JPS5827055B2 - automatic tool changer - Google Patents
automatic tool changerInfo
- Publication number
- JPS5827055B2 JPS5827055B2 JP54169996A JP16999679A JPS5827055B2 JP S5827055 B2 JPS5827055 B2 JP S5827055B2 JP 54169996 A JP54169996 A JP 54169996A JP 16999679 A JP16999679 A JP 16999679A JP S5827055 B2 JPS5827055 B2 JP S5827055B2
- Authority
- JP
- Japan
- Prior art keywords
- tool
- axis
- claw
- vertical
- spindle
- 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
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q3/00—Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine
- B23Q3/155—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling
- B23Q3/157—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling of rotary tools
- B23Q3/1578—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling of rotary tools for tool transfer in a machine tool with a horizontal and a vertical spindle; for tool transfer in a machine tool with a spindle having variable orientation
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Automatic Tool Replacement In Machine Tools (AREA)
Description
【発明の詳細な説明】
本発明は、縦主軸と横主軸とにより縦型、横型の両機能
を有する工作機械の自動工具交換装置に関する。DETAILED DESCRIPTION OF THE INVENTION The present invention relates to an automatic tool changer for a machine tool that has both vertical and horizontal functions using a vertical spindle and a horizontal spindle.
従来、上記の縦横兼用型の工作機械の縦または横主軸に
、同一の工具収納マガジンから新工具を供給、装着し、
または逆に取外して返却する自動工具交換装置はあるが
、本発明は従来の装置に較べ、相互に９０°間隔で逆ハ
字を形成して旋回軸に固着された一対の旋回アームを三
方向に移動するのみで工具マガジンと主軸間の工具交換
を行なうことにより、交換装置の機構、動作の簡素化と
交換時間の短縮を図ることを目的とする。Conventionally, new tools were supplied and installed from the same tool storage magazine to the vertical or horizontal spindle of the above-mentioned vertical and horizontal machine tools.
On the other hand, there are automatic tool changers in which the tool is removed and returned, but compared to conventional devices, the present invention has a pair of rotating arms fixed to a rotating shaft that form an inverted V-shape at 90° intervals to each other in three directions. The purpose of the present invention is to simplify the mechanism and operation of the exchanger and shorten the exchange time by exchanging tools between the tool magazine and the spindle by simply moving the tool to the main axis.
以下、本発明の実施例を第１，２．３図に基いて説明す
ると、本発明に係わる自動工具交換装置は、工作機械の
縦主軸１及び横主軸２と、工具収納マガジン３との間で
工具４を自動交換するための装置において、前記縦主軸
１の縦軸線１ａ及び横主軸２の横軸線２ａに平行な垂直
平面Ａで、前記縦軸線１ａに対して４５°だけ傾いた傾
斜軸線５ａ周りに旋回する旋回軸５と、前記垂直平面Ａ
で該傾斜軸線５ａに対して夫々４５°だけ前記両主軸１
，２側に傾き相互に９０°間隔で逆ハ字を形成して前記
旋回軸５に固着された一対の旋回アーム６と、該旋回ア
ーム６の先端部に夫々固着された工具把握用爪７とが設
けられたものである。Embodiments of the present invention will be described below with reference to FIGS. 1 and 2.3. The automatic tool changer according to the present invention is arranged between the vertical spindle 1 and the horizontal spindle 2 of a machine tool, and the tool storage magazine 3. In a device for automatically changing a tool 4 in a vertical plane A parallel to the longitudinal axis 1a of the vertical spindle 1 and the horizontal axis 2a of the lateral spindle 2, an inclined axis tilted by 45° with respect to the longitudinal axis 1a. A pivot axis 5 that pivots around 5a and the vertical plane A
Both main shafts 1 are rotated by 45 degrees with respect to the tilt axis 5a.
, a pair of pivoting arms 6 fixed to the pivot shaft 5 at 90° intervals from each other to form an inverted V-shape, and tool grasping claws 7 fixed to the tips of the pivoting arms 6, respectively. This is what is provided.
そして前記旋回軸５は、旋回駆動装置８により旋回可能
に第一サポート９に支持され、該第−サポートは、前後
駆動装置１０により前後移動可能に第二サポート１１に
装架され、該第二サポートは、副昇降駆動装置１２によ
り上下移動可能にキャリッジ１３に装架され、該キャリ
ッジは、左右駆動装置１４のスクリュー１５により左右
移動可能にサドル１６に装架され、該サドルは、主昇降
駆動装置１７のスクリュー１７ａにより昇降可能にスタ
ンド１８に装架されているものである。The pivot shaft 5 is supported by a first support 9 so as to be pivotable by a pivot drive device 8, and the second support is mounted on a second support 11 so as to be movable back and forth by a longitudinal drive device 10. The support is mounted on a carriage 13 so as to be movable up and down by a sub-elevating drive device 12, and the carriage is mounted on a saddle 16 so as to be movable left and right by a screw 15 of a left-right drive device 14. The device 17 is mounted on a stand 18 so that it can be raised and lowered by a screw 17a.
また、前記横主軸２はアクチメント１９を介して主軸頭
２０の縦主軸１に装着され、該主軸頭は主軸頭サドル２
１を介してクロスレール２２に左右移動可能に装架され
、該クロスレールはフラム２３に昇降可能に装架されて
いる。Further, the horizontal spindle 2 is attached to the vertical spindle 1 of a spindle head 20 via an actiment 19, and the spindle head is attached to a spindle head saddle 2.
1 so as to be movable left and right on a cross rail 22, and the cross rail is mounted on a flam 23 so as to be movable up and down.
２４はテーブル、２５はベットである。24 is a table, and 25 is a bet.
次に動作を説明する。Next, the operation will be explained.
なお第３． ４． ５図の如く、動作中の爪７の位置を
旋回軸５の先端の中心Ｂの位置で示すこととし、第一サ
ポータ９の左右移動による爪７の後端位置をＸｌ、中央
位置をｘ２、前端位置をＸ３とし、第二サポータ１１の
昇降による爪７の上限位置を￥１、下限位置を￥２とし
、キャリッジ１３の左右移動による爪７の左端位置をＺ
ｌ、中央位置をＺ２、右端位置をＺ３とし、サドル１６
の昇降による爪７の下位置をＷｌ、上位置をＷ２として
、上記各座標にて示す。In addition, 3rd. 4. As shown in Fig. 5, the position of the pawl 7 during operation is indicated by the center B of the tip of the pivot shaft 5, the rear end position of the pawl 7 due to left and right movement of the first supporter 9 is Xl, the center position is x2, The front end position is X3, the upper limit position of the claw 7 due to the elevation of the second supporter 11 is ¥1, the lower limit position is ¥2, and the left end position of the claw 7 due to left and right movement of the carriage 13 is Z.
l, center position is Z2, right end position is Z3, saddle 16
The lower position of the claw 7 as it moves up and down is designated as Wl, and the upper position as W2, and is shown in the above coordinates.
そしてサドル１６をスタンド１８の下位に、キャリッジ
１３をサドル１６の左端に、第二サポータ１１をキャリ
ッジ１３の上限に、第一サポータ９を第二サポータ１１
の後端に夫々セットした状態、すなわち爪７を工具交換
のための第一原点位置Ｃ（Ｘｌ、￥１．Ｚ１．Ｗ、）に
セットした状態よりの動作を説明する。Then, the saddle 16 is placed below the stand 18, the carriage 13 is placed on the left end of the saddle 16, the second supporter 11 is placed on the upper limit of the carriage 13, and the first supporter 9 is placed on the second supporter 11.
The operation from the state where the claws 7 are set at the rear ends of the tools, that is, the claws 7 are set at the first origin position C (Xl, ¥1.Z1.W,) will be described.
先づ横主軸２に対する工具交換動作を説明するが、主と
して第３，４図に基き、第一原点位置Ｃ（Ｘｌ、￥１．
Ｚ１．Ｗ１）の爪７と横軸線２ａと同一位置の場合を説
明する。First, the tool exchange operation for the horizontal spindle 2 will be explained.Mainly based on FIGS. 3 and 4, the first origin position C (Xl, ¥1.
Z1. A case where the claw 7 of W1) is located at the same position as the horizontal axis 2a will be explained.
従ってこの場合はサドル１６の昇降動作は不必要であり
、以下の説明では爪７の位置の座標からＷｌを省く。Therefore, in this case, it is unnecessary to move the saddle 16 up and down, and in the following explanation, Wl will be omitted from the coordinates of the position of the claw 7.
■、工具収納マガジン３内の工具を把握しているホルダ
ーが旋回し、次に使用する新手具４を工具交換位置にセ
ットする。(2) The holder that holds the tools in the tool storage magazine 3 rotates, and the new tool 4 to be used next is set at the tool exchange position.
■、爪７が第一原点位置Ｃ（Ｘ４．、 Ｙ、、 Ｚ、
）から中央Ｘ２まで前進して位置Ｘ２．￥１．Ｚ１で一
方の爪７で新手具を把握する。■, Claw 7 is at the first origin position C (X4., Y,, Z,
) to the center X2 and move to position X2. ¥1. Grip the new tool with one claw 7 in Z1.
■、マガジン内の工具ホルダーが工具を離した後爪７が
下限￥２まで下降して位置ｘ２．￥２゜Ｚｌで新手具を
マガジン３の工具ホルダーより離脱させる。■ After the tool holder in the magazine releases the tool, the claw 7 descends to the lower limit ¥2 and moves to position x2. Remove the new tool from the tool holder in magazine 3 with ¥2゜Zl.
■、爪７が後端Ｘ１まで後退して位置Ｘ１．￥２．Ｚ１
に移る。(2) The claw 7 is moved back to the rear end X1 to position X1. ¥2. Z1
Move to.
■、爪７が左右方向中央Ｚ２まで移動して位置Ｘ１．￥
２．Ｚ２で待機する。(2) The claw 7 moves to the center Z2 in the left-right direction and moves to the position X1. ￥
2. Wait at Z2.
なお、上記■ないし■の動作は機械運転とは別の本装置
のみの動作であり、一工程加工終了後機械本体の各軸が
工具交換のための第二原点位置りに復帰するまで、本装
置は上記の五動作完了のまま待機する。Note that the above operations ■ to ■ are operations of this device only, which are separate from machine operation, and the main operation continues until each axis of the machine body returns to the second origin position for tool exchange after one process machining is completed. The device waits while the above five operations are completed.
■、機械本体の各軸が第二原点位置りに復帰した後、爪
７は上記待機位置Ｘ１．Ｙ２．Ｚ２より右端Ｚ３に移動
して位置Ｘ１．￥２．Ｚ３に移る。(2) After each axis of the machine body returns to the second origin position, the claw 7 is moved to the above-mentioned standby position X1. Y2. Move from Z2 to the right end Z3 and move to position X1. ¥2. Move on to Z3.
■、爪７が前端Ｘ３まで前進すると共に上限￥１に上昇
して位置Ｘ３．￥１．Ｚ３に移る。■, The claw 7 moves forward to the front end X3 and rises to the upper limit ¥1 to position X3. ¥1. Move on to Z3.
■、新手具をつんでいない他方の爪７が、横主軸２に装
置していた使用済の画工具を把握し、横主軸内のコレッ
トが工具を離した後爪７が後端Ｘ１まで後退して位置Ｘ
１．￥１．Ｚ３で横主軸２より画工具を抜取る。■, The other claw 7 that is not holding the new tool grasps the used drawing tool that was attached to the horizontal main shaft 2, and after the collet in the horizontal main shaft releases the tool, the claw 7 retreats to the rear end X1. and position X
1. ¥1. Remove the drawing tool from the horizontal spindle 2 at Z3.
■、爪７が後退と同時に１８００だけ旋回して、新旧工
具の位置を逆転させる。(2) At the same time as the claw 7 retreats, it turns by 1800 degrees to reverse the positions of the old and new tools.
０、爪７が前端Ｘ３まで前進して位置Ｘ３．￥１．Ｚ３
て一方の爪７が把握している新手具を横主軸２の穴に入
れ、横主軸内のコレットが工具を把握すると、爪７が下
限￥２まで降下すると同時に、工具が爪から抜けて、爪
は位置Ｘ３．￥２．Ｚ３に移る。0, the claw 7 moves forward to the front end X3 and reaches position X3. ¥1. Z3
When the new tool gripped by one of the claws 7 is inserted into the hole of the horizontal spindle 2, and the collet in the horizontal spindle grasps the tool, the claw 7 descends to the lower limit of ¥2 and at the same time the tool comes out of the claw. The claw is in position X3. ¥2. Move on to Z3.
なおこの時点で工具交換は完了し、機械は加工動作に入
る。Note that at this point, the tool change is completed and the machine begins machining operation.
０、爪７が後端Ｘ１へ後退すると共に左右方向中央Ｚ２
にもどり位置Ｘ１．Ｙ２．Ｚ２に移る。0, the claw 7 retreats to the rear end X1 and moves to the center Z2 in the left-right direction
Return position X1. Y2. Move on to Z2.
＠、爪７が左端Ｚ１、前後方向中央Ｘ２、上限￥１へ移
動して位置Ｘ２．Ｙｏ、Ｚ、で他方の爪７が把握してい
た画工具をマガジン３へ返却し、工具ホルダーが工具を
つかんだ後後端Ｘ１へ後退して位置Ｘ１゜￥１．Ｚ１す
なわち第一原点位置Ｃにもどる。@, the claw 7 moves to the left end Z1, the center in the longitudinal direction X2, and the upper limit ¥1, and reaches position X2. At Yo and Z, the drawing tool held by the other claw 7 is returned to the magazine 3, and the tool holder grabs the tool and retreats to the rear end X1 to position X1°\1. Return to Z1, that is, the first origin position C.
０、この時点で工具交換動作完了し、次指令あるまでそ
の位置にて待機する。0. At this point, the tool exchange operation is completed and the tool waits at that position until the next command is received.
なお、上記動作は、第一原点位置Ｃの爪７が横軸線２ａ
と同じ位置の場合であるが、ワークの高さ等による横主
軸の高低位置の変化に対して、工具交換のための機械側
の動作を最少に、また時間短縮のため、交換原点位置を
二個新設けてあり、交換位置の選択が可能である。In addition, in the above operation, the claw 7 at the first origin position C is aligned with the horizontal axis 2a.
However, in order to minimize the movement on the machine side for tool exchange and to shorten the time, the exchange origin position is set to two, due to changes in the height position of the horizontal spindle due to the height of the workpiece, etc. Each item is individually provided, and the replacement position can be selected.
次に縦主軸１に対する工具交換動作を主として第３，５
図に基き説明する。Next, the tool change operations for the vertical spindle 1 will be performed mainly in the 3rd and 5th
This will be explained based on the diagram.
■、工具収納マガジン３で、次に使用する新手具を工具
交換位置にセットする。(2) Set the new tool to be used next in the tool storage magazine 3 at the tool exchange position.
■、爪７が第一原点位置Ｃ（Ｘｌ、￥１．Ｚ１．Ｗ１）
から位置Ｘ２へ前進して位置Ｘ２．￥１．Ｚ１．Ｗ１で
新手具を把握する。■, Claw 7 is at first origin position C (Xl, ¥1.Z1.W1)
Move forward from position X2 to position X2. ¥1. Z1. Understand new tools in W1.
■、工具ホルダーが工具を離すと爪が下限￥２へ下降し
て位置Ｘ２．￥２．Ｚ１．Ｗ１で新手具をマガジン３よ
り離脱させる。■When the tool holder releases the tool, the claw descends to the lower limit ¥2 and returns to position X2. ¥2. Z1. Use W1 to remove the new tool from magazine 3.
■、爪７が後端Ｘ１へ後退して位置Ｘ１．￥２．Ｚ１．
Ｗ１に移る■、爪７が左端Ｚ１より中央Ｚ２へ前進して
位置Ｘ、。(2) The claw 7 retreats to the rear end X1 to position X1. ¥2. Z1.
Moving to W1 ■, the claw 7 moves forward from the left end Z1 to the center Z2 to position X.
￥２．Ｚ２．Ｗ１に移ると共に爪７を１８０°だけ旋回
する。¥2. Z2. At the same time as moving to W1, the claw 7 is rotated by 180°.
機械側が第二原点位置りに復帰するまで待機する。Wait until the machine side returns to the second home position.
■、主軸頭１０が第二原点位置りに復帰すると共に、爪
７がサドル１６の上昇により下位Ｗ１より上位Ｗ２へ上
昇し右端Ｚ３へ移動し、さらに第二サポータ１１の上昇
により上限￥１へ上昇して位置Ｘ１．￥１．Ｚ３．Ｗ２
に移る。(2) As the spindle head 10 returns to the second origin position, the claw 7 rises from the lower W1 to the upper W2 due to the rise of the saddle 16, moves to the right end Z3, and further moves to the upper limit ¥1 due to the rise of the second supporter 11. Rise to position X1. ¥1. Z3. W2
Move to.
■、爪Ｉが中央Ｘ２へ前進して位置Ｘ２．￥１．Ｚ３．
Ｗ２に移ることにより、新工具を把握していない他方の
爪が旧工具の把握部に入り旧工具をつかむ。■, the claw I moves forward to the center X2 and moves to the position X2. ¥1. Z3.
By moving to W2, the other claw that does not grip the new tool enters the gripping section of the old tool and grips the old tool.
■、縦軸１内の工具把握用コレットが旧工具を放すと、
第二サポータ１１が下降し、爪７が下限￥２に下降し、
位置Ｘ２．￥２．Ｚ３．Ｗ２で旧工具を縦主軸１より離
脱させる。■When the tool grasping collet in vertical axis 1 releases the old tool,
The second supporter 11 descends, the claw 7 descends to the lower limit ¥2,
Position X2. ¥2. Z3. Remove the old tool from the vertical spindle 1 using W2.
■、爪７が後端Ｘ１へ後退して位置Ｘ１．￥２．Ｚ３．
Ｗ２に移ると共に爪７が１８０°だけ旋回して新旧工具
の位置を逆転させる。(2) The claw 7 retreats to the rear end X1 to position X1. ¥2. Z3.
As the process moves to W2, the claw 7 rotates by 180 degrees to reverse the positions of the old and new tools.
［相］、爪７が中央Ｘ２へ前進し、上限￥１へ上昇し位
置Ｘ２．￥１．Ｚ３．Ｗ２に移ると、一方の爪７が把握
していた新工具が縦主軸１の孔に入り、コレットが新工
具をつかんだ後、爪７が後退すると、爪７から工具が抜
は爪の位置が後端Ｘ１に後退し、位置Ｘ１．￥１．Ｚ３
．Ｗ２に移る。[Phase], the claw 7 moves forward to the center X2, rises to the upper limit ¥1, and reaches position X2. ¥1. Z3. When moving to W2, the new tool held by one of the claws 7 enters the hole in the vertical spindle 1, and after the collet grabs the new tool, the claw 7 moves back and the tool is pulled out from the claw 7 and returns to the claw position. is retreated to the rear end X1, and the position X1. ¥1. Z3
．． Move on to W2.
０、他方の爪で日工具をつかんだまま、爪７が右端Ｚ３
より中央Ｚ２へ、また上限Ｙ１より下限￥２へ、さらに
サドル１６の下降により上位Ｗ２より下位Ｗ１に夫々移
動して、位置Ｘ１．Ｙ２．Ｚ２．Ｗｌに移る。0. While holding the tool with the other claw, move claw 7 to the right end Z3.
to the center Z2, from the upper limit Y1 to the lower limit ¥2, and further from the upper W2 to the lower W1 due to the lowering of the saddle 16, to the position X1. Y2. Z2. Move to Wl.
０、爪７が１８０°だけ旋回し、左端Ｚ１に移動し、位
置Ｘ１．￥２．Ｚ１．Ｗ１に移る。0, the claw 7 rotates by 180°, moves to the left end Z1, and moves to position X1. ¥2. Z1. Move to W1.
０、爪７が中央Ｘ２へ前進し、上限Ｙ、へ上昇し位置Ｘ
２．￥１．Ｚ１゜Ｗｌに移ると他方爪７がつかんでいた
旧工具がマガジン３内の工具ホルダーに入り、工具ホル
ダーが旧工具をつかみ、旧工具返却は完了し、爪７が後
端ｘ１ニ後退し、位置Ｘ１．Ｙｏ、Ｚｌ、Ｗｌ、すなわ
ち第一原点位置Ｃにもどる。0, the claw 7 moves forward to the center X2, rises to the upper limit Y, and reaches the position X
2. ¥1. When moving to Z1°Wl, the old tool held by the other claw 7 enters the tool holder in the magazine 3, the tool holder grabs the old tool, the return of the old tool is completed, and the claw 7 moves back to the rear end x1. Position X1. Yo, Zl, Wl, that is, return to the first origin position C.
０、この時点で動作は完了し、次指令があるまでその位
置にて待機する。0. At this point, the operation is completed and the device waits at that position until the next command is received.
なお横主軸２と同様に工匹交換位置の選択が可能である
。As with the horizontal spindle 2, the workpiece exchange position can be selected.
以北の説明力とら明らかな通り、本５１Ｅ４ｃ＜係る自
動工具交換装置は、縦主軸の縦軸線及び（横主軸の横軸
線に平行な垂直平面で、該縦軸線に対して４５°だけ傾
いた傾斜軸線周りに旋回する旋回軸と、前記垂直平面で
該傾斜軸線に対して夫々４５゜だけ前記両生軸側に傾き
、相互に９００間隔の逆ハ字を形成して前記旋回軸に固
着された一対の旋回アームと、該旋回アームの先端部に
夫々固着された工具把握用爪とが設けられ、前記旋回軸
は、旋回駆動装置（実施例の装置８）により旋回可能に
サポートに支持され、該サポートは、前後駆動装置（実
施例の装置１０）により横軸線に沿った前後方向に移動
可能に、かつ昇降駆動装置（実施例の装置１２．１７）
により縦軸線に沿った上下方向に移動可能に、かつ左右
駆動装置（実施例の装置１４）により両軸線に直交する
左右方向に移動可能の合計三方向に移動可能に構成され
たものである。As is clear from the above explanation, the automatic tool changer according to Book 51E4c is a vertical plane parallel to the vertical axis of the vertical spindle and the horizontal axis of the horizontal spindle, and inclined by 45 degrees with respect to the vertical axis. A pivot shaft that rotates around a tilt axis, and a pivot shaft that is fixed to the pivot shaft, each tilting toward the amphibatic shaft by 45 degrees with respect to the tilt axis in the vertical plane, and forming an inverted V-shape with an interval of 900 degrees from each other. A pair of swing arms and tool grasping claws fixed to the tips of the swing arms, respectively, are provided, and the swing shaft is supported on a support so as to be swingable by a swing drive device (device 8 of the embodiment); The support is movable in the longitudinal direction along the transverse axis by means of a longitudinal drive (example device 10) and by a lifting drive (example device 12.17).
It is configured to be movable in a total of three directions: vertically movable along the vertical axis, and horizontally orthogonal to both axes by a left-right drive device (device 14 in the embodiment).
従って本発明によると、縦主軸、横主軸のいづれに対し
ても、一対の爪のうちの一方の爪で新工具を、他方の爪
で旧工具を把握し、爪を旋回（１８０°旋回）するだけ
で新旧工具の位置を逆転させて、縦主軸、横主軸の両方
の工具交換ができ、交換動作を減少させ、交換時間を短
縮させ得ると云った優れた効果がある。Therefore, according to the present invention, for both the vertical spindle and the horizontal spindle, one of the pair of claws grasps the new tool and the other claw grips the old tool, and the claws are rotated (180° rotation). By simply reversing the positions of the old and new tools, tools can be exchanged on both the vertical and horizontal spindles, which has the excellent effect of reducing the number of exchange operations and shortening the exchange time.
第１図は本発明の実施例の斜視図、第２図は同側面図、
第３図は同動作状態平面図、第４図は同動作状態側面図
、第５図は同動作状態側面図である。
１：縦主軸、１ａ：′縦軸線、２：横主軸、２ａ：横軸
線、３：工具収納マガジン、４：工具、５：旋回軸、５
ａ：傾斜軸線、６：旋回アーム、７：爪、９：第一サポ
ータ、１１：第二サポー、り、１３：キャリッジ、１６
：サドル、１８：スタンド、２０：主軸頭、２４：テー
ブル、Ａ：垂直平面、８：旋回駆動装置、１０：前後駆
動装置、１２：副昇降、駆動装置、１７：主昇降駆動装
置、１４：左右駆動装置。FIG. 1 is a perspective view of an embodiment of the present invention, FIG. 2 is a side view of the same,
3 is a plan view of the same operating state, FIG. 4 is a side view of the same operating state, and FIG. 5 is a side view of the same operating state. 1: Vertical main axis, 1a: 'Vertical axis line, 2: Horizontal main axis, 2a: Horizontal axis line, 3: Tool storage magazine, 4: Tool, 5: Swivel axis, 5
a: Inclined axis, 6: Swivel arm, 7: Claw, 9: First supporter, 11: Second support, 13: Carriage, 16
: Saddle, 18: Stand, 20: Spindle head, 24: Table, A: Vertical plane, 8: Swivel drive device, 10: Front-back drive device, 12: Sub-lifting device, drive device, 17: Main lifting drive device, 14: Left and right drive device.
Claims (1)
ジン３との間で工具４を自動交換するための装置におい
て、前記縦主軸１の縦軸線１ａ及び横主軸２の横軸線２
ａに平行な垂直平面Ａで、前記縦軸線１ａに対して４５
°だけ傾いた傾斜軸線５ａ周りに旋回する旋回軸５と、
前記垂直平面Ａで該傾斜軸線５ａに対して夫々４５°だ
け前記両主軸１．２側に傾き、相互に９０°間隔で逆ハ
字を形成して前記旋回軸５に固着された一対の旋回アー
ム６と、該旋回アーム６の先端部に夫々固着された工具
把握用爪７とが設けられ、前記旋回軸５は、旋回、駆動
装置により旋回可能にサポートに支持され、該サポート
は、前後駆動装置により横軸線２ａに沿った前後方向に
移動可能に、かつ昇降駆動装置により縦軸線１ａに沿っ
た上下方向に移動可能に、かつ左右駆動装置により両軸
線１ａ、２ａに直交する左右方向に移動可能に構成され
たことを特徴とする自動工具交換装置。1 In a device for automatically exchanging tools 4 between the vertical spindle 1 and the horizontal spindle 2 of a machine tool and the tool storage magazine 3, the vertical axis 1a of the vertical spindle 1 and the horizontal axis 2 of the horizontal spindle 2
45 with respect to the longitudinal axis 1a in a vertical plane A parallel to a
a pivot axis 5 that pivots around a tilt axis 5a tilted by °;
A pair of swivels are fixed to the swivel shaft 5 on the vertical plane A, each tilting toward the two main shafts 1.2 by 45° with respect to the inclination axis 5a, forming an inverted V shape at 90° intervals. An arm 6 and a tool grasping pawl 7 fixed to the tip of the swing arm 6 are provided, and the swing shaft 5 is supported by a support so as to be swingable by a drive device. The driving device allows the device to move forward and backward along the horizontal axis 2a, the lifting device allows it to move up and down along the vertical axis 1a, and the left and right driving device allows it to move in the left and right directions perpendicular to both axes 1a and 2a. An automatic tool changer characterized in that it is configured to be movable.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP54169996A JPS5827055B2 (en) | 1979-12-25 | 1979-12-25 | automatic tool changer |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP54169996A JPS5827055B2 (en) | 1979-12-25 | 1979-12-25 | automatic tool changer |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS5695559A JPS5695559A (en) | 1981-08-03 |
| JPS5827055B2 true JPS5827055B2 (en) | 1983-06-07 |
Family
ID=15896651
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP54169996A Expired JPS5827055B2 (en) | 1979-12-25 | 1979-12-25 | automatic tool changer |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS5827055B2 (en) |
Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS6040338B2 (en) * | 1982-03-31 | 1985-09-10 | 東芝機械株式会社 | automatic tool changer |
| DE8407327U1 (en) * | 1984-03-09 | 1984-12-06 | Friedrich Deckel AG, 8000 München | DEVICE FOR CHANGING TOOLS OR THE LIKE IN THE WORK SPINDLE OF A MACHINE TOOL |
| JPS6161137U (en) * | 1984-09-28 | 1986-04-24 | ||
| JPS61142038A (en) * | 1984-12-12 | 1986-06-28 | Toshiba Mach Co Ltd | Attachment-tool replacing apparatus |
| ES2246130B1 (en) * | 2004-03-24 | 2006-12-01 | Danobat Sistemas S. Coop. | TOOL CHANGER FOR MACHINING CENTERS. |
| KR101201661B1 (en) | 2009-10-27 | 2012-11-14 | 전창복 | Chuck Exchanger for Electric Discharge Machine |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5063579A (en) * | 1973-10-09 | 1975-05-30 | ||
| JPS5138109A (en) * | 1974-09-27 | 1976-03-30 | Hitachi Ltd | JIDOSHIKI HONPU |
-
1979
- 1979-12-25 JP JP54169996A patent/JPS5827055B2/en not_active Expired
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5063579A (en) * | 1973-10-09 | 1975-05-30 | ||
| JPS5138109A (en) * | 1974-09-27 | 1976-03-30 | Hitachi Ltd | JIDOSHIKI HONPU |
Also Published As
| Publication number | Publication date |
|---|---|
| JPS5695559A (en) | 1981-08-03 |
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