JPS603542B2 - tool changer - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a tool changing device for a machining center.

In general, a machining center is equipped with a large number of tools in a magazine, and each time machining with one tool is completed, the tools are replaced one after another to continuously perform multi-step machining.

For this tool exchange, a counterfeit 1 as shown in Figures 1 and 2 is required.
is used, but the arm 2 of this device 1 is able to pivot around the shaft 3 and move in the direction of the ball.
It has tool gripping claws 4, 4 at both ends thereof. By the way, the opening and closing operations of the tool gripping claws 4, 4 of the arm 2 of the device 1 and the movement of the arm 2 itself in the ball direction are performed by separate external hydraulic cylinders. Therefore, hydraulic cylinders must be installed at symmetrical locations on both sides of the arm 2, and piping must be provided, which has the disadvantage of complicating the structure and increasing costs. In addition, in another method, the tool gripping claw 4,
No. 4 has a problem in that the clamping force is weak because the clamp is performed using a pin, and when the tool is pulled out, the clamping force becomes weak and the tool gripping becomes unstable. In addition, in the drawing,
5 is the machining center, 6 is the tool magazine pot,
7 and 8 indicate tools to be exchanged. The procedure for exchanging the tools 7 and 8 is similar to that of known tools, so a detailed explanation will be omitted. In view of the above-mentioned points, the present invention includes an inner sleeve that is fitted with iron so as to be rotatable around a fixed shaft and movable along the axial direction of the fixed shaft, and an inner sleeve that is fixed to the side chest of the inner sleeve. a cylindrical force having a tapered tip; an outer sleeve spline-coupled with the inner sleeve; a pivot arm that forms an opening/closing motion castle for the tool gripping claw in a plane perpendicular to the axial direction of the sleeve; and a spring mechanism that is attached to the tip of the outer sleeve and always biases the inner sleeve toward the tip. ``In order to define the end position of the backward stroke of the swing arm, a positioning stopper is provided between the swing arm and the support member of the outer sleeve, and a tool grip with a pressure spring built into the swing arm. In order to move the swing arm along the track line direction of the inner sleeve through the claw opening/closing mechanism and the inner sleeve, a unit mounted on the support village of the outer sleeve with the axial direction aligned with the inner sleeve. After the swing arm hits the positioning stopper, the cylindrical cam is moved inward relative to the swing arm using the hydraulic cylinder mechanism. The gist of the present invention is to provide a tool changing device capable of simultaneously causing the tool gripping claws to open and close simultaneously.

The present invention will be described below with reference to embodiments shown in the drawings.

In FIGS. 3 and 4, reference numeral 11 denotes a fixed shaft that is a core that projects horizontally from the side plate 12a of the support member 12, and 14 denotes an oil-less metal 13, which is rotatable to the rotating shaft 11 via the stove 3. A cylindrical cam 15 having a tapered tip is fixed to a predetermined portion of the outer circumference of the inner sleeve 14 by iron.

A base plate 16 is fixed to the outer end closed portion of the inner sleeve 14, and a screw rod 17 is fixedly fixed through the base plate 16, and the screw rod 17 is fixed to the base plate 16.
The inner end of 7 is slightly protruded toward the rotating shaft 11, and the inner end of
When the sleeve 14 moves inward, the stopper portion 18 abuts against the outer end surface of the inner sleeve 14 to restrict its movement.
Reference numeral 19 denotes an outer sleeve which is spline-coupled with the inner sleeve 14. An arm 20 is fixedly attached to the outer sleeve 19, and a spring receiver village 21 is fixedly attached to the outer end of the outer sleeve 19. Furthermore, a cover 22 is fixed to the spring receiving portion.

A spring receiving member 23 fixed to the tip of the screw rod 17 is provided at the closed end of the cover 22, and both spring receiving portions 21
, 23 are compressed and interposed between clamping springs 24 and 25 to constantly apply an outward biasing force to the inner sleeve 14, thereby attracting the base plate 6 of the inner sleeve 14 to the spring receiving member 21. Tool gripping claws 29 have fixed claws 27 with arc-shaped guide surfaces 26 formed at symmetrical positions at both ends of the two pivot arms, and open and close using pivot shafts 28, 28 as fulcrums.
, 29, and the tool gripping claws 29, 29 are normally biased in the opening direction by the expansion force of springs 30, 30 compressed and interposed between them and the fixed claw 27. A movable body 3, which is constructed by combining a plurality of members, is slidably inserted into a symmetrical part of the rotating arm 2Q. It abuts the cam 15 of the magazine sleeve 14 at right angles, and a trapezoidal cam 36 is attached to the outer end in a tapered manner. Reference numeral 37 is a disc spring. The cam 36 is brought into contact with cam followers 38, 38 which are pivotally supported on the inner ends of the tool gripping claws 29, 29, and a compression spring 39 is inserted between the cam 36 and the fixed claw 27.
interposed therebetween, and the spring force of the compression spring 39 always urges the movable body 34 inward. therefore,
The cam 15 of the inner sleeve 14 moves outward due to the spring force of the clamp springs 24 and 25, and the cam 15 and the movable body 3
When the cam followers 35 of No. 4 collide, the moving body 34 is pushed outward.
8 is pushed by the cam 36, and the tool gripping claws 29, 29
closes against the urging force of springs 30, 30, and
When the cam 15 of the inner sleeve 14 moves inward and the abutment between the cam follower 15 and the cam 35 of the movable body 34 is released, the movable body 34 is moved inward by the spring force of the compression spring 39. The tool gripping claws 29, 29 are moved and opened by the force of the spring 30. Reference numeral 40 denotes a hydraulic cylinder "tortoise 2" attached and fixed to the support member 12 via a bracket 41.
is a bracket attached to the inner sleeve 14 via a bearing 43, the tip of the rod 44 of the hydraulic cylinder 40 is screwed and fixed to a bracket 42, and the inner sleeve 14 is fixed via the bracket 42 by the operation of the hydraulic cylinder 40. The rotary arm 20 is moved in the front and rear directions by moving the rice malt along the koji 11.

45 is the terminal end (rear end) of the arm fixed to the support village 12
A positioning stopper 45 positions the retreating end of the swing arm 20.

The hydraulic cylinder 40 has a stopper 45 on the swing arm 20.
Since it is configured to retract by a predetermined distance even after contact with the pivot arm 20 and the stopper 45, only the inner sleeve 14 moves inward against the spring force of the clamp springs 24 and 25. The cam 15 and the cam follower 35 of the movable body 34 are released from the abutting state. Reference numeral 46 indicates a pinion gear fixed to the internal combustion part of the inner sleeve 14, and reference numeral 47 indicates a rack that meshes with the pinion gear 46. When the inner sleeve 14 slides outward and the pinion gear 46 engages with the rack 47, the rack 47 is actuated by a suitable means such as a hydraulic cylinder, thereby causing the arm 20 to move inside. It is configured to rotate at a predetermined angle (for example, 180 degrees) around the fixed rattan 11 via the sleeve 14 and the outer sleeve 19.

In order to prevent the inner sleeve 14 from rotating at times other than when the pinion gear 46 and the rack 47 are engaged, a key 48 is fixed to the mounting member 12, for example, to engage with the pinion gear 46 and guide it in the axial direction. Next, the operation of the present invention will be explained as follows.

First, when gripping a tool, for example, the tool 7 or 8 shown in FIGS.
5, it is at rest at the terminal end (rear end).

Further, the rod 41 of the hydraulic cylinder 40 is retracted until the stopper portion 18 of the inner sleeve 14 comes into contact with the outer end surface of the fixed shaft 11, and the cam 15 of the inner sleeve 14 does not collide with the cam follower 35 of the movable body 34. It is in a state. Therefore, the movable body 34 is moved inward by the spring force of the compression spring 39, and the cam follower 38 is attached to the lower part of the cam 36.
, 38 correspond to each other, the tool gripping claws 29, 29 are opened by the spreading force of the springs 30, 30. When the hydraulic cylinder 40 operates in this state and the rod 44 slides outward, first, only the inner sleeve 14 slides until the bracket 42 is just about to come into contact with the swing arm 20.
During this time, the cam 15 collides with the cam follower 35 of the movable body 34 and pushes the cam 35 outward. Then moving object 3
4 is a force arm 36 against the spring force of the compression spring 39.
The cam followers 38, 38 move the cam 3 outward.
6, the tool gripping claws 29, 29 close against the urging force of the springs 30, 30. As a result, the tool 7 or 8 located at the tool gripping position is gripped by the fixed claw 27 and the tool gripping claws 29, 29. When the tool 7 or 8 is gripped in this way, the inner sleeve 14 and the outer sleeve 19 become one body by the subsequent extension of the rod 44 of the hydraulic cylinder 40 and slide along the fixed shaft 11 to the extended end of the rod 44. move.

That is, the pivot arm 20 attached to the outer sleeve 19 moves. During this movement process of the swing arm 20, the tool is pulled out from the pot or head. During the above-mentioned movement of the arm 20, the pinion gear 46 is guided by the key 48,
It engages with a rack 47 at the end. Then, the rack 47 is actuated by a hydraulic cylinder or the like, thereby rotating the inner sleeve 14 via the pinion gear 46, and rotating the swing arm 20 attached to the outer sleeve 19 via the inner sleeve 14 at a predetermined angle (for example, 180 degrees). ) Turn and stop. Preparation for tool exchange is made by this pivoting action of the pivot arm 20. Next, the release operation of tool 7 or 8 will be explained.

That is, when the rod 44 of the hydraulic sill 40 is retracted, the inner sleeve 14 slides inward along the fixed ratchet 11. This backward movement of the inner sleeve 14 is caused by the clamp springs 24, 2
5 to the outer sleeve 19 and the inner sleeve 14
The outer sleeve 19 moves inward as a unit, and as a result, the engagement between the pinion gear 46 and the rack 47 is released, and the swing arm 20 moves inward and hits the stopper 45. It is positioned at the contact end position and stops. During this inward movement of the pivot arm 20, the tool is inserted into the pot or head. The hydraulic cylinder 40 continues to operate even after the swing arm 20 has stopped, and the rod 44 is connected to the stopper portion 18 of the inner sleeve 14 and the fixed shaft 11.
The inner sleeve 14 is moved further inward against the spring force of the clamping springs 24 and 25. Then, the abutting state between the cam 15 of the inner sleeve 14 and the cam follower 35 of the movable body 34 is released, and the movable body 34 moves until the cam follower 35 abuts against the inner sleeve 14 due to the spring force of the compression spring 39. Move inward. Due to this movement of the moving body 34, the cam 3
6 is separated from the cam followers 38, 38, and the tool gripping claw 2
9, 29 are the pivots 2 due to the expansion force of springs 30, 30.
The tool 7 or 8 is opened using the fulcrums 8 and 28, and the grip on the tool 7 or 8 is released. The above-mentioned gripping and releasing of the tool is repeated in the same manner. As explained above, the present invention provides an inner sleeve that is rotatably inserted around a fixed shaft and slidably slidable along the axial direction of the fixed shaft, and a sleeve that is fixed to the side trunk of the inner sleeve. a cylindrical cam having a tapered tip; an outer sleeve spline-coupled to the inner sleeve; and a cylindrical cam fixed to the same portion of the outer sleeve as the outer sleeve, related to movement of the cylindrical cam along the axial direction of the inner sleeve. a rotating arm that forms an opening/closing operating range of the tool gripping claw in a plane perpendicular to the edge line direction of the outer sleeve; and a rotating arm that is attached to the tip of the outer sleeve and always urges the inner sleeve toward the tip a positioning stopper disposed between the pivot arm and the support section of the outer sleeve to define the end position of the backward stroke of the pivot arm; and a pressurizing force built into the pivot arm. In order to move the swing arm along the inguinal direction of the inner sleeve via the opening/closing mechanism of the tool gripping claw with a spring and the inner sleeve, the inner sleeve and the inguinal direction are made to match, and the pivot arm is attached to the support member of the outer sleeve. After the swing arm contacts the positioning stopper, the cylindrical cam is moved inward relative to the swing arm using the hydraulic cylinder mechanism, and the swing arm is rotated. Since the tool gripping claws provided at both ends of the arm can be opened and closed simultaneously, it is possible to move the arm in all directions and rotate the arm with a single cylinder, resulting in a simple structure. At the same time, manufacturing costs can be reduced.

In addition, during the initial stroke of the extension stroke of the rod of the hydraulic cylinder, the tool gripping claw of the stationary arm is closed to grip the tool, and after gripping the tool, the arm is advanced during the remaining stroke, and this arm is The tool is pulled out of the pot or head in the forward movement, and the tool held in the grip is inserted into the pot or head during the stroke up to the final stroke of the retraction stroke of the rod of the hydraulic cylinder, and after the insertion is completed, the arm In the stationary state, the final stroke of the rod is used to release the tool, so the grip and release of the tool can be performed stably and reliably.

[Brief explanation of the drawing]

1 and 2 are explanatory diagrams showing the outline of a tool changing device, FIG. 3 is a partially omitted sectional plan view of the device according to the present invention, and FIG. 4 is a partially sectional side view thereof. 11... Fixed shaft, 14... Inner sleeve, 15... Cam, 19...
Outer sleeve, 20...arm, 29, 29...tool gripping claw,
40... Hydraulic sill, 45... Stopper for positioning the end of the swing arm. Figure 1 Figure 2 Figure 3 Figure 4

Claims (1)

[Claims] 1. An inner sleeve that is rotatably fitted around a fixed shaft and slidable along the axial direction of the fixed shaft, and a cylindrical shape having a tapered tip fixed to the side trunk of the inner sleeve. a cam, an outer sleeve spline-fitted to the inner sleeve, and a cylindrical cam fixed to a side body of the outer sleeve and perpendicular to the axial direction of the outer sleeve in relation to movement of the cylindrical cam along the axial direction of the inner sleeve; a swivel arm that forms an opening/closing range of the tool gripping claw in a plane, a spring mechanism that is attached to the tip of the outer sleeve and always biases the inner sleeve toward the tip, and a backward stroke of the swivel arm. a positioning stopper disposed between the pivot arm and the support member of the outer sleeve to define the end position of the arm;
In order to move the swing arm along the axial direction of the inner sleeve via the opening/closing mechanism of the tool gripping claw with a pressure spring built into the swing arm and the inner sleeve, the axial direction is aligned with the inner sleeve. a single hydraulic cylinder mechanism attached to the support member of the outer sleeve, and after the swing arm abuts the positioning stopper,
The cylindrical cam is moved inward relative to the swing arm using the hydraulic cylinder mechanism, so that the tool gripping claws provided at both ends of the swing arm can simultaneously open and close. Tool changing device.