JPS6150732A - Tool storage and supply device - Google Patents

Abstract

PURPOSE:To prevent interference between a tool and a delivery means to enable tool racks each provided with a plurality of tool pockets to be continuously arranged, by providing a mean for releasing a coupling mechanism between the adjacent tool racks, in a tool delivery means which is movable. CONSTITUTION:When the rods of upper and lower release cylinders extend in the direction D after a tool robot is positioned in a position confronting a tool rack 30 having tool pockets in which tools to be supplied are disposed, the front ends of the rods abut against release pins 32g which are therefore pressed in the direction D so that a pin 32e is also moved in the direction D so that a pin 32a on a left rack 30D is released from the engagement thereof with the pin 32e, thereby it comes to be releasable from an engaging hole 32c. Then, the opening cylinder 35 is driven to extend a rod 35a in the direction B so that racks 30a, 30 are moved in the direction B. The rack 30 is moved from the right rack 30D so that a space is formed between the rack 30D and the left rack 30, thereby it is possible to prevent interference between the delivery means and the tool.

Description

[Detailed description of the invention]

(a) Industrial Usage The present invention relates to a tool storage and supply device for supplying machine tools such as machining centers (1), conventional technology, and conventional tool storage and supply devices of this type. As a tool magazine, a drum-shaped tool magazine, a chain-type one-tool magazine, etc. were known, but the number of tools that could be stored and supplied in either case was limited to a few dozen tools. (C)0 Problems that the invention attempts to solveHowever, recently,
Unmanned machining methods are becoming more and more popular, and in such cases, in order to process many types of workpieces, the number of tools that must be supplied to the machine tool becomes extremely large, making it difficult to use conventional methods. If the number of tools supplied is about a few dozen, there is a problem in that proper machining operations cannot be performed. Therefore, we installed multiple drum-shaped tool magazines, which made it possible to store a large number of tools while exchanging the magazines with the machine tool, and in the case of chain-type single-tool magazines, the chain was extended. Various storage systems have been devised, such as those that can store a large number of tools, and even those that have multiple chain-type single-tool magazines installed in parallel.
There are many problems such as the time required to supply the tools to the machine tool becomes long and the installation space becomes large, so it cannot be said to be practical for supplying hundreds to several hundred tools. There was also a method in which tools were stored in three-dimensional storage shelves and transported by a tool transport robot.
In this method, it is necessary to avoid interference between the robot and adjacent tools when taking out and storing tools stored on the shelf, so it is not possible to store tools at too high a density.
In order to store hundreds of tools, the installation space has to be increased. In order to eliminate the above-mentioned drawbacks, the present invention makes it possible to store a large number of tools in a high density and therefore in a narrow space while preventing the occurrence of interference between the tools and the means for delivering and transporting the tools. The object of the present invention is to provide a filter tool storage and supply device. (d) Means for solving the zero problem, that is, the present invention has a frame, a guide means is provided on the frame, and a plurality of strip-shaped tool racks are movably mounted on the guide means. Can tools be stored in the tool rack? U number of tool pockets are arranged in the longitudinal direction of the tool rack, and the tool rack is further provided with a connecting mechanism capable of connecting adjacent tool racks to each other, and at least one tool rank among the tool racks is provided. A means for moving the tool rack is provided, a means for transferring and transporting tools is provided in a movable manner, and a means for releasing the connection state of the connection 11 is provided in the transfer means. (e) Month 0 With the above configuration, tools are stored in the tool pockets of each tool rack, and when inserting or removing a tool, the delivery/transfer means is placed at a position corresponding to the tool rack where the tool is inserted or removed. move and drive the release means to release the linkage 1 (one structure) connecting the tool racks to each other at the corresponding tool rack position, and drive the move!l1II adjustment means to release one or more tool racks. A space is formed by moving the tool rack relative to another tool rack, and the space creates a space between the tool rack, the tool mounted on the tool rack, and the tool delivery/conveyance means when the tool is attached to and removed from the seal pocket. It acts to prevent the occurrence of interference. (f) Examples Examples of the present invention will be described below based on the drawings. Fig. fi1 is a front view showing an example of the tool storage and supply device according to the present invention; Fig. 2 is a front view showing the main frame part of the tool storage and supply device shown in Fig. 1, Fig. 3 is a front view showing the tool robot part, Fig. 4 is a plan view of Fig. 3, and Fig. 5 (
Fig. 3 is a side view, Fig. 6 is a front view showing the hand mechanism of the tool robot, Fig. 7 is a plan view of Fig. 6, Fig. 8 is a tool gripping section, and the ■ arrow in Fig. 6 is 9 is a front view of the tool rack portion, FIG. 10 is a plan view of FIG. 9, FIG. 11 is a side view of FIG. 9, and FIG. 12 is a front view showing the coupled state of the tool rack. 13 is a side view of FIG. 12, FIG. 14 is a plan view of FIG. 12, FIG. 15 is a plan view showing the unlocking mechanism of the tool robot, and FIG. 16 is a front view showing the intermediate transfer pocket. 17 is a side view of FIG. 16, and FIG. 18 is a cross-sectional view taken along the line X--X of FIG. 17. As shown in FIG. 1, the tool storage supply bag W11 has a main frame 2 and a sub-frame 3 connected to the left side of the main frame 2. As shown in FIG. 5, a bracket 5 is formed on the top thereof. 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.
Similarly, racks 7 are installed in the left-right direction in FIGS. 3 and 4 along the same lines. Further, a guide rail 9 is installed in parallel to the guide rail 6 at the lower part of the main frame 2 and the sub-frame 3, and the tool robot 10 is attached to the guide rail 6.9 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 at the top of the main body 11, and a pinion gear 17 is connected to the motor 15 via a power transmission means such as a reduction gear 16 to rotate 1ljl! It is freely provided. The pinion gear 17 meshes with the rack 7. Therefore, by appropriately moving the motor 15 in the forward and reverse directions, the main body 11 is moved along the rack 7 via the deceleration value M16 and the pinion gear 17 to the guide rail 6. Move in the direction of arrows A and B in a way that guides you to 'RJIJ1! Be l1II. 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 81 structure 22 is screwed onto the feed screw 21, and the hand mechanism 22 has two guide rails lla formed on the main body 11 in parallel with the feed screw 21, as shown in FIG. The screw 21 is engaged with the screw 21 so as to be movable in a direction perpendicular to the plane of the paper in the figure, that is, in the direction in which the feed screw 21 is installed. Hand mechanism section 22
A hydraulic cylinder 23 is provided with a piston rod 23a that can protrude and retract in the directions of arrows C, D, and a slide bearing 22a is provided in the groove 22 of the hand 81, as shown in FIG. A plurality of tool gripping parts 25 are provided on the slide bearing 22a, and a guide p25a is slidably mounted on the slide bearing 2211.
, 25a', so as to be movable in the directions of arrows C and D. 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 27, which will be described later, is connected to the guide rod 25a'. A hole 25b' for installation is bored. 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 so that a cylinder 25c communicates with a hole 25b formed in the guide rod 25a. It is provided movably in the E1F direction. A coil spring 25a is compressed between the piston 25d and the cylinder 25c, and the coil spring 25e always urges the piston 25d in the direction of arrow E. Further, the arm 26 is attached to the tool gripping portion 25, and the arm 26 is attached to the bin 26a.
The arm 26 is provided rotatably in the directions of arrows G and H, and the aforementioned piston 25d is located at the left end of the arm 26 in FIG.
The tips of the two are abuttingly engaged. Furthermore, a proximity sensor 27 is provided in the tool gripping part 25 with its tip facing the tool gripping part 125f formed in a U-shape in the tool gripping part 25. It should be possible to detect the presence or absence of tools. On the other hand, the side plates 29 of the main frame 2 and subframe 3
As shown in FIGS. 9 and 11, upper and lower brackets 29a and 29b are installed in the directions of arrows A and B, which are the running directions of the tool robot 10, respectively, and the lower bracket 29b is A guide groove 29c is formed in the A and B directions, and a guide rail 29d is installed in the A and B directions in an rrM manner on the upper bracket 29a. The guide rail 29d and the guide groove 29c are provided with a plurality of elongated strip-shaped tool racks 30, and the guide if430a and guide roller 30b provided on the tool rack 30 are engaged with the guide rail 29d and the guide groove 29c. Each tool rack 30 has a plurality of tool pockets 31 that can hold tools arranged in a row in the vertical direction in FIG. 9, that is, in the longitudinal direction of the tool rack 30. It is set in. Each tool pocket 31 is provided with a key 31a for preventing rotation, and the key 31a engages with a key provided on the tool side to prevent the tool attached to the tool pocket 31 from rotating within the tool pocket 31. To prevent. Furthermore, as shown in FIGS. 12 to 14, the upper and lower parts of the tool rack 30 are provided with a connecting mechanism 32 that connects the tool racks 30 to each other.
It has a fixed bin 32a with its tip protruding toward an adjacent tool rack 30 to be connected. At the tip of the bottle 3211, as shown in FIG.
An engagement groove 32b is drilled, and an engagement hole 3 is provided at a position facing the bin 32a of the tool rack 30 in contact with the FA.
2c is bored and formed so that it can be freely fitted into and engaged with the bottle 32!1. 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 32a is inserted into the hole 32d so as to be movable in the directions of arrows C and D. Fitted and engaged. A bin 32f is installed in the lock bin 32a, and the bin 32f has a hole 32d.
A hole 32h is bored parallel to the hole 32d in the upper part of FIG.
The release bin 3 is inserted into the release bin 3 so as to be movable in the direction of the arrow CSD.
2g is fitted and engaged. A coil spring 321 is compressed between the M removal pin 32g and the hole 32b, and the coil spring 32i always biases the release pin 32g in the direction of arrow C. Note that, as shown in FIG.
A is provided in such a manner that it can protrude and retract freely in the direction of arrow C1D. In addition, among the plurality of movably provided tool racks 30, regarding the main frame 2 and subframe 3,
In FIG. 1, the tool rack 30A installed second from the rightmost side of each frame has a 10th
As shown in the figure, a rank release cylinder 35 installed on the σ+lI plate 29 is connected via a piston rod 35a provided so as to be able to protrude and retract in the directions of arrows A and B.
Therefore, the rack opening cylinder 35 is driven and the piston watt 35aji! By protruding and retracting in the A and B directions, the tool rack 30 can be moved in the A and B directions along the guide rail 29d and the like. In the main frame 2 and subframe 3, the rightmost tool rack 30 in FIG. is fixed to the side plate 29, and an intermediate transfer pocket 36 is provided approximately in the center of the tool rack 306 of the main frame 2. The intermediate transfer pocket 36 is attached to a frame 36 fixed to the tool rack 3011, as shown in FIGS. 16 and 17.
a, 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 36a.
A cleaning brush 36f is attached to the cleaning holder 36d.
is provided in the tool holder 36d with a brush portion at its tip protruding from a tool holding portion 36g formed in the shape of an internal cone. A gear 36h is formed on the outer periphery of the rotating holder 36d, and the gear 36i is attached to a shaft 36i that is rotatably supported by a frame 36a. We are having a meeting through this. A gear 36k is provided at the other end of the shaft 361, and a rotary holder 36 is attached to the gear 36.
It meshes with a gear 361 formed at the left end in FIG. 17 of b. Further, a pinion gear 36p is formed at the right end in the figure of the rotation holder 36b.
, a rank 3 formed on a bar-shaped rod 36r provided so as to be freely protrusive in the direction of arrow IXJ by a cylinder 36q.
6g are in mesh as shown in FIG. Also,
A lock bin 36t is attached to the rotating holder 36b, as shown in FIG. It is provided movably in the J direction, and the lock bin 36

[ is provided so as to be biased in the direction of the arrow 1 by a coil spring 36u. This lock bin 36t is attached to the tool A attached to the tool holder 36g.
The groove portion 37b of the pull stud 37a of No. 37 engages with the elasticity of the fill spring 36u to prevent the tool 37 inserted into the tool holding portion 36g from accidentally falling off from the tool holding portion 36g. . Note that the number 39 is a second proximity sensor that detects whether or not the tool 37 is inserted into the tool holding portion 36g. Since the tool storage and supply bag g11 has the configuration described above, in order to supply the tool 37 to a machine tool (not shown) such as a machining center using the tool storage and supply bag opening 1, it is necessary to Based on the instructions of
Move it in the direction of arrows A and B in Fig. 3 along the guide rail 6.9 laid down over the area. As already explained, this moving operation is performed by the tool robot 10 main body 11.
This is accomplished by driving the upper motor 15 to rotate in forward and reverse directions as appropriate, using the a reduction device 16, the pinion gear 17, and the rack 7 that meshes with the pinion gear 17. The tool robot 10 moves A and B to a position facing the tool rack 30 on which the tools 37 to be supplied to the work 81I castle are mounted.
Be driven in the direction. As mentioned above, the guide rail 6.9 is installed so as to pass through the main frame 2 and the sub-frame 3, so the tool robot 10 can move freely between the main frame 2 and the sub-frame 3. reactor. On the other hand, in the tool pocket 31 of each tool rack 30,
Tools 37 to be supplied are stored (in this embodiment, 14 tools 37 are stored in each tool rack 30), and the tool racks 30 storing these tools are stored.
In the normal state, as shown in FIG. 9, adjacent tool racks 30 are connected to each other by a connecting mechanism 32 and are integrated (however, the rightmost tool rack 30 . (Excluding 30). This integration of the tool ranks 30 is performed using the main frame 2 and the sub-frame 3 as one unit, and therefore, the tool ranks 30 are fixed to each main frame 2 and sub-frame 3, except for the tool rank 30 at the right end of each frame. tool rack 3
0, in the connected state, the piston rod 35a of the rack opening sill 35 of each frame is
By protruding and retracting in the direction, the guide rails 29d and 29d are integrally driven to move along the guide grooves 29c. In this way, when the sole 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 The piston rod 33a of the release cylinder 33 is driven to protrude in the direction of the arrow in FIG. Then, the piston rod 33
The tip of a is brought into contact with the release pin 32g of the coupling mechanism 32 of the tool rack 30, and the release pin 32g is further pushed in the direction of the arrow in FIG. 13 against the elasticity of the coil spring 321. As a result, the long pin 32a also moves in the D direction via the pin 32f, and engages with the long pin 32a.
14, which was in the engaged state via 32 b.
The pin 32a of the seal rack 30 (this tool rack 30 stores the workpiece A37 to be supplied) is disengaged from the g-tuck bin 32e and is inserted into the engagement hole 32c into which the pin 32m had been fitted. He leaves and becomes 18. Then, the release bottle 32g is pressed and the release bottle 32g is pressed.
The rank opening cylinder 35 provided on the corresponding frame of either the main frame 2 or the sub frame 3 in which the piston rod 35a is installed is driven, and the piston rod 35a is moved to the first position.
It is driven to protrude in the direction of arrow B in Figure 3. piston rod 35
When a is driven to protrude in the direction of arrow B, the seal rack 30 fixed to the piston rod 35a and the one or more tool racks 30 connected to the tool rack 30A via the coupling mechanism 32. starts moving in direction B (depending on the situation, it is of course possible that only the tool rack 30A is present). The tool rack 30 includes a tool rack 3o provided with a release bin 32g with which a release cylinder 33 abuts and engages, and a retaining hole 32 between the tool rack 3o and the tool rack 3o.
The bin 32a moves in the B direction 1, separating from the engagement hole 32c, with the tool rack 3o on the right side of the 14th IIA, which was connected and engaged through the tool rack 3o, through the tool rack 30 starting to move. , FIG. 14, leftmost tool rack 30. and the tool rack 30. A space corresponding to the stroke ST of the rack opening sill 35 is formed between the tool racks 30 on the left side in FIG. Note that in the drawings of FIGS. 12 and 14, the tool rack 30A and 30 degrees are the same, but the present description is of course applicable regardless of whether they match or do not match. In this way, from the tool rack 300 portion where the tools 37 to be combined are stored, the entire tool rack 30 on the right side of FIG. 1 has a stroke S T j! After the tool robot 1o has moved in the direction B, the moke 19 of the tool robot 1o is driven to rotate, and the feed screw 21 is moved in the forward and reverse directions by an appropriate predetermined angle t! via the timing belt 20 and the like. Turn it around. Then,
The hand mechanism section 22 screwed into the feed screw 21 moves on the main body 11 in the directions of arrows 2 and J in FIG. 1 via guide rails IIn and lla. Therefore, the hand mechanism section 22
The tool gripping portion 25 provided in the tool holder 25 is aligned with the vertical position of the tool pocket 31 in which the target tool 37 is stored, and in this state, the cylinder 23 is driven to move the piston rod 23a as shown in FIGS. As shown in Fig. 7, the two guide rods 25a, 25a' of the tool gripping part 25
The slide bearing 22a is of a type that slides against the slide bearing 22a.
Make it stand out. Then, the tool gripping part 25 is moved to the tool rack 30.30 opened by the rack release cylinder 35.
The tool grip IR12S fits into the space between the two without interfering with the tool rack 30, as shown in FIG.
F and the target tool 37 in the tool rack 300 should be positioned so that their phases in the directions of arrows C and D match, and their phases also match in the vertical direction in FIG. Therefore, the motor 15 is rotated by a predetermined amount again, and the main body 1
When the tool 37 is moved in the B direction together with the tool gripping portion 25, the tool holder of the tool 37 is fitted into the tool gripping groove 25f. In this state, pressure oil is supplied to the cylinder 25c, and the arm 2
6 in the H direction centering on the bottle 26a, and firmly supports the tool 37 without falling off during tool gripping ifI'l2Sf. Even in the normal state, the arm 26 is urged 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 fall out of the tool grip groove 25f. In addition, the tool grip groove 2
The insertion and engagement operation of the tool 37 into 5f causes pressure oil to flow into the cylinder 2.
This is done by moving the tool gripping part 25 in the direction B toward the tool 37 without being supplied to the tool 37.
In the tool holder 7, the arm 26 is connected to the coil spring 2S.
The tool grip 112 is rotated in the direction C against the elasticity of e.
5f, and grip the tool 37 (be sure to do it smoothly. In this way, the tool 37 is gripped by the tool gripping portion 25.
This time, the piston rod 23a of the cylinder 23 is moved back in the C direction. Then, the tool 37 held by the tool gripping part 25 leaves the tool pocket 31 and is moved in the C direction together with the tool gripping part 25 and taken out. When the tool gripping part 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 B direction, passing through the main frame 2, and fixing it to the rightmost side of the main frame 2. Tool rack provided 30. Up to 37 tools
Transfer the object while it is being held. Furthermore, during that time, the motor 19
by driving the hand mechanism section 22 and the tool gripping section 25.
, move the tool 37 in the tool gripping section 25 as appropriate in the J direction.
match the vertical position of the intermediate transfer pocket 36 of the tool rack 30. In the meantime, the rank release cylinder 35 retreats the piston rod 35Q in the entry direction, and returns the plurality of tool racks 30 including the tool rack 30A, which had been moved in eight directions, to the entry direction, as shown in FIG. As shown in , the tool 37 is inserted into the engagement hole 32c of the tool rack 30 on the left side of the tool rack 30° from which the tool 37 was taken out after being separated earlier.
The bin 32a of the removed tool rank 30° is inserted and engaged. As a result, the space previously formed is closed, and the stroke s' of the rack opening cylinder 35 is
The rightmost tool rack 30 and the tool rack 30 of the main frame 2 or subframe 3 are separated by m equal to r.
Form between A and A. On the other hand, the pin 32a is connected to the engagement hole 32
When inserted into the lock bin 32e, the bin 32a is inserted into the lock bin 32e.
The lock bin 32e is forcibly moved together with the bin 32f1 and the release bin 32g in the direction of the arrow in FIG.
The tool rack 3 that was previously separated is engaged through b.
0 and the tool rack 30 to its left are connected via the bin 32a as before. Incidentally, since the engagement groove 32b and the bin 32e are connected via the inclined surfaces 32j and 32k, the tool rack 30
The tool rack 30 on the left side is connected to both racks 3.
It must be carried out smoothly and reliably in such a way that zeros are concentrated. In this way, when all the tool racks 30 other than the tool rack 30B are integrated into the main frame 2 and the subframe 3, they are positioned so as to face the intermediate transfer pocket 36 of the tool rack 30 of the main frame 2. Tool robot 10: Well, drive the cylinder 23 and move the piston rod 23 at! 1) The tool 37, which is protruded in the direction and held by the tool gripping part 25, is pushed into the tool holding part 3fB of the intermediate transfer pocket 36. At this time, tool racks 30 other than tool rack 30
all move in the direction A in Figure 1, and therefore the tool rack 3
Since there is a gap between 0° and 301 that is equivalent to (or larger than) the stroke ST of the rack opening cylinder 35, the tool gripping portion 25 can be moved to the tool rack 30.
Even if the tool holder 25 and the tool rack 30 and the tool 37 attached to the rack 30 are protruded in the D direction, the tool holder 36 of the tool 37 will not interfere with the tool holder 25 and the tool rack 30 and the tool 37 attached to the rack 30.
Insertion into g should be done smoothly. When the tool 37 is inserted into the tool holding portion 36g, the supply of pressure oil to the cylinder 25c is interrupted, and in this state, the main body 1
1 moves in the A direction together with the tool gripping section 25. Then,
The arm 26 of the tool gripping portion 25 is a coil spring 25e.
The engagement with the tool 37 is released while rotating in the G direction against the elasticity of The biased lock pin 36 is held in an engaged manner 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 again to a machine tool such as a machining center by an ATC device (abbreviation for "automatic tool changer", hereinafter simply referred to as "ATC device") installed on the side of the machine 81, and then transferred to the main spindle. The tool 37 that has been loaded, mounted on the spindle, and has completed its machining operation is returned to the intermediate transfer pocket 36 by the ATC device. In addition, in the tool storage and supply device 1121, the tools 37 are transported to the intermediate transfer pocket 36 more accurately, as shown in FIGS. 1 and 2. This is done by grasping the left part of the tool holder 37C of the tool 37 in the figure, but normally the ATC device on the machine tool area side performs tool exchange by grasping the right part of the tool 37 in the figure. Therefore, it is sufficient if the tool holder 37c is left-right symmetrical, but for a special machine 37 attached to a left-right asymmetrical tool holder 37c, when the tool gripping section 25 grips the grippable part on the left side of the tool, , there arises a problem that the ATC device a side cannot hold the machine A37 inserted into the intermediate transfer pocket 36 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 driven to protrude in the direction of arrow 1 in FIG. 17. Then, as shown in FIG.
(36S1 pinion gear 36p formed in ir)
The rotary holder 36b rotates 180° via. As shown in FIG. 16, the rotary holder 36b is provided with a key 36v that can be engaged with a key provided on the tool 37, so the tool 37 rotates 180° in synchronization with the rotation of the rotary holder 36b. Rotate. On the other hand, the rotating holder 36b is rotated 180°
When it rotates, the rotation is transmitted to the shaft 361 via gears 361.36k, and furthermore, the rotation is transmitted to the shaft 361 via gears 36i and 36h, causing the Kryunghorg 36d to move in the same direction as the rotating holder 36b.
Let it roll. 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 taper of the tool holder 37c, which holds the tool 37 in close contact with the main spindle, is rotated. Minor foreign matter attached to the shaft 37d is removed to enable accurate machining work. The cleaning holder 36d is
Depending on the gear ratio, the rotary holder 36b rotates several times during 180° rotation, so cleaning of the tapered shaft 37d should be performed smoothly over the entire circumference of the tapered shaft 37d. Also, at the same time,
Compressed air is supplied into the tool holder 36g through the rotary holder 36b from the air supply hole 36w provided at the right end of the frame 36a in FIG. Foreign matter such as dust is discharged to the outside through the gap 38 between the tool 37 and the rotary holder 36b, and the tapered shaft 3? d must be kept in a clean atmosphere. In this way, while cleaning the taper shaft 37d, the tool 37 is rotated 1800 times within the tool holder 36g, and the grippable side of the tool 37 is rotated by the ATC device of the machine tool to the gripping side, that is, to the right side in FIG. Positioned and AT
The subsequent transfer operation of the tool 37 to the machine tool by the C device is performed smoothly. On the other hand, regarding the tool 37 returned to the intermediate transfer pocket 36 by the ATC device, the cylinder 36q is
and the rod 36r is moved in the direction J in FIGS. 17 and 18. Then, rack 36g, pinion gear 36
The rotating holder 36b is rotated 18 in the opposite direction to the previous direction via p.
By rotating 0 degrees, the gripping side of the tool A37 is changed from the right side in FIG.
f, the same leaning operation as described above is performed on the tapered shaft 37d of the tool 37, and the tapered shaft 37d is brought into a clean state. Next, drive the cylinder 23 of the tool robot 10 to cause the piston rod 23a to protrude in the direction indicated by the arrow, as shown in FIGS. 6 and 7. Then, the tool gripping section 25 opens the tool racks 30A, 30. As described above, the ATCp in the tool gripping groove 25f and the intermediate transfer pocket 36 enters the tool rack 30A etc. without interfering with it while the interval between them is ST (or more).
The tool holder 37c of the tool 37 returned due to the
They are positioned so that the phases match in the directions of arrows C and D, and the phases also match in the vertical direction in FIG. Then, when the motor 15 is rotated by a predetermined amount again to move the main body 11 together with the tool gripping portion 25 in the B direction, the tool holder 37c 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, the arm 26 is suppressed in the H direction around the bottle 26a, and the tool 37r! Firmly supports the tool without falling off during tool gripping 1°425f. In this way, the tool 37 is gripped by the tool gripping portion 25.
Now move the piston rod 23a of the cylinder 23 back in the C direction. Then, the tool 37 held by the tool gripping part 25 is removed from the intermediate transfer pocket 36 and moved in the C direction together with the tool gripping part 25 to be taken out. When the tool gripping part 25 is moved in the C direction together with the tool A37,
The motor 15 is driven to move the main body 11 in the entry direction, and the tool 37 is moved to the tool rack 30 where the tool 37 is to be stored.
Transfer the object while it is being held. Also, during that time, the motor 19
by driving the hand mechanism section 22 and the tool gripping section 25.
, in the J direction to position the tool 37 on the tool gripping section 25 at a position corresponding to the tool pocket 31 of the tool rack 30 to which the tool 37 is to be returned. In this way, the tool robot 10
When the tool robot body 11 is positioned at a position facing the tool rack 30 having the tool pocket 31 in which it is to be stored, the screws 1 and rods 33a of the two release cylinders 33 provided on the upper and lower sides of the tool robot body 11 are removed as shown in FIG. It protrudes wJX11111 in the direction of the arrow. Then, the connection mechanism 3 between the tip of the piston rod 33a and the tool rack 30
2, and the release pin 32g is further pushed in the direction of the arrow in FIG. 13 against the elasticity of the coil spring 321. As a result, the lock bin 32e also moves in the D direction via the bin 32f, and the lock bin 32e also moves in the D direction via the bin 32f.
(This tool rack 30 has a tool pocket 31 for storing tools 37 to be returned.)
As shown in FIG. 14, the bin 32a is a lock bin 3
2e is disengaged, the bottle 32a is separated from the engagement hole 32c into which it was fitted, and the bottle 32a is in a state of being in a state where it stops. 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 release pin 32g pressed is installed, is driven, and the piston rod 35a is moved to the 13th
It is driven to protrude in the direction of arrow B in the figure. Piston rod 35a
is driven to protrude in the direction of arrow B, and accordingly, the tool rack 30A fixed to the piston rod 35a and the tool rack 30 of 1 g or more connected to the tool rank 30A via the connection 81 structure 32 move toward B. Start moving in the direction. The tool rack 30 is connected and engaged with a tool rack 30 provided with a release bin 32g with which a release sill 33 is abutted and engaged, through an engagement hole 32c, the right side of FIG. The bin 32a moves away from the engagement hole 32c in the direction B with the other tool rack 30° as a boundary, and the tool rack 30° and the tool rack 3
Between the tool racks 30 on the left side of FIG. 14 at 0°, the stroke ST of the rack opening sill 35 is [t! A space will be created for you. Thus, the tool pocket 3 to which the tool 37 is to be returned
1 tool rack 30. When all the tool racks 30 on the right side of FIG. 1 have moved in the direction B by the stroke ST, the main body 11 is moved a predetermined amount in eight directions, and the tools 37 in the tool gripping section 25 and the tools 37 in the tool rack 30 are returned. The tool pockets 31 to be used are facing each other. Therefore, by driving the cylinder 23, the piston rod 23a
Q. As shown in Figures 6 and 7, make it protrude in the direction of the arrow. Then, the tool gripping portion 25 fits into the space between the tool ranks 30.30° opened by the rack opening sill 35 without interfering with the tool rack 30'@, and the tool 37 being gripped is inserted into the tool rack. Insert into a predetermined tool pocket 31 at 30°. When the tool 37 is inserted into the tool pocket 31, the supply of pressure oil to the cylinder 25c is cut off, and in this state, the main body 11 moves in the direction A together with the holding part 25. Then, the arm 26 of the tool gripping part 25 rotates in the C direction against the elasticity of the coil spring 25e.
The engagement with the tool 37 is released, and the tool 37 is no longer retained in the tool pocket 31. In this state, the tool gripping portion 25 is returned in the C direction, and the rack opening sill 35 is further driven in the in direction, and 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, a case will be described in which the tool 37 is set in the present tool storage and supply device jJ1. Among the tool racks 30 provided on the subframe 3 with the tool storage supply value g11, the tool rack 30 on the leftmost side in FIG.
The third tool pocket 31A from the bottom is used as a tool attachment/detachment stage 1.
Attach the tool 37 to 1 and set it, and each sole pocket 3
When collecting the used tool 37 from the tool 1, the work is carried out through this tool pocket 31A. That is, when installing the tool 37 in the tool pocket 31 of each tool rack 30, the tool 37 to be installed is placed in the tool pocket 31A using a manual machining tool (or a tool supply means such as a predetermined tool supply robot). In this state, drive the tool rank 10 and attach it to the sole robot 10.
The tool 37 attached to the sole pocket 31A is grasped by the tool 37, and the tool 37 is moved from the intermediate transfer pocket 36 to the tool pocket 31 where the tool 37 is to be stored, in exactly the same way as when storing the tool A37 in each tool pocket 31. 37
be transported and further stored. In this way, the tools 37 to be stored are set in the tool pockets 31 one after another, and the tools 37 are set in the tool storage and supply device 1 by storing them in each tool pocket 31 by the tool robot 10. The same applies to the case where the installed tool 37 is collected from each tool pocket 31, and the tool 37 to be collected from each tool pocket 31 is collected from the tool robot 10.
Tool pocket 3 which is tool removal stage 1
The tool 37 is transported and installed up to 1A, and then an operator or the like removes and collects the tool 37. In this way, by using the predetermined tool pocket 31A as a tool waste container, a worker or the like can simply place the tool 37 in the tool pocket 31A and carry the tool 37 to an urgent location in the tool storage/supply device 1. It is extremely convenient because the tools 37 can be set and retrieved from the tool storage/supply device 1 at a single location in the tool pocket 31A. In addition,
It is of course possible to use a plurality of tool pockets 31 as a tool removal stand instead of being limited to the tool pockets 31. Further, as in this embodiment, some 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 tool racks 30 such as rank release cylinders 35. As for the tool 37 mounted on the fixed tool rack 30, the tool 37 can be mounted and removed immediately by the tool robot 0 without having to open 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 tool 37 by the sole robot 10 is not selected.
If the operation time for supplying the tool 37 to the machine tool 7 is longer than the machining time, the time required to open and close the tool rank 30 can be shortened by storing the tool 37 in a fixed tool rack 30. Because it is possible to
It becomes possible to supply the tool 37 with high 1311iJ+ properties. Furthermore, the tool storage and supply device 1 according to this embodiment is composed of two frames, a main frame 2 and a sub-frame 3, and the main frame 2 and sub-frame 3 are also shown in FIGS. As shown in the figure, it has a module configuration that can be freely separated and connected, so the tools 3 to be supplied can be
Depending on the number of subframes 7, it is possible to configure only the mainframe 2, the mainframe 2 and the subframe 3, or even (the mainframe 2 and a plurality of subframes 3). And the subframe 3 has a guide rail 6 for the tool robot 10 to run on.
．． 9. The running guide means of the rack 7f4 is provided so that it can be extended and connected along the running direction of the sole robot 10, so if necessary, a sub-frame 3 can be added to the main frame 2, and the running guide means If the tool robot 10 is connected so as to pass through both frames, the tool robot 10 can immediately run between the two frames, and the number of tools to be supplied can be easily increased. In addition, although the above-mentioned embodiment described the case where the tool rack 30 was installed vertically in the figures as shown in FIGS. 1 and 2, the tool rack 30 does not necessarily need to be installed vertically. Instead, it may be placed horizontally. Further, in the above embodiment, the intermediate transfer pocket 36 is provided in the tool rack 308 fixedly provided within a frame such as the main frame 2, but the intermediate transfer pocket 36 is not necessarily provided in the tool rank 30. It is not necessary, and it is naturally possible to provide it at an appropriate location outside the frame. Further, in the above embodiment, the rack opening cylinder 35 is used as the movement drive means for the tool rack 30. In addition, it is of course possible to use a rotary drive means such as a motor together with an appropriate link mechanism or gear mechanism.Also, for the tool rack 30 to which the moving means of the tool rack 30 is connected, a coupling mechanism may be used. Among the tool racks 30 that can be moved as a group by 32, at least one of the tool racks 30 at both ends (in the case of the subframe 3 in FIG. 1, the tool rack 30A or the tool rack 30 provided with the tool pocket 31A) is (g) 3 Effects of the Invention As explained above, according to the present invention, there is provided a main frame 2, a sub-frame 3'@ frame, and a guide j7+729c and a guide rail 29d are provided in the frame.
A plurality of band-like tool racks 30 are movably provided on the guide means, and a plurality of tool pockets 31 capable of storing tools 37 are provided in the tool rack 30. are arranged in the longitudinal direction, and furthermore, they are arranged in the tool rack 30 with each other
Connection mechanism 3 capable of connecting M tool racks 30 to each other
2, and at least one of the tool racks 30 is provided with a means for moving the tool rack 30 such as a rack opening cylinder 35, and furthermore, a means for delivering and transporting tools 37 such as the tool rack 10 is moved. A release cylinder 33 is freely provided in the delivery and conveyance means.
J! of the coupling mechanism 32 such as! l! Since the ht1 is achieved by providing a means for releasing the locked state, not only can the tools 37 be stored in the tool rank 30 with high density, but also when the tools 37 are delivered by the delivery and conveyance means, the purpose is to use the delivery and transportation means. The tool rack 30 is positioned at a position corresponding to the tool rack 30, and the releasing means provided in the receiving and conveying means is driven, and the tool rack 30 is removed by the coupling mechanism 32.
Release the mutual connection at a predetermined tool rack 30 part,
Furthermore, movement of the tool rack 30'ii1. By driving the ll1II means, one or more tool racks 30 are guided by the guide means and move as a group forming a space ST between the tool racks 30, so that the formed space Due to the tool sole pocket 3
1, the tools 37 of the tool rack 30 adjacent to the delivery conveyance means are prevented from interfering with each other,
There is no need to provide a predetermined distance between the tool racks 30 to eliminate interference, and therefore the tool racks 30
It is possible to arrange the tools 37 continuously, and hundreds of tools 37 can be easily stored in a comfortable space. Furthermore, by means of the coupling mechanism 32, the movement driving means for moving the plurality of tool racks 30 need only be provided on one of the tool racks 3o at one end of the group of tool racks 3o that can be coupled and moved. This has the advantage that the structure of the tool storage and supply device can be simplified. Furthermore, since the means for releasing the coupling of the coupling mechanism 32 is provided in the delivery and conveyance means, by moving the delivery and transport means in directions A and B, the operation for releasing the coupling of all the tool racks 30 can be performed. Therefore, there is no need to provide a connection release means for each tool rack 3o, and there is an advantage that the structure of the gt device is simplified. Furthermore, since a large number of tools 37 can be stored compactly, the tools 37 can be transported between the tool rack 30 and the intermediate transfer pocket 36 by the delivery and transport means in a short time, and the tools 37 can be easily transported to the machine tool. It becomes possible to supply supplies quickly.

[Brief explanation of the drawing]

Fig. 1 is a front view showing an embodiment of the tool storage and supply device according to the present invention, Fig. 2 is a front view showing the main frame portion of the tool storage and supply device of Fig. 1, and Fig. 3 is a front view showing the tool robot portion. A front view, FIG. 4 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 mechanism of the tool robot, and FIG. 7 is a plan view of FIG. 6. , Fig. 8 shows the tool gripping part, Fig. 6 is a view from the ■ arrow in Fig. 6, Fig. 9 is a front view of the tool rack section, Fig. 10 is a plan view of Fig. 9, and Fig. 11 is a view of the tool rack section. 12 is a front view showing the combined 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 front view of the tool rack.
16 is a front view showing the intermediate transfer pocket; FIG. 17 is a side view of FIG. 16;
FIG. 18 is a sectional view taken along the line X--Xva in FIG. 17. 2... Frame (main frame) 3... Frame (sub frame) 10... Delivery and conveyance means (tool robot) 29
c... - Guide means (guide groove) 29d... Guide means (guide rail) 30... Tool rack 31 - Tool pocket 32... Connection tI structure 33 - Release means (release ring) 35...Movement drive means (rank release cylinder) 37
...Tool applicant Yamazaki Iron Works Co., Ltd. Agent Patent attorney Phase 1) Shinji (1 idiot)

Claims (1)

Claims: A frame, a guide means provided on the frame, a plurality of strip-like tool racks movably provided on the guide means, and a plurality of tool racks capable of storing tools. Tool pockets are arranged in the longitudinal direction of the tool racks, and the tool racks are further provided with a connecting mechanism capable of connecting adjacent tool racks to each other, and at least one of the tool racks is provided with a tool rack. 1. A tool storage and supply device comprising a moving drive means, a movable tool delivery and conveyance means, and a tool disengagement means for the coupling mechanism.