JPS6025631A - Automatic tool changing method and device - Google Patents

Abstract

PURPOSE:To make a magazine for storage of tool in a small size by incorporating a tool replacement arm which provides possibility of taking out onle a desired tool while the tool holder is left mounted on the spindle. CONSTITUTION:Shaft 5 of a tool holder TH is fixed in a spindle 12. Straight collet installed in the holder is expanded and contracted by turning a fastening nut 20. When this nut is released by a tool fastening/loosening member 30, the collet is expanded to release the shank part of drill. Arm 15 inserts and draws out the tool T1 and sets the shank part 5 of a new tool T2 into the collet. Then the nut 20 is rotated reversely for fastening. The tool magazine M0 is mounted on a bracket 14 behind the column 10, and an index motor M2 locates the intended tool holding cylinder 40 in the tool replacement position ii mating with the tool holder TH of the spindle 12.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a novel automatic tool changing method and its device, in which the tool holder is fitted onto the tip of the spindle and the tool tightened to the tool holder is loosened to perform a tool changing operation using only the tool. It was designed to do so.

Conventional automatic tool changers transfer the entire tool holder between the tool storage magazine and the spindle using a tool change arm.
Turn it over and perform the tool change operation. This is because it is not a good idea to include the operation of removing a tool that is tightened in a tool holder and attaching it to another tool holder during automatic tool exchange, as this may lengthen ATC time or complicate the tool exchange mechanism. It wasn't put into practical use because it wasn't.

By the way, recent automatic tool changers are designed to handle small diameter tools of around 10φ, such as drill centers, or to replace 100 to 200 or more tools, such as FMS. Therefore, an automatic tool changer (hereinafter referred to as an ATC device) for small-diameter tools is required.

Each small-diameter tool must be tightened into a large-diameter sole holder, and if this is installed in a tool storage magazine, a large magazine body is required, and a large tool changing arm is also required. ℃・ru, which prevents the expansion of ATC equipment. In addition, FMS equipped with approximately 100 tools
The tool-storage magazine requires a large installation space and a large amount of machinery equipment, making it difficult to install F'MS in a factory with a small space and small investment, and its penetration rate is low. Furthermore, there is a tendency for single machining centers to be equipped with a large number of tools.
The size of the tool storage magazine and the cost increase are inevitable.As seen in Japanese Patent Application Laid-Open No. 58-28447, the machining head equipped with a spindle and moving in the Z-axis direction
A 7th thinning center equipped with a TC device and designed to save tool change time has been released.

This type of ATC device must be as lightweight and compact as possible.
There is no current ATC device that solves this problem (
・.

The present invention was made in view of the above-mentioned drawbacks of the conventional ATC device, and its basic purpose is to make the entire ATC device more compact and inexpensive by saving space in the tool storage magazine. shall be.

Another object of the present invention is to provide a small and lightweight ATC device that can be installed on a machining head that moves in the Z-axis direction or the like to save tool exchange time.

Furthermore, another object of the present invention is to provide an ATC device that can store more tools in the same tool storage magazine.

Another object of the present invention is to provide an ATC device in which a knoll bolt is fixed only to the tip of the main shaft, and a knoll conveyed from a magazine by an arm is inserted into and removed from the sole holder of the main shaft.

In order to achieve the above-mentioned object, the present invention has a knurl holder fixed to the tip of the spindle that allows tools to be inserted and removed, a small tool storage magazine is equipped with a number of holding cylinders that only hold knurls without holders, and a tool exchange arm is used to store tools. When a tool is exchanged between the magazine and the spindle knoll boulder, the sole tightening/loosening part is activated to tighten/loose the tool in the sole holder and replace the old and new tools. Therefore, only the knoll can be stored in a small macannon configuration, and the knoll bolter can also be fixed to the main shaft, making it possible to make the entire ATC device smaller and more cost-effective, as well as to store a large number of bottles in the same magazine space. It is possible to store tools. As a result, it is possible to easily and easily install the ATC device on the machining heel 1-\, and it is also highly adaptable to machining centers that must be equipped with an FMS and a large number of tools.

Next, the tool changing method and device of the present invention will be briefly explained with reference to the drawings. FIG. 1 shows that the column 10 is arranged in X, Y by the /° Lusmak MX r MY 2MZ of each axis.

Machining center MC of the type that moves to Z l+Il+
shows.

Namely, I), column Al (+ is placed on this sliding surface 2 (Z+ 20) via hexes 1 and -2,
(I.

10a is equipped with a machining head 11 that moves two times and reverses by 18+1'. Front surface 11 of the processing head 11.
and back 11. ) is equipped with a main shaft 12.12, and each main shaft 12.12, which is eccentrically mounted in the upper and lower positions with the rotation morph Ml as the rotation center, connects the workpiece W and the ATC device 10 of the present invention.
It is stopped at the tool change position (i) of 0. The ATC device 100 of the present invention has a base 13 that engages with the sliding surfaces 10σ and 10a, and a flake node 14 that protrudes toward the rear side of the column.
Placed on the soil (・Therefore, the processing head] 1-18
During the 00 reversal operation, the used tools on the spindle 12 in the standby position (tool exchange position) on the rear side of the column are transferred to new ones in the tool storage magazine body by the tool exchange arm]5.
It is exchanged for a tool (sole). The above tool exchange is performed by pulling out only the tool from the knoll holder that is fixed to the spindle, inserting the new tool into the tool boulder held by the 7-mm and tightening it (the used tool is stored in a small magazine). It can be paid.

Next, two embodiments of the apparatus for carrying out the above tool changing method will be explained. First, in the first embodiment shown in Figs. As shown in Fig. 3, a yank 5 of Nordvolk TH is fitted and fixed in the taper 12C of the main shaft 12.
H represents the internal structure of a known quick change bolt (not shown), and the expansion and narrowing operation of the built-in slate cholera I is performed by turning the tightening nut 2 degrees.
・A gear-shaped tooth 2 (
) 6. The day is engraved (・ru.

Numeral 21 is a lock nand that restrains the rotation of the main shaft 12, and is integrally attached to the outer periphery of a certain trunk of the tool boulder TI.
The outer periphery is not shown in Fig. 3(a).
22 is a rotation restraining member for the main shaft 12, which is attached to a bracket 23 screwed near the main shaft of the gonier head 11, and air is pressurized into the actuator cylinder 24. When this happens, the stopper 25 protrudes and engages with the two notched steps 21 (I) to restrain the rotation of the main shaft.

Therefore, the tool ([rill) T that fits into the sole holder TH
When inserting and removing the tool bolt TH, the free rotation of the tool boulder TH is restrained by the rotation restraining member 22, and in this state, the tightening nut 20 is
When it is loosened by the knoll tightening and loosening part 14'30 (described later), the straight collet expands and the straight shank part 5 of the drill is released, and the tool Tl is inserted and removed by the arm 15, and the shank of the tool T2 is newly inserted. After inserting part 5 into the straight collet, tighten it by rotating the tightening nut 2o in the opposite direction.

The tool T1 has a small-diameter gripping cylinder 1 press-fitted into the midsection gripped by the arm 15, and a built-in ball (not shown) is inserted into the holding cylinder 4o of the straight shank storage magazine MQ. ) is engaged with the engagement groove 5a and held.

Next, the related structure of the tool changer 7 arm 15, the tool storage magazine MQ, and the tool tightening/loosening member 3o will be explained. The tool storage magazine MQ is attached to the rear side bracket 14 of the column 1o, and a desired tool holding cylinder 4o is positioned by a deceleration indexing motor M2 at a tool exchange position (1) opposite to the tool boulder TH of the main shaft 12. . On the other hand, the tool exchange arm 15 is attached to the support rod 14a of the bracket 14. is equipped with an actuator (cylinder) Cl for advancing and retracting the arm, two guide bars 26 and 27 are slidably supported on the support rod 14a, and a sliding body that pivots the arm 15 at the tips of the guide bars 26 and 270. 28 is connected and held, and the piston rod 29 of the actuator C1 is also connected to the sliding body 28.Thus, the arm 15 is moved by the operation of the cylinder C1.
When it retreats as shown in Figures 3 and 4, hold it at both ends and
Place the tools TI and T2 into the sole holder TH and magazine MQ.
Insert it into the holding cylinder 40, move it forward, and pull it out as shown by the chain line. In the above-mentioned tool exchange 1 to 15, the gripping claws J5a and 15a are telescopic, and are driven to expand and contract by a cylinder C2 mounted integrally, and the gripping claws 15a are extended when gripping the tools TI and T2.
, +5a to grasp the grip tube t. In addition, tool exchange arm 1
The 180° rotation of the cylinder C3 is performed by the rod 6 of the cylinder C3 rotating the spindle pinion 8 of the 7-m 15 via the rack rod 7.

The tool tightening/loosening member 30 is mounted on a support plate 31 that is integrally connected to the upper portion 14h of the bracket 14.

First, the reducer motor M3 attached to the support plate 31' is equipped with a drive side pulley 33 on its low-speed output shaft 32 via the L-Lucrimisota TL, and the left bifurcated support plate 31.31
A driven pulley 35 is provided on the rotating shaft 34 supported between the two. 36 is a belt wound between the two boots IJ 33 and 35, and 320 rotations of the low-speed output shaft are transferred to the rotating shaft 34. Since the gear 37 fitted on the rotation shaft 34 meshes with the gears 20a of the tightening nut 20 of the tool holder TH, the tightening nano 1-20 is tightened by forward and reverse rotation of the motor M3. or loosen the tightening nut 2 of the gear 37.
For engagement and disengagement with 0, support plates 3]' and 31" are brackets.
4 to 2 guide bars 38. held at 39,
This is done by moving the entire tool tightening/loosening member 30 back and forth based on the configuration in which it is moved by the cylinder C4 in the front and back direction.

That is, when exchanging a tool, move forward as shown in Fig. 3 to engage the gear 37 with the tooth 20 (Z...) of the tightening nut 20, and when exchanging the tool, move the gear 37 toward the back as shown by the chain line. miss

Next, a second embodiment shown in FIGS. 5 to 7 will be described.

In this embodiment, the tool exchange arm 150 is oscillated between the tool storage magazine MQ and the tool boulder TH of the main shaft 12 to transfer tools, and the rotation restraint member 220 and tool tightening/loosening member 300 of the knoll holter TH are moved between the Mu15
0 is used to engage and disengage the tightening nut 20 and lock nut 21 of the tool boulder TH. Fraqueso installed on the back of column 10)
+40 is equipped with the A, TC device 100 of the second embodiment, the tool storage magazine MQ has the same configuration as the first embodiment, and one tool holding cylinder 4o is located at the tool exchange position (11).
), the tool change arm 150 is attached to the bearing part 140 on the left side of the bracket 140 (the support shaft 50 is
It becomes the center of swing through the support plate 141K that supports 5.
, is mounted on a movable plate 51 supported by two dowel bars 260 and 270.The forward and backward movement of the tool changing arm 1500 is controlled by the rod 52 of cylinder C4' on the movable plate 51 being attached to the support plate. 141, so the actuation is performed by the operation of this cylinder 04'. 7-m 15θ in FIG.
Moves forward toward you by protruding and shows the status again (・
Ru. At this time, both end gripping claws 150a of the 7-m 150,
+50 (Pull out the shank portions 5, 5 of the tools TI and T2 held by I from the tool holder TH and the holding cylinder 4 () of the Macan MQ. M4 is 1 of the arm 150.
The old and new tools TI and T2 facing the main shaft 12 and the magazine MQ are reversely transferred by the 80° rotation motor.On the other hand, the tool tightening/loosening member 300 and the rotation restraint part 22a are lowered onto the support plate 141. The cylindrical body part 141a of the support plate 141 supported by the support shaft 50 is suspended between the main shaft 12 and the magazine MQ as shown in FIG. A small motor M5 is installed, and a torque limiter TL is installed inside the large cylinder.The above torque lJ
The output shaft 53 of the four ivy TL has its tip protruding outward from the cylindrical body part 14]a, and a worm 54 is fitted therein. When it is driven in the reverse direction and a large restraint external force is applied, the rotation is stopped by the torque limiter TL.

C5 is the arm 150 and each member 220. 300 is a swinging cylinder, the base end is a bin 55 and a bracket 140
The forked portion 56 of the rod 57 is connected to the branch rod 141h of the support plate 141. Therefore, cylinder C5
When the piston rotor I57 stops at the neutral position (it is stopped at the neutral position with the switching valve), the arm 150 and the tool tightening/loosening member 300 move toward the main shaft 12 as shown in FIGS.
and stops (standby) at an intermediate position between the magazine MQ and the magazine MQ.

Then, at the end of the stroke where the rod 57 protrudes, the gripping claw 150σ of the arm 150 grips the tool at the - of the holding cylinder 40 at the tool change position ii (11) of the tool nozzle M (+), as shown by the chain line in FIG. , "Horn 1-57 is cylinder C.
5, the gripping claw 150a of Al2O grips the tool T1 of the spindle tool holder TH, as shown by the chain line in FIG. (at the immersive end).

1. When A150 is swinging on the spindle Knoll Holter TH side, the tooth 54 is attached to tooth 2 of the tightening put 20.
0σ1t (-14″h joint 2, rotating restraint part AA22 (l roaring restraint plate 2
20' is in a relationship where it engages with the l; IJ notch of the nut 21.

Automatic of the present invention - [Each embodiment of the tool changing device is a child series! +1
i (f b, s, 1) I will not explain its function. After adding the workpiece, the used tool T1 is placed in the backside tool exchange position (
1) Reverse stop at O + 1-2 years A). At this time, the L tool exchange arm + 5 + 150 (, ; +) - [Holta TH and Maga 777M0 -] exchange position C::> and retreat \, - 7 After this, the first In the example, 4.;'-(-iJ
1 gripping claw ""Q, 15Ll extends and 2 noruho, L
Evening 11i, 'Nbize 17 Jin Mg's tool 'l'l, T2
0. In the condition Q, the stopper 25 of the rotation restraint part 4222 engages with the stopper 21, and the gear 37 of the knoll tightening/loosening member 30 tightens the tightening nut 2011.
7) The tool T1 of Nordborda TH meshes with the gear tooth 20a.
loosen. In addition, in the second embodiment (・-1(c), the arm 150 is in the state after swinging toward the magazine MO side and newly grasping the tool T2. Accordingly, the arm 150 moves toward the tool holder 1゛H side The gripping claw 150a grips the tool TI of the tool holder by swinging. At the same time, the worm 54 engages with the teeth 20a of the tightening nut, and the restraint plate 22 (1'
engages with the notch of the lock nut 21.

In this meshed state, motor M3. After M5 is activated and free rotation is restricted, the tightening nut 20 of the knoll holder TI is loosened. In a sufficiently loosened state,]]'-No15. 15
(1 moves forward and pulls out each tool T1 + i"2, and then 7-m 15.1500) With a 180'" turn, the tool T1 on the 7-le Holter "rH is replaced with a new tool T2.
can be replaced by After this, arm 15. 150 retreats back to the machine side again, and expands the new ℃T1LT2 (1 bowl 1).
-1-2) -No1hoIl-TsunoTHσ), Z, To1/-
Insert the used lower tool 1, >, and insert the MQ holding cylinder 40 at the same time - 4
-ru (person in the first embodiment).

At the next pressure, the motor M37M5 starts in reverse, rotates the tightening nut 20 of the tool T2, and tightens the tool T2 with a straight collet. Note that the tightening force is controlled by a torque limiter TL. After that, the arm 15 is retracted and returned from the tool boulder TH and magazine M+1,
After the tool exchange operation is completed, the cutting throat 11 can be rotated 180 degrees. In addition, in the second embodiment, 7
- The arm 150 swings back from the tool holder TH as shown in FIG. is stored in the holding cylinder 40, and the next new tool T3 is indexed to the tool exchange position 1i (li) and held in a standby state while being gripped by the gripping claws 150a of the arm. Dynamic, tool boulder TH
It is possible to engage and disengage the rotation restraining member 220 from the tool holder TH's tightening nut 20 and the ROSOKUNANO 12. Therefore,
Despite the tool exchange method in which the tool is inserted and removed from the tool holter TH, the return line of the tool exchange time and the mechanism are simplified.

The automatic tool changer 100 of the present invention is not limited to the above two embodiments (-0) Also, the machining center is not limited to a 180° reversible machining head, and may be a normal support machining center or an FMS. It can also be used as an ATC device.In the above embodiment, the main shaft (cool holder) is rotationally restrained by the lock nut 21, but a concave-convex ring corresponding to the lock nut is provided at the tip of the main shaft, and the rotation is restrained by this. Moyo(・.

According to the present invention, since the new automatic tool changing method and its structure are adopted as described above, it is sufficient to have the structure of a small magazine that stores only the sole, and the tool holder also has a structure of only one fixed to the main shaft. The entire ATC device is smaller, lighter, and less expensive, and a large number of tools can be stored in the same magazine space.

As a result, it is possible to easily and easily install the ATC device on a machining knee or rad machine that rotates 180 degrees and has two sets of spindles. It has excellent adaptability, which is not found in conventional automatic tool changers (・It has excellent effects that can be used with various machining centers.

[Brief explanation of the drawing]

Figure 1 is a perspective view of a machining center equipped with an automatic tool changer of the present invention and a reversible machining center. Figure 2 is a front view of the first embodiment of the present invention, and Figure 3 ('! Figure 3 (a) is a partial view, Figure 4 is a plan view showing the operating state, and Figure 5 is a partial view.
The figures are a partially cutaway front sectional view of the second embodiment, FIG. 6 is a partially cutaway plan sectional view, and FIG. 7 is a partially cutaway plan sectional view showing the operating state. MC...Machining center, 10...Column, 11
...Kani・noF,]2...Main axis, 14. 140・
... Furaganoto, MO... Tool storage magazine, 4o-
...Holding tube, TIl...Cool holder, Tl~Tn
``'Tool, 5...Shank part, l...Gripping tube, +5
．． +, s+-+ ...2 [tool exchange 7-7-115σ
, 150a--gripping claw, 20... tightening boot, 2
0σ...Tooth thread, 21...Lock nut, 100...
・Automatic 11-: , Q sentence ↓! - Placement, 22. 220・
・・Rotation restraint member, 30, 300...) - Le tightening and loosening part f(,!~・11~M5...Motor, C1~C5...
- Printer, TL... Torque limiter, W...
Soak. Applicant Enshu Seisaku Co., Ltd. Tsuru 1 Figure

Claims (2)

[Claims] (1) Equipped with a tool holder fixed to the tip of the spindle and a tool storage magazine for storing tools without a tool holder. An automatic tool changing method characterized by causing the spindle tool holder to be inserted into and removed from the main spindle tool holder. (2) a sole holder fixed to the tip of the spindle and equipped with a tool tightening nut and a lock nut that restrains the rotation of the spindle;
A tool storage magazine with a holding cylinder that directly holds the shank of the tool, and a knoll holder (
- An automatic machine characterized by comprising a tool changing arm that grips a tool, a rotation restraining member that engages with a lock nut of a spindle tool holder during tool changing, and a tool tightening/loosening member that engages with a tightening nand of a spindle tool holder. Tool changer.