JPH0413535A - Automatic tool changer for machine tool - Google Patents

Abstract

PURPOSE:To make it possible to exchange a tool even when the angle between the axes of a tool pot and a main spindle is below 90 degrees by moving tool holding parts of exchange arms respectively along the axes of the tool pot and the main spindle back and forth, and rotating the tool holding parts through 180 degrees around an intermediate angle line between the tool pot and the main spindle to replace the tool. CONSTITUTION:While a used tool T2 is fitted and held in a holding part 20b of one exchange arm 17b, a tool pot 5 in a tool magazine 3 is turned to fit and hold a tool T1 in a holding part 20a of the other exchange arm 17a. Then the exchange arm 17a, 17b are moved along guide grooves 19a, 19b to draw out the tools T1, T2 from the tool pot 5 and a chuck 2, and a body of rotation 21 is rotated to turn the exchange arms 17a, 17b through 180 degrees around an intermediate angle line l3 and to move the tool T1 from before the chuck 2 ahead of the tool pot 5, and the tool T2 from before the tool pot 5 adhead of the chuck 2. Then the exchange arms 17a, 17b are moved to the rear end of the guide grooves 19a, 19b to fit and hold the tool T2 in the tool pot 5 and the tool T1 in the chuck 2.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to an automatic tool changer (ATC) for a machine tool for simultaneously exchanging tools between a tool pot in a tool magazine and a tool in a spindle.

[Prior Art] Conventionally, a tool pot of a tool magazine and a tool chuck of a spindle are arranged so that their respective tool axes are parallel to each other. At least, when exchanging tools, both tools are positioned parallel to each other and then the tools are exchanged. This is because if the tool axes are made parallel, the structure of the automatic tool changer becomes an fIM sheep. That is, the conventional automatic tool changer is based on the premise that the tool axes of the tool bot of the tool magazine, the chuck of the main spindle, and the respective tool axes are parallel. Above all,
The angle between the axes of both tools is usually not less than 90 degrees.

[Problem to be solved by the invention] However, due to design reasons such as the main body frame of the machine tool, the angle between the tool axis of the tool pot of the tool magazine and the tool of the main spindle chuck is designed to be 90 degrees or less. There are times when you have to. In such a case, the structure of the conventional automatic tool changer cannot be adopted.

An object of the present invention is to provide an automatic tool changer for a machine tool that can be applied even when the tool axes of the tool pot of the tool magazine and the chuck of the main spindle are 90 degrees or less.

[Means to solve the above problem] In order to solve the above problem, the following measures are taken.

In an automatic tool changer that simultaneously exchanges both tools between a tool in a tool magazine and a tool in a spindle head, the tool pot of the tool magazine is such that, in the exchange position, the central axes of the two tools intersect at an acute angle position. and a spindle for holding and fixing the tool in the spindle head, and the tool pot and the spindle are disposed on an intermediate angle line that bisects the acute angle, and for moving forward and backward on this intermediate angle line. forward and backward drive means, and a gripping section connected to the forward and backward drive means and attached to the tool pot and the main spindle for gripping the tool, and the gripping section is configured to move the tool by the forward and backward movement. an exchange arm that is moved back and forth in the axial direction of the pot and the main spindle to attach and detach the tool; a guide means that guides the exchange arm in parallel to the tool axis direction of the Elibot and the main spindle; The automatic tool changer for a machine tool includes a rotation drive means for rotating the tool 180 degrees about the intermediate angle line to change the position of the tool between the tool pot and the main shaft.

Advantageously, the forward/backward drive means is a hydraulic cylinder, and the rotary drive means is a rack and pinion.

[Operation] Position the tool pot of the tool magazine and the spindle head at the exchange position. At this time, the two gripping parts of the exchange arm are gripping the tools in the tool magazine and tool pot. The forward/backward drive means is operated to advance the exchange arm along the guide means. As the exchange arm moves back and forth, the two gripping parts of the exchange arm pull out both the tool pot and the spindle head. Next, the positions of both tools are replaced by rotationally driving the exchange arm by the rotational drive means.

Return the forward/backward drive means to their original positions and place both tools into the tool box.
-, insert it into the chuck of the spindle head to complete the replacement.

[Example] An embodiment of the present invention will be described below with reference to the drawings.

Referring to FIG. 1, a spindle head 1 is assembled into a frame of a machine tool, and has a spindle 2 for holding a tool. The tool axis is the central axis of spindle 2! 2 is horizontal.

This spindle head 1 is provided in a column (not shown) for refining the main body of a machine tool, and is provided so as to be movable up and down in the direction of arrow a.

The tool magazine 3 is for storing a large number of tools Tn, and is provided to be inclined at an angle θ with respect to the main axis. The tools Tn are provided on the chain 4 at regular pitches. After the chain 4 is moved to a predetermined position by the indexing motor, the necessary tool Tn is positioned by rotating the tool pot 5 to the tool exchange position as shown by the arrow. The tool axis f1.12 of the tool bot 5 and the main spindle 2 is
They form an angle of 90 degrees or less, that is, an acute angle θ.

A mechanism for exchanging tools between the tool bot 5 and the spindle 2 is configured as follows. A support portion 6 of the mechanism, that is, a main body is provided below the tool magazine 3. This support portion 6 is provided with an arm cylinder 7 as means for driving the exchange arms 17a, 17b forward and backward.

This arm cylinder 7 has an intermediate angle line 1v that equally divides the acute angle θ formed by the tool axes tl and 12 into two. ) is placed on top.

The arm cylinder 7 includes a cylinder portion 8, a piston 9, an oil passage 10, and the like. A rotary joint 11 provided at the tip of the piston 9 is a joint that blocks rotational transmission between the tip and base end sides of the piston 9 and transmits motion only in the axial direction. A position detection lever 12 is provided at the rear end of the piston 9. This is piston 9
This is to detect the position of. The dog 13 of the position detection lever 12 is a dog for detecting the position of the piston 9 by operating the limit switches 14a and 14b. These position lever 12, dog 13 and detection switch 1
4 will be explained in detail later.

These arm cylinders 7, detection switches 14a, 14
b is the intermediate angle Ili! 3 constitutes a "forward/backward driving means" that moves forward and backward on the top. A pair of swing links 15a and 15b are provided at the tip of the piston 9 of the arm cylinder 7.
One end is rotatably connected by a bottle 16. Swing link 15a.

The other end of 15b is rotatably connected to follower 18 of exchange arms 17a, 17b. The follower 18 is provided movably within guide grooves 19a and 19b provided in the support portion 6.

The pair of exchange arms 17a, 17b are provided so as to be movable in guide grooves 19a, 19b by a follower 18. At the tips of the exchange arms 17a and 17b, a tool bot 5 is installed.
and a gripping part 20a for gripping the tool of the chuck 2,
20b is formed. The guide grooves 19a and 19b are
They are formed parallel to the tool axes /+ and lz, respectively.

When the exchange arms 17a, 17b move within the guide grooves 19a, 19b, the grip portions 20 of the exchange arms 17a, 17b
a and 20b are adapted to attach and detach tools from the tool bot 5 and the chuck 2.

That is, by expanding and contracting the arm cylinder 7, the exchange arm 1 is moved through the swing links 15a and 15b.
7a and 17b are guide grooves 19a.

The exchange arm 17a is driven forward and backward within the exchange arm 19b.

The gripping parts 20a and 20b of 17b are the tool axes of the tool bot 5 and the chuck 2! 1. /2 Move above. The position lever 12 provided on the piston 9 moves forward and backward as the arm cylinder 7 expands and contracts, and the protrusion 13 of the position lever 12 contacts the two detection switches 14a and 14b, causing an output signal to be generated. , replacement arms 17a and 17b are guides? When it is detected that the piston 9 reaches the front and rear ends of the pistons 1119a and 1119b, the movement of the piston 9 is stopped. In the end, these swing links 15a, 15b, exchange arms 17a, 1
7b and the guide grooves 19a, 19b constitute tool gripping means for gripping a tool between the tool bot 5 and the chuck 2.

Rotating body 21 to which the exchange arms 17a and 17b are attached
is an intermediate angle line that is connected to the outer periphery of the arm cylinder 7 via the bearing 22! It is rotatably supported around 3. The rotating body 21 is formed in the shape of a cone with the top section cut off. A pinion 23 is formed on the outer periphery of the base end of the rotating body 21 .

This pinion 23 meshes with a rack 24. This rack 24 is connected to a piston rod 25 of a rack cylinder (not shown). Then, by expanding and contracting the piston rod 25, the rotating body 21 moves to the intermediate angle line via the rack 24 and pinion 23. , is arranged so that it can be rotated around .

That is, the drive mechanism of the rotating body 21, the rack cylinder, and the rack 24 is connected to the exchange arm 17a.
, 17b at intermediate angle! ! ! , rotate forward and reverse around the top,
It constitutes a rotation drive means for exchanging tools between the tool bot 5 and the chuck 2.

−negative− The device constructed as described above operates as follows.

First, move back the piston 9 of the arm cylinder 7,
Exchange arm 17a via swing links 15a, 15b,
17b is located at the rear end of the guide 79419 al 9 b (the position shown in FIG. 1).

Next, the spindle head 1 is raised, brought close to the tool magazine 3, and the used tool T2 is transferred to one exchange arm], 7 b
It is inserted into and gripped by the gripping part 20b.

On the other hand, in the tool magazine 3, after the necessary tool T1 is moved to a predetermined position in the tool magazine 3 by the chain 4,
The tool bot 5 is rotated as shown by the arrow, and the tool Tl is fitted into and gripped by the gripping portion 20a of the other exchange arm 17a.

Next, as shown in FIG. 2, the piston 9 of the arm cylinder 7 is extended, and the replacement arms A1.7a, 17b are inserted into the guide grooves 19a, 19 through the swing links 1a, 15b.
Move along b. Then, the exchange arms 17a, 1
7b, the fS tools T1 and T2 are removed from the tool bot 5 and the chuck 2, respectively.

Next, the rack driving piston 25 is operated to drive the rack 2.
4. Rotate the rotating body 21 via the pinion 23 and move the exchange arms 17a, 17b to the intermediate angle line! 180 mainly around 3
Make it concave.

Therefore, the used T-tool T1 held by the exchange arm 17b is moved from the front of the chuck 2 to the front of the tool bot 5, and the necessary tool T2 held by the exchange arm 17a is moved from the front of the tool bot 5 to the front of the chuck 2. will be moved to

Next, move the arm cylinder 7 backward and replace the arm 1.
7a, ], 7b are moved to the rear ends of the guides J19a, 19b. Then, the used tool T2 held by the exchange arm 17b is fitted into the tool bot 5, and at the same time, the necessary tool T1 held by the exchange arm 17a is fitted into the chuck 2 and then held by the clamp mechanism.

Next, the spindle head 1 is lowered and separated from the tool magazine 3, and machining work begins. The above embodiment has the following advantages. Tool axes 1+, l between tool bot 5 and chuck 2
By extending and contracting the arm cylinder 7 on the intermediate angle line 13 that bisects the acute angle θ where z intersects, the swing links 15a, 1
．． The grip part 20 of exchange arms 17a, 17b via 5b
a, 20 [) are moved back and forth to the tool bond 5 and the chuck 2, that is, in the tool axis 1+, i2 direction, to attach and detach the tools T, T2 from the tool bot 5 and the chuck 2.

At the same time, the rotating body 21 is rotated to replace the exchange arm 17a.
, 17b are turned 180 degrees to change the position of the tools u T l and T 2 between the tool bot 5 and the chuck 2. Therefore, it is possible to simultaneously exchange tools even between the tool magazine 3 and the tool of the spindle head J, where the tool axes 1+ and 12 intersect at an acute angle.

"Other Embodiments" The arm cylinder 7 of the embodiment described above is a hydraulic cylinder. However, this linear drive is not limited to the hydraulic cylinder, but may be performed by other known drive means such as a cam or a screw feed. Also included are an ohm and a worm wheel with rotation drive means by the rank 24 and pinion 23. Also, 01f kite i1! IQa, 1.9b is very good for guide rods and guide surfaces even if it is not a vortex.

[Effects of the Invention] As described in detail below, the present invention enables simultaneous tool exchange between a tool magazine and a spindle head whose tool axes intersect at an acute angle. As a result, area C in FIG. 1 becomes free and the space can be used effectively, and the ATC itself is compacted, reducing the area required for the machine.

[Brief explanation of the drawing]

FIG. 1 is a front view of a device according to a first embodiment of the present invention, and FIG. 2 is a diagram showing the operating state of the device of FIG. 1. 1-Spindle head, 2-Spindle, 3...Tool magazine, 5...
Tool bot, 7 arm cylinder, ], 5a], 5
b - Swing link, I7a, 17b ″5:, Replacement arm, 19a, 19b - Guide groove, 20a, 20b gripping part,
21...Rotating body, 23. Pinion, 24. Rack, ... Piston rod

Claims (1)

[Claims] 1. In an automatic tool changer that simultaneously exchanges both tools between a tool in a tool magazine and a tool on a spindle head, in the exchange position, the central axes of both tools are at an acute angle position. The tool pot of the tool magazine intersects with the main shaft for holding and fixing the tool of the main spindle head, and the tool pot and the main shaft are arranged on an intermediate angle line that bisects the acute angle; a forward and backward drive means for advancing and retracting on an angular line; a gripping section connected to the forward and backward drive means and for gripping the tool mounted on the tool pot and the main shaft; an exchange arm for attaching and detaching the tool, the gripping part being moved back and forth in the axial direction of the tool pot and the main spindle; and a guide for guiding the exchange arm in parallel to the tool axis direction of the tool pot and the main spindle. and rotational drive means for rotating the exchange arm 180 degrees about the intermediate angle line to replace the position of the tool between the tool pot and the main shaft. Automatic tool changer for machine tools. 2. An automatic tool changer for a machine tool according to claim 1, wherein the advance/retreat drive means is a hydraulic cylinder, and the rotation drive means is a rack and pinion.