JPH1158162A - Tool magazine - Google Patents

Abstract

PROBLEM TO BE SOLVED: To save the space and speed up the tool replacement for a tool magazine for storing the tool to a fixed rack. SOLUTION: A rack unit 210 is erected along a Y-axis orthogonally crossing with a paper surface with clearances G1 , G2 . A shifter 60 has a turning arm 62 and carries a tool between a tool replacement position P1 and a specific rack position P2 . In a robot device 40, a head 440 is moved along X-axis and Y-axis and a pot 444 is advanced and retreated so as to grasp the shank part T1 of the tool T. The gripper of the rack unit 210 holds the flange part T2 of the tool. The clearances G1 , G2 of the rack unit is set to the minimum in response to a tool diameter and a floor space is reduced. When the tool is not grasped, the robot device moves on the X, Y axes simultaneously and achieves a speed up.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a tool magazine having a fixed rack.

[0002]

2. Description of the Related Art For example, Japanese Patent Publication No. 4-42129 discloses a tool magazine proposed by the present applicant. This tool magazine has a frame, and a plurality of strip-shaped tool racks are provided on the frame so as to be relatively movable in the horizontal direction so that the longitudinal direction of the tool rack is the vertical direction. A plurality of tool pockets capable of storing tools are arranged in the longitudinal direction of the tool rack, a tool transfer position for transferring the tool outside the frame is provided, and a tool is provided between the tool rack and the tool transfer position. A tool delivery / transporting means for delivering / transporting the tool is provided so as to be movable in the horizontal direction and to be relatively close to and retractable from the tool rack, and between the tool delivery / transporting means in the plurality of tool racks. The tool rack adjacent to the tool rack and the tool rack adjacent to the tool rack that transfers the tool and the tool rack adjacent to the tool rack And the tool has a space for preventing mutual interference between the delivery carrier means of the tool, and is provided so as to be freely formed by the horizontal movement of the tool rack.

[0003] With the above-described configuration, the tool is stored in the tool pocket of each tool rack, and the tool is inserted and inserted.
At the time of removal, move the corresponding tool rack,
A tool rack and a tool mounted on the tool rack;
It works so as to prevent the occurrence of interference between the tool and the transfer means.

[0004]

The above-mentioned tool magazine has a rack opening / closing mechanism, so that the operation time is long. In addition, the mechanism is complicated and expensive. further,
Even when the robot does not have a tool, it cannot move on the X and Y axes simultaneously. Accordingly, the present invention provides a tool magazine that includes a fixed rack and achieves space saving and high-speed tool change.

[0005]

A tool magazine according to the present invention comprises a frame, a fixed rack device erected on the frame, and a robot device which grips a tool and transports the tool to each storage position of the rack device. And a shifter having a swivel arm for transferring the tool between the rack device and the tool automatic change position. The rack device includes a plurality of rack unit rows that are erected at a constant pitch with an interval through which the head of the robot device holding the tool passes, and the rack unit has a flange portion of the tool that is aligned with the axis of the tool. And a gripper which is attached and detached in a direction perpendicular to the direction.

The arrangement pitch of the rack unit row is as follows:
This is set according to the diameter of the tool to be stored. Furthermore, a rack unit row for storing tools having a standard diameter and a rack row for storing tools having a large diameter are separated, and each rack unit row is arranged at a minimum necessary arrangement pitch. It is.

[0007] The robot device attached to the tool magazine includes a head that advances and retreats in the axial direction of the tool with respect to the tool housed in the rack device, and a pot provided at the tip of the head. It has a function to hold and release the shank of the tool. The robot device can linearly move to an arbitrary position on the rack device when the head does not grip the tool.

[0008]

1 is a front view showing the entire structure of a tool magazine according to the present invention, FIG. 2 is a plan view, FIG. 3 is a right side view, and FIG. 4 is a left side view. A tool magazine, generally designated by the reference numeral 1, includes a tool rack device 20 disposed on a frame 10, a robot device 40 for transporting a tool to a specific rack position of the rack device, and exchanging tools for a machine tool. A tool shifter 60 for transporting between the standby position and the rack,
A manual tool changer 80 is provided for the operator to manually insert and remove tools from the rack.

The front of the rack device 20 of the frame 10
It is covered with a cover 12 having an acrylic transparent plate. An upper portion of the frame 10 is also covered with a cover 14 having an acrylic transparent plate, and a switchboard 16 and the like are provided at a rear portion. The rack device 20 that accommodates the tool T is a fixed rack,
A mechanism is provided for holding the flange portion of the tool T inserted from the side. The tool transfer robot device 40 moves in the X and Y axis directions in FIG. 1 to transfer and unload tools to and from the rack device 20.

The tool shifter 60 pivots between an automatic tool change (ATC) position P ₁ for a machine tool (not shown) and a holding position P ₂ of the tool rack device 20 to transfer the tool T returned from the machine tool to the rack. The new tool T prepared in the rack is sent to the machine tool. The manual tool changing device 80 includes a swing arm 82, and sends the tool T prepared by the operator into the rack 20 using the robot device 40, or removes the tool in the rack 20 from the magazine.

The tool rack device 20 has a structure in which a plurality of rack units 210 are fixed to a base 200. The rack unit 210 is a long member having grippers 212 for gripping a flange portion of a tool on the left and right, and is attached to the base 200 with gaps G ₁ and G ₂ provided. The head of the robot unit holding the tool moves up and down between the gaps G ₁ and G ₂ to carry in and carry out the tool to and from the gripper at the specified position. Rack unit row L ₁ with a gap G ₁ is a rack unit row for accommodating tools standard diameter. Rack unit row L ₂ with a gap G ₂ of larger dimensions than the gap G ₁ is a rack unit row for accommodating the large-diameter tool.

FIG. 6 shows details of the rack unit 210. The flange portion of the tool T is inserted into the gripper 212 of the rack unit 210 in the direction of arrow A. A pin 21 pressed by a spring is provided at the entrance of the gripper 212.
4 is provided to hold the inserted tool and prevent the tool from falling off.

FIG. 7 shows the operation of the shifter 60.
The shifter 60 includes an arm 62 that pivots 90 degrees about a pivot 61, and a tool returned from the machine tool is ATC.
Receiving at the position P _1, inserted into the top of the gripper rack unit 210. The position P ₂ of the gripper is a position at which the tool T is delivered to the robot device 40 for tool transfer.

FIG. 8 is a front view of the robot device 40, and FIG.
Is an enlarged view of a main part, FIG. 10 is a left side view of FIG. 9, and FIG. 11 is a plan view of the main part. The robot apparatus 40 has a rail 510 and an upper rail 512 disposed on the frame 10 of the tool magazine, and includes a traveling saddle 410 traveling along the X-axis on the rail 510. The saddle 410 is driven by a motor 412. Driven. The traveling saddle 410 has a mast 520, and a head unit 430 that moves up and down in the Y-axis direction along the rail 420 of the mast 520 is provided.

The head unit 430 includes a motor 432, and the head unit 43 moves up and down along the mast 520.
0 has a drive cylinder 442 and moves the head 440 back and forth along the axis. When the pot 444 attached to the head 440 is in the advanced position, the shank T
Mates with ₁ . By moving the robot device 40 in the X-axis direction in this state, the tool T gripped by the gripper of the rack is removed from the gripper.

The robot device 40 holding the tool raises the head unit 430 along the Y axis to the top of the mast 520. In this position, the tool held by the head unit 430 moves upward from the rack unit 210 and does not interfere with the rack unit. With the head unit 430 stopped at the uppermost position, the saddle 41
0 is moved in the X-axis direction. The stop position of the saddle 410 in the X-axis direction is the center position of the intervals G ₁ , G ₂ between the rack unit rows.

When the positioning of the saddle 410 is completed, the head unit 430 is lowered on the Y axis. The position of the head unit 430 on the Y axis is the head 4 holding the tool.
The position of the axis 40 coincides with the center of the gripper of interest. From this state, the saddle 410 is moved along the X axis, and the flange of the tool is inserted into the gripper of the rack. After the insertion is complete, to retract the head 440, pulling the pot 444 from shank portion T ₁ of the tool. In the withdrawn position, with a gap to the rear end position of the shank portion T ₁ of the distal end position and the tool pot 444.

However, head unit 430 is
It can move simultaneously along the X and Y axes. Therefore, it is possible to move within the shortest time along the shortest path to the gripper position of the rack in which the target tool is stored. In the above embodiment, the front or upper part of the rack device 20 of the frame 10 has been described as being covered with the acrylic transparent plate covers 12 and 14, respectively. Applicable.

[0019]

As described above, the present invention has a fixed tool rack in a tool magazine for storing replacement tools supplied to a machine tool through a tool changing device. The device is simplified. Since the rack arrangement pitch can be set to the minimum according to the diameter of the tool,
The floor space can be reduced, and the traveling time of the robot that transports the tool can be reduced.

The rack is provided with a gripper for gripping a flange portion of the tool from a lateral direction. It can be freely increased or decreased according to the number of tools that house the rack row. The head of the robot apparatus accesses the shank of the tool stored in the rack in the axial direction, and holds the tool with the pot attached to the tip. In a state where the tool is not gripped, the robot device can linearly move to an arbitrary position on the rack, and the traveling time is reduced.

[Brief description of the drawings]

FIG. 1 is a front view of a tool magazine according to the present invention.

FIG. 2 is a plan view of the tool magazine of the present invention.

FIG. 3 is a right side view of the tool magazine of the present invention.

FIG. 4 is a left side view of the tool magazine of the present invention.

FIG. 5 is a front view of the rack device.

FIG. 6 is an enlarged view of a rack device.

FIG. 7 is a plan view of the rack device.

FIG. 8 is a side view of the rack device.

FIG. 9 is a side view of the robot device.

FIG. 10 is a side view of the robot device.

FIG. 11 is a side view of the robot device.

[Explanation of symbols]

 1 Tool Magazine 10 Frame 20 Rack Device 40 Robot Device 60 Shifter 62 Arm 80 Manual Tool Changer 210 Rack Unit 212 Gripper 410 Travel Saddle 420 Rail 430 Head Unit 440 Head 520 Mast T Tool

Claims (5)

[Claims] 1. A tool magazine for storing replacement tools mounted on a machine tool, comprising: a frame; a fixed rack device erected on the frame; The robot device includes a robot device that transports the robot to the storage position, and a shifter that has a swing arm that transports the tool between the rack device and the automatic tool change position. The rack device has an interval through which the head of the robot device holding the tool passes. A tool magazine including a plurality of rack unit rows that are erected at a constant pitch, and the rack unit includes a gripper to which a flange portion of a tool is attached and detached in a direction orthogonal to an axis of the tool. 2. The tool magazine according to claim 1, wherein the arrangement pitch of the rack unit rows is set in accordance with the diameter of the tools to be stored. 3. A rack unit row for storing a tool having a standard diameter and a rack row for storing a tool having a large diameter are separated, and each rack unit row is arranged at a minimum necessary arrangement pitch. The tool magazine according to claim 1, wherein the tool magazine is used. 4. A robot apparatus comprising: a head that advances and retreats in the axial direction of a tool with respect to a tool housed in a rack apparatus; and a pot provided at a tip of the head. The tool magazine according to claim 1, wherein the tool magazine is held and released. 5. The tool magazine according to claim 1, wherein the robot device can linearly move to an arbitrary position of the rack device when the head does not grip the tool.