DD297929A5 - CHANGE DEVICE FOR TOOL SPINDLE CARRIER ON A MACHINING MACHINE - Google Patents

Abstract

The changing device has a holder (9) on which location parts projecting up from a tool-spindle carrier (5) can be hung. The holder (9) is a gripper hand which has a vertical axis (29), is designed as a rotary body and is arranged at the free end of a pivotable gripper arm (10) designed as a single-armed lever. The gripper hand has fixed gripping strips (25, 26) onto which the location parts (7, 8) can be placed for the suspended mounting of the tool-spindle carriers (5). The gripping strips can be inserted between the location parts (7, 8). The changing device is of compact design and requires only a little space for the changing operation. As a result of the design of the holder (9) as a rotary body, only small masses need to be moved during the changing operation. <IMAGE>

Description

For this 6 pages drawings

Field of application of the invention

The invention relates to a changing device for tool spindle carrier on a processing machine, with a holder to which the tool spindle carrier upwardly projecting parts are attachable, and with a drive for adjusting the changing device.

Characteristic of the known state of the art

Such changing devices serve to transport tool spindle carriers equipped with tools from a storage or storage location to a drive unit of the processing machine and vice versa. Known changing devices are designed as rings along which the holders for the receiving parts of the tool spindle carrier are arranged. To couple the interchangeable ring with the tool spindle carriers or to uncouple from them, is a

complex drive device with carriage, auxiliary slide, cams and rotary drive required. Since the entire ring is rotated when changing, the moving masses are relatively large. In addition, the changing device requires a relatively large amount of space.

In the gating device changing device (DE-PS 1813989), the holder in the form of a raised and lowered suspended platform is formed, which is part of a push carriage. It can be moved horizontally in the area above the tool spindle carrier. The suspended platform has slots with which it is suspended in collar bolts of the work spindle carrier. The suspended tool spindle carrier rests on a chain conveyor, with which it is pushed together with the Stoßsch'.itten on a platform. It is m't help of a piston-cylinder unit in the vertical trajectory of a raised and lowered platform moved. With her the stored on her spindle tool carrier is raised in the area below a support plate, in which the tool spindle carrier is mounted with his collar bolt turn. This changing device is structurally very complicated. To transport the tool spindle carrier not only the conveyor and the impact slide with the height-adjustable suspended platform is necessary, but there are still the platform, the raised and lowered platform and the support plate necessary to transport the tool spindle carrier to the drive unit of the processing machine. In addition, the changing device requires considerable space. Frequently, processing machines are along transfer lines, where they should be placed side by side with the shortest possible distance, so that the transfer line requires little space. As a result of the changing facilities, however, the processing machines can not be placed very close together. Since when changing the tool spindle carrier, the entire slide must be moved, and the moving masses are relatively large. Another known changing device (DE-OS 3731280) has designed as a one-armed lever pivotal gripper arm, at the free end of a further pivot arm is provided which pivots about the pivot axis. With this change device but only individual tools can be changed. On swivel arm two laterally deflectable gripper are provided, which are held by a spring under pretension. There are thus additional moving components required to capture the individual tool to be changed. As a result, the design complexity of the changing device is increased. The movable grippers are also prone to failure.

Object of the invention

The aim of the invention is to avoid the disadvantageous properties of known Wechseleinrichtungon simple structural design.

Explanation of the essence of the invention

The invention has for its object to develop a removable device that is compact and therefore requires little space for the change process and in the change even small masses must be moved.

This object is achieved in that the holder is a vertical axis having trained as a rotary body gripper hand, which is arranged at the free end of a one-armed lever designed as pivotable gripper arm and immovable gripping bars, on which the receiving parts for hanging storage of the tool spindle carrier can be placed and which are insertable between the receiving parts.

In the changing device according to the invention, only designed as a one-armed lever pivotable gripper arm is provided, which has at its free end designed as a rotary body gripper hand. The moving masses of the changing device according to the invention are therefore small. For transporting the tool spindle carrier, it is only necessary to couple the gripper hand with the receiving parts of the tool carrier and then to pivot the gripper arm. Here, the gripper hand is rotated so that the tool spindle carrier can be connected in the correct position to the machine or its drive unit. On the handles, the tool spindle carrier can be reliably stored with their receiving parts. The tool spindle carrier hang under its weight with the receiving parts on the handle afford, so that a reliable transport of the tool spindle carrier is ensured. Since the gripper hand is designed as a rotary body, it can be designed so that it does not or only slightly above dan gripper arm protrudes. The space requirement of the gripper hand during the change process corresponds only to the projection surface of the gripper hand in the horizontal plane. As a result, the changing device has only a small working diameter, d. H. the space required to change the tool spindle carrier can be kept very small. Since the handle bars and the receiving parts are immovable components that do not gripping movements or the like. Must perform for the coupling between the gripper hand and tool spindle carrier, no corresponding drives or moving components are required for the handles and receiving parts. The exchange device according to the invention is therefore characterized by a structurally very simple and less susceptible to interference structure.

Advantageously, the gripper hand is necessarily driven when pivoting the gripper arm. As a result, a precise assignment of the rotational movement of the gripper hand for pivotal movement of the gripper arm during the exchange process is ensured in a simple manner.

Appropriately, the rotational movement of the gripper hand is opposite to the pivotal movement of the gripper arm. As a result, the tool spindle carrier can be parked, for example, next to the processing machine and, from there, brought to the drive unit of the processing machine in a positionally correct manner. Here, the gripper arm pivots advantageous about 180 ° between its two end positions. In this case, the gripper hand is rotatable about 90 ° during the pivoting movement of the gripper arm.

In a kr 'structurally simple design of the gripper arm is pivotally mounted on a bearing bridge, which is advantageously adjustable in height. At the bearing bridge, the gripper arm can be optimally stored.

In a structurally simple design, the handles are provided on plates that protrude from a carrier of the gripper hand down. In this case, the handle afford expediently towards each other over the plates. They offer high strength, so that even heavy tool spindle carrier can easily be afforded by the handle afford. Since they protrude in the direction of each other on the plates, the receiving parts of Werkzeugspindelverli can be placed simultaneously on both handles so that they are not overly burdened.

In order to achieve optimum support of the receiving parts of the tool spindle carrier, preferably each plate has two spaced-apart gripping strips.

Suitably, the receiving parts of the tool spindle carrier on a support part, which rests in the hanging position of the tool spindle carrier rests on the handle. They are advantageously designed frusto-conical, so that they have a relatively wide contact surface. On the other hand, it is ensured due to the frusto-conical design that the handles are easy to insert between the receiving parts.

The distance between superimposed gripping strips of each plate is advantageously greater than the height of the support members.

As a result, the handle bars can be effortlessly inserted between the support members without being caught by the support members.

In order to prevent an unintentional slipping of the tool spindle carrier during the change process, the support parts of the tool spindle carrier are advantageously held positively on the handle bars.

The tool spindle carrier can advantageously also be designed so that it has a receptacle for individual tools.

Here, the processing machine is expediently provided with a double gripper for replacing the individual tools.

embodiments

The invention will be explained in more detail with reference to some embodiments illustrated in the drawings. Show it

FIG. 1: a change device according to the invention provided on a processing machine, the gripper arm of which is a first

Fig. 2 occupying the processing machine with the changing device according to the invention shown in FIG. 1, the gripper arm a second

Fig. 3: a plan view of a provided with the changing device according to the invention processing machine, on one side of a storage system for the tool spindle carrier and on the other side a stationary

FIG. 4 is an illustration corresponding to FIG. 3 of a further possibility of forming a memory system on the

Processing machine with the Wechsoleinrichtung invention, Fig. 5: an enlarged view of a section along the line V-V in Figure 4, Fig. 6: an enlarged view of a gripper hand of the changing device according to the invention, in the receiving bolt

a tool spindle carrier are retracted, Fig. 7: a section along the line VII-VII in Figure 6.

The machine tool according to FIG. 1 has a machine bed 1 on which a stand 2 can be moved via a carriage unit 3. On the carriage unit 3, the stand 2 is in turn transverse to the direction of movement of the carriage unit veriahrbar. The stator 2 is provided with a drive unit 4, to which tool spindle carrier 5 can be coupled in a known manner. The stored in the tool spindle carrier 5 tools 6 are then rotatably driven in a known manner by the drive unit 4 from. Each tool spindle carrier 5 has on its upper side two locating pins 7 and 8 with which it is held in a gripper hand 9 of a gripper arm 10. It is pivotally mounted on a bearing bridge 11, which may be either fixed to the stand 2 or provided on the drive unit 4, which is movable along vertical guides 12. The stator 2 is moved by motor via the carriage unit 3 in the direction of the workpiece to be machined, which is machined with the tools 6 of the coupled with the drive unit 4 tool spindle carrier 5 '. Since the stand 2 also transversely to the direction of travel of the carriage unit 3 adjustable and also the drive unit 4 with the coupled tool spindle carrier 5 via the carriage 12 in the height direction is adjustable, the tools 6 can be brought exactly to the desired processing position.

On one side of the machine bed 1 is a storage system 13, the storage places has 14 to 16 for the tool spindle carrier 5. The storage spaces 14 to 16 may be provided on a turnstile 17 which is rotatable about a vertical axis 18. As a result, the depositing places with the tool spindle carriers 5 located thereon can be adjusted into the gripping position according to FIG. 1, in which the gripper hand 9 of the gripper arm 10 can grasp the respective tool spindle carrier 5.

Fig. 1 shows the gripper arm 10 in its first end position, in which its gripper hand 9 detects the tool spindle carrier 5 on the storage space 16 on the receiving pin 7 and 8. Subsequently, the gripper arm 10 is pivoted about a vertical axis 20 by 180 ° in the second end position shown in FIG. 2 by means of a motor 19 which is provided on the bearing bridge 11. In this pivotal movement, the gripper hand 9 is rotated counter to the pivoting direction of the gripper arm 10 by 90 ° about the vertical axis 21, so that the tool spindle carrier 5 hanging on it can be coupled to the drive unit 4. Naci ι the coupling of the tool carrier 5 to the drive unit 4, the gripper arm 10, if the bearing bridge 11 is fixed on the stand 2 disorderly, are pivoted back in a parking position in which he the tool, -> ir> 'Jelträger 5 releases. As shown in FIGS. 1 and 6, the gripper hand 9 has a horizontal support plate 22 from which two spaced-apart plates 23 and 24 project vertically downwards. On their underside, a handle bar 25 and 26 is fixed in each case, which protrude perpendicular to each other from the plate 23 and 24 respectively. At a distance above the handle afford 25,26, the plates 23,24 are each provided with a further gripping strip 27 and 28, which also project perpendicularly from each other in the direction of the plates 23 and 24.

The locating bolts 7, 8 of the tool spindle carrier 5 each have two spaced-apart truncated cone sections 29 and 30, which widen downwards. With their bottom, the Kegelstumpfabsi hnitte 30 are on the handle bars 25,26. They have depressions 46 in the corner regions 42 to 45 (FIG. 7), on the bottom of which the truncated cone sections 30 rest with their flat undersides 47. The depressions 46 are adapted to the truncated cone sections 30, so that the tool spindle carrier 5 are secured in position. The distance between each at the same height opposite gripping strips 25,26 and 27,28 is greater than the diameter of the receiving pin 7 and 8 in the region between the truncated cone sections 29 and 30, the diameter of which is greater than the distance between the gripping strips 25 and 26 or 27 and 28. This ensures that the gripper hand 9 in the direction of the double arrow 48 relative to the tool spindle carrier 5 is displaceable. The truncated cone sections 29 form position safeguards which engage in correspondingly attached recesses 49 at the corner regions of the gripping strips 27, 28.

In order to grasp the tool spindle carrier 5 on the respective storage space 14 to 16, in the embodiment according to FIG. 4 the gripper hand 9 with the gripping strips 25 to 28 is opposite the direction of arrow 50 (FIG. 7) under the truncated cone sections 29, 30 of the receiving bolts 7, 8 pivoted the tool spindle carrier 5. In the embodiment of Figure 3, the carriage unit 3 is moved in the direction of arrow 37 so that the gripper hand 9 is pushed accordingly arrow direction 48 on the receiving pin 7,8 at swung gripper arm 10. The gripping strips 25 to 28 are spaced from the undersides of the truncated cone sections 29,30. Subsequently, the gripper hand 9 is moved in a manner to be described upwards. As a result, the gripping strips 25,26 of the gripper hand 9 come to rest on the underside of the truncated cone sections 30 and then carry the tool spindle carrier 5 on further lifting via the locating bolts 7, 8. He then depends on his weight on the handle bars 25,26. In this lifted from the respective storage place 14 to 16 position can then the tool spindle carrier 5 by pivoting the gripper arm 10 by 180 ° and simultaneously turning back the gripper hand 9 by 90 ° to the drive unit 4 move (Fig. 1 to 3). There, the tool spindle carrier 5 is coupled in a known manner with the drive unit 4. This coupling position is shown in Fig. 2. The tool spindle carrier 5 still hangs with its locating pins 7, 8 in the gripper hand 9.

The pivot drive for the gripper arm 10 will be explained in more detail with reference to FIG. 5. The bearing bridge 11 is penetrated by a shaft 51, sitting on the downwardly projecting from the bearing bridge end of the gripper arm 10 rotatably. In the bearing bridge 11, a rack 52 is housed, which is in engagement with a gear portion 53 of the shaft 51 within the bearing bridge 11. By moving the rack 52, the shaft 51 is rotated about its axis, whereby the rotatably seated on her gripper arm 10 is pivoted.

At the end facing away from the shaft 51 of the gripper arm 10 is penetrated by a further shaft 54 which rotatably carries the gripper hand 9 at its end meeting below about the gripper arm end. Within the gripper arm 10, the shaft 54 is rotatably supported by two spaced superimposed bearings 55,56. On the upwardly beyond the gripper arm 10 projecting end of the shaft 54 is rotatably a toothed belt pulley 57, over which an endless toothed belt 58 is guided. He also wraps around a toothed belt sleeve 59 which surrounds the shaft 51 and rotatably connected via an anti-rotation 60, but axially slidably connected to a fixed to the underside of the bearing bracket 11 Hüiso GI. If the gripper arm 10 is pivoted, then the toothed belt 58 rolls on the non-rotatable toothed belt sleeve 59. At the same time 57 is imposed by the toothed belt 58 of the toothed belt pulley an oppositely directed rotational movement. Due to the diameter ratios of the toothed belt sleeve 59 to the toothed belt pulley 57 results in the respective gear ratio and thus the degree of reverse rotation of the gripper hand 9. In the example chosen gear ratio of 1: 2 results in a 90 ° reverse rotation at a pivoting of the gripping arm 10 by 180 °.

On the shaft 51 is axially secured between a collar 62 and a nut 63 a piston 64, with which the shaft 51 can be moved in the axial direction. The piston 64 is housed in a cylinder housing 65 which is closed by a cover 66. It is surrounded by a plate spring package 68 which rests on the cover 66 and on an annular disc-shaped abutment 69 which sits on the neck 67 and by a threaded end 70 of the Approach 67 screwed nut 71 is held. In the cylinder chamber 72 open above and below the piston 64 holes> 3 and 74 for the supply and discharge of the hydraulic medium. In Figure 5 Ui the piston 64 shown in its upper end position, in which it rests against a fitted between the cover 66 and a projection 75 on the inside of the Zylindargehäuses 65 with axial play thrust bearing 76. In the lower position of the piston 64 comes with a thrust bearing 77 on a shoulder 78 in the inner wall of the cylinder housing 65 to the plant. The thrust bearing 77 is disposed between the piston 64 and a shoulder 79 of the shaft 51.

The tooth portion 53 on the shaft 51 is sufficiently long so that it can be moved axially with the hydraulic drive, without the engagement with the rack 52 is lost. By axial displacement of the shaft 51, the tool spindle carrier 5 suspended in the gripper hand 9 of the gripper arm 10 can be raised or lowered.

To grasp the tool spindle carrier 5, the gripper arm Ί0 is lowered with the gripper hand 9 by the hydraulic drive by the piston 64 is moved downward. Here, the plate spring package 68 is compressed. In the lowered position, the gripper hand 9 can afford to be pivoted with the handle 25 to 28 under the truncated cone sections 29, 30 of the locating bolts 7, 8 of the tool spindle carrier 5. The grip then have distance from the undersides of the Kegeistumpfabschnitte 29,30 (Fig. 6). Subsequently, the piston 64 is moved upward, whereby the shaft 51 and thus the gripper arm 10 is raised with the gripper hand 9. This lifting movement is supported by the plate spring package 68. The gripping strips 27,28 come in the manner described on the underside 47 of the locating bolt 7,8 to the plant and then take on further lifting on the locating bolt the tool spindle carrier 5. He then depends on his weight on the handles 25,26 (Fig. 5). The plate spring package 68 takes over the security of the raised tool spindle carrier. 5

With the gripper arm 10 tool spindle carrier 5, which carry a plurality of tools 6, can be changed fully automatically. The processing machine is additionally provided with a double gripper 31, which is arranged on the opposite side of the gripper arm 10 of the drive unit 4. The double gripper 31 is rotatable about an axis 32 perpendicular to the pivot axis 20 and parallel to the direction of travel of the carriage unit 3. At its two ends of the double gripper 31 is provided with a respective gripper tongs 33 and 34, with which the double gripper from a stationary tool magazine 35 can remove individual tools in a known manner. For this purpose, the double gripper 31 about the axis 32nd

rotated, so that a gripper tongs 33 or 34 can detect the corresponding individual tool in the tool magazine 35. At the same time, the other gripping pliers can grasp the single tool located in the work spindle. Subsequently, the double gripper 31 is first moved in the direction of the axis of rotation 32, so that the tool located in the work spindle is released from the work spindle. Subsequently, the double gripper 31 is rotated in a known manner by 180 ° about the axis 32. By returning the double gripper 31, this single tool is then brought into the work spindle in a known manner, while the other single tool is deposited in the tool magazine 35.

The tool magazine 35 is located on the side opposite the storage system 13 side of the machine bed 1 and is preferably arranged on it.

With the Bearbeitungs.naschine described thus can both tool spindle carrier 5 with multiple tools 6 and individual tools change fully automatically.

FIG. 3 shows in plan view a further possibility of how storage systems can be arranged on the processing machine. The gripper arm 10 is pivoted back in the direction of the drive unit 5 (FIG. 2). The double gripper 31, which is movable along the guide 36, which extends parallel to the direction of travel 37 of the carriage unit 3, is in its rest position (cf. also FIGS. 1 and 2). On the guide 36 of the double gripper 31 can be moved to insert the respective single tool in the work spindle or to pull out of her. 3 shows schematically the storage location 38 for the workpiece 39 to be machined with the respective tools. The storage system 13 a located on one side of the machine bed 3 is designed as a turnstile which is rotatable about the vertical axis 18. As a result, the respective tool spindle carriers 5 can be successively rotated into a transfer position 40. The tool spindle carriers 5 are arranged on the depositing places of the storage system 13a such that the tools 6 protrude in the direction of the axis of rotation 18. If the tool spindle carrier 5 is detected at the transfer position 40 of the gripper hand 9 of the gripper arm 10 in the manner described, then the tool spindle carrier during transport to the drive unit 4 by the 180 ° pivoting of the gripper arm 10 and the opposite 90 ° rotation of the gripper hand 9 in the required for connection to the drive unit 4 position rotated.

Thus, the tools 6 can be easily mounted or replaced on the tool spindle carrier 5, the storage locations of the storage system 13a are advantageously designed as turntables. Thereby, the tool spindle carrier 5 can be lit by turning this table in a position in which the tools 6 are no longer directed inwards to the axis of rotation 18 of the storage system 13 a, but to the outside. This is shown by way of example in FIG. 3 for the upper tool carrier. In this position, the desired tools can be very easily manually or fully automatically switched on and replaced. Subsequently, the table can be rotated again, so that the tools 6 point in the direction of the axis of rotation 18.

On the opposite side of the storage system 13a of the processing machine is in turn the stationary tool magazine 35, are housed in the individual tools 41, which can be changed with the double gripper 31. In the embodiment according to FIG. 4, the storage system 13 b is a simple turnstile whose storage locations can not be rotated. The tools 6, since they do not face inward to the axis of rotation 18 of the storage system 13b, are easily accessible for replacement. Moreover, this processing unit is the same design as the embodiment described above.

The processing or machine tools described have a high degree of flexibility because fully automatic n-spindle tool spindle carriers 5 and individual tools 41 can be exchanged. The changing device is structurally simple, because only a single gripper arm 10 is provided as a one-armed lever. With him, the tool carrier 5 can be substituted in the manner described from the respective storage place 14 to 16, which is arranged laterally on the machine. This tool spindle carrier 5 can not only, as described, have a plurality of tools 6, but also have a spindle receptacle for the individual tools 41. Into them, the individual tools 41 can be exchanged with the double gripper 31 from the stationary tool magazine 35.

The changing device is compact, wherein the space required for changing the tool spindle carrier 5 space can be kept very small. The moving masses of the changing device are very low, since only the gripper arm 10 with the gripper hand 9 is required for changing. As a result of the changing device, the machine tool can be linked to any desired tool spindle carrier storage systems. When the changing device can be moved in the Y direction, the tool carrier 5 can be placed at any height. As a result, an optimal working height for the tool change is possible. Through the use of different Werkszeugspindelträgern, z. B. tool spindle carrier with extremely fast or slow spindles, as well as with special tool holders for individual tools, a high flexibility of the machine tool is possible. In the exemplary embodiments described, the gripper hand 9 is rotated back by 90 ° (FIGS. 1 to 3) or 180 ° (FIG. 4) during pivoting of the gripper arm 10. Of course, by appropriate choice of translation also turning back the Grif iferhand 9 in any angular positions possible. As a result, the tool spindle carriers 5 can also assume different positions on the storage locations of the storage systems. As a result, an optimal arrangement of the tool spindle carrier is possible, so that consideration can be taken to the respective installation conditions.

The gripper hand 9 of the changing device is coupled only with positive elements, namely with the handle bars 25 to 28, to the tool spindle carrier 5. Additional clamping or locking devices are not required. The locating bolts 7, 8 of the tool spindle carrier 5 can be used for the gripper hand 9 as well as for inclusion in a superordinate translator, such as a gantry crane.

Claims (15)

1. Changing device for tool spindle carrier on a processing machine, with a holder to which the tool spindle carrier upwardly projecting parts are attachable, and with a drive for adjusting the changing device, characterized in that the holder (9) has a vertical axis (29), designed as a rotary body gripper hand, which is arranged at the free end of a one-armed lever pivotable gripper arm (10) and immovable gripping strips (25,26), on which the receiving parts (7,8) for hanging storage of the tool spindle carrier (5) can be placed and which are insertable between the receiving parts (7,8). 2. Device according to claim 1, characterized in that the gripper hand (9) is forcibly driven during pivoting of the gripper arm (10). 3. Device according to claim 1 or 2, characterized in that the rotational movement of the gripper hand (9) of the pivotal movement of the gripper arm (10) is directed opposite. 4. Device according to one of claims 1 to 3, characterized in that the gripper arm (10) is pivotable about 180 ° between its two end positions. 5. Device according to one of claims 1 to 4, characterized in that the Greiterhand (9) by about 90 ° in the pivotal movement of the gripper arm (10) is rotatable. 6. Device according to one of claims 1 to 5, characterized in that the gripper arm (10) is pivotally mounted on a Lagerbrücko (11), which is preferably adjustable in height. 7. Device according to one of claims 1 to 6, characterized in that the handle afford (25 to 28) on plates (23,24) are provided which project from a carrier (22) of the gripper hand (9) downwards. 8. Device according to claim 7, characterized in that the handle afford (25 to 28) in the direction of each other via the plates (23,24) protrude. 9. Device according to claim 7 or 8, characterized in that each plate (23,24) has two spaced-apart gripping strips (25,27 and 26,28). 10. Device according to one of claims 1 to 9, characterized in that the receiving parts (7, 8) of the tool spindle carrier (5) have a support part (30) in the hanging position of the tool spindle carrier (5) on the handle strips (25,26) rests. 11. Device according to claim 10, characterized in that the support parts (30) are frustoconical. 12. A device according to claim 10 or 11, characterized in that the distance between superimposed handle afford (25 to 28) of each plate (23,24) is greater than the height of the support members (30). 13. Device according to one of claims 10 to 12, characterized in that the support parts (30) are held positively on the handle strips (25,26). 14. Device according to one of claims 1 to 13, characterized in that the tool spindle carrier (5) has a receptacle for individual tools (41). 15. Device according to one of claims 1 to 14, characterized in that the processing machine has a double gripper (31) for exchanging the individual tools (41).