JPH0442130B2 - - Google Patents

Description

[Detailed description of the invention] (a) Industrial application field The present invention is applied to a machine tool that is applied to supply and store conveyed objects such as tools from a tool storage and supply device to a machine tool such as a machining center. The present invention relates to a method for delivering an object to a person.

(b) Conventional technology Conventionally, drum-shaped tool magazines, chain-type tool magazines, etc. have been known as tool storage and supply devices, but the number of tools that can be stored and supplied in either case is limited to a few dozen. .

(c) Problems to be solved by the invention However, recently, unmanned machining methods have become popular, and in such cases, in order to process many types of workpieces, it is necessary to The number of tools to be supplied to the machine becomes extremely large, and the conventional number of supplied tools, which is about a few dozen, has the disadvantage of making it impossible to perform proper machining operations.

Therefore, the tools are stored in a storage means such as a three-dimensional storage shelf, and a tool delivery and transportation means such as a tool transport robot is used to move the tools from the storage means to the intermediate transfer pocket where the tools are delivered to and from the machine tool. Although methods for transporting tools have also been proposed, when transporting tools, a method is usually used in which a tool gripping portion formed on a tool holder of the tool is gripped. Normally, this tool gripping part is often bilaterally symmetrical with a V-shaped groove formed in the cylindrical collar part, but with special tools, the gripping part is left-right asymmetrical, and the grippable part is the gripping part. may be limited to the right or left half of the

In such a case, if the tool delivery means for transporting the tool from the storage means to the intermediate transfer pocket and the ATC device (abbreviation for "automatic tool changer"; hereinafter simply referred to as "ATC device") on the machine tool side are If the tool gripping side is different, the tool transferred to the intermediate transfer pocket by the delivery and transfer means will be
The side that cannot be gripped becomes the ATC device side,
If left as is, there will be an inconvenience that the ATC device will not be able to grip and transport the tool.

Additionally, as the number of tools to be supplied to a machine tool increases, problems arise, such as the longer it takes to supply the tools to the machine tool and the larger the installation space for storage devices such as tool magazines. many. Also, if you try to store tools in a high density,
This poses many problems, including the problem of interference between the tool delivery and transportation means and the stored tools. Therefore, even when the number of tools to be supplied increases, while solving such problems in transporting tools, it is possible to prevent interference between the tool delivery and conveyance means and the stored tools, and to store the tools. It has been desired to develop a method that allows the transfer operation between each tool storage position and the intermediate transfer pocket to be carried out at high speed while maintaining a high density and compactness.

In order to eliminate the above-mentioned drawbacks, the present invention is capable of transporting objects such as tools in a short time.
Another object of the present invention is to provide a method for transferring objects to a machine tool, which can realize high-density storage of objects to be transported, prevent interference between the transfer means and the objects, and downsize the entire device. It is something to do.

Furthermore, the present invention also provides a delivery and conveyance means for conveying an object to be conveyed, such as a tool, to an intermediate pocket, and a transfer means for conveying an object to be conveyed, such as a tool, from the intermediate pocket to a machine tool.
To provide a method for transferring an object to a machine tool that can smoothly grip the object when the grippable side of the holder of the object is different from that of a transfer means for the object such as an ATC device. It is intended for a different purpose.

(d) Means for solving the problem That is, the present invention provides a plurality of band-like racks, each of which is movable, and stores objects to be transported held in holders in the racks. A plurality of possible pockets are arranged in the longitudinal direction of the rack, and an intermediate pocket is provided for transferring the object to the machine tool, and the object is transferred between the rack and the intermediate pocket. A means for delivering and conveying the conveyed object while gripping a holder for the conveyed object is provided, and the conveyed object is transferred and attached from the pocket of the rack to the intermediate pocket by the passing and conveying means. Things,
Furthermore, by gripping the holder of the transported object by the transport means of the machine tool side, when the transported object is gripped and transferred to the machine tool, and when the transported object is transferred from the machine tool to the intermediate pocket by the transport means of the transported object. When the conveyed object attached to the rack is gripped and transferred to each pocket of the rack by the delivery conveyance means, the conveyed object attached to the intermediate pocket is rotated by a predetermined angle, and the conveyed object is rotated by a predetermined angle. The grippable side of the holder is configured to face the delivery conveyance means or the transfer means side from which the object to be conveyed is to be transferred.

(e) Effect With the above-described configuration, the present invention allows the carrying object to be supplied to the machine tool to be attached to the pocket of the rack,
The mounted object is transferred between the intermediate pocket and the rack by the object transfer means.

Further, in the present invention, the object to be transported is rotated by a predetermined angle in the intermediate pocket, and the grippable side of the holder is
It acts so as to face the transfer means or delivery means for the object, which grips and transfers the object.

(f) Embodiments Hereinafter, embodiments of the present invention will be described based on the drawings.

Fig. 1 is a front view showing an example of the tool storage and supply device, Fig. 2 is a front view showing the main frame portion of the tool storage and supply device shown in Fig. 1, Fig. 3 is a front view showing the tool robot portion, and Fig. 4 The figure is a plan view of Fig. 3, Fig. 5 is a side view of Fig. 3, Fig. 6 is a front view showing the hand part of the tool robot, and Fig. 7 is a side view of Fig. 6.
FIG. 8 is a plan view of the tool gripping section, a view taken in the direction of the arrow in FIG. 6, FIG. 9 is a front view of the tool rack, FIG. 10 is a plan view of FIG. 9, and FIG. Fig. 12 is a front view showing the coupled state of the tool rack, Fig. 13 is a side view of Fig. 12, Fig. 14 is a plan view of Fig. 12, and Fig. 15 is a lock release mechanism of the tool robot. FIG. 16 is a front view showing the intermediate transfer pocket; FIG. 17 is a front view showing the intermediate transfer pocket;
The figure is a side view of FIG. 16, and FIG. 18 is a cross-sectional view taken along the line - in FIG. 17.

As shown in FIG. 1, the tool storage and supply device 1 includes:
It has a main frame 2 and a sub-frame 3 connected to the left side of the main frame 2, and a bracket 5 is formed on the upper part of the main frame 2 and sub-frame 3, as shown in FIG. ing. At the tip of the bracket 5, a guide rail 6 is laid across the main frame 2 and the subframe 3 in the left-right direction in FIGS. 3 and 4. Similarly, racks 7 are installed in the horizontal direction in FIGS. 3 and 4. Further, a guide rail 9 is installed in parallel to the guide rail 6 at the lower part of the main frame 2 and sub-frame 3, and the tool robot 10 is installed in the guide rails 6 and 9 in a guide groove provided in the tool robot body 11. 12 and guide rollers 13, it is provided movably in the directions of arrows A and B in FIG. A motor 15 is provided on the upper part of the main body 11, and a pinion gear 17 is provided on the motor 15 so as to be rotatably driven via a power transmission means such as a reduction gear 16. The pinion gear 17 meshes with the rack 7. Therefore, by appropriately driving the motor 15 in forward and reverse directions, the main body 11 is moved along the rack 7 via the reduction gear 16 and the pinion gear 17.
Arrows A and B are guided by guide rails 6 and 9.
Driven to move in the direction.

Further, the main body 11 is provided with a motor 19, and the motor 19 is connected to a feed screw 21 of the main body 11, which is rotatably supported in the vertical direction in FIG. 3, via a power transmission means such as a timing belt 20. , connected through its upper end. A hand mechanism section 22 is screwed into the feed screw 21, and the hand mechanism section 22 has two guide rails 11a formed on the main body 11 in parallel with the feed screw 21, and as shown in FIG. Direction perpendicular to the inside paper surface, that is, the feed screw 21
are engaged so as to be movable in the installation direction. The hand mechanism section 22 is provided with a hydraulic cylinder 23 having a piston rod 23a that can freely protrude and retreat in the directions of arrows C and D. Furthermore, the hand mechanism section 22 has a hydraulic cylinder 23 with a piston rod 23a that can freely protrude and retreat in the directions of arrows C and D. A plurality of bearings 22a are provided, and these are slide bearings 22.
A tool gripping portion 25 is provided in the tool holding portion 25 so as to be movable in the directions of arrows C and D via guide rods 25a and 25a' which are slidably mounted on a slide bearing 22a. Note that a hole 25b for supplying pressure oil to the tool gripping portion 25 is drilled through the guide rod 25a along its center, and a cord connected to a proximity sensor to be described later is installed in the guide rod 25a'. hole 25 for
b' is drilled. Note that the tip of the aforementioned piston rod 23a is fixed to the tool gripping portion 25.

Further, as shown in FIG. 8, the tool gripping portion 25 is formed and bored such that a cylinder 25c communicates with a hole 25b formed in the guide rod 25a.
A piston 25d is located in the cylinder 25c, and arrows E,
It is provided movably in the F direction. Piston 2
A coil spring 25e is compressed between the coil spring 5d and the cylinder 25c.
e always urges the piston 25d in the direction of arrow E. Further, an arm 26 is provided on the tool gripping portion 25 via a pin 26a so as to be rotatable in the directions of arrows G and H, and the left end of the arm 26 in FIG.
The tip of the piston 25d mentioned above is abuttingly engaged. Further, a proximity sensor 27 is provided in the tool gripping portion 25 with its tip facing a tool gripping groove 25f formed in a U-shape in the tool gripping portion 25,
The proximity sensor 27 can detect the presence or absence of a tool within the tool gripping groove 25f.

On the other hand, as shown in FIGS. 9 and 11, the side plates 29 of the main frame 2 and sub-frame 3 have brackets 29a and 29b arranged vertically in the directions of arrows A and B, which are the running directions of the tool robot 10. They are installed respectively, and the lower bracket 2
A guide groove 29c is formed in the A and B directions in the upper bracket 9b, and a guide rail 29d is similarly installed in the A and B directions in the upper bracket 29a. In the guide rail 29d and the guide groove 29c, there are a plurality of tool racks 30 in the form of elongated strips.
Guide groove 30 provided in the tool rack 30
a. A guide roller 30b is engaged with a guide rail 29d and a guide groove 29c and is supported and installed so as to be movable in directions A and B, and each tool rack 30 has a plurality of tool pockets 31 that can hold tools. However, in the vertical direction in Fig. 9, that is, tool rack 3
0 are provided in a line in the longitudinal direction. Each tool pocket 31 is provided with a key 31a for preventing rotation, and the key 31a engages with a keyway provided on the tool side to prevent the tool attached to the tool pocket 31 from rotating within the tool pocket 31. To prevent.

In addition, the upper and lower parts of the tool rack 30 have a first
As shown in Figures 2 to 14, the tool rack 3
A connecting mechanism 32 is provided for connecting the two tool racks 30 to each other, and the connecting mechanism 32 has a pin 32a which is fixed in such a manner that its tip protrudes toward an adjacent tool rack 30 to be connected. As shown in FIG. 14, the tip of the pin 32a is provided with an engaging groove 3.
2b is bored therein, and an engagement hole 32c is formed in a position facing the pin 32a of the adjacent tool rack 30 so that the pin 32a can be freely inserted and engaged therein. As shown in FIG. 13, a hole 32d is bored in the engagement hole 32c in a manner perpendicular to the engagement hole 32c, and a lock pin 32e is provided in the hole 32d so as to be movable in the directions of arrows C and D. Fitted and engaged. A pin 32f is implanted in the lock pin 32e, and the pin 32f is the 13th pin in the hole 32d.
Hole 32h drilled parallel to hole 32d in the upper part of the figure
The release pin 32g is fitted into the release pin 32g so as to be movable in the directions of arrows C and D. Release pin 32g
A coil spring 32i is compressed between the release pin 32g and the hole 32h, and the coil spring 32i always urges the release pin 32g in the direction of arrow C.

As shown in FIG. 15, in the vertical position of the tool robot main body 11 that can face the coupling mechanism 32 of the tool rack 30, a release cylinder 33 has a shape in which a piston rod 33a can protrude and retreat in the directions of arrows C and D. are provided respectively.

Furthermore, among the plurality of movably provided tool racks 30, for the main frame 2 and sub-frames 3, the tool rack _30A provided second from the rightmost side of each frame in FIG. As shown in FIG. 10, the rack release cylinder 35 installed on the side plate 29 is
The tool rack 30A is connected via a piston rod 35a which is provided so as to be able to protrude and retract in the directions of arrows A and B. Therefore, by driving the rack opening cylinder 35 and causing the piston rod 35a to protrude and retract in the directions A and B, the tool rack _30A is opened. can be moved in directions A and B along the guide rail 29d and the like.

_In the main frame 2 and the subframe 3, the rightmost tool rack _30B in FIG. ing. Intermediate transfer pocket 3
6 has a frame 36a fixed to the tool rack _30B , as shown in FIGS. 16 and 17, and the frame 36a has a rotating holder 36b.
is rotatably provided via a bearing 36c or the like. A cleaning holder 36d is further rotatably provided on the rotating holder 36b via a bearing 36e, and the cleaning holder 36d
A cleaning brush 36f is attached to the tool holding portion 3 formed in a conical shape on the cleaning holder 36d.
6g with the brush part at the tip protruding. A gear 36h is formed on the outer periphery of the cleaning holder 36d, and the gear 36h has a shaft 36 rotatably supported on the frame 36a.
The gear 36j attached to the rotary holder 36b
They are engaged through a slit 36m formed in the slits 36m. A gear 36k is provided at the other end of the shaft 36i, and the gear 36k meshes with a gear 36l formed at the left end in FIG. 17 of the rotary holder 36b.
A pinion gear 36p is formed at the right end of the rotating holder 36b in the figure, and the pinion gear 36p has a rack formed in a bar-shaped rod 36r that is provided so as to be able to protrude in the directions of arrows I and J by a cylinder 36q. 36s are in mesh as shown in FIG. Further, a lock pin 36t is provided on the rotary holder 36b so as to be movable in the directions of arrows I and J, as shown in FIG.
It is provided so as to be biased in the direction of arrow I. The lock pin 36t is inserted into the tool holder 36g by engaging with the groove 37b of the pull stud 37a attached to the tool holder 37c of the tool 37 attached to the tool holder 36g using the elasticity of the coil spring 36u. This prevents the tool 37 from accidentally falling off from the tool holding portion 36g. In addition, the number 39 is a proximity sensor for detecting whether the tool 37 is inserted into the tool holding part 36g.

Further, the tool 37 has a tool holder 37c, as shown in FIG.
A tool gripping portion 37e is formed in the shape of a collar. A V-shaped gripping groove 37f is formed in the tool gripping portion 37e, and the gripping operation of the tool 37 by the tool robot 10 or the like is performed through the gripping groove 37f. This gripping groove 37f is the gripping portion 37
Since it is formed over the entire circumference of the gripping part 37e, it is normally possible to grip the gripping part 37e from any direction, but in some special tools 37, it is possible to grip the tool 37 through the gripping groove 37f. , tool grip part 3
Some are only possible from one side of 7e. Note that the tool holder 37c has a tool gripping portion 37e.
On the right side of FIG. 17, there is formed a tapered shaft 37d in a conical shape that closely contacts the main shaft of the machine tool and holds the tool 37 on the main shaft, and on the right side of the tapered shaft 37d,
A pull stud 37a is installed.

Since the tool storage and supply device 1 has the above configuration, the tool storage and supply device 1 allows the tool holder 3 to be attached to a machine tool such as a machining center (not shown).
In order to supply the tool 37 held by the tool 7c, first, the tool robot 10 is moved along the guide rails 6 and 9 laid across the main frame 2 and the subframe 3, based on the machining program and the operator's instructions. Move it appropriately in the directions of arrows A and B in Figure 3. This moving operation is carried out by the motor 15 on the tool robot 10 main body 11, as already explained.
This is achieved by driving the speed reducer 16, the pinion gear 17, and the rack 7 that meshes with the pinion gear 17 by appropriately driving the gear in forward and reverse directions. The tool robot 10 supplies a tool 3 to a machine tool.
7 is driven in directions A and B to a position opposite to the tool rack 30 on which it is mounted. As mentioned above, the guide rails 6 and 9 are installed so as to pass through the main frame 2 and the subframe 3, so the tool robot 10 can freely run between the main frame 2 and the subframe 3. .

On the other hand, the tool pocket 3 of each tool rack 30
1 stores tools 37 to be supplied (in this embodiment, 14 tools are stored for each tool rack 30).
A book tool 37 is stored. ), the tool racks 30 storing these tools are in a normal state, as shown in FIG. (Excluding tool racks _30B and _30B on the rightmost side of the frame.) This integration of the tool racks 30 is carried out using the main frame 2 and the sub-frame 3 as one _unit . In the connected state, the tool rack 30 is
By protruding and retracting the piston rod 35a of the rack release cylinder 35 of each frame in the directions A and B in FIG.
d and are driven to move along the guide groove 29c.

In this way, when the tool robot 10 is positioned at a position facing the tool rack 30 having the tool pocket 31 in which the tool 37 to be supplied is stored, the two release cylinders 33 provided above and below the tool robot main body 11 are released. The piston rod 33a is driven to protrude in the direction of arrow D in FIG. Then, the release pin 32 of the connection mechanism 32 between the tip of the piston rod 33a and the tool rack 30
g comes into contact with each other, and the release pin 32g is further pushed in the direction of arrow D in FIG. 13 against the elasticity of the coil spring 32i. As a result, the lock pin 32e also moves in the D direction _via the pin 32f, and the tool rack _30D on the right side of FIG. The pin 32a (in which the tool 37 to be
The pin 32a is disengaged from the engagement hole 32c, and the pin 32a can be removed from the engagement hole 32c into which it was fitted.

Then, the rack release cylinder 35 provided on the corresponding frame, either the main frame 2 or the subframe 3, on which the tool rack 30 with the pushed release pin 32g is installed is driven, and the piston rod 35a moves in the direction indicated by the arrow B in FIG. It is driven to protrude in the direction. When the piston rod 35a is driven to protrude in the direction of the arrow B, the tool rack _30A fixed to the piston rod 35a and one or more tool racks 30 connected to the tool rack _30A via the coupling mechanism 32 move in the direction of the arrow B. (Of course, depending on the case, there may be cases where only the tool rack _30A is used.) The tool rack 30 is connected to the tool rack 30 provided with the release pin 32g with which the release cylinder 33 is abutted and engaged, and the tool rack 30 on the right side of FIG. 30
The pin _32a moves in the direction B with the pin 32a separating from the engagement hole 32c, and among the tool racks 30 that have started moving, the leftmost tool rack 30 in FIG. 14
A rack release cylinder 3 is located between _D and the tool rack 30 to the left of the tool rack 30 _D in FIG.
A space corresponding to the stroke ST of 5 is formed. Note that although the tool racks _30A and _30D match in the drawings of FIGS. 12 and 14, this explanation will be made regardless of whether they match or do not match.
Of course, this applies.

In this way, when all of the tool racks 30 on the right side of FIG. 1 have moved in the direction B by the stroke ST from the tool rack _30D portion where the tools 37 to be supplied are mounted, the motor 19 of the tool robot 10 is now driven to rotate. timing belt 20
The feed screw 21 is rotated by an appropriate predetermined angle amount in the forward and reverse directions via a screw or the like. Then, the hand mechanism section 22 screwed into the feed screw 21 is connected to the guide rail 1.
1a and 11a, it moves on the main body 11 in the directions of arrows I and J in FIG. Therefore, the hand mechanism section 2
2, hold the tool grip 25 on the target tool 3.
7 is stored in the tool pocket 31, and in that state, the cylinder 23 is driven to move the piston rod 23a as shown in FIGS. 6 and 7.
As shown in the figure, the tool gripping portion 25
The two guide rods 25a, 25a' are projected so as to slide into contact with the slide bearing 22a. Then, the tool gripping section 25 releases the tool racks 30, 3 released by the rack release cylinder 35.
0 _D without interfering with _the tool rack 30, and as shown in FIG. They are positioned so that the phases in the C and D directions match, and the phases in the vertical direction in FIG. 3 also match. Therefore, when the motor 15 is rotated by a predetermined amount again and the main body 11 is moved in the B direction together with the tool gripping portion 25, the tool gripping portion 37e of the tool 37 is fitted into and engaged with the tool gripping groove 25f. In this state, pressure oil is supplied to the cylinder 25c and the arm 26 is pressed in the H direction around the pin 26a to firmly support the tool 37 without falling into the tool gripping groove 25f. Even in the normal state, the arm 26 is biased toward the H side by the coil spring 25e, so even if the supply of pressure oil to the cylinder 25c is stopped, the tool 37 will not move into the tool gripping groove 25f.
It will not fall off. In addition, the tool grip groove 25
The insertion and engagement operation of the tool 37 into the tool gripping portion 25 is performed in a state where pressure oil is not supplied to the cylinder 25c.
is carried out by moving toward the tool 37 in the B direction, so the tool gripping portion 37e of the tool 37 moves into the tool gripping groove 25f while rotating the arm 26 in the G direction against the elasticity of the coil spring 25e. When the tool 37 is inserted, the gripping operation of the tool 37 is performed smoothly.

In this way, when the tool 37 is gripped by the tool gripping portion 25, the piston rod 2 of the cylinder 23 is
Move 3a back in direction C. Then, the tool 37 that is being held by the tool gripping section 25 is detached from the tool pocket 31 and is moved together with the tool gripping section 25 in the direction C and taken out. The tool grip part 25 is attached to the tool 3
When motor 1 is moved in the C direction with 7, motor 1
5 to move the main body 11 in direction B, pass through the main frame 2, and transfer the tool 37 while being held to the tool rack _30B fixedly provided on the rightmost side of the main frame 2. . Furthermore,
During that time, the motor 19 is driven and the hand mechanism section 2
2 and the tool gripping section 25 are appropriately moved in the I and J directions to match the position of the tool 37 on the tool gripping section 25 with the vertical position of the intermediate transfer pocket 36 of the tool rack _30B .

In the meantime, the rack release cylinder 35 moves the piston rod 35a backward in the A direction until it reaches B.
The multiple tool racks 30, including tool rack 30 _A , which had been moving in the direction A, are returned to the direction A.
As shown in FIG. 14, the tool 37 was separated earlier.
The pin 32a of the tool rack _30D from which the tool 37 was taken out is inserted into the engagement hole 32c of the tool rack 30 on the left side of the tool rack _30D from which the tool 37 was taken out. As a result, the space previously formed is closed, and the distance corresponding to the stroke ST of the rack opening cylinder 35 is changed to the rightmost tool rack 3 of the main frame 2 or subframe 3.
_0B and tool rack _30A . On the other hand, when the pin 32a is inserted into the engagement hole 32c, the pin 32a engages the lock pin 32e and the lock pin 3.
The engagement groove 32 is forcibly moved in the direction of arrow D in FIG. 13 against the elasticity of the coil spring 32i together with the pin 32f and the release pin 32g.
The tool rack _30D , which had been separated until then, and the tool rack 30 to its left are connected via the pin 32a as before. Note that the engagement groove 32b and the pin 32e are connected to each other through the inclined surfaces 32j and 32k, so that due to the wedge action, the tool rack _30D and the tool rack 30 on the left thereof are connected by the pin 32e.
This is done smoothly and reliably with both racks 30 in close contact.

In this way, when all the tool racks 30 except the tool rack _30B are integrated in the main frame 2 and the subframe 3, the tool robot 10 positioned opposite the intermediate transfer pocket 36 of the tool rack _30B of the main frame 2 is moved. , the cylinder 23 is driven to project the piston rod 23a in the D direction, and the tool 37 held by the tool gripping part 25 is inserted into the tool holding part 36g of the intermediate transfer pocket 36. At this time, tool racks 30 other than tool rack 30 _B
all move in the direction _A in FIG.
Since the distance is equal to (or larger than) the stroke ST of
The tool 37 mounted on the rack 30 does not interfere with the tool holder 36g of the tool 37.
Insertion into the device is smooth.

When the tool 37 is inserted into the tool holding portion 36g,
The supply of pressure oil to the cylinder 25c is cut off, and in this state, the main body 11 moves in the A direction together with the tool gripping part 25. Then, the arm 2 of the tool gripping section 25
6 is rotated in the G direction against the elasticity of the coil spring 25e, and is disengaged from the tool 37, and the tool 37 is inserted into the intermediate transfer pocket 36.
As shown in FIG. 7, the lock pin 36t, which is urged in the I direction by the coil spring 36u, is held in engagement with the groove portion 37b of the pull stud 37a.

By the way, the tool 37 stored in the intermediate transfer pocket 36 is then transferred to a machine tool such as a machining center by the ATC device 3 installed on the machine tool side.
The tool 37 that has been mounted on the spindle and has completed the machining operation is returned to the intermediate transfer pocket 36 by the ATC device 34. In addition, the tool storage supply device 1
As shown in FIGS. 1 and 2, the tool 37 is transferred to the intermediate transfer pocket 36 by transferring the tool 37 stored in each tool rack 30, more precisely, by transferring the tool 37 to the intermediate transfer pocket 36 of the tool holder 37c. 1st
This is done by gripping the left part in the figure, but the ATC device 34 on the machine tool side usually has a tool gripping part 37e.
Hold the right part in FIG. 1 to replace the tool. Therefore, it suffices if the tool gripping part 37e is bilaterally symmetrical, but for a special tool 37 attached to a bilaterally asymmetrical tool gripping part 37e,
When the tool gripping section 25 grips the grippable part on the left side of the tool, the intermediate transfer pocket 36 is opened on the ATC device side.
A problem arises in that the tool 37 inserted into the tool 37 cannot be held as it is.

Therefore, when the tool 37 is inserted and set in the intermediate transfer pocket 36 by the tool robot 10, the cylinder 36q is driven and the rod 36r is moved to the first position.
It is driven to protrude in the direction of arrow I in Fig. 7. Then, the first
As shown in FIG. 8, the rotary holder 36b rotates 180 degrees via a rack 36s formed on the rod 36r and a pinion gear 36p. As shown in FIG. 16, the rotary holder 36b is provided with a key 36v that can engage with a keyway provided in the tool 37, so the tool 37 rotates 180 degrees in synchronization with the rotation of the rotary holder 36b. Rotate. On the other hand, the rotating holder 36b
When rotated 180°, the rotation is caused by gears 36l and 36k.
is further transmitted to the shaft 36i via the gears 36j,
The cleaning holder 36d is rotated in the same direction as the rotating holder 36b via the rotation holder 36h. Then, the cleaning brush 36f attached to the cleaning holder 36d also rotates together with the cleaning holder 36d, and when the tool 37 is attached to the main spindle of the machine tool, the tool holder 3 holds the tool 37 in close contact with the main spindle.
Foreign matter such as dust attached to the tapered shaft 37d of 7c is removed to enable accurate machining work. Since the cleaning holder 36d rotates several times while the rotary holder 36b rotates 180 degrees depending on the gear ratio, cleaning of the tapered shaft 37d is performed smoothly over the entire circumference of the tapered shaft 37d. At the same time, compressed air is supplied into the tool holder 36g from the air supply hole 36w provided at the right end of the frame 36a in FIG. 17 through the rotary holder 36b. Foreign matter such as dust removed by this is discharged to the outside through the gap 38 between the tool 37 and the rotary holder 36b, and the tapered shaft 37d is maintained in a clean atmosphere. In this way, while cleaning the taper shaft 37d, the tool 3
When the tool 7 is rotated by 180 degrees within the tool holder 36g, the grippable side of the tool 37 is positioned on the side gripped by the ATC device 34 of the machine tool, that is, on the right side in FIG. The operation of transferring the tool 37 to the machine is performed smoothly.

On the other hand, regarding the tool 37 returned to the intermediate transfer pocket 36 by the ATC device 34, the cylinder 36q is driven and the rod 36r is moved in the direction J in FIGS. 17 and 18. Then, the rotary holder 36b rotates 180 degrees in the opposite direction via the rack 36s and pinion gear 36p, and the grippable side of the tool 37 is moved from the right side in FIG. 1 to the gripping side of the tool robot 10. In addition to changing the cleaning brush 36f to the left side where it is possible to
The tool 37 performs the same cleaning operation as described above.
The taper shaft 37d is
keep it in a clean state.

Next, the cylinder 23 of the tool robot 10 is driven to move the piston rod 23a as shown in FIGS.
As shown in the figure, it is made to protrude in the direction of arrow D. Then, the tool gripping section 25 holds the tool rack 30 as described above while the distance between the tool racks 30 _A and 30 _B in the open state becomes ST (or more).
The tool gripping portion 37 of the tool 37 that has entered the tool gripping groove 25f without interfering with _A , etc. and is returned by the ATC device 34 in the intermediate transfer pocket 36.
e has the same phase in the directions of arrows C and D,
Moreover, they are positioned so that the phases in the vertical direction in FIG. 3 also match. Therefore, when the motor 15 is rotated by a predetermined amount again and the main body 11 is moved in the B direction together with the tool gripping portion 25, the tool gripping portion 37e of the tool 37 is fitted into and engaged with the tool gripping groove 25f. In this state, pressure oil is supplied to the cylinder 25c and the arm 26 is pressed in the H direction around the pin 26a to firmly support the tool 37 without falling into the tool gripping groove 25f.

In this way, when the tool 37 is gripped by the tool gripping portion 25, the piston rod 2 of the cylinder 23 is
Move 3a back in direction C. Then, the tool 37 held by the tool gripping part 25 is detached from the intermediate transfer pocket 36 and transferred to C together with the tool gripping part 25.
Move in the direction to be taken out. When the tool gripping section 25 is moved together with the tool 37 in the C direction, the motor 15 is driven to move the main body 11 in the A direction, and the tool 37 is transferred to the tool rack 30 where the tool 37 is to be stored while being held. do. In the meantime, the motor 19 is driven to move the hand mechanism section 22 and the tool gripping section 25 appropriately in the I and J directions to change the position of the tool 37 on the tool gripping section 25 to the tool rack where the tool 37 is to be returned. 30 tool pockets 3
Position it at the position corresponding to 1.

In this way, when the tool robot 10 is positioned at a position facing the tool rack 30 having the tool pocket 31 in which the returned tool 37 is to be stored, the two release cylinders 33 provided above and below the tool robot main body 11 are released. The piston rod 33a is driven to protrude in the direction of arrow D in FIG. Then, the release pin 3 of the connection mechanism 32 between the tip of the piston rod 33a and the tool rack 30
2g is in contact with the release pin 32g, and the release pin 32g is
Push in the direction of arrow D in the figure against the elasticity of the coil spring 32i. As a result, the lock pin 32e also moves in the D direction via the pin 32f, and the adjacent tool rack _30D (the tool 37 to be returned to this tool rack 30D) that is engaged with the lock pin _32e via the engagement groove 32b. There is a tool pocket 31 for storing the tool.) The pin 32a is
As shown in FIG. 14, the engagement state with the lock pin 32e is released and the pin 32a is in a state where it can be removed from the engagement hole 32c into which it was fitted.

Then, the rack release cylinder 35 provided on the corresponding frame, either the main frame 2 or the subframe 3, in which the tool rack 30 with the released pin 32g pressed is installed, is driven, and the piston rod 35a moves in the direction indicated by the arrow in FIG. It is driven to protrude in the B direction. When the piston rod 35a is driven to protrude in the direction of the arrow B, the tool rack _30A fixed to the piston rod 35a and one or more tool racks 30 connected to the tool rack _30A via the coupling mechanism 32 move in the direction of the arrow B. Start moving in the direction. The tool rack 30 has a release pin 32g with which the release cylinder 33 abuts and engages.
The tool rack 30 provided with the tool rack 30 is connected and engaged with the tool rack 30 through the engagement hole 32c.
The pin _32a moves in the direction B _, separating from the engagement hole 32c, with the tool rack _30D on the right side of FIG. A space corresponding to the stroke ST of the rack release cylinder 35 is formed between them.

In this way, when all the tool racks 30 on the right side of FIG. 1 have moved in the B direction by the stroke ST from the tool rack _30D portion where the tool pocket 31 to which the tool 37 is to be returned are provided, the main body 11 is moved in the B direction by a predetermined amount. and tool grip part 25
The tool 37 of the tool rack 30 and the tool pocket 31 in which the tool 37 of the tool rack 30 is to be returned are made to face each other. Therefore, by driving the cylinder 23, the piston rod 23
a is made to protrude in the direction of arrow D, as shown in FIGS. 6 and 7. Then, the tool gripping section 25 moves the tool rack 3 into the space between the tool racks 30 and _30D opened by the rack release cylinder 35.
The tool 37 is inserted into the predetermined tool pocket 31 in the tool rack _30D without interfering with the tool 30D.

When the tool 37 is inserted into the tool pocket 31, the supply of pressure oil to the cylinder 25c is cut off.
In this state, the main body 11 is moved toward the tool gripping portion 25 in the direction A.
move with Then, the arm 26 of the tool gripping section 25 rotates in the G direction against the elasticity of the coil spring 25e, and is disengaged from the tool 37, so that the tool 37 is held in the tool pocket 31.

In this state, the tool gripping portion 25 is returned in the direction C, and the rack release cylinder 35 is further driven in the direction A, so that the tool rack 30, which has been split for return, is again integrated via the connection mechanism 32.
The return operation by the tool robot 10 is completed, and the tool robot 10 prepares for the next tool 37 supply operation.

Next, the tool 37 is
The case of setting will be explained below.

Among the tool racks 30 provided on the subframe 3 of the tool storage and supply device 1, the third tool pocket 3 from the bottom of the leftmost tool rack 30 in FIG.
_1A is used as a tool attachment/detachment station, and the operator loads and sets the tools 37 in the tool pockets 31 of each tool rack 30 of the tool storage and supply device 1, and also collects the used tools 37 from each tool pocket 31. When doing so, work is done through this tool pocket _31A . That is, the tool 37 is placed in the tool pocket 31 of each tool rack 30.
When installing and setting the tool 37 to be installed.
is mounted and set in the tool pocket _31A manually or via a predetermined tool supply means such as a tool supply robot. In this state, tool robot 10
is driven to cause the tool robot 10 to grip the tool 37 attached to the tool pocket _31A , and to store the tool 37 from the intermediate transfer pocket 36 into each tool pocket 31, in exactly the same way as when
The tool 37 is transferred to the tool pocket 31 in which it is to be stored and further stored. thus,
The tools 37 to be stored one after another are stored in the tool pocket 31.
The tools 37 are set in the tool storage/supply device 1 by being set at the position _A and then stored in each tool pocket 31 by the tool robot 10. The same applies to the case where the installed tools 37 are collected from each tool pocket 31, and the tools 37 to be collected from each tool pocket 31 are transported and installed by the tool robot 10 to the tool pocket _31A , which is a tool attachment/detachment station. , a worker or the like removes and collects the tool 37 from there. In this way, by using the predetermined tool pocket _31A as a tool attachment/detachment station, the operator or the like can set the tool 37 at any location in the tool storage/supply device 1 by simply attaching the tool 37 to the tool pocket _31A . Furthermore, the tool 37 can be retrieved from the tool storage/supply device 1 at a single location in the tool pocket _31A , which is extremely convenient. Note that the tool attachment/detachment station is not limited to one location in the tool pocket _31A , but it is of course possible to use a plurality of tool pockets 31 as the tool attachment/detachment station.

Furthermore, as in this embodiment, if some of the tool racks _30B are fixedly provided independent of a group of tool racks 30 that are moved and released by a moving drive means for the tool racks 30 such as a rack release cylinder 35, As for the tools 37 mounted and set on the fixed tool rack _30B , the tool robot 10 can immediately attach and detach the tools 37 without opening the tool rack. If the machining time is short and the tool selection is performed by the normal opening/closing operation of the tool rack 30, the operation time for the tool robot 10 to supply the tool 37 to the machine tool will be longer than the machining time. For the tool 37, a fixed tool rack 30 is used.
By attaching it to _B , the time required to open and close the tool rack 30 can be shortened, making it possible to supply tools 37 with high maneuverability.

Furthermore, the tool storage and supply device 1 according to this embodiment has the following features:
It is composed of two frames, a main frame 2 and a subframe 3, and the main frame 2 and subframe 3 have a modular configuration that can be freely separated and connected, as shown in Figures 1 and 2. Depending on the number of tools 37 to be supplied, main frame 2 only, main frame 2
It is possible to configure a main frame 2 and a subframe 3, or further, by connecting a main frame 2 and a plurality of subframes 3. That is, the main frame 2 and the subframe 3 are provided with travel guide means such as guide rails 6, 9, racks 7, etc. for the tool robot 10 to travel along the travel direction of the tool robot 10 so as to be extendable and connectable. Therefore, by adding a sub-frame 3 to the main frame 2 as necessary and further connecting the travel guide means so as to pass through both frames, the tool robot 10 can immediately travel between the two frames. , the number of tools to be supplied can be easily increased.

Note that in the above embodiment, the intermediate transfer pocket 36
The case where the tool 37 is rotated by 180 degrees was described in , but the rotation angle of the tool 37 is determined by the rotation angle of the tool 37 between the tool 37 transfer means such as the tool robot 10 and the tool 37 transfer means such as the ATC device 34 on the machine tool side. Of course, the setting may be made to any number of times depending on the deviation of the gripping position with respect to 37.

(g) Effects of the invention As explained above, according to the present invention, a plurality of tool racks 30 each of which is movably provided is provided.
A strip-shaped rack such as the above is provided, and a plurality of pockets such as the tool pocket 31 capable of storing an object to be transported such as a tool 37 held in a holder such as the tool holder 37c are inserted into the rack along the longitudinal direction of the rack. Further, intermediate pockets such as an intermediate transfer pocket 36 for transferring the objects to the machine tool are provided, and the objects to be transferred are transferred between the rack and the intermediate pocket. A means for delivering and transporting an object such as a tool robot 10 which delivers and transports the object while gripping a holder of the object to be transported is provided, and the object is transferred from the pocket of the rack to the intermediate pocket by the means for delivering and transporting the object. The conveyed object is further transferred to the machine tool side.
By gripping the holder of the conveyed object with a means for transferring the conveyed object such as an ATC device, when the conveyed object is gripped and transferred to the machine tool, and when the conveyed object is transferred from the machine tool to the intermediate pocket When the conveyed object attached to the rack is gripped and transferred to each pocket of the rack by the delivery conveyance means, the conveyed object attached to the intermediate pocket is rotated by a predetermined angle, and the conveyed object is rotated by a predetermined angle. Since the grippable side of the holder is configured to face the transfer means or transfer means side from which the object to be transported is to be transferred, objects to be transported such as tools can be stored in the rack at a high density. Not only is this possible, but when the conveyance means transfers the conveyed object, the rack moves,
Since the transfer conveyance means and the objects to be conveyed in adjacent racks are prevented from interfering with each other, there is no need to provide a predetermined distance between the racks, and therefore, it is possible to arrange the racks continuously. Objects to be transported, such as hundreds of tools, can be easily stored in a narrow space, contributing to miniaturization of the entire device.

Furthermore, since a large number of objects to be transported can be stored compactly,
The conveyed object can be transferred between the rack and the intermediate pocket in a short time, and the conveyed object can be quickly delivered to the machine tool.

In addition, even for special objects that can only be gripped on one side of the holder, the gripping operation can be performed smoothly by rotating the object by a predetermined angle in the intermediate pocket. , it is possible to smoothly transfer objects between machine tools.

Note that if the holder of the transported object is cleaned using the rotation of the transported object when the transported object attached to the intermediate pocket is rotated by a predetermined angle, the holder of the transported object will be cleaned. Since the holder can be cleaned using the operation of switching to the grippable side, the holder can always be maintained in a clean state without having to take special time to clean the holder.

[Brief explanation of drawings]

Fig. 1 is a front view showing an example of the tool storage and supply device, Fig. 2 is a front view showing the main frame portion of the tool storage and supply device shown in Fig. 1, Fig. 3 is a front view showing the tool robot portion, and Fig. 4 The figure is a plan view of Fig. 3, Fig. 5 is a side view of Fig. 3, Fig. 6 is a front view showing the hand part of the tool robot, and Fig. 7 is a side view of Fig. 6.
FIG. 8 is a plan view of the tool gripping section, a view taken in the direction of the arrow in FIG. 6, FIG. 9 is a front view of the tool rack, FIG. 10 is a plan view of FIG. 9, and FIG. Fig. 12 is a front view showing the coupled state of the tool rack, Fig. 13 is a side view of Fig. 12, Fig. 14 is a plan view of Fig. 12, and Fig. 15 is a lock release mechanism of the tool robot. FIG. 16 is a front view showing the intermediate transfer pocket; FIG. 17 is a front view showing the intermediate transfer pocket;
The figure is a side view of FIG. 16, and FIG. 18 is a cross-sectional view taken along the line - in FIG. 17. DESCRIPTION OF SYMBOLS 1... Tool storage supply device, 10... Delivery and conveyance means (tool robot), 31... Pocket (tool pocket), 34... Transfer means (ATC device), 37
...Tool (transferred object), 37e...Tool gripping part, 36
...Intermediate pocket (intermediate transfer pocket).

Claims (1)

[Scope of Claims] 1. A plurality of strip-shaped racks are provided, each of which is movable, and a plurality of pockets capable of storing objects to be transported held in holders are arranged in the longitudinal direction of the rack. Further, an intermediate pocket is provided for transferring the transported object to the machine tool, and a holder for the transported object is placed between the rack and the intermediate pocket. A delivery/conveying means for delivering and conveying the conveyed object in a gripped state is provided, and the conveyed object transferred from the pocket of the rack to the intermediate pocket by the conveying means is further transferred to the conveyed object on the machine tool side. By gripping the holder of the object to be transported by the object transfer means, when the object is gripped and transferred to the machine tool, the object attached to the intermediate pocket is also transferred from the machine tool by the object transfer means. When the conveyed object is gripped and transferred to each pocket of the rack by the delivery and conveyance means, the conveyed object attached to the intermediate pocket is rotated by a predetermined angle, and the graspable side of the holder of the conveyed object is rotated. A method for delivering an object to a machine tool configured to face the transfer means or the transfer means to which the object is to be transferred. 2. Claim 1, wherein the holder of the transported object is cleaned using the rotation of the transported object when the transported object attached to the intermediate pocket is rotated by a predetermined angle. Method for transferring objects to the machine tool described in Section 2.