JPH0349695B2 - - Google Patents
Info
- Publication number
- JPH0349695B2 JPH0349695B2 JP60064210A JP6421085A JPH0349695B2 JP H0349695 B2 JPH0349695 B2 JP H0349695B2 JP 60064210 A JP60064210 A JP 60064210A JP 6421085 A JP6421085 A JP 6421085A JP H0349695 B2 JPH0349695 B2 JP H0349695B2
- Authority
- JP
- Japan
- Prior art keywords
- tool
- magazine
- pot
- arm
- tools
- Prior art date
- Legal status (The legal status 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 status listed.)
- Expired - Lifetime
Links
- 238000003754 machining Methods 0.000 description 4
- 238000003860 storage Methods 0.000 description 4
- 101100298225 Caenorhabditis elegans pot-2 gene Proteins 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000005452 bending Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000003780 insertion Methods 0.000 description 1
- 230000037431 insertion Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
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
- B23Q3/157—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling of rotary tools
- B23Q3/15713—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling of rotary tools a transfer device taking a single tool from a storage device and inserting it in a spindle
-
- 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
- B23Q3/15526—Storage devices; Drive mechanisms therefor
- B23Q3/15539—Plural magazines, e.g. involving tool transfer from one magazine to another
-
- 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
- B23Q3/15526—Storage devices; Drive mechanisms therefor
- B23Q2003/15532—Storage devices; Drive mechanisms therefor the storage device including tool pots, adaptors or the like
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Automatic Tool Replacement In Machine Tools (AREA)
Description
【発明の詳細な説明】
産業上の利用分野
本発明はマシニングセンタにおいて、マガジン
に工具を受渡しする工具交換アーム或いはサブア
ームの機能を拡張して搬送車にも工具の入替えが
行なえるようにした自動工具交換装置に関する。[Detailed Description of the Invention] Industrial Application Field The present invention is an automatic tool in a machining center that extends the function of the tool exchange arm or sub-arm that transfers tools to a magazine so that tools can also be exchanged on a conveyor vehicle. Relating to a switching device.
従来技術
従来使用済み工具或いは予備工具等は人手によ
つてマガジンへの着脱を行つてきた。加工物が同
一種類で加工種類が少ない場合はマガジンに収容
可能な個数で殆んど足り、人手による場合も比較
的少なく、大した労力でなかつた。然し加工種類
が多く生産個数が増大して工具が摩耗する場合、
また近年FMSと称される無人化による生産が取
入れられるようになつたため人手によつては対応
できなくなつた。出願人は先に実開昭58−143138
号及び特開昭59−24934号を提案して上記の問題
の解決を意図した。前者は主軸との第１交換位置
及びポツトが垂直に配列された区域を第２交換位
置とするマガジンに対し、予備工具を収容し複数
個のポツトを縦一列に並べたカセツトを複数個を
垂直軸の回りに同心的に等角度に回転位置決め可
能にパレツト上に配列した予備マガジンを旋回割
出し可能の回転テーブル上で本機マガジンに近接
して設け、また本機マガジンの第２交換区域の垂
直配列のポツトと予備マガジンのポツトに対して
所定関係位置で平行に位置するように設立した垂
直スライド上に、所定位置に位置決めされる１本
の工具交換アームが設けられていて、本機マガジ
ンと予備マガジンとの間の工具入替えを自動で行
うようにしている。また後者は本機マガジンの後
側の工具交換区域の直線部と平行に各辺が旋回、
割出し可能の多角状のタレツトを併置し、このタ
レツトの各辺にマガジンの工具間隔と等しい間隔
で平行に複数の工具を収容し、この工具を把持す
る部材をその工具の軸方向と本機マガジンに向う
方向に選択的に移動するようにしてマガジンとの
間で直接工具を入れ替えるものである。Prior Art Conventionally, used tools or spare tools have been manually loaded into and removed from magazines. When the workpieces are of the same type and there are only a few types of workpieces, the number of workpieces that can be stored in the magazine is sufficient, and the amount of manual work is relatively small and does not require much labor. However, if there are many types of machining and the number of pieces produced increases, the tools will wear out.
In addition, in recent years, as unmanned production known as FMS has been introduced, it has become impossible to handle it manually. The applicant first applied for Utility Model Application No. 58-143138.
No. 59-24934 was proposed with the intention of solving the above problems. The former is a magazine that has a first exchange position with the main shaft and a second exchange position in the area where the pots are vertically arranged, and a plurality of cassettes that store spare tools and have a plurality of pots arranged in a vertical line. Spare magazines arranged on a pallet so that they can be rotated and positioned concentrically and equiangularly around the axis are provided close to the machine magazine on a rotary table that can be rotated and indexed. A tool changing arm is provided which is positioned in a predetermined position on a vertical slide established to be parallel to the vertical array of pots and the spare magazine pot in a predetermined relationship to the main magazine. Tools are automatically exchanged between the magazine and the spare magazine. In addition, each side of the latter rotates parallel to the straight line part of the tool change area at the rear of the machine's magazine.
A plurality of indexable polygonal turrets are placed side by side, and a plurality of tools are housed in parallel on each side of the turret at intervals equal to the tool spacing in the magazine. Tools are exchanged directly with the magazine by selectively moving in the direction toward the magazine.
発明が解決しようとする問題点
これ等は本機マガジンと予備工具の収容部材間
に特別専用の交換アームを設けるか、または予備
工具を収容する部材に工具の抜きさし、及び装着
する特別の手段を設けなければならず、そのため
専用の制御手段が付加されて本機のコストアツプ
をもたらし、予備工具収容部材が複雑大形化及び
高価なものとなる不都合がさけられなかつた。Problems to be Solved by the Invention In order to solve these problems, a special exchange arm must be provided between the machine magazine and the spare tool storage member, or a special exchange arm must be installed between the machine magazine and the spare tool housing member. Therefore, a dedicated control means is added, which increases the cost of the machine, and the spare tool storage member becomes complicated, large, and expensive.
問題点を解決するための手段
マシニングセンタにおいてマガジン７の工具を
受渡しする位置Ａのポツトの工具軸線の真下に工
具を収容するポツト軸線を平行に位置決め可能な
搬送車２０，５１と、またマガジン７へ工具を受
渡しするサブアーム１１または交換アーム３１を
マガジン７の受渡しの上位置と搬送車２０，５１
の入替え位置の下位置に移動する移動ねじ１２，
３８を設け、サブアーム１１または交換アーム３
１が移動中若しくは位置決め時に所定方向を保持
するための案内をする部材１４，３５を設け、サ
ブアーム１１若しくは交換アーム３１を上位置と
下位置の数個所に位置決めする手段とを設けたも
のである。Means for Solving the Problems In a machining center, transport vehicles 20 and 51 that can position the axis of a pot that stores tools parallel to the tool axis of the pot at position A where tools are delivered and transferred to the magazine 7 are provided. The sub-arm 11 or the exchange arm 31 for delivering tools is placed at the upper position of the magazine 7 for delivery and for the transport vehicles 20, 51.
The moving screw 12 moves to the lower position of the replacement position,
38, the sub arm 11 or the exchange arm 3
1 is provided with guiding members 14 and 35 for holding it in a predetermined direction during movement or positioning, and means for positioning the sub-arm 11 or exchange arm 31 at several positions, an upper position and a lower position. .
以下本発明の実施例を図面にもとづき説明す
る。 Embodiments of the present invention will be described below based on the drawings.
実施例（第１）
第１図においてマシニングセンタはベツド１の
右寄りには左右に摺動可能にサドル２が載置さ
れ、図示しない送り装置により位置決め制御さ
れ、このサドル２上には前後方向に摺動可能にテ
ーブル３が載置され図示しない送り装置により位
置決め制御される。ベツド１の左寄りにはコラム
４が２本門形に設立されコラム間で水平に案内さ
れて上下方向に送りねじにより移動可能に主軸頭
５が設けられ、図示しない制御装置によつて工具
交換位置及び加工位置に位置決めされる。主軸頭
５は水平に主軸６を回転可能且つオリエンテーシ
ヨン可能に軸承している。コラム４の側面に沿つ
て工具を貯蔵する本機マガジン７が設置されてお
り、ポツト８ａをチエーン８でエンドレスに連結
し受渡し位置Ａの下隅を大きく内方に偏位させて
五角形に配し工具の受渡し位置Ａに工具が選択的
に割出されるようにされている。主軸頭５が上位
置の工具交換位置にあるとき、主軸６の真上の所
定量離れた位置で主軸と平行な位置と90°マガジ
ン側に旋回し工具受渡し位置Ａの真上でマガジン
の工具軸と平行な位置の２位置に水平旋回し位置
決めされ、工具を収容するポツトを有するレデイ
ステーシヨン９が設けられている。またこのレデ
イステーシヨン９のポツトに装着した工具と工具
交換位置の主軸６の工具とを交換するため両工具
間の中心位置に90°、180°旋回及軸方向移動可能
の公知のツイーンアーム形の工具交換アーム１０
が設けられている。更にマガジン７の工具受渡し
位置Ａのポツト８ａとマガジン側に旋回したレデ
イステーシヨン９のポツト及び後述の搬送車との
間で工具を受渡しするサブアーム１１が設けられ
ている。このサブアーム１１を上下に移動させる
部材としてマガジン７の工具受渡し位置Ａを含む
垂直直線部に近接して平行でレデイステーシヨン
９と搬送車のポツト間に延在した案内板１４が架
設されており、この案内板１４に移動ねじ１２が
回転可能に支承されている。移動ねじ１２には公
知のサブアーム１１の取付体１３のナツトが螺合
し案内板１４によつて案内されて常に同一垂直面
内を上下に移動可能である。このサブアーム１１
は一個のグリツパ１５が工具把持位置と待機位置
とに伸縮可能でまた工具抜き差しのための移動が
可能である。また移動ねじ１２の上端にはサーボ
モータ１６が連続されていてサブアーム１１を上
下に移動させ、レデイステーシヨン９への挿着位
置、マガジン７の受渡し位置Ａ、搬送車の数段の
ポツトへの入替え位置に位置決めするための検出
器が設けられている。更に使用済の摩耗した工具
若しくは予備工具を工具センタとマガジン間に搬
送する搬送車２０がマガジン７の工具受渡し位置
Ａの真下でポツトの頂面が一致するようにマガジ
ン隅部の側面に位置決めされ、サブアーム１１に
よつて工具が入替えられるようになされている。Embodiment (1st) In FIG. 1, a machining center has a saddle 2 placed on the right side of a bed 1 so as to be able to slide left and right.The positioning is controlled by a feed device (not shown), and a A table 3 is movably mounted and positioning is controlled by a feeder (not shown). To the left of the bed 1, two columns 4 are installed in the form of a gate, and a spindle head 5 is provided that is horizontally guided between the columns and movable in the vertical direction by a feed screw, and the tool change position is controlled by a control device (not shown). and positioned at the processing position. The spindle head 5 horizontally supports a spindle 6 in a rotatable and orientable manner. A machine magazine 7 for storing tools is installed along the side of the column 4, and pots 8a are endlessly connected by a chain 8, and tools are arranged in a pentagonal shape with the lower corner of the delivery position A largely deviated inward. The tool is selectively indexed to the transfer position A of the machine. When the spindle head 5 is in the upper tool exchange position, it rotates to a position parallel to the spindle at a predetermined distance directly above the spindle 6 and to the magazine side by 90 degrees, and the tool in the magazine is placed directly above the tool transfer position A. A ready station 9 is provided which is horizontally pivoted in two positions parallel to the axis and has a pot for accommodating a tool. In addition, in order to exchange the tool mounted on the pot of the ready station 9 and the tool on the main spindle 6 at the tool exchange position, a known twin arm type that can rotate 90 degrees and 180 degrees and move in the axial direction is installed at the center position between the two tools. Tool exchange arm 10
is provided. Further, a sub-arm 11 is provided for transferring tools between a pot 8a at a tool transfer position A of the magazine 7, a pot of a ready station 9 which has been turned toward the magazine, and a transport vehicle to be described later. As a member for moving the sub-arm 11 up and down, a guide plate 14 is installed near and parallel to the vertical straight section of the magazine 7 including the tool delivery position A, and extends between the ready station 9 and the pot of the transport vehicle. A moving screw 12 is rotatably supported on this guide plate 14. A nut of a mounting body 13 of a known sub-arm 11 is screwed onto the moving screw 12, and guided by a guide plate 14, it can always move up and down within the same vertical plane. This sub arm 11
One gripper 15 can extend and contract between a tool gripping position and a standby position, and can also be moved to insert and remove a tool. In addition, a servo motor 16 is connected to the upper end of the moving screw 12, and moves the sub-arm 11 up and down to the insertion position into the ready station 9, the delivery position A of the magazine 7, and the switching to several pots of the transport vehicle. A detector is provided for locating the position. Furthermore, a transport vehicle 20 for transporting used and worn tools or spare tools between the tool center and the magazine is positioned on the side of the corner of the magazine so that the top surfaces of the pots are aligned directly below the tool delivery position A of the magazine 7. , the tools can be replaced by the sub-arm 11.
搬送車２０は工具収容部２１と台車部２２より
なり、工具収容部２１は本例では表面の垂直方向
所定間隔に第１段ポツト２１ａ、第２段ポツト２
１ｂ、第３段ポツト２１ｃと並び、その裏面に第
１段ポツト２１ｄ、第２段ポツト２１ｅ、第３段
ポツト２１ｆと並んで設けられている。また台車
部２２は自走装置を内蔵しており、床に埋設され
たレール若しくは信号線に誘導されて工具センタ
とマガジン７のそばの所定位置間を指令により自
走するものである。そして工具収容部２１の表面
のポツト２１ａ，２１ｂ，２１ｃがサブアーム１
１により工具の装着側で３本の工具を入替えたと
き、裏面のポツト２１ｄ，２１ｅ，２１ｆの工具
を入替えるには搬送車２０を一且退避させて180°
反転して所定位置に位置決めする。或いは工具収
容部２１を180°台車２２上で旋回するように構成
してもよい。 The conveyance vehicle 20 consists of a tool accommodating section 21 and a cart section 22, and in this example, the tool accommodating section 21 has a first stage pot 21a and a second stage pot 2 at predetermined intervals in the vertical direction on the surface.
1b, the third stage pot 21c, and the first stage pot 21d, the second stage pot 21e, and the third stage pot 21f on the back side thereof. Further, the trolley section 22 has a built-in self-propelling device, and is guided by a rail buried in the floor or a signal line and moves by itself between the tool center and a predetermined position near the magazine 7 according to a command. The pots 21a, 21b, 21c on the surface of the tool accommodating portion 21 are connected to the sub arm 1.
When replacing the three tools on the tool attachment side according to step 1, in order to replace the tools in the pots 21d, 21e, and 21f on the back side, move the carrier 20 one step and turn 180 degrees.
Flip it over and position it in the specified position. Alternatively, the tool accommodating portion 21 may be configured to rotate 180° on the cart 22.
作 用
先づマガジン７の工具を主軸６に装着し、主軸
６の工具は使用済みであるため搬送車２０に収容
する場合を第３図を参照して説明する。Operation First, a case will be described with reference to FIG. 3 in which the tools in the magazine 7 are mounted on the spindle 6, and since the tools in the spindle 6 are used, they are stored in the transport vehicle 20.
今搬送車２０は第１ポツト２１ａが空の状態で
表側が交換可能に位置決めされている。NCより
次工具が指令されるとマガジン７のチエーン８が
回動され、ポツト８ａに挿入された指令工具が工
具受渡し位置Ａに割出される。次いでマガジン７
の受渡し位置Ａの高さで待機しているサブアーム
１１のグリツパ１５が伸長され、指定工具を把持
し、ポツト８ａより引抜き、グリツパ１５を縮小
する。サーボモータ１６の駆動で移動ねじ１２を
回転させサブアーム１１が上位置に位置決めさ
れ、グリツパ１５が伸長してマガジン７側に旋回
しているレデイステーシヨン９のポツト軸線上に
把持工具を位置させ工具を挿入し、グリツパ１５
を縮小する。サーボモータ１６を逆転しサブアー
ム１１は受渡し位置Ａの高さに戻る。レデイステ
ーシヨン９は90°旋回し主軸６の真上の工具交換
位置に位置決めされる。主軸頭５が加工位置から
工具交換位置に位置決めされ、主軸６はキー溝合
わせのためオリエンテーシヨンされる。工具交換
アーム１０が水平の待機位置から90°反時計方向
に旋回し、レデイステーシヨン９の工具と主軸６
の工具とを把持し、主軸工具のクランプを解き工
具を同時に引抜き180°反転して工具を入替え挿入
する。主軸工具をクランプし工具交換アーム１０
は90°逆転して待機位置に戻る。一方レデイステ
ーシヨン９は90°マガジン側に旋回し、サブアー
ム１１はサーボモータ１６の駆動で移動ねじ１２
が回転され上位置とされる。グリツパ１５が伸長
してレデイステーシヨン９の工具を把持し、工具
を引抜きグリツパ１５が縮小する。サーボモータ
１６の駆動でサブアーム１１は搬送車２０の第１
段ポツト２１ａに挿入する位置迄下がり位置決め
される。グリツパ１５が伸長して工具を第１段ポ
ツト２１ａに挿入しグリツパ１５が縮小したあ
と、サーボモータ１６の駆動でサブアーム１１は
マガジン７の工具受渡し位置Ａの高さに戻り待機
する。 The transport vehicle 20 is now positioned such that its front side can be replaced with the first pot 21a being empty. When the next tool is commanded by the NC, the chain 8 of the magazine 7 is rotated, and the commanded tool inserted into the pot 8a is indexed to the tool delivery position A. Then magazine 7
The gripper 15 of the sub-arm 11, which is waiting at the height of the delivery position A, is extended, grips the designated tool, pulls it out from the pot 8a, and contracts the gripper 15. The moving screw 12 is rotated by the drive of the servo motor 16, the sub-arm 11 is positioned at the upper position, the gripper 15 is extended, and the gripping tool is positioned on the pot axis of the receiving station 9 which is rotating toward the magazine 7 side. Insert and gripper 15
Reduce. The servo motor 16 is rotated in the reverse direction, and the sub-arm 11 returns to the height of the delivery position A. The ready station 9 is rotated 90 degrees and positioned at a tool exchange position directly above the main shaft 6. The spindle head 5 is positioned from the machining position to the tool exchange position, and the spindle 6 is oriented for keyway alignment. The tool exchange arm 10 rotates 90° counterclockwise from the horizontal standby position, and the tool exchange arm 10 rotates 90° counterclockwise from the horizontal standby position, and the tool exchange arm 10 rotates 90 degrees counterclockwise from the horizontal standby position, and the tool exchange arm 10 rotates 90 degrees counterclockwise from the horizontal standby position, and the tool exchange arm 10 rotates 90 degrees counterclockwise from the horizontal standby position, and the tool exchange arm 10 rotates 90 degrees counterclockwise from the horizontal standby position, and the tool exchange arm 10 rotates 90 degrees counterclockwise from the horizontal standby position.
Grip the tool, unclamp the spindle tool, pull out the tool at the same time, turn it 180 degrees, and replace and insert the tool. Tool exchange arm 10 that clamps the spindle tool
rotates 90 degrees and returns to the standby position. On the other hand, the ready station 9 rotates 90 degrees to the magazine side, and the sub arm 11 is moved by the screw 12 driven by the servo motor 16.
is rotated to the upper position. The gripper 15 extends to grip the tool on the ready station 9, and the tool is pulled out, causing the gripper 15 to contract. The sub-arm 11 is driven by the servo motor 16 to move the first
It is lowered and positioned to the position where it is inserted into the stepped pot 21a. After the gripper 15 extends and inserts the tool into the first stage pot 21a and the gripper 15 contracts, the sub-arm 11 is driven by the servo motor 16 and returns to the height of the tool delivery position A of the magazine 7 and waits.
次に加工種類の変更で貯蔵工具と搬送車２０の
予備工具の入替えを工具交換の合間に行なう場合
を説明する。今搬送車２０は表面第１段ポツト２
１ａが空とする。指令で入替え工具が指定される
とチエーン８が回動し受渡し位置Ａに指定工具が
割出される。グリツパ１５が伸長して工具を把持
し引抜きグリツパ１５が縮小し、サーボモータ１
６の駆動でサブアーム１１が下がり第１段ポツト
２１ａの入替え位置に位置決めされる。グリツパ
１５が伸長し第１段ポツト２１ａに工具を挿入し
グリツパ１５が縮小したあとサーボモータ１６の
駆動でサブアーム１１は第２段ポツト２１ｂの入
替え位置に下がり位置決めされ、グリツパ１５が
伸長して工具を把持し引抜きグリツパ１５が縮小
する。サーボモータ１６の駆動で受渡しのＡ位置
の高さに上昇し、グリツパ１５の伸長で空となつ
た前のポツト８ａに工具を挿入しグリツパ１５が
縮小する。次の入替え工具が指令されチエーン８
が割出されて指定工具が同様に搬送車２０の第２
段ポツト２１ｂに挿入され、第３段ポツト２１ｃ
の工具がチエーン８の空となつたポツト８ａに挿
入される。次の工具が割出され同様にして搬送車
２０の第３段ポツト２１ｃに挿入されると、搬送
車２０は一時退避し180°反転して工具収容部２１
の裏側のポツト２１ｄ，２１ｅ，２１ｆが入替え
側となる。サブアーム１１は第１段ポツト２１ｄ
の工具を把持してマガジンの空となつたポツト８
ａに入替え、このようにして全工具の入替えが終
れば、搬送車２０は自走して工具センタに帰り別
の工具を収容して本機の入替え位置に戻るもので
ある。 Next, a case will be described in which the stored tools and the spare tools in the transport vehicle 20 are exchanged between tool exchanges when changing the type of machining. Now the transport vehicle 20 is on the surface of the first stage pot 2.
1a is empty. When a replacement tool is designated by a command, the chain 8 rotates and the designated tool is indexed to the delivery position A. The gripper 15 extends and grips the tool, and the gripper 15 contracts and the servo motor 1
6, the sub-arm 11 is lowered and positioned at the replacement position of the first stage pot 21a. After the gripper 15 extends and inserts the tool into the first stage pot 21a and the gripper 15 contracts, the sub-arm 11 is lowered and positioned at the exchange position of the second stage pot 21b by the drive of the servo motor 16, and the gripper 15 extends and the tool is inserted into the first stage pot 21a. gripper 15 contracts. Driven by the servo motor 16, it rises to the height of the transfer position A, and the tool is inserted into the previous pot 8a, which has become empty due to the extension of the gripper 15, and the gripper 15 contracts. The next replacement tool is commanded and chain 8
is indexed and the designated tool is similarly moved to the second
It is inserted into the step pot 21b, and the third step pot 21c
The tool is inserted into the empty pot 8a of the chain 8. When the next tool is indexed and inserted into the third stage pot 21c of the carrier 20 in the same manner, the carrier 20 is temporarily retracted, turned 180°, and inserted into the tool storage section 21.
The pots 21d, 21e, and 21f on the back side are the replacement side. The sub-arm 11 is connected to the first stage pot 21d.
Pot 8 where the magazine was empty after holding the tool
When all the tools have been replaced in this manner, the conveyance vehicle 20 self-propels, returns to the tool center, accommodates another tool, and returns to the replacement position of the machine.
実施例（第２）
次に他の実施例を第４図、第５図にもとづき工
具交換部分について説明する。工具マガジン７と
主軸頭５との間の工具交換がツイーンアーム形で
グリツパ部が伸長し180°旋回、軸方向移動可能な
公知の交換アーム３１で行なうものであつて、コ
ラム４の上部でマガジン７の取付いた側面から主
軸頭５側の前面までの間に設けられた屈曲した水
平案内レール３２に交換アーム３１の保持台３５
が案内され、交換アーム３１がマガジン７の受渡
し位置B1とその手前待機位置B2及び主軸６の交
換位置B3とに位置決めされる案内及び駆動機構
には実公昭57−54990号の第３、第４図に示す搬
送機構とほぼ同じものが用いられている。即ち案
内レール３２は屈曲した部分の半径の小さい内側
レールと半径の大きい外側レールとが一定間隔に
固設されている。この案内レール３２のマガジン
７側の直線レールと平行して大シリンダのピスト
ンを小シリンダとし、そのピストンロツドを突出
させた油圧シリンダ３３が固設され、このピスト
ンロツド３４端が上下で一体となるが複数の連結
板によつて屈曲可能に交換アーム３１の保持台３
５と連結され、各垂直な連結軸及び保持台３５の
垂直軸にローラ３６がそれぞれ枢支されており、
このローラ３６が外側レールと内側レールとの隙
間なく保持され保持台３５を案内し、保持台３５
の背面の水平軸で枢支された複数個のローラがレ
ール上を走行して保持台３５、交換アーム３１の
重量を支えている。油圧シリンダ３３の大小シリ
ンダに選択的に圧油が送られることにより、保持
台３５はマガジンの工具受渡し位置B1、その手
前の待機位置B2及び主軸台５の工具交換位置B3
の３位置に位置決めされる。保持台３５は工具受
渡しの位置から搬送車に工具の入替えを行なうた
めの下位置迄延在し、コラム４の下方に設けた水
平の補助案内レール３７に保持台３５の背面のガ
イドローラが案内されて振れのない水平移動が行
なわれる。保持台３５は交換アーム３１が常に同
姿勢を保つように取付体４１を案内するととも
に、取付体４１の雌ねじと螺合する移動ねじ３８
を垂直に回転可能に軸承し、該ねじは上端でサー
ボモータ３９と連結され、位置検出器４０が移動
ねじ３８の回転量を検出するように設けられてい
て交換アーム３１の上下方向の位置を検出してい
る。予備工具を収容する搬送車５１は工具収容部
５２の一面に本例では縦２列に位置B1とB2との
間隔と等しい間隔をおいて並列し上下に３段のポ
ツトが計６個設けられ工具を水平に収容可能であ
る。台車部５３は自走するための駆動装置を内蔵
しており、工具センタと本機との間に埋設したレ
ール若しくは信号線に誘導されて工具センタとマ
ガジン７のそばの所定位置間を指令により自走す
るものである。そして搬送車５１は第４図で左側
の縦列のポツトマガジン７の工具受渡し位置Ａの
直下でポツトの頂面がチエーン８のポツト８ａの
頂面となるようにマガジンの下隅に位置決めされ
ている。また必要により保持台３５の右側の所定
位置に搬送車を位置決めするようにもできる。Embodiment (Second) Next, another embodiment will be described with reference to FIGS. 4 and 5 regarding the tool exchange portion. Tools are exchanged between the tool magazine 7 and the spindle head 5 using a known exchange arm 31 which is of twin arm type and has an extended gripper part, can rotate 180 degrees, and is movable in the axial direction. The holding stand 35 of the exchange arm 31 is attached to the bent horizontal guide rail 32 provided between the side surface where the replacement arm 7 is attached and the front surface of the spindle head 5 side.
3 of Utility Model Publication No. 57-54990, the exchange arm 31 is positioned at the delivery position B 1 of the magazine 7, the standby position B 2 in front of it, and the exchange position B 3 of the main shaft 6. , substantially the same conveyance mechanism as shown in FIG. 4 is used. That is, the guide rail 32 has an inner rail having a small radius at the bent portion and an outer rail having a large radius, which are fixedly arranged at regular intervals. Parallel to the straight rail on the side of the magazine 7 of this guide rail 32, a hydraulic cylinder 33 is fixedly installed in which the piston of the large cylinder is made into a small cylinder and its piston rod is made to protrude. The holding base 3 of the exchange arm 31 can be bent by the connecting plate.
5, and rollers 36 are respectively pivotally supported on each vertical connection shaft and the vertical axis of the holding table 35,
This roller 36 is held without any gap between the outer rail and the inner rail and guides the holding stand 35.
A plurality of rollers pivotally supported by horizontal shafts on the back side run on rails and support the weight of the holding table 35 and exchange arm 31. By selectively sending pressure oil to the large and small cylinders of the hydraulic cylinder 33, the holding table 35 is moved to the tool delivery position B1 of the magazine, the standby position B2 in front of it, and the tool exchange position B3 of the headstock 5.
It is positioned at three positions. The holding stand 35 extends from the tool delivery position to the lower position for exchanging tools to the transport vehicle, and guide rollers on the back of the holding stand 35 are guided by horizontal auxiliary guide rails 37 provided below the column 4. horizontal movement without wobbling. The holding base 35 guides the mounting body 41 so that the exchange arm 31 always maintains the same posture, and also has a moving screw 38 that is screwed into the female thread of the mounting body 41.
The screw is connected to a servo motor 39 at its upper end, and a position detector 40 is provided to detect the amount of rotation of the moving screw 38 to detect the vertical position of the exchange arm 31. Detected. The conveyance vehicle 51 for storing spare tools has a total of six pots arranged in two vertical rows on one side of the tool storage section 52 at intervals equal to the distance between positions B 1 and B 2 and arranged in three stages above and below. It is possible to store tools horizontally. The trolley section 53 has a built-in drive device for self-propulsion, and is guided by a rail or signal line buried between the tool center and this machine to move between the tool center and a predetermined position near the magazine 7 according to a command. It is self-propelled. The transport vehicle 51 is positioned at the lower corner of the magazine so that the top surface of the pot corresponds to the top surface of the pot 8a of the chain 8, directly below the tool delivery position A of the pot magazine 7 in the left column in FIG. Further, if necessary, the carrier can be positioned at a predetermined position on the right side of the holding table 35.
作 用
マガジン７の工具と主軸６の工具とを交換し主
軸工具は使用済として搬送車５１に収容する場合
を説明する。Operation A case will be described in which the tool in the magazine 7 and the tool in the spindle 6 are exchanged, and the spindle tool is stored in the transport vehicle 51 as a used tool.
今搬送車５１はマガジン側に位置決めされてお
り右列第１段のポツト５２ａが空とする。工具交
換指令によりチエーン８が割出され指令工具がＡ
位置に割出されると、B1位置の上位置で待機し
ている交換アーム３１のグリツパ部が伸長してＡ
位置の工具を把持し引抜きグリツパ部が縮小す
る。次いで油圧シリンダ３３の大小両シリンダの
後室に圧油が送られピストンロツド３４が突出し
てローラ３６で案内された保持台３５が案内レー
ル３２に規制されて屈曲部を通り交換アーム３１
の軸が主軸６と平行となり最前進端に位置決めさ
れる。グリツパ部が伸長して主軸６の工具を把持
し引抜いたあと、180°反転して新工具を主軸６に
挿入する。グリツパ部が縮小され、油圧シリンダ
３３の大シリンダのみ前室に圧油を切換えて送り
保持台３５をB2位置に位置決めする。サーボモ
ータ３９を駆動し交換アーム３１を下降させ搬送
車５１のポツト５２ａの線に位置決めする。交換
アーム３１を旋回軸方向に移動するとともにグリ
ツパ部を伸長してポツト５２ａと一致させ工具を
挿入しグリツパ部を縮小させる。サーボモータ３
９を逆転して上位置に位置決めするとともに油圧
シリンダ３３の小シリンダの前室に圧油を切換え
て送りB1位置で待機するものである。次に加工
種類が変更されマガジン７の工具の入替えについ
て説明する。空の搬送車５１がマガジン７側に位
置決めされており、チエーン８の入替え工具が受
渡しＡ位置に位置決めされると、B1位置の上位
置で待機中の交換アーム３１のグリツパ部が伸長
し工具を把持して抜き取り、グリツパ部が縮小す
るとともにサーボモータ３９が駆動し交換アーム
３１を下降させ搬送車５１の第３段ポツトの線に
位置決めされ、グリツパ部が伸長してポツト５２
ｆと一致させ工具を挿入してグリツパ部を縮小し
て上位置に戻る。この間に次の入替え工具が受渡
しのＡ位置に位置決めされ同様に搬送車のポツト
５２ｅ，５２ｄに収容され、Ａ位置に割出された
次の工具を把持抜き取りグリツパ部を縮小する
と、油圧シリンダ３３の小シリンダの後室に圧油
を送つて交換アームをB2位置に移動させ、サー
ボモータ３９を駆動して交換アーム３１を下降さ
せポツト５２ｃの線に位置決めし、グリツパ部を
伸長してポツト５２ｃに工具を挿入しグリツパ部
を縮小し、サーボモータ３９を駆動して受渡しの
Ａ位置に位置決めする。油圧シリンダ３３の小シ
リンダの前室に圧油を送つて交換アーム３１を
B1に移動し、グリツパ部を伸長してＡ位置に割
出された工具を把持し引抜きグリツパ部を縮小す
る。同様にB2に移動されポツト５２ｂ，５２ａ
に工具を収容すると、搬送車５１は工具センタに
自走し、別の新しい工具を収容した搬送車５１が
マガジン７側に自走して同様に位置決めされる。
交換アーム３１は同様にしてポツト５２ａ，５２
ｂ，５２ｃ，５２ｄ，５２ｅ，５２ｆの順序で工
具をマガジン７の空のポツトに収容し、次いでマ
ガジン７の入替工具が搬送車５１の空となつたポ
ツトに同様に逆の順序で収容される。搬送車５１
は工具センタに移動し、この操作の繰り返しによ
つて必要個数の工具が入替えられる。また保持台
３５の右側に搬送車５１を位置決めして行なう場
合は交換アームの反転動作が付加される。 The transport vehicle 51 is now positioned on the magazine side, and the pot 52a in the first stage of the right row is empty. Chain 8 is indexed by the tool change command and the commanded tool is A.
When indexed to the position, the gripper part of the exchange arm 31, which is waiting at the upper position of the B1 position, extends and moves to the A position.
The gripper part that grips the tool in position and pulls it out shrinks. Next, pressure oil is sent to the rear chambers of both the large and small cylinders of the hydraulic cylinder 33, the piston rod 34 protrudes, and the holding table 35 guided by the rollers 36 is regulated by the guide rail 32 and passes through the bending part to the exchange arm 31.
The axis thereof is parallel to the main shaft 6 and is positioned at the most advanced end. After the gripper part extends and grips the tool on the spindle 6 and pulls it out, it is reversed 180 degrees and a new tool is inserted into the spindle 6. The gripper part is reduced, and the pressure oil is switched to the front chamber of only the large cylinder of the hydraulic cylinder 33, and the feed holding table 35 is positioned at the B2 position. The servo motor 39 is driven to lower the exchange arm 31 and position it in line with the pot 52a of the transport vehicle 51. The exchange arm 31 is moved in the direction of the pivot axis, and the gripper part is extended to match the pot 52a, and a tool is inserted to contract the gripper part. Servo motor 3
9 is reversed and positioned at the upper position, the pressure oil is switched to the front chamber of the small cylinder of the hydraulic cylinder 33, and the system waits at the feed B1 position. Next, a description will be given of how the machining type is changed and the tools in the magazine 7 are replaced. An empty transport vehicle 51 is positioned on the side of the magazine 7, and when the exchange tool of the chain 8 is positioned at the delivery position A, the gripper part of the exchange arm 31, which is waiting at the upper position of the B1 position, extends and transfers the tool. The gripper part contracts and the servo motor 39 is driven to lower the replacement arm 31 and position it on the line of the third stage pot of the transport vehicle 51, and the gripper part extends and removes it from the pot 52.
Insert the tool to match f and reduce the gripper part to return to the upper position. During this time, the next replacement tool is positioned at the delivery position A and similarly stored in the pots 52e and 52d of the transport vehicle. Pressure oil is sent to the rear chamber of the small cylinder to move the exchange arm to the B2 position, and the servo motor 39 is driven to lower the exchange arm 31 and position it on the line of the pot 52c, and the gripper section is extended to move the exchange arm 31 to the position B2. A tool is inserted into the handle, the gripper portion is reduced, and the servo motor 39 is driven to position the gripper at position A for delivery. Pressurized oil is sent to the front chamber of the small cylinder of the hydraulic cylinder 33 to replace the exchange arm 31.
Move to B 1 , extend the gripper part, grip the tool indexed at position A, pull it out, and contract the gripper part. Similarly moved to B 2 and pots 52b and 52a
When a tool is stored in , the transport vehicle 51 moves to the tool center, and another transport vehicle 51 containing another new tool moves to the magazine 7 side and is similarly positioned.
The replacement arm 31 is replaced with pots 52a and 52 in the same way.
The tools are stored in the empty pots of the magazine 7 in the order of b, 52c, 52d, 52e, and 52f, and then the replacement tools of the magazine 7 are stored in the empty pots of the carrier 51 in the same manner in the reverse order. . Transport vehicle 51
is moved to the tool center, and by repeating this operation, the required number of tools are replaced. Further, when the transfer vehicle 51 is positioned on the right side of the holding table 35, a reversing operation of the exchange arm is added.
効 果
以上詳述したように本発明はマガジンの工具受
渡し位置の真下に搬送車の工具軸線を整列して位
置させ、サブアームまたは交換アームをマガジン
受渡し位置の他の搬送車への入替えの下位置にも
移動位置決め可能となしたので、工具の入替え、
使用済工具の収納が入手を要しなく、本機のサブ
アームまたは交換アームを流用して特別な交換手
段を設ける必要がなく本機の大きな価格の上昇を
さけうる。またFMS等の無人化運転に対応する
ことができる。また使用済工具を作業中に適宜収
納、入替えを行うことができるのでマガジンの貯
蔵本数を増すことなく実質的に本数増加させうる
ものであり、大容量マガジン、予備マガジン等を
設置する余分のスペースを必要としない効果を有
する。Effects As described in detail above, the present invention aligns and positions the tool axes of the transport vehicle directly below the tool delivery position of the magazine, and positions the sub-arm or exchange arm at the lower position of the magazine delivery position for switching to another transport vehicle. Since it is possible to move and position the tool, it is possible to change the tool,
It is not necessary to store used tools, and the sub-arm or exchange arm of the machine can be reused, so there is no need to provide special exchange means, and a large increase in the price of the machine can be avoided. It can also support unmanned operation such as FMS. In addition, since used tools can be stored and replaced as appropriate during work, the number of stored magazines can be increased without increasing the number of stored magazines, and there is extra space for installing large-capacity magazines, spare magazines, etc. It has an effect that does not require.
第１図は第１実施例を取入れたマシニングセン
タの側面図、第２図は搬送車の側面図、第３図は
工具交換の手順を示す図、第４図は第２実施例を
取入れたマシニングセンタの側面図、第５図は交
換アームの案内部分を示す平面図である。
６……主軸、７……マガジン、８……チエー
ン、９……レデイステーシヨン、１１……サブア
ーム、１０，３１……交換アーム、１２，３８…
…移動ねじ、１４……案内板、２０，５１……搬
送車、３２……案内レール、３３……油圧シリン
ダ、３５……保持台。
Figure 1 is a side view of a machining center incorporating the first embodiment, Figure 2 is a side view of a transport vehicle, Figure 3 is a diagram showing the tool exchange procedure, and Figure 4 is a machining center incorporating the second embodiment. FIG. 5 is a plan view showing the guide portion of the exchange arm. 6...Main shaft, 7...Magazine, 8...Chain, 9...Ready station, 11...Sub arm, 10, 31...Replacement arm, 12, 38...
...Movement screw, 14...Guide plate, 20, 51...Transportation vehicle, 32...Guide rail, 33...Hydraulic cylinder, 35...Holding stand.
Claims (1)
保持するステーシヨンとの間で工具交換、受渡し
する工具交換手段を有するマシニングセンタにお
いて、前記マガジンの工具受渡し位置の工具軸線
の真下に使用済工具または予備工具を収容するポ
ツト軸線を平行に位置決め可能な搬送車と、マガ
ジンの工具受渡し位置のポツトと該位置の真下に
位置決めされた前記搬送車のポツトとの間の工具
交換をも可能とされた前記工具交換手段と、前記
工具交換手段が移動中及び位置決めされたとき所
定方向を保つよう案内する部材と、前記工具交換
手段を前記工具受渡し位置に位置決めする制御手
段とを備えてなり、本機の工具交換手段で搬送車
との工具交換をすることを特徴とする自動工具交
換装置。1. In a machining center having a tool exchange means for exchanging and transferring tools between a magazine and a main shaft or an intermediate station that temporarily holds tools, a used tool or a spare tool is placed directly below the tool axis at the tool transfer position of the magazine. a conveyance vehicle that accommodates pot axes that can be positioned parallel to each other, and a tool that also enables tool exchange between a pot at a tool delivery position of the magazine and a pot of the conveyance vehicle positioned directly below the said position. The tool of this machine is provided with a tool changing means, a member for guiding the tool changing means to maintain a predetermined direction during movement and positioning, and a control means for positioning the tool changing means at the tool delivery position. An automatic tool changer characterized in that tools are exchanged with a conveyance vehicle using an exchange means.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP60064210A JPS61226241A (en) | 1985-03-28 | 1985-03-28 | Automatic tool exchange device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP60064210A JPS61226241A (en) | 1985-03-28 | 1985-03-28 | Automatic tool exchange device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS61226241A JPS61226241A (en) | 1986-10-08 |
| JPH0349695B2 true JPH0349695B2 (en) | 1991-07-30 |
Family
ID=13251489
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP60064210A Granted JPS61226241A (en) | 1985-03-28 | 1985-03-28 | Automatic tool exchange device |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS61226241A (en) |
Families Citing this family (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2001062660A (en) * | 1999-08-27 | 2001-03-13 | Mori Seiki Co Ltd | Tool conveying device for machine tool |
| DE102011113311A1 (en) * | 2011-09-09 | 2013-03-14 | Chiron-Werke Gmbh & Co. Kg | Machine tool with machine magazine and background magazine |
| DE102011088055A1 (en) * | 2011-12-08 | 2013-06-13 | Deckel Maho Pfronten Gmbh | System and method for providing tools on a machine tool, and machine tool with a tool change system |
| US10160077B2 (en) * | 2013-03-22 | 2018-12-25 | Dmg Mori Seiki Co., Ltd. | Tool changing system and method |
| JP2015182140A (en) * | 2014-03-20 | 2015-10-22 | 三菱重工業株式会社 | Tool exchange method of machine tool |
| CN111093893B (en) * | 2017-09-15 | 2021-11-09 | 株式会社牧野铣床制作所 | Machine tool system |
| DE102018201426A1 (en) * | 2018-01-30 | 2019-08-01 | Deckel Maho Pfronten Gmbh | Supply device for a tool magazine of a machine tool and method for changing a tool on a tool magazine |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS59151635U (en) * | 1983-03-30 | 1984-10-11 | 遠州製作株式会社 | Relay pot locking device |
-
1985
- 1985-03-28 JP JP60064210A patent/JPS61226241A/en active Granted
Also Published As
| Publication number | Publication date |
|---|---|
| JPS61226241A (en) | 1986-10-08 |
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