TWI785209B - Machine tool and method for replacing a tool module on a tool carrier of a machine tool - Google Patents

Machine tool and method for replacing a tool module on a tool carrier of a machine tool Download PDF

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TWI785209B
TWI785209B TW108106554A TW108106554A TWI785209B TW I785209 B TWI785209 B TW I785209B TW 108106554 A TW108106554 A TW 108106554A TW 108106554 A TW108106554 A TW 108106554A TW I785209 B TWI785209 B TW I785209B
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Taiwan
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tool
machine
module
carrier
transport
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TW108106554A
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Chinese (zh)
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TW201936311A (en
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盧卡斯 古斯曼
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德商沃爾特機器製造有限責任公司
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    • 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
    • B23Q7/00—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting
    • B23Q7/04—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting by means of grippers
    • B23Q7/046—Handling workpieces or tools
    • 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
    • B23Q11/00—Accessories fitted to machine tools for keeping tools or parts of the machine in good working condition or for cooling work; Safety devices specially combined with or arranged in, or specially adapted for use in connection with, machine tools
    • B23Q11/0032—Arrangements for preventing or isolating vibrations in parts of the machine
    • 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
    • B23Q3/15773—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling of rotary tools a transfer device taking the tool from a storage device and passing it on to other transfer devices, which insert it in a spindle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B24—GRINDING; POLISHING
    • B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
    • B24B41/00—Component parts such as frames, beds, carriages, headstocks
    • B24B41/02—Frames; Beds; Carriages
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B24—GRINDING; POLISHING
    • B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
    • B24B55/00—Safety devices for grinding or polishing machines; Accessories fitted to grinding or polishing machines for keeping tools or parts of the machine in good working condition
    • B24B55/02—Equipment for cooling the grinding surfaces, e.g. devices for feeding coolant
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/0009—Constructional details, e.g. manipulator supports, bases

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Manipulator (AREA)
  • Multi-Process Working Machines And Systems (AREA)
  • Automatic Tool Replacement In Machine Tools (AREA)

Abstract

The invention relates to a machine tool (20), for ex- ample a grinding machine and/or an eroding machine (21). The machine tool (20) has a machine base (22) and an axis arrangement (23) for moving a tool carrier (25) and/or a workpiece clamping device (26) relative to the machine base (22). A transporting device (75) with preferably precisely two transport spaces (76) for one tool module (27) each is provided on the machine base (22). A robot arm (42) with a gripping device (44) is configured to grip and to move either two workpieces (38) or alternatively a single tool module (27). A workpiece change with the workpiece clamping device (26) can thus be carried out directly via the robot arm (42), or a tool module (27) can be picked up and ar- ranged in the transporting device (75) or removed from the transporting device (75).The transporting device (75) can be moved out of the working region (A) of the machine tool (20) and into the working region (A), and the tool module (27) on the tool carrier (25) can be changed in cooperation with the axis arrangement (23) of the tool machine (20).

Description

機器工具以及替換一機器工具之一工具載體上之一工具模組 之方法 Machine tool and a tool module on a tool carrier replacing a machine tool method

本發明係關於一種機器工具，更具體而言係關於一種研磨機器及/或侵蝕機器。該機器工具具有用於接收一工具模組之一工具載體以及被配置成替換該工具模組之一機械臂。本發明亦關於一種改變該工具模組之方法。 The present invention relates to a machine tool, more particularly to a grinding machine and/or an erosion machine. The machine tool has a tool carrier for receiving a tool module and a robot arm configured to replace the tool module. The invention also relates to a method of changing the tool module.

已知用於儲存工具或工件之庫具有不同形式。舉例而言，DE 1 074 367 A揭露一種包含一主動庫之一工件改變裝置，該工件改變裝置具有一運輸裝置用來將工件運輸至一改變位置中。在該庫與用於夾緊該工件之卡盤之間提供一雙抓取器(double gripper)。此抓取器可抓握被夾緊之工件以及位於替換位置中之庫中之工件，且可藉由180度旋轉來交換所述兩者。 Libraries for storing tools or workpieces are known in different forms. For example, DE 1 074 367 A discloses a workpiece changing device comprising an active magazine, which has a transport device for transporting the workpieces into a changing location. A double gripper is provided between the magazine and the chuck for clamping the workpiece. This gripper can grip the clamped workpiece as well as the workpiece in the magazine in the alternate position, and the two can be swapped by a 180 degree rotation.

文件DE 198 44 242 A1揭露一種通用研磨機器，在該通用研磨機器中具有複數個工具模組之一工具庫能夠在該研磨機器之研磨主軸(grinding spindle)前方橫向移動。藉由將一工具模組定位於研磨主軸軸線前方，可藉由該研磨主軸之移動將具有一工具及一冷卻劑分配器之一新的工具模組接收在該研磨主軸中。 Document DE 198 44 242 A1 discloses a universal grinding machine in which a tool magazine with a plurality of tool modules can be moved laterally in front of a grinding spindle of the grinding machine. By positioning a tool module in front of the grinding spindle axis, a new tool module with a tool and a coolant distributor can be received in the grinding spindle by movement of the grinding spindle.

在機器工具之情形中，對一工具模組及一工件二者進行替換可為可取的。相較於工件，一工具模組重得多且更不易於抓握。此一般需要與用於改變工件之改變裝置不同的改變裝置。另外使改變一工具模組及一工件所需之時間長度最小化亦為可取的。 In the case of machine tools, it may be desirable to replace both a tool module and a workpiece. A tool module is much heavier and less easy to grip than a workpiece. This generally requires a different changing device than is used to change the workpiece. It is also desirable to minimize the length of time required to change a tool module and a workpiece.

藉由具有以下所揭露之特徵之一機器工具以及一種具有該等特徵之方法而達成了此目的。 This object is achieved by a machine tool having the characteristics disclosed below and a method having these characteristics.

該機器工具較佳地被實施為一研磨機器及/或侵蝕機器。該機器工具具有一機器底座，藉由該機器底座將該機器工具安裝於一安裝表面(例如，一廠房之地面)上。在該機器底座上設置有包含複數個機器軸之一軸配置。每一機器軸可為一旋轉或平移機器軸。該軸配置用於相對於軌底(rail base)或相對於彼此定位及/或移動一工具載體，例如一工具主軸及/或一工件夾緊裝置。可提供最多六個機器軸。 The machine tool is preferably embodied as a grinding machine and/or an erosion machine. The machine tool has a machine base by which the machine tool is mounted on a mounting surface (for example, the floor of a factory building). On the machine base there is provided an axis arrangement comprising a plurality of machine axes. Each machine axis may be a rotational or translational machine axis. The axis is configured for positioning and/or moving a tool carrier, such as a tool spindle and/or a workholding device, relative to a rail base or relative to each other. Up to six machine axes are available.

該工具載體被配置成接收一工具模組。在每一情形中一工具模組包含一工具(例如一研磨工具或一侵蝕工具)以及一流體分配器。該流體分配器可用於分配冷卻劑或介電液體。為了將該工具模組儲存於一工具庫中且運輸該工具模組，在每一情形中較佳地提供一模組載體，該模組載體能夠可釋放地連接至相關聯的工具模組或保持該相關聯的工具模組。隨著將工具模組嵌入工具載體中，可移除模組載體，且隨著自工具載體移除工具模組，模組載體可再次連接至工具模組。 The tool carrier is configured to receive a tool module. In each case a tool module comprises a tool (eg a grinding tool or an eroding tool) and a fluid dispenser. This fluid dispenser can be used to dispense coolant or dielectric fluids. In order to store the tool module in a tool magazine and to transport the tool module, a module carrier is preferably provided in each case, which can be releasably connected to the associated tool module or Keep the associated tool mod. As the tool module is embedded in the tool carrier, the module carrier can be removed, and as the tool module is removed from the tool carrier, the module carrier can be connected to the tool module again.

設置有一運輸裝置，該運輸裝置能夠在工具之工作區之外的一第一位置與在該工具之該工作區之內的一第二位置之間移動。該運輸裝置具有至少二個運輸空間，且較佳準確地具有二個運輸空間，該二個運輸空間具體而言各自藉由一模組載體用於接收一個工具模組。在該第一位置中之 二個運輸空間皆位於該機器工具之該工作區之外。在該第二位置中，該等運輸空間至少其中之一位於該工作區內。該工作區具體而言由能夠藉由軸配置移動工具載體所到達的工具模組位置表徵，且舉例而言可用於對工件進行機械加工。根據實例，排列於工具載體上之一工具模組無法被移出該工作區。該工作區較佳地位於作為該機器底座之一部分之一機床上方。 A transport device is provided which is movable between a first position outside the working area of the tool and a second position inside the working area of the tool. The transport device has at least two transport spaces, preferably exactly two transport spaces, each of which is specifically intended to receive a tool module by means of a module carrier. in the first position Both transport spaces are located outside the working area of the machine tool. In the second position, at least one of the transport spaces is located within the work area. The working area is characterized in particular by tool module positions which can be reached by moving the tool carrier through the axis arrangement and which can be used, for example, for machining workpieces. According to an example, a tool module arranged on a tool carrier cannot be moved out of the working area. The work area is preferably located above a machine tool which is part of the machine bed.

該機器工具另外具有一機械臂，該機械臂具有一抓取裝置。該抓取裝置被設計成抓取至少一個工件以及抓取該等工具模組其中之一。可藉由機械臂改變一工件，較佳地直接藉由自工件夾緊裝置移除一工件並將一工件供應於該工件夾緊裝置中而改變一工件。機械臂另外被配置成將工具模組其中之一排列於運輸裝置之一運輸空間上或自該運輸空間移除工具模組其中之一。機械臂較佳地不可經由軸配置移動，且具體而言可排列於工作區之外。然而，機械臂能夠到達工作區中且具體而言能夠到達工件夾緊裝置。 The machine tool additionally has a robot arm with a gripping device. The gripping device is designed to grip at least one workpiece and one of the tool modules. A workpiece can be changed by the robotic arm, preferably directly by removing a workpiece from the workpiece holding device and feeding a workpiece into the workpiece holding device. The robotic arm is further configured to arrange one of the tool modules on or remove one of the tool modules from a transport space of the transport device. The robot arm is preferably not movable via the axis arrangement and in particular can be arranged outside the working area. However, the robot arm can reach into the working area and in particular the workpiece clamping device.

藉由該機械臂，在正利用一當前工具模組對一工件進行機械加工的同時，可已將待被改變之一工具模組排列於運輸裝置中。為了改變工具模組，使用機器工具之運輸裝置以及軸配置。由於運輸裝置包含二個運輸空間，因此待被卸載之工具模組可被接收在該等運輸空間中，且待被裝載之工具模組可被排列於工具載體上。因此機械臂不需要能夠同時承載二個工具模組。因此，機械臂可為小的且質量輕的。同時，當改變工具模組時，運輸裝置與機器軸及工具載體協同合作，機械臂在一個實施例中可在此階段中用於例如替換工作場所或執行其他運輸活動。亦可在改變工具模組之前或之後按時間順序改變工件，或工件改變之階段與工具改變之階段可部分交疊。 By means of the robot arm, a tool module to be changed can already be arranged in the transport device while a workpiece is being machined with a current tool module. In order to change the tool module, the machine tool transport and axis configuration are used. Since the transport device comprises two transport spaces, the tool modules to be unloaded can be received in these transport spaces and the tool modules to be loaded can be arranged on the tool carrier. Therefore, the robotic arm does not need to be able to carry two tool modules at the same time. Thus, the robotic arm can be small and lightweight. Simultaneously, when changing the tool module, the transport device cooperates with the machine shaft and the tool carrier, the robotic arm in one embodiment can be used in this phase eg to change the workplace or to perform other transport activities. The workpiece can also be changed in chronological order before or after changing the tool module, or the phases of workpiece change and tool change can partially overlap.

可足夠快地執行改變製程。該機器工具整體上僅需要一小的安裝面積。可以緊湊且簡單的方式構造該機械臂及該運輸裝置。 Changing the process can be performed quickly enough. The machine tool requires only a small installation area overall. The robotic arm and the transport device can be constructed in a compact and simple manner.

若該運輸裝置在第一位置與一第二位置之間平移或旋轉時能夠準確地以一個自由度移動，則此為有利的。單個軸足以在二個位置之間移動運輸裝置。 It is advantageous if the transport device can move in exactly one degree of freedom when translating or rotating between a first position and a second position. A single axis is sufficient to move the transporter between two positions.

在一較佳實例性實施例中，運輸裝置具有包含二個運輸空間之一樞轉載體。該樞轉載體較佳地能夠圍繞一樞轉軸在第一位置及/或第二位置中樞轉。該等運輸空間可一次一個樞轉至一裝載及卸載位置中。為此，運輸裝置可包含一樞轉驅動器或旋轉軸。當運輸裝置之樞轉驅動器執行樞轉移動時，該二個運輸空間較佳地總是聯合樞轉。用於在第一位置與第二位置之間移動運輸裝置之較佳的平移軸以及用於對樞轉載體進行樞轉之樞轉驅動器二者較佳地例如藉由相應的汽缸而被氣動驅動。亦可使用其他裝置，具體而言電驅動器。較佳地不提供用於移動運輸裝置或作為運輸裝置之一部分之另外的平移或旋轉軸。在第一位置與第二位置之間的運輸方向可被取向成與樞轉載體之樞轉軸成直角。樞轉載體之樞轉軸較佳地水平取向。 In a preferred exemplary embodiment, the transport device has a pivot carrier comprising two transport spaces. The pivot carrier is preferably pivotable about a pivot axis in the first position and/or in the second position. The transport spaces can be pivoted one at a time into a loading and unloading position. For this purpose, the transport device can contain a pivot drive or a swivel axis. The two transport spaces are preferably always pivoted jointly when the pivot drive of the transport device performs a pivoting movement. Both the preferably translation axis for moving the transport device between the first position and the second position and the pivot drive for pivoting the pivot carrier are preferably driven pneumatically, for example by means of corresponding cylinders . Other devices, in particular electric drives, may also be used. Preferably no additional translational or rotational axes are provided for moving or being part of the transport device. The transport direction between the first position and the second position may be oriented at right angles to the pivot axis of the pivot carrier. The pivot axis of the pivot carrier is preferably oriented horizontally.

在一較佳實施例中，抓取裝置包含至少一個抓取手指單元以及至少一個夾緊裝置。該抓取手指單元被配置成抓取該等工件其中之一。在一個實例性實施例中，該抓取裝置包含二個(且更具體而言為二個)抓取手指單元。該夾緊裝置被配置成抓取一工具模組。該抓取裝置較佳地被設計成使得準確地提供一個夾緊裝置以準確地抓取一個工具模組。該工具模組相對較重。若該抓取裝置能夠抓取及接收最多一個工具模組，則具有該抓取裝置之機械臂可被制得更輕便且更緊湊。 In a preferred embodiment, the gripping device comprises at least one gripping finger unit and at least one gripping device. The gripping finger unit is configured to grip one of the workpieces. In an exemplary embodiment, the grasping device comprises two (and more specifically two) grasping finger units. The clamping device is configured to grasp a tool module. The gripping device is preferably designed such that exactly one gripping device is provided for precisely gripping a tool module. The tool mod is relatively heavy. If the gripping device is capable of gripping and receiving at most one tool module, the robot arm with the gripping device can be made lighter and more compact.

各該所提供的抓取手指單元可例如藉由一抓取致動單元而被個別地致動。該抓取致動單元被配置成在一抓取位置與一打開位置之間移動相關聯的抓取手指單元。 Each of the provided gripper finger units can be actuated individually, eg by a gripper actuation unit. The grabbing actuation unit is configured to move the associated grabbing finger unit between a grabbing position and an open position.

該夾緊裝置包含至少一個夾緊單元，該至少一個夾緊單元在每一情形中具有一夾緊本體以及一保持凹陷部。該保持凹陷部被配置成接收工具模組或模組載體之一固定銷(holding pin)。藉由一夾緊致動單元，該夾緊本體能夠在作用於該固定銷上之一保持位置與釋放該固定銷之一釋放位置之間移動，條件是該固定銷係位於該夾緊裝置之該保持凹陷部中。 The clamping device comprises at least one clamping unit which in each case has a clamping body and a holding recess. The holding recess is configured to receive a holding pin of a tool module or a module carrier. By means of a clamping actuation unit, the clamping body can be moved between a holding position acting on the fixing pin and a releasing position releasing the fixing pin, provided that the fixing pin is located at the clamping device This stays in the recess.

若該夾緊裝置被設計成使得該等夾緊致動單元其中之一與該等抓取致動單元其中之一彼此流體/或機械耦合用於聯合致動，則此為較佳的。因此可使流體連接件之數目最小化。 It is preferred if the clamping device is designed such that one of the clamping actuation units and one of the gripping actuation units are fluidly and/or mechanically coupled to each other for joint actuation. The number of fluid connections can thus be minimized.

夾緊致動單元及/或抓取致動單元較佳地被實施為一氣動驅動器，且為此例如具有一對應的汽缸。亦可使用其他驅動器，具體而言電動驅動器。 The gripping actuation unit and/or the gripping actuation unit is preferably embodied as a pneumatic drive and has, for example, a corresponding cylinder for this purpose. Other drives, in particular electric drives, may also be used.

機器工具在一個實例性實施例中具有用於儲存複數個工具模組之一工具庫及/或用於儲存複數個工件之一工件庫。可提供複數個工件庫以將經機械加工之工件儲存於一個工件庫中並將未經機械加工之工件儲存於另一工件庫中。經機械加工之工件以及未經機械加工之工件亦可排列於一共用工件庫中。該工具庫及/或該工件庫排列於機械臂之範圍內，使得抓取裝置可拾取所儲存之工具模組或工件。所有的庫皆較佳地相對於機器底座固定不動地排列，且具體而言不具有其自身的驅動器。 In one exemplary embodiment, the machine tool has a tool magazine for storing tool modules and/or a workpiece magazine for storing workpieces. A plurality of workpiece magazines may be provided to store machined workpieces in one workpiece magazine and unmachined workpieces in another workpiece magazine. Machined workpieces as well as unmachined workpieces can also be arranged in a common workpiece magazine. The tool magazine and/or the workpiece magazine are arranged within the scope of the robot arm, so that the grabbing device can pick up the stored tool modules or workpieces. All libraries are preferably arranged stationary relative to the machine base and in particular do not have their own drives.

若一支撐配置排列於機器底座上或貼附至機器底座並承載機械臂，則此為較佳的。該支撐配置較佳地不支撐於地面上而是專門由機器底 座承載。該支撐配置位於機器工具之工作區之外且另外可承載一工具庫及/或一工件庫。 It is preferred if a support arrangement is arranged on or attached to the machine base and carries the robotic arm. The support arrangement is preferably not supported on the ground but is supported exclusively by the machine base. Seat bearer. The support arrangement is located outside the working area of the machine tool and can additionally carry a tool magazine and/or a workpiece magazine.

該支撐配置能夠較佳地在一固定狀態(fixed state)與一阻尼狀態(damping state)之間切換。對於切換而言，該支撐配置可例如包含一對應的驅動器，該對應的驅動器被配置成相對於該機器底座以至少一個自由度且例如準確地以一個自由度、較佳地以一平移自由度移動該支撐配置之至少一部分。在阻尼狀態中，一支撐配置具體而言經由一阻尼配置彈性耦合或連接至機器底座。相比而言，該支撐配置包含耦合元件，藉由該等耦合元件該支撐配置能夠相對於機器底座實質上無間隙地連接或耦合。該等耦合元件係為剛性元件。剛性元件被理解為意指在被暴露於作用於該等元件上之通常力及力矩時不會發生形變或僅略發生形變之元件。相比而言，阻尼配置在機器底座與支撐配置之間提供彈性、阻尼耦合。由於存在可切換的支撐配置，可產生一阻尼狀態，在該阻尼狀態中，由機械臂之移動產生之振動未被引入至機器底座中或僅以阻尼形式(damped form)被引入。由於阻尼的存在，工件機械加工(具體而言，一研磨製程)之準確度不受所引入之振盪或振動之影響，機械臂移動或加速時可產生該所引入之振盪或振動。在工件機械加工期間機械臂亦可以高加速度移動。 The support arrangement is preferably switchable between a fixed state and a damping state. For switching, the support arrangement may for example comprise a corresponding drive configured in at least one degree of freedom and for example exactly in one degree of freedom, preferably in translation, relative to the machine base At least a portion of the support arrangement is moved. In the damped state, a support arrangement is elastically coupled or connected to the machine bed, in particular via a damping arrangement. In contrast, the support arrangement comprises coupling elements by means of which the support arrangement can be connected or coupled with respect to the machine base substantially without play. The coupling elements are rigid elements. Rigid elements are understood to mean elements which do not deform or deform only slightly when exposed to the usual forces and moments acting on these elements. In contrast, a damping arrangement provides a resilient, damping coupling between the machine base and the support arrangement. Due to the switchable support configuration, a damped state can be created in which the vibrations generated by the movement of the robot arm are not introduced into the machine bed or are only introduced in damped form. Due to the presence of damping, the accuracy of workpiece machining (specifically, a grinding process) is not affected by the induced oscillations or vibrations that can occur when the robotic arm moves or accelerates. The robot arm can also move with high acceleration during workpiece machining.

替換一工具模組之方法之次序如下所述：首先將運輸裝置排列於工作區之外的第一位置中。此位置將被假定為起始位置。抓取裝置之機械臂例如可自工具庫移除一工具模組(具體而言，藉由一模組載體)，且可將該工具模組排列於運輸裝置之一空閒運輸空間處(具體而言，藉由模組載體)。此可在仍對工件進行機械加工的同時進行實施。若然後將實施工具改變，則首先將運輸裝置移動至第二位置中。工具載體將當前工具模組安置在空閒運輸空間處，較佳地安置在一 模組載體中。當前工具模組利用機器軸進行安置。然後將工具載體自運輸裝置間隔開一定距離，使得運輸裝置可執行樞轉移動。然後樞轉一樞轉載體運輸裝置以使待被裝載之工具模組進入一裝載位置。運輸裝置保持處於其第二位置中。工具載體然後可利用機器軸自運輸裝置接收待被裝載之工具模組，且可遠離運輸裝置移動。模組載體較佳地保持處於運輸裝置上。所裝載之工具模組現在準備就緒以供使用。將運輸裝置自第二位置移動至位於工作區之外的第一位置中，使得可執行機械加工而不受工作區內之一干擾外形(interfering contour)之阻礙。 The sequence of the method for replacing a tool module is as follows: First, the transport device is arranged in the first position outside the working area. This location will be assumed to be the starting location. The robotic arm of the gripping device can, for example, remove a tool module from the tool magazine (in particular, by means of a module carrier) and can arrange the tool module in a free transport space of the transport device (in particular, In other words, via the module carrier). This can be done while the workpiece is still being machined. If the implement is then changed, the transport device is first moved into the second position. The tool carrier places the current tool module at the free transport space, preferably in a in the module carrier. The current tool module utilizes machine axes for placement. The tool carrier is then spaced at a distance from the transport device such that the transport device can perform a pivotal movement. A pivot carrier transport is then pivoted to bring the tool module to be loaded into a loading position. The transport device remains in its second position. The tool carrier can then receive the tool module to be loaded from the transport device using the machine shaft, and can move away from the transport device. The module carrier preferably remains on the transport device. The loaded tool mod is now ready to use. Moving the transport device from the second position into the first position outside the work area allows machining to be performed without being hindered by an interfering contour within the work area.

20:機器工具 20: Machine Tools

21:研磨及/或侵蝕機器 21: Grinding and/or erosion machines

22:機器底座 22: Machine base

23:軸配置 23: Shaft configuration

24:機器軸 24: Machine shaft

25:工具載體 25: Tool carrier

26:工件夾緊裝置 26: Work clamping device

27:工具模組 27:Tool module

28:工具 28: Tools

29:流體分配器 29: Fluid Dispenser

30:連接本體 30: Connect the body

31:流體連接件 31: Fluid connectors

32:耦合件 32:Coupling piece

35:模組載體 35:Module carrier

36:工具庫 36: Tool library

37:庫保持件 37: library holder

38:工件 38: Workpiece

39:工件庫 39: Artifact library

40:支撐配置 40: Support configuration

41:載體元件 41: carrier element

41a:載體元件之第一部分 41a: the first part of the carrier element

41b:載體元件之第二部分 41b: The second part of the carrier element

42:機械臂 42: Mechanical arm

43:基礎部分 43: Basic part

44:抓取裝置 44: Grabbing device

45:抓取手指單元 45:Grab finger unit

46:抓取手指 46: Grabbing Fingers

47:手指承載部 47:Finger bearing part

48:抓取致動單元 48: grab actuation unit

49:汽缸 49: Cylinder

50:活塞 50:piston

51:第一氣動連接件 51: The first pneumatic connector

52:第二氣動連接件 52: Second pneumatic connector

56:夾緊裝置 56: clamping device

57:夾緊單元 57: clamping unit

58:夾緊致動單元 58: clamping actuation unit

59:夾緊本體 59: clamping body

60:引導槽 60: Guide groove

61:主體 61: subject

62:保持凹陷部 62: keep the concave part

63:固定銷 63: fixed pin

64:銷頭 64: pin head

65:銷部 65: pin department

66:連接部 66: Connecting part

67:緊固部 67: fastening part

68:環形台階 68: Circular steps

69:緊固螺絲 69: fastening screw

70:梯形區 70: trapezoidal area

75:運輸裝置 75: transport device

76:運輸空間 76: transport space

77:樞轉載體 77: Pivot carrier

81:阻尼配置 81: Damping configuration

82:阻尼本體 82: Damping body

83:切換驅動器 83:Switch drive

84:耦合元件 84: Coupling element

84a:第一台階 84a: The first step

84b:第二台階 84b: Second step

85:耦合凹陷部 85: Coupling depression

86:耦合杆 86:Coupling rod

A:工作區 A: work area

D:阻尼狀態 D: damping state

F:釋放位置 F: release position

H:保持位置 H: hold position

M:中心軸 M: central axis

P1:第一位置 P1: first position

P2:第二位置 P2: second position

S:固定狀態 S: fixed state

VIII-VIII:截面線 VIII-VIII: section line

W:工件縱向軸 W: longitudinal axis of workpiece

X:裝載及卸載位置 X: loading and unloading position

藉由閱讀從屬申請專利範圍、說明及圖式，本發明之有利實施例將變得清晰。以下將參照附圖詳細闡釋本發明之較佳實例性實施例，在附圖中：第1圖示出呈一研磨機器及/或侵蝕機器形式之一機器工具之一實例性實施例之立體圖。 Advantageous embodiments of the invention will become clear on reading the dependent claims, description and drawings. Preferred exemplary embodiments of the invention will be explained in detail below with reference to the accompanying drawings, in which: Figure 1 shows a perspective view of an exemplary embodiment of a machine tool in the form of a grinding machine and/or an erosion machine.

第2圖示出一工具模組之一實例性實施例之立體圖。 Figure 2 shows a perspective view of an exemplary embodiment of a tool module.

第3圖示出來自第2圖的具有包含二個固定銷之一模組載體之工具模組之立體圖。 FIG. 3 shows a perspective view of the tool module from FIG. 2 with a module carrier comprising two fastening pins.

第4圖示出來自第1圖的機械臂之一抓取裝置之一實例性實施例之立體圖。 FIG. 4 shows a perspective view of an exemplary embodiment of a gripping device of the robotic arm from FIG. 1 .

第5圖示出抓取裝置藉由模組載體接收一工具模組之立體圖。 FIG. 5 shows a perspective view of the gripping device receiving a tool module via the module carrier.

第6圖示出在一保持位置中抓取裝置之一夾緊單元之示意性基本局部剖視圖。 FIG. 6 shows a schematic, substantially partial sectional view of a clamping unit of the gripping device in a holding position.

第7圖示出在一釋放位置中沿第6圖中的截面線VIII-VIII截取的來自第6圖的夾緊單元之示意性基本局部剖視圖。 FIG. 7 shows a schematic, substantially partial sectional view of the clamping unit from FIG. 6 taken along section line VIII-VIII in FIG. 6 in a released position.

第8圖示出在一保持位置中沿第6圖中的截面線VIII-VIII截取的來自第6圖的夾緊單元之示意性局部剖視圖。 FIG. 8 shows a schematic partial sectional view of the clamping unit from FIG. 6 along the section line VIII-VIII in FIG. 6 in a holding position.

第9圖示出來自第4圖的抓取裝置之一抓取手指單元之示意性基本圖。 FIG. 9 shows a schematic basic diagram of one of the gripping finger units of the gripping device from FIG. 4 .

第10圖示出具有一共用致動單元之抓取裝置之一抓取手指單元以及一夾緊單元之配置之示意性基本局部剖視圖。 Figure 10 shows a schematic, substantially partial sectional view of the arrangement of a gripping finger unit and a gripping unit of the gripping device with a common actuation unit.

第11圖至第17圖各自示出在替換一工具模組時在不同階段中機器工具之示意性局部圖。 Figures 11 to 17 each show a schematic partial view of a machine tool at different stages when replacing a tool module.

第18圖及第19圖各自示出用於在不同狀態中固定及自機床解耦一支撐配置之至少一部分之一裝置之示意性基本局部剖視圖。 Figures 18 and 19 each show schematic, substantially partial cross-sectional views of a device for securing and decoupling at least a part of a support arrangement from a machine tool in different states.

第20圖及第21圖示出在不同狀態中來自第17圖及第18圖之裝置之一不同實例性實施例。 Figures 20 and 21 show a different exemplary embodiment of the device from Figures 17 and 18 in different states.

第1圖在立體圖中示出一機器工具20之一實例性實施例。機器工具20可被實施為一研磨機器及/或侵蝕機器21。機器工具20具有一機器底座22，機器工具20藉由機器底座22安裝於一安裝表面(例如，一大廳之地板)上。在機器底座22上設置有一軸配置23。軸配置23包含複數個機器軸24，在相對於機器底座22平移或旋轉時，一工具載體25及/或一工件夾緊裝置26可藉由該等機器軸24移動。每一機器軸24可被形成為一旋轉或平移軸，且例如可具有一電動驅動器。平移機器軸具有一平移導件，例如一托架導件(carriage guide)，且旋轉機器軸24具有一旋轉導件。此軸配置23在原理上為已知的。 FIG. 1 shows an exemplary embodiment of a machine tool 20 in perspective view. The machine tool 20 can be embodied as a grinding machine and/or an erosion machine 21 . The machine tool 20 has a machine base 22 by which the machine tool 20 is mounted on an installation surface (eg, the floor of a hall). A shaft arrangement 23 is arranged on the machine base 22 . The axis arrangement 23 comprises machine axes 24 via which a tool carrier 25 and/or a workpiece clamping device 26 can be moved in translation or rotation relative to the machine base 22 . Each machine axis 24 can be formed as a rotary or translational axis and can, for example, have an electric drive. The translation machine shaft 24 has a translation guide, such as a carriage guide, and the rotary machine shaft 24 has a rotation guide. This shaft configuration 23 is known in principle.

在此處所示的機器工具20之實例性實施例中，工具載體25能夠相對於機器底座22在三個空間方向上經由三個平移機器軸24移動。 In the exemplary embodiment of the machine tool 20 shown here, the tool carrier 25 is movable relative to the machine base 22 in three spatial directions via three translational machine axes 24 .

工件夾緊裝置26能夠經由二個旋轉機器軸24移動。一個旋轉軸根據實例在一垂直方向上延伸，而其他旋轉機器軸可圍繞一所接收工件之工件縱向軸W旋轉該所接收工件。工件之縱向軸根據實例在夾緊狀態中水平取向。 The workholding device 26 is movable via the two rotary machine axes 24 . One rotary axis extends according to the example in a vertical direction, while the other rotary machine axis can rotate a received workpiece about its longitudinal axis W of the workpiece. According to the example, the longitudinal axis of the workpiece is oriented horizontally in the clamped state.

工件夾緊裝置26被配置成夾緊一工件38(在第9圖及第10圖中示意性地示出)，具體而言一圓柱形工件。工件38亦可為一待被生產或機械加工之工具，例如一碾磨工具、一鑽孔工具等。 The workpiece clamping device 26 is configured to clamp a workpiece 38 (shown schematically in FIGS. 9 and 10 ), specifically a cylindrical workpiece. The workpiece 38 can also be a tool to be produced or machined, such as a grinding tool, a drilling tool or the like.

在此處所述之實例性實施例中，工具載體25設置有一工具主軸(tool spindle)。一研磨及/或侵蝕工具因此可被驅動圍繞一主軸軸線(spindle axis)旋轉。該主軸軸線根據實例水平取向。 In the exemplary embodiment described here, the tool carrier 25 is provided with a tool spindle. A grinding and/or eroding tool can thus be driven in rotation about a spindle axis. The spindle axis is oriented horizontally according to the example.

工具載體25被配置成接收一工具模組27，且在較佳的實例性實施例中準確地接收一個工具模組27。工具模組27包含單個工具28(例如，一研磨工具或一侵蝕工具)以及一流體分配器29。當與工具載體25建立連接時，流體分配器29用於鄰近工具28在所界定的點處排放冷卻劑或介電液體。一工具模組27之一實例性實施例示出於第2圖及第3圖中。對於與工具載體25之流體連接而言，根據實例之流體分配器29包含一連接本體30，連接本體30具有一或多個流體連接件31。工具28具有連接至一工具本體(例如，一研磨碟或一侵蝕碟)以與該工具本體共同旋轉之一耦合件32，藉由該耦合件可產生與工具主軸之旋轉驅動器連接以驅動工具28之工具本體圍繞旋轉軸旋轉。在建立旋轉驅動器連接期間，亦建立與流體分配器29之流體連接。 Tool carrier 25 is configured to receive a tool module 27 , and in the preferred exemplary embodiment exactly one tool module 27 . Tool module 27 includes a single tool 28 (eg, an abrasive tool or an erosion tool) and a fluid dispenser 29 . The fluid distributor 29 is used to discharge the coolant or dielectric liquid at defined points adjacent to the tool 28 when the connection is established with the tool carrier 25 . An exemplary embodiment of a tool module 27 is shown in FIGS. 2 and 3 . For the fluid connection to the tool carrier 25 , the fluid dispenser 29 according to the example comprises a connection body 30 with one or more fluid connections 31 . The tool 28 has a coupling 32 connected to a tool body (for example, a grinding disc or an erosion disc) for co-rotation with the tool body, by means of which a rotary drive connection with the tool spindle can be created to drive the tool 28 The tool body rotates around the axis of rotation. During the establishment of the rotary drive connection, the fluid connection to the fluid distributor 29 is also established.

一工具模組27之工具28以及流體分配器29藉由一模組載體35在一期望位置中相對於彼此定位及取向(第3圖)。在此相對位置中，流體分配器29以及工具28可連接至機器工具20之工具載體25。模組載體35根據實 例被實施為具有二個分支(limb)之一支架(bracket)，該支架在一側處開放且可具有近似U形或V形設計。該二個分支在一側連接且在相對側不彼此連接，以在該等分支之間形成一接收區。 The tool 28 and fluid dispenser 29 of a tool module 27 are positioned and oriented relative to each other in a desired position by a module carrier 35 (FIG. 3). In this relative position, the fluid dispenser 29 and the tool 28 can be connected to the tool carrier 25 of the machine tool 20 . Module carrier 35 according to actual Examples are implemented as a bracket with two limbs, which is open at one side and can have an approximately U-shaped or V-shaped design. The two branches are connected on one side and not connected to each other on the opposite side to form a receiving area between the branches.

模組載體35用於支撐一工具庫36中之一工具模組27，其用於保持一工具模組27之庫保持件37僅大大以示意性方式在第1圖中示出。工具庫36可連接至機器底座22或可排列於機器底座22上。工具庫36位於機器工具之一工作區A之外。機器工具之工作區A被定義為作為藉由軸配置23定位一工具28之結果可由排列於工具保持器25上之工具28到達之區。 The module carrier 35 serves to support a tool module 27 in a tool magazine 36 , whose magazine holder 37 for holding a tool module 27 is shown only largely schematically in FIG. 1 . The tool magazine 36 may be connected to the machine base 22 or may be arranged on the machine base 22 . The tool magazine 36 is located outside one of the working areas A of the machine tools. The working area A of the machine tool is defined as the area accessible by the tool 28 arranged on the tool holder 25 as a result of positioning a tool 28 by means of the axis arrangement 23 .

可針對經機械加工之工件以及未經機械加工之工件提供至少一個工件庫39。工件庫39較佳地同樣排列於工作區A之外。作為另一選擇，至少一個工件庫39亦可連接至工具載體25且可經由軸配置23與工具載體25聯合移動。 At least one workpiece magazine 39 may be provided for machined workpieces as well as non-machined workpieces. The workpiece magazine 39 is preferably also arranged outside the working area A. Alternatively, at least one workpiece magazine 39 can also be connected to the tool carrier 25 and can be moved jointly with the tool carrier 25 via the axis arrangement 23 .

工具庫36以及視情況至少一個工件庫39經由一支撐配置40連接至機器底座22。支撐配置40根據實例被形成為一框架且包含互連的載體元件41。在實例性實施例中，載體元件41水平地或垂直地延伸。此外，亦可提供呈支柱(strut)形式之對角載體元件。 The tool magazine 36 and optionally at least one workpiece magazine 39 are connected to the machine base 22 via a support arrangement 40 . The support arrangement 40 is according to the example formed as a frame and comprises interconnected carrier elements 41 . In exemplary embodiments, the carrier element 41 extends horizontally or vertically. Furthermore, diagonal carrier elements in the form of struts can also be provided.

一機械臂42排列於支撐配置40上。機械臂之一基礎部分43固定地連接至支撐配置40。在與基礎部分43相對的一端處，機械臂42包含一抓取裝置44。抓取裝置44在第4圖及第5圖中示出，且在第10圖中以示意性局部圖示出。機械臂42包含以平移及/或旋轉方式連接至彼此的複數個臂部件，以能夠在空間中自由地移動抓取裝置44及對抓取裝置44進行取向。 A robotic arm 42 is arranged on the support arrangement 40 . A base part 43 of the robot arm is fixedly connected to the support arrangement 40 . At the end opposite the base part 43 , the robotic arm 42 includes a gripping device 44 . The gripping device 44 is shown in FIGS. 4 and 5 and in a schematic detail in FIG. 10 . The robotic arm 42 comprises a plurality of arm members connected in translation and/or rotation to each other to be able to freely move and orient the gripping device 44 in space.

抓取裝置44被配置成能夠拾取並運輸一工件38(第9圖及第10圖)以及一工具模組27二者。 The gripping device 44 is configured to pick up and transport both a workpiece 38 ( FIGS. 9 and 10 ) and a tool module 27 .

抓取裝置44根據實例包含二個抓取手指單元45。可藉由二個抓取手指單元45其中之每一者拾取並運輸一工件38。抓取裝置44因此可同時拾取二個工件38。每一抓取手指單元45為此具有二個能夠相對於彼此移動之抓取手指46。二個抓取手指46較佳地能夠移動以朝向彼此及遠離彼此平移。作為另一選擇，二個抓取手指46亦可被形成為能夠朝向彼此或遠離彼此樞轉。在實例性實施例中，二個抓取手指46其中之一固定不動地固定至抓取裝置44之一手指承載部47。同一抓取手指單元45之其他抓取手指46能夠經由一抓取致動單元48相對於首先提及之抓取手指46移動。 The gripping device 44 comprises, by way of example, two gripping finger units 45 . A workpiece 38 can be picked up and transported by each of the two gripping finger units 45 . The gripping device 44 can thus pick up two workpieces 38 at the same time. For this purpose, each gripping finger unit 45 has two gripping fingers 46 that are movable relative to each other. The two grasping fingers 46 are preferably movable to translate towards and away from each other. As a further option, the two gripping fingers 46 can also be formed to be able to pivot towards each other or away from each other. In the exemplary embodiment, one of the two gripping fingers 46 is immovably fixed to a finger-carrying portion 47 of the gripping device 44 . The other gripper fingers 46 of the same gripper finger unit 45 can be moved relative to the first-mentioned gripper finger 46 via a gripper actuation unit 48 .

抓取致動單元48包含一汽缸49，汽缸49根據實例排列於手指承載部47內或排列於手指承載部47上。汽缸49包含能夠在一汽缸內腔中移動之一活塞50，該活塞將汽缸49之汽缸內腔流體劃分成二個工作內腔。一個工作內腔能夠經由一第一氣動連接件51氣動連接，且另一個工作內腔能夠經由一第二氣動連接件52氣動連接至一壓力源或一壓力槽(pressure sink)。各該工作內腔因此能夠被作用以壓力或通風進行壓力釋放。在以舉例方式在第9圖中所示之情景中，經由第一氣動連接件51饋送壓縮空氣，藉此活塞50將能夠移動之抓取手指46朝向另一抓取手指46移動且可在該等抓取手指之間保持或夾緊一工件38。第二氣動連接件52可連接至周圍環境或大氣(通風)。若相反地經由第二氣動連接件52饋送壓縮空氣且對第一氣動連接件51進行通風，則抓取手指單元45切換至釋放工件38之位置中。 The gripping actuation unit 48 comprises a cylinder 49 which is arranged in or on the finger rest 47 according to the example. Cylinder 49 comprises a piston 50 movable in a cylinder chamber which fluidly divides the cylinder chamber of cylinder 49 into two working chambers. One working lumen can be pneumatically connected via a first pneumatic connection 51 and the other working lumen can be pneumatically connected via a second pneumatic connection 52 to a pressure source or a pressure sink. The respective working chamber can thus be pressurized or ventilated for pressure relief. In the scenario shown by way of example in FIG. 9 , compressed air is fed via the first pneumatic connection 51 , whereby the piston 50 moves the movable gripping finger 46 towards the other gripping finger 46 and can move there. A workpiece 38 is held or clamped between the grasping fingers. The second pneumatic connection 52 can be connected to the surrounding environment or to the atmosphere (ventilation). If, on the other hand, compressed air is fed in via the second pneumatic connection 52 and the first pneumatic connection 51 is ventilated, the gripper finger unit 45 switches into the position in which the workpiece 38 is released.

在此處所示之實例性實施例中，能夠移動之抓取手指46經由一活塞杆根據運動耦合至汽缸49之活塞50，並安裝於手指承載部47上且根據實例被引導進行平移。 In the exemplary embodiment shown here, the movable gripping finger 46 is kinematically coupled via a piston rod to the piston 50 of the cylinder 49 and is mounted on the finger carrier 47 and guided in translation according to the example.

在第4圖中示意性地示出二個抓取手指單元45包含以使得由抓取手指單元45同時拾取之二個工件38保持平行且相對於彼此偏置之方式偏置排列之抓取手指46。此在第4圖中藉由由虛實線所示之工件縱向軸W示出，工件縱向軸W不彼此相交且根據實例彼此平行地取向。因此亦可由抓取裝置44或相應的抓取手指單元40同時拾取並保持較長的工件38。 4 schematically shows two gripping finger units 45 comprising gripping fingers arranged offset in such a way that two workpieces 38 simultaneously picked up by the gripping finger units 45 remain parallel and offset relative to each other. 46. This is illustrated in FIG. 4 by the workpiece longitudinal axes W shown by dashed solid lines, which do not intersect each other and are oriented parallel to each other according to the example. Thus, longer workpieces 38 can also be picked up and held simultaneously by the gripping device 44 or the corresponding gripping finger unit 40 .

每一抓取手指單元45因此被分派一單獨的抓取手指致動單元48，使得二個抓取手指單元45能夠獨立地且個別地在用於保持或夾緊一工件38之一抓取位置與一打開位置之間切換或移動。 Each gripping finger unit 45 is thus assigned a separate gripping finger actuation unit 48 so that the two gripping finger units 45 can be independently and individually positioned in a gripping position for holding or clamping a workpiece 38 Toggles or moves between an open position.

抓取裝置44另外包含一夾緊裝置56。夾緊裝置56具有至少一個夾緊單元57，且根據實例具有二個夾緊單元57。一夾緊單元57之示意性構造示出於第6圖至第8圖以及第10圖中。能夠藉由一相關聯之夾緊致動單元58在一保持位置H(第6圖及第8圖)與一釋放位置F(第7圖)之間移動之一夾緊本體59屬於每一夾緊單元57。根據實例，夾緊本體59可移動地被安裝在釋放位置F與保持位置H之間的一引導槽60中平移。引導槽60被設置於抓取裝置44之一主體61中。夾緊單元57之一保持凹陷部62穿過引導槽60。保持凹陷部62根據實例具有一圓柱形外形且至少在主體61的一側上係開放的。保持凹陷部62可被實施為一貫穿孔或實施為穿過主體61之一盲孔。保持凹陷部62被配置成至少部分地接收一固定銷63。 The gripping device 44 additionally includes a clamping device 56 . The clamping device 56 has at least one clamping unit 57 and according to the example two clamping units 57 . The schematic construction of a clamping unit 57 is shown in FIGS. 6 to 8 and 10 . A clamping body 59 belonging to each clamping body 59 can be moved between a holding position H (FIGS. 6 and 8) and a release position F (FIG. 7) by an associated clamping actuating unit 58. Tight unit 57. According to the example, the clamping body 59 is movably mounted in a guide slot 60 between the release position F and the holding position H in translation. The guiding groove 60 is disposed in a main body 61 of the grabbing device 44 . One of the clamping units 57 holds the recess 62 through the guide groove 60 . The holding recess 62 according to the example has a cylindrical shape and is open at least on one side of the body 61 . The holding recess 62 can be embodied as a through hole or as a blind hole through the main body 61 . The retaining recess 62 is configured to at least partially receive a securing pin 63 .

至少一個固定銷63排列於工具模組27上，或如在此處所述之實例中排列於模組載體35上。模組載體35由固定銷63形成作為一適配器，該適配器使得可由抓取裝置44拾取工具模組27。在實例性實施例中，模組載體35包含二個彼此間隔開一定距離排列之固定銷63。該等固定銷根據實例排列成在叉狀模組載體35之二個分支其中之每一者上存在一個固定銷且平行 於彼此延伸，且較佳地在排列於模組載體35上之狀態中亦平行於工具模組27之工具28之旋轉軸(第3圖)。 At least one fixing pin 63 is arranged on the tool module 27 or, in the example described here, on the module carrier 35 . The module carrier 35 is formed by the fixing pin 63 as an adapter which makes it possible to pick up the tool module 27 by the gripping device 44 . In an exemplary embodiment, the module carrier 35 includes two fixing pins 63 arranged at a distance from each other. The fixing pins are arranged according to an example so that there is a fixing pin on each of the two branches of the fork-shaped module carrier 35 and are parallel to each other. Extending to each other, and preferably also parallel to the axis of rotation of the tool 28 of the tool module 27 in the state arranged on the module carrier 35 ( FIG. 3 ).

每一固定銷63在其自由端具有一銷頭64，該銷頭由一銷部65鄰接，銷部65相較於銷頭64具有較小之尺寸或較小之橫截面。銷部65經由一連接部66連接至固定銷63之一緊固部67。連接部66根據實例係為圓柱形的，且具有近似對應於保持凹陷部62中之內徑之一外徑。根據實例，銷頭64之尺寸或直徑對應於連接部66之直徑。因此圍繞具有較小直徑之銷部65形成在圓周方向上閉合之一環形凹槽，且該環形凹槽一方面藉由銷頭64且在另一方面藉由連接部66在軸向上定界。緊固部67根據實例過渡到形成有一環形台階68之連接部66。緊固部相較於連接部66可具有一較大之直徑，且用於將固定銷63緊固至模組載體35。緊固部67可例如藉由一緊固螺絲69被緊固至模組載體35。 Each fastening pin 63 has at its free end a pin head 64 which is adjoined by a pin portion 65 which has smaller dimensions or a smaller cross-section than the pin head 64 . The pin portion 65 is connected to a fastening portion 67 of the fixing pin 63 via a connecting portion 66 . The connecting portion 66 is according to the example cylindrical and has an outer diameter approximately corresponding to the inner diameter in the holding recess 62 . According to an example, the size or diameter of the pin head 64 corresponds to the diameter of the connecting portion 66 . An annular groove that is closed in the circumferential direction is thus formed around the pin portion 65 with the smaller diameter and is delimited axially by the pin head 64 on the one hand and by the connecting portion 66 on the other hand. According to the example, the fastening portion 67 transitions into a connecting portion 66 formed with an annular step 68 . The fastening portion may have a larger diameter than the connecting portion 66 and is used to fasten the fixing pin 63 to the module carrier 35 . The fastening part 67 can be fastened to the module carrier 35 eg by a fastening screw 69 .

環形台階68用作抓取裝置44之一止擋器，且根據實例用作主體61之止擋器。若固定銷63接合在保持凹陷部62中使得環形台階68抵靠主體61，則銷部65將位於引導槽60之區中且因此將鄰近夾緊本體59定位。藉由移動夾緊本體59，可將此移入圍繞銷部65之圓周凹槽中以呈現保持位置H(第8圖)。在保持位置H中，夾緊本體59可以形狀配合方式保持固定銷63抵靠抓取裝置44。另外或作為另一選擇，夾緊本體59亦可對固定銷63施加一夾緊力。 The annular step 68 serves as a stop for the gripping device 44 and, according to the example, for the main body 61 . If the fixing pin 63 is engaged in the retaining recess 62 such that the annular step 68 abuts the body 61 , the pin portion 65 will be located in the region of the guide groove 60 and will thus be positioned adjacent to the clamping body 59 . By moving the clamping body 59, this can be moved into the circumferential groove around the pin portion 65 to assume the holding position H (Fig. 8). In the holding position H, the clamping body 59 can hold the fixing pin 63 against the gripping device 44 in a form-fitting manner. In addition or as another option, the clamping body 59 can also exert a clamping force on the fixing pin 63 .

如參照第7圖及第8圖所示，夾緊本體59之移動方向亦可被設置成相對於固定銷63之縱向軸偏置。為此，夾緊本體59具有一楔狀或梯形區70，該楔狀或梯形區70在釋放位置F中排列於圍繞銷部65之圓周凹槽之外，且在保持位置H中排列於此圓周凹槽內(參見第7圖及第8圖)。 As shown with reference to FIGS. 7 and 8 , the direction of movement of the clamping body 59 can also be arranged offset relative to the longitudinal axis of the fixing pin 63 . To this end, the clamping body 59 has a wedge-shaped or trapezoidal region 70 which is arranged outside the circumferential groove surrounding the pin 65 in the release position F and arranged therein in the holding position H. in the circumferential groove (see Figures 7 and 8).

夾緊致動單元58類似於抓取致動單元48包含一汽缸49，汽缸49之汽缸內腔被一活塞50流體劃分成二個工作內腔，該二個工作內腔其中之一流體連接至第一氣動連接件51，且該二個工作內腔其中之另一者流體連接至第二氣動連接件52。活塞50依據施加至工作內腔之壓力而移動，且經由一活塞杆根據移動耦合至夾緊本體59。 The clamping actuation unit 58 comprises a cylinder 49 similarly to the gripping actuation unit 48, the cylinder chamber of the cylinder 49 being fluidly divided into two working chambers by a piston 50, one of which is fluidly connected to The first pneumatic connection 51 , and the other of the two working chambers is fluidly connected to the second pneumatic connection 52 . The piston 50 moves according to the pressure applied to the working chamber and is coupled to the clamping body 59 through a piston rod according to the movement.

如所提及，夾緊致動單元58其中之一之汽缸49以及抓取致動單元48其中之一之汽缸49二者皆流體連接至共用第一氣動連接件51及第二氣動連接件52其中之每一者。在第一氣動連接件51處施加壓力之情形中，抓取手指單元45因此切換到抓取位置中且夾緊單元57因此切換到保持位置H中。相反，在第一氣動連接件51處減輕壓力且在第二氣動連接件52處施加壓力之情形中，夾緊單元57移動或切換到釋放位置F中，且抓取手指單元45移動或切換到打開位置中以釋放一工件38。在每一情形中，一抓取手指單元45與一夾緊單元57因此被聯合致動。在抓取裝置44之實例性實施例中，提供二對能夠聯合致動之抓取手指單元45以及夾緊單元57，且在每一情形中該二對抓取手指單元45以及夾緊單元57包含一第一氣動連接件51及一第二氣動連接件52。在第4圖中以舉例方式示出了總共四個氣動連接件。第10圖示出由夾緊單元57其中之一以及抓取手指單元45其中之一形成之二對其中之一對的流體、以及根據實例氣動耦合。在抓取裝置44之中心軸M之另一側上以類似方式實施由抓取手指單元45及夾緊單元57形成之另一對(亦參見第4圖)。 As mentioned, the cylinder 49 of one of the clamping actuation units 58 and the cylinder 49 of one of the gripping actuation units 48 are both fluidly connected to a common first pneumatic connection 51 and a second pneumatic connection 52 each of them. In the event of an application of pressure at the first pneumatic connection 51 , the gripping finger unit 45 is thus switched into the gripping position and the clamping unit 57 is therefore switched into the holding position H. Conversely, when the pressure is relieved at the first pneumatic connection 51 and the pressure is applied at the second pneumatic connection 52, the clamping unit 57 is moved or switched into the release position F and the gripper finger unit 45 is moved or switched into In the open position to release a workpiece 38 . In each case, a gripping finger unit 45 and a gripping unit 57 are thus jointly actuated. In an exemplary embodiment of the gripping device 44, two pairs of gripping finger units 45 and the gripping unit 57 that can be actuated jointly are provided, and in each case the two pairs of gripping finger units 45 and the gripping unit 57 It includes a first pneumatic connector 51 and a second pneumatic connector 52 . A total of four pneumatic connections are shown by way of example in FIG. 4 . Figure 10 shows the fluidic and according to the example pneumatic coupling of one of two pairs formed by one of the gripping units 57 and one of the gripping finger units 45 . On the other side of the central axis M of the gripping device 44 a further pair of gripping finger units 45 and clamping units 57 is implemented in a similar manner (see also FIG. 4 ).

機器工具20另外具有一運輸裝置75，運輸裝置75根據實例排列於機器底座22上(第11圖至第17圖)。在改變一工具模組27之情形中，運輸裝置75被配置成與機械臂42以及與軸配置23及工具載體25協同合作。運輸裝置75包含一定位驅動器(圖中未示出)，以在機器工具之工作區A之外 的一第一位置P1(第11圖、第12圖及第13圖)與至少部分位於機器工具之工作區A之內的一第二位置P2(第14圖至第17圖)之間移動運輸裝置75。定位驅動器可被形成為一平移及/或旋轉驅動器。 The machine tool 20 additionally has a transport device 75 which, according to the example, is arranged on the machine bed 22 ( FIGS. 11 to 17 ). In the case of changing a tool module 27 , the transport device 75 is configured to cooperate with the robot arm 42 and with the shaft arrangement 23 and the tool carrier 25 . The transport device 75 includes a positioning drive (not shown in the figure) to move outside the working area A of the machine tool Moving transport between a first position P1 (Fig. 11, Fig. 12 and Fig. 13) and a second position P2 (Fig. 14 to Fig. 17) at least partially within the working area A of the machine Device 75. The positioning drive can be formed as a translational and/or rotary drive.

在實例性實施例中，運輸裝置75準確地具有二個運輸空間76，該二個運輸空間76各自準確地用於一個工具模組27，該工具模組由一工具28及一流體分配器29形成。二個運輸空間76根據實例排列於一共用樞轉載體77上，該共用樞轉載體77能夠圍繞一樞轉軸樞轉。為此，運輸裝置75包含一樞轉驅動器(圖中未示出)。樞轉載體77根據實例能夠由樞轉驅動器沿逆時針方向樞轉90度且沿順時針方向樞轉90度。樞轉範圍根據實例較佳地被限制為圍繞樞轉軸樞轉移動至多90度。不可能達成更大之樞轉移動。作為另一選擇，樞轉範圍亦可被限制為另一角度範圍，例如100度，亦小於90度(例如，60度或45度)。運輸裝置75平行於樞轉軸延伸之一平面(根據實例，一水平平面)在第一位置P1與第二位置P2之間移動。 In the exemplary embodiment, the transport device 75 has exactly two transport spaces 76 each for exactly one tool module 27 consisting of a tool 28 and a fluid dispenser 29 form. According to the example, the two transport spaces 76 are arranged on a common pivot carrier 77 which is pivotable about a pivot axis. To this end, the transport device 75 contains a pivot drive (not shown in the figures). The pivot carrier 77 can be pivoted by 90 degrees in the counterclockwise direction and 90 degrees in the clockwise direction by the pivot drive according to the example. The pivot range is preferably limited according to an example to a pivotal movement of at most 90 degrees about the pivot axis. Larger pivotal movements are not possible. Alternatively, the pivoting range may also be limited to another angular range, such as 100 degrees, which is also less than 90 degrees (eg, 60 degrees or 45 degrees). The transport device 75 moves between a first position P1 and a second position P2 in a plane (according to the example, a horizontal plane) extending parallel to the pivot axis.

用於移動之樞轉驅動器以及定位驅動器可各自例如藉由一相應的汽缸被氣動驅動。 The pivoting drive for movement and the positioning drive can each be driven pneumatically, for example by means of a corresponding cylinder.

二個運輸空間76其中之一位於一裝載及卸載位置X中。在裝載位置X中，排列於此處之工具模組27之工具28之旋轉軸平行於工具載體25之主軸軸線取向，且例如水平地取向。若二個運輸空間其中之一位於裝載及卸載位置X中，則另一運輸空間76以距工作區A更大之一距離垂直地排列於其下方或水平地排列於其後方(例如，參見第15圖及第16圖)。 One of the two transport spaces 76 is located in a loading and unloading position X. In the loading position X, the axes of rotation of the tools 28 of the tool modules 27 arranged there are aligned parallel to the spindle axis of the tool carrier 25 and, for example, horizontally. If one of the two transport spaces is located in the loading and unloading position X, the other transport space 76 is arranged vertically below it or horizontally behind it at a greater distance from the working area A (see e.g. 15 and 16).

可參照第11圖至第17圖闡釋用於一工具模組27之一改變程序。 A change procedure for a tool module 27 can be explained with reference to FIGS. 11 to 17 .

運輸裝置75首先位於工作區A之外的第一位置P1中(第11圖)。機械臂42可自工具庫36移除待被裝載之工具模組27且可例如藉由模組載體35將工具模組27排列於二個運輸空間76其中之一處。在將待被裝載之工具 模組27排列於位於裝載及卸載位置X(第12圖)中之運輸空間76處時，然後對樞轉載體77進行樞轉使得僅包含一模組載體35之未被佔用之運輸空間76位於裝載及卸載位置X中(第13圖)。 The transport device 75 is initially located in a first position P1 outside the working area A (FIG. 11). The robot arm 42 can remove the tool modules 27 to be loaded from the tool magazine 36 and can arrange the tool modules 27 in one of the two transport spaces 76 , for example by means of the module carrier 35 . in the tool to be loaded When the modules 27 are arranged at the transport space 76 in the loading and unloading position X (FIG. 12), the pivoting carrier 77 is then pivoted so that the unoccupied transport space 76 containing only one module carrier 35 is at In loading and unloading position X (Fig. 13).

可在利用當前使用之工具模組27對一工件38進行機械加工的同時實行上述該等預備性措施。 The preparatory measures described above can be carried out while machining a workpiece 38 with the tool module 27 currently in use.

工具模組27一需要被改變，便將運輸裝置75移動至第二位置P2中使得具有空模組載體35之運輸空間76位於裝載及卸載位置X中(第14圖)。藉由軸配置23，朝向空的運輸空間76移動工具載體25，且將當前工具模組27存放在模組載體35中。然後遠離運輸裝置75移動工具載體25，使得該運輸裝置可以無碰撞方式執行樞轉移動(第15圖)。 As soon as the tool module 27 needs to be changed, the transport device 75 is moved into the second position P2 so that the transport space 76 with the empty module carrier 35 is in the loading and unloading position X (Fig. 14). By means of the shaft arrangement 23 the tool carrier 25 is moved towards the empty transport space 76 and the current tool module 27 is stored in the module carrier 35 . The tool carrier 25 is then moved away from the transport device 75 so that the transport device can perform a pivoting movement in a collision-free manner (Fig. 15).

藉由將樞轉載體77樞轉移動90度，待被裝載之工具模組27被樞轉到裝載及卸載位置X中(第16圖)且然後可藉由工具載體25之移動被接收在工具載體25處，其中工具載體25之移動係藉由軸配置23執行的(第17圖)。模組載體35保持在運輸裝置75之運輸空間76處。然後遠離運輸裝置75移動具有所裝載之工具模組27之工具載體25，並將工具載體25移出工作區A並移回到第一位置P1中。為了自運輸裝置75移除未經裝載之工具模組27，可將該運輸裝置樞轉至裝載及卸載位置X中使得運輸裝置75重新呈現在第12圖中所示之位置。 By pivotally moving the pivot carrier 77 by 90 degrees, the tool module 27 to be loaded is pivoted into the loading and unloading position X ( FIG. 16 ) and can then be received on the tool by movement of the tool carrier 25 At the carrier 25, wherein the movement of the tool carrier 25 is performed by means of the shaft arrangement 23 (Fig. 17). The module carrier 35 is held at the transport space 76 of the transport device 75 . The tool carrier 25 with the loaded tool modules 27 is then moved away from the transport device 75 and moved out of the working area A and back into the first position P1. To remove an unloaded tool module 27 from the transporter 75, the transporter can be pivoted into the loading and unloading position X so that the transporter 75 assumes the position shown in FIG. 12 again.

現在可使用所裝載之工具模組27來對一工件38進行機械加工。在此機械加工期間，機械臂42可自運輸裝置75移除未經裝載之工具模組27，且若下一工具改變不會再次使用該未經裝載之工具模組27，則將該未經裝載之工具模組27存放在工具庫36中。藉由製備，可藉由機械臂將接下來待被裝載之工具模組27放回運輸裝置75中，且所述製程以所闡述之方式再次開始。 A workpiece 38 can now be machined using the loaded tool module 27 . During this machining, the robot arm 42 can remove the unloaded tool module 27 from the transport device 75 and remove the unloaded tool module 27 if the next tool change will not reuse the unloaded tool module 27. The loaded tool modules 27 are stored in the tool library 36 . After preparation, the tool module 27 to be loaded next can be placed back into the transport device 75 by means of the robotic arm, and the process starts again in the manner described.

如所闡釋且如在第1圖中所示，機械臂42經由支撐配置40排列於機器底座22上，其中出於清晰起見，在第11圖至第7圖中未示出支撐配置40。 As illustrated and as shown in FIG. 1 , the robotic arm 42 is arranged on the machine base 22 via a support arrangement 40 which is not shown in FIGS. 11-7 for clarity.

機械臂42根據實例被設計成僅能夠拾取並承載單個工具模組27。因此可以較低之負載承載能力且以更緊湊之方式構造機械臂42。為了仍能夠足夠快地改變工具模組27，機械臂42操作運輸裝置75，運輸裝置75然後在工具模組27之改變階段期間可拾取未經裝載之工具模組27，且可藉由快速的樞轉移動使待被裝載之工具模組27進入裝載及卸載位置X。因此改變時間短。 The robot arm 42 is designed according to the example to be able to pick up and carry only a single tool module 27 . The robotic arm 42 can thus be constructed with a lower load carrying capacity and in a more compact manner. In order to still be able to change the tool modules 27 quickly enough, the robot arm 42 operates the transport device 75, which can then pick up the unloaded tool modules 27 during the change phase of the tool modules 27, and can do so by means of a fast The pivotal movement brings the tool module 27 to be loaded into the loading and unloading position X. Therefore the change time is short.

機械臂42以及抓取裝置44能夠被裝載以同時拾取二個工件38。因此可在與工件夾緊裝置26之直接協同合作中藉由機械臂42及抓取裝置44執行工件改變。運輸裝置75對工件改變而言係為非必要的。 Robotic arm 42 and gripping device 44 can be loaded to pick up two workpieces 38 simultaneously. A workpiece change can thus be carried out by the robot arm 42 and the gripping device 44 in direct cooperation with the workpiece clamping device 26 . The transport device 75 is not necessary for workpiece changes.

如所闡釋且如在第1圖中所示，機械臂42經由支撐配置40排列於機器底座22上。由於在對一工件38執行之一機械加工製程期間機械臂運作或能夠運作以使運輸裝置75配備有一工具模組27或移除一未經裝載之工具模組27，因此存在由機械臂42之加速度導致之振盪及振動將被引入至機器底座22中之風險。在機器工具20之一個實例性實施例中，可消除或至少最小化對振盪的引入，使得即使在存在相對較大加速度或加速度改變之情形中仍能夠防止對機械加工製程(具體而言，一高度準確之研磨或侵蝕製程)產生不利影響。 As illustrated and as shown in FIG. 1 , the robotic arm 42 is arrayed on the machine base 22 via the support arrangement 40 . Since the robot arm operates or is operable to equip the transport device 75 with a tool module 27 or to remove an unloaded tool module 27 during a machining process performed on a workpiece 38, there is a gap between the robot arm 42 and the robot arm 42. There is a risk that acceleration-induced oscillations and vibrations will be introduced into the machine bed 22 . In an exemplary embodiment of the machine tool 20, the introduction of oscillations can be eliminated or at least minimized so that even in the presence of relatively large accelerations or acceleration changes, damage to the machining process (specifically, a Highly accurate grinding or erosion process) adversely affected.

為此，支撐配置40或支撐配置40之連接至機械臂42之基礎部分43的至少一部分在阻尼狀態中可以僅彈性阻尼的方式經由一阻尼配置81被解耦及連接至機器底座。阻尼配置81例如具有至少一個能夠發生彈性形變之 阻尼本體82。阻尼本體82可由一彈性材料製成，具體而言由橡膠彈力材料製成。 To this end, the support arrangement 40 or at least a part of the base part 43 of the support arrangement 40 connected to the robot arm 42 can be decoupled and connected to the machine base via a damping arrangement 81 in a damped state only in an elastically damped manner. The damping arrangement 81 has, for example, at least one elastically deformable Damping body 82. The damping body 82 can be made of an elastic material, specifically, a rubber elastic material.

為此，舉例而言，可在支撐配置40上設置一切換驅動器83，例如一線性驅動器。切換驅動器83可包含一液缸或汽缸或亦可被電動驅動。其較佳地僅以一個自由度在旋轉或平移中執行移動，且在實例性實施例中在平移中執行移動。藉由切換驅動器83，支撐配置40可於一剛性耦合固定狀態S與經由阻尼配置81以相對於振動阻尼之方式耦合之一阻尼狀態D之間切換或移動。 To this end, for example, a switching drive 83 , for example a linear drive, can be provided on the support arrangement 40 . The switching drive 83 may comprise a hydraulic cylinder or an air cylinder or may also be electrically driven. It preferably performs movement in rotation or translation, and in an exemplary embodiment in translation, with only one degree of freedom. By switching the drive 83 , the supporting arrangement 40 can be switched or moved between a rigidly coupled fixed state S and a damped state D coupled via the damping arrangement 81 in a relatively vibration-damping manner.

在實例性實施例中，至少一個載體元件41可被劃分成一第一部分41a及一第二部分41b，該第一部分41a與該第二部分41b能夠經由切換驅動器83相對於彼此移動。舉例而言，複數個或所有的垂直取向之載體元件41可因此被劃分成一第一部分41a及一第二部分41b，且能夠經由一共用或獨立的切換驅動器83相對於彼此移動。使支撐配置40之上面排列有機械臂42之一部分能夠在固定狀態S與阻尼狀態D之間切換使得能夠在機器底座22與機械臂42之間達成剛性耦合或彈性耦合係為必要的。 In an exemplary embodiment, at least one carrier element 41 can be divided into a first part 41 a and a second part 41 b, which can be moved relative to each other via a switching drive 83 . For example, several or all vertically oriented carrier elements 41 can thus be divided into a first part 41 a and a second part 41 b and can be moved relative to each other via a common or independent switching drive 83 . It is necessary to enable the part of the support arrangement 40 on which the robot arm 42 is arranged to be switchable between the fixed state S and the damped state D to enable a rigid or elastic coupling between the machine base 22 and the robot arm 42 .

在第18圖及第19圖中大大以示意性方式示出的實例中，該等部分其中之一(且根據實例，第一部分41a)包含剛性耦合元件84，剛性耦合元件84根據實例被形成為耦合掛鉤(coupling peg)84。在暴露至通常有效的力時不發生形變或僅略發生形變之耦合元件84被認為係為剛性的。當支撐配置40處於固定狀態S中時，第一部分41a之二個耦合元件84實質上無間隙地接收在第二部分41b上的耦合凹陷部85中(第18圖)。在此固定狀態S中，第一部分41a無法相對於第二部分41b移動或僅可略微移動。機械臂42之位置或抓取裝置44之位置可相對於關於機器底座22固定之一座標系極準確地定位於固定狀態S中。此例如對於將工件38裝載至工件夾緊裝置 26中及自工件夾緊裝置26卸載工件38或在將一工件38***以靜止方式排列於機器底座22上之一工件庫39/自該工件庫39移除一工件38時係為必要的。 In the example shown largely schematically in FIGS. 18 and 19 , one of the parts (and according to the example the first part 41 a ) comprises a rigid coupling element 84 which according to the example is formed as coupling peg 84 . Coupling elements 84 that do not deform or deform only slightly when exposed to normally effective forces are considered rigid. When the support arrangement 40 is in the fixed state S, the two coupling elements 84 of the first part 41a are received substantially without gaps in the coupling recesses 85 on the second part 41b (Fig. 18). In this fixed state S, the first part 41a is immobile or only slightly movable relative to the second part 41b. The position of the robot arm 42 or the position of the gripping device 44 can be positioned in the fixed state S with great accuracy relative to a coordinate system fixed with respect to the machine base 22 . This is for example for loading a workpiece 38 into a workholding 26 and unloads the workpiece 38 from the workpiece clamping device 26 or when inserting/removing a workpiece 38 from the workpiece magazine 39 arranged in a stationary manner on the machine base 22 is necessary.

在固定位置S中，切換驅動器83亦可在第一部分41a與第二部分41b之間產生一夾緊力，使得二個部分41a與41b利用一力彼此按壓抵靠。 In the fixed position S, the switching drive 83 can also generate a clamping force between the first part 41a and the second part 41b, so that the two parts 41a and 41b are pressed against each other with a force.

藉由切換至阻尼狀態D中，耦合元件84被移出其相關聯的耦合凹陷部85。載體元件41之第一部分41a與第二部分41b之間的一夾緊力被取消，且僅藉由具有至少一個阻尼本體82之阻尼配置81達成該二個部分41a與41b之間的連接。根據實例，切換驅動器83可經由阻尼配置81支撐於二個部分其中之一上，且根據實例支撐於第二部分41b上，且可承載(例如，垂直支撐)另一部分(根據實例，第一部分41a)。在第19圖中示意性地示出此阻尼狀態D。二個部分41a及41b排列於此彼此間隔開一垂直距離，且仍僅經由阻尼配置81以彈性阻尼方式耦合。切換驅動器83之一耦合杆86較佳地經由第二部分41b上之一凹陷部突出而不接觸，且固定地連接至第一部分41a。耦合杆86之另一端連接至切換驅動器83之傳動缸，切換驅動器83經由阻尼配置81支撐於第二部分41b處。 By switching into the damping state D, the coupling element 84 is moved out of its associated coupling recess 85 . A clamping force between the first part 41 a and the second part 41 b of the carrier element 41 is eliminated and the connection between the two parts 41 a and 41 b is achieved only by the damping arrangement 81 having at least one damping body 82 . According to an example, the switching drive 83 can be supported on one of the two parts via the damping arrangement 81, and according to an example on the second part 41b, and can carry (for example vertically support) the other part (according to the example, the first part 41a ). This damping state D is shown schematically in FIG. 19 . The two parts 41 a and 41 b are arranged here at a vertical distance from each other and are still coupled in an elastically damped manner only via the damping arrangement 81 . A coupling lever 86 of the switching drive 83 preferably protrudes through a recess on the second part 41b without contact and is fixedly connected to the first part 41a. The other end of the coupling rod 86 is connected to the transmission cylinder of the switching drive 83 , which is supported at the second part 41 b via the damping arrangement 81 .

第20圖及第21圖示出支撐配置之一替代實施例，其中在第20圖中示出了固定狀態S，且在第21圖中示出了阻尼狀態D。在經修改之實施例中，切換驅動器83之一汽缸總是經由阻尼配置81之一阻尼本體82而連接至載體元件41之第二部分41b。此處也會在固定狀態S中於二個部分41a與41b之間產生足夠大的夾緊力。耦合元件84在此實施例中係為台階式的，且具有直徑較大之一第一台階84a以及直徑較小之一第二台階84b。耦合凹陷部85之內徑在此實施例中適合於第一台階84之外徑，第一台階84a在固定狀態S中排列於耦合凹陷部85內且在二個部分41a與41b之間產生剛性、實質 上無間隙之耦合。耦合元件84之第二台階84b延伸穿過阻尼配置81之一阻尼本體82中之一凹陷部。若現在切換至阻尼狀態D，則第一台階84a被移出耦合凹陷部85，使得現在僅有第二台階84b仍保持位於一阻尼本體82之凹陷部內。因此在二個部分41a與41b之間經由阻尼本體產生彈性、振動阻尼耦合。如在第一實例性實施例中，切換驅動器83自第二部分41b垂直地抬升第一部分41a，藉此達成阻尼狀態D。 Figures 20 and 21 show an alternative embodiment of a support arrangement, wherein the fixed state S is shown in figure 20 and the damped state D is shown in figure 21 . In a modified embodiment, a cylinder of the switching drive 83 is always connected to the second part 41 b of the carrier element 41 via a damping body 82 of the damping arrangement 81 . Here too, in the fastened state S, a sufficiently high clamping force is produced between the two parts 41a and 41b. The coupling element 84 is stepped in this embodiment and has a first step 84a with a larger diameter and a second step 84b with a smaller diameter. The inner diameter of the coupling recess 85 is adapted in this embodiment to the outer diameter of the first step 84 which, in the fixed state S, is arranged in the coupling recess 85 and creates rigidity between the two parts 41a and 41b ,substance Coupling without gaps. The second step 84b of the coupling element 84 extends through a recess in the damping body 82 of the damping arrangement 81 . If a switch is now made to the damping state D, the first step 84a is moved out of the coupling recess 85 so that now only the second step 84b remains in the recess of a damping body 82 . An elastic, vibration-damping coupling thus occurs between the two parts 41a and 41b via the damping body. As in the first exemplary embodiment, the switching drive 83 vertically lifts the first portion 41a from the second portion 41b, thereby achieving the damped state D. As shown in FIG.

根據第18圖及第19圖以及第20圖及第21圖之實例性實施例亦可彼此組合。舉例而言，亦在根據第18圖及第19圖之實例性實施例中，台階式的耦合元件84可與耦合凹陷部85內之額外的阻尼本體82一起使用。在根據第20圖及第21圖之實例性實施例中，亦可使用將處於固定狀態S中不具有阻尼本體82之切換驅動器83連接至二個部分41a及41b。用於支撐配置40之二個部分41a及41b之剛性耦合及阻尼解耦之另外實施例亦為可能的。作為對所示實例之另一選擇，二個部分41a及41b亦可在一水平方向上分離，其中較佳的為在一垂直方向上解耦。 The exemplary embodiments according to FIGS. 18 and 19 and FIGS. 20 and 21 can also be combined with each other. For example, also in the exemplary embodiments according to FIGS. 18 and 19 , a stepped coupling element 84 can be used with an additional damping body 82 in the coupling recess 85 . In the exemplary embodiment according to FIGS. 20 and 21 , it is also possible to use the connection of the switching drive 83 in the fixed state S without the damping body 82 to the two parts 41a and 41b. Further embodiments for rigid coupling and damping decoupling of the two parts 41a and 41b of the support arrangement 40 are also possible. As an alternative to the example shown, the two parts 41a and 41b can also be separated in a horizontal direction, where preferably decoupled in a vertical direction.

本發明係有關於一種機器工具20，例如一研磨機器及/或一侵蝕機器21。機器工具20具有一機器底座22以及一軸配置23，軸配置23用於相對於機器底座22移動一工具載體25及/或一工件夾緊裝置26。在機器底座22上設置有一運輸裝置75，運輸裝置75較佳準確地具有二個運輸空間76，該二個運輸空間76各自用於一個工具模組27。具有一抓取裝置44之一機械臂42被配置成抓取及移動二個工件38或作為另一選擇抓取及移動單個工具模組27。因此可直接經由機械臂42實行利用工件夾緊裝置26之工件變化，或一工具模組27可被拾取並排列於運輸裝置75中或被自運輸裝置75移除。運輸裝置75可被移出機器工具20之工作區A以及移入工作區A，且工具載體25上之工具模組27可與工具機器20之軸配置23協同合作而被改變。 The invention relates to a machine tool 20 such as a grinding machine and/or an erosion machine 21 . The machine tool 20 has a machine base 22 and an axis arrangement 23 for moving a tool carrier 25 and/or a workpiece clamping device 26 relative to the machine base 22 . A transport device 75 is arranged on the machine base 22 , which preferably has exactly two transport spaces 76 , each for a tool module 27 . A robotic arm 42 with a gripping device 44 is configured to grip and move two workpieces 38 or alternatively a single tool module 27 . A workpiece change using the workpiece clamping device 26 can thus be carried out directly via the robot arm 42 , or a tool module 27 can be picked up and arranged in or removed from the transport device 75 . The transport device 75 can be moved out of and into the working area A of the machine tool 20 and the tool module 27 on the tool carrier 25 can be changed in cooperation with the axis arrangement 23 of the machine tool 20 .

20:機器工具 20: Machine tools

21:研磨及/或侵蝕機器 21: Grinding and/or erosion machines

22:機器底座 22: Machine base

23:軸配置 23: Shaft configuration

24:機器軸 24: Machine shaft

25:工具載體 25: Tool carrier

26:工件夾緊裝置 26: Work clamping device

27:工具模組 27:Tool module

36:工具庫 36: Tool library

37:庫保持件 37: library holder

39:工件庫 39: Artifact Library

40:支撐配置 40: Support configuration

41:載體元件 41: carrier element

42:機械臂 42: Mechanical arm

43:基礎部分 43: Basic part

44:抓取裝置 44: Grabbing device

A:工作區 A: work area

Claims (12)

一種機器工具(20)，具有一機器底座(22)，具有一軸配置(23)，該軸配置(23)排列於該機器底座(22)上，具有複數個機器軸(24)且被配置成相對於該機器底座(22)定位及/或移動一工具載體(25)及/或一工件夾緊裝置(26)，其中該工具載體(25)被配置成接收一工具模組(27)，該工具模組(27)包含一工具(28)以及一流體分配器(29)，具有一運輸裝置(75)，該運輸裝置(75)能夠在該工具(28)之工作區(A)之外的一第一位置(P1)與在該工作區(A)之內的一第二位置(P2)之間移動且包含二個運輸空間(76)，該二個運輸空間(76)各自用於接收一個工具模組(27)，具有一機械臂(42)，該機械臂(42)包含一抓取裝置(44)，該抓取裝置(44)被配置成抓取至少一個工件(38)以及抓取該等工具模組(27)其中之一，使得可藉由該機械臂(42)執行工件變化抑或可將一工具模組(27)排列於該運輸裝置(75)之該等運輸空間(76)其中之一中或可自該等運輸空間(76)其中之一移除該工具模組(27)，其中，該抓取裝置(44)包含至少一個抓取手指單元(45)，該至少一個抓取手指單元(45)在每一情形中被設計成抓取該等工件(38)其中之一，且其中該抓取裝置(44)包含一夾緊裝置(56)，該夾緊裝置(56)被配置成抓取該等工具模組(27)其中之一，其中，該夾緊裝置(56)包含至少一個夾緊單元(57)，該至少一個夾緊單元(57)具有一夾緊本體(59)以及一保持凹陷部(62)，其中該保持凹陷部(62)被配置成接收一固定銷(63)，該固定銷(63)排列於該工具模組(27)上或保 持該工具模組(27)之一模組載體(35)上，且其中該夾緊本體(59)能夠在作用於該固定銷(63)上之一保持位置(H)與釋放該固定銷(63)之一釋放位置(F)之間移動。 A machine tool (20) having a machine base (22) having a shaft arrangement (23) arranged on the machine base (22) having a plurality of machine shafts (24) configured to positioning and/or moving a tool carrier (25) and/or a workpiece clamping device (26) relative to the machine base (22), wherein the tool carrier (25) is configured to receive a tool module (27), The tool module (27) includes a tool (28) and a fluid dispenser (29), has a transport device (75), and the transport device (75) can be placed between the working area (A) of the tool (28) Move between a first position (P1) outside the working area (A) and a second position (P2) inside the work area (A) and include two transport spaces (76), the two transport spaces (76) are used respectively Receiving a tool module (27), having a robotic arm (42) comprising a gripping device (44) configured to grip at least one workpiece (38 ) and grabbing one of the tool modules (27), so that the workpiece change can be performed by the robot arm (42) or a tool module (27) can be arranged on the transport device (75) The tool module (27) is removable in or from one of the transport spaces (76), wherein the gripping device (44) comprises at least one gripping finger unit (45 ), the at least one grasping finger unit (45) is designed in each case to grasp one of the workpieces (38), and wherein the grasping device (44) comprises a clamping device (56), The clamping device (56) is configured to grab one of the tool modules (27), wherein the clamping device (56) includes at least one clamping unit (57), the at least one clamping unit ( 57) Having a clamping body (59) and a retaining recess (62), wherein the retaining recess (62) is configured to receive a securing pin (63) arranged in the tool module (27) Up or down on a module carrier (35) holding the tool module (27), and wherein the clamping body (59) can act on the fixing pin (63) in a holding position (H) and release the fixing pin (63) to move between one of the release positions (F). 如請求項1所述之機器工具，其中該運輸裝置(75)在該第一位置(P1)與該第二位置(P2)之間平移或旋轉時能夠準確地以一個自由度移動。 The machine tool of claim 1, wherein the transport device (75) is movable in exactly one degree of freedom when translating or rotating between the first position (P1) and the second position (P2). 如請求項1或2所述之機器工具，其中該運輸裝置(75)包含一樞轉載體(77)，該樞轉載體(77)包含該二個運輸空間(76)且能夠圍繞一樞轉軸在該第一位置(P1)與該第二位置(P2)中樞轉。 The machine tool as claimed in claim 1 or 2, wherein the transport device (75) comprises a pivot carrier (77), the pivot carrier (77) comprises the two transport spaces (76) and can be around a pivot axis Pivoting between the first position (P1) and the second position (P2). 如請求項1所述之機器工具，其中提供二個抓取手指單元(45)，且在每一情形中藉由一抓取致動單元(48)彼此獨立地致動該二個抓取手指單元(45)。 Machine tool as claimed in claim 1, wherein two gripping finger units (45) are provided and are actuated independently of each other by a gripping actuation unit (48) in each case unit (45). 如請求項1所述之機器工具，其中該至少一個夾緊單元(58)藉由一夾緊致動單元(58)致動。 The machine tool according to claim 1, wherein the at least one clamping unit (58) is actuated by a clamping actuation unit (58). 如請求項5所述之機器工具，其中該抓取裝置(44)包含至少一個抓取手指單元(45)，該至少一個抓取手指單元(45)在每一情形中被設計成抓取該等工件(38)其中之一，其中該抓取裝置(44)包含一夾緊裝置(56)，該夾緊裝置(56)被配置成抓取該等工具模組(27)其中之一，且提供二個抓取手指單元(45)，且在每一情形中藉由一抓取致動單元(48)彼此獨立地致動該二個抓取手指單元(45)，且其中該等夾緊致動單元(58)其中之一與該等抓取致動單元(48)其中之一彼此流體及/或機械耦合用於聯合致動。 The machine tool according to claim 5, wherein the gripping device (44) comprises at least one gripping finger unit (45), which in each case is designed to grip the one of the workpieces (38), wherein the gripping device (44) includes a clamping device (56), the clamping device (56) is configured to grab one of the tool modules (27), and two grabbing finger units (45) are provided and are actuated independently of each other by a grabbing actuation unit (48) in each case, and wherein the gripper One of the compact actuation units (58) and one of the grab actuation units (48) are fluidly and/or mechanically coupled to each other for joint actuation. 如請求項1或2所述之機器工具， 其中提供一工具庫(36)用於儲存複數個工具模組(27)及/或提供一工件庫(39)用於儲存複數個未經機械加工及/或經機械加工之工件(38)，其中該工具庫(36)及/或該工件庫(39)排列於該機械臂(42)之範圍內。 A machine tool as described in claim 1 or 2, Wherein a tool storehouse (36) is provided for storing a plurality of tool modules (27) and/or a workpiece storehouse (39) is provided for storing a plurality of unmachined and/or machined workpieces (38), Wherein the tool magazine (36) and/or the workpiece magazine (39) are arranged within the range of the mechanical arm (42). 如請求項1或2所述之機器工具，其中一支撐配置(40)排列於該機器底座(22)上且承載該機械臂(42)。 The machine tool according to claim 1 or 2, wherein a supporting arrangement (40) is arranged on the machine base (22) and carries the mechanical arm (42). 如請求項1或2所述之機器工具，被實施為研磨及/或侵蝕機器(21)。 A machine tool according to claim 1 or 2, embodied as a grinding and/or erosion machine (21). 如請求項8所述之機器工具，其中該支撐配置(40)能夠在一固定狀態(S)與一阻尼狀態(D)之間切換，其中承載該機械臂(42)之該支撐配置(40)之至少一部分在該阻尼狀態(D)中經由一阻尼配置(81)彈性連接至該機器底座(22)且在該固定狀態(S)中經由至少一個耦合元件(84)實質上無間隙地連接至該機器底座(22)。 The machine tool as claimed in claim 8, wherein the support configuration (40) is switchable between a fixed state (S) and a damped state (D), wherein the support configuration (40) carrying the mechanical arm (42) ) is elastically connected to the machine base (22) via a damping arrangement (81) in the damped state (D) and is substantially gap-free in the fixed state (S) via at least one coupling element (84) Connect to the machine base (22). 如請求項10所述之機器工具，其中該支撐配置(40)之至少一部分可經由一驅動器(83)以一個自由度移動，以產生在該固定狀態(S)與該阻尼狀態(D)之間的切換。 The machine tool as described in claim 10, wherein at least a part of the support arrangement (40) is movable with a degree of freedom via a drive (83) to produce a difference between the fixed state (S) and the damped state (D) switch between. 一種替換一機器工具(20)之一工具載體(25)上之一工具模組(27)之方法，該機器工具(20)具有一軸配置(23)，該軸配置(23)排列於機器底座(22)上，具有複數個機器軸(24)且被配置成相對於該機器底座(22)定位及/或移動工具載體(25)及/或一工件夾緊裝置(26)，其中該工具模組(27)包含一工具(28)以及一流體分配器(29)，該機器工具(20)具有一運輸裝置(75)，該運輸裝置(75)能夠在排列於該工具(28)之工作區(A)之外的一第一位置(P1)與排列於該工作區(A)之內的一第二位置(P2)之間移動且包 含二個運輸空間(76)，該二個運輸空間(76)各自用於接收一個工具模組(27)，且該機器工具(20)具有一機械臂(42)，該機械臂(42)包含一抓取裝置(44)，該抓取裝置(44)被配置成抓取至少一個工件(38)以及抓取該等工具模組(27)其中之一，該抓取裝置(44)包含至少一個抓取手指單元(45)，該至少一個抓取手指單元(45)在每一情形中被設計成抓取該等工件(38)其中之一，該抓取裝置(44)包含一夾緊裝置(56)，該夾緊裝置(56)被配置成抓取該等工具模組(27)其中之一，該夾緊裝置(56)包含至少一個夾緊單元(57)，該至少一個夾緊單元(57)具有一夾緊本體(59)以及一保持凹陷部(62)，該保持凹陷部(62)被配置成接收一固定銷(63)，該固定銷(63)排列於該工具模組(27)上或保持該工具模組(27)之一模組載體(35)上，該夾緊本體(59)能夠在作用於該固定銷(63)上之一保持位置(H)與釋放該固定銷(63)之一釋放位置(F)之間移動，該方法包含以下步驟：將該運輸裝置(75)定位於該第一位置(P1)中，藉由該機械臂(42)將待被裝載之一工具模組(27)排列於處於其該第一位置(P1)中之該運輸裝置(75)之該等運輸空間(76)其中之一中，將該運輸裝置(76)移動至該第二位置(P2)中，利用該軸配置(23)之至少一個機器軸(24)將當前設置於該工具載體(25)上之該工具模組(27)排列於處於其該第二位置(P2)中之該運輸裝置(75)之空閒運輸空間(76)中，利用該軸配置(23)之至少一個機器軸(24)移除該工具載體(25)及該運輸裝置(75)，將該運輸裝置(75)樞轉於其第二位置(P2)中以使待被裝載該工具模組(27)之該運輸空間(76)進入一裝載及卸載位置(X)， 藉由該工具載體(25)拾取待被裝載之該工具模組(27)，並利用該軸配置(23)之至少一個機器軸(24)自該運輸裝置(75)移除該工具載體，將該運輸裝置(75)自該第二位置(P2)移動至該第一位置(P1)中。 A method of replacing a tool module (27) on a tool carrier (25) of a machine tool (20) having a shaft arrangement (23) arranged on a machine base (22) having a plurality of machine axes (24) and configured to position and/or move a tool carrier (25) and/or a workholding device (26) relative to the machine base (22), wherein the tool The module (27) includes a tool (28) and a fluid dispenser (29), the machine tool (20) has a transport device (75) capable of being arranged on the tool (28) Move between a first position (P1) outside the work area (A) and a second position (P2) arranged in the work area (A) and include Containing two transport spaces (76), the two transport spaces (76) are each used to receive a tool module (27), and the machine tool (20) has a mechanical arm (42), the mechanical arm (42) comprising a gripping device (44) configured to grip at least one workpiece (38) and to grip one of the tool modules (27), the gripping device (44) comprising At least one gripping finger unit (45) designed in each case to grip one of the workpieces (38), the gripping device (44) comprising a gripper A clamping device (56), the clamping device (56) is configured to grab one of the tool modules (27), the clamping device (56) includes at least one clamping unit (57), the at least one The clamping unit (57) has a clamping body (59) and a holding recess (62) configured to receive a fixing pin (63) arranged in the On the tool module (27) or on a module carrier (35) holding the tool module (27), the clamping body (59) can be in a holding position (H ) and a release position (F) for releasing the fixing pin (63), the method comprising the steps of: positioning the transportation device (75) in the first position (P1), by means of the mechanical arm ( 42) Arranging a tool module (27) to be loaded in one of the transport spaces (76) of the transport device (75) in its first position (P1), the transport device (76) moving into the second position (P2), using at least one machine axis (24) of the axis arrangement (23) to arrange the tool module (27) currently arranged on the tool carrier (25) in the In the free transport space (76) of the transport device (75) in its second position (P2), the tool carrier (25) and The transport device (75), pivoting the transport device (75) in its second position (P2) to bring the transport space (76) to be loaded with the tool module (27) into a loading and unloading position (X), picking up the tool module (27) to be loaded by the tool carrier (25), and removing the tool carrier from the transport device (75) by means of at least one machine axis (24) of the axis arrangement (23), The transport device (75) is moved from the second position (P2) into the first position (P1).
TW108106554A 2018-02-28 2019-02-26 Machine tool and method for replacing a tool module on a tool carrier of a machine tool TWI785209B (en)

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