JPS6076936A - Tool exchange device - Google Patents
Tool exchange deviceInfo
- Publication number
- JPS6076936A JPS6076936A JP18554083A JP18554083A JPS6076936A JP S6076936 A JPS6076936 A JP S6076936A JP 18554083 A JP18554083 A JP 18554083A JP 18554083 A JP18554083 A JP 18554083A JP S6076936 A JPS6076936 A JP S6076936A
- Authority
- JP
- Japan
- Prior art keywords
- tool
- arm
- casing
- cylinder
- storage magazine
- 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.)
- Pending
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
- B23Q3/15713—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
- B23Q3/1572—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 the storage device comprising rotating or circulating storing means
- B23Q3/15753—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 the storage device comprising rotating or circulating storing means the storage means rotating or circulating in a plane perpendicular to the axis of the spindle
- B23Q3/15766—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 the storage device comprising rotating or circulating storing means the storage means rotating or circulating in a plane perpendicular to the axis of the spindle the axis of the stored tools being arranged perpendicularly to the rotating or circulating plane of the storage means
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Automatic Tool Replacement In Machine Tools (AREA)
Abstract
Description
【発明の詳細な説明】
本発明は工具交換可能な工作機械における工具交換装置
に関する。DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a tool changing device for a machine tool capable of changing tools.
工具貯蔵マガジンと工作機械の主輪が離れた位置にあっ
て主軸内の工具管自動的に交換すふ装置近に工具を一時
装着する中間工具ポットを設け、この中間工具ポットと
工具貯蔵マガジンの交換位置との間で工具を受け渡しす
る中間アームを特別に装着【１、さらに両端に工具をグ
リップ可能と１−た工具交換アームと前記中間ポットを
一体的に移動１１、主軸内工具と中間ポット内の工具を
同時に把持して前進（１，１８０度旋回（７た後工具を
入れ換え、工具交換アーム管後退した後、工具交換アー
ムを離脱すべく所定の角度旋回し、てすべでの工具管自
動的を完了するように１．ていた。したがって中間工具
ポットおよび中間アームと工具交換アームの動作が複雑
になるという入点があった。この中間工具ポットと中間
アームについての技術的開示はたとえば特公昭 ５７−
４４５７ｆｆ示される。The tool storage magazine and the main wheel of the machine tool are located apart from each other, and an intermediate tool pot for temporarily mounting tools is installed near the tool tube automatic exchange device in the main spindle. Specially equipped with an intermediate arm that transfers tools to and from the exchange position [1. Furthermore, the tool exchange arm and the intermediate pot can be moved together at both ends so that the tool can be gripped 11. The tool in the spindle and the intermediate pot At the same time, hold the tools inside and move forward (turn 1,180 degrees (7), then replace the tools, move the tool exchange arm tube backwards, turn the tool exchange arm at a predetermined angle to remove it, and turn the tool tube at the same time. 1. Therefore, there was an inconvenience that the operation of the intermediate tool pot, intermediate arm, and tool change arm was complicated.The technical disclosure regarding this intermediate tool pot and intermediate arm is, for example, Tokuko Sho 57-
4457ff is shown.
本発明は従来のこのような事情Ｆ鑑みてプされたもので
、その目的とするところは、前記工具交換のための装置
全改善し、合わせて工具交換のための輔作ル籠書什寸又
ｒ Ｆ＋ １７１’ Ｉ介−１−目存誦棋着シ提供する
ことにある。The present invention has been developed in view of the above-mentioned conventional circumstances, and its purpose is to completely improve the device for exchanging tools, and also to improve the size of the aid for exchanging tools. Another purpose is to provide the F+ 171' I-1-me recitation chess game.
本発明の構成は下記の通りである。 The structure of the present invention is as follows.
工作機械の主軸と工具貯蔵マガジンの間を移動して工具
交換を行なう工具交換装置におりて、工具交換アーム１
ｒ圧右対象に一対設け、それぞれの工具変換アームを独
立に進退駆動するアクチュエータ會備え、前記工具交換
アームを支持するケーシングを回転せしめる回転装置ケ
設けたことを特徴とする工具９．換装ｆ１ｔｕ
〔実施例〕
次Ｖ’Ｘ発明の実施例について説明する。The tool changing arm 1 moves between the spindle of the machine tool and the tool storage magazine to change tools.
9. A tool, characterized in that a pair of actuators are provided on the right side of the r-pressure arm, and a rotary device is provided to rotate a casing that supports the tool changing arm. Replacement f1tu [Example] Next, an example of the V'X invention will be described.
第１図は本実施例の全体構成を示す平面図で、第２図は
回正面図？示す、１（３は床上に配設置た基台で、左方
ｒ多数の工具Ｊ１を鉛直方向支持する円盤状工具貯蔵マ
ガジン１２を配置している。Figure 1 is a plan view showing the overall configuration of this embodiment, and Figure 2 is a front view. 1 (3) is a base placed on the floor, and on the left side r there is disposed a disk-shaped tool storage magazine 12 that vertically supports a large number of tools J1.
このマガジン１２内の工具は図示省略１．た揺動爪ｒよ
って支持され工具をマガジン１２の半径方向より着脱可
能としている。The tools in this magazine 12 are omitted from the illustration.1. The tool is supported by the swing claw r, which allows the tool to be attached to and removed from the magazine 12 in the radial direction.
また基台１０の右端部付近には工作機械の主軸１３が工
具交換時に位置される。この基台１０の一側面Ｆ［水平
方向ｆガイドパ１４が固足され、このガイドパ１４に沿
って工具交換装置１５が移＠１２、工作機械の主軸１３
と工具貯蔵マガジン］２の工具交換位置の間を往復可能
としている。Further, near the right end of the base 10, the main shaft 13 of the machine tool is positioned during tool exchange. One side F of this base 10 [horizontal direction
and the tool storage magazine] 2.
ガイドパ１４と工具交換中冨＃装置１５の係合状態は第
３図に示す。この工具交換―寞喚装首１５の移動は算１
図、第２図に示すようにガイドパ１４と平行に基台１（
’Ｉｆｆ固尾］た一対の油圧７リンダ１６Ｖｒ工って行
われる。この油圧シリンダ１６はロッド１６ａ端を対向
１．、て接続１７、ロッド１６ａの一部に工具交換装置
１５の本体２ ｒｌ Ｉｃ固定している。The state of engagement between the guide pawl 14 and the tool changing device 15 is shown in FIG. This tool change - the movement of the head 15 is calculated by 1
As shown in Fig. 2, the base 1 (
A pair of hydraulic 7-cylinder 16Vr machines are used. This hydraulic cylinder 16 has an end of a rod 16a facing 1. The main body 2rlIc of the tool changer 15 is fixed to a part of the connection 17 and the rod 16a.
本体２０の構造は第４図ｆ示寸ようｆ油圧揺動モータ２
１が固足され、その出力軸２１ａの先端には歯車２２が
固定されている。−万本体２０に回転可能ｒ支持された
円筒状のケーシング２３が支持され、その下部には歯車
２２に＠合する歯車２４が固定され、さらｆ歯車２４ケ
支持する軸２５はよアリング２６によって支持されてい
る。The structure of the main body 20 is as shown in Figure 4.
1 is fixedly mounted, and a gear 22 is fixed to the tip of its output shaft 21a. - A cylindrical casing 23 is rotatably supported by the main body 20, and a gear 24 that fits into the gear 22 is fixed to the lower part of the casing 23, and a shaft 25 supporting the 24 gears is supported by a side ring 26. Supported.
ケーシング２３内の底部には回転中心ｒ対１．で左右対
象ｖｒ’）つのピストン軸２７が平行ｒ直立１．。At the bottom inside the casing 23, there is a center of rotation r vs. 1. The two piston shafts 27 are parallel r upright 1. .
で固定されている。このピストン２７Ｖｒはシリンダ２
８がそれぞれ挿着され、ピストン軸２７Ｆ沿って昇降可
能である。このシリンダ２８の上方端部［１１ｆｆそれ
ぞれ工具把持アーム２９がシリンダ２８に直交する方向
に取付けられている。is fixed. This piston 27Vr is cylinder 2
8 are respectively inserted and are movable up and down along the piston shaft 27F. A tool gripping arm 29 is attached to the upper end of the cylinder 28 [11ff] in a direction perpendicular to the cylinder 28.
このアーム２９は工具交換時のマガジン１２または主軸
１３内の工具ホルダ３０のグリ・ツブ部３０ａをアーム
２ｇの開口方向工り把持または開放する。アーム２９は
第５図に示すように固定アーム部２９ａと可動アーム部
２９ｂからなり、可動アーム部２９ｂはビン２９Ｃ？中
心に揺動自在で、可動アーム部２９ｂの端部ｒ設けたピ
ストン’）９ｄＫ圧油を付加することによって工具ホル
ダ３０をクランプすることができる。This arm 29 grips or releases the grip portion 30a of the tool holder 30 in the magazine 12 or the main shaft 13 in the opening direction of the arm 2g during tool exchange. As shown in FIG. 5, the arm 29 consists of a fixed arm part 29a and a movable arm part 29b, and the movable arm part 29b is connected to the bin 29C? The tool holder 30 can be clamped by applying pressure oil to the piston which is swingable in the center and is provided at the end r of the movable arm part 29b.
アーム２９０位ｆｉｎ反転 は、揺動モータ２１を駆１
ｉ１１１１．て歯車２１、歯車２４全介してケーシング
２３を回転によって行なわれ、本体２０の所足ミツトス
イッチ（図示省１ｉ＠）とケーシング２３に設けたドッ
ク（図示省略）との当ｉｆよってケーシング２３の回転
角度を制御することｆより行なわれる。またアーム２９
の昇降はピストン軸２７の上部、シリンダ２８、蓋体３
１穐によって構成される油室３１に圧油を供給または排
出することによって行なわれ、シリンダ２８の上に設け
た突起（図示省略）と本体？Ｏｒ設けた’Ｊ ミツトス
イッチ（図示省略）Ｆよって上下位随動検知し、°ｒ−
ム２９のストロークを制御する。The arm 290 position fin inversion drives the swing motor 21.
i1111. This is done by rotating the casing 23 through all the gears 21 and 24, and the rotation of the casing 23 is caused by the contact between the foot switch (1i@, not shown) of the main body 20 and the dock (not shown) provided on the casing 23. Controlling the angle is performed by f. Also arm 29
The upper part of the piston shaft 27, the cylinder 28, and the lid 3 are raised and lowered.
This is done by supplying or discharging pressurized oil to the oil chamber 31 formed by the cylinder 28, and the projection (not shown) provided on the cylinder 28 and the main body? The up and down movement is detected by the 'J' switch (not shown) F provided, and °r-
The stroke of the drum 29 is controlled.
次に本装置の動作について第６図を基ｆｆ説明する。Next, the operation of this device will be explained with reference to FIG.
工具交換装置１５の待機位置は工具貯蔵マガジン１１と
工作機械の主軸１３の中間にある。この位Ｉｔｖｒおい
て両アームを仮に右側のアーム？Ｒ７−ム、左側のアー
ムをＬアームと名付ける。この待機位置でＲアームとＬ
アームは共犯上昇位１４Ｖ位置決め［７である。このア
ームの上昇位置ハ工具貯蔵マガジン１１内の工具ホルダ
のシャンク部おり部と同一高さｒ保持されている。アー
ムの下降位Ｉｌｔは工具ホルダのシャンクが主軸または
工具貯蔵マガジンのポットから離脱Ｉ、た位置である。The standby position of the tool changer 15 is located between the tool storage magazine 11 and the main shaft 13 of the machine tool. At this point in Itvr, let's assume both arms are the right arm? R7-arm, the left arm is named L arm. At this standby position, the R arm and L
The arm is in the accomplice ascending position 14V [7]. The raised position of this arm is maintained at the same height r as the shank portion of the tool holder in the tool storage magazine 11. The lowered position Ilt of the arm is the position in which the shank of the tool holder is detached from the spindle or the pot of the tool storage magazine.
このよう々前提のもとに工具交換の順序を記載する。Based on this premise, the order of tool exchange will be described.
■ 待機位置から工具貯蔵マガジン側ｒ工具交換装置１
５を移動し工具ホルダのりＩＩ ’ｖア部３０Ｌに工具
を把持する。■ Tool changer 1 from the standby position to the tool storage magazine side
5 and grip the tool in the tool holder glue II'v a part 30L.
■ Ｌアームを下降する。■ Lower the L arm.
■ 工具交換≠：太中装置１５を待機位置ｆ右行する。■Tool change≠: Move the middle device 15 to the standby position f to the right.
〈工具交換指令〉
■ 工作機械の主軸１３１／ｒ工具交換−冨唸装置１５
″ｆｔ移動しＲアームは主軸１３内の工具ホルダを把持
する。<Tool change command> ■ Machine tool main spindle 131/r tool change - multi-whirl device 15
″ft, and the R arm grips the tool holder inside the spindle 13.
■ Ｒアームを下降する。■ Lower the R arm.
■ ケーシング２３ｆ１８０度回転１． ＬアームとＲ
アームの位置を入れ換える。■ Casing 23f 180 degree rotation 1. L arm and R
Swap the position of the arm.
■ Ｌアーム？上昇して主軸１３内に工具ホルダを装置
する。■L arm? The tool holder is lifted up and placed inside the main spindle 13.
■ 工具交換装置１５を左行１〜待期位置で停止する。■ Stop the tool changer 15 at the left row 1 - waiting position.
［有］ 工具マガジンを回転ｌ、て次の工具を割出す。[Yes] Rotate the tool magazine and index the next tool.
Ｏ工具交換装［１５を左行１１１、工具貯蔵マガジン側
ｆ位置決めする。O Position the tool changer [15] in the left row 111, on the tool storage magazine side f.
■ Ｒ了−ムを上昇して工具ポットに工具ホルダを返却
する。■ Raise the R-room and return the tool holder to the tool pot.
■ 工具交換装置１５管右行１待機位置で停止する。■ Tool changer 15 pipe right-hand 1 stops at standby position.
■ 工具貯紙マガジンを回転して次の工具を割出す。■ Rotate the tool storage magazine and index the next tool.
以上で工具交換動作を完了する。その後はＬアームとＲ
アームの位置は交互Ｖｒ１８ｎ度入れ変わりながら以上
■〜■までのシーケンスを繰返すことによって工具の変
換が行なわれる。This completes the tool exchange operation. After that, L arm and R
The tool conversion is performed by repeating the sequence ① to ① while alternating the positions of the arms by Vr18n degrees.
以上述べたように本発明は工作機械の主軸と工具貯蔵マ
ガジンの間を移動する工具交換装置ｆおいて、工具交換
アームを左右対象に一対設け、それぞれの工具交換アー
ムを独立し、て平行に進退駆動するアクチュエータを備
え、前記工具交換アーム全支持するケーシングを揺動せ
しめる揺動装置を設けたので従来のようｆ中間ボ・ソト
および中間アームを設けることなく簡素な装置とするこ
とができた。As described above, the present invention provides a tool changer f that moves between the main axis of a machine tool and a tool storage magazine, in which a pair of tool change arms are provided symmetrically on the left and right, and each tool change arm is independent and parallel to each other. Since it is equipped with an actuator that moves forward and backward, and a rocking device that swings the casing that fully supports the tool exchange arm, it is possible to create a simple device without having to provide an intermediate position and an intermediate arm as in the past. .
なお、前記アクチュエータは本実施例では油圧シリンダ
を使用１．、ｆｃ、がケーシングπピニオン歯車金膜は
同ピニオンＷ噛合するラックをシリンタ゛ｆｔ＜ 設Ｌ
７、ピニオン歯車なモーＪｆｆより駆動する形式にして
もよいＵ筐た前記揺動装置としては、実施例においては
油圧揺動モー４を使用したが電動モータに換えて、工具
交換アームを支持するケーシングを駆動し７て砿よい。In this embodiment, a hydraulic cylinder is used as the actuator.1. , fc, is the casing π pinion gear gold film is the rack that meshes with the same pinion W.
7. The swinging device may be driven by a pinion gear motor Jff. Although the hydraulic swinging motor 4 was used in the embodiment, it may be replaced with an electric motor to support the tool exchange arm. Drive the casing to make it sharper.
このケーシングの揺動一度は工具貯蔵マガジンの配置に
よって適宜決定することができる。The degree of oscillation of the casing can be appropriately determined depending on the arrangement of the tool storage magazine.
本工具交換装置は立形、横形の工作機械に適用できるこ
とは勿論、プラノミラー等の門型の工作機械にも適用さ
れる。This tool changer is applicable not only to vertical and horizontal machine tools, but also to gate-type machine tools such as plano mirrors.
第１図は実施例の全体ｍ成を示す平面図で、第９１ヅけ
＠ｌｉＦ面図を示す４．巣３図は第１図における１ｖ−
明断面図、第４図は茶１図におけ、乙１’ ｐ／断面図
、第５図は第３′図におけるＺ方向の正面図、第６図は
工具交換装置の動作を示す図。
１０；基台、１２；工具貯蔵マガジン、１３：主軸、１
５；工具交換装置、２１；油圧揺動モータ、２２．２４
；歯車、２３；ケーシング、２７；ピストン軸、２８：
シリンダ、２９；工具交換アーム。
特許出願人；東芝機械株式会社
矛５図
オ６１！１FIG. 1 is a plan view showing the overall configuration of the embodiment, and shows the 91st section @liF side view. Nest figure 3 is 1v- in figure 1.
4 is a cross-sectional view of Otsu 1'p in Fig. 1, Fig. 5 is a front view in the Z direction in Fig. 3', and Fig. 6 is a diagram showing the operation of the tool changer. 10; Base, 12; Tool storage magazine, 13: Spindle, 1
5; Tool changer, 21; Hydraulic swing motor, 22.24
;Gear, 23;Casing, 27;Piston shaft, 28:
Cylinder, 29; tool exchange arm. Patent applicant: Toshiba Machine Co., Ltd.
Claims (1)
、工具９：？Ａ’ｉｒ行なう工具交換装置において、工
具交換アームを左右対象に一対設け、それぞれの工具交
換アームを独立［、て平行ｖｒ進退駆動するアクチュエ
ータを備え、前記工具交換アーム全支持するケーシング
を所定の角度揺動せしめる揺動装ｆＩｔ？設けたことを
特徴とする工具交換装ａ。Mountain Moving the machine tool spindle and tool storage magazine, tool 9:? In a tool changing device that performs A'ir, a pair of tool changing arms are provided symmetrically on the left and right, and each tool changing arm is provided with an actuator that drives the tool changing arms independently [, parallel vr forward and backward, and the casing that fully supports the tool changing arms is moved at a predetermined angle. A rocking device fIt? A tool changing device characterized in that it is provided with:
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP18554083A JPS6076936A (en) | 1983-10-04 | 1983-10-04 | Tool exchange device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP18554083A JPS6076936A (en) | 1983-10-04 | 1983-10-04 | Tool exchange device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPS6076936A true JPS6076936A (en) | 1985-05-01 |
Family
ID=16172589
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP18554083A Pending JPS6076936A (en) | 1983-10-04 | 1983-10-04 | Tool exchange device |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS6076936A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4852243A (en) * | 1987-05-21 | 1989-08-01 | Ima-Norte Maschinenfabriken Klessmann Gmbh & Co. | Tool changer for drill press |
| CN100413643C (en) * | 2004-03-25 | 2008-08-27 | 威海华东数控股份有限公司 | Automatic set for changing tools in use for machine |
| KR100854853B1 (en) | 2007-06-20 | 2008-08-28 | 현대제철 주식회사 | A knife changing apparatus for cold saw |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS49133981A (en) * | 1973-04-27 | 1974-12-23 |
-
1983
- 1983-10-04 JP JP18554083A patent/JPS6076936A/en active Pending
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS49133981A (en) * | 1973-04-27 | 1974-12-23 |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4852243A (en) * | 1987-05-21 | 1989-08-01 | Ima-Norte Maschinenfabriken Klessmann Gmbh & Co. | Tool changer for drill press |
| CN100413643C (en) * | 2004-03-25 | 2008-08-27 | 威海华东数控股份有限公司 | Automatic set for changing tools in use for machine |
| KR100854853B1 (en) | 2007-06-20 | 2008-08-28 | 현대제철 주식회사 | A knife changing apparatus for cold saw |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109623187B (en) | Barrel folds seam group to welding set | |
| CN106903699A (en) | A kind of intelligent book conditioning machines people | |
| JPS6076936A (en) | Tool exchange device | |
| CN114193205A (en) | Direct-drive tool magazine device of numerical control machine tool | |
| CN217532304U (en) | Laser marking machine | |
| CN218461305U (en) | LNG storage tank barrel butt welding device | |
| CN213674154U (en) | A mechanical grabbing device for dirty underwater robot | |
| CN208004578U (en) | Aluminum pipe dotting machine | |
| EP0012553B1 (en) | Vertical spindle machine tool with tiltable spindle and tiltable automatic tool changer | |
| CN214771966U (en) | Tool box for machine tool maintenance | |
| CN211539931U (en) | Laser marking drill bit positioning device | |
| JPS6131787Y2 (en) | ||
| JPS5877425A (en) | Tool exchanging device for machine tool | |
| CN214161265U (en) | Mechanical arm for annular forging piece | |
| CN218253967U (en) | Clamping device of digit control machine tool | |
| CN220462922U (en) | Pressure steel pipe welded joint repair welding device | |
| CN110293787B (en) | Audio and video information processing system | |
| JPH0350658B2 (en) | ||
| CN220392217U (en) | Goods shelf for carrying robot | |
| JP3147625B2 (en) | Rotational positioning mechanism for spinning machine | |
| JPS6362646A (en) | Automatic stylus replacing device for copying machine tool | |
| CN212712080U (en) | Cable reel support | |
| CN215363720U (en) | Automatic feeding manipulator | |
| CN214350379U (en) | Novel full-automatic saw bit welding machine | |
| CN217229586U (en) | Automatic coiling material device of EPDM sponge processing |