JPS6040338B2 - automatic tool changer - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to an automatic tool changer that automatically changes tools of various machine tools.

In a conventional automatic tool changer, a tool support arm is provided with tool support sections at both ends, and tools are exchanged by rotating this arm around the center of the tool support section.

For this reason, conventional devices are designed exclusively for either machine tools having a vertical main shaft (vertical shaft) or machine tools having a mechanical main shaft (machine shaft). However, in some types of machine tools, such as plano mirrors, in addition to the vertical tool, a horizontal (horizontal) attachment is often attached to the tip of the spindle or the lower part of the spindle head for machining.

Therefore, as a tool changer for this type of machine tool, vertical,
Although it is desirable that the device be compatible with other machines, no such dual-purpose exchange device has been developed at present. SUMMARY OF THE INVENTION An object of the present invention is to provide an automatic tool changer that is capable of changing tools at vertical, horizontal, or intermediate angles.

In the present invention, an arm support frame is rotatably supported on a tool changer main body, and a pair of dirty arms each capable of supporting a tool are provided on the arm support frame so as to be rotatable relative to the frame. This object is achieved by rotating this arm from a horizontal state to a vertical state or a predetermined angle in between, thereby making it possible to change tools at vertical, horizontal, and intermediate angles.

Hereinafter, an embodiment of the present invention in which the present invention is applied to a plano mirror and has a vertical and cross-shaft; key type will be described with reference to the drawings.

In FIG. 1, which shows the overall configuration, a plano mirror 10 as a machine tool includes a gate-shaped column 11, a cross rail 12 that can be moved up and down on this gate-shaped column 11, and a cross rail 12 that can be laid horizontally on this cross rail 12. a spindle head 13 supported by the spindle head 13; a ram 15 supported by the spindle head 13 so as to be movable up and down and rotatably supports the spindle turtle 4; The table 16 is movable horizontally in a direction orthogonal to the movable table 16.

An attachment 17 constituting a horizontal shaft can be attached to the main shaft 14 of this plano mirror 10. In front of the gate-shaped column 11, a column 21 for a tool changer is installed.
is erected, and the upper part of this column 21 is connected and supported to one side of the gate-shaped column 11 via a support 22, and a saddle 23 is supported on the column 21 so as to be movable up and down.

In addition, a large number of tools 9 are required for lateral counterfeiting of both columns 11 and 21.
A magazine 100 holding 0 is installed. 2 to 4, a pair of guideways 24 are provided along the longitudinal direction (vertical direction) on one side of the column 21 (see FIG. 9), and the saddle 23 is mounted along the guideways 24. It is allowed to move up and down.

A ball screw shaft 25 supported by the column 21 in a rotatable but immovable manner is screwed into the saddle 23.
This ball screw shaft 25 is rotationally driven by a motor 26, and as the screw shaft 25 rotates, the saddle 23 moves up and down. Here, "a vertical movement drive mechanism 27 is created by these ball screw shafts 25 and motors 26.
is configured. One end of a pair of lifting chains 28 is each fixed to the upper surface of the saddle 23, and each of these chains 28 is suspended into the column 21 via a sprocket 29 provided on the column 21, and the other end is Three movable balance weights are connected within the column 21 so that the saddle 23 can be moved easily.

A pair of upper and lower guideways 31 are horizontally fixed to the side surface of the saddle 23 on the plano mirror 10 side, and a placket 32 is slidably supported on each of these upper and lower guideways 31.

A bearing box 33 is fixed to each of these brackets 32, and a substantially rectangular arm support frame 34 is attached to each of these bearing boxes 33. The arm support frame 34 has a substantially rectangular frame shape and rotates with the vertical axis as the rotation axis via a shaft portion protruding from the upper and lower surfaces of the arm support frame 34. freely supported. The frame 34 is rotated by a motor 35 fixed to the lower bearing box 33 via a gear train 36 (see FIG. 8), and a frame rotation drive mechanism 37 is driven by the motor 35 and the gear train 36. It is configured. Further, the tool changing device column 21, the saddle 23, and the bracket 32 constitute a tool changing device main body 20.
The saddle 23 and the upper bracket 32 and the saddle 23 and the lower bearing box 33 are connected by the casings and piston rods of air cylinders 38 and 39, respectively, and are horizontally driven by these cylinders 38 and 39. The mechanism 40 is constructed so that both brackets 32 and, in turn, the frame 34 can be moved horizontally.

A tool detachable layer 170 for the attachment 17 is provided on one side of the saddle 23, the right side in FIG.
71, a slider 172 supported by the bracket 171 so as to be slidable in the horizontal direction, and a cylinder 173 for driving the slider 172.
A desorption head 174 consisting of a cylinder is installed at the tip of the attachment 17.

The collet chuck at the tip of the drawbar can be opened and closed by pressing or releasing the pressure on the drawbar. 5 to 9 show details of the arm support frame 34. As shown in FIGS.

In these figures, tool supporting arms 70 are arranged on both sides of the upper part of the frame 34, respectively. Each of these arms 70 is rotatably supported by the frame 34 via a shaft 42 fixed to its base end, and each arm 70 has its pivot axis on a plane perpendicular to the pivot axis of the frame 34, that is, on a horizontal plane. It is made to have. As a result, the arm 70 can be turned in a vertical plane from a horizontal position perpendicular to the turning axis of the frame 34 to a vertical position parallel to it, and can be used to rotate a tool 90 with a vertical axis having a vertical rattan line and a horizontal dowel line. It is possible to support a tool 90 having a horizontal axis. One end of a swing link 43 is fixed to one end protruding from the frame 34 of the ball 42, and this swing link 4
The tip of a piston rod 45 of a cylinder 44 whose base is attached to the frame 34 is attached to the other end of the cylinder 34, so that the arm 70 can pivot as the cylinder 44 is driven. The horizontal position of the arm 70 is regulated by a stopper 46 attached to the frame 34 so that the position can be adjusted, and
7, the state is detected. Here, the shaft 42, the swing link 43, and the cylinder 44 constitute an arm swing drive mechanism 48. Two oil holes 49 are closed on the circumferential surface of the upper bearing box 33 of the bearing boxes 33, and
These oil holes 49 are provided in the upper support shaft 50 through oil grooves 51 (see FIG. 8) formed in the peripheral surface of the upper support shaft 50 of the frame 34 and the inner peripheral surface of the upper bearing box 33. The lotus is passed through the two oil holes 52.

These oil holes 52 are closed to the circumferential surface of the upper support shaft 50 below the upper bearing box 33, and are connected to various hydraulic devices, such as a hydraulic unit 53, connected to the frame 34 via piping (not shown). , solenoid valves 54, 55, the cylinder 44, etc. On the other hand, the lower bearing box 3
A through hole 57 is formed in the center of the lower support shaft 56 of the frame 34 supported by the frame 3, and a large gear 58 fixed between the through hole 57 and the lower support shaft 56 and the frame 34 is formed. Wiring to the solenoid valves 54, 55, etc. is inserted through the notch 59 formed and the hole 60 formed in the lower part of the frame 34, and twisting, tangling, etc. of these wirings are prevented as much as possible. A pinion 61 fixed to the output ball of the motor 35 is coupled to the large gear 58, and the large gear 58 and pinion 61 constitute the gear train 36.

Two limit switches 62 and 63 are mounted on the circumferential surface of the upper bearing box 33 at different radial positions at 180 degrees, and these limit switches 62 and 63 are provided on the upper surface of the frame 34. The frame 34 is activated by two docks 64 and 65, respectively, so that a 180 degree clockwise rotation or counterclockwise rotation of the frame 34 is detected and stopped. At this time, the limit switch 62,
The reason why two docks 63 and two docks 64, 65 are provided is that one of the docks 64, 65 makes contact first during rotation to slow down the rotation of the frame 34, and then the other dock to stop the frame 34 at a precise position. Further, a pair of magnetic bodies 67 are attached to the circumferential surface of the upper bearing box 33 via a stay 66.
are attached to the spindle head 1 by these magnetic bodies 67.
A proximity switch 68 (see FIG. 4) attached to the spindle head 3 is activated, and the spindle head 13 and the frame 34 can be aligned. The detailed structure of the arm 70 is shown in FIGS. 10 and 11.

The arm 70 includes an arm body 71 having an L-shape on its side, a pair of hands 73 whose central portions are pivotably supported within a recess 72 formed on the upper surface of the arm body 71, and these hands 73. At the inner end side of the ball receiver 74, the ball 7
5 and a compression coil spring 77 that biases the distal end arc surface of the hand 73 interposed via the spring receiver 76 in a direction to close it;
A key 78 that is partially protruded within the arc surface of both hands 73 in the recess 72 and is engaged with a key groove provided in the tool 90 to prevent the tool 90 from rotating; and the arm main body 71
is screwed in from both sides of the tool 90 so that its tips protrude into the recess 72 and are attached to the outer surfaces of the inner ends of both hands 73 to match the closing condition of the arcuate surfaces of the tips of both hands 73 with the engagement grooves of the tool 90. A pair of adjustment screws 79 are used to adjust the movement of the hand 73, and the tips are engageable with the inner surfaces formed on the inner ends of the pair of hands 73, and the base ends are formed in a flange shape to function as a piston. Moreover, the cylinder bore 8 of the arm body 71
Wedge 81 and this wedge 8, which are designed to be used freely by Kawako
1 and a head cover 82 fixed to the arm body 71. A compression spring 83 is inserted between the wedge 81 and a head cover 82 fixed to the arm body 71, and a compression spring 83 is inserted between the wedge 81 and a compression spring 83, which urges the tip of the wedge 81 to engage with the inner end inclined surface of both hands 73. A sliding shaft 85 whose end is fixed and whose tip protrudes through the head cover 82 and has a dog 84 made of a magnetic material fixed to the tip; and a sliding shaft 85 which is attached to the head cover 82 via a bracket 86 and is attached by the dog 84. It consists of a pair of detection heads 87 and 88 that detect the forward and backward positions of the wedge 81 when activated, and oil is supplied between the flange of the wedge 81 and the bottom of the cylinder bore 80 from an oil passage 89 provided in the arm body 71. When the wedge 81 is pressed, the wedge 81 moves to the left against the compression spring 83, and both hands 7 resist the compression coil spring 77, which causes the tool 90' to move.
3 can be forcibly opened. 1st
2 to 17 show details of the tool storage magazine 100.

In these figures, drive-side and driven-side sprockets 102 and 103 are rotatably supported at both ends of the base T01 in the longitudinal direction, and these sprockets 102 and 10
A chain 104 is strung around between 3 and 3, and this chain 10
A large number of tool pots 110 are attached to the tool pot 4. This rotation of the chain 104 is detected by a rotary encoder 107 provided on the drive side sprocket 102. The pot 1 is provided with a pot body 111 made of an integral piece with a generally U-shaped side surface, and on one side of the upper protrusion 112 of the pot body 111, there is a small hole that locks the capital of the pull stud 91 of the tool 90. U-shaped groove 11
3 is formed, and a pair of ball plungers 114 are screwed into the U-shaped groove 113 so that a portion thereof projects, thereby preventing the pull stud 91 from coming off. Further, a tool 90 is attached to the lower protrusion 115 of the pot body 111.
A large U-shaped groove 116 having a tapered surface that locks the taper shank 92 is formed, and this U-shaped groove 1
A key 117 is fixed such that a portion thereof protrudes into the interior of the key 16,
The key 117 is engaged with a keyway (not shown) of the tool 90 to prevent the tool 90 from rotating. Furthermore, cam followers 118 made of rollers are provided at two locations on the upper surface and three locations on the lower surface of the pot body 111, respectively, and these cam followers 118 are connected to upper and lower guide plates 105 attached to the base 101 along the chain 104. ,1
06 and is designed to be guided. At this time, among each cam follower 118, especially the lower protrusion 115
The three cam followers 118 attached to the guide plate 1
Both the straight portion 106A and the curved portion 106B of 06 are arranged at positions that do not impair their role as guides. In FIG. 12, a gate mechanism 120 that opens and closes when exchanging tools 90 is provided at a portion of the magazine 10 facing the tool changer arm 70, and a tool set opening/closing mechanism 140 is provided near the center on the opposite side.
Further, a heavy tool setting mechanism 160 is provided on the opposite side of the opening/closing mechanism 140, that is, on the other end side on both sides of the gate mechanism 120.

The gate mechanism 120, as shown in FIG.
A gate opening/closing sill 123 has one end of the casing attached to the gate frame 121 erected on the base 101 via a stand 122, and a gate 125 is fixed to the tip of the piston rod 124 of this cylinder 123. Upper and lower rails 126 are attached to the upper and lower parts of this gate 125 and are opposed to the peripheral surface of the pull stud 91 of the tool 90 stored in the pot 11 and the lower part of the taper shank 92 to prevent the tool 90 from falling off. , 127, a positioning cylinder 128 fixed on the upper guide plate 105, and a positioning cylinder 128 that is slidably housed in the cylinder 128 and has one end protruding from the cylinder 228, and this tip is connected to the pot 110. A piston 129 that can be inserted into the positioning bush 119 and positions the pot 110 when inserted, a dog 131 that is attached to the other end of the piston 129 that protrudes from the head cover 130 of the cylinder 128, and is opposed to the dog 131. At the same time, a pair of piston position detection heads 133 are fixed to the cylinder 128 via a bracket 132, and a pair of piston position detection heads 133 are fixed to the cylinder 128 via a mounting plate 134.
28 and a tool presence/absence detection head 135 disposed opposite to the upper surface of the tool pull stud 91. When replacing the tool 90, the piston 129 positions the tool pot 110, and then the cylinder 23 is actuated to open the gate 125. It can be opened and closed.

As shown in FIG. 17, the tool set opening/closing mechanism 140 includes a cylinder 142 supported by a trunnion type on a base 101 via a bracket 141, and a bearing 144 at the tip of a piston rod 143 of the cylinder 142. The upper guide plate 1 is rotatably connected through the
An rL-shaped revolving cover 147 is rotatably supported at one end via a shaft 146 on a mounting plate 145 fixed to the mounting plate 145, and is fixed to the middle and lower end of this cover 147, and the pull stud 91 of the tool 90 and Upper and lower rails 148 and 149 are opposed to the outer peripheral surface of the flange 93 and prevent the tool 90 from falling off; The cover 147 can be opened and closed by operating the cylinder 142.

The heavy tool set mechanism 16, the base 161,
A slider 162 is slidably supported on the base 161 and can be advanced toward each pot 110 by a cylinder (not shown), and a drive source (not shown) is supported by the slider 162 to be able to rotate 90 degrees. a swing arm 163 that is swing-driven between the sliding direction of the slider 162 and a direction perpendicular thereto and grips a heavy tool 90; a cover 164 similar to the swing cover 147 of the tool set opening/closing mechanism 140; This cover 1
It is composed of a shilling 165 that drives the swivel 64,
A heavy tool 90, which has been carried by a crane or the like and cannot be mounted by hand, can be received by a rotating arm 163 and mounted to each pot 110.

In addition, in the magazine 100, the gate mechanism 120 is provided around each pot 110 connected to the chain 104.
and each rail 126, 1 of the tool set opening/closing mechanism 140
Rails corresponding to 27, 148, 149 (not shown)
is provided, and each tool 90 while the chain 104 is rotating.
falling from the pot 110 is prevented.

Next, the effects of the present invention will be explained by case.

First, tool exchange when the tool 90 is directly attached to the main shaft 14 of the plano mirror 10 will be explained. Prior to tool exchange, the height of the saddle 23 is set to the tool exchange position by driving the motor 26 and rotating the ball screw shaft 25. A new tool 90 to be used next time is attached to one arm 70 on the magazine 100 side, and the other arm 70 is left empty.

In this state, the rotation of the spindle 14 is stopped, indexing is performed, the height position of the cross rail 12 is set to the tool exchange position, and the spindle head 13 is moved toward the frame 34 side. At this time, the cylinder bore 8 of the empty arm 70
Pressure oil is supplied to the bottom side of 0 through an oil passage 89, and wedge 81 is released from engagement with both hands 73, allowing both hands 73 to be released. When the tool (old tool) 90 attached to the spindle 14 of the empty arm 70 is assisted by the movement of the spindle head 13, both hands 7
3 is opened by the old tool 90 against the compression coil spring 77, and the old tool 90 is held in both hands 73, as shown in FIG.

When this holding is detected by the magnetic body 67 attached to the stay 66 of the frame 34 and the proximity switch 68 attached to the spindle head 13, the supply of pressure oil to the arm 70 is released, and the wedge 81 is released from the compression spring. 83, it is inserted into the rear side of both hands 73, and both hands 73 are clamped. Next, the old tool 90 that has been used until now is disengaged from the main shaft 14 by the action of the drawbar in the main shaft 14, and the main shaft 14 and the old tool 90 are separated by raising the main shaft head 13. .

At this time, the arm 70 supporting the new tool 90 is rotated 90 degrees downward by the action of the cylinder 44 of the arm rotation drive mechanism 48, and the arm 70 when the frame 34 rotates.
0 and the saddle 23 is prevented. In this state, when the frame 34 is rotated 180 degrees by the swing drive mechanism 37, the old tool 90 is moved to the new tool side, the new tool 90 is moved to the old tool side, and then the holding arm of the new tool 90 in the vertical state is moved. 70 is brought into a horizontal state by driving the arm rotation drive mechanism 48 in a direction opposite to that described above. After the arm 70 holding the new tool 90 moves horizontally, the spindle head 13 is lowered and the new tool 90 is mounted on the spindle 14, and then the wedge 81 of the new tool side arm 70 is moved back and both hands 73 is in an openable/closeable state.

When the spindle head 13 is moved in a direction away from the frame 34 along the cross rail 12 in this state, the new tool 90
The mounting on the main shaft 14 is completed. On the other hand, the new tool 90 is removed, and the frame 34 in which only the old tool 90 remains is moved downward together with the saddle 23, and a tool exchange operation is performed between the frame 34 and the tool storage magazine 100.

This operation first begins with the cylinder 23 of the gate mechanism 120.
is activated, the gate 125 is raised, the gate 125 is opened, and the saddle 23 is lowered to align the arm 70 with the pot 110 in the magazine 100. At this time, an empty pot 110 for storing the old tool 90 is placed in advance at the gate 125, so that the tool 90 can be received.
Next, cylinders 38 and 39 provided on the saddle 23 and the frame 34 are driven, and the frame 34 is moved into the magazine I.
It is moved to the QO side and the old tool 90 supported by the arm 7 is inserted into the empty pot 110.

After this, the wedge 81 of the arm 70 is retracted, both hands 73 are placed in a fan-clamped state, and the shilling 123 of the gate mechanism 120 is operated in the opposite direction to that described above to close the gate 125 and fix it to the gate 125. The tool 90 is prevented from escaping by the upper and lower rails 126, 127. In this state, the frame 34 is
When moved away from 00, the tool 90 will come off the arm 70 and remain in the pot 110.
Next, the positioning piston 129 of the gate mechanism 120
is raised to make the pot 110 movable, and the chain 104 of the magazine 100 is automatically driven to search for a new tool 90 to be used next, and this new tool 90 is placed in the position of the gate mechanism 120. Kuru and Chen 10
4 is stopped and cylinder 128 is actuated to move piston 1
The tip of the pot 110 is inserted into the positioning bush 119 of the pot 110 to position and fix the pot 110.

When the selection of a new pot 110 is completed, the frame 34 is moved to the magazine 100 side again, a new tool 90 is clamped by the hand 73 of the arm 70, and in this state the wedge 81 is advanced to the both hands 73 side. both hands 7
3 clamps are performed.

When the clamping of the hand 73 is completed, the gate 125 is opened, and the frame 34 is then moved in a direction away from the magazine 100. After that, the gate 125 is closed and the chain 104 is driven again to search for an empty pot 110 in which to store the tool 90 currently attached to the spindle 14, and this pot 110 is stopped at the gate 125. , the position is fixed and prepared for the next operation described above. The above operations are automatically performed by a program installed in a computer or the like based on signals from the position detection mechanisms of each part, and by repeating these operations, the tool 90 is sequentially automatically replaced.

Note that the attachment of the tool 90 in the magazine 100 is performed using the tool 90.
If it can be attached by hand, the tool set opening/closing mechanism 140
This is done manually by operating the sill 142 to open the swivel cover 147. On the other hand, if the tool 90 is too heavy to mount by hand, the tool 90 is hoisted with a crane or the like and the swivel arm of the heavy tool setting mechanism 140 is mounted. 143 to mechanically attach it.

Next, attach the attachment 1 to the main shaft 14 of the plano mirror 10.
7 is attached and the machining ball is in the horizontal direction.

Here, operations that overlap or are similar to the explanation when the attachment 17 is not used will be briefly explained. After the rotation of the spindle 14 is stopped and indexed, the spindle head 13 is moved to the frame 34 side, and the arm 70 and the tool 90 currently in use are opposed to each other.

At this time, since the tool 9 is installed with its axial direction horizontal, an empty arm 7 that does not hold a new tool 90 is attached.
0 operates the sill 44 to rotate it in the vertical direction in advance, and also moves the wedge 81 of the arm 70 backward so that both hands 73 can grip the tool 90. When the alignment between the tool 90 and the empty arm 70 is completed, the ram 15 is driven to raise the main shaft 14, the tool 90 is held between both hands 73 of the arm 70, and then the wedge 8
1 indicates a clamped state. In parallel with this clamping operation of the hand 73, the attachment tool attachment/detachment layer 170
The slider 173 is advanced, and the detachable head 174 provided at the tip of the slider 173 is attached to the attachment 17.
(see Figure 4). Next, the piston rod of the attachment/detachment head 174 of the attachment tool desorption/detachment layer 170 is advanced to press the drawbar in the attachment 17, and the pull stud 91 of the tool 90 is released.

In this state, the frame 34 is moved a little in the direction away from the attachment 17, that is, to the extent necessary and sufficient to disengage the pull stud 91 from the collet chuck of the drawbar, and then stopped. Thereafter, the piston rod of the attachment/detachment head 174 is retracted, but due to the slight movement of the frame 34, the tool 90 is not gripped by the collet chuck. Then, the slider 172 of the attachment tool demounting layer 170 is retracted, and the demounting head 17
4 is moved to a position where it does not interfere with the movement of the attachment 17, the spindle head 13 is moved in a direction away from the frame 34, and the attachment 17 and the old tool 90 are separated.

After this, the arm 70 holding the old tool 90 is driven to the horizontal position, the frame 34 is moved slightly toward the spindle 14 side to the rotating position, and the arm 70 holding the new tool 90 is moved to the vertical position. The frame 34 is rotated so that it does not become an obstacle to the rotation of the frame 34. In this state, the frame 34 is rotated 180 degrees counterclockwise, and the new tool 90 is
is on the attachment 17 side, and the old tool 90 is on the magazine 10 side.
It is located on the 0 side. Next, the frame 34 is the magazine 1
00 side, that is, when the attachment 17 is moved a predetermined amount toward the frame 34 side and the pull stud 91 is inserted into the attachment main shaft, so that the pull stud 91 and the collect chuck inside the attachment main shaft do not interfere with each other. will be moved.

After the frame 34 has been moved to prevent interference with the collet chuck, the attachment 17 is moved to the frame 34 side (see Figure 6) and the pull stud side of the new tool 90 is inserted into the attachment main shaft. The attachment/detachment head 174 of the attachment tool desorption/detachment layer 170 is advanced and positioned behind the attachment 17 . Thereafter, the piston rod of the removal head 174 is advanced and the collet chuck in the attachment main shaft is released. In this state, the frame 34 is moved slightly toward the attachment 17, and the pull stud 91 of the new tool 90 is inserted into the collet chuck. Then, the piston rod of the demounting head 174 is retracted and the bull stud 9 is removed by the collet chuck.
1 is gripped, and the attachment/detachment head 174 is moved back so that it does not become an obstacle to the movement of the attachment 17.

In parallel with this, the hand 73 of the arm 70 holding the new tool 90 is brought into an unclamped state. After this,
The attachment 17 is lowered together with the ram 15, the new tool 90 is removed from the arm 70, and the attachment 17
It will be held on the side, and the attachment 17
is moved in a direction away from the frame 34 to be ready for the next processing. Next, an operation is performed in which the old tool 90 left on one arm 70 of the frame 34 is replaced with a tool 90 in the magazine 100 that will be used for the next machining process, but this is similar to the replacement operation in the above-mentioned process. Therefore, the explanation will be omitted.

Note that during this exchange operation, the arm 70 on the side that did not hold the old tool 90 is maintained in a vertical position, making it convenient for the next tool exchange operation from the attachment 17. According to this embodiment as described above, there are the following effects.

Since the arm 70 can be rotated from horizontal to vertical or vice versa with respect to the arm support frame 34, the tool 90 can not only be replaced directly on the vertical main shaft 14, but also when the machine shaft attachment 17 is used. The tool 90 can be replaced without using a separate device.

Furthermore, if the arm 70 is positioned vertically when the frame 34 rotates, the radius of rotation can be reduced, and the device can be made more compact. Wiring to the solenoid valves 54, 55, etc. of the frame 34 is done through the holes 60 provided in the frame 34, and the large gear 58.
Since the wire is pulled out from the center of rotation through the notch 59 of the lower support shaft 56 and the through hole 57 of the lower support shaft 56, the wires are effectively prevented from becoming tangled and no wire breakage occurs.

In addition, since pressure oil is supplied to each cylinder 44 etc. from the upper support shaft 50 through the oil hole 49 etc. provided in the upper bearing box 33, the piping for the oil supply shed is screwed. cutting accidents, clogging, etc. can be effectively prevented. The arm 70 has a pair of hands 73, is biased in the normally closed direction by a compression coil spring 77, and can be clamped by a wedge 81, so even if the power goes out, the arm 70 can be closed as usual. It is significantly safer than other arms.

The tool pot 110 is U-shaped and has upper protrusions 1 12
The U-shaped grooves 1 13, 1 16 of the lower protrusion 1 15 are used to support the pull stud at the upper part of the inner diameter of the conventional cylindrical pot with a ball-shaped stopper. Compared to the above, the gripping structure and attachment/detachment can be made easier, and the gripping structure can be made smaller and lighter, and can be provided at a lower cost. In addition, in a conventional pot with a cylindrical structure, two systems of control are required: an elevator mechanism for vertically moving the changing device and a vertically moving mechanism for attaching and removing tools, but in this embodiment, the horizontal movement of the frame 34 is used. Since the tool 90 can be attached and detached, control becomes simple. At this time, there is a method in which the vertical movement is controlled in one system using a conventional device, but in this case, the accuracy of the control becomes a problem, and complex control is required to improve the accuracy. It doesn't come close to that. Magazine 1001 is gate mechanism 120
is provided, and the pot 11 can be attached and detached in the horizontal direction.
With the adoption of 0 and Aitoshi, the tool 90 is installed using the gate 125.
Since the tool 98 can be attached and detached, the chain 104 can be driven immediately after the tool 98 is attached and detached, and the working time can be shortened. Also,
Since the tool setting opening/closing mechanism 140 for manual setting and the heavy tool setting mechanism holder 60 are provided, the tool 90 can be installed optimally depending on the size of the tool 9Q, etc., and from this point of view, the work is easy. Time can be shortened. In the above-mentioned embodiment, the arm 7 was described as rotating 90 degrees vertically, but it can be rotated at any other angle by adjusting the position of the stopper 46 provided on the frame 34. The arm 70 can also be rotated, and the tool 90 can be exchanged at any angle. Further, by attaching a suitable indexing device to the shaft 42 or the like of the arm 70, the arm 70 can be stopped not only at two positions but at a plurality of positions, thereby providing more versatility. Furthermore, the attachment tool 17 is not limited to the one provided in the saddle 23 as in the above embodiment, but can also be incorporated into the attachment 17. In this case, the movement of the attachment/detachment tool 170 and the collet check can be avoided. Although this is advantageous in terms of operation since there is no need to move the frame 34 a little, it is disadvantageous in terms of manufacturing cost since it is necessary to incorporate it into each attachment 17 group.
Further, the present invention is not limited to the one used for the plano mirror 10, but can also be used for other machine tools. Further, in the above embodiment, the tool changer main body 20' and the frame 34 are connected to the saddle 2.
3 and the bracket 33 to allow vertical and horizontal movement, but this is necessary to adjust the positional relationship between the main shaft 14, the magazine 100, and the arm 70 of the frame 34, thereby shortening the tool exchange time. However, if the positions of the main shaft 14 and the magazine 100 are set appropriately, vertical or horizontal movement is not necessarily required.
As described above, according to the present invention, there is an effect that tools can be exchanged for spindles at different angles.

[Brief explanation of the drawing]

Fig. 1 is a front view of an embodiment of the present invention applied to a plano mirror, Fig. 2 is a perspective view of the main part of Fig. 1, and Fig. 3 is a front view of the tool changer part of Fig. 1. Figure 4 is a side view thereof, Figure 5 is a perspective view of the tool support frame portion of this embodiment, and Figure 6 is a side view.
The figure is a perspective view of the main part of the tool support frame showing an operating state different from that shown in Figure 5, Figure 7 is a front view of the tool support frame of this embodiment, and Figure 8 is the dark side line of Figure 7. 9 is a plan view thereof, FIG. 10 is a partially sectional plan view of the arm portion of this embodiment, and FIG. 11 is a partially sectional plan view of the main part showing its operating state. Figure 2 is a plan view of the tool changer and magazine portion of this embodiment, Figure 13 is a plan view of the tool changer and magazine portion of this embodiment.
14 is a plan view of the pot of this embodiment, FIG. 15 is a bottom view thereof, and FIG. 16 is a sectional view of the game mechanism portion of this embodiment. The figure is a cross-sectional view of the opening/closing mechanism for the tool set of this example. Pack 8... Plano mirror as a machine tool, 14... Main shaft t Wing 7... Attachment, 20... Tool changer main body, 21... Tool Replacement conventional column ~ 23...Saddle ``27...Vertical movement drive mechanism, 3rd base...Bracket, 34
...Arm support frame, 37...Frame rotation drive mechanism,
40... Horizontal drive mechanism, 48... Arm rotation drive mechanism, 7
0... Arm ~ 71... Arm body, 73... Hand, 77... Compression coil spring, 81... Wedge, 90...
...Tool, 91...Pull stud, 92...Taper shank, 100...Tool storage magazine, 110...Tool pot, 120...Gate machine, 140...Opening/closing mechanism for tool set, 160... Heavy tool set mechanism, 1
70...Attachment tool removal/installation. Fig. 1 Fig. 2 Fig. 13 Fig. 14 Fig. 15 Fig. 3 Fig. 4 Fig. 6 Fig. 11 Fig. 5 Fig. 8 Fig. 8 Fig. 17 Fig. 9 Fig. 10 Fig. 12 Fig. 16 figure

Claims (1)

[Scope of Claims] 1. An arm support frame that is rotatably supported by a tool changer main body and is rotationally driven by a frame rotation drive mechanism, and has a rotation axis on a plane that intersects with the rotation axis of the arm support frame. An automatic tool changer comprising: a pair of arms that are rotatably supported by an arm support frame, are driven to rotate by an arm rotation drive mechanism, and are capable of supporting tools. 2. In claim 1, the tool changer main body includes a tool changer column, and a saddle that is vertically movably supported by the tool changer column and is vertically moved by a vertical movement drive mechanism. an automatic tool changer comprising: a bracket which is supported by the saddle so as to be movable in the horizontal direction and which is horizontally moved by a horizontal movement drive mechanism; and the arm support frame is rotatably supported by the bracket. .