JPH025548B2 - - Google Patents

Description

[Detailed Description of the Invention] (Industrial Application Field) This invention is useful for replacing abrasive tools such as grindstones when they are worn beyond their usable limits, and for replacing abrasive tools such as grindstones when they are worn beyond their usable limits. The present invention relates to an automatic tool changer that can be replaced to select one tool from among them for use.

(Prior Art) In general, in grinding, when an abrasive tool such as a grindstone is worn beyond its service limit, this grindstone must be replaced with a new one.
For this reason, for example, a grindstone changing device disclosed in Japanese Patent Publication No. 47-25622 has been proposed for automatic grindstone exchange.

In this publication, a grinding wheel that has completed a predetermined grinding process is removed from the grinding device by a grinding wheel conveying device, is gripped, and this grinding wheel is conveyed to a grinding wheel storage device, where it is stored, and the next use is carried out. A grindstone exchange device has been disclosed in which a grindstone is removed from a grindstone storage device by a grindstone transport device, the grindstone is gripped, and the grindstone is transported to and mounted on the grinding device. With such a grindstone exchange device, the grindstone can be replaced quickly and easily.

(Problems to be Solved by the Invention) However, in the conventional grindstone changing device described in such a publication, the grindstone carrier is provided with a hole that fits into the locking portion of the grindstone sleeve and the tightening screw. Therefore, it becomes difficult to configure the grindstone carrier and control its operation, resulting in a problem that the overall configuration becomes complicated.

The present invention has been made in view of the above-mentioned circumstances, and an object of the present invention is to provide an automatic tool changer that can reliably change tools with a simple configuration.

(Means for Solving the Problems) In order to solve the above-mentioned problems and achieve the purpose, an automatic tool changer according to the present invention includes a magazine that removably holds a plurality of tools, and a screw ring that tightens the tools. The main shaft of the machine tool has a collet chuck at the tip to which the tool is fixed. a quill arm that prohibits rotation of the screw ring; and a main shaft rotation mechanism that causes relative rotation between the main shaft and the screw ring by rotating the main shaft while the quill arm prohibits rotation of the screw ring, thereby tightening and loosening the collect chuck. , an exchange arm provided to be swingable between the spindle and the magazine and movable along the axial direction, for taking out one of the tools held in the magazine and attaching it to the tip of the spindle; The present invention is characterized by comprising a swing mechanism that swings the quill arm and the exchange arm, and a movement mechanism that moves the quill arm and the exchange arm along the axial direction.

(Function) According to the present invention, with the above-described configuration, during machining using a tool, both the exchange arm and the quill arm are held at the standby position facing the magazine, and when the exchange operation starts, Then, both the exchange arm and the quill arm swing to a position facing the main shaft of the machining mechanism, and the quill arm moves along the axial direction and engages with the threaded ring of the collect chuck provided at the tip of the main shaft. While prohibiting rotation, the exchange arm similarly moves along the axis to grip the tool fixed to the tip of the spindle via the collect chuck, and as the spindle rotates, the screw ring allows the collect chuck to tighten the tool. Upon release, the exchange arm moves back along the axial direction to remove the free tool from the spindle, swings to the magazine, and stores the used tool in the magazine. Here, the quill arm remains fixed on the screw ring. After this, the exchange arm takes out a new tool from the magazine, swings up to the spindle again, loads this tool into the collect chuck of the spindle, and as the spindle is rotated in the opposite direction to the previous one, the tool loads the collect chuck. It is fixed to the tip of the main shaft through the Then, both the exchange arm and the quill arm swing to the standby position, completing a series of exchange operations.

(Embodiment) Hereinafter, a case where an embodiment of an automatic tool changer according to the present invention is applied to an automatic grindstone changer will be described in detail with reference to the accompanying drawings.

As shown in FIGS. 1 and 2, an automatic grindstone exchange device 12 of this embodiment is disposed above a grindstone device 10 as a machine tool.

This automatic grindstone exchange device 12 includes a table 14 provided so as to straddle the grindstone device 10, and an exchange mechanism 16 and a magazine mechanism 18 arranged side by side on the table 14. In addition, the exchange mechanism 16 is arranged so as to be located directly above the grindstone device 10.

The exchange mechanism 16 removes the used grindstone 20 from the grindstone device 10 described later, discards it, and takes out a large number of new grindstones 20 held in a magazine mechanism 18 described later and replaces the grindstone 20 with the grindstone device 10.
This is a mechanism for attaching it to the main shaft 22 of.

As shown in FIG. 3, this exchange mechanism 16 includes a support base 24 fixed on the table 14, and an axial direction (left and right direction in the figure) on this support base 24.
A slide base 26 is slidably supported along the
Inside the slide table 26, there is provided an exchange arm assembly 28 and a quill arm assembly 30 which are swingably disposed around the same swing axis.

The slide table 26 is formed hollow with an open front end surface, and a quill arm assembly 30 is provided in the hollow portion in a swingable but non-slidable manner. That is, this quill arm assembly 3
0 is a quill arm shaft 34 that is rotatably supported within the hollow part of the slide table 26 via a pair of bearings 32, and a front end of the quill arm shaft 34, in other words, a protruding end that protrudes forward from the slide table 26. A quill arm main body 36 is integrally attached so as to extend in the radial direction, and the quill arm main body 36 is fixed to the tip of the quill arm main body 36, and engages with a threaded ring of a collect chuck attached to the main shaft 22 of the grindstone device 10, which will be described later. A locking portion 38 that prohibits rotation of the screw ring is provided.

Like the slide table 26, the quill arm shaft 34 is formed in a hollow state with an open front end surface, and the exchange arm assembly 28 is placed inside this hollow part.
is provided to be swingable and slidable about the same swing axis as the quill arm shaft 34. Further, a conical hole 40 is formed in the quill arm main body 36. This conical hole 40 includes, as described later,
After the quill arm assembly 30 is swung from a standby position facing the magazine mechanism 18 to a position facing the main shaft 22 of the grindstone device 10, the positioning pin attached to the support base 24 is slid inward. 42 is inserted, and this quill arm body 36
The rotational position is precisely determined.

As shown in FIG. 4, a through hole 44 is formed in the aforementioned locking portion 38. As shown in FIG. The inner circumferential surface of this through hole 44 engages with a triangular tooth-shaped gear portion formed on the outer circumferential surface of a screw ring 48 located on the outer circumference of a collector chuck 46 attached to the tip of the main shaft 22 shown in FIG. An internal gear part is formed.
This locking part 38 slides along the axial direction, and the third
As shown in the figure, the internal gear part and threaded ring 4
By meshing with the gear portion 8, the screw ring 48 is locked by the locking portion 38, and its rotation is prohibited.

Here, with reference to FIG. 6, the above-mentioned main shaft 22
The collector chuck 46, which is attached to the tip of the grinder and is used to removably fix the grindstone 20 to the main shaft 22, will be explained.

This collection chuck 46 is as shown in the figure.
Attached to the tip of the main shaft 22 coaxially with this,
A fixing ring 50 having a male threaded portion formed on the outer periphery and a tapered surface formed on the inner periphery so that the radius decreases as it goes inside, and this fixing ring 5
A female threaded portion is formed on the inner periphery to be screwed into a male threaded portion formed on the outer periphery of the 0, and an inner flange 48 is formed on the front end surface.
A tapered surface that slides in contact with the tapered surface of the above-mentioned threaded ring 48 and the fixing ring 50 is formed on the outer periphery, and a cylindrical surface that holds the shaft portion 20a of the grindstone 20 is formed on the inner periphery, and A plurality of slits are formed along the axial direction, and the split ring 52 has an inner peripheral surface having a variable diameter.
Note that the tip of this split ring 52 is connected to the threaded ring 4.
It is locked to the inner flange 48a of No.8.

Since the collection chuck 46 is constructed in this way, the threaded ring 48 can be pulled out and
With the diameter of the inner periphery of the split ring 52 set large, the shaft portion of the grindstone 20 is loosely fitted into the inner periphery space. From this state, by rotating the screw ring 48 and moving the screw ring 48 inward by threading the screw, the inner flange 48a of this
engages the split ring 52, and the split ring 52 is moved inward. During this movement, the diameter of the inner circumference of the split ring 52 is reduced through sliding contact between the tapered surfaces of the fixed ring 50 and the split ring 52, and the shaft portion 20a of the grindstone 20 is
2, and as a result, this grindstone 20 is fixed to the tip of the main shaft 22 via the collection chuck 46.

Incidentally, such a tightening operation can be performed without rotating the threaded ring 48 of the collect chuck 46. For example, the threaded ring 48 may be prevented from rotating via the locking portion 38 of the quill arm assembly 30. By rotating the main shaft 22 in this state, a relative rotational movement can be generated between the fixed ring 50 and the threaded ring 48, and thus a tightening operation can be performed.

As shown in FIG. 3 again, the above-mentioned exchange arm assembly 28 includes an exchange arm shaft 56 which is rotatably and slidably supported via a bearing 54 while being inserted through the quill arm shaft 34. Exchange arm shaft 5 protruding forward from the quill arm shaft 34
an exchange arm body 58 fixed to the protruding end of the exchange arm body 5 and extending along the radial direction;
The grindstone body 2 of the grindstone 20 is attached to the tip of the grindstone 8.
0b is provided.

The front half of the part of the exchange arm shaft 56 that protrudes rearward from the quill arm shaft 34 is provided with the exchange arm shaft 56 that is rotatably driven, that is, the exchange arm assembly 3
A swing mechanism 62 is connected thereto for swinging and driving 0 while allowing movement along the axial direction. That is, the front half of the rearward protrusion of the exchange arm shaft 56 is formed into a spline shaft shape. On the other hand, the swing mechanism 62 includes a rack 64 that is slidably driven by a drive source (not shown) in a direction perpendicular to the swing axis (a direction penetrating the plane of the paper), and an exchange arm shaft 56.
A pinion 66 is coaxially connected to the outer periphery of the aforementioned front half portion, and is spline-coupled to the outer periphery of the aforementioned front half portion, and meshes with the rack 64.

Since the swing mechanism 62 is configured in this manner, the pinion 66 is rotated when the rack 64 is moved as it is driven by a drive source such as a cylinder (not shown), and therefore, the pinion 66 is rotated through the spline connection. , in a state where movement of the exchange arm shaft 56 along the axial direction is allowed, the exchange arm shaft 56, that is,
The exchange arm assembly 28 will be swung.

Further, the rear half of the rearward projecting portion of the exchange arm shaft 56 is connected to an exchange arm moving mechanism 68 for moving the exchange arm assembly 28 along the axial direction. This exchange arm moving mechanism 68 includes a hydraulic cylinder 70 that is integrally attached to the slide base 26. The rear half of the rearwardly projecting portion of the exchange arm shaft 56 is inserted into the cylinder 70 as a piston rod 72. Further, a piston 74 is coaxially fixed to the rear end of the exchange arm shaft 56 taken into the cylinder 70.
Hydraulic ports 76a and 76b for introducing pressure oil from a hydraulic source (not shown) into the cylinder 70 are attached to the front and rear parts of the cylinder 70, respectively.

Since the exchange arm moving mechanism 68 is configured in this way, when a higher hydraulic pressure acts on one hydraulic port 76a than the other hydraulic port 76b, pressure acts on the piston 74 to the right in the figure. , thus the exchange arm assembly 28 as a whole is moved into the quill arm shaft 34 . Further, by applying a higher hydraulic pressure to the other hydraulic port 76b than that of one hydraulic port,
Pressure is applied to the piston 74 to the left in the figure, and therefore the exchange arm assembly 28 as a whole is moved so as to protrude outward from the quill arm shaft 34.

Here, the quill arm shaft 34 and the exchange arm shaft 5
6, a clutch mechanism 78 is provided for connecting and disconnecting these. This clutch mechanism 78 is integrally provided on the outer periphery of the exchange arm shaft 56 located within the hollow portion of the quill arm shaft 34.
a plurality of engaging pieces 80 extending along the axial direction, and being engageable with these engaging pieces 80 in the rotational direction;
integrally on the inner peripheral surface of the hollow part of the quill arm shaft 34;
A plurality of locking pieces 82 are provided extending along the axial direction.

Since the clutch mechanism 78 is configured in this manner, a higher hydraulic pressure acts on one hydraulic port 76a than the other hydraulic port 76b, and the exchange arm shaft 56 is moved so as to be drawn into the quill arm shaft 34. As shown in FIG. 3, the engaging piece 80 is sandwiched between the locking pieces 82. Therefore, when the swing mechanism 62 operates and the exchange arm shaft 56 is rotated, the engagement piece 80 and the locking piece 8
2, the quill arm shaft 34 is also rotated together. In addition, a higher hydraulic pressure acts on the other hydraulic port 76b than on the one hydraulic port 76a, and the exchange arm shaft 56 moves so as to protrude outward from the quill arm shaft 34, as shown in FIG. The engaging piece 80 is the locking piece 8
He will be removed from 2. Therefore, even if the swinging mechanism 62 is operated and the exchange arm shaft 56 is rotated, it does not engage with the engagement piece 82, so the quill arm shaft 34 does not rotate and the exchange arm shaft 56 rotates. Only 56 will rotate independently.

Further, the support base 24 is provided with a slide base moving mechanism 84 that moves the slide base 26 along the axial direction. This slide table moving mechanism 84
A hydraulic cylinder 86 is integrally attached to the rear end of the support base 24, a piston 88 is provided to be able to slide inside the cylinder 86, one end is connected to the rear end of the slide base 26, and the other end is connected to the rear end of the slide base 26. A piston rod 90 is connected to the piston 88.
Further, pressure oil from a hydraulic power source (not shown) is supplied to the front and rear parts of the cylinder 86.
Hydraulic ports 92a, 92b for introducing into 6
are installed respectively.

Since the slide table moving mechanism 84 is configured in this way, when a higher hydraulic pressure acts on the other hydraulic port 92b than on the one hydraulic port 92a, pressure acts on the piston 88 to the left in the figure. As shown in FIG. 3, the slide table 26 will move to the left. In this state, the locking portion 38 of the quill arm assembly 30 is disengaged from the threaded ring 48 of the collection chuck 46 provided at the tip of the main shaft 22.

Further, by applying a higher hydraulic pressure to one hydraulic port 92a than the other hydraulic port 92b,
Pressure to the right in the figure acts on the piston 88, and the slide base 26 moves to the right as shown in FIG. In this state, the locking portion 38 of the quill arm assembly 30 engages with the threaded ring 48 of the collection chuck 46 provided at the tip of the main shaft 22, thereby inhibiting rotation of the threaded ring 48.

In addition, as mentioned above, the exchange arm moving mechanism 68
The exchange arm assembly 30 is connected to the slide table 26 via
It is movable along the axial direction relative to the shaft. Therefore, with the locking part 38 of the quill arm assembly 30 engaged with the threaded ring 48 of the collection chuck 46 via the slide table moving mechanism 84, the grip part 60 of the exchange arm assembly 30 is moved as shown in FIG. As shown, the grindstone 20 attached to the collection chuck 46 is movable between a position where it grips the grindstone body 20b and a position away from the grindstone body 20b, as shown in FIG.

Here, the grip portion 60 of the exchange arm assembly 30 is
As shown in FIG. 9, it includes a grip main body 94 fixed to the tip of the exchange arm main body 58, and a pair of receivers 96a and 96b attached to the grip main body 94 and provided facing each other. ing. The whetstone main body 20b of the whetstone 20 is held by being held between both receivers 96a and 96b, and one of the receivers 96a has a flat gripping surface and is fixed to the grip main body 94. . In addition, the other receptor 96b
The grip body 9 has a V groove formed on the gripping surface.
4, more specifically, one of the receptors 96a
It is attached so that it can be moved toward and away from the

Here, a tension coil spring 98 is provided between both receivers 96a, 96b, and this tension coil spring 98 urges both receivers 96a, 96b in a direction toward each other. Further, a hydraulic cylinder device 100 is connected to the other movable receiver 96b in order to move it.

This hydraulic cylinder device 100 includes a cylinder 102 that is integrally attached to one fixed receiver 96a, a piston 104 that is slidably provided within this cylinder 102, and one end connected to this piston 104. , and a piston rod 106 whose other end is connected to the other receiver 96b. Hydraulic ports 108a and 108b for introducing pressure oil from a hydraulic source (not shown) into the cylinder 102 are attached to both left and right ends of the cylinder 102, respectively.

Since the grip portion 60 is configured in this way,
One hydraulic port 108a and the other hydraulic port 1
08b, pressure acts on the piston 104 to the right in the figure, and the other receiver 96b is moved away from the one receiver 96a by the biasing force of the tension coil spring 98. Thus, both receivers 96a and 96b are sufficiently spaced apart from each other. In this state, both receptors 96a,
The main body 20b of the grindstone 20 is loosely inserted between the parts 96b.

Further, as a higher pressure acts on the other hydraulic port 108b than on the one hydraulic port 108a, pressure acts on the piston 104 to the left in the figure, and the other receiver 96b is directed toward the one receiver 96a. Then, it is further urged by the urging force of the tension coil spring 98 and approaches. In this manner, in this state, the main body 20b of the grindstone 20, which is loosely inserted between the both receivers 96a and 96b,
It will be strongly clamped by a and 96b.

Here, the holding surface of one of the receivers 96a is flat,
The holding surfaces of the other receiver 96b are each formed to have a V-groove. Therefore, with the configuration including these gripping surfaces and the hydraulic cylinder device 100, even if the diameter of the main body 20b of the grindstone 20 varies depending on the individual grindstones 20, each can be reliably gripped.

Next, regarding the magazine device 18 described above, the first
This will be explained with reference to FIG.

As shown in the figure, this magazine device 18 includes a drive motor 110 as a drive source, a rotating shaft 114 to which the driving force from the drive motor 110 is transmitted via a transmission gear mechanism 112, and is rotationally driven.
A magazine main body 116 is fixed coaxially to the tip of the rotating shaft 114 and has a large number of new grindstones 20' arranged around the magazine main body 116. This magazine body 1
Reference numeral 16 is formed into a disk shape, and the outer periphery has through holes 1 into which shaft portions 20a' of the grindstone 20' are inserted at equal intervals.
18 are formed in large numbers.

Each through hole 118 communicates with a side hole 120 that is formed to open on the outer circumferential surface of the magazine body 116 . A portion of this side hole 120 is provided with a through hole 1.
A locking ball 122 is housed in a protruding state inside the locking ball 18. This locking ball 122 is connected to the through hole 118
The through hole 11 is opened by the coil spring 124 housed inside.
8 and is biased so as to partially protrude into the interior. still,
This coil spring 124 is prevented from falling out of the side hole 120 by a cap 126 that covers the side hole 120.

Since the magazine device 18 is configured in this way, the grinding wheel 20' has its shaft portion 20a' connected to the through hole 11.
8, the locking ball 122 biased by the coil spring 124 closes the through hole 118.
It is held within the hole 118 and prevented from falling out from the through hole 118. Note that the holding force by this locking ball 122 is small, so when the grindstone body 20b' of the grindstone 20' is gripped by the exchange arm assembly 28 and moved in the axial direction during a grindstone exchange operation, the holding force is small. can be successfully extracted from the through hole 118.

Next, the grindstone device 10 as the machine tool described above
This will be explained with reference to FIGS. 11 and 12.

This grindstone device 10 includes a housing 128, the aforementioned main shaft 22 which extends horizontally from the housing 128, has one end taken out to the outside, is rotatable, and is provided inside the housing 128, and which rotates the main shaft 22 at high speed. Electric motor 1 for rotational drive
It is equipped with 30. The above-mentioned collector chuck 46 is attached to one end of the main shaft 22 that protrudes from the housing 128.

On the other hand, a first spline shaft 132 is fixed coaxially to the other end of the main shaft 22 that is inserted into the housing 128. Also, this first
facing the spline shaft 132 of the main shaft 2
A coupling shaft 134 is provided in the housing 128 so as to be movable along the axial direction in alignment with the coupling shaft 134 . The first spline shaft 13 of this joint shaft 134
A first spline shaft 13 is provided at one end opposite to the first spline shaft 13.
A first boss 136 into which 2 is fitted is provided. The other end of this coupling shaft 134 is connected to the housing 12
It protrudes rearward from the rear surface of 8, and this connecting shaft 1
A hydraulic cylinder device 138 for driving the coupling shaft 134 along the axial direction is connected to the other end of the coupling shaft 34 .

This hydraulic cylinder device 138 includes a housing 1
A cylinder 140 is attached to the rear surface of 28, and the other end of the coupling shaft 134 is taken inside as a piston rod. A fixed piston 142 is provided. Hydraulic ports 144a and 144b for introducing pressure oil from a hydraulic source (not shown) into the cylinder 140 are attached to both left and right ends of the cylinder 140, respectively. In addition, the piston 142
A second boss 146 is fixed coaxially to the surface opposite to the side to which the coupling shaft 134 is attached.

Here, at the rear of the cylinder 140 of this hydraulic cylinder device 138, there is a hydraulic motor 1 coaxially therewith.
48 is attached. This hydraulic motor 14
8 includes a drive shaft 150, and a second spline shaft 152 fitted into the second boss 146 is coaxially fixed to the end of the drive shaft 150 on the piston 142 side. This second spline shaft 15
2 and the second boss portion 146 are constantly engaged with each other to transmit the rotational driving force of the drive shaft 150 to the coupling shaft 134 and to allow movement of the drive shaft 134 in the axial direction. Further, the hydraulic motor 148 has a well-known configuration, and in this embodiment, can rotate the drive shaft 150 over approximately 270 degrees with high torque.

Note that the main shaft rotation mechanism 15 is
4 is composed.

Since the grindstone device 10 is configured in this manner, a higher hydraulic pressure acts on one hydraulic port 144a of the hydraulic cylinder device 138 than the other hydraulic port 144b, so that pressure is applied to the piston 142 to the right in the figure. acts, and the coupling shaft 134 moves to the right. In this way, the first spline shaft 132 and the first boss 136 are spaced apart from each other as shown in FIG. That is, the main shaft 22 is separated from the main shaft rotation mechanism 154. In this state, the main shaft 22 is driven to rotate at high speed by the electric motor 130.

On the other hand, as a higher hydraulic pressure acts on the other hydraulic port 144b than on the one hydraulic port 144a, pressure acts on the piston 142 to the left in the figure, and the coupling shaft 134 moves to the left. In this way, the first spline shaft 132 and the first boss 1
36 are coupled to each other as shown in FIG. 12, and the main shaft 22 is rotationally driven by rotation of the coupling shaft 134.

In addition, as shown in FIG.
A chute 15 is located below the middle speed portion of the swing range for guiding the grindstone 20 that has fallen off from the grip 60 of the exchange arm assembly 28 to a waste box (not shown).
6 is provided.

The operations of the grindstone device 10 and the automatic grindstone exchange device 12 configured as described above will be described below.

First, the grinding operation by the grindstone 20 in the grindstone device 10 will be explained.

During this grinding operation, as shown in FIG. 11, a higher hydraulic pressure is acting on one hydraulic port 144a of the hydraulic cylinder device 138 than on the other hydraulic port 144b, and therefore, the first spline shaft 132 and The first bosses 136 are spaced apart from each other. In this way, the main shaft 22 is connected to the electric motor 1
30, it is in a state where it is driven to rotate at high speed.

On the other hand, in the automatic grindstone exchange device 12, the first
As shown by the dashed line in the figure, both the exchange arm assembly 28 and the quill arm assembly 30 are connected to the magazine mechanism 1.
It is held in a standby position opposite to 8.

In this way, the grindstone 20, which is integrally attached to the tip of the main shaft 22 of the grindstone device 10 via the collect chuck 46, is driven to rotate at high speed as the electric motor 130 rotates, and the workpiece (not shown) is will be processed by grinding.

Here, while the exchange arm assembly 28 and the quill arm assembly 30 are held in the above-described standby position, as shown in FIG. A higher hydraulic pressure than the port 92a is acting, and as a result, the slide table 26 is moved to the left in the figure. At the same time, one hydraulic port 76a of the exchange arm moving mechanism 68 is connected to the other hydraulic port 76a.
A higher hydraulic pressure than that shown in b is acting, and as a result, the exchange arm shaft 56 is moved to the right in the figure.

In this manner, in the clutch mechanism 78, the connecting piece 80 and the locking piece 82 are connected to each other, and the exchange arm shaft 56 and the quill arm shaft 34 are configured to rotate together.

In such a grinding state using the grindstone 20, if the processing time elapses and the grindstone 20 is worn beyond its usable limit, the grindstone 20 will be replaced.

When replacing the grindstone, first, in the grindstone device 10, the driving of the electric motor 130 is stopped, and a higher hydraulic pressure acts on the other hydraulic port 144b of the hydraulic cylinder device 138 than on the one hydraulic port 144a. For this reason, the coupling shaft 13
4 moves to the left in the figure and connects to the first spline shaft 1.
32 and first boss 136 are coupled to each other. In this way, the main shaft 22 is brought into a state where it can be rotationally driven by the driving force of the hydraulic motor 148 of the main shaft rotation mechanism 154.

On the other hand, when replacing the grindstone, the automatic grindstone exchange device 12 first removes the rack 64 of the swing mechanism 62.
By moving the exchange arm shaft 56 via the pinion 66, the exchange arm main body 5
8 is swung from the standby position shown by the dashed line in FIG. 1 to the replacement position shown by the solid line. At this time, as described above, since the clutch mechanism 78 is in the connected state, the quill arm shaft 34 also rotates together with the rotation of the exchange arm shaft 56, so that the quill arm body 36 also rotates in the same manner as the exchange arm body 58. Swings from standby position to replacement position.

With both the exchange arm body 58 and the quill arm body 36 brought to the exchange position in this way, a higher hydraulic pressure acts on one hydraulic port 92a of the slide table moving mechanism 84 than on the other hydraulic port 92b, and therefore , the slide table 26 moves to the right in the figure and enters the state shown in FIG. Note that before reaching the state shown in FIG. 3, in the grip portion 60 of the exchange arm assembly 28, as shown in FIG. High oil pressure will be applied. In this way, the other receiver 96b resists the biasing force of the coil spring 98 and is separated from the one receiver 96a by a large distance, and both receivers 96b
The grindstone main body 20b of the grindstone 20 can be inserted between 6a and 96b.

Then, replace the arm assembly 2 in the state shown in FIG.
8 and the quill arm assembly 30, the grindstone main body 20b of the grindstone 20 is loosely inserted between the receivers 96a and 96b of the grip part 60 of the exchange arm assembly 28, while the quill arm assembly 30
In the locking portion 38, the threaded ring 48 of the collection chuck 46 is inserted into the through hole 44 of the locking portion 38 so that they engage with each other.

In addition, in this state, the quill arm main body 36
A positioning pin 42 fixed to the support base 24 is inserted into the conical hole 40 of the screw ring 48, and in this way, the threaded ring 48 is reliably inserted into the through hole 44 of the locking part 35. Along with this,
Further swinging of the quill arm assembly 30 in this state is prevented.

On the other hand, in the state shown in FIG. 8, the hydraulic motor 148 of the main shaft rotation mechanism 154 of the grindstone device 10
drives the drive shaft 150 to rotate along one direction. This driving force is transmitted to the main shaft 22 via the coupling shaft 134, and the main shaft 22 is driven with high torque.
Moreover, it is rotated by about 270 degrees at a low rotation speed.

Here, the threaded ring 4 of the collection chuck 46 is
8 engages with the locking portion 38 of the quill arm assembly 30, as described above, and its rotation is prohibited. Therefore, as the main shaft 22 rotates, the screw ring 48 rotates relative to the fixed ring 50, and the collector chuck 46
The adhesion of the grindstone 20 is released. In this way, the grindstone 20 becomes removable from the main shaft 22.

In this state, a higher hydraulic pressure acts on the other hydraulic port 108b of the gripping portion 60 of the exchange arm assembly 28 than on the one hydraulic port 108a, so that the other receiver 96b is biased by the coil spring 98. In this state, the grindstone main body 20b of the grindstone 20 is pressed against one of the receivers 96a. In this way, the grindstone 20 is
It will be held by.

After this, from this state, the exchange arm moving mechanism 6
A higher hydraulic pressure acts on the other hydraulic port 76b of 8 than on the one hydraulic port 76a, and therefore, the exchange arm shaft 56 moves to the left in the figure, resulting in the state shown in FIG. In this state, the replacement arm assembly 2
The grindstone 20 gripped by the grip part 60 of 8 is attached to the main shaft 2
2, the clutch mechanism 78 is disconnected, the quill arm assembly 30 remains in its current state, and only the replacement arm assembly 28 becomes swingable.

Then, by moving the rack 64 of the swinging mechanism 62 in the opposite direction to the previous direction, the exchange arm assembly 28 is swung from the exchange position to the standby position in FIG. During this swinging, one hydraulic port 108a of the gripping portion 60 is connected to the other hydraulic port 1.
A higher hydraulic pressure than 08b acts on the other receiver 96b.
is separated from one receiver 96a. For this reason, the worn grindstone 20 that has been removed from the main shaft 22 falls off from the grip 60 due to its own weight and is placed in the chute 156.
It is then stored in a waste box (not shown).

In this way, after the used grindstone 20 has been dropped, the exchange arm assembly 28 is further swung upward and brought to the standby position. Here, the grip portion 60 of the exchange arm assembly 28 is brought to this standby position.
A new grindstone 20', which is newly installed in the grindstone device 10, is brought to a position opposite to the grindstone 20' as the magazine body 116 of the magazine mechanism 18 rotates.

From this state, a higher hydraulic pressure acts on one hydraulic port 76a of the exchange arm moving mechanism 68 than on the other hydraulic port 76b, and the exchange arm shaft 56 moves to the right in the figure. Then, by applying a higher hydraulic pressure to the other hydraulic port 108b of the gripping portion 60 than that of the one hydraulic port 108a, the other receiver 96
b pushes up the grindstone main body 20b' of the new grindstone 20' onto one of the receivers 96a. In this way, the new grindstone 20' is gripped by the gripper 60.

Thereafter, a higher hydraulic pressure acts on the other hydraulic port 76b of the exchange arm moving mechanism 68 than on the one hydraulic port 76a, and the exchange arm shaft 56 moves to the left in the figure. In this way, a new grindstone 20' is removed from the magazine mechanism 18. Then, by moving the rack 64 of the swinging mechanism 62 in the opposite direction to the previous direction, the exchange arm main body 58 moves from the standby position to the exchange position while holding the new grindstone 20' in the grip part 60 of the exchange arm main body 58. oscillate.

After the exchange arm main body 58 swings to the exchange position, a higher hydraulic pressure acts on one hydraulic port 76a of the exchange arm moving mechanism 68 than the other hydraulic port 76b, and the exchange arm shaft 56 moves to the right in the figure. Move to. In this manner, the shaft portion 20a' of the new grindstone 20' held by the gripping portion 60 is inserted into the collection chuck 46.

In this state, a higher hydraulic pressure acts on one hydraulic port 108a of the gripping section 60 than on the other hydraulic port 108b, and the gripping of the grindstone 20' by the gripping section 60 is released. After this, the main shaft rotation mechanism 1
54 hydraulic motor 148 rotates the main shaft 22 along the other direction opposite to the previous direction, and the collect chuck 46
Tighten. In this way, a new whetstone 20'
is fixed to the main shaft 22 via a collector chuck 46.

Next, a higher hydraulic pressure acts on the other hydraulic port 92b of the slide table moving mechanism 84 than on the one hydraulic port 92a, and therefore the slide table 26 moves to the left in the figure. Along with this movement, the exchange arm assembly 28 and the quill arm assembly 30 move together to the left in the figure, the grip part 60 separates from the grinding wheel 20', and the locking part 38 locks the collect chuck 46.
The threaded link 48 will be spaced apart from the threaded link 48.

Thereafter, the rack 64 of the swing mechanism 62 moves in the opposite direction from the previous time, and the exchange arm shaft 56 and the quill arm shaft 34, which is connected to the exchange arm shaft 56 and the clutch mechanism 78 so as to be integrally rotatable, Rotating together, the exchange arm assembly 28 and the quill arm assembly 30 swing together from the exchange position to the standby position, and hold both at the standby position.

On the other hand, in the main shaft rotation mechanism 154, a higher hydraulic pressure acts on one hydraulic port 144a of the hydraulic cylinder device 138 than the other hydraulic port 144b, and therefore the coupling shaft 134 is moved to the right in the figure, and the first spline shaft 132 and first boss 13
6 are spaced apart from each other. In this way, the main shaft 22 and the main shaft rotation mechanism 154 are in a disconnected state, and the main shaft 22 is in a state where it can be rotated at high speed by the electric motor 130.

In this way, a new grindstone 2 is attached to the main shaft 22 of the grindstone device 10 via the collect chuck 46.
0' is automatically replaced and installed by the automatic grindstone replacement device 12.

As detailed above, according to this embodiment,
The rotation of the exchange arm shaft 56 and the quill arm shaft 34 is transmitted through a clutch mechanism 78. Therefore, when the clutch mechanism 78 is connected, the exchange arm shaft 56 and the quill arm shaft 34 rotate integrally with each other.

On the other hand, when the clutch mechanism 78 is disconnected, the exchange arm shaft 56 can rotate independently while the quill arm shaft 34 remains fixed. In this way, in order to rotationally drive the exchange arm shaft 56 and the quill arm shaft 34, the swing mechanism 62 simply rotates the exchange arm shaft 56.
It is only necessary to provide the quill arm shaft 34, and no means for rotationally driving the quill arm shaft 34 is required. Therefore, the configuration of the automatic grindstone exchange device 12 is greatly simplified.

Furthermore, the clutch mechanism 78 is disconnected and engaged by moving the exchange arm shaft 56 by the exchange arm moving mechanism 68 for moving the grip portion 60 of the exchange arm assembly 28 toward and away from the main shaft 22. . Therefore, the clutch mechanism 78 can be independently disconnected and
There is no need for a means for contacting the grindstone, and the structure of the automatic grindstone exchange device 12 is greatly simplified.

Furthermore, the exchange arm shaft 56 and the quill arm shaft 34
The exchange arm shaft 56 is arranged coaxially with each other, and more specifically, the exchange arm shaft 56 is housed inside the quill arm shaft 34. In this way, the operation timing of the exchange arm assembly 28 and the quill arm assembly 30 can be easily determined. Also,
When the clutch mechanism 78 is disconnected, the stopped quill arm assembly 30 does not interfere with the swinging exchange arm assembly 28, and the exchange arm assembly 28 can swing independently. become.

This invention is not limited to the configuration of the one embodiment described above, and can be modified in various ways without departing from the gist of the invention.

For example, in the embodiment described above, a grindstone device is used as the machine tool, and a grindstone is used as the tool. However, it goes without saying that the present invention is not limited to such applications and can be applied to other tools and cutting machines such as drills and milling cutters.

Furthermore, in the above-described embodiment, a consumable tool such as a grindstone is used as a tool, and a replacement device for replacing the grindstone when the grindstone is worn down to an allowable limit for use has been described. However, it goes without saying that this exchanging device can be applied not only to such cases but also when exchanging to change the type of tool, for example.

(Effects) As detailed above, the automatic tool changer according to the present invention has a magazine for detachably holding a plurality of tools, and a collection chuck at the tip to which the tools are fixed by being tightened by a threaded ring. A quill arm is provided to be swingable and movable along the axis of the machine tool, and to engage with the screw ring to prevent the screw ring from rotating; and the quill arm to prevent the screw ring from rotating. a main shaft rotation mechanism that causes relative rotation between the main shaft and the screw ring by rotating the main shaft in a prohibited state, and tightens and loosens the collet chuck; and a main shaft rotating mechanism that is swingable between the main shaft and the magazine; an exchange arm that is movable in the axial direction and that takes out one of the tools held in the magazine and attaches it to the tip of the main shaft; and a swing mechanism that swings the quill arm and the exchange arm. and a moving mechanism that moves the quill arm and the exchange arm along the axial direction.

Therefore, according to the present invention, there is provided an automatic tool changer that can reliably change tools with a simple configuration.

[Brief explanation of drawings]

Fig. 1 is a front view showing an embodiment of the automatic tool changer according to the present invention together with a grindstone device as a machine tool; Fig. 2 is a side view showing the automatic tool changer and grindstone device of Fig. 1; The figure is a side sectional view showing the exchange mechanism of the automatic tool changer with both the exchange arm assembly and the quill arm assembly separated from the main shaft; Figure 4 shows the locking part of the quill arm assembly taken out. Front view; Figure 5 is a perspective view showing the collector chuck with a grindstone fixed to it; Figure 6 is a partially cutaway side view showing the configuration of the collector chuck; Figure 7 shows the exchange mechanism as a replacement arm assembly. A side sectional view showing only the body separated from the main shaft; Figure 8 shows the exchange mechanism with the exchange arm assembly engaged with the grindstone attached to the collector chuck and the quill arm assembly engaged with the collector chuck. Cross-sectional view; Figure 9 is a rear view, partially in cross-section, showing the configuration of the gripping part of the exchange arm assembly; Figure 10;
The figure is a side partial sectional view showing the structure of the magazine mechanism with a partial cross section; FIG. 11 is a side sectional view showing the structure of the grindstone device in a state where the first spline shaft and the first boss are separated; FIG. 12 is a side sectional view showing the configuration of the grindstone device in a state where the first spline shaft and the first boss are engaged with each other. In the figure, 10... grindstone device, 12... grindstone automatic exchange device, 14... table, 16... exchange mechanism,
18...Magazine mechanism, 20...Whetstone, 20a...
...Shaft portion, 20b... Grinding wheel body, 22... Main shaft, 2
4... Support stand, 26... Slide stand, 28... Exchange arm assembly, 30... Quill arm assembly, 32
... Bearing, 34 ... Quill arm shaft, 36
... Quill arm main body, 38 ... Locking part, 40 ...
...Conical hole, 42...Positioning pin, 44...Through hole, 46...Collection chuck, 48...Threaded ring, 48a...Inner flange, 50...Fixing ring, 52...Split ring, 54...Bearing , 56... exchange arm shaft, 58... exchange arm body, 60... gripping section, 62... rocking mechanism, 64
... Rack, 66 ... Pinion, 68 ... Exchange arm moving mechanism, 70 ... Cylinder, 72 ... Piston rod, 74 ... Piston, 76a, 76b
...Hydraulic port, 78...Clutch mechanism, 80...
...Engaging piece, 82...Locking piece, 84...Slide base moving mechanism, 86...Cylinder, 88...Piston, 90...Piston rod, 92a, 92b...
...Hydraulic port, 94...Gripper main body, 96a, 9
6b...Receptor, 98...Tension coil spring, 100
... Hydraulic cylinder device, 102 ... Cylinder, 1
04... Piston, 106... Piston rod,
108a, 108b...hydraulic port, 110...
Drive motor, 112...Transmission gear mechanism, 114...
...Rotation axis, 116...Magazine body, 118...
Through hole, 120... side hole, 122... locking ball,
124...Coil spring, 126...Cap, 1
28...Housing, 130...Electric motor, 1
32...First spline shaft, 134...Connection shaft, 136...First boss, 138...Hydraulic cylinder device, 140...Cylinder, 142...Piston, 144a, 144b...Hydraulic port, 14
6...Second boss, 148...Hydraulic motor, 15
0... Drive shaft, 152... Second spline shaft,
154...Main shaft rotation mechanism, 156...Chute.

Claims (1)

[Scope of Claims] 1. A magazine that removably holds a plurality of tools; a main shaft of a machine tool having a collet chuck at its tip that is tightened by a threaded ring to fix the tools; and a main shaft that is swingable and axially a quill arm that is provided movably along the screw ring and that inhibits rotation of the screw ring by engaging with the screw ring; and a quill arm that rotates the main shaft while the rotation of the screw ring is prohibited by the quill arm; A main shaft rotation mechanism that generates relative rotation between the main shaft and the screw ring to tighten and loosen the collet chuck; an exchange arm for taking out one of the held tools and attaching it to the tip of the main shaft; a swinging mechanism for swinging the quill arm and the exchange arm; and a swing mechanism for swinging the quill arm and the exchange arm along the axial direction. An automatic tool changing device characterized by comprising a moving mechanism that moves the tool by moving the tool. 2. The tool automatic according to claim 1, wherein the exchange arm and the quill arm have a common pivot axis and are movable along this pivot axis. Exchange device. 3. The automatic tool changing device according to claim 2, wherein the quill arm is disposed coaxially with the outer periphery of the changing arm.