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JP6862637B2 - Machine Tools - Google Patents
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JP6862637B2 - Machine Tools - Google Patents

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Publication number
JP6862637B2
JP6862637B2 JP2017047159A JP2017047159A JP6862637B2 JP 6862637 B2 JP6862637 B2 JP 6862637B2 JP 2017047159 A JP2017047159 A JP 2017047159A JP 2017047159 A JP2017047159 A JP 2017047159A JP 6862637 B2 JP6862637 B2 JP 6862637B2
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Prior art keywords
tool
spindle
bed
axis
magazine
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JP2018149622A (en
Inventor
稔 大木
稔 大木
光洋 山崎
光洋 山崎
正貴 仲
正貴 仲
史樹 小川
史樹 小川
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JTEKT Corp
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JTEKT Corp
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Priority to JP2017047159A priority Critical patent/JP6862637B2/en
Priority to DE102018105662.1A priority patent/DE102018105662A1/en
Priority to CN201810203941.3A priority patent/CN108568688B/en
Publication of JP2018149622A publication Critical patent/JP2018149622A/en
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q1/00—Members which are comprised in the general build-up of a form of machine, particularly relatively large fixed members
    • B23Q1/25—Movable or adjustable work or tool supports
    • B23Q1/44—Movable or adjustable work or tool supports using particular mechanisms
    • B23Q1/56—Movable or adjustable work or tool supports using particular mechanisms with sliding pairs only, the sliding pairs being the first two elements of the mechanism
    • B23Q1/60—Movable or adjustable work or tool supports using particular mechanisms with sliding pairs only, the sliding pairs being the first two elements of the mechanism two sliding pairs only, the sliding pairs being the first two elements of the mechanism
    • B23Q1/62—Movable or adjustable work or tool supports using particular mechanisms with sliding pairs only, the sliding pairs being the first two elements of the mechanism two sliding pairs only, the sliding pairs being the first two elements of the mechanism with perpendicular axes, e.g. cross-slides
    • B23Q1/621—Movable or adjustable work or tool supports using particular mechanisms with sliding pairs only, the sliding pairs being the first two elements of the mechanism two sliding pairs only, the sliding pairs being the first two elements of the mechanism with perpendicular axes, e.g. cross-slides a single sliding pair followed perpendicularly by a single sliding pair
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q3/00—Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine
    • B23Q3/155—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q1/00—Members which are comprised in the general build-up of a form of machine, particularly relatively large fixed members
    • B23Q1/25—Movable or adjustable work or tool supports
    • B23Q1/44—Movable or adjustable work or tool supports using particular mechanisms
    • B23Q1/48—Movable or adjustable work or tool supports using particular mechanisms with sliding pairs and rotating pairs
    • B23Q1/4852—Movable or adjustable work or tool supports using particular mechanisms with sliding pairs and rotating pairs a single sliding pair followed perpendicularly by a single rotating pair
    • B23Q1/4866—Movable or adjustable work or tool supports using particular mechanisms with sliding pairs and rotating pairs a single sliding pair followed perpendicularly by a single rotating pair followed perpendicularly by a single sliding pair
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q3/00—Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine
    • B23Q3/155—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling
    • B23Q3/157—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling of rotary tools
    • B23Q3/15713—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling of rotary tools a transfer device taking a single tool from a storage device and inserting it in a spindle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q3/00—Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine
    • B23Q3/155—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling
    • B23Q3/157—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling of rotary tools
    • B23Q3/15713—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling of rotary tools a transfer device taking a single tool from a storage device and inserting it in a spindle
    • B23Q3/1572—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling of rotary tools a transfer device taking a single tool from a storage device and inserting it in a spindle the storage device comprising rotating or circulating storing means
    • B23Q3/15722—Rotary discs or drums
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q3/00—Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine
    • B23Q3/155—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling
    • B23Q3/1552—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling parts of devices for automatically inserting or removing tools
    • B23Q3/15526—Storage devices; Drive mechanisms therefor
    • B23Q2003/15528—Storage devices; Drive mechanisms therefor the storage device including means to project tools therefrom, e.g. for transferring them
    • B23Q2003/15531—Storage devices; Drive mechanisms therefor the storage device including means to project tools therefrom, e.g. for transferring them by pivoting projection movement
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q3/00—Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine
    • B23Q3/155—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling
    • B23Q3/1552—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling parts of devices for automatically inserting or removing tools
    • B23Q3/1554—Transfer mechanisms, e.g. tool gripping arms; Drive mechanisms therefore
    • B23Q2003/155414—Transfer mechanisms, e.g. tool gripping arms; Drive mechanisms therefore the transfer mechanism comprising two or more grippers
    • B23Q2003/155418—Transfer mechanisms, e.g. tool gripping arms; Drive mechanisms therefore the transfer mechanism comprising two or more grippers the grippers moving together
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q3/00—Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine
    • B23Q3/155—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling
    • B23Q3/1552—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling parts of devices for automatically inserting or removing tools
    • B23Q3/1554—Transfer mechanisms, e.g. tool gripping arms; Drive mechanisms therefore
    • B23Q2003/155414—Transfer mechanisms, e.g. tool gripping arms; Drive mechanisms therefore the transfer mechanism comprising two or more grippers
    • B23Q2003/155425—Transfer mechanisms, e.g. tool gripping arms; Drive mechanisms therefore the transfer mechanism comprising two or more grippers pivotable
    • B23Q2003/155428—Transfer mechanisms, e.g. tool gripping arms; Drive mechanisms therefore the transfer mechanism comprising two or more grippers pivotable about a common axis

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Automatic Tool Replacement In Machine Tools (AREA)

Description

本発明は、工作機械に関する。 The present invention relates to a machine tool.

従来、複数の工具を保持する工具マガジンを備え、工作物の加工内容に応じて、主軸に装着される工具と工具マガジンに保持される工具とを工具交換装置により自動で交換しながら加工を行なう工作機械（例えば、マシニングセンタ）がある。例えば、特許文献１では、工具マガジンが工作機械のベッドの側面側に設けられている。詳細には、工具マガジンにおいて、工具が保持される工具保持部が循環される軌道が、主軸の軸線と平行で、且つベッドの側面の近傍に配置されている。また、別の公知の工作機械として、工具マガジンにおける工具保持部が循環される軌道が、主軸の軸線と平行で、且つベッドの幅方向中央近傍に設けられているものもある。なお、その他、工具マガジンを備える工作機械として、特許文献２〜４に記載の技術もある。 Conventionally, a tool magazine for holding a plurality of tools is provided, and the tool mounted on the spindle and the tool held in the tool magazine are automatically replaced by a tool changer according to the machining content of the workpiece. There are machine tools (eg machining centers). For example, in Patent Document 1, a tool magazine is provided on the side surface side of a bed of a machine tool. Specifically, in the tool magazine, the trajectory through which the tool holding portion for holding the tool is circulated is arranged parallel to the axis of the spindle and near the side surface of the bed. Further, as another known machine tool, there is also one in which the trajectory through which the tool holding portion in the tool magazine is circulated is provided parallel to the axis of the spindle and near the center in the width direction of the bed. In addition, as a machine tool provided with a tool magazine, there is also a technique described in Patent Documents 2 to 4.

特開２０００−８４７７９号公報Japanese Unexamined Patent Publication No. 2000-84779 特開２０１３−１７６８３２号公報Japanese Unexamined Patent Publication No. 2013-176832 特開２００２−６６８５６号公報Japanese Unexamined Patent Publication No. 2002-66656 特開平５−２２８７６７号公報Japanese Unexamined Patent Publication No. 5-228767

特許文献１に示す工作機械では、工具マガジンが、ベッドの側面近傍に配置されるので、工作機械の機外（側面）から工具マガジンまでの距離は近い。従って、作業者が工具マガジンに保持される工具を取り外すための機外取り外し位置も工作機械の機外から近い位置に配置できる。このため、作業者と工具マガジンの機外取り外し位置との間に、工具を受け渡すための工具受け渡し装置がなくても、作業者が工具マガジンの工具を容易に取り外すことができるという利点がある。しかし、上記構成では、同様の理由によって、主軸に装着される工具と工具マガジンに保持される工具と、を工具交換装置によって交換するための工具マガジンにおける工具交換位置もベッドの側面近傍となる。このため、工具交換を行なうために、主軸が、工具交換位置に接近する際、主軸の移動距離が大きくなる場合もあり、工具交換に時間がかかってしまう虞がある。 In the machine tool shown in Patent Document 1, since the tool magazine is arranged near the side surface of the bed, the distance from the outside (side surface) of the machine tool to the tool magazine is short. Therefore, the external removal position for the operator to remove the tool held in the tool magazine can also be arranged near the outside of the machine tool. Therefore, there is an advantage that the operator can easily remove the tool of the tool magazine even if there is no tool delivery device for delivering the tool between the operator and the external removal position of the tool magazine. .. However, in the above configuration, for the same reason, the tool exchange position in the tool magazine for exchanging the tool mounted on the spindle and the tool held in the tool magazine by the tool exchange device is also near the side surface of the bed. Therefore, when the spindle approaches the tool change position in order to change the tool, the moving distance of the spindle may become large, and the tool change may take a long time.

また、工具マガジンにおける工具保持部が循環される軌道が、主軸の軸線と平行で、且つベッドの幅方向中央近傍に設けられている場合には、上記と逆となる。つまり、作業者と工具マガジンの機外取り外し位置との間の距離が大きくなるので、工具を受け渡すための工具受け渡し装置が必要となる虞がある。しかし、逆に工具交換位置はベッドの幅方向中央近傍となるため、工具交換のために、主軸が工具交換位置に接近する際、移動距離は相対的に小さくて済み、工具交換を短時間で行なうことができるという利点がある。 Further, when the trajectory in which the tool holding portion of the tool magazine is circulated is parallel to the axis of the spindle and is provided near the center in the width direction of the bed, the opposite is true. That is, since the distance between the operator and the external removal position of the tool magazine becomes large, there is a possibility that a tool delivery device for delivering the tool is required. However, on the contrary, since the tool change position is near the center in the width direction of the bed, when the spindle approaches the tool change position for tool change, the moving distance can be relatively small, and the tool change can be performed in a short time. There is an advantage that it can be done.

本発明は、このような事情に鑑みてなされたものであり、工具交換位置においては、工具交換時に主軸の移動距離が短くて済み、且つ機外取り外し位置においては、工具交換装置を使用しなくても簡易に工具の交換が可能な工具マガジンを備えた工作機械を提供することを目的とする。 The present invention has been made in view of such circumstances, and the moving distance of the spindle at the time of tool change is short at the tool change position, and the tool change device is not used at the tool change position. However, it is an object of the present invention to provide a machine tool equipped with a tool magazine capable of easily exchanging tools.

上記課題を解決するため、請求項１の工作機械は、ベッドと、前記ベッド上に設けられ、工具を着脱可能で且つ前記ベッドの前後方向に平行な軸線周りに回転可能に保持する主軸と、前記ベッドに設けられ、前記工具をそれぞれ保持する複数の工具保持部を循環可能に備え、前記複数の工具保持部の循環面が前記主軸の軸線に平行である前記ベッドの基準側面側を向くように配置される工具マガジンと、を備え、前記工具マガジンは、前記循環面が鉛直平面で形成されるとともに、前記基準側面に対して傾斜し、前記複数の工具保持部は、前記循環面において、前記工具の軸線が前記循環面に直交する方向に一致する状態で前記工具を保持し、前記複数の工具保持部の割り出し位置として、前記ベッドの手前側に位置する前記主軸との工具交換位置と、前記ベッドの奥側に位置する機外取り外し位置とを備えるとともに、前記工具の軸線が前記循環面に直交する方向と前記主軸の軸線に平行な方向との角度範囲にて、前記循環面における前記工具交換位置のうちの第一工具交換位置に位置する前記工具保持部を、前記循環面とは異なる位置に位置する前記工具交換位置のうちの第二工具交換位置まで旋回させる旋回機構を備え、前記工具交換位置と前記基準側面との距離は、前記機外取り外し位置と前記基準側面との距離より長く、前記旋回機構による旋回角度は、前記循環面が前記基準側面に対する傾斜角度分だけ直角より小さく、前記旋回機構による旋回面は、水平面である。 In order to solve the above problems, the machine tool according to claim 1 includes a bed, a spindle provided on the bed, and a tool is detachable and rotatably held around an axis parallel to the front-rear direction of the bed. A plurality of tool holding portions provided on the bed and holding the tools are provided so as to be able to circulate, so that the circulation surface of the plurality of tool holding portions faces the reference side surface side of the bed parallel to the axis of the spindle. The tool magazine includes a tool magazine arranged in the above, and the circulation surface is formed in a vertical plane and is inclined with respect to the reference side surface, and the plurality of tool holding portions are provided on the circulation surface. The tool is held in a state where the axis of the tool coincides with the direction orthogonal to the circulation surface, and the indexing position of the plurality of tool holding portions is a tool exchange position with the main shaft located on the front side of the bed. , Rutotomoni a outboard removal position located on the far side of the bed, at an angle range of the direction parallel to the axis direction and the spindle axis is perpendicular to the circulation plane of the tool, said circulating surface A swivel mechanism that swivels the tool holding portion located at the first tool replacement position of the tool replacement positions in the above to the second tool replacement position of the tool replacement positions located at a position different from the circulation surface. provided, the distance between the tool change position and the reference side, the outboard removal position and rather longer than the distance between the reference side, turning angle by the turning mechanism, angle of inclination said circulating surface is relative to the reference side Only smaller than a right angle, the swivel surface by the swivel mechanism is a horizontal plane .

このように、ベッドの基準側面に対し、工具マガジンの循環面が、傾斜して配置されている。詳細には、工具マガジンの工具交換位置における工具交換位置と基準側面との間の距離が、工具マガジンの機外取り外し位置における機外取り外し位置と基準側面との間の
距離より長くなるよう傾斜して配置されている。このため、機外取り外し位置においては、作業者の手が、機外取り外し位置における工具マガジンの工具に届くため、工具の受け渡し装置を要することなく、作業者が工具の交換を行なうことができる。また、工具交換位置が、ベッドの幅方向中央寄りの位置に配置されるので、主軸は短距離の移動により工具の交換位置に到達できる。このため、工具交換の時間も短縮される。 In this way, the circulation surface of the tool magazine is arranged so as to be inclined with respect to the reference side surface of the bed. Specifically, the distance between the tool change position and the reference side surface at the tool change position of the tool magazine is inclined so as to be longer than the distance between the outside removal position and the reference side surface at the outside removal position of the tool magazine. Are arranged. Therefore, at the external removal position, the operator's hand reaches the tool of the tool magazine at the external removal position, so that the operator can replace the tool without requiring a tool delivery device. Further, since the tool changing position is arranged near the center in the width direction of the bed, the spindle can reach the tool changing position by moving a short distance. Therefore, the time for changing tools is also shortened.

本発明の実施形態である工作機械を前面側から見たときの全体構成図である。It is an overall block diagram when the machine tool which is an embodiment of this invention is seen from the front side. 図１の工作機械を側面側から見たときの一部透視図を含む全体構成図である。It is an overall configuration view including a partial perspective view when the machine tool of FIG. 1 is viewed from the side surface side. 図２の工作機械を上面側から見たときの工具マガジン等を除く、一部透視図を含む全体構成図である。FIG. 5 is an overall configuration diagram including a partial perspective view excluding a tool magazine and the like when the machine tool of FIG. 2 is viewed from the upper surface side. 図２の工作機械を上面側から見たときの工具マガジンを説明するための第一の全体構成図である。It is a 1st overall block diagram for demonstrating the tool magazine when the machine tool of FIG. 2 is seen from the upper surface side. 図２の工作機械を上面側から見たときの工具マガジンを説明するための第二の全体構成図である。2 is a second overall configuration diagram for explaining a tool magazine when the machine tool of FIG. 2 is viewed from the upper surface side. 図２の工作機械を上面側から見たときの加工エリアと主軸メンテナンスエリアとを説明する第三の全体構成図である。FIG. 3 is a third overall configuration diagram illustrating a machining area and a spindle maintenance area when the machine tool of FIG. 2 is viewed from the upper surface side.

（１．工作機械の構成）
工作機械の一例として、４軸横形マシニングセンタを例に挙げ、図１〜図６を参照して説明する。本実施形態において工作機械１は、駆動軸として、相互に直交する３つの直進軸（Ｘ軸（水平方向），Ｙ軸（鉛直方向），Ｚ軸（水平方向））及び１つの揺動回転軸（Ａ軸（Ｘ軸に平行））を有する。具体的には、Ｘ軸線方向は、工作機械１の横方向（幅方向）、Ｚ軸方向は、工作機械１の前後方向（図２において左方を前、右方を後とする）、Ｙ軸線方向は、工作機械１の上下方向（高さ方向）とする。なお、工作機械１で加工される工作物Ｗは、どのようなものでもよく限定はしない。 (1. Machine tool configuration)
As an example of a machine tool, a 4-axis horizontal machining center will be taken as an example, and will be described with reference to FIGS. 1 to 6. In the present embodiment, the machine tool 1 has three linear axes (X-axis (horizontal direction), Y-axis (vertical direction), Z-axis (horizontal direction)) and one swinging rotation axis that are orthogonal to each other as drive axes. (A axis (parallel to the X axis)). Specifically, the X-axis direction is the lateral direction (width direction) of the machine tool 1, and the Z-axis direction is the front-rear direction of the machine tool 1 (in FIG. 2, the left side is the front side and the right side is the rear side), Y. The axial direction is the vertical direction (height direction) of the machine tool 1. The workpiece W processed by the machine tool 1 is not limited to any one.

図１〜図４に示すように、工作機械１は、ベッド２と，主軸サドル３と，主軸台４と，主軸４０と，テーブル支持台５と、テーブル６と，チルト装置７と，工具マガジン８と、工具交換装置９と、制御装置（図示せず）と、構造物１０と、を備える。なお、構造物１０としては、どのような装置を適用してもよいが、本実施形態において構造物１０は、制御盤，油圧装置、空気圧装置等である。 As shown in FIGS. 1 to 4, the machine tool 1 includes a bed 2, a spindle saddle 3, a spindle base 4, a spindle 40, a table support base 5, a table 6, a tilt device 7, and a tool magazine. A tool changing device 9, a control device (not shown), and a structure 10 are provided. Any device may be applied as the structure 10, but in the present embodiment, the structure 10 is a control panel, a hydraulic device, a pneumatic device, or the like.

ベッド２は、直方体状であり、床上に配置される。ベッド２は、図１，図３，図４に示すように、幅方向における側面に基準側面Ｐを備える。ここで、基準側面Ｐは、ベッド２の側面のうち、ベッド２の幅方向において最も外側にある面または点を含み、主軸４０の軸線ＣＬと平行な鉛直面であるものとする。ベッド２上のやや後方（図２の右方）である奥側には、主軸サドル３が、Ｘ軸線方向（図２の紙面奥行き方向）に移動可能に設けられる。主軸サドル３は、直方体状であり、ベッド２上に設けられるＸ軸線方向に延びる一対のガイド部材３１，３１に沿ってＸ軸線方向に移動可能に設けられる。一対のガイド部材３１，３１の間には、主軸サドル３をＸ軸線方向に移動させるボールネジ機構３２を有するＸ軸モータ３３が備えられる。 The bed 2 has a rectangular parallelepiped shape and is arranged on the floor. As shown in FIGS. 1, 3 and 4, the bed 2 is provided with a reference side surface P on a side surface in the width direction. Here, it is assumed that the reference side surface P includes the outermost surface or point in the width direction of the bed 2 among the side surfaces of the bed 2 and is a vertical surface parallel to the axis CL of the main axis 40. A spindle saddle 3 is provided on the back side of the bed 2 slightly rearward (to the right in FIG. 2) so as to be movable in the X-axis direction (paper depth direction in FIG. 2). The spindle saddle 3 has a rectangular parallelepiped shape, and is provided so as to be movable in the X-axis direction along a pair of guide members 31, 31 extending in the X-axis direction provided on the bed 2. An X-axis motor 33 having a ball screw mechanism 32 for moving the spindle saddle 3 in the X-axis direction is provided between the pair of guide members 31, 31.

主軸サドル３上には、主軸台４が設けられる。主軸台４は、主軸サドル３上に設けられるＺ軸線方向に延びる一対のガイド部材４１，４１に沿ってＺ軸線方向に移動可能に設けられる。一対のガイド部材４１，４１の間には、ボールネジ機構４２を有するＺ軸モータ４３が備えられる。ボールネジ機構４２は、主軸台４をＺ軸線方向に移動させる。主軸台４には、回転可能に支持される主軸４０、及び主軸４０をＺ軸線周りで回転させるギヤ機構を有する主軸モータ４４が内蔵される。つまり、主軸４０は、主軸サドル３及び主軸台４によってＸ軸線方向及びＺ軸線方向に移動可能である。また、主軸４０は、ベッド２の前後方向に平行な軸線周りに工作物Ｗを加工する工具Ｔを着脱可能、且つ回転可能に保持する。 A spindle base 4 is provided on the spindle saddle 3. The spindle base 4 is provided so as to be movable in the Z-axis direction along a pair of guide members 41, 41 extending in the Z-axis direction provided on the spindle saddle 3. A Z-axis motor 43 having a ball screw mechanism 42 is provided between the pair of guide members 41 and 41. The ball screw mechanism 42 moves the headstock 4 in the Z-axis direction. The spindle base 4 includes a spindle 40 that is rotatably supported, and a spindle motor 44 that has a gear mechanism that rotates the spindle 40 around the Z axis. That is, the spindle 40 can be moved in the X-axis direction and the Z-axis direction by the spindle saddle 3 and the spindle base 4. Further, the spindle 40 holds the tool T for machining the workpiece W around the axis parallel to the front-rear direction of the bed 2 in a detachable and rotatable manner.

主軸４０に装着される工具Ｔの着脱は、後述する工具交換装置９によって行なわれる。つまり、工具マガジン８に保持される工具Ｔと、主軸４０の先端に装着される工具Ｔとが、工具交換装置９の作動によって、交換される。なお、工具交換装置９は、公知の工具交換装置であるので、詳細な説明については、省略する。 The tool T mounted on the spindle 40 is attached / detached by the tool changing device 9 described later. That is, the tool T held in the tool magazine 8 and the tool T mounted on the tip of the spindle 40 are exchanged by the operation of the tool changing device 9. Since the tool changing device 9 is a known tool changing device, detailed description thereof will be omitted.

図１に示すように、テーブル支持台５は、ベッド２の前面（図２における左側）にＹ軸線方向に移動可能に設けられる。ベッド２の前面にはＹ軸線方向に延びる一対のガイド部材２１，２１が設けられ、テーブル支持台５は、一対のガイド部材２１，２１と係合し、一対のガイド部材２１，２１に沿って移動する。テーブル支持台５は、ボールネジ機構２２の作動によって、昇降される。 As shown in FIG. 1, the table support 5 is provided on the front surface (left side in FIG. 2) of the bed 2 so as to be movable in the Y-axis direction. A pair of guide members 21 and 21 extending in the Y-axis direction are provided on the front surface of the bed 2, and the table support base 5 engages with the pair of guide members 21 and 21 and is along the pair of guide members 21 and 21. Moving. The table support 5 is moved up and down by the operation of the ball screw mechanism 22.

ボールネジ機構２２は、一対のガイド部材２１，２１の間に設けられる。そして、ボールネジ機構２２が備えるＹ軸モータ２３が、図略の制御装置によって回転制御されることにより、Ｙ軸線方向におけるテーブル支持台５の昇降が制御される。 The ball screw mechanism 22 is provided between the pair of guide members 21 and 21. Then, the Y-axis motor 23 included in the ball screw mechanism 22 is rotationally controlled by a control device (not shown), so that the table support 5 is controlled to move up and down in the Y-axis direction.

図４に示すように、チルト装置７は、一対のチルト装置本体７１，７１、及び一対のクレードル７２，７２を備える。一対のチルト装置本体７１，７１は、直方体形状で形成され、Ｘ軸線方向におけるテーブル支持台５の上面５ａの両端に配置される。また、一対のクレードル７２，７２は、それぞれチルト装置本体７１，７１の間においてＡ軸線周りで揺動（回転）可能となるよう各チルト装置本体７１，７１にそれぞれ設けられる（図４参照）。チルト装置本体７１，７１の一方には、クレードル７２，７２及びテーブル６をＡ軸線周りで回転（揺動）させるギヤ機構（図略）を有するＡ軸モータ７３が設けられる（図１参照）。 As shown in FIG. 4, the tilt device 7 includes a pair of tilt device main bodies 71, 71 and a pair of cradle 72, 72. The pair of tilt device main bodies 71, 71 are formed in a rectangular parallelepiped shape and are arranged at both ends of the upper surface 5a of the table support base 5 in the X-axis direction. Further, the pair of cradle 72, 72 is provided in each of the tilt device main bodies 71, 71 so as to be able to swing (rotate) around the A axis between the tilt device main bodies 71, 71, respectively (see FIG. 4). One of the tilt device main bodies 71, 71 is provided with an A-axis motor 73 having a gear mechanism (not shown) for rotating (swinging) the cradle 72, 72 and the table 6 around the A-axis (see FIG. 1).

工作物Ｗが固定されるテーブル６は、チルト装置７の一対のクレードル７２，７２の上面に溶接やボルト連結等の所定の手段により固定される。これにより、テーブル支持台５の昇降に伴い、テーブル６が、チルト装置７とともに、Ｙ軸線方向に移動（昇降）可能となる。 The table 6 to which the workpiece W is fixed is fixed to the upper surfaces of the pair of cradle 72, 72 of the tilt device 7 by a predetermined means such as welding or bolt connection. As a result, the table 6 can move (elevate) in the Y-axis direction together with the tilt device 7 as the table support 5 moves up and down.

（２．工具マガジンについて）
工具マガジン８は、図２に示すようにベッド２上に、複数の支持脚１０１に支持される支持板１００上に固定される。工具マガジン８は、主軸４０に装着される交換用の複数の工具Ｔを供給する装置である。工具マガジン８は、複数の工具Ｔを工具保持部８１に保持する。工具保持部８１は、楕円軌道を循環可能に構成される。そして、複数の工具Ｔを保持する工具保持部８１の循環面８１ａ（図４参照）が、ベッド２の基準側面Ｐ側を向くように配置される。このとき、工具マガジン８の循環面８１ａとは、複数の工具Ｔを保持する工具マガジン８の工具保持部８１が、各工具Ｔを保持する位置（または点）同士をつないで形成した仮想面である。 (2. About tool magazine)
As shown in FIG. 2, the tool magazine 8 is fixed on the bed 2 and on the support plates 100 supported by the plurality of support legs 101. The tool magazine 8 is a device that supplies a plurality of replacement tools T mounted on the spindle 40. The tool magazine 8 holds a plurality of tools T in the tool holding portion 81. The tool holding portion 81 is configured to be able to circulate in an elliptical orbit. Then, the circulation surface 81a (see FIG. 4) of the tool holding portion 81 for holding the plurality of tools T is arranged so as to face the reference side surface P side of the bed 2. At this time, the circulation surface 81a of the tool magazine 8 is a virtual surface formed by connecting the positions (or points) of the tool holding portions 81 of the tool magazine 8 holding the plurality of tools T to each other. is there.

なお、上記において、「工具マガジン８の循環面８１ａが、ベッド２の基準側面Ｐ側を向くように配置される」とは、本実施形態においては、循環面８１ａを鉛直平面とした状態で、循環面８１ａがベッド２の基準側面Ｐ側に面する（向く）よう配置されることをいう。言い換えると、循環面８１ａを鉛直平面とし、循環面８１ａが、基準側面Ｐ側から視認可能となるよう配置されることをいう。そして、工具マガジン８の循環面８１ａは、図４に示すように、ベッド２の基準側面Ｐに対して所定の傾斜角度α°だけ傾斜して設けられる。なお、循環面８１ａの傾斜については、後に詳述する。 In the above, "the circulation surface 81a of the tool magazine 8 is arranged so as to face the reference side surface P side of the bed 2" means that in the present embodiment, the circulation surface 81a is a vertical plane. It means that the circulation surface 81a is arranged so as to face (face) the reference side surface P side of the bed 2. In other words, the circulation surface 81a is a vertical plane, and the circulation surface 81a is arranged so as to be visible from the reference side surface P side. Then, as shown in FIG. 4, the circulation surface 81a of the tool magazine 8 is provided so as to be inclined by a predetermined inclination angle α ° with respect to the reference side surface P of the bed 2. The inclination of the circulation surface 81a will be described in detail later.

図１、図４、図５に示すように、工具マガジン８は、複数の工具保持部８１の割り出し位置として、工具交換位置Ｑと、機外取り外し位置Ｒと、を備える。工具交換位置Ｑは、ベッド２の前方側（手前側に相当）に位置し、主軸４０に装着される工具Ｔとの交換を可能とする工具保持部８１の位置である。また、機外取り外し位置Ｒは、ベッド２の後方側（奥側に相当）に位置し、工具マガジン８が有する工具保持部８１から工具Ｔを取り外すことを可能とする位置である。これらの位置の割り出しは、図略の制御装置によって制御される。 As shown in FIGS. 1, 4, and 5, the tool magazine 8 includes a tool changing position Q and an external removal position R as indexing positions of a plurality of tool holding portions 81. The tool change position Q is a position of a tool holding portion 81 that is located on the front side (corresponding to the front side) of the bed 2 and enables replacement with the tool T mounted on the spindle 40. Further, the external removal position R is located on the rear side (corresponding to the back side) of the bed 2 and is a position capable of removing the tool T from the tool holding portion 81 of the tool magazine 8. Determining these positions is controlled by a control device (not shown).

前述したように、工具マガジン８の循環面８１ａは、ベッド２の基準側面Ｐに対して所定の傾斜角度α°だけ傾斜して設けられる。このときの傾斜の方向は、図５に示すように、工具交換位置Ｑと基準側面Ｐとの距離Ｌ１が、機外取り外し位置Ｒと基準側面Ｐとの距離Ｌ２より長くなるよう配置される（Ｌ１＞Ｌ２）。なお、所定の傾斜角度α°は、任意に設定すればよい。本実施形態では、所定の傾斜角度α°は、例えば１０ｄｅｇ〜２０ｄｅｇの間である。ただし、この態様には限らず、傾斜角度α°は、何度でもよい。 As described above, the circulation surface 81a of the tool magazine 8 is provided so as to be inclined by a predetermined inclination angle α ° with respect to the reference side surface P of the bed 2. As shown in FIG. 5, the direction of inclination at this time is arranged so that the distance L1 between the tool change position Q and the reference side surface P is longer than the distance L2 between the external removal position R and the reference side surface P ( L1> L2). The predetermined tilt angle α ° may be arbitrarily set. In the present embodiment, the predetermined tilt angle α ° is, for example, between 10 deg and 20 deg. However, the present invention is not limited to this mode, and the inclination angle α ° may be any number of times.

図４に示すように、工具マガジン８の循環面８１ａを循環する複数の工具保持部８１では、保持する各工具Ｔの軸線ｃｌが、循環面８１ａと直交する方向に一致する状態で各工具Ｔを保持する。また、工具マガジン８は、図４，図５に示すように、工具Ｔの軸線ｃｌが、循環面８１ａに直交する方向と主軸４０の軸線に平行な方向との角度範囲にて、工具交換位置Ｑに配置される工具保持部８１を旋回する旋回機構８２を備える。 As shown in FIG. 4, in the plurality of tool holding portions 81 circulating in the circulation surface 81a of the tool magazine 8, each tool T is held in a state where the axis cl of each tool T is aligned with the direction orthogonal to the circulation surface 81a. To hold. Further, as shown in FIGS. 4 and 5, the tool magazine 8 has a tool change position in an angle range between the direction in which the axis cl of the tool T is orthogonal to the circulation surface 81a and the direction parallel to the axis of the spindle 40. A swivel mechanism 82 that swivels the tool holding portion 81 arranged in the Q is provided.

本実施形態においては、旋回機構８２により旋回された後における工具保持部８１に保持される工具Ｔの軸線は、主軸４０の軸線と平行となる。このため、旋回機構８２による旋回角度β°は、工具マガジン８の循環面８１ａが、基準側面Ｐに対する傾斜角度α°分だけ、直角より小さな角度となる。なお、旋回機構８２の作動は、図略のリンク機構によって行なわれ、リンク機構（図略）は、図略の制御装置によって制御される。また、以降の説明においては、説明の都合上、工具交換位置Ｑにおいて、旋回機構８２によって旋回される前に割り出された工具保持部８１の位置を工具交換位置Ｑ１とし、旋回機構８２によって旋回された後における工具保持部８１の位置を工具交換位置Ｑ２として説明する。 In the present embodiment, the axis of the tool T held by the tool holding portion 81 after being swiveled by the swivel mechanism 82 is parallel to the axis of the spindle 40. Therefore, the turning angle β ° by the turning mechanism 82 is smaller than the right angle by the inclination angle α ° of the circulation surface 81a of the tool magazine 8 with respect to the reference side surface P. The operation of the swivel mechanism 82 is performed by the link mechanism (not shown), and the link mechanism (not shown) is controlled by the control device (not shown). Further, in the following description, for convenience of explanation, at the tool change position Q, the position of the tool holding portion 81 determined before being turned by the turning mechanism 82 is set as the tool changing position Q1, and the tool is turned by the turning mechanism 82. The position of the tool holding portion 81 after the tool holding portion 81 is described as the tool changing position Q2.

図１、図２、図４に示す工具交換装置９は、工具マガジン８の複数の工具Ｔのうち、旋回機構８２の作動により、工具交換位置Ｑ１から工具交換位置Ｑ２に移動される工具Ｔと、主軸４０に装着されている工具Ｔとを交換する公知の装置である。公知であるため、詳細な説明は省略する。図４に示すように、本実施形態において、工具交換装置９は、ベッド２の幅方向（Ｘ軸線方向）のほぼ中央に配置される。 The tool changing device 9 shown in FIGS. 1, 2 and 4 is a tool T that is moved from the tool changing position Q1 to the tool changing position Q2 by the operation of the turning mechanism 82 among the plurality of tools T of the tool magazine 8. , A known device for exchanging a tool T mounted on the spindle 40. Since it is known, detailed description thereof will be omitted. As shown in FIG. 4, in the present embodiment, the tool changing device 9 is arranged substantially at the center in the width direction (X-axis direction) of the bed 2.

工具交換装置９は、旋回アーム９０と、旋回アーム９０を回転軸周りに回転させるモータ９３と、を備える。旋回アーム９０は、両端に把持部９１及び把持部９２を備える。把持部９１、９２にいずれかの把持部は、工具マガジン８において、工具交換位置Ｑ１に割り出され、旋回機構８２によって旋回された後、工具交換位置Ｑ２に位置する工具Ｔの溝部Ｔｍ１を把持する（図２参照）。また、把持部９１、９２のうち残った把持部は、主軸４０に装着されている工具Ｔの溝部Ｔｍ２を把持する（図２、破線参照）。 The tool changing device 9 includes a swivel arm 90 and a motor 93 that rotates the swivel arm 90 around a rotation axis. The swivel arm 90 includes a grip portion 91 and a grip portion 92 at both ends. One of the grips 91 and 92 in the grips 91 and 92 is indexed to the tool change position Q1 in the tool magazine 8, swiveled by the swivel mechanism 82, and then grips the groove Tm1 of the tool T located at the tool change position Q2. (See Fig. 2). Further, the remaining grip portion of the grip portions 91 and 92 grips the groove portion Tm2 of the tool T mounted on the spindle 40 (see FIG. 2, broken line).

把持部９１と、把持部９２とは、旋回アーム９０の軸線周りにおいて、１８０度位相がずれた状態で配置される。また、モータ９３は、把持部９１及び把持部９２の中間位置に回転軸が配置されるよう設けられる。 The grip portion 91 and the grip portion 92 are arranged in a state of being 180 degrees out of phase around the axis of the swivel arm 90. Further, the motor 93 is provided so that the rotation shaft is arranged at an intermediate position between the grip portion 91 and the grip portion 92.

なお、工具交換装置９は、モータ９３によって、把持部９１，９２を、軸線周りに回転させるだけではない。工具交換装置９は、把持部９１，９２によって、軸線方向前方に移動し各工具Ｔを各保持部から引き抜く動作、及び軸線方向後方に後退し各工具Ｔを各保持部に差し込む動作も行なう。 The tool changing device 9 does not only rotate the grip portions 91 and 92 around the axis by the motor 93. The tool changing device 9 also performs an operation of moving forward in the axial direction and pulling out each tool T from each holding portion by the grip portions 91 and 92, and an operation of retreating backward in the axial direction and inserting each tool T into each holding portion.

前述したように、工具交換装置９では、主軸４０の軸線と、工具交換位置Ｑ２に移動された工具マガジン８の工具Ｔの軸線との間の中間点に工具交換装置９のモータ９３の回転軸が一致するよう構成される。そして、このとき、工具交換位置Ｑ１から工具交換位置Ｑ２に移動された工具マガジン８の工具Ｔの軸線は、主軸４０の軸線の鉛直方向上方に配置される（図１参照）。ただし、これはあくまで一例であって、この態様には限らない。交換される工具マガジン８の工具Ｔは、主軸４０の軸線に対して相対的に上方にあればよく、鉛直方向上方に有る必要はない。なお、上記において、主軸４０の工具Ｔと工具マガジン８の工具Ｔとの間で各工具Ｔの交換が行なわれる際における、主軸４０の位置を主軸工具交換位置ＳＱと称して、以後、説明する。 As described above, in the tool changing device 9, the rotating shaft of the motor 93 of the tool changing device 9 is located at an intermediate point between the axis of the spindle 40 and the axis of the tool T of the tool magazine 8 moved to the tool changing position Q2. Are configured to match. At this time, the axis of the tool T of the tool magazine 8 moved from the tool change position Q1 to the tool change position Q2 is arranged vertically above the axis of the spindle 40 (see FIG. 1). However, this is just an example, and is not limited to this aspect. The tool T of the tool magazine 8 to be replaced may be relatively upward with respect to the axis of the main shaft 40, and does not have to be upward in the vertical direction. In the above, when each tool T is exchanged between the tool T of the spindle 40 and the tool T of the tool magazine 8, the position of the spindle 40 is referred to as the spindle tool exchange position SQ, and will be described below. ..

そして、このように構成された工具マガジン８と主軸４０とを上方からみると、図６に示すように、主軸４０が移動可能な移動エリアは、工具マガジン８に対して上下方向で重複する工作物Ｗの加工エリアである図６左方のＡｒ１（前方の斜線部）、及び加工エリアＡｒ１より後方に位置し、且つ、工具マガジン８に対して上下方向で重複しない主軸メンテナンスエリアである図６右方のＡｒ２（斜め後方の斜線部）である。 When the tool magazine 8 and the spindle 40 configured in this way are viewed from above, as shown in FIG. 6, the movable area in which the spindle 40 can move overlaps the tool magazine 8 in the vertical direction. FIG. 6 which is a machining area of the object W, Ar1 on the left side (hatched portion in front), and a spindle maintenance area which is located behind the machining area Ar1 and which does not overlap with the tool magazine 8 in the vertical direction. Ar2 on the right (diagonal diagonally rearward shaded area).

なお、図６では、加工エリアＡｒ１、及び主軸メンテナンスエリアＡｒ２をわかりやすく説明するため、長方形の組み合わせによって簡素化し二点鎖線で描いた主軸４０を表した。そして、主軸４０の工具Ｔが加工エリアＡｒ１に配置された第一位置Ｆ１と、主軸４０が工具マガジン８と重複しない主軸メンテナンスエリアＡｒ２に配置された第二位置Ｆ２との状態を同時に記載してある。 In FIG. 6, in order to explain the machining area Ar1 and the spindle maintenance area Ar2 in an easy-to-understand manner, the spindle 40 drawn by a two-dot chain line is shown simplified by a combination of rectangles. Then, the states of the first position F1 in which the tool T of the spindle 40 is arranged in the machining area Ar1 and the second position F2 in which the spindle 40 is arranged in the spindle maintenance area Ar2 where the spindle 40 does not overlap with the tool magazine 8 are described at the same time. is there.

さらに、工作機械１では、図１〜図４に示すように、構造物１０が、工作機械１（ベッド２）の前後方向において、工具マガジン８より奥側に配置される。そして、工具マガジン８の機外取り外し位置Ｒは、図４に示すように、ベッド２の幅方向（横方向に相当）において、構造物１０よりベッド２の基準側面Ｐ側に位置する。このため、作業者は、構造物１０よりベッド２の基準側面Ｐ側の空間Ａｒ３（斜線部参照）で、機外取り外し位置Ｒに割り出された工具Ｔの交換を、工具受け渡し装置を用いず素手で行なうことができる。 Further, in the machine tool 1, as shown in FIGS. 1 to 4, the structure 10 is arranged behind the tool magazine 8 in the front-rear direction of the machine tool 1 (bed 2). Then, as shown in FIG. 4, the external removal position R of the tool magazine 8 is located on the reference side surface P side of the bed 2 with respect to the structure 10 in the width direction (corresponding to the lateral direction) of the bed 2. Therefore, the operator does not use the tool delivery device to replace the tool T determined at the external removal position R in the space Ar3 (see the shaded area) on the reference side surface P side of the bed 2 from the structure 10. It can be done with bare hands.

（３．作用について）
次に、作用について説明する。説明の前提として、主軸４０に工具Ｔ１が装着されているものとする。そして、主軸４０が、加工エリアＡｒ１のうち、図６に示すＦ１位置で、工作物Ｗの加工を実施しているものとする。このとき、工具交換装置９は、加工エリアＡｒ１内で、且つ主軸４０の上方に配置される。より詳細には、工具交換装置９の回転軸、即ちモータ９３の回転軸は、ベッド２の幅方向中央に配置されている。 (3. Action)
Next, the action will be described. As a premise of the explanation, it is assumed that the tool T1 is mounted on the spindle 40. Then, it is assumed that the spindle 40 is machining the workpiece W at the F1 position shown in FIG. 6 in the machining area Ar1. At this time, the tool changing device 9 is arranged in the machining area Ar1 and above the spindle 40. More specifically, the rotation axis of the tool changer 9, that is, the rotation axis of the motor 93 is arranged at the center in the width direction of the bed 2.

このような状態において、主軸４０が、装着された工具Ｔ１によって加工エリアＡｒ１で加工を行なっている。そして、プログラムされた工具Ｔ１による加工が終了すると、次の工具Ｔ２への交換処理が図略の制御装置によって実行される。制御装置は、工具マガジン８が保持する複数の工具保持部８１が備える各工具Ｔの現在の位置を記憶している。そこで、制御装置は、循環面８１ａにおいて、工具Ｔ２を保持する工具保持部８１を循環させ、工具交換位置Ｑ１（Ｑ）に割り出す。その後、制御装置は、工具マガジン８が有する旋回機構８２を作動させる。これにより、工具Ｔ２を保持する工具保持部８１をβ°旋回させ、工具Ｔ２の軸線ｃｌを主軸４０の軸線と平行として工具保持部８１を工具交換位置Ｑ２（Ｑ）に移動させる。 In such a state, the spindle 40 is machined in the machining area Ar1 by the mounted tool T1. Then, when the machining by the programmed tool T1 is completed, the next replacement process with the tool T2 is executed by the control device (not shown). The control device stores the current position of each tool T included in the plurality of tool holding portions 81 held by the tool magazine 8. Therefore, the control device circulates the tool holding portion 81 for holding the tool T2 on the circulation surface 81a and determines the tool changing position Q1 (Q). After that, the control device operates the swivel mechanism 82 included in the tool magazine 8. As a result, the tool holding portion 81 that holds the tool T2 is swiveled by β °, and the tool holding portion 81 is moved to the tool replacement position Q2 (Q) with the axis cl of the tool T2 parallel to the axis of the spindle 40.

なお、このとき同時に、加工エリアＡｒ１において、工具Ｔ１による工作物Ｗへの加工が終了した主軸４０も、制御装置によって、工具交換位置Ｑ２の鉛直方向下方に設定される主軸工具交換位置ＳＱに移動される。このとき、主軸工具交換位置ＳＱは、工具交換装置９と同様、加工エリアＡｒ１内に位置する。このため、主軸４０は、加工直後、主軸サドル３及び主軸台４の作動によって短時間で主軸工具交換位置ＳＱに到達可能である。 At the same time, in the machining area Ar1, the spindle 40 for which the tool T1 has finished machining the workpiece W is also moved to the spindle tool replacement position SQ set vertically below the tool replacement position Q2 by the control device. Will be done. At this time, the spindle tool change position SQ is located in the machining area Ar1 as in the tool change device 9. Therefore, the spindle 40 can reach the spindle tool replacement position SQ in a short time by operating the spindle saddle 3 and the spindle base 4 immediately after machining.

工具Ｔ２が工具交換位置Ｑ２（Ｑ）に移動し、主軸４０が主軸工具交換位置ＳＱに移動すると、制御装置は、工具交換装置９を作動させる。制御装置は、旋回アーム９０を図１において時計回りに１８０度回転させ、把持部９１で工具Ｔ２の溝部Ｔｍ１を把持させるとともに、把持部９２で主軸４０の工具Ｔ１の溝部Ｔｍ２を把持させる。 When the tool T2 moves to the tool change position Q2 (Q) and the spindle 40 moves to the spindle tool change position SQ, the control device operates the tool change device 9. The control device rotates the swivel arm 90 clockwise by 180 degrees in FIG. 1, and causes the grip portion 91 to grip the groove portion Tm1 of the tool T2 and the grip portion 92 to grip the groove portion Tm2 of the tool T1 of the spindle 40.

その後、制御装置は、旋回アーム９０を軸線方向前方に移動させ、工具Ｔ１、Ｔ２を各保持部から引き抜く。制御装置は、工具Ｔ１、Ｔ２を各保持部から引き抜いた後、旋回アーム９０を、さらに時計回りに１８０度回転させる。そして、１８０度回転させた後、後退移動することで、工具Ｔ１を、先ほどまで工具Ｔ２が保持されていた工具保持部８１に差込み、工具Ｔ２を、主軸４０の保持部に差込む。 After that, the control device moves the swivel arm 90 forward in the axial direction and pulls out the tools T1 and T2 from the holding portions. After pulling out the tools T1 and T2 from the holding portions, the control device further rotates the swivel arm 90 clockwise by 180 degrees. Then, after rotating 180 degrees, the tool T1 is inserted into the tool holding portion 81 in which the tool T2 was held, and the tool T2 is inserted into the holding portion of the spindle 40 by moving backward.

これにより、工具Ｔ１とＴ２との交換が完了する。この後、工具Ｔ１は、工具マガジン８が備える旋回機構８２の作動によって−β°旋回され、工具マガジン８の循環面８１ａに移動される。そして、工具Ｔ１の位置は、制御装置によって記憶される。 This completes the replacement of the tools T1 and T2. After that, the tool T1 is swiveled by −β ° by the operation of the swivel mechanism 82 included in the tool magazine 8, and is moved to the circulation surface 81a of the tool magazine 8. Then, the position of the tool T1 is stored by the control device.

また、制御装置によって、工具マガジン８に保持される工具Ｔが不要と判断された場合、または、工具マガジン８に新たな工具Ｔの追加が必要と判断された場合、制御装置は、不要となる工具Ｔが保持される工具保持部８１、または追加が必要となる工具保持部８１を循環面８１ａに沿って作動させ、図４に示す機外取り外し位置Ｒに割り出す。 Further, when the control device determines that the tool T held in the tool magazine 8 is unnecessary, or when it is determined that a new tool T needs to be added to the tool magazine 8, the control device becomes unnecessary. The tool holding portion 81 on which the tool T is held or the tool holding portion 81 that needs to be added is operated along the circulation surface 81a and is indexed to the external removal position R shown in FIG.

このとき、本実施形態では、機外取り外し位置Ｒの奥、つまり機外取り外し位置Ｒの後方で、且つ構造物１０の基準側面Ｐ側には、空間Ａｒ３が設けられている。空間Ａｒ３は、機外取り外し位置Ｒと非常に近い位置にあり、作業者の手が、機外取り外し位置Ｒにおける工具マガジン８の工具Ｔに届く位置である。このため、作業者は、空間Ａｒ３において、工具Ｔの受け渡し装置を使用せずとも、工具Ｔの補充または交換を素手で簡易に行なうことができる。 At this time, in the present embodiment, the space Ar3 is provided at the back of the external removal position R, that is, behind the external removal position R and on the reference side surface P side of the structure 10. The space Ar3 is located at a position very close to the external removal position R, and is a position where the operator's hand reaches the tool T of the tool magazine 8 at the external removal position R. Therefore, the operator can easily replenish or replace the tool T with bare hands in the space Ar3 without using the tool T delivery device.

なお、上記態様に限らず、機外取り外し位置Ｒにおいては、ベッド２の基準側面Ｐ側からでも、作業者の手は、工具マガジン８の工具Ｔに十分届く。このため、空間Ａｒ３だけでなく、基準側面Ｐ側から、工具Ｔの受け渡し装置を使用することなく、工具Ｔの補充または交換を素手で行なってもよい。 Not limited to the above aspect, at the external removal position R, the operator's hand can sufficiently reach the tool T of the tool magazine 8 even from the reference side surface P side of the bed 2. Therefore, the tool T may be replenished or replaced with bare hands not only from the space Ar3 but also from the reference side surface P side without using the tool T delivery device.

また、本実施形態において、主軸４０を取り外し、主軸４０のメンテナンスを行なう場合、図６に示すように、主軸４０を主軸メンテナンスエリアＡｒ２まで移動させればよい。このエリアは、上方から見たとき、主軸４０と工具マガジン８とが全く重複しないエリアである。これにより、主軸４０を上方に持ち上げ取り外すことができる。 Further, in the present embodiment, when the spindle 40 is removed and the spindle 40 is maintained, the spindle 40 may be moved to the spindle maintenance area Ar2 as shown in FIG. This area is an area where the spindle 40 and the tool magazine 8 do not overlap at all when viewed from above. As a result, the spindle 40 can be lifted upward and removed.

（４．本実施形態による効果）
上記実施形態によれば、工作機械１は、ベッド２と、ベッド２上に設けられ、工具Ｔを着脱可能に保持する主軸４０と、ベッド２に設けられ、工具Ｔをそれぞれ保持する複数の工具保持部８１を循環可能に備え、複数の工具保持部８１の循環面８１ａがベッド２の基準側面Ｐ側を向くように配置される工具マガジン８と、を備える。工具マガジン８は、複数の工具保持部８１の割り出し位置として、ベッド２の手前側に位置する主軸４０との工具交換位置Ｑと、ベッド２の奥側に位置する機外取り外し位置Ｒとを備える。そして、循環面８１ａは、基準側面Ｐに対して傾斜し、工具交換位置Ｑと基準側面Ｐとの距離Ｌ１は、機外取り外し位置Ｒと基準側面Ｐとの距離より長い。 (4. Effect of this embodiment)
According to the above embodiment, the machine tool 1 is provided on the bed 2, a spindle 40 provided on the bed 2 and holding the tool T detachably, and a plurality of tools provided on the bed 2 and holding the tool T, respectively. The holding portion 81 is provided so as to be able to circulate, and the tool magazine 8 is provided so that the circulation surfaces 81a of the plurality of tool holding portions 81 are arranged so as to face the reference side surface P side of the bed 2. The tool magazine 8 includes a tool exchange position Q with the spindle 40 located on the front side of the bed 2 and an external removal position R located on the back side of the bed 2 as indexing positions of the plurality of tool holding portions 81. .. The circulation surface 81a is inclined with respect to the reference side surface P, and the distance L1 between the tool change position Q and the reference side surface P is longer than the distance between the external removal position R and the reference side surface P.

このように、ベッド２の基準側面Ｐに対し、工具マガジン８の循環面８１ａが、傾斜して配置される。そして、この傾斜は、工具マガジン８の工具交換位置Ｑと基準側面Ｐとの間の距離Ｌ１が、工具マガジン８の機外取り外し位置Ｒと基準側面との間の距離Ｌ２より長くなる傾斜である。このため、機外取り外し位置Ｒにおいては、作業者の手が、工具マガジン８の工具Ｔに届くため、工具Ｔの受け渡し装置を使用することなく、作業者が工具Ｔの交換を行なうことができる。また、工具交換位置Ｑが、ベッド２の幅方向中央寄りの位置に配置されるので、主軸４０は短距離の移動により工具Ｔの交換位置に素早く到達できる。このため、工具交換の時間も短縮される。 In this way, the circulation surface 81a of the tool magazine 8 is arranged so as to be inclined with respect to the reference side surface P of the bed 2. The inclination is such that the distance L1 between the tool replacement position Q of the tool magazine 8 and the reference side surface P is longer than the distance L2 between the tool magazine 8's external removal position R and the reference side surface. .. Therefore, at the external removal position R, the operator's hand reaches the tool T of the tool magazine 8, so that the operator can replace the tool T without using the tool T delivery device. .. Further, since the tool changing position Q is arranged at a position closer to the center in the width direction of the bed 2, the spindle 40 can quickly reach the changing position of the tool T by moving a short distance. Therefore, the time for changing tools is also shortened.

また、上記実施形態によれば、主軸４０は、ベッド２の前後方向に平行な軸線周りに工具Ｔを回転可能に保持する。また、複数の工具保持部８１は、工具Ｔの軸線が循環面８１ａに直交する方向に一致する状態で工具Ｔを保持する。さらに、工具マガジン８は、工具Ｔの軸線が循環面８１ａに直交する方向と主軸４０の軸線に平行な方向との角度範囲にて、工具交換位置Ｑに位置する工具保持部８１を旋回する旋回機構８２を備え、旋回機構８２による旋回角度β°は、循環面８１ａが基準側面Ｐに対する傾斜角度α°分だけ、直角より小さい。これにより、旋回機構８２による旋回時間は、９０ｄｅｇ旋回される場合と比較して短縮されるので、工具交換時間もその分短縮される。 Further, according to the above embodiment, the spindle 40 rotatably holds the tool T around an axis parallel to the front-rear direction of the bed 2. Further, the plurality of tool holding portions 81 hold the tool T in a state where the axis of the tool T coincides with the direction orthogonal to the circulation surface 81a. Further, the tool magazine 8 swivels the tool holding portion 81 located at the tool change position Q in an angle range between the direction in which the axis of the tool T is orthogonal to the circulation surface 81a and the direction parallel to the axis of the spindle 40. The mechanism 82 is provided, and the turning angle β ° by the turning mechanism 82 is smaller than the right angle by the inclination angle α ° of the circulation surface 81a with respect to the reference side surface P. As a result, the turning time by the turning mechanism 82 is shortened as compared with the case where the turning mechanism 82 is turned by 90 deg, so that the tool change time is also shortened accordingly.

また、上記実施形態によれば、工作機械１は、前後方向において、工具マガジン８より奥側に配置される構造物１０を備え、機外取り外し位置Ｒは、横方向（幅方向）において、構造物１０よりベッド２の基準側面Ｐ側に位置する。これにより、作業者は、機外取り外し位置Ｒの奥側で、且つ構造物１０の基準側面Ｐ側のエリアにおいて、工具マガジン８の機外取り外し位置に位置する工具Ｔの取り外し作業を行なうことができる。つまり、作業者は、ベッド２の側面に立つことなく、機外取り外し位置に位置する工具Ｔの取り外し作業を行なうことができる。これにより、工場などの生産ライン中で複数の工作機械を隣接して並べる場合に、隣接する工作機械との間である工作機械１の側方に作業者が工具取り外し作業を行なうために必要な作業スペースを設ける必要がなく、側方に作業スペースを設ける場合よりも隣接する工作機械間の距離を小さくできる。従って、工場において、工作機械１の設置スペースを縮小することができる。 Further, according to the above embodiment, the machine tool 1 includes a structure 10 arranged behind the tool magazine 8 in the front-rear direction, and the external removal position R is a structure in the lateral direction (width direction). It is located on the reference side surface P side of the bed 2 from the object 10. As a result, the operator can remove the tool T located at the external removal position of the tool magazine 8 in the area behind the external removal position R and on the reference side surface P side of the structure 10. it can. That is, the operator can remove the tool T located at the external removal position without standing on the side surface of the bed 2. As a result, when a plurality of machine tools are arranged adjacent to each other in a production line such as a factory, it is necessary for the operator to perform the tool removal work on the side of the machine tool 1 between the adjacent machine tools. It is not necessary to provide a work space, and the distance between adjacent machine tools can be made smaller than when a work space is provided on the side. Therefore, the installation space of the machine tool 1 can be reduced in the factory.

また、上記実施形態によれば、主軸４０は、ベッド２に対して移動可能に設けられ、工具マガジン８は、上下方向において、主軸４０の上方に配置される。主軸４０の移動エリアは、上方から見た場合に、工具マガジン８に対して重複する工作物Ｗの加工エリアＡｒ１と、加工エリアＡｒ１より後方に位置し、且つ、工具マガジン８に対して重複しない主軸メンテナンスエリアＡｒ２と、を備える。これにより、主軸４０を主軸メンテナンスエリアＡｒ２に移動させることで、主軸４０を上方から吊り上げ、容易にメンテナンスができる。 Further, according to the above embodiment, the spindle 40 is provided so as to be movable with respect to the bed 2, and the tool magazine 8 is arranged above the spindle 40 in the vertical direction. The moving area of the spindle 40 is located behind the machining area Ar1 of the workpiece W that overlaps with the tool magazine 8 and does not overlap with the tool magazine 8 when viewed from above. It is provided with a spindle maintenance area Ar2. As a result, by moving the spindle 40 to the spindle maintenance area Ar2, the spindle 40 can be lifted from above and maintenance can be easily performed.

なお、上記実施形態においては、複数の工具保持部８１は、工具保持部８１が保持する工具Ｔの軸線が循環面８１ａに直交する方向に一致する状態で工具Ｔを保持した。しかし、この態様には限らない。工具Ｔの軸線は、循環面８１ａに直交していなくてもよい。この場合、旋回機構８２を、循環面８１ａに直交しない工具Ｔに対応させるよう変更する必要がある。しかし、この態様によっても、機外取り外し位置Ｒにおける工具Ｔの受け渡し装置の廃止、及び工具交換位置Ｑにおける工具交換時間の短縮については、十分効果が得られる。 In the above embodiment, the plurality of tool holding portions 81 hold the tool T in a state where the axis of the tool T held by the tool holding portion 81 coincides with the direction orthogonal to the circulation surface 81a. However, it is not limited to this aspect. The axis of the tool T does not have to be orthogonal to the circulation surface 81a. In this case, it is necessary to change the swivel mechanism 82 so as to correspond to the tool T which is not orthogonal to the circulation surface 81a. However, even with this aspect, sufficient effects can be obtained with respect to the abolition of the tool T delivery device at the external removal position R and the shortening of the tool exchange time at the tool exchange position Q.

また、上記実施形態においては、工具マガジン８の循環面８１ａを鉛直平面とした状態で、循環面８１ａがベッド２の基準側面Ｐ側に面する（向く）よう工具マガジン８を配置した。しかし、この態様には、限らない。循環面８１ａは、鉛直平面に対し、所定の傾きを有した状態でベッド２の基準側面Ｐ側に向かって配置してもよい。この場合においても上記と同様、旋回機構８２を、所定の傾きを有して配置された循環面８１ａと直交する工具Ｔに対応させるよう変更する必要がある。しかし、この態様によっても、機外取り外し位置Ｒにおける工具Ｔの受け渡し装置の廃止、及び工具交換位置Ｑにおける工具交換時間の短縮については、十分効果が得られる。 Further, in the above embodiment, the tool magazine 8 is arranged so that the circulation surface 81a of the tool magazine 8 faces (facing) the reference side surface P side of the bed 2 in a state where the circulation surface 81a is a vertical plane. However, this aspect is not limited to this. The circulation surface 81a may be arranged toward the reference side surface P side of the bed 2 with a predetermined inclination with respect to the vertical plane. Also in this case, similarly to the above, it is necessary to change the swivel mechanism 82 so as to correspond to the tool T orthogonal to the circulation surface 81a arranged with a predetermined inclination. However, even with this aspect, sufficient effects can be obtained with respect to the abolition of the tool T delivery device at the external removal position R and the shortening of the tool exchange time at the tool exchange position Q.

１・・・工作機械、 ２・・・ベッド、 ３・・・主軸サドル、 ４・・・主軸台、 ６・・・テーブル、 ８・・・工具マガジン、 ９・・・工具交換装置、 １０・・・構造物、 ４０・・・主軸、 ８１・・・工具保持部、 ８１ａ・・・循環面、 ８２・・・旋回機構、 ９０・・・旋回アーム、 ９１、９２・・・把持部、 Ａｒ１・・・加工エリア、 Ａｒ２・・・主軸メンテナンスエリア、 Ａｒ３・・・空間、 ＣＬ・・・軸線、 ｃｌ・・・工具の軸線、 Ｆ１・・・第一位置、 Ｆ２・・・第二位置、 Ｌ１、Ｌ２・・・距離、 Ｐ・・・基準側面、 Ｑ、Ｑ１、Ｑ２・・・工具交換位置、 Ｒ・・・機外取り外し位置、 ＳＱ・・・主軸工具交換位置、 Ｔ・・・工具、 Ｗ・・・工作物、 α・・・傾斜角度、 β・・・旋回角度。 1 ... Machine tool, 2 ... Bed, 3 ... Spindle saddle, 4 ... Spindle base, 6 ... Table, 8 ... Tool magazine, 9 ... Tool changer, 10.・ ・ Structure, 40 ・ ・ ・ Spindle, 81 ・ ・ ・ Tool holding part, 81a ・ ・ ・ Circulation surface, 82 ・ ・ ・ Swivel mechanism, 90 ・ ・ ・ Swivel arm, 91, 92 ・ ・ ・ Grip part, Ar1・ ・ ・ Machining area, Ar2 ・ ・ ・ Spindle maintenance area, Ar3 ・ ・ ・ Space, CL ・ ・ ・ Axis line, cl ・ ・ ・ Tool axis line, F1 ・ ・ ・ First position, F2 ・ ・ ・ Second position, L1, L2 ... Distance, P ... Reference side surface, Q, Q1, Q2 ... Tool replacement position, R ... External removal position, SQ ... Spindle tool replacement position, T ... Tool , W ... Work piece, α ... Tilt angle, β ... Turning angle.

Claims (3)

ベッドと、
前記ベッド上に設けられ、工具を着脱可能で且つ前記ベッドの前後方向に平行な軸線周りに回転可能に保持する主軸と、
前記ベッドに設けられ、前記工具をそれぞれ保持する複数の工具保持部を循環可能に備え、前記複数の工具保持部の循環面が前記主軸の軸線に平行である前記ベッドの基準側面側を向くように配置される工具マガジンと、
を備え、
前記工具マガジンは、
前記循環面が鉛直平面で形成されるとともに、前記基準側面に対して傾斜し、
前記複数の工具保持部は、前記循環面において、前記工具の軸線が前記循環面に直交する方向に一致する状態で前記工具を保持し、
前記複数の工具保持部の割り出し位置として、前記ベッドの手前側に位置する前記主軸との工具交換位置と、前記ベッドの奥側に位置する機外取り外し位置とを備えるとともに、
前記工具の軸線が前記循環面に直交する方向と前記主軸の軸線に平行な方向との角度範囲にて、前記循環面における前記工具交換位置のうちの第一工具交換位置に位置する前記工具保持部を、前記循環面とは異なる位置に位置する前記工具交換位置のうちの第二工具交換位置まで旋回させる旋回機構を備え、
前記工具交換位置と前記基準側面との距離は、前記機外取り外し位置と前記基準側面との距離より長く、
前記旋回機構による旋回角度は、前記循環面が前記基準側面に対する傾斜角度分だけ直角より小さく、
前記旋回機構による旋回面は、水平面である、工作機械。 Bed and
A spindle provided on the bed, which allows the tool to be attached and detached and rotatably holds around an axis parallel to the front-back direction of the bed.
A plurality of tool holding portions provided on the bed and holding the tools are provided so as to be circulatory so that the circulation surface of the plurality of tool holding portions faces the reference side surface side of the bed parallel to the axis of the spindle. With the tool magazine placed in
With
The tool magazine
The circulation surface is formed in a vertical plane and is inclined with respect to the reference side surface.
The plurality of tool holding portions hold the tool in a state where the axis of the tool coincides with the direction orthogonal to the circulation surface on the circulation surface.
Examples indexing positions of the tool holder, Rutotomoni comprises a tool change positions of the main shaft positioned on the near side of the bed, and the outboard removal position located on the far side of the bed,
The tool holding located at the first tool replacement position of the tool replacement positions on the circulation surface in an angle range between the direction in which the axis of the tool is orthogonal to the circulation surface and the direction parallel to the axis of the spindle. A swivel mechanism for swiveling the portion to the second tool replacement position of the tool replacement positions located at a position different from the circulation surface is provided.
The distance of the tool changing position and the reference side, rather longer than the distance between the reference side and the outboard removal position,
The turning angle by the turning mechanism is smaller than the right angle by the inclination angle of the circulation surface with respect to the reference side surface.
A machine tool whose swivel surface by the swivel mechanism is a horizontal plane. 前記工作機械は、前後方向において、前記工具マガジンより奥側に配置される構造物を備え、
前記機外取り外し位置は、横方向において、前記構造物より前記ベッドの前記基準側面側に位置する、請求項１に記載の工作機械。 The machine tool includes a structure arranged behind the tool magazine in the front-rear direction.
The machine tool according to claim 1, wherein the external removal position is located laterally on the reference side surface side of the bed from the structure. 前記主軸は、前記ベッドに対して移動可能に設けられ、
前記工具マガジンは、上下方向において、前記主軸の上方に配置され、
前記主軸の移動エリアは、上方から見た場合に、
前記工具マガジンに対して重複する工作物の加工エリアと、
前記加工エリアより後方に位置し、且つ、前記工具マガジンに対して重複しない主軸メンテナンスエリアと、
を備える、請求項１又は２に記載の工作機械。 The spindle is movably provided with respect to the bed.
The tool magazine is arranged above the spindle in the vertical direction.
The moving area of the spindle is viewed from above.
The machining area of the workpiece that overlaps the tool magazine and
A spindle maintenance area that is located behind the machining area and does not overlap with the tool magazine.
The machine tool according to claim 1 or 2.
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