JPH07124836A - Automatic tool changing method and device - Google Patents
Automatic tool changing method and deviceInfo
- Publication number
- JPH07124836A JPH07124836A JP5294323A JP29432393A JPH07124836A JP H07124836 A JPH07124836 A JP H07124836A JP 5294323 A JP5294323 A JP 5294323A JP 29432393 A JP29432393 A JP 29432393A JP H07124836 A JPH07124836 A JP H07124836A
- Authority
- JP
- Japan
- Prior art keywords
- tool
- axis
- axis direction
- headstock
- work
- 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.)
- Granted
Links
Landscapes
- Automatic Tool Replacement In Machine Tools (AREA)
Abstract
Description
【0001】[0001]
【産業上の利用分野】本発明は一個のワーク主軸台と、
複数個の工具主軸台を有する工作機械の自動工具交換方
法及び装置に関するものである。BACKGROUND OF THE INVENTION The present invention relates to a work headstock,
The present invention relates to an automatic tool changing method and device for a machine tool having a plurality of tool headstocks.
【0002】[0002]
【従来の技術】従来、工作機械の自動工具交換装置は工
具主軸台を所定の一箇所に移動位置決めして自動工具交
換を行うものが殆どで、複数個の工具主軸台が上下左右
に配置された工作機械においては、交換アームユニット
又は工具マガジンを単独で移動可能とすることで対応し
ていた。2. Description of the Related Art Conventionally, most automatic tool exchanging devices for machine tools perform automatic tool exchanging by moving and positioning a tool spindle stock at a predetermined position, and a plurality of tool spindle stocks are arranged vertically and horizontally. In the machine tool, the replacement arm unit or the tool magazine can be independently moved to cope with the problem.
【0003】[0003]
【発明が解決しようとする課題】従来の技術で述べた交
換アームユニット又は工具マガジンを単独で移動させる
方法は、構造が複雑かつ大掛かりとなり、それだけ故障
率もコストも高くなるという問題を有していた。本発明
は従来の技術の有するこのような問題点に鑑みなされた
ものであり、その目的とするところは交換アームユニッ
トをワーク主軸台に取り付けた簡単な装置でワーク加工
に必要な動作を利用して複数個の工具主軸台に対する自
動工具交換を可能とする自動工具交換方法及び装置を提
供しようとするものである。The method of moving the replacement arm unit or the tool magazine alone described in the prior art has a problem that the structure is complicated and large-scaled, and the failure rate and the cost increase accordingly. It was The present invention has been made in view of the above problems of the prior art, and an object of the present invention is to utilize an operation required for machining a workpiece with a simple device in which an exchange arm unit is attached to a workpiece spindle stock. The present invention aims to provide an automatic tool changing method and apparatus that enable automatic tool changing for a plurality of tool headstocks.
【0004】[0004]
【課題を解決するための手段】上記目的を達成するため
に本発明における自動工具交換方法は、工具主軸台のX
軸方向移動位置決めと、工具交換アームが取付けられた
ワーク主軸台のY軸及びZ軸方向移動位置決めと、工具
交換アームの旋回及び抜き差し動作により工具主軸台上
方に固設された工具マガジンの工具と工具主軸の工具と
を交換するものである。また本発明における自動工具交
換装置は、X軸方向に移動可能なテーブル上に平行にX
軸方向に並置される一段又は二段積みの複数個の工具主
軸台と、該工具主軸台に対向するZ軸及びY軸方向に移
動可能なワーク主軸台とを備える工作機械において、前
記複数の工具主軸台の上方に設けられ複数本の工具を貯
蔵しZ軸方向ワーク主軸台側を向く交換位置に指定工具
を割出す工具マガジンと、前記ワーク主軸台のワーク主
軸の上側位置に設けられZ軸方向の旋回中心軸のまわり
で旋回及び抜き差し可能な工具交換アームを有する交換
アームユニットを構成要素とするものである。In order to achieve the above object, an automatic tool changing method according to the present invention is provided with an X of a tool headstock.
Axial movement positioning, Y-axis and Z-axis movement positioning of the work headstock with the tool change arm attached, and tool magazine tool fixed above the tool headstock due to the turning and removing operations of the tool change arm. It replaces the tool on the tool spindle. Further, the automatic tool changer according to the present invention is arranged so that the X-axis can be moved in parallel on a table movable in the X-axis direction.
A machine tool comprising a plurality of tool headstocks arranged in parallel in the axial direction in a stack of one step or two steps, and a work headstock movable in the Z-axis and Y-axis directions facing the tool headstock. A tool magazine provided above the tool headstock to store a plurality of tools and index a designated tool to a replacement position facing the workpiece headstock side in the Z-axis direction, and a tool magazine Z provided above the workhead spindle of the workheadstock. The constituent element is an exchanging arm unit having a tool exchanging arm that can be swung and removed around an axial center axis of swiveling.
【0005】[0005]
【作用】上段の工具主軸台の装着工具を交換する場合
は、交換アームユニットをマガジンポットと上段の工具
主軸との中央にY軸位置決めして、交換を行う工具を有
する上段の工具主軸台を工具マガジンの工具交換位置a
の真下にX軸位置決めし、工具交換アームの旋回と抜き
差し動作で工具交換を行う。下段の工具主軸台の装着工
具を交換する場合は、最初に工具主軸台をX軸移動端に
退避さてマガジンポットの工具を抜き取り、交換アーム
ユニットを下段の工具主軸台対応位置にY軸位置決めし
て、交換する工具を有する下段の工具主軸台を、マガジ
ンの工具交換位置aの真下にX軸位置決めして工具交換
を行い、再び工具主軸台をX軸移動端に退避させて使用
済となった工具をマガジンポットに返却する。When the mounting tool for the upper tool spindle stock is to be replaced, the replacement arm unit is positioned in the center of the magazine pot and the upper tool spindle for the Y axis, and the upper tool spindle stock with the tool to be replaced is installed. Tool exchange position a in the tool magazine
The X-axis is positioned directly below, and the tool is changed by swiveling and inserting / removing the tool changing arm. When replacing the tool attached to the tool headstock on the lower stage, first retract the tool headstock to the X-axis moving end, pull out the tool from the magazine pot, and position the replacement arm unit at the Y-axis position corresponding to the tool headstock on the lower stage. Then, the lower tool headstock having the tool to be replaced is positioned on the X axis right under the tool replacement position a of the magazine to perform the tool replacement, and the tool headstock is retracted to the X axis moving end again to be used. Returned tools to the magazine pot.
【0006】[0006]
【実施例】以下実施例について図面にもとづいて説明す
る。図1の工作機械において、床上に設置されたベッド
1A上にZ軸方向の案内1aが、またベッド1B上にX
軸方向の案内1bがそれぞれ設けられており、Z軸案内
1a上にコラム2が、またX軸案内1b上にテーブル3
がそれぞれ移動位置決め可能に載置されている。コラム
2は前面にY軸方向の案内2aを有し、このY軸案内2
a上にワーク主軸台4が移動位置決め可能に設けられて
おり、ワーク主軸台4にワーク主軸5が回転及び割出可
能に軸承され、ワーク主軸5の先端にチャック6が同心
に取付けられている。Embodiments will be described below with reference to the drawings. In the machine tool of FIG. 1, a guide 1a in the Z-axis direction is provided on a bed 1A installed on the floor, and an X is provided on the bed 1B.
Axial guides 1b are provided, a column 2 on the Z-axis guide 1a, and a table 3 on the X-axis guide 1b.
Are mounted so that they can be moved and positioned. The column 2 has a Y-axis direction guide 2a on the front surface.
The work spindle 4 is provided on the workpiece a so as to be movable and positioned, the work spindle 5 is rotatably and indexably supported by the work spindle 4, and the chuck 6 is concentrically attached to the tip of the work spindle 5. .
【0007】一方、テーブル3上には複数個の工具主軸
台7が平行かつ等間隔にX軸方向に並んで二段に積み重
ねられた状態で載置されており、各工具主軸台7には工
具主軸8が回転可能に軸承され、工具主軸8の先端テー
パ穴に工具ホルダ付工具Tがそれぞれ着脱自在に装着で
きるようになっている。更にベッド1Bの側面には門形
のマガジン台8が固着されており、マガジン台8上ほぼ
中央に工具マガジン9が設置されている。工具マガジン
9は外周等間隔かつ放射状に複数のマガジンポット10
を有するマガジンプレート11がZ軸方向の旋回中心軸
のまわりで旋回割出し可能に設けられ、マガジンプレー
ト11外周のマガジンポット10に複数の工具が着脱自
在に貯蔵されており、指定された貯蔵工具TがZ軸方向
ワーク主軸5側を向く工具交換位置aに割出されるよう
になっている。On the other hand, a plurality of tool headstocks 7 are placed on the table 3 in parallel with each other in the X-axis direction at equal intervals and stacked in two stages. The tool spindle 8 is rotatably supported, and the tool T with a tool holder can be detachably attached to the tip tapered hole of the tool spindle 8. Further, a gate-shaped magazine base 8 is fixedly attached to the side surface of the bed 1B, and a tool magazine 9 is installed substantially in the center of the magazine base 8. The tool magazine 9 has a plurality of magazine pots 10 arranged radially at equal intervals.
A magazine plate 11 having a plurality of tools is detachably stored in a magazine pot 10 on the outer periphery of the magazine plate 11, and a designated storage tool is provided. T is indexed to a tool exchange position a facing the workpiece spindle 5 side in the Z-axis direction.
【0008】ワーク主軸台4にはワーク主軸5の上側位
置に交換アームユニット12が取付けられており、交換
アームユニット12のユニット本体13に旋回及び軸方
向移動可能に設けられたZ軸方向工具交換位置a側を向
く旋回中心軸14の先端に、コ字形に折り曲がった形状
のツイン形工具交換アーム15が取付けられており、工
具交換アーム15の両端に工具Tを把持するグリッパ1
6が開閉自在に設けられている。An exchange arm unit 12 is mounted on the work spindle stock 4 at a position above the work spindle 5, and a Z-axis direction tool exchange is provided on a unit body 13 of the exchange arm unit 12 so as to be rotatable and axially movable. A twin type tool exchange arm 15 having a U-shaped bend is attached to the tip of the turning center shaft 14 facing the position a side, and a gripper 1 for gripping the tool T at both ends of the tool exchange arm 15.
6 is provided so as to be openable and closable.
【0009】続いて本実施例の作用について説明する。
最初に上段の工具主軸台7の工具交換動作を図2,図3
を参照して説明する。ワーク主軸台4をX軸方向所定の
交換位置に位置決めし、同時にY軸方向に移動して旋回
中心軸14がマガジンポット10と上段の工具主軸8と
の中央になるよう位置決めし、テーブル3をX軸移動し
て工具交換を行う使用済工具Tを有する指定工具主軸台
7を交換位置aの真下に位置決めする。次いで工具交換
アーム15を旋回中心軸方向後退端の退避位置から中間
退避位置に前進させたのち、水平の待機姿勢から角度θ
1旋回して隣接する主軸装着工具に干渉しない斜め姿勢
とし、更に工具交換アーム15を軸方向に前進させて、
グリッパ10を工具Tの把持鍔部と同一平面上とする。Next, the operation of this embodiment will be described.
First, the tool changing operation of the upper tool headstock 7 is shown in FIGS.
Will be described with reference to. The work headstock 4 is positioned at a predetermined exchange position in the X-axis direction, and at the same time, moved in the Y-axis direction so that the turning center shaft 14 is positioned at the center between the magazine pot 10 and the upper tool spindle 8, and the table 3 is moved. The designated tool headstock 7 having the used tool T for X-axis movement and tool exchange is positioned immediately below the exchange position a. Next, the tool exchanging arm 15 is advanced from the retracted position at the retracted end in the turning center axis direction to the intermediate retracted position, and then the angle θ is set from the horizontal standby posture.
One turn to make an oblique posture that does not interfere with the adjacent spindle-mounted tool, and further advance the tool exchange arm 15 in the axial direction,
The gripper 10 is on the same plane as the grip flange of the tool T.
【0010】次いで工具交換アーム15が角度θ2旋回
して垂直姿勢となり、マガジンポット10の次工具Tと
上段の工具主軸台7の使用済工具Tとを同時に把持し、
軸方向に中間退避位置まで後退して両工具を同時にマガ
ジンポット10及び工具主軸8より抜き取る。次いで工
具交換アーム15が180°旋回して両工具Tの位置が
入れ替わり、再び軸方向に前進して次工具Tを工具主軸
8に、また使用済工具Tをマガジンポットに同時に挿入
する。次いで工具交換アーム15が角度θ2旋回して斜
め姿勢となり両工具Tから離れたのち、軸方向に後退し
て中間退避位置となり、更に角度θ1旋回して水平の待
機姿勢となって、切削加工に支障のない退避位置へ退避
し、次の切削加工が行われる。Next, the tool exchanging arm 15 pivots by an angle θ2 into a vertical posture, and simultaneously grips the next tool T of the magazine pot 10 and the used tool T of the upper tool spindle stock 7,
Both tools are retracted in the axial direction to the intermediate retracted position, and both tools are simultaneously removed from the magazine pot 10 and the tool spindle 8. Next, the tool exchanging arm 15 pivots 180 °, the positions of both tools T are exchanged, and the tools T move forward in the axial direction again to insert the next tool T into the tool spindle 8 and the used tool T into the magazine pot at the same time. Next, the tool exchanging arm 15 pivots by an angle θ2 to become an oblique posture, separates from both tools T, and then retracts in the axial direction to an intermediate retreat position, and further pivots an angle θ1 to a horizontal standby posture for cutting. The next cutting process is performed by retracting to a retracted position where there is no obstacle.
【0011】次に下段の工具主軸台7の工具交換動作を
図4〜図6を参照して説明する。テーブル3をX軸方向
移動端に退避させて上段の工具主軸台7と工具交換アー
ム15との干渉を避け(図5)、前述と同様の動作でマ
ガジンポット10から次工具Tを抜き取って工具交換ア
ーム15が中間退避位置に後退し、角度θ2旋回して斜
め姿勢となる。次いでテーブル3がX軸移動して交換す
る使用済工具Tが嵌挿されている下段の指定工具主軸7
が交換位置aの真下に位置決めされ、同時にワーク主軸
台4がY軸方向下側に上段の工具主軸7と下段の工具主
軸台7の軸心間距離だけ移動する(図6)。Next, the tool exchanging operation of the lower tool headstock 7 will be described with reference to FIGS. The table 3 is retracted to the moving end in the X-axis direction to avoid interference between the tool headstock 7 on the upper stage and the tool changing arm 15 (FIG. 5), and the next tool T is pulled out from the magazine pot 10 by the same operation as described above. The exchange arm 15 retracts to the intermediate retreat position, turns the angle θ2, and assumes an oblique posture. Next, the table 3 is moved along the X axis, and the designated tool spindle 7 in the lower stage in which the used tool T to be replaced is inserted.
Is positioned immediately below the exchange position a, and at the same time, the work headstock 4 moves downward in the Y-axis direction by the distance between the center axes of the upper tool spindle 7 and the lower tool spindle 7 (FIG. 6).
【0012】次いで中間退避位置にある工具交換アーム
15が軸方向に前進したのち、角度θ2旋回して垂直姿
勢となり、下側のグリッパ16で工具主軸8の使用済工
具Tを把持し、再び中間退避位置に後退して使用済工具
Tを工具主軸8より抜き取る。次いで両工具Tを把持す
る工具交換アーム15が180°旋回して両工具の位置
が入れ替わり、再び工具交換アーム15が軸方向に前進
して次工具Tを工具交換主軸8に挿入し、角度θ2旋回
して斜め姿勢となって次工具から離れ、工具交換アーム
15が軸方向に後退して中心退避位置となり、角度θ2
旋回して垂直姿勢となる。Next, after the tool exchanging arm 15 in the intermediate retracted position advances axially, the tool exchanging arm 15 pivots by an angle θ2 to a vertical posture, and the used tool T of the tool spindle 8 is gripped by the lower gripper 16 and the intermediate position is restored again. The used tool T is pulled back from the tool spindle 8 by retracting to the retracted position. Next, the tool exchanging arm 15 for gripping both tools T pivots 180 ° and the positions of both tools are exchanged, and the tool exchanging arm 15 advances axially again to insert the next tool T into the tool exchanging main shaft 8, and the angle θ2. The tool exchange arm 15 pivots to become an oblique posture and separates from the next tool, and the tool exchanging arm 15 retreats in the axial direction to the central retreat position, and the angle θ2.
Turns to a vertical position.
【0013】次いでテーブル3がX軸方向移動端まで移
動して干渉を避け、ワーク主軸台4がY軸方向上側に上
段と下段の工具主軸軸心間距離だけ移動して、工具交換
アーム15の上側グリッパ16に把持される使用済工具
Tがマガジンポット10と同心となる。次いで工具交換
アーム15の前進で使用済工具Tがマガジンポット10
に挿入され、工具交換アーム15が角度θ2旋回して使
用済工具Tから離れ、工具交換アーム15が中間退避位
置に後退し、角度θ1旋回して水平姿勢となり、後退端
の待機位置まで後退する。Next, the table 3 moves to the moving end in the X-axis direction to avoid interference, and the work headstock 4 moves upward in the Y-axis direction by the distance between the upper and lower tool spindle axes, and the tool exchanging arm 15 moves. The used tool T gripped by the upper gripper 16 is concentric with the magazine pot 10. Then, the tool change arm 15 is advanced to move the used tool T to the magazine pot 10.
, The tool exchange arm 15 pivots at an angle θ2 away from the used tool T, the tool exchange arm 15 retracts to an intermediate retracted position, pivots at an angle θ1 to a horizontal posture, and retracts to a standby position at the retracted end. .
【0014】[0014]
【発明の効果】本発明は上述のとおり構成されているの
で次に記載する効果を奏する。工具主軸台に対向するワ
ーク主軸台に交換アームユニットを設け、切削加工に必
要な各軸移動を利用して工具交換動作を行うようにした
ので、構造が簡素で故障率の少ない安価で信頼性の高い
自動工具交換装置となる。Since the present invention is configured as described above, it has the following effects. A work arm headstock facing the tool headstock is equipped with a replacement arm unit, and the tool change operation is performed by using each axis movement required for cutting, so the structure is simple, the failure rate is low, and the reliability is low. It is a high-performance automatic tool changer.
【図1】本発明の実施例の自動工具交換装置付工作機械
の構成図である。FIG. 1 is a configuration diagram of a machine tool with an automatic tool changer according to an embodiment of the present invention.
【図2】本実施例の自動工具交換装置の上段の工具主軸
台の工具交換動作を表す側面図である。FIG. 2 is a side view showing a tool exchanging operation of an upper tool spindle stock of the automatic tool exchanging device according to the present embodiment.
【図3】図2のA−A線視図である。3 is a view taken along the line AA of FIG.
【図4】下段の工具主軸台の工具交換時の下段の主軸工
具の着脱動作を表す側面図である。FIG. 4 is a side view showing an attachment / detachment operation of the lower spindle tool at the time of tool exchange of the lower tool spindle stock.
【図5】下段の工具主軸台の工具交換時のマガジン工具
の着脱動作を表す正面図である。FIG. 5 is a front view showing an attaching / detaching operation of a magazine tool at the time of tool exchange of a lower tool spindle stock.
【図6】図4のB−B線視図である。6 is a BB line view of FIG. 4. FIG.
1A,1B ベッド 2 コラム 3 テーブル 4 ワーク主
軸台 5 ワーク主軸 7 工具主軸
台 8 工具主軸 9 工具マガ
ジン 12 交換アームユニット 15 工具交
換アーム1A, 1B Bed 2 Column 3 Table 4 Work spindle stock 5 Work spindle 7 Tool spindle stock 8 Tool spindle 9 Tool magazine 12 Exchange arm unit 15 Tool exchange arm
Claims (2)
工具交換アームが取付けられたワーク主軸台のY軸及び
Z軸方向移動位置決めと、工具交換アームの旋回及び抜
き差し動作により工具主軸台上方に固設された工具マガ
ジンの工具と工具主軸の工具とを交換することを特徴と
する自動工具交換方法。1. A positioning method for moving the tool headstock in the X-axis direction,
Moves and positions the work spindle stock in the Y-axis and Z-axis directions to which the tool change arm is attached, and the tool magazine tool and tool spindle tool that are fixedly installed above the tool spindle stock by the turning and removing / inserting operations of the tool change arm. An automatic tool changing method characterized by changing.
にX軸方向に並置される一段又は二段積みの複数個の工
具主軸台と、該工具主軸台に対向するZ軸及びY軸方向
に移動可能なワーク主軸台とを備える工作機械におい
て、前記複数の工具主軸台の上方に設けられ複数本の工
具を貯蔵しZ軸方向ワーク主軸台側を向く交換位置に指
定工具を割出す工具マガジンと、前記ワーク主軸台のワ
ーク主軸の上側位置に設けられZ軸方向の旋回中心軸の
まわりで旋回及び抜き差し可能な工具交換アームを有す
る交換アームユニットを構成要素とする自動工具交換装
置。2. A plurality of one-step or two-step stacking tool headstocks arranged in parallel in the X-axis direction on a table movable in the X-axis direction, and Z-axis and Y-axis facing the tool headstock. In a machine tool provided with a work headstock which is movable in a direction, a plurality of tools are provided above the plurality of tool headstocks, a plurality of tools are stored, and a designated tool is indexed to a replacement position facing the work headstock side in the Z-axis direction. An automatic tool exchanging device comprising a tool magazine and an exchanging arm unit having a tool exchanging arm provided above the work spindle of the work spindle stock and capable of swiveling and removing around a swivel center axis in the Z-axis direction.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
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JP5294323A JP3002938B2 (en) | 1993-10-28 | 1993-10-28 | Automatic tool changer and tool change method |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
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JP5294323A JP3002938B2 (en) | 1993-10-28 | 1993-10-28 | Automatic tool changer and tool change method |
Publications (2)
Publication Number | Publication Date |
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JPH07124836A true JPH07124836A (en) | 1995-05-16 |
JP3002938B2 JP3002938B2 (en) | 2000-01-24 |
Family
ID=17806219
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Application Number | Title | Priority Date | Filing Date |
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JP5294323A Expired - Fee Related JP3002938B2 (en) | 1993-10-28 | 1993-10-28 | Automatic tool changer and tool change method |
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JP (1) | JP3002938B2 (en) |
Cited By (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2006130645A (en) * | 2004-10-08 | 2006-05-25 | Okuma Corp | Tool changer and machine tool including it |
JP2007283409A (en) * | 2006-04-12 | 2007-11-01 | Nano:Kk | Cutting device |
CN102729083A (en) * | 2011-03-30 | 2012-10-17 | 兄弟工业株式会社 | Machine tool |
CN103962583A (en) * | 2014-03-24 | 2014-08-06 | 杭州电子科技大学 | Automatic replacing device and method of ultrasonic cutting process tool |
Families Citing this family (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
KR101781999B1 (en) * | 2011-07-27 | 2017-09-26 | 삼성전자주식회사 | Finger movement recognition glove and method using conductive coated material |
US11487732B2 (en) | 2014-01-16 | 2022-11-01 | Ab Initio Technology Llc | Database key identification |
-
1993
- 1993-10-28 JP JP5294323A patent/JP3002938B2/en not_active Expired - Fee Related
Cited By (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2006130645A (en) * | 2004-10-08 | 2006-05-25 | Okuma Corp | Tool changer and machine tool including it |
JP2007283409A (en) * | 2006-04-12 | 2007-11-01 | Nano:Kk | Cutting device |
JP4714625B2 (en) * | 2006-04-12 | 2011-06-29 | 株式会社 ナノ | Cutting equipment |
CN102729083A (en) * | 2011-03-30 | 2012-10-17 | 兄弟工业株式会社 | Machine tool |
CN103962583A (en) * | 2014-03-24 | 2014-08-06 | 杭州电子科技大学 | Automatic replacing device and method of ultrasonic cutting process tool |
CN103962583B (en) * | 2014-03-24 | 2017-02-22 | 杭州电子科技大学 | Automatic replacing device and method of ultrasonic cutting process tool |
Also Published As
Publication number | Publication date |
---|---|
JP3002938B2 (en) | 2000-01-24 |
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