JPS6150734A - Tool storage and supply device - Google Patents

Abstract

PURPOSE:To enable the number of tools which may be supplied with a simple working, to be increased, by arranging a guide means provided with a tool delivery means such that more than one frames each having a storage means are connectable with each other when they are coupled with each other. CONSTITUTION:A tool robot 10 for delivering and transferring tools is moved to a position in the directions A or B, to a position confronting a tool rack on which a tool to be supplied to a machine tool is set, and is installed such that it may pass through a main frame 2 and a subframe 3. The main frame 2 and the subframe 3 are formed in a module form so that they may be optionally disengaged from each other, and the main frame 2 may be used alone or in combination with one or plural subframes 3 which are coupled to the main frame 2. Accordingly, if travel guide means 6, 9 are connected extenging through both frames, the robot 10 may travel between both frames, thereby the number of supplied tools may be simply increased.

Description

FIELD OF THE INVENTION The present invention relates to a tool storage and supply device for supplying tools to machine tools such as machining centers.

(b), Prior Art Conventionally, drum-shaped tool magazines, chain-type single-tool magazines, etc. have been known as this type of tool storage and supply device, but each of them can store and supply only tens of tools. Books were the limit.

(C) 9 Problems that the invention attempts to solveHowever, recently,
Unmanned machining methods are becoming popular for machining by reducing the number of workpieces by 1a, and in such a case, in order to process a large number of M class workpieces, the number of tools that must be supplied to the machine tool becomes extremely large. With the conventional number of tools supplied, which is around a few dozen,
There was an inconvenience that it was impossible to perform proper machining operations.

Therefore, we installed multiple drum-shaped tool magazines, which made it possible to supply a large number of tools while exchanging the magazines for the machine a, and installed multiple chain-type single-tool magazines in parallel. Various storage methods have been devised, but in each case, multiple magazines were installed independently without maintaining connections between the magazines, making it difficult to install the magazines. In addition, it is also necessary to separately install travel guide means such as guide rails for the tool delivery and conveyance means for taking out and conveying tools from the expanded magazine, which has the drawback of requiring a lot of effort for the additional work. It was.

SUMMARY OF THE INVENTION In order to eliminate the above-mentioned drawbacks, it is an object of the present invention to provide a tool storage and supply device that can increase the number of tools that can be supplied with a simple operation.

(d) Means for solving the zero problem, that is, the present invention provides a frame provided with storage means for a plurality of tools so as to be freely connected via a connecting surface, and
A traveling guide means is provided on each frame so that the frames can be connected to each other when the frames are completely connected, and a delivery and conveying means is provided to the traveling guide means so as to be able to freely travel along the guide means.

(e) 0 effect With the above-described configuration, in the present invention, by connecting the frames, the traveling guide means of the delivery conveyance means is also connected, and the delivery conveyance means can immediately run between the connected frames of yL number. It acts as follows.

(f) Examples Examples of the present invention will now be described based on the drawings.

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 rack portion. Front view, Figure 4 is a plan view of Figure 3, Figure 5 is a view of Figure 3.
6 is a front view showing the hand portion of the tool robot, FIG. 7 is a plan view of FIG. 6, and FIG. 8 is a view showing the tool gripping section. , Figure 9 is a front view of the tool rack part, W410 is a plan view of Figure 9, and Figure 1 is a front view of the tool rack part.
Figure 1 is a side view of Figure 9, Figure 12 is a front view showing the combined state of the tool rack, Figure 13 is a side view of Figure 12, and Figure 1 is a side view of Figure 1.
Fig. 4 is a plan view of Fig. 12, Fig. 15 is a plan view showing the lock release mechanism of the tool robot, Fig. 16 is a front view showing the intermediate transfer pocket, Fig. 17 is a side view of Fig. 16, and Fig. 1
FIG. 8 is a sectional view taken along the line X--XvI in FIG. 17.

As shown in FIG. 1, the tool storage and supply device 1 has a main frame 2 and a subframe 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 bracket 5,
Guide rail 6 connects main frame 2 and sub frame 3
; The bracket 5 is provided with a guide rail 6.
Similarly, racks 7 are installed in the left-right direction in FIGS. 3 and 4 along the same lines. In addition, the lower part 1ζ of the main frame 2 and sub-frame 3 (well, the guide rail 9 is installed parallel to the guide rail 6, and the guide rail 6.
At 9, a tool robot 10 is provided so as to be movable in the direction of the arrow ASB in FIG. 3 via a guide groove 12 and a guide roller 13 provided in the tool robot body 11.

A motor 15 is provided on the upper part of the main body 11, and a pinion gear 17 is connected to the motor 15 to rotate m! via a power transmission means such as a reduction gear 16. It is freely provided. The pinion gear 17 meshes with the rack 7. Therefore, by appropriately driving the motor 15 in forward and reverse directions, the main body 11 is moved along the rack 7 and onto the guide rail 6.9 via the reduction gear 16 and the pinion gear 17. Move and drive in the directions of arrows A and B in a guided manner.

Further, the main body 11 is provided with a motor 19, and the motor 19 is connected to a feed screw 21 of the main body 11, which is rotatably supported in the vertical direction in FIG. 3, via a power transmission means such as a timing belt 20. , connected through its upper end. A hand mechanism section 22 is screwed onto the feed screw 21, and the hand mechanism section 22 has two wooden guide rails lla formed on the main body 11 in parallel with the feed screw 21, as shown in FIG. , are engaged so as to be movable in a direction perpendicular to the plane of the drawing, that is, in the direction in which the feed screw 21 is installed. Node structure part 22
A hydraulic cylinder 23 is provided with a piston rod 23a capable of protruding and retracting in the directions of arrows C and D, and furthermore, as shown in FIG.
A plurality of slide bearings 22a are provided, and the slide bearings 22a have a tool gripping portion 25, and the slide bearings 22m have guide rods 25a, 25a slidably attached thereto.
' is provided 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 bar 25a along its center, and a cord is installed in the guide bar 25a' to be connected to a proximity sensor to be described later. A hole 2sb' is bored for the purpose. 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 in such a manner that a cylinder 25c communicates with a hole 25b formed in the guide payload 25a. It is provided movably in the E1F direction. A coil spring 25e 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 with a pin 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.

Further, a proximity sensor 27 is provided in the tool gripping portion 25 with its tip facing a tool gripping groove 25f formed in a U-shape in the tool gripping portion 25, and the proximity sensor 27 It should be possible to detect the presence or absence of tools inside.

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 lift 29b has Guide i7129 c is A,
The upper bracket 29a is formed by drilling in the direction B.
Similarly, guide rails 29d are installed in the A and B directions. Guide rail 29d and guide ffj 29
c, a plurality of elongated strip-shaped tool racks 30, guides p 30 a provided on the tool racks 30,
A guide roller 30b is engaged with a guide rail 29d and a guide groove 29c, and is supported and installed so as to be movable in directions A and B, and each tool rack 30 has a plurality of tool pockets 31 that can hold tools. However, in the vertical direction in Fig. 9,
That is, they are provided in a line in the longitudinal direction of the tool rack 30. Each tool pocket 31 has a key 31a for preventing rotation.
is provided, and the key 31a engages with a keyway provided on the tool side to prevent the tool mounted in the tool pocket 31 from rotating within the tool pocket 31.

As shown in FIGS. 12 to 14, a connecting mechanism 32 that connects the tool racks 30 to each other is provided in the upper and lower parts of the tool rack 30.
It has a pin 32a which is fixed in such a way that its tip protrudes toward the adjacent tool rack 30 to be connected.

As shown in FIG. 14, an engagement groove 32b is bored at the tip of the pin 32a, and an engagement hole 32c is formed at a position facing the pin 32a of the adjacent tool rack 30.
is formed so that the pin 32a can be freely inserted and engaged therein. As shown in FIG. 13, the engagement hole 32c has a hole 3.
A lock pin 32e is fitted into the hole 32d so as to be movable in the directions of arrows C and D. Lock pin 32e has pin 3
2f is planted, and the pin 32f is inserted into the first hole 32d.
A release pin 32g is fitted into a hole 32h formed parallel to the hole 32d in the upper part of FIG. 3 so as to be movable in the directions of arrows C and D. Between the release bottle 32g and the hole 32b,
A coil spring 32i is compressed, and the coil spring 32i always urges the release pin 32g in the direction of arrow C.

As shown in FIG. 15, at a top and bottom position of the tool robot main body 11 facing the coupling mechanism 32 of the tool rack 30, a release cylinder 33 is provided so that the piston rod 33a can be freely projected and retracted in the directions of arrows C and D. They are set up in different shapes.

In addition, among the plurality of movably provided tool racks 30, for the main frame 2 and the sub-frame 3, the tool rack 30A provided second from the rightmost side of each frame in FIG. As shown in FIG. 10, a rack opening sill 35 installed on the side plate 29 is connected to the rack opening sill 35 via a piston rod 35a provided so as to be able to protrude and retract in the directions of arrows A and B. Drive the open fringe 35 to open the piston rod 351
By projecting and retracting the sole rack 30 in the A and B directions, the sole 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 the sub-frame 3, the tool rack 308 on the far right in FIG. It is provided. Intermediate transfer pocket 36 includes tool rack 30. as shown in FIGS. 16 and 17. Frame 36m fixed to
A rotary holder 36b is rotatably provided on the frame 36a via a bearing 36c or the like.

A cleaning holder 36d is further rotatably provided on the rotating holder 36b via a bearing 36e.
A cleaning brush 36f is attached to the cleaning holder 36d.
is provided in the tool holder 36d with a brush portion at the tip thereof protruding from a tool holding portion 36g formed in the shape of an internal fiber. A gear 36h is formed on the outer periphery of the rotating holder 36d, and a gear 36j attached to the gear 36h (and a shaft 3611 rotatably supported by the frame 36a) is attached to the rotating holder 36b.
(They mesh through the formed slit 36m.

A gear 36k is provided at the other end of the shaft 361, and the gear 36k meshes with the gear 361 formed at the left end (FIG. 17) of the rotary holder 36b.
A pinion gear 36p is formed at the right end in the figure b. As shown in FIG. 18, the lock bin 36t is in mesh with the rotating holder 36b, as shown in FIG.
, 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
The tool holding part 36HIC engages with the groove part 37b of the pull stud 37a of the tool 37 mounted on the HIC by utilizing the elasticity of the coil spring 36u, and prevents the tool 37 pushed into the tool holding part 36g from being released from the tool holding part 3fB. Prevents accidental falling off.

In addition, the number 39 is a proximity sensor for detecting whether the tool 37 is inserted into the tool holding part 36g.

Since the tool storage and supply value [1 has the above configuration, in order to supply the tool 37 to the machining center (not shown) or the like using the tool storage and supply device 1, first,
The tool robot 10 is appropriately moved in the directions of arrows A and B in FIG. 3 along the guide rail 6.9 that has been completely laid across the main frame 2 and subframe 3 based on the cannibal program and the operator's instructions. As already explained, this moving operation is performed by rotating the motor 15 on the main body 11 of the tool robot 10 in forward and reverse directions as appropriate, thereby using the reduction gear 16, the pinion gear 17, and the rack 7 that meshes with the pinion gear 17. be exposed. tool robot 10
is driven in directions A and B to a position facing the tool rack 30 on which the tools 37 to be supplied to the machining area are mounted.As already mentioned, the guide rails 6.9 are connected to the main frame 2 and Since the tool robot 10 is installed so as to pass through the subframe 3, the tool robot 10 can move freely between the main frame 2 and the subframe 3.

On the other hand, in the sole 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 sole racks 30 are connected to each other by a connecting mechanism 32 and are integrated (however, the rightmost tool rank 30. (Excluding .30B). The tool rack 30 is integrated with the main frame 2 and sub-frame 3 as one unit. tool rack 30
In the connected state, the piston rondo 3Sa of the rack open cylinder 35 of each frame is shown in Fig. fJJ10A,
By projecting and retracting in direction B, the guide rails 29d and 1429c are moved as one unit, respectively.

In this way, the tool robot 10 supplies the tool 37
The piston rods 33a of the two release cylinders 33 provided above and below the tool robot main body 11 move in the direction indicated by the arrow in FIG. It is driven to protrude in the direction. Then, the release pin 3 of the connection 81 structure 32 between the tip of the piston rod 33a and the tool rack 30
2g abut against each other, and further push the release bottle 32g in the direction of the arrow in FIG. 13 against the elasticity of the coil spring 32i. As a result, the lock bin 3
Move to 2eI3D direction, lock bin 32a and 1W
The bin 32a of the tool rack 30° (the tool 37 to be supplied is stored in this tool rack 30°) on the right side of FIG. The engagement state of the bottle 32a is released, and the bottle 32a is in a state where it can be detached from the engagement hole 32e into which it was fitted.

Then, the rack release cylinder 35 provided on the corresponding frame, either the main frame 2 or the subframe 3, on which the tool rack 30 with the release bin 32g has been pushed is moved [dl], and the piston rod 35a is moved to the second position. 1
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 the X mark B, the tool rack 30A fixed to the piston rod 3Sa and one or more tool racks 30 connected to the tool rack 30A via the coupling mechanism 32. starts moving in the vertical direction (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 30 provided with a release bin 32g that is abuttingly engaged with a release cylinder 33, and an engagement hole 32 between the tool rack 30 and the release bin 32g.
The tool rack 30 starts moving as the bin 32a moves away from the engagement hole 32c in the direction B, with the tool rack 30° on the right side of FIG. Middle, the leftmost tool rack 30 in FIG. 14, and the tool rack 30 to the left of the tool rack 300 in FIG.
A space corresponding to the stroke ST of the rack opening cylinder 35 is formed between them.

In addition, in the drawings of FIGS. 12 and 14, the tool rack 30A and 30 degrees are the same, but it goes without saying that the present description applies regardless of whether they match or do not match.

In this way, from the part of the tool rack 30 where the workpiece A37 to be supplied is mounted, all the tool ranks 30 on the right side of FIG. 1 reach the stroke STr! After moving in direction B,
Next, rotate the motor 19 of the tool robot 10 to rotate the feed screw 21 by a predetermined angle in the forward and reverse directions via the timing belt 20 etc. Then, the feed screw 21 is screwed into the feed screw 21. The hand machine lateral part 22 moves on the main body II in the direction of arrow +1J in FIG. 37 is aligned vertically with the stored tool pocket 31, and in that state, the cylinder 23 is driven to remove the piston rod 23.
a in the direction of the arrow, as shown in FIGS. 6 and 7.
The two guide rods 25m and 25a' of the tool gripping portion 25 are moved in sliding contact with the slide bearing 22a and protruded. Then, the tool gripping part 25 fits into the space between the tool racks 30 and 30 opened by the rack release cylinder 35 without interfering with the tool rack 30, and
As shown in FIG. 6, the tool grip 17425f and the target tool 37 in the tool rack 300 are positioned so that the phases in the directions of arrows C and D match, and the phases in the vertical direction in FIG. 3 also match. Be it. Therefore, the motor 15 is rotated by a predetermined amount again, and the main body 11 and the tool gripping portion 25 are rotated by a predetermined amount.
When the tool 37 is moved in the direction, the tool holder of the tool 37 fits into the tool grip groove 25f. In condition B, cylinder 25c
Pressure oil is supplied to press the arm 26 in the H direction centering on the bottle 26a, and the tool 37 is firmly supported without falling into the tool gripping groove 25f. Even in the normal state, the arm 26
Since it is urged toward the H side by the coil spring 25e, even if the supply of pressure oil to the cylinder 2Sc is stopped, the tool 37 will not fall off from the tool gripping groove 25f. Moreover, the insertion and engagement operation of the tool 37 into the tool gripping groove 25f is as follows.
This is done by moving the tool grip part 25 toward the tool 37 in the B direction without pressure oil being supplied to the cylinder 25c, so the tool holder of the tool 37 holds the arm 26 against the elasticity of the coil spring 25e. The tool 37 is inserted into the tool grip Ft42sf while being rotated in the C direction, and the gripping operation of the tool 37 is performed smoothly.

In this way, when the tool 37 is gripped by the tool gripping portion 25,
Now move the piston rod 23a of the cylinder 23 back in the C direction. Then, the tool 37 that is being held by the tool gripping part 2S is detached from the tool pocket 31, moved in the direction C together with the tool gripping part 25, and taken out. by the way,
The main body 11 is moved in direction B by driving the motor 15, passes through the main frame 2, and is moved to a tool rack 30 fixedly provided on the rightmost side of the main frame 2. The tool 37 is transferred while being held. Furthermore, during that time, the motor 19 is driven, and the hand mechanism section 22 and the tool gripping section 25 are
1, in the J direction, and move the tool 37 on the tool gripping section 25 to the tool rack 30. Intermediate transfer pocket 3
Match the vertical position of 6.

In the meantime, the rack release cylinder 35 is opened to the piston rod 35a9! The tool racks 30, including the tool rack 30A, which had been moved in the direction B, are moved back in the direction A, and the tool racks 30, including the tool rack 30A, which had been moved in the direction B, are returned to the inward direction, and the tools 37 that were separated earlier are taken out, as shown in FIG. tool rack 30
Insert the tool 3 into the engagement hole 32c of the tool rack 30 to the left of
The bin 32a of the tool rack 30° from which No. 7 was taken out is inserted and engaged. As a result, the space previously formed is closed, and the rack opening cylinder 350 stroke S
The distance corresponding to T is between the rightmost tool rack 30 and the tool rack 30 of the main frame 2 or subframe 3.
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 pin 32e is forcibly moved together with the pin 32f and the release pin 32g in the direction of the arrow in FIG. The tool rack 30 that was previously installed and the tool rack 30 to the left of the tool rack 30 are connected via the bin 32a as before. Note that the engagement groove 32b and the bottle 32
The connection between the tool rack 30° and the tool rack 30 to the left of the tool rack 30° is due to the imitation of the connection between the two racks 30 and 32k.
It should be done smoothly and in a manner of 55cJ.

In this way, when all the tool racks 30 other than the tool rack 30.1 are integrated into the main frame 2 and the sub-frame 3, the tool racks 30.0 of the main frame 2 are fully positioned to face the intermediate transfer pocket 36. The tool robot 10 has a cylinder 23 m
to project the piston rod 23a in the D direction Zζ,
The tool 37 held by the tool gripping part 25 is pushed into the tool holding part 36g of the intermediate transfer center 36. At this time, all the tool racks 30 except the tool rack 30Il move in the direction A in FIG.
0. Since there is an interval corresponding to (or more than) the stroke ST of the rack opening cylinder 35, the tool gripping part 25 can be protruded once in the D direction even if the tool rack is used 300,000 times. Also, the tool grip part 25, the tool rack 30, and the tool 37 mounted on the rack 30.
The tool 37 is smoothly inserted into the tool holding portion 36g without any interference.

When the tool 37 is pushed into the tool holding portion 36g, the supply of pressure oil to the cylinder 25c is cut off, and in this state, the main body 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 25a.
While rotating in direction C against the elasticity of It is held in such a manner that the biased lock pin 36t and the groove portion 37b of the bull stud 37a engage with each other.

By the way, the tool 37 stored in the intermediate transfer pocket 36
is then installed on a machine tool such as a machining center using an ATC device (“automatic tool changer”) installed on the machine tool side.
Abbreviation for. Hereinafter, it will be simply referred to as the "ATC device." ), the tool 37 is transferred again to the main spindle, and the tool 37, which has been attached to the main spindle and has completed the machining operation, is returned to the intermediate transfer pocket 36 by the ATC device. In addition, in the tool storage and supply device 1, the tools 37 are transported to the intermediate transfer pocket 36, as shown in FIGS. 1 and 2, the tools 37 stored in each tool rack 30, more precisely, The tool holder 37C of 37 is replaced by gripping the left part of the tool holder 37C in FIG. conduct.

Therefore, it is sufficient if the tool holder 37c is left-right symmetrical, but for a special tool 37 attached to a left-right asymmetrical tool holder 37c, if the tool gripping portion 25 grips the grippable portion on the left side of the tool, as in 1. On the ATC device side, there will be an inconvenience that the tool 37 inserted into the intermediate transfer pocket 36 cannot be held as it is.

Then, when the tool 37 is inserted and set into 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 the arrow 1 in FIG. 17. Then, as shown in FIG.
The rotary holder 36b rotates 1800 times via the rack 36S1 and the pinion gear 36p formed on the shaft 6r. As shown in FIG. 16, the rotary holder 36b is provided with a key 36v that can be engaged with a keyway provided in the tool 37, so the tool 37 rotates in synchronization with the rotation of the rotary holder 36b.
Rotate 80°. On the other hand, when the rotating holder 36b rotates 180 degrees, the rotation is transmitted to the shaft 3 through the gear 361.36k.
61 to rotate the cleaning holder 36d in the same direction as the rotary holder 36b via the rotation gears 36j and 36h.

Then, the cleaning brush 36f attached to the cleaning holder 36d also rotates together with the cleaning holder 36d, and when the tool 37 is attached to the main spindle of the machine 8i, the tool holder 37c, which is in close contact with the main spindle and holds the tool A37, rotates together with the cleaning holder 36d. Foreign matter such as the back side attached to the tapered shaft 37d is removed to enable accurate machining work. Cleaning holder 36d
The rotating holder 36b rotates several times during 1806 rotations depending on the gear ratio, so cleaning of the tapered shaft 37d can be smoothly performed over the entire circumference of the tapered shaft 37d. At the same time, compressed air is supplied into the tool holder 36g from the air supply hole 36w provided at the right end of the frame 36a in FIG. 17 through the rotary holder 36b. Foreign matter such as deafness removed by this is discharged to the outside through the gap 38 between the tool 37 and the rotary holder 36b, and the taper shaft 37d is 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, so that the grippable side of the machine tool A37 is placed on the gripping side according to the ATC design of the machine tool, that is, on the right side of Fig. 1. Positioned, A
The subsequent transfer operation of the tool 37 to the work 81 by the TC device should be carried out smoothly.

On the other hand, regarding the tool 37 returned to the intermediate transfer pocket 36 by the ATC device, the cylinder 36q is driven, and the rod 36r is moved in the directions W in FIG. 17 and J in FIG. 18. Zuroto, rack 36s, pinion gear 36
The rotating holder 36b is rotated 18 in the opposite direction to the previous direction via p.
00 rotation, the side on which the tool 37 can be gripped is changed from the right side in FIG. 1 to the left side on which the tool robot 10 can be gripped, and the cleaning brush 36f is
As a result, a leaning operation similar to that described above is performed on the tapered shaft 37d of the tool 37 to bring the tapered shaft 37d 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 of the arrow, as shown in FIGS. 6 and 7. Then, the tool gripping section 25 opens the tool rack 30. which is in the open state. ．． 30a is ST, as mentioned above, it can enter without interfering with the tool rack 30, etc., and its tool grip jl125
f and the tool holder 37c of the tool 37 returned by the ATC device in the intermediate transfer pocket 36 are in phase matching in the directions of arrows C and D, and also in phase in the vertical direction in FIG. Be positioned. Therefore, the motor 15 is rotated by a predetermined amount again, and the main body 11 is
When the tool 37 is moved in the direction, the tool holder 37c of the tool 37 is fitted into the tool grip 1125f. In this state, pressure oil is supplied to the cylinder 2Sc, the arm 26 is pressed in the H direction centering on the bottle 28a, and the tool 37 is gripped m 2 S.
Firmly supports the f width without falling off.

In this way, the tool 37 is gripped by the tool gripping portion 25.
This time, the cylinder 23 is moved back in the direction of the piston port/nod 23aitC. Then, the tool 37 held by the tool gripping part 25 is released from the intermediate transfer pocket 36, and
It is moved together with the tool grip part 25 in the direction 1C and taken out. When the tool gripping section 25 is moved together with the tool 37 in the C direction, the morrow IS is driven to move the main body 11 in the input direction, and the tool 37 is held in the gripped state until it reaches the tool rack 3o where the tool A37 is to be stored. Transfer as is. In the meantime, the motor 19 is driven to appropriately move the hand machine groove 22 and the tool gripping part 25 in the 1 and J directions to change the position of the tool 37 on the tool gripping part 25 to the tool to which the machine A37 should be returned. It is positioned at a position corresponding to the tool pocket 31 of the rack 30.

In this way, the tool robot 10 is returned to the machine A37.
The piston rods 33g of the two release cylinders 33 provided above and below the tool robot body 1 move in the direction shown by the arrow in FIG. It is driven to protrude in the opposite direction. Then, the piston rod 33a
The tip of the release pin 32g of the coupling 81 structure 32 of the tool rack 30 comes into contact with the release pin 32g, and the release pin 32g is further pushed in the direction of the arrow in FIG. 13 against the elasticity of the coil spring 32i. As a result, the lock pin 32a also moves in the D direction via the pin 32f, and the lock pin 32a and the engagement groove 3
2b, the adjacent tool rack 30 was in the engaged state (the work A3 to be returned to this tool rack 30.
There is a tool pocket 31 that stores 7. ) bottle 32
As shown in No. 14@, a indicates the engagement hole 3 into which the bottle 32m was inserted after being disengaged from the lock pin 32g.
It becomes possible to leave from 2c.

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 bin 32g pushed is installed, is driven, and the piston rod 35a
It is projected m1llll+ in the direction of arrow B in the figure. When the piston rod 35a is driven to protrude in the direction of arrow B, the tool rack 3 attached to the piston rod 35m
oA and the one or more tool racks 3o connected to the tool rack 30A via the connection mechanism 32 start moving in the B direction. Fool rack 301, tool rack 3o provided with release bottle 32g with which release cylinder 33 abuts and engages, and sole rack 3O and engagement hole 32c.
The tool rack 30. on the right side of FIG. 14 was connected and engaged through the tool rack 30. je boundary, the bin 32a moves in the B direction away from the engagement hole 32e, and the tool rack 300 and the tool 2. A space corresponding to the stroke ST of the rack opening cylinder 35 is formed between the tool racks 3o on the left side of FIG. 14 at 3°.

Thus, the tool pocket 3 to which the tool 37 is to be returned
When all the tool racks 3o on the right side of FIG. 1 have moved in the B direction by the stroke ST from the tool rack 308 portion provided with the tool rack 308 provided in the The fool pocket 31 in which the tool 37 of the tool rack 3o is to be returned is placed opposite to the tool rack 3o.

Therefore, by driving the cylinder 23, the piston rod 23a
is made to protrude in the direction of the arrow, as shown in FIGS. 6 and 7. Then, the tool gripping portion 25 fits into the space between the sole racks 30 and 300 opened by the rack release cylinder 35 without interfering with the tool rack 30, etc., and lifts the gripped workpiece A37 to the tool rack 30°. Insert it into a predetermined tool pocket 31 inside.

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 A direction together with the tool gripping portion 25. Then, the arm 26 of the tool gripping part 25 is connected to the coil spring 2.
The tool 37 rotates in the C direction against the elasticity of the tool 37.
and the tool 37 is retained in the tool pocket 31.

In this state, the tool gripping part 25 is returned to the C direction, and the rack opening cylinder 35 is further driven in the A direction, and the tool rack 30, which had been split for return, is re-integrated via the connection mechanism 32. , the return operation by the tool robot 10 is completed, and the tool robot 10 returns the next tool 37
4! Almost like an action.

Next, a case will be described in which the tool 37 is set in the tool storage and supply device g11.

Of the tool racks 30 provided on the subframe 3 of the tool storage and supply device 1, the third tool pocket 31A from the bottom of the leftmost tool rack 30 in FIG. 1 is used as a tool attachment/detachment stage. , the operator selects the tool pocket 31 of each tool rack 30 with the tool storage supply value g11.
The tool 37 is installed and set in the tool pocket 31.
When collecting the used tool 37 from the tool pocket 31A, the work is carried out through the tool pocket 31A. That is, when the tool 37 is installed and set in the tool pocket 31 of each tool rack 30, the tool 37 to be installed is installed and set into the tool pocket 31A manually or via a tool supply means such as a predetermined tool supply robot. do. In this state, the tool robot 10 is driven to have the tool robot 10 grasp the tool 37 attached to the sole pocket 31A, and the tool 37 is stored in each tool pocket 31 from the intermediate transfer pocket 36 in exactly the same way. Then, the tool 3
The tool 37 is transferred to the tool pocket 31 where the tool 7 is to be stored and further stored. In this way, the tools 37 to be stored are set in the tool pockets 31A one after another, and the tools 37 are set in the tool storage and supply device 1 by being stored in each fool 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 transferred to the tool pocket 31A, which is a tool attachment/detachment station, by the tool robot IO.
The tool 37 is transported and installed until a worker or the like removes and collects the tool 37 from there. In this way, by using the predetermined tool pocket 31A as a tool attachment/detachment station, the operator can simply attach the tool 37 to the sole pocket 31 and move the tool 37 to any location in the tool storage/supply device 1.
7 cents, and the tools 37 can be collected from the tool storage/supply device 1 at a single location in the tool pocket 31A, which is extremely convenient. Note that the tool removal station is not limited to the tool pockets 31, but it is also possible to use a plurality of tool pockets 31 as a tool removal station.

Also, as in this embodiment, the tool rack 30 such as the rack opening cylinder 35 is moved 1! A group of tool racks 30, which can be moved and opened by moving means; and some tool racks 30. is fixedly provided, the fixed tool rack 30. As for the tool 37 that has been installed and set in the tool rack, the tool 37 can be immediately attached and detached using the tool opening bolt 10 without opening the tool rack. If the time is short and the tool selection is performed by the normal opening/closing operation of the tool rack 30, the operation time for the tool robot 10 to supply the tool 37 for machining crushing becomes longer than the machining time. By attaching the tool 37 to the fixed tool rack 3011, the time required to open and close the tool rack 30 can be shortened, making it possible to supply the tool 37 with high mobility.

Furthermore, the tool storage and supply device 1 according to this embodiment is composed of two frames, a main frame 2 and a subframe 3, and the main frame 2 and subframe 3 are also shown in FIGS. 1 and 2. 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. That is, as shown in FIGS. 3 and 4, the main frame 2 and the sub-frame 3 have connection surfaces 2a and 3a formed on the side surfaces of the frames to connect the two frames. 2.3 is the connecting surface 2a, 3a
They can be easily integrated by bringing them into close contact and connecting them using bolts or other connecting means. The guide rails 6.9 and racks 7 and other running guide means of each frame are set at constant positions for all frames so that when the frames are connected, the connected frames can be connected immediately. Therefore, by adding a sub-frame 3 to the main frame 2 as necessary and further connecting the travel guide means so as to pass through both frames, the tool robot 1o can immediately travel between the two frames. , the number of tools to be supplied can be easily increased.

(g) 0 Effects of the Invention As described above, according to the present invention, one or more frames such as the main frame 2 and the sub-frame 3 are provided with storage means for tools 37 such as a plurality of tool pockets 31. are provided so that they can be freely connected via the connecting surfaces 2a and 3a, and each frame is provided with running guide means such as guide rails 6.9 and racks 7 so that they can be connected to each other when the frames are connected, Furthermore, since the delivery and conveyance means is provided on the traveling guide means so as to be able to travel freely along the guide means, the delivery and transfer can be carried out by connecting the frame to be added to the already installed frame via the connecting surfaces 2a and 3a. The running guide means of the conveying means can also be connected and extended immediately, making it possible to increase the number of tools supplied very easily. In addition, since the frame to be added and the existing frame are connected in a continuous manner, there is no wasted space between the magazines compared to the conventional method of adding tool magazines individually. This eliminates the occurrence of problems, and it is possible to easily store several hundred tools 37 in a narrow space.

[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 portion of the tool robot, FIG. 7 is a plan view of FIG. 6, Fig. 8 shows the tool gripping section, a view from the direction of 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. 1
Figure 1 is a side view of Figure 9, Figure 12 is a front view showing the combined state of the tool rack, Figure 13 is a side view of Figure 12, and Figure 1 is a side view of Figure 1.
Figure 4 +, 1 A plan view of Figure 12, Figure 15 is a plan view showing the lock release mechanism of the tool robot, Figure 16 is a front view showing the intermediate transfer pocket, Figure 17 is a side view of Figure @16,
FIG. 18 is a sectional view taken along line X--XMff of FIG. 17. 1... Tool storage and supply device 2... Frame (main frame) 2a, 3a
...Connection surface 3...Frame (subframe) 6.9...
... Traveling guide means (guide rail) 7, ...
・Traveling guide means (rack) 10... Delivery and conveyance means (tool robot) 31... Storage hand ¥9
t (tool pocket) 37... Tool applicant Yamazaki Iron Works Co., Ltd. Agent Patent attorney Phase 1) Shinji (and 1 other person)

Claims (1)

[Scope of Claims] One or more frames provided with storage means for a plurality of tools are provided so as to be freely connected via a connecting surface, and each frame is provided with a travel guide means when the frames are connected. A tool storage/supply device comprising: a tool storage/supply device which is provided so as to be freely connectable to each other, and further includes a delivery/conveying means provided to the traveling guide means so as to be freely movable along the guide means.