WO2024121964A1 - Dispositif de remplacement d'outil - Google Patents

Dispositif de remplacement d'outil Download PDF

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Publication number
WO2024121964A1
WO2024121964A1 PCT/JP2022/045061 JP2022045061W WO2024121964A1 WO 2024121964 A1 WO2024121964 A1 WO 2024121964A1 JP 2022045061 W JP2022045061 W JP 2022045061W WO 2024121964 A1 WO2024121964 A1 WO 2024121964A1
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WO
WIPO (PCT)
Prior art keywords
tool
arm
pot
angle
gripping
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PCT/JP2022/045061
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English (en)
Japanese (ja)
Inventor
学 五十部
尚弥 石山
Original Assignee
ファナック株式会社
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Publication date
Application filed by ファナック株式会社 filed Critical ファナック株式会社
Priority to PCT/JP2022/045061 priority Critical patent/WO2024121964A1/fr
Publication of WO2024121964A1 publication Critical patent/WO2024121964A1/fr

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  • This disclosure relates to a tool changer that changes tools attached to the spindle of a machine tool.
  • Some tool changers remove a previously used tool, which is one of a number of tools, from the spindle and attach a next-to-be-used tool, which is different from the previously used tool, to the spindle.
  • a possible tool changing device is one that includes a magazine and an arm.
  • the magazine has multiple tool pots to which tools can be attached, and the magazine is rotated to place one of the multiple tool pots at the changing position.
  • the tool pot can be rotated to a changing angle and a storage angle at the changing position.
  • the arm removes the next tool to be used from the tool pot at the changing angle and attaches it to the spindle, and also removes the previously used tool from the spindle and attaches it to the tool pot at the changing angle.
  • the present inventors have noticed that such a configuration has the following problems:
  • the tool pot needs to be able to rotate between an exchange angle and a storage angle, and also needs to be able to accommodate tools, resulting in a complex structure.
  • This disclosure was made in consideration of the above circumstances, and aims to simplify the structure of the tool pot.
  • the tool changing device of the present disclosure is A tool changing device for removing a previously used tool as one of a plurality of tools from a spindle of a machine tool and attaching a next-use tool as the tool different from the previously used tool to the spindle, comprising: a magazine comprising a rotatable magazine body and a plurality of tool pots each rotatably attached to the magazine body, each of the tool pots having a holding portion to which a tool can be attached, one of the plurality of tool pots being disposed at a replacement position by rotation of the magazine body, and the tool pot being disposed at a replacement angle and a storage angle by rotation of the tool pot at the replacement position; an arm having first and second gripping members, the arm removing the next-to-be-used tool from the holding portion of the tool pot at the exchange angle by one of the gripping members and attaching the next-to-be-used tool to the spindle by the other gripping member, and the arm removing the previously-used tool from the spindle
  • the present invention allows the structure of the tool pot to be simplified.
  • FIG. 1 is a perspective view showing a tool exchange device according to a first embodiment.
  • FIG. FIG. 4 is a front view showing the arm and pot interlocking mechanism.
  • FIG. 1 is a front view showing the tool pot and tools at a storage angle.
  • FIG. 13 is a front view showing the tool pot and tool at an exchange angle.
  • FIG. FIG. 4 is a side view showing a holding portion of the tool pot.
  • FIG. 2 is a perspective view showing an arm, an arm lifting device, and an arm rotating device. 4 is a plan sectional view showing a gripping portion of the gripping member.
  • FIG. FIG. FIG. FIG. 2 is a plan view showing a schematic view of an arm.
  • FIG. 13 is a front view showing a state in which the gripping member has been rotated to a release angle; FIG. 13 is a front view showing two gripping members typically shifted in a second direction.
  • FIG. FIG. 11 is a front view showing a schematic initial state of a rotational operation of the gripping member on the spindle side; FIG. 11 is a front view showing a schematic diagram of a subsequent rotation operation.
  • FIG. 11 is a front view showing a schematic diagram of a subsequent rotation operation.
  • FIG. 11 is a front view showing a schematic diagram of a subsequent rotation operation.
  • FIG. 11 is a front view showing a schematic diagram of a subsequent rotation operation.
  • FIG. 11 is a front view showing an initial state of a tool changing operation.
  • FIG. FIG. FIG. FIG. FIG. FIG. FIG. FIG. 13 is a front view showing a schematic diagram of an initial state of a rotation operation in the second embodiment
  • FIG. 11 is a front view showing a schematic diagram of a subsequent rotation operation.
  • FIG. 11 is a front view showing a schematic diagram of a subsequent rotation operation.
  • FIG. 11 is a front view showing a schematic diagram of a subsequent rotation operation.
  • FIG. 13 is a plan view illustrating a tool exchange device according to a third embodiment. 13 is a plan view showing a state in which the arm has been rotated to an access angle;
  • FIG. FIG. 2 is a configuration diagram showing a control system of the tool exchange device.
  • FIG. 10 is a flowchart showing a procedure for tool replacement.
  • FIG. 13 is a configuration diagram showing a control system of a tool exchange device according to a fourth embodiment.
  • 10 is a flowchart showing a procedure for controlling the moving speed of an arm.
  • 10 is a flowchart showing a procedure of another example of control of the moving speed of the arm.
  • the tool exchange device 100 shown in Fig. 1 is installed relative to a machine tool 200 as shown in Fig. 2.
  • three predetermined directions that are perpendicular to one another will be referred to as "left-right direction X", “front-back direction Y”, and "up-down direction Z”.
  • the machine tool 200 has a spindle assembly 210.
  • the spindle assembly 210 has a spindle 215 that is installed with its axial length oriented in the vertical direction Z, and a housing 211 that covers the spindle 215, and is configured to be movable in the vertical direction Z.
  • one of the multiple tools T is attached to the lower end of the spindle 215.
  • the tool T of the multiple tools T that has been attached to the spindle 215 so far will be referred to as the "previously used tool Tp”
  • the tool T of the multiple tools T that will be next attached to the spindle 215 will be referred to as the "next used tool Tn.”
  • the tool changer 100 automatically removes the previously used tool Tp from the spindle 215 and attaches the next tool Tn to the spindle 215.
  • the tool changer 100 has a magazine 30, an arm 50, a pot interlocking mechanism 40, and a gripping interlocking mechanism 60.
  • the magazine 30 has a magazine body 39 and multiple tool pots 33.
  • the magazine body 39 is configured to be rotatable around an axis in the left-right direction X.
  • a plurality of tool pots 33 are attached to the magazine body 39. By rotating the magazine body 39, one of the plurality of tool pots 33 is positioned at the lowest "exchange position P," which serves as a standby position for tool exchange.
  • each tool pot 33 has a holding portion 34 to which a tool T can be attached.
  • the tool pot 33 is connected to the magazine body 39 by the holding portion 34 so as to be rotatable about an axis in the front-rear direction Y.
  • the holding portion 34 for attaching the tool T also serves as the rotation axis of the tool pot 33.
  • the holding portion 34 allows the tool pot 33 to rotate between a storage angle Pa and an exchange angle Pb shown in FIG. 5 at the exchange position P shown in FIG. 4.
  • the storage angle Pa is the angle at which the tool pot 33 falls in the left-right direction X as shown in FIG. 4.
  • the exchange angle Pb is the angle at which the tool pot 33 stands up in the up-down direction Z as shown in FIG. 5.
  • each tool pot 33 has a cylindrical shape with a bottom that opens downward when at the exchange angle Pb.
  • a tool T is attached to each tool pot 33 by inserting the upper end of the tool T into the holding portion 34 from below.
  • the upper end of each tool T is provided with an annular upper engagement groove Ga that extends around the up-down direction Z.
  • the holding portion 34 has a pair of clamping members 34a, 34a that can engage with the upper engagement groove Ga from both sides in the front-rear direction Y, and clamping springs 34b, 34b that bias the clamping members 34a, 34a in a direction that brings them closer to each other.
  • the holding portion 34 is configured to be able to attach a tool T.
  • each holding portion 34 has a pair of cylindrical storage members 34c, 34c that respectively store clamping springs 34b, 34b. At least the outer periphery of each storage member 34c is axially symmetrical.
  • the tool pot 33 is rotatably attached to the magazine body 39 by this pair of storage members 34c, 34c. As shown in FIG. 6, a notch 38 is formed in the outer periphery of the tool pot 33 on the side facing the direction from the storage angle Pa toward the exchange angle Pb. The function of this notch 38 will be described later.
  • the tool pot 33 arranged at the exchange angle Pb in the exchange position P will be simply referred to as the "tool pot 33 at exchange angle Pb.” Furthermore, removing the next tool Tn to be used from the "holding portion 34 of the tool pot 33” will be simply referred to as removing the next tool Tn to be used from the "tool pot 33.” Furthermore, attaching the previously used tool Tp to the "holding portion 34 of the tool pot 33” will be simply referred to as attaching the previously used tool Tp to the "tool pot 33.”
  • the arm 50 removes the next tool Tn from the tool pot 33 at the exchange angle Pb and attaches it to the spindle 215, and also removes the previously used tool Tp from the spindle 215 and attaches it to the tool pot 33 at the exchange angle Pb.
  • the arm 50 has an arm body 59, a first gripping member 51, and a second gripping member 52.
  • first gripping member 51 and the second gripping member 52 will be collectively referred to as “gripping members 51, 52.”
  • first direction Ya a predetermined horizontal direction based on the arm body 59
  • second direction Xa a horizontal direction perpendicular to it
  • the first direction Ya is the front-to-back direction Y
  • the second direction Xa is the left-to-right direction X.
  • the first gripping member 51 and the second gripping member 52 are arranged offset from each other in the first direction Ya when viewed in the vertical direction Z.
  • the first gripping member 51 when viewed from one side in the first direction Ya, the first gripping member 51 has an inverted L-shape extending downward and then to one side in the second direction Xa, and the second gripping member 52 has an L-shape extending downward and then to the other side in the second direction Xa.
  • the upper ends of the gripping members 51 and 52 are attached to the arm body 59 by their respective shaft members 55 so as to be rotatable about the axis in the first direction Ya.
  • a gripping portion 54 is provided at the tip end, which is the end in the second direction Xa, of the first gripping member 51 and the second gripping member 52.
  • the first gripping member 51 and the second gripping member 52 are supported rotatably about the first direction Ya with their gripping portions 54 facing opposite sides of the second direction Xa.
  • This rotation causes each of the gripping members 51, 52 to be displaced to a gripping angle Qb shown in FIG. 13 for gripping the tool T, and a release angle Qa shown in FIG. 14 for releasing the grip of the tool T.
  • the first gripping member 51 and the second gripping member 52 partially overlap each other.
  • the gripping portion 54 has a U-shape that opens toward the tip side, i.e., toward one side in the second direction Xa, and is configured so that the upper part of the tool T can be inserted therein. Specifically, below the upper engagement groove Ga at the top of the tool T, an engagement recess Gc and a lower engagement groove Gb are provided.
  • the gripping portion 54 has an engagement protrusion 54c, a pair of engagement members 54a, 54a, and a pair of engagement springs 54b, 54b.
  • the engagement protrusion 54c is provided on the opposite side of the gripping portion 54 from the tip side, protrudes toward the tip side, and is configured so as to be able to engage with the engagement recess Gc.
  • the pair of engagement members 54a, 54a are configured so as to be able to engage with the lower engagement groove Gb from both sides in the first direction Ya on the tip side of the center line of the tool T.
  • the pair of engagement springs 54b, 54b urge the pair of engagement members 54a, 54a in a direction in which they approach each other.
  • each gripping portion 54 is configured to be able to grip the tool T at three points.
  • the arm main body 59 shown diagrammatically in FIG. 13 is configured to be displaceable in the vertical direction Z and rotatable about an axis in the vertical direction Z.
  • the gripping member 51 on the magazine 30 side or the "grip member 52 on the magazine 30 side” as appropriate for the drawings to be referenced.
  • the gripping member whose gripping portion 54 is on the spindle 215 side will be referred to as the "grip member 52 on the spindle 215 side" or the “grip member 51 on the spindle 215 side” as appropriate for the drawings to be referenced.
  • the pot interlocking mechanism 40 rotates the tool pot 33 at the exchange position P from the storage angle Pa to the exchange angle Pb in conjunction with the relative descent of the arm 50 with respect to the magazine 30, and then rotates it back to the storage angle Pa.
  • the pot interlocking mechanism 40 also rotates the tool pot 33 at the exchange position P from the storage angle Pa to the exchange angle Pb in conjunction with the relative ascent of the arm 50 with respect to the magazine 30, and then rotates it back to the storage angle Pa.
  • the pot interlocking mechanism 40 has an arm-side cam 41, a link roller 45, a link mechanism 46, and a pot roller 48.
  • the link roller 45 is attached to the upper end of the link mechanism 46.
  • the arm-side cam 41 is provided on the arm body 59 and abuts against the link roller 45.
  • the link roller 45 is biased against the arm-side cam 41 by the weight of the link mechanism 46, a return spring (not shown) of the tool pot 33 (described later), other return springs, weights, etc.
  • the pot rollers 48 are attached to each tool pot 33 at a location spaced from the holding portion 34, i.e., away from the rotation axis.
  • the pot rollers 48 are pushed up by the lower end of the link mechanism 46 when the lower end rises. This causes the tool pot 33 to rotate towards the exchange angle Pb.
  • the aforementioned return spring (not shown) is attached to each tool pot 33, and the tool pots 33 are biased towards the storage angle Pa by the biasing force of the return spring.
  • the arm-side cam 41 together with the arm 50, is displaced in the vertical direction Z relative to the link roller 45, thereby rotating the tool pot 33 via the link roller 45, the link mechanism 46, and the pot roller 48.
  • the gripping interlocking mechanism 60 rotates the gripping member 51 on the magazine 30 side toward gripping angle Qb in conjunction with the relative descent of the arm 50 with respect to the magazine 30.
  • the gripping interlocking mechanism 60 also rotates the gripping member 52 on the spindle side toward gripping angle Qb in conjunction with the relative descent of the arm 50 with respect to the spindle 215.
  • the gripping interlocking mechanism 60 also rotates the gripping member 51 on the spindle side toward release angle Qa in conjunction with the relative rise of the arm 50 with respect to the spindle 215.
  • the gripping interlocking mechanism 60 also rotates the gripping member 52 on the magazine 30 side toward release angle Qa in conjunction with the relative rise of the arm 50 with respect to the magazine 30.
  • the gripping interlocking mechanism 60 has a magazine-side cam 61, a spindle-side cam 62, and an arm roller 64.
  • the two gripping members 51, 52 are shown diagrammatically offset in the second direction Xa for the sake of visibility, but in reality, as described above, the two gripping members 51, 52 partially overlap each other when viewed in the first direction Ya. However, if there is sufficient space in the second direction Xa, the two gripping members 51, 52 may actually be installed offset in the second direction Xa, as shown in FIG. 15.
  • the magazine side cam 61 is attached to the frame or housing of the tool changer 100.
  • the spindle side cam 62 is attached to the frame or housing 211 of the spindle assembly 210.
  • One arm roller 64 is attached to each of the gripping members 51, 52. Therefore, the arm roller 64 moves relative to the magazine side cam 61 and the spindle side cam 62 in the vertical direction Z together with the arm 50.
  • Each gripping member 51, 52 is biased toward the release angle Qa by a return spring, weight, its own weight, etc. Therefore, the arm roller 64 of the gripping member 51 on the magazine 30 side is biased toward the magazine side cam 61, and the arm roller 64 of the gripping member 52 on the spindle 215 side is biased toward the spindle side cam 62.
  • the gripping interlocking mechanism 60 further has a release cam 63 and a release roller 65.
  • the release cam 63 is provided at a position farther away from the spindle 215 than the spindle-side cam 62, and is specifically attached to the frame or housing of the tool changer 100.
  • One release roller 65 is attached to each of the gripping members 51, 52. The release roller 65 moves relative to the release cam 63 in the vertical direction Z together with the arm 50.
  • the arm roller 64 is displaced toward the magazine 30 in accordance with the profile of the magazine-side cam 61, causing the gripping member 51 on the magazine 30 side to rotate toward the gripping angle Qb.
  • the arm roller 64 is displaced toward the arm 50 in accordance with the profile of the magazine-side cam 61, causing the gripping member 51 on the magazine 30 side to rotate toward the release angle Qa.
  • the arm roller 64 is displaced toward the spindle 215 according to the profile of the spindle-side cam 62, causing the gripping member 52 on the spindle 215 side to rotate toward the gripping angle Qb.
  • the arm roller 64 is displaced toward the arm 50 according to the profile of the spindle-side cam 62, causing the gripping member 52 on the spindle 215 side to rotate toward the release angle Qa.
  • the release roller 65 is displaced toward the arm 50 according to the profile of the release cam 63, causing the gripping member 52 on the spindle 215 side to rotate further toward the release angle Qa. This rotation causes the arm roller 64 to move away from the spindle-side cam 62.
  • the tool changer 100 further includes a magazine rotation device 73, an arm lifting device 75, an arm swivel device 76, and a control device 80.
  • the magazine rotation device 73 rotates the magazine 30 around an axis in the left-right direction X.
  • the arm lifting device 75 moves the arm 50 in the up-down direction Z.
  • the arm swivel device 76 swivels the arm 50 around an axis in the up-down direction Z.
  • the magazine rotation device 73, arm lifting device 75, and arm swivel device 76 are all actuators such as motors.
  • the control device 80 controls each device including these actuators.
  • the arm 50 descends.
  • the tool pot 33 at the exchange position P rotates toward the exchange angle Pb
  • the gripping member 51 on the magazine 30 side rotates toward the gripping angle Qb.
  • the gripping member 51 on the magazine 30 side is positioned at the gripping angle Qb
  • the gripping member 51 grips the top of the next tool to be used Tn in the tool pot 33.
  • the arm 50 descends further, causing the gripping member 51 on the magazine 30 side to remove the next-to-be-used tool Tn from the tool pot 33 at the exchange angle Pb. Then, in conjunction with the arm 50 descending further, the tool pot 33 at the exchange position P rotates toward the storage angle Pa. At this time, the top of the next-to-be-used tool Tn passes through the notch 38. Then, as shown in FIG. 25, when the tool pot 33 rotates to the storage angle Pa, the magazine 30 starts to rotate and starts the operation of moving the desired tool pot 33 that stores the previously-used tool Tp to the exchange angle Pb.
  • the arm 50 descends and the spindle assembly 210 rises, causing the arm 50 to descend relative to the spindle 215.
  • the gripping member 52 on the spindle 215 side rotates toward the gripping angle Qb to grip the upper part of the previously used tool Tp of the spindle 215.
  • the spindle assembly 210 rises further, that is, the arm 50 descends further relative to the spindle 215, causing the gripping member 52 on the spindle side to remove the previously used tool Tp from the spindle 215.
  • the arm 50 rotates 180° around the axis in the vertical direction Z. This rotation causes the gripping member 51 on the magazine 30 side and the gripping member 52 on the spindle 215 side to switch places. As a result, the previously used tool Tp becomes the magazine 30 side, and the next tool to be used Tn becomes the spindle 215 side. Thereafter, as shown in FIG. 28, the spindle assembly 210 descends, that is, the arm 50 rises relative to the spindle 215, and the gripping member 51 on the spindle 215 side attaches the next tool to be used Tn to the spindle 215.
  • the spindle assembly 210 further descends and the arm 50 rises, causing the arm 50 to rise further relative to the spindle 215.
  • the gripping member 51 on the spindle 215 side rotates toward the release angle Qa to release the grip on the next tool to be used Tn.
  • the arm 50 rises relative to the magazine 30.
  • the tool pot 33 at the exchange position P rotates toward the exchange angle Pb. Note that at this time, the operation of moving the desired tool pot 33 to the exchange position P has already been completed. Therefore, the desired tool pot 33 is disposed at the exchange position P.
  • the tool pot 33 rotates toward the exchange angle Pb, the upper part of the previously used tool Tp passes through the notch 38 of the rotating tool pot 33.
  • the tool pot 33 at the replacement position P is positioned at the replacement angle Pb, and the gripping member 52 on the magazine 30 side attaches the previously used tool Tp to the tool pot 33.
  • the tool pot 33 is rotatably attached to the magazine body 39 by a holding portion 34 for attaching a tool T, and the holding portion 34 also serves as the rotation axis of the tool pot 33. Therefore, the structure of the tool pot 33 is simpler than when the holding portion 34 and the rotation axis are provided separately.
  • the pot interlocking mechanism 40 shown in FIG. 3 rotates the tool pot 33 at the exchange position P in conjunction with the relative movement of the arm 50 with respect to the magazine 30. Therefore, the tool pot 33 can be rotated between the exchange angle Pb and the storage angle Pa without a dedicated drive source for rotating the tool pot 33.
  • the pot interlocking mechanism 40 also rotates the tool pot 33 from the storage angle Pa to the exchange angle Pb in conjunction with the relative descent of the arm 50 to a predetermined position with respect to the magazine 30. Thereafter, the pot interlocking mechanism 40 rotates the tool pot 33 from the exchange angle Pb to the storage angle Pa in conjunction with the further relative descent of the arm 50 from the aforementioned predetermined position with respect to the magazine 30. Therefore, in conjunction with the relative descent of the arm 50 with respect to the magazine 30, a series of operations can be executed in which the tool pot 33 is rotated from the storage angle Pa to the exchange angle Pb and then returned to the storage angle Pa. Similarly, the series of operations can be executed in conjunction with the relative ascent of the arm 50 with respect to the magazine 30.
  • a notch 38 is formed on the outer periphery of the tool pot 33 in the direction from the storage angle Pa toward the exchange angle Pb. Then, while the arm 50 is moving relative to the magazine 30, the tool pot 33 rotates and the upper part of the tool T passes through the notch 38. This allows the relative movement of the arm 50 relative to the magazine 30 and the rotational movement of the tool pot 33 to be largely overlapped, thereby shortening the cycle time for tool exchange. Furthermore, when rotating the tool pot 33 in conjunction with the relative movement of the arm 50 in the vertical direction Z relative to the magazine 30, even if the stroke of the relative movement of the arm 50 in the vertical direction Z is small, such a large overlap ensures a sufficiently large stroke of the rotation of the tool pot 33. Therefore, the requirement for the stroke of the relative movement of the arm 50 in the vertical direction Z relative to the magazine 30 can be reduced.
  • the first gripping member 51 and the second gripping member 52 are configured to be rotatable in the forward and backward directions Y independently of each other, and rotate independently of each other to grip and release the tool T. Therefore, it is easier to perform other operations in parallel with the work performed by the arm 50, compared to a case in which the tool T can only be gripped and released at the same time.
  • the control device 80 removes the next-to-use tool Tn from the tool pot 33 at the replacement position P using the gripping member 51 on the magazine 30 side, and then removes the previously-used tool Tp from the spindle 215 using the gripping member 52 on the spindle 215 side.
  • the magazine 30 is rotated to perform an operation of placing the desired tool pot 33 that stores the previously-used tool Tp at the replacement position P. This allows the previously-used tool Tp to be quickly stored in the desired tool pot 33.
  • the first and second gripping members 51, 52 when viewed in the vertical direction Z, are offset from each other in the first direction Ya, and the gripping portions 54 are installed facing opposite sides in the second direction Xa. Therefore, as shown in FIG. 13, when viewed in the first direction Ya, the first and second gripping members 51, 52 can be arranged so that they partially overlap each other. This allows the arm 50 to be compactly arranged in the second direction Xa while avoiding interference between the first gripping member 51 and the second gripping member 52.
  • each of the gripping members 51, 52 is configured to be rotatable around the first direction Ya perpendicular to the axial length direction of the spindle 215, and in addition, a gripping interlocking mechanism 60 is provided as shown in FIG. 15.
  • the gripping interlocking mechanism 60 rotates the gripping member 51 on the magazine 30 side in conjunction with the relative movement of the arm 50 in the vertical direction Z with respect to the magazine 30 to grip and release the tool T.
  • the gripping interlocking mechanism 60 rotates the gripping member 52 on the spindle 215 side in conjunction with the relative movement of the arm 50 in the vertical direction Z with respect to the spindle 215 to grip and release the tool T.
  • the gripping interlocking mechanism 60 includes a spindle-side cam 62, an arm roller 64, a release cam 63, and a release roller 65.
  • the arm roller 64 displaces according to the profile of the spindle-side cam 62, causing the gripping member 52 to rotate toward the release angle Qa.
  • the release roller 65 displaces according to the profile of the release cam 63, causing the gripping member 52 to further rotate toward the release angle Qa.
  • the gripping interlocking mechanism 60 has a spring 67, a gripping side stopper 68a, a release side stopper 68b, and a rotation mechanism 69. Note that in this embodiment, only the gripping member 52 is described, but the same is true for the other gripping member 51.
  • the spring 67 has one end attached to the arm body 59 and the other end attached to the gripping member 52, and the change from the natural state is greatest at a predetermined midpoint between the release angle Qa and the gripping angle Qb. Therefore, as shown in FIG. 35, when the gripping member 52 is at the gripping angle Qb side of the midpoint, the spring 67 biases the gripping member 52 toward the gripping angle Qb. The gripping side stopper 68b restricts the gripping member 52 from rotating further when it has rotated to the gripping angle Qb. On the other hand, as shown in FIG. 37, when the gripping member 52 is at the release angle Qa side of the midpoint, the spring 67 biases the gripping member 52 toward the release angle Qa. The release side stopper 68a restricts the gripping member 52 from rotating further when it has rotated to the release angle Qa.
  • the spring 67 is a pull spring, and its length is maximized at the midpoint.
  • the spring 67 may be a compression spring, and its length may be minimized at the midpoint.
  • the gripping interlocking mechanism 60 has a gripping cam 62b and a release cam 62a aligned in the first direction Ya, instead of the spindle side cam 62 in the first embodiment. Also, the gripping interlocking mechanism 60 has a gripping roller 64b and a release roller 64a aligned in the front-to-rear direction Y, instead of the arm roller 64 and release roller 65 in the first embodiment.
  • the rotation mechanism 69 includes the gripping cam 62b, release cam 62a, gripping roller 64b, and release roller 64a.
  • the gripping roller 64b and the release roller 64a are attached to the gripping member 52, and move together with the arm 50 in the vertical direction Z relative to the gripping cam 62b and the release cam 62a.
  • the gripping interlocking mechanism 60 also has a gripping cam and a release cam similar to the gripping cam 62b and the release cam 62a described above on the magazine 30 side, instead of the magazine side cam 61 in the first embodiment.
  • the gripping cam on the magazine 30 side may be read as a "magazine side cam”
  • the gripping cam 62b on the spindle 215 side may be read as a "spindle side cam”.
  • the gripping roller may be read as an "arm roller”.
  • the tool exchange device 100 of this embodiment includes a housing 90 having an opening 95 formed on the front side.
  • the housing 90 contains the magazine 30, the pot interlocking mechanism 40, the arm 50, the gripping interlocking mechanism 60, the spindle assembly 210, and the like.
  • a door 96 is attached to the opening 95.
  • the operation of taking in a tool T other than all the tools including the tool T attached to the tool pot 33 and the tool T attached to the spindle 215 into the tool exchange device 100 will be referred to as "taking in”.
  • the operation of taking out one of the tools from the tool exchange device 100 will be referred to as “removing”. Note that, although the following describes the case where “taking in” and “removing” are performed using the gripping member 52, “taking in” and “removing” may also be performed using the gripping member 51.
  • the control device 80 rotates the arm 50 to a predetermined access angle A, and positions the gripping member 52 that is not holding any tool T closer to the opening 95 than before the rotation.
  • one of the gripping members 52 grips the tool T to be removed from the tool exchange device 100. Thereafter, the arm 50 is rotated to a predetermined access angle A, and the tool T is positioned closer to the opening 95 than before the rotation.
  • the tool exchange device 100 has a display unit 120 and an input unit 130.
  • the input unit 130 has a tool attachment/detachment mode selection key 131, a pot number selection key 132, an import/removal selection key 133, and a work completion key 134.
  • the tool attachment/detachment mode selection key 131 is a key for selecting the tool attachment/detachment mode.
  • the pot number selection key 132 is a key for selecting one of the multiple tool pots 33 contained in the magazine 30.
  • the attachment/detachment selection key 133 is a key for selecting either "import" or "removal.”
  • the control device 80 causes the display unit 120 to display the pot number selection key 132.
  • the user operates the pot number selection key 132 to select a pot number and select one of the multiple tool pots 33.
  • the control device 80 causes the display unit 120 to display the import/remove selection key 133.
  • the user operates the import/remove selection key to select "import" or "remove.”
  • the control device 80 rotates the arm 50 to the access angle A. This positions the gripping portion 54 of the gripping member 52 that is not holding any tool T near the opening 95.
  • the control device 80 displays the work completion key 134 on the display unit 120. Thereafter, the user attaches the tool T related to the "take-in” to the gripping portion 54 of the gripping member 52 through the opening 95, and then presses the work completion key 134.
  • the control device 80 stores the tool T attached to the arm 50 in the selected tool pot 33.
  • the control device 80 moves the arm 50 to the standby position W. With the above, "take-in" is completed.
  • step S21 the control device 80 causes one of the gripping members 52 to grip the tool T in the selected tool pot 33.
  • step S22 the control device 80 rotates the arm 50 to the access angle A to place the tool T near the opening 95.
  • step S23 the control device 80 causes the display unit 120 to display a work completion key. Thereafter, the user retrieves the tool T gripped by the gripping member 52 from the opening 95, and then presses the work completion key 134. Then, in step S24, the control device 80 moves the arm 50 to the standby position W. This completes "remove.”
  • the control device 80 includes a weight acquisition unit 85 and a speed control unit 88.
  • the weight acquisition unit 85 acquires the weight of the previously used tool Tp and the next used tool Tn.
  • the speed control unit 88 controls the movement speed of the arm 50 based on the acquired weight. Specifically, when the acquired weight is smaller than a predetermined value, the speed control unit 88 makes the movement speed of the arm 50 faster than when the acquired weight is larger.
  • the control device 80 further has a weight memory unit 81.
  • the weight memory unit 81 stores the weight of the tool T in association with the number of the tool pot 33.
  • the weight acquisition unit 85 calculates the weight of the previously used tool Tp and the next tool to be used Tn based on this storage. In this case, for example, as shown in FIG. 43, first, in S51, the weight acquisition unit 85 acquires the weight data of the previously used tool Tp and the next tool to be used Tn and calculates the weight. Next, in S52, the speed control unit 88 controls the movement speed of the arm 50 based on the calculated weight.
  • the control device 80 may have a load detection unit 82.
  • the load detection unit 82 monitors the load of at least one of the arm lifting device 75 and the arm rotating device 76.
  • the weight acquisition unit 85 calculates the weight of the previously used tool Tp and the next tool to be used Tn based on the load. In this case, for example, as shown in FIG. 44, first, in S61, the load detection unit 82 detects the load of the arm lifting device 75 or the arm rotating device 76. Next, in S62, the weight acquisition unit 85 calculates the weight of the previously used tool Tp and the next tool to be used Tn based on the load. Next, the speed control unit 88 controls the movement speed of the arm 50 based on the calculated weight.
  • the present embodiment can solve the following problem. It is necessary to move the arm 50 within a range that does not apply excessive load to the arm lifting device 75 or the arm rotating device 76. However, if the movement speed of the arm 50 is set by always assuming the maximum possible weight of the next tool Tn and the previous tool Tp, the movement speed of the arm 50 will be unnecessarily slow, and the cycle time for tool change will be unnecessarily long. In this regard, in the present embodiment, when the weight of the next tool Tn and the previous tool Tp is small, the movement speed of the arm 50 is made faster than when the weight is large. This makes it possible to increase the movement speed of the arm 50 within a range that does not apply excessive load to the arm lifting device 75 or the arm rotating device 76. This makes it possible to efficiently shorten the cycle time for tool change.
  • the tool exchange device (100) described in Supplementary Notes 1 to 3 below can be realized.
  • a tool exchange device (100) that removes a previously used tool (Tp) as one of a plurality of tools (T) from a spindle (215) of a machine tool (200) and attaches a next-use tool (Tn) as the tool (T) different from the previously used tool (Tp) to the spindle (215), a magazine (30) comprising a rotatable magazine body (39) and a plurality of tool pots (33) each rotatably attached to the magazine body (39), each of the tool pots (33) having a holding portion (34) to which the tool (T) can be attached, one of the plurality of tool pots (33) being disposed at a replacement position (P) by rotation of the magazine body (39), and the tool pot (33) being disposed at a replacement angle (Pb) and a storage angle (Pa) by rotation of the tool pot (33) at the replacement position (P); an arm having first and second gripping members (51, 52), which uses one of the gripping members to
  • the holding portion (34) has a clamping member (34a) that engages with the tool (T) from both sides in the axial direction (Y) of the rotating shaft, a pair of clamping springs (34b) that urge the clamping members (34a) in directions toward each other, and a pair of cylindrical storage members (34c) that store the clamping springs (34b),
  • the tool pot (33) is rotatably attached to the magazine body (39) by a pair of the storage members (34c). 2.
  • a notch (39) is formed on the outer periphery of the tool pot (33) in the direction from the storage angle (Pa) toward the exchange angle (Pb), While the arm is moving relative to the magazine (30), the tool pot (33) rotates and a part of the tool (T) passes through the notch (39). 3.

Landscapes

  • Automatic Tool Replacement In Machine Tools (AREA)

Abstract

Le but de la présente invention est de simplifier la structure d'un pot d'outil. Ce dispositif de remplacement d'outil comprend un magasin et un bras. Le magasin comporte un corps de magasin rotatif et une pluralité de pots d'outil qui sont chacun fixés au corps de magasin de façon à pouvoir se mettre en rotation. Chacun des pots d'outil présente une partie de maintien à laquelle un outil peut être fixé. L'un de la pluralité de pots d'outil est disposé au niveau d'une position de remplacement au moyen de la rotation du corps de magasin. Le pot d'outil est disposé à un angle de remplacement et à un angle de logement au moyen de la rotation du pot d'outil au niveau de la position de remplacement. Chacun des pots d'outil est fixé au corps de magasin par la partie de maintien de façon à pouvoir se mettre en rotation, et la partie de maintien sert d'arbre de rotation du pot d'outil.
PCT/JP2022/045061 2022-12-07 2022-12-07 Dispositif de remplacement d'outil WO2024121964A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
PCT/JP2022/045061 WO2024121964A1 (fr) 2022-12-07 2022-12-07 Dispositif de remplacement d'outil

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/JP2022/045061 WO2024121964A1 (fr) 2022-12-07 2022-12-07 Dispositif de remplacement d'outil

Publications (1)

Publication Number Publication Date
WO2024121964A1 true WO2024121964A1 (fr) 2024-06-13

Family

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Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2022/045061 WO2024121964A1 (fr) 2022-12-07 2022-12-07 Dispositif de remplacement d'outil

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Country Link
WO (1) WO2024121964A1 (fr)

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS5596245A (en) * 1979-01-13 1980-07-22 Toyoda Mach Works Ltd Tool locking and unlocking device of tool magazine
JPH0215936A (ja) * 1988-06-30 1990-01-19 Brother Ind Ltd 工作機械の自動工具交換装置
JP2001225238A (ja) * 2000-02-10 2001-08-21 Brother Ind Ltd 工具収納装置
JP2004160595A (ja) * 2002-11-13 2004-06-10 Okuma Corp 懸垂形ツールマガジンの工具差替機構
JP2020192678A (ja) * 2019-05-28 2020-12-03 君杰 陳 ツールチェンジャーユニットおよびそのツールチェンジャーユニットを有するツールチェンジャー装置

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS5596245A (en) * 1979-01-13 1980-07-22 Toyoda Mach Works Ltd Tool locking and unlocking device of tool magazine
JPH0215936A (ja) * 1988-06-30 1990-01-19 Brother Ind Ltd 工作機械の自動工具交換装置
JP2001225238A (ja) * 2000-02-10 2001-08-21 Brother Ind Ltd 工具収納装置
JP2004160595A (ja) * 2002-11-13 2004-06-10 Okuma Corp 懸垂形ツールマガジンの工具差替機構
JP2020192678A (ja) * 2019-05-28 2020-12-03 君杰 陳 ツールチェンジャーユニットおよびそのツールチェンジャーユニットを有するツールチェンジャー装置

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