holders each have an empty space 68a, 68b, 68c, 68d. The tool holders 66 and the empty spaces 68 each have a gripper which can be designed, for example, like the previously described gripper of the tool magazine. The U-shaped or V-shaped gripper, which opens downwards toward the work spindle, engages with its gripper legs in gripper grooves of the tool cone, so that the tools 36 are reliably held in their illustrated horizontal position. The opening and closing of the gripper can be positively controlled or via its own drives. The gripper spacing is selected as a function of the distance of the working spindles 2, 4, 48, 50 and may be adjustable in order to allow adaptation to different Pinolenabstände.

The Y and Z linear guides of the rake 64 are indicated in a highly schematized manner in the illustration according to FIG. Figure 7 shows an embodiment in which the rake 64 is slightly different than in the embodiment of Figure 6 is formed. In this case, the rake 64 is embodied with a computing plate 70, on which the tool holders 66 and the empty spaces 68 (only one reference symbol in each case in FIG. 7) are held with their grippers 72. This angle-shaped computing plate 70 can then - as the exemplary embodiment according to FIG. 6 - be adjusted in the vertical direction (Y-axis) and in the direction of the spindle axis (Z-direction) in order to approach the abovementioned transfer position / provision position, in which the tools 36 be changed in synchronous movement of the spindles 2, 4, 48, 50. This tool change will be explained with reference to FIG. This shows steps of the tool change in a schematic representation, wherein in the individual representations a) to i) of the machine frame 6 in the X direction movable frame 8 is shown along which the carriage 5 in the Y direction along Y guides 74 is adjustable. In the carriage 5, the monoblock quill 46 is movably guided in the Z direction with the work spindles 2, 4, 48, 50. It is assumed that each work spindle is designed with an HSK clamping system and carries in each case a tool 36 ^' , via which a workpiece is machined, which is held on a rotary table 76 of the double-turn vice 22. This can be pivoted during processing to a perpendicular to the plane extending A-axis. In the figure 8a top right, the horizontal rotating tool magazine 13 is shown, which - as mentioned above - is not executed with grippers but with quivers 78. As mentioned, each quiver 78 engages around the cone side of the associated workpiece 36. The rake 64 of the Y- and Z-directional manipulator 62 is initially located above the tools 36 provided for replacement. In other words, in the case of a monoblock spindle 46 with four work spindles 2, 4, 48, 50, the gripper with its tool holders 66 is arranged above four tools 36. During machining of the workpiece 76, the rake 64 is then moved down in the Y direction in the Y direction, as indicated in FIG. 8 a, so that the grippers 72 are in operative engagement with a gripper groove 80 of each "new" tool 36 to be transferred By a method of the rake 64 in the Z direction (see Figure 8b), the tools 36 are then pulled out of the quiver 78. Following this, the rake 64 moves in the Y direction downwards in the direction of that in the figures 8b and 8c, during this pulling and lowering movement of the rake 64, the carriage 5 is moved with the "old" tools 36 ^' away from the workpiece and up to the ready position. From a certain Z position of the carriage 5 (or the work spindles 2, 4, 48, 50), the manipulator axis is synchronized control technology or mechanically, so that the tool change by synchronous movement of the manipulator 62 (rake 64) and the work spindles is performed. Initially, as shown in FIG. 8d, the "old" tools 36 ^' and the "new" tools 36 are positioned in a plane to one another, so that the "old" Tools 36 ^' with respect to the empty spaces 68 of the rake 64 are aligned. By a method of the rake 64 or the carriage 5 in the Z direction, the "old" tools 36 ^' are then transferred to the empty spaces 68 of the rake 64 and then by an extension movement in the Z direction and an offset in the X direction of the carriage fifth the "new" tools 36 in the spindles 2, 4, 48, 50 used. This is illustrated in FIG. 8f, which shows a plan view of the working space 18. That is, the "old" tools 36 'and the "new" tools 36 are held in this position adjacent to each other on the rake 64, wherein all empty spaces 68 and tool holders 66 are occupied. This actual tool change (remove old tool 36 'and place it in empty space 68 of rake 64, transfer to new tool 36, transfer new tool 36 to work spindle 2, 4, 48, 50 and move manipulator 62 / rake 64 in Y direction) with synchronous movement of rake 64 and working spindles 2, 4, 48, 50. The Z-axis of the machine thereby executes a U-shaped, rounded path, whereby a very fast effective changeover time is effected. The adjustable span-to-chip time can be less than 2 seconds in such a kinematics.

FIG. 8g shows the tool change step in which the new tools 36 are transferred to the work spindles 2, 4, 48, 50 and then, as a result, the rake 64 in the Z direction from the work spindles 2, 4, 48 , 50 away and then according to Figure 8h in the Y direction upwards, is moved towards the tool magazine 13 so that the old tools 36 'in quiver 78 of empty spaces 68 of the tool magazine 13 can be used. This insertion is done by adjusting the rake 64 in the Z direction. Parallel to this, the "new" tools 36 arranged in the work spindles are moved via the linear axis kinematic for machining the workpiece.

Finally, FIG. 8i shows this end position after the tool change has been carried out. Accordingly, the old tools 36 'are held on the rake 64 or inserted into the tool magazine 13. The "new" tools 36 process the workpieces which are not visible in FIG. 8i and which are held on a workpiece carrier 82 of a double-turn vice 22 pivoted into the working space 18. The workpieces can be tensioned on rotary tables which pivot the workpiece to allow for a B-axis. A second workpiece carrier 84 of the double-turn vice 22 is then pivoted out of the working space 18 into a loading station 20, at which the machined workpieces are removed and the workpiece carrier 84 is loaded with workpiece blanks.

A special feature of the tool change method described is that the tool change in principle due to the synchronous movement of

Rake 64 and the spindles 2, 4, 48, 50 takes place without stopping and thus is carried out very quickly. The synchronization is ensured by a mechanical coupling of the rake 64 with the tool change movement of the work spindles 2, 4, 48, 50 or via a control technology coupling.

The grippers 72 of the rake 64 can be actuated for example via a link or the like. In principle, however, an individual control via the machine control is possible.

The tool magazine 13 with the circulating chain 34 is suitable for tools 36 up to a predetermined length. Particularly long tools 86 (see also FIG. 1) are not held on this tool magazine 13, since the requisite borrowed openings 32 on the machine frame 6 would be relatively large and thus adversely affect the statics.

According to the invention, such long tools 86 are accommodated in the torpedo changer 17. This Torpedowechsler 17 is placed as shown in Figures 1 and 9 on the carriage 5, on which the Monoblockpinole 46 is held movable in the Z direction. A torpedo magazine of the Torpedowechslers 17 has, for example, according to the number of spindles 2, 4, 48, 50 room for four long tools 86. These can also be kept in a kind of quiver Torpedomagazins and are by means of a Ausschiebeantriebes 88 in the arrow direction (see Figure 9a ) so that they then protrude into the working space 18 according to FIG. 9b. Usually, the area in which the torpedo magazine is accommodated with the long tools 86 received therein is covered by an axle cover, for example in the form of a link apron. For substituting a long tool 86, this axle cover must be opened, so that the long tool 86 can be retracted as shown in Figure 9b in the working space 18. By moving the carriage 5 in the Y direction, the long tools 86 can then be inserted into either a gripper 61 or a quiver 78 of the tool magazine 13. Depending on the tool holder can also take place according to Figure 9c, an adjustment in the Z direction for transfer, so that the long tools 86 are then positioned in the tool magazine 13. As a result, then the long tools 86 can be replaced via the manipulator 46 according to the sequence shown in Figure 8 against "old" tools or the tool transfer takes place according to the conventional "pick-up system" in which the work spindles 2, 4 , 48, 50 are moved via the linear axis kinematics in the Y and Z directions, for example, to transfer an old tool (not shown) to an empty space and to take over the new, long tool 86, so that after a feed in Z- and Y-direction (Figure 9e), the long tools 86 receiving working spindles 2, 4, 48, 50 are brought into operative engagement with the workpiece to be machined 76, which is stretched on the workpiece carrier 82 of the reversing clamp 22 (or double reversing vice).

In principle, the long tools 86 to be loaded can also be transferred directly to the manipulator 62 and then inserted in the work spindle 2, 4, 48, 50 in the manner described above with reference to FIG. 8 instead of the "old" tools 36 ^' .

10 finally shows a machine tool arrangement with three machine tools 1, V, 1 ", which are designed in the manner described above and which are formed with a tool chain 90. All three machine tools 1, V, 1" have a tool magazine 13, 13 ', 13 " on, possibly not shown Torpedowechsler and rearwardly arranged additional tool magazines 42, 42 ', 42 ". The machine tool arrangement is associated with a common linking manipulator 92, can be removed via the tools 36 from one or more of said tool magazines 13, 42, 17 and fed to another tool magazine. For this purpose, the concatenation manipulator 92 is implemented with a concatenation magazine 94 which can be moved along two or three axes (X, Y, Z axis) in order to take over tools 36 and transfer them to another tool magazine. The concatenation magazine 94 is designed accordingly with quivers or grippers for holding the tools.

In this way, a highly flexible machine tool assembly 90 is created, which, so to speak self-managing, selects the tools required for a variety of manufacturing tasks from the tool magazines without external intervention and then according to the explained with reference to Figures 8 and 9 tool change processes in the work spindles of the machine tools 1, 1 ', 1 ".This linking manipulator makes taking over, retracting, withdrawing or transversing tools possible.The linking manipulator 92 can also be in operative connection with a setting space (not shown), so that the latter is required Tool can be supplied.

In the embodiments described above, the manipulator 62 is designed with a rake 64, which is assigned to one or more work spindles 48, 50.

An exemplary embodiment is explained with reference to FIGS. 11 and 12, in which each work spindle 48, 50 is assigned a respective manipulator 62 with a rake 64. That the manipulator 62 is composed in a multi-spindle accordingly from a plurality of manipulators, each with a rake 64, which are held in each case in the Z and Y directions movable on a machine frame 6. The rakes can also be attached to a common arithmetic holder, which can be moved in the Y and Z directions. The linear axis kinematics used for adjustment in the Y and Z directions enables a position-controlled positioning of the rake 64.

In the embodiment shown in Figures 1 1 and 12 of the rake 64 is not rigid, but designed to be pivotable. The manipulator 62 has a console 96, which can be moved by means of the linear axis kinematics in the Y and Z directions (and possibly also in the X direction). In the U-shaped bracket 96 of the rake 64 is mounted, which is pivotable about a pivot axis C by means of a pivot drive 98. The console 96 has two console cheeks 100, 102, wherein the pivot drive 98 attached to the console cheek 100 and the rake 64 between the two console cheeks 100, 102 is mounted.

In the illustrated embodiment, the rake 64 has a rake drive 98 connected to the rake arm 104, at the end portions pivotally a tool holder 66 and an empty space 68 are arranged. As in the embodiments described above, the tool holder 66 and the empty space 68 are each carried out with a gripper which opens down to the work spindle and engages with its gripper arms in gripper grooves of the tool cone, so that the indicated tool 36 is held in the horizontal position becomes.

Slightly offset to the arithmetic arm 104 (view according to FIG. 11), a parallelogram arm 106 is mounted on the console cheek 102 and forms a parallelogram with the arithmetic arm 104, the end sections of the arithmetic arm 104 and the parallelogram arm 106 each being attached to a holder 108, 1 10 are articulated. The Anlenk- points of Parallelogrammarms 106 on the holders 108, 1 10 are also offset from the articulation points of the arithmetic arm 104 down. The tool holder 66 is attached to the holder 108 and the gripper of the empty space 68 on the holder 1 10. This parallelogram lever kinematics is designed so that the gripper always open during the pivoting movement of the rake 64 downward toward the working spindle 48, 50 out.

FIG. 11 shows the rake 64 in a basic position in which, for example, the "old" tool can be removed from the work spindle 48 via the gripper of the empty space 68 and the "new" tool previously removed from the tool magazine 13 via the tool holder 66 is used in this work spindle 48. That is, in the basic position shown in Figure 1 1, the tool change takes place. For the method after removing a new tool 36 from the tool magazine 13 or after removing the "old" tool from the work spindle 48th For example, the rake 64 can be adjusted via the pivot drive 98 into the travel position shown in FIG. In this position, the parallelogram arrangement with the rake arm 104 and the parallelogram arm 106 is pivoted from the horizontal position shown in FIG. 11 into a vertical position. Since the Parallelogrammarm 106 relative to the arithmetic arm 104 and the articulation points of the Parallelogrammarms 106 on the two holders 108, 1 10 are offset relative to the articulation of the rake 104 down to the grippers of the tool holder 66 and the empty space 68, is in such Pivoting the Rechenarms 104 by means of

Swivel drive 98 held the respective gripper in its illustrated orientation towards the work spindle. As a result, for example, the tool 36 held in FIG. 11 is pivoted downwards along a curved trajectory into the traversing position shown in FIG. Also, the empty space 68 is pivoted, but this also retains its orientation during this pivoting, so that it dips in the travel position shown in FIG 12 in the space between the two console cheeks 100, 102 and between the associated end portions of the parallelogram 106 and the Rechenarms 104, while the tool holder 66 is arranged with the holder 108 approximately in extension of the parallelogram arm 106 and the rake arm 104. In the position shown in FIG. 12, for example, the new tool 36 is taken over from the tool magazine. With a subsequent Y-stroke, the manipulator 62 can then be moved downwards through the alley formed in the tool magazine 13, without fear of a collision with the tools arranged laterally thereof held in the tool magazine 13. Accordingly, the width of the manipulator 62 is slightly smaller than the width of a chain link (tool spacing) of the tool magazine 13.

When entering the working space, the rake 64 is then pivoted into its basic position shown in FIG. 11, so that now the empty space 68 is ready for the rapid tool change to pick up the "old" tool 36. The "new" tool 36 is then located The new tool 36 is then inserted into the work spindle 48 and then via the pivot drive 98 of the rake 64, more precisely, its parallelogram kinematics (rake 104, parallelogram). gram arm 106, holders 108, 110) are pivoted so that the empty space 68 is brought with the "old" tool 36 into the position shown in Figure 12. The tool can then move back in the Y direction towards the tool magazine 13 and after the Swiveling the rake 64 back into place.

Such a pivotable rake 64 is then assigned to a multi-spindle corresponding to each work spindle 48, 50.

In a preferred embodiment of the invention, the manipulator 62 for rapid tool change additionally with a Werkzeuglängenmessvor- direction running over which the tool length can be detected and taken into account in the control.

As already mentioned, the spindles associated with the consoles 96 can be held on a common support arm. In principle, it is also possible to keep the individual consoles 96 directly on the machine frame.

In principle, a single pivot drive 98 can also be provided in order to pivot all rakes 64 in parallel between the basic position and the displacement position.

The self-administration is further simplified if each tool is designed with a data interface, so that parameters of the respective tools, such as, for example, the tool length and other tool data, can be called up via the machine control.

All of the above-described tool change systems are designed so that the tools are moved blockwise or taken over in a multi-spindle. Disclosed is a machine tool in which a quick tool change is possible. Further disclosed is a torpedo changer for long tools. LIST OF REFERENCES:

1 machine tool

2 work spindle

4 work spindle

5 sleds

6 machine frame

8 frames

10 linear motor

12 linear motor

13 Tool magazine

14 hydraulic unit

16 cladding

17 torpedo truck

18 workspace

20 loading space / loading place

22 double turnbuckles

24 linear axis

26 horizontal guide

28 horizontal guide

30 chip conveyor

32 breakthrough

34 chain

36 tool

37 side wall

38 side cheek

40 recording

42 Additional tool magazine

44 chain

46 monobloc quill

48 work spindle

50 work spindle

52 Z-guide 54 chain guide

56 drive motor

58 Anthebsmotor

60 tool holders

61 grippers

62 manipulator

64 rakes

66 tool holder

68 empty space

70 computing plate

72 grippers

74 Y-lead

76 round table

78 quivers

80 gripper groove

82 workpiece carrier

84 workpiece carrier

86 long tool

88 push-out drive

90 tool arrangement

92 chaining manipulator

94 chaining magazine

96 console

98 quarter turn actuator

100 console cheek

102 console cheek

104 Sparing

106 parallelogram arm

108 holders

1 10 holders

Claims

claims

1 . Machine tool (1) with at least one along linear guides in the X, Y and / or Z-direction movable tool or work spindle (2, 4), which is guided on a machine frame (6), and with a tool magazine (13) a plurality of holders for tools (36) which by means of a manipulator (62) in the work spindle (2, 4) can be inserted or removed therefrom and with a workpiece carrier (82, 84) for a workpiece to be machined (76) characterized in that the tool magazine (13) above the working spindles (2, 4, 48, 50) is arranged and the manipulator (62) has a rake (64) per work spindle (2, 4, 48, 50) at least one tool holder (66) for a new, from the tool magazine (13) to be removed tool (36) and an empty space (68) for a in the work spindle (2, 4, 48, 50) held tool (36 ^' ) and the tool change , preferably in the X and Z directions, between the tool magazine (13) and the A The work spindle (2, 4, 48, 50) can be moved, wherein the machine tool is designed to move the work spindle (2, 4, 48, 50) in synchronism with the rake (64) during the tool change.

2. Machine tool according to claim 1, wherein the movement of the working spindle (2, 4, 48, 50) and the rake (64) are synchronized mechanically or control technology.

3. Machine tool according to one of the preceding claims, wherein the tool magazine (13) for each tool (36) has a quiver (78), in which the tool (36) is held axially parallel to the spindle axis.

4. Machine tool according to one of the preceding claims, wherein the rake (64) has a work spindle (2, 4, 48, 50) to be opened gripper (72) for each tool (36).

5. Machine tool according to one of the preceding claims, wherein the tool magazine (13) has a circumferential chain (44) on which the tools (36) are arranged with their axes in a plane, preferably in a horizontal plane.

6. Machine tool according to claim 5, wherein the chain pitch as a function of the number and the center distance of the work spindles (2, 4, 48, 50) is selected.

7. Machine tool according to claim 3 or one of the claims back to this, with a rear slider assembly for pushing out the tools (36) from the quiver (78).

8. Machine tool according to one of the preceding claims, wherein a plurality of work spindles (2, 4, 48, 50) in a carriage (5) in the Z direction are movable and each work spindle (2, 4, 48, 50) on a rake (64 ) an empty space (68) and a tool holder (66) for a to be taken or a new tool (36, 36 ^' ) is assigned, wherein the empty spaces (68) and the tool holders (66) are arranged lying side by side transversely to the spindle axis.

9. Machine tool according to claim 8, wherein each work spindle (2, 4, 48, 50) is associated with a rake (64).

10. Machine tool according to one of the preceding claims, wherein the rake (64) has a rake arm (104) on which the tool holder (66) and the empty space (68) is formed and by means of a pivot drive (98) about a pivot axis (C ) is pivotable, wherein the orientation of the tool holder (66) and the empty space (68) remains the same during the pivoting or at least in the end positions.

1 1. Machine tool according to claim 10, wherein the arithmetic arm (104) from a basic position in which the tool holder (66) and the empty space (68) are arranged approximately parallel to the tool magazine (13) or in the horizontal direction next to each other, is pivotable in a displacement position in which the tool take (66) and the empty space (68) are arranged in the vertical direction approximately over one another or transversely to the tool magazine axis.

12. Machine tool according to claim 10 or 1 1, wherein the tool holder (66) and the empty space (68) via a parallelogram kinematics or the like with the pivot drive (98) and the arithmetic arm (104) are operatively connected in such a way that the tool holder ( 66) and the empty space (68) in the basic position and in the traversing position of their orientation with respect to the work spindle (2, 4, 48, 50) maintained approximately.

13. Machine tool according to one of the preceding claims, wherein the manipulator (62) comprises a tool length measuring device.

14. Machine tool, in particular according to one of the preceding patent claims, with a Torpedowechsler (17) for long tools (86), with a torpedo magazine, in the area between the at least one work spindle (2, 4, 48, 50) and the tool magazine (13) is arranged and which preferably has a Ausschiebeantrieb (88) for moving out of at least one of the long tools (86) in a transfer position in which the long tool (86) either to an empty space (68) of the rake (64) or to a gripper (61) of the tool magazine (13) can be transferred.

15. Machine tool according to claim 14, wherein a plurality of long tools (86) are arranged side by side in the torpedo magazine.

16. Machine tool according to claim 14 or 15, wherein the torpedo magazine on a the work spindles (2, 4, 48, 50) carrying carriage (5) is held.

17. Machine tool according to one of the preceding claims, with a rear additional tool magazine (42) on which the tools (36) are held with their axes parallel to the tools (36) in the torpedo changer (17) or in the tool magazine (13).

18. Machine tool assembly with at least two machine tools (1, V, 1 ") according to one of the preceding claims, wherein the tool magazines (13) via a linking manipulator (92) are in operative connection.

19. Machine tool assembly according to claim 18, wherein the concatenation manipulator (92) in at least two axes (X, Y, Z axis) is movable.