JPS6047055B2 - Automatic tool transfer device for machine tools - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION (1) Purpose of the invention (a) Industrial application field The present invention relates to an automatic tool transport device for a machine tool for transporting tools to a plurality of machine tools. The present invention relates to an automatic tool conveyance device for a machine tool that exchanges tools in each of first and second tool holding means via an automatic tool changer.

(b) Conventional technology The essence of a group control system that collectively controls multiple machine tools using an electronic computer is to reduce the human element of a high-mix, low-volume production system and perform rational production management. Therefore, automatic workpiece transport systems are often adopted when group management systems are introduced.

However, on the other hand, in conventional group management systems, general-purpose tools (such as milling cutters, drills, taps, reamers, This includes not only tools) but also special tools (multi-axis drills, multi-blade tools) that can achieve extremely high efficiency cutting operations, although they vary depending on the type of workpiece.
A large number of tools of various types are introduced into the system. In addition, these tools that are used in large quantities and of various types are not only used according to a predetermined schedule, but their use is often extremely irregular.

In other words, due to emergencies such as machining new workpieces or changing schedules due to unavailability of machine tools, the machine tools used and the times in which they are used are always changed from the predetermined schedule. Subject to change. Therefore, in the current management system, the large variety and large number of tools used, which are complex and diverse, are stored in the machine tool's own tool storage magazine as much as possible, and in the event of an emergency, the operator is allowed to replace and replenish the tools as necessary. We are forced to
There was nothing that could automatically perform this replacement and replenishment.

(c) Problems to be Solved by the Invention However, although the tool storage magazines unique to machine tools, which are conventional automatic tool transport devices, greatly improve the storage capacity, there are limits to the workability. Since machines are frequently idle due to tool replacement and replenishment by workers, there is a problem in that it significantly impedes efforts to save labor and improve machine operating rates in a wide variety of production systems.

From this point of view, in recent years, it has been viewed as an extremely important issue to rationally manage the large variety of tools used in the group management system by reducing human factors.

((d) Purpose) The purpose of the present invention is to provide an automatic tool transfer device for a machine tool in which, among general-purpose tools stored in a tool storage magazine,
Cooperative operation between the machine/machine tool's unique tool change device and tool attachment/detachment device for general-purpose tools that require refurbishment due to tool life or damage, and newly refurbished general-purpose tools brought from the central tool storage device. An object of the present invention is to provide an automatic tool conveyance device for a machine tool that enables retreading of a general-purpose tool during an automatic cycle by expeditiously replacing the tool.

(2) Structure of the Invention (a) Means for Solving Problems The present invention is directed to an automatic machine that is disposed on a column and that performs turning motion and back-and-forth motion in order to change tools one after another on a tool spindle. In a machine tool having a tool changer, a first tool storage means for storing a plurality of tools, and a tool located between the first tool storage means and the automatic tool changer and from the first tool storage means. A first tool supply means extending in a column shape to deliver tools to a first tool change position of the automatic tool changer, and a plurality of tool storage means similar to the first tool storage means. a second tool storage means for storing tools;
between the tool storage means and the automatic tool changer, extending in a column shape for transferring tools from the second tool storage means to a second tool change position of the automatic tool changer. The automatic tool changer has at least two tool change arms, each having a first tool change position, a second tool change position, and a second tool feed means provided at the distal end of the tool change arm. A tool gripping portion that grips a tool at a tool change position and a tool change position of the tool spindle, and a tool change arm of the automatic tool change device that is located between the tool change position of the tool spindle and the first tool change position; control means for giving a tool change command to rotate the first tool between the tool change position and the second tool change position and between the first tool change position and the second tool change position; When replacing the replacement tool stored in the storage means with the replacement tool stored in the second tool storage means, the replacement tools stored in the first tool storage means and the second tool storage means are replaced. The tool is connected to the first tool supply means and the second tool supply means.
After being gripped by the tool supplying means and supplied to the first and second tool changing positions of the automatic tool changer, the tool is gripped by a tool gripper provided at the tip of the tool change arm of the automatic tool changer. It consists of being exchanged.

(b) Examples Hereinafter, one embodiment of the present invention will be described in detail with reference to the drawings.

FIG. 1 shows an embodiment of the line configuration in the group management system of the present invention. In the figure, numerals 1, 2, and 3 are machine tools equipped with an automatic tool changer (hereinafter referred to as a machining center in one embodiment of the present invention), which cut the workpiece while automatically changing tools as necessary. Work is automatically performed according to a predetermined schedule. The machining center 1 also includes a carry-in conveyor 4a for carrying a work pallet into a machine tool and a carry-out conveyor 4b for carrying a work pallet out of the machine tool.
The machining center 2 is connected to a carry-in conveyor 5a and a carry-out conveyor 5b, and the machining center 3 is connected to a carry-in conveyor 6a and a carry-out conveyor 6b, respectively. Between the carry-in conveyors 4a and 5a and the carry-out conveyors 4b and 5b, direction change is possible for supplying work pallets from the carry-in conveyors to the machining centers 1 and 2, and further discharging work pallets from the machining centers to the carry-out conveyors. Pallet loading and unloading devices 1a and 2a are installed respectively. Further, the machining center 3 is constructed as in Japanese Patent Application No. 46-96183, and when the machine table moves between the carry-in conveyor 6a and the carry-out conveyor 6b, the pallet is replaced by the pallet carry-out and input means of the carry-out and input conveyors. Therefore, the pallet loading and unloading devices 1a and 2a are unnecessary. The carry-in conveyors 4a, 5a and 6a are connected to conveyors 10b and 1 for conveying work pallets via a direction changing device 12, respectively.
0c, 10d, and 10e, and the carry-out conveyors 4b, 5b, and 6b are connected to conveyor conveyors 9b, 9c for conveying work pallets via a direction changing device 12, respectively.
, 9d and 9e. Further, the conveyors 9b and 10b are connected to the conveyor 7 via a direction changing device 12, and the conveyors 9e and 1
0e is connected to a transport conveyor 8 via a direction changing device 12, and the machining centers 1, 2, and 3 are surrounded by a group of work pallet transport conveyors in a closed loop. Furthermore, one of the transport conveyors 9a is connected to a pallet storage shelf 16a for storing work pallets, and the other is connected to the transport conveyor 7 via direction changing devices 12 and 12a, respectively. Further, the conveyor 10a has a direction changing device 12 on one side and a conveyor 11 on the other.
The other is connected to the work pallet storage shelf 16b via the direction changing device 12b, and the other is connected to the conveyor 7 via the direction changing device 12. Further, a stacker crane 17 is provided between the pallet storage shelves 16a and 16b, which is movable up and down and left and right along the storage shelves 16a and 16b, and is used to carry pallets into and out of the storage shelves.

As shown in FIG. 1, workpiece exchange positions 16c and 16d are provided at one end of the pallet storage shelves 16a and 16b for exchanging workpieces on the pallets. The pallet replaced with a new workpiece is carried by the stacker crane 17 to the storage shelves 16a and 16b. Also,
At the workpiece exchange positions 16c and 16d, processed workpiece pallets brought from the conveyor to the direction changing devices 12a and 12b are returned by the stacker crane 17, and the pallets are placed on the pallets. The machined workpiece is converted into an unprocessed or semi-processed workpiece by the operator's hands. Furthermore, pallet storage shelves 16a and 1
The pallets stored in the stacker 6b are brought to the direction changing device 12a or 12b by the stacker crane 17 in response to a request from the machining center.

In addition, the stacker crane 17 and the pallet storage shelf 16
a and 16b are the same as those detailed in Japanese Patent Application No. 109110/1982.

In areas adjacent to each of the pallet storage shelf 16b and the conveyor 11, there are centralized tool storage devices 18a and 18b for storing a large number of special tools such as multi-axis drills and general-purpose tools recycled by re-grinding or chipping. (hereinafter referred to as a tool storage shelf in one embodiment of the present invention) is provided, and the tool storage shelf 1
A special tool carry-in position 22J (FIG. 4) and a special tool carry-in position 23 are provided at both ends of 8a and 18b, respectively.

Tool storage shelves 18a and 18b as also shown in FIG.
In the vicinity of the storage shelf, tools located at the special tool carry-in position 23 are carried in, and tools requested from the machining centers 1, 2, and 3 are carried out from the storage shelf to the special tool carry-out position 22. Tool delivery device 1 for
9a and 19b (referred to as stacker cranes in one embodiment of the present invention) are provided so as to be movable in up, down, left and right directions. Furthermore, near the spindle heads of the machining centers 1, 2, and 3 (Fig. 1, 1b, 2b, and 3b), special tool storage devices 13, 14 are provided to mainly store tools used for the work currently being machined. and 15 are installed respectively, and the special tool storage device temporarily stores special tools used for the next workpiece brought from the tool storage shelves 18a and 18b and refurbished general-purpose tools. Special tool standby devices 13a, 14a and 15 for waiting
a are connected to each other.

In one embodiment of the present invention, the special tool storage device and the special tool standby device are collectively referred to as a used tool storage device.

Thus, the special tool carry-out positions 22 of the tool storage shelves 18a, 18b and the special tool standby devices 13a, 14a, and 15
Supply tool transfer devices 20a, 20b, and 20c are each independently disposed at an elevated position so as to communicate between rails 2 and 2, which are provided in a closed loop at the same elevated position.
4a, 24b, and 24c, it can run in a self-propelled manner.

Further, the supply tool transfer devices 20a, 20b and 20
C is in a corresponding relationship with each machining center 1, 2, and 3, and travels on independent rails 24a, 24b, and 24c, respectively, to carry the tool into the special tool standby position of the corresponding machining center. Furthermore, a plurality of supply tool transfer devices are placed on the rail, and each of them can run independently, and can also run in conjunction with each other.

On the other hand, return tool transfer devices 21a, 21b and 21c are installed at elevated positions to connect the special tool storage devices 13, 14 and 15 and the special tool loading positions 23 of the tool storage shelves 18a and 18b, respectively. They are arranged independently and at the same elevated location. A rail 25a provided in a straight line,
It can run in a self-propelled manner guided by 25b and 25c.

In addition, the return tool transfer devices 21a, 21b and 21c
The structure is exactly the same as the supply tool transfer devices 20a, 20b, and 20c, and furthermore, the special tool storage devices 13, 14, and 1 of the corresponding machining center run on independent rails 25a, 25b, and 25c, respectively.
5, the used tool is returned to the special tool carry-in position 23.

As described above, in the group management system according to one embodiment of the present invention, the main parts of the line configuration are as follows. (1) Machine tool (2) Special tool storage device Used tool storage device (3) Special tool standby device (4) Tool loading/unloading device (5) Special tool identification device (6) Supply (and return) tool transfer device ( 7) Centralized tool storage device and tool delivery device Each of the above items will be explained in detail below.

(1) Machine Tools In one embodiment of the present invention, a plurality of machine tools are comprised of machine tools equipped with automatic tool conversion devices, but the type and type thereof are not limited in any way.

Figure 2 shows a specific example of this.
As detailed in -33112 etc.
This is a known machining center. That is, the spindle head 30 is provided on a guide surface on the side surface of the column 31 so as to be movable in the vertical direction (Y direction), and the bed 35 connected to the column 31 is provided with the spindle head 30 in a horizontal plane. A saddle 34 is mounted which is movable in a direction perpendicular to the spindle axis (X direction).The saddle 34 is also movable in a direction parallel to the spindle axis (Z direction) in a horizontal plane. A plurality of indexable index tables 32 are placed on the carriage edge 33.
Although not shown, a pallet fixing device for holding sieves in Japanese Patent Application No. 48-08233 is mounted on the index table. Also, at the top of column 31,
A spider arm 40, in which a tool gripping device 41 for gripping a tool parallel to the spindle axis is arranged at four equiangular positions in a vertical plane, is movable in a direction parallel to the spindle axis and can be rotated into four positions. It is set up so that it can be taken out. One of the tool gripping devices 41 disposed at four positions is always positioned on the movement locus of the spindle axis each time the spider arm 40 is rotated and indexed, and one of the tool gripping devices 41 is positioned on the movement trajectory of the spindle axis based on the movement of the spider arm. The tool can be attached to and detached from the spindle.

On the side of the column opposite to the spindle head 30, a tool storage magazine 37 for storing general-purpose tools such as milling tools and drill tools in a closed loop in a direction perpendicular to the spindle axis is rotatably provided. ing. As shown in FIG. 2, the tool storage magazine 37 is rotated by a magazine drive device 36, so that it can be converted to a tool conversion preparation position (T in FIG. 2) by a twin arm 38, which will be described later.
The necessary tools are brought to point Cl). Further, at the upper part of the column 31, a guide body 42 is provided between the tool storage magazine 37 and the spider arm 40, and the guide body 42 has a tool carrier for holding and transporting tools. 39 is provided so as to be movable in the left and right direction in FIG. The tool carrier 39
At the right moving end TC2, tools are transferred to and from the tool gripping device 41 of the spider arm 40, and at the left moving end, the tool storage magazine 37 is prepared for tool conversion via the twin arm 38. A tool is transferred to and from the tool holder 43 located at position TCl. In this case, as described above, the tool storage magazine 37 stores the tools in a direction perpendicular to the spindle axis via the tool holder 43.
The tool holding portion of the tool carrier 39 automatically pivots 90 degrees to the left (in the tool holding direction of the tool storage magazine) on the way to the vicinity of the left moving end.

Therefore, tools are exchanged between the tool storage magazine 37 and the tool carrier 39 by the movement of the twin arms 38 into and out of the magazine tool grip in one direction and by the 180 mm (and 90 grips) turning movement.

The machining centers used in this embodiment of the present invention all receive cutting information from a computer and perform cutting operations based on this information.

(2) Special Tool Storage Apparatus FIGS. 3 and 7 to 9 show specific configurations of the special tool storage apparatuses 13, 14, and 15 shown in FIG. 1.

Hereinafter, the special tool referred to in one embodiment of the present invention also includes a general-purpose tool that has been re-milled due to tool life. In FIG. 3, a special tool transfer stand 52 is installed near the spindle head 30 of the machining center 1, and the end of the special tool transfer stand 52 on the spindle head side is connected to the direction of movement of the spindle head 30. Guide side plates 51a and 51b extending in parallel directions are provided, respectively. A sufficient distance is maintained between the guide side plates 51a and 51b so that special tool holders (for example, 55a to 55h) holding special tools are held between them, and the special tool holders (for example, 55a to 55h) are held in this space. ) are stored one on top of the other in the order in which they are used. The specific structure of this part is shown in FIGS. 7, 8, and 9. In Figure 7,
Stoppers 121 are provided on both the guide side plates 51a and 51b so as to face each other and to be able to go in and out, and the stoppers 12
1 is a spring 1 seated on the end cover 123 of the guide side plate.
It is constantly pressed by 22. Therefore, stopper 1
The tip of the stopper 121 always protrudes inside the guide side plates 51a and 51b, and since the tip of the stopper 121 is cut with an inclined surface, it cannot be used with special tool holders (for example, 54a).
) moves upward, the special tool holder 54a
The stopper 121 is automatically retracted at the upper edge of the
After passing, it protrudes again to prevent the special tool holder from falling. At the lower end of the storage guide path for the special tool holder consisting of the guide side plates 51a and 51b, the special tool holder is pushed up and locked to the stopper 121 (FIG. 7) as shown in FIGS. 7, 8, and 9. A vertical up/down table 131 that can be raised and lowered in the vertical direction is provided in order to move the tool. being guided. Further, as shown in FIG. 9, the vertical up-and-down table 131 has an inverted L-shape, and has a protrusion on its upper surface for guiding the dovetail groove of the special tool holder, and a protrusion on its lower surface. The output shaft of the hydraulic cylinder 130 is screwed. Further, the rear side plate 51c, which is adjacent to the guide side plates 51a and 51b and which forms a U-shape with the guide side plates 51a and 51b, is provided with an upper shaft fixing base 129a and a lower shaft fixing base 129b). Two vertical guide shafts 124a and 1
24b (FIG. 7) is provided substantially symmetrically and parallel to the special tool holder storage guide path.

On these two vertical guide shafts 124a and 124b, as shown in FIG.
4a, 124b so as to be movable up and down. The elevation drive device for the elevator carrier 125 is the eighth
As shown in the figure. That is, either one of the vertical guide shafts 124a or 124θb (in one embodiment of the present invention, 124θb)
b) A long groove is cut along the axis line, and the chain 14 is inserted into the groove.
Bury 9. A sprocket wheel 148, which is coaxially supported by the worm gear 146 on the elevator carrier 125, is meshed with the chain 149.
Further, the worm gear 146 meshes with a worm 147 connected to the output shaft of the hydraulic motor 145, and as the hydraulic motor 145 rotates, the sprocket wheel 1
48 is rotated, so that the elevator carrier 125 can move up and down in the vertical direction while being guided by the vertical guide shafts 124a and 124b.

On the other hand, as shown in FIG. 8, the elevator carrier 125 has a piston rod 151b that can engage and disengage from notches 150a...150n (FIG. 9) cut in the vertical guide shaft 124b. is provided together with the piston 151a, and its tip portion is constantly pressed against the outer diameter portion of the vertical guide shaft 124b by a spring 153.

The notch cut into the vertical guide shaft 124b has an inclined surface as shown in FIG.
51b is automatically pushed in against the spring 153, and during the lowering operation of the elevator carrier 125, pressure oil is introduced into the hydraulic pressure chamber 151c to retract the piston rod 151b and prevent it from engaging with the notch. unlock. Said piston 1
A dock 154 is attached to the small diameter portion extending rearward of 51a, and the engagement confirmation limit switch 1 is connected to the dock 154.
55a and the engagement release confirmation limit switch 155b, the engagement and disengagement between the notches 150a...150n and the piston rod 151b is confirmed. Further, the center of the elevator carrier 125 has a structure that can be moved in and out to the left in FIG. A fork 510 is provided, and a rack 5 attached to the side of the fork 510.
03 is engaged with a pinion 505 which is coaxially supported by the worm gear 506 on the elevator carrier 125. Further, the worm gear 506 is configured as described above. It meshes with a worm 507 connected to the output shaft of a hydraulic motor 509 provided on the carrier 1258. Thus, when the hydraulic motor 509 rotates, the worm 507
Worm gear 506, pinion 505 and rack 50
3, the fork 510 moves in the left-right direction in FIG.

Furthermore, notches 514a and 514b are cut out in different phases on the upper surface of the fork 510, and can be engaged with and disengaged from the plungers 513a and 513b. Therefore,
When the fork 510 reaches the forward end, the plunger 513
b engages with the notch 514b, and the forward motion limit switch 511b is activated. When the fork 510 reaches the retreat end, the engagement between the plunger 513a and the notch 514a activates the retreat end limit switch 511a. In one embodiment of the present invention, different devices such as an elevator carrier 125 and a hydraulic cylinder 130 are provided as lifting devices for the special tool holder.

That is, the hydraulic cylinder 130 is for sequentially storing special tool holders in the special tool storage guide path,
The operation continues until all the special tool holders required to process one workpiece are stored in the special tool storage guide 7 inner path.
Also, the last of all the special tool holders is lifted by the hydraulic cylinder 130, and the seventh special tool holder is lifted up by the hydraulic cylinder 130.
When the step-up confirmation limit switch 500 shown in the figure is stepped on, the fork 510 shown in FIG. , the elevator carrier 125 is raised and the special tool holder is stepped up.

(3) Special tool standby device A special tool transfer stand 52 is connected to the lower part of the special tool storage guide path of the special tool storage device 13 in FIG.

The special tool transfer table 52 is for transferring a special tool holder (for example, 54a) holding a special tool, and has a dovetail groove 83 of the tool holder in the center of the tool holder transfer surface.
A protruding guide 53 (FIGS. 3, 7) is provided for transporting the tool holder in accordance with FIG. 6 (FIG. 6). Further, a groove portion for the chain 135 to run is provided approximately at the center of the guide portion 53, as shown in FIG. Bearing sprocket wheel 1
34 and the sprocket wheel 21 in FIG. 13, which will be described later.
9 are meshed with each other. sprocket wheel 13
4 is rotationally driven by a hydraulic motor 133 fixed to the outer wall of the special tool transfer table 52. Furthermore, the chain 135
Hooks 136 having rollers 137 supported on the link portions are attached to the hooks 136 at several locations. Thus,
The special tool holder moves on the special tool transfer stand 52 with the roller 1.
37 and is transferred while being pushed by the vertical upper and lower tables 13 in FIG.
1 will be imported.

On the other hand, in FIG. 3, guide plates 50a and 50b are provided perpendicularly to each other at the right end of the special tool transfer stand 52, and a special tool holder (for example, 5
4a) is held, and a special tool holder is stored in this space in an overlapping manner. The specific configuration of this part is shown in Figures 13 and 14.
It is shown in FIG. a, FIG. 14b, FIG. 14c and FIG. 15. Rear side plates 50c in FIGS. 13 and 15 are provided adjacent to guide side plates 50a and 50b in FIG. 3, respectively. The guide side plate 50 is attached to the back side plate 50c.
A vertical guide shaft 141 is attached via a shaft fixing base 142 parallel to the special tool holder storage guide path constituted by a and 50b. An elevator carrier 144 is provided on the vertical guide shaft 141 so as to be movable in the vertical direction, and a fork portion 143 is provided on the carrier 144 to protrude toward the special tool holder storage guide path. The fork portion 143 is projected into the storage guide path through a notch provided in the rear side plate 50c, and special tool holders 54a to 54d are loaded on the upper surface of the fork portion. Furthermore, the elevator carrier 14
4 includes notches 528a to 52 of the vertical guide shaft 141.
Piston rod 151b that can be selectively engaged with and disengaged from 8n
is provided, and the piston rod 151b is always connected to the spring 15.
3 against the vertical guide shaft 141.

The notch cut into the vertical guide shaft 141 has an inclined surface as shown in FIG.
51b is automatically pushed in against the spring 153.
Further, in the lowering operation of the elevator carrier 144, pressure oil is introduced into the hydraulic pressure chamber 151c and the piston rod 15
1b is moved backward to release the engagement with the notch. A dock 529 is attached to the small diameter portion extending rearward of the piston 151a, and when the dock 529 and the engagement confirmation limit switch 530 and the engagement release confirmation limit switch 531 come into contact with each other, the notches 528a to 528n and the piston rod 1
51b is confirmed.

Incidentally, the driving device for raising and lowering the elevator carrying carrier 144 is the same as that of the elevator carrying carrier 125 of the special item storage device 13. As shown in FIGS. 13 and 15, the elevator carrier 144 in this case moves the piston rod 151b to the vertical guide shaft 141 every time a special tool holder is supplied from the supply tool transfer devices 20a, 20b, 20c. is released from the notches 528a to 528n, and is lowered one step at a time by the lifting/lowering drive device.

Therefore, the top part of the special tool storage guideway, which is comprised of guide side plates 50a and 50b, will be described at the feeding device. (4
) Tool attachment/detachment device In one embodiment of the present invention, the spider arm 40 of the machining center described in item (1) above is included in the tool attachment/detachment device.
However, since the spider arm 40 has already been explained, it will be omitted here.

At the top of the tool storage device 13 in FIG.
is provided, but the support base 532 and the guide side plate 51
The special tool holder (for example, 55b) that has ascended in the storage guide path made up of both guide side plates is connected to the top of a and 51b in a horizontal plane in a direction perpendicular to the spindle axis.
A drive device is provided for sequentially moving the shaft in a direction parallel to the spindle axis and in a direction perpendicular to the spindle axis.

10 to 12 show the specific configuration of the drive device.

That is, in FIG. 10, the special tool storage device 13 (third
The special tool holder that moves the
a and the guide plate 536a attached to the guide side plate 51a.
and 5376d1, and the guide side plate 51b and the guide side plate 51.
By the guide plates 536b and 536c attached to b,
You will be guided. The elevator carrier 125 (see FIG. 9) is moved along the special tool storage guide path composed of the guide side plates 51a and 51b until the rising end limit switch 537 (see FIG. 10) at the top of the guide path is stepped on. ), the special tool holder 55b is pressed by a hydraulic cylinder 60 fixed to the guide side plate 51a (Fig. 12), and the moving body 57 (10th
12) guided by the dovetail guide 93 of the moving body (point R-point T). Moreover, the moving body 57 is
Dovetail guide 5 of support base 532 in a direction parallel to the spindle axis
6 (FIG. 12) and is pressed by a hydraulic cylinder 59 fixed to the back of a fixed base 58 to be movable (from point T to point Q).

In FIG. 10, the moving body 5 is
When the special tool holder 55b is moved together with 7 to point Q, the two fork parts 9 of the shifter 98 that are waiting
4a and 94b. Fork parts 94a, 94b
is provided on the front surface of the support base 532 so as to be movable together with the shifter 98 in a direction perpendicular to the axis of entry and exit of the spider arm 40, and allows the tool of the special tool holder to be gripped by the tool gripping portion of the spider arm 40 (point Q). →0 points).

As shown in FIG. 11, the shifter 98 having fork portions 94a and 94b is held between the front surface of the support base 532 and the front cover 552, and the guide portion 551 is inserted into the guide groove 547 of the front cover 552. has been done. Also,
A rack 100 cut into the lower surface of the shifter 98 is connected to a gear 99 of a hydraulic motor 95 provided on a front cover 552.
It meshes with. Fork portions 94a and 94b in FIG.
As shown in the figure, the special tool holder is stopped at three positions, 0, P, and Q points. Among these three positions, at point P, the special tool returned from the spindle is temporarily removed from the tool gripping device of the spider arm, and the return tool transfer device 21a, 21b shown in FIG.
and 21c are the necessary positions for lifting. Thus, the shifter positioning detection device 534 (FIG. 10) is provided directly above the shifter-driving hydraulic motor 95.
A 3rd position stop of the shifter 98 is detected.

That is, in FIG. 11, the guide portion 551 of the shifter 98
There are three different cuts on the bottom of the. Cutouts 548, 549, and 550 are cut out, and plungers 540, 541, and 542, which can engage and disengage from the cutouts 548, 549, and 550, are slidably provided on the front cover 552, respectively. ing. Since the plungers 540, 541 and 542 are constantly pressed by the spring 543, the shifter 98
When the plungers 540, 541, and 542 are engaged with the notches 548, 549, and 550 of the limit switches 544, 545, and 546, the contact between them is released. The limit switch 544 is a limit switch for confirming the left end of the shifter (point O in FIG. 10). The limit switch 545 is a limit switch for confirming the shifter intermediate position (point P in FIG. 10). The limit switch 546 is
This is a confirmation limit switch at the right end of the shifter (point Q in FIG. 10). Further, these limit switches issue a position confirmation signal when they release from contact with the plunger. l 10th
In the figure, at the zero stop position of the special tool held by the spider arm 40, a rotary clamp device 62 is attached to the support base 532 via the fixed base 64, located at the rear of the special tool holder. (Figure 3).

Figure 16 shows this case. a special tool holder 55a,
A specific structure with a rotary clamp device 62 is shown. That is, the special tool holder 55a has a tapered hole for inserting the tool, and an insertion hole 115 provided at the back of the tapered hole has a sliding portion 117, and a special tool STl is inserted into the special tool holder 55a. A holder 116 having a hole for inserting a pull stud 120 is provided so as to be rotationally restrained and slidable.A pair of locking pieces 118 are provided in a sliding portion 117 of the holder 116 so as to face each other. One end is provided so as to be pivotable by a pivot pin 119. The other end of the locking piece 118 is loosely fitted into a sliding portion 121a of a holder 121 fixed to both sides of the special tool holder 55a. A retaining pin 122 which is clamped and further fixed to the other end is movably fitted into a notched groove 123 extending inside the sliding portion 121a.Furthermore, a bracket attached to the rear of the special tool holder 55a A lock screw 83 is screwed into the lock screw 83, and a tip end 115 of the lock screw 83 is axially restrained and rotatably connected to the holder 116. However, as shown in the figure, when the locking piece 118 is slid in the vertical direction, the locking piece 118 pivots around the pivot pin 119, and the tip engages with the protrusion of the pull stud 120 of the special tool STl. On the other hand, the output shaft 113 of the rotary clamp device 62 is disengaged from the protrusion.
is movable in the axial direction and rotatable, and an engagement portion 111 is provided at the tip of the output shaft 113 via a spline. The engaging portion 111 is constantly pressed by a spring 112 against a stopper at the tip of the output shaft 113, and is further provided with an engaging hole so that it can engage with the square screw head 225 of the lock screw 83. In one embodiment of the present invention, the spider arm 40 is used to transfer tools to and from the main spindle, but for example, an attachment/detachment device different from the spider arm 40 may be provided in order to attach/detach tools brought in from outside the machine to/from the spindle. It is also possible.

Therefore, it goes without saying that the gist of the present invention is not limited to the embodiments, but includes all modifications that do not depart from the gist. (5) Special Tool Identification Device FIG. 6 shows a special tool identification code plate 81 attached to the side surface of a special tool holder (for example, 55a).

A plurality of dogs are attached to the identification code plate 81 to display identification codes of special tools (hereinafter referred to as tool numbers in one embodiment of the present invention) using binary codes. Further, the identification code plate 81 can be replaced as desired depending on the number of the special tools STl to STn inserted into the special tool holder 55a. Furthermore, the identification device for identifying the tool numbers displayed in these dog rows may be, for example, a special tool identification device 156, which is attached to the guide side plate 50a and consists of a group of limit switches, as shown in FIG. However, the identification device in one embodiment of the present invention is merely an example, and the gist of the present invention is not limited thereby. That is, the identification device naturally differs depending on the type of the identification code (in one embodiment of the present invention, the dog row) of the special tool. Combination of body and photosensitive element or practical application 1977-0
A combination of a perforated card and a photosensitive element, a combination of a magnetic dog and a magnetically sensitive element, etc. as described in 99301,
Various modifications are possible. (6) Supply (return) tool transfer device As mentioned above, tool storage shelves 18a and 18b (Fig. 1)
In order to transfer special tools or reground retreaded general-purpose tools between the machine and the machining center, the supply tool transfer devices 20a, 20b and 20c and the return tool transfer devices 21a, 21b and 21c are located at elevated positions, respectively. The tool transfer device is provided in a movable manner, and the specific structure of the tool transfer device is shown in FIGS. 17, 18a, and 18b.

In FIG. 17, rollable rollers 16''a are brought into rolling contact at eight locations on both sides of the rail (for example, 24a), and rollers 161a are opposed to both sides of the rail 24a. Main body 165a and auxiliary body 16
5b via a shaft 161b so as to be rotatable.
The main body 165a and the auxiliary body 165b are connected at their upper portions by a housing 166. The housing 166 is rotatably provided with rollers 162 that roll and come into contact with the upper surface of the rail 24a at four locations, one pair of which is shown in FIG. 17. That is, the pair of rollers 162 are fixed to a shaft 169 rotatably supported on a housing 166 with a sprocket wheel 163 in between, and one end of the shaft 169 is connected to a reduction gear 167 provided on one side of the housing 166. is connected to the output shaft of the The reduction gear 167 includes an electric motor 168
is attached, and the rotation of the electric motor 168 is reduced to an appropriate speed and transmitted to the output shaft via a general speed reduction mechanism (for example, a worm mechanism). In this way, the sprocket wheel 163 is rotated at an appropriate rotation speed, but since the sprocket wheel 163 is engaged with the chain 164 embedded in the upper part of the rail 24a, as the sprocket wheel 163 rotates, the body main body 1
65a, the auxiliary body 165b, and the housing 166 move together on the rail. Rails 24a, 2 in Fig. 1
The tool standby device 13a is located at the lower part of 4b and 24c.
, 14a and 15a, a branching point confirmation device 350 is provided as shown in FIG. When it comes into contact with 350, 9 electric machines 168
The rotation of will decelerate and stop. Furthermore, in FIG. 17, a notch 172a is provided at the lower end of the body main body 165a, and guide grooves 172b are provided in opposing inner walls of the notch 172a, respectively.

One end of a telescoping device using a link mechanism is attached to a part of the inner wall surface of the notch 172a. Further, a hook 181 for lifting a special tool holder is attached to the other end of the telescoping device. The telescoping device is
As shown in FIG. 18a, among the intersecting links 186a and 186b, 186c and 186d, 186e and 186f, and 186g and 186h, the link 186a and 186h are pivotally connected by a pivot pin (eg, 188) and pivotably intersect with each other. One end of link 186d is connected to one end of link 186d, one end of link 186b is connected to one end of link 186c, and the other end of link 186c is connected to link 1.
Connect the other end of the link 186d to one end of the link 186f.
One end of e has a telescoping link mechanism in which the other end of link 186f is pivotally connected to one end of link 186g, and the other end of link 186e is pivotally connected to one end of link 186h, and the telescoping link mechanisms are provided in parallel. upper connecting shaft 170a,
170b and lower connecting shafts 171a, 171b. Guide rollers 169 rotatably provided at both ends of the connecting shaft 170a of the link 186a are guided in the left-right direction along the guide groove 172b of the body 165a, and the connecting shaft 170b of the link 186b is
is fixed to the inner wall of the notch 172a.

Further, guide rollers 169 rotatably provided at both ends of the connecting shaft 171a of the link 186h are guided in the left-right direction along the guide groove 172d of the hook 181,
The connecting shaft 171b of 86g is connected to the notch 172 of the hook 181.
It is fixed to the inner wall of a. As described above, among the telescopic link mechanisms prepared in parallel, the pivot pins of the cross link 186g and the link 186h are connected to each other as the hook shaft 185. The hook shaft 185 faces a notch 191 of a lock pin 189 slidably provided on the hook 181, and can be engaged as described later. The lock pin 189 is a T-shaped portion 19 inserted into a T-shaped groove 80 (FIGS. 6 and 18b) of a special tool holder (for example, 54d).
The hook 181 is provided at the center of the T-shaped portion and has one end. protrudes slightly from the T-shaped portion 193, and the cutout portion 191 is provided at the other end. Also, the lock pin 189
is guided by a guide bush 192, and is also guided by a disc spring 1
90 through the jaw 189a (
Figure 18a).

Furthermore, the rack 5 cut into the lock pin 189
55 is a latch plate 5 which can be engaged with the lock release device 518 provided at the top of the special tool standby device shown in FIG.
25a (FIG. 14a). Therefore, when the hook 181 shown in FIG. 18a is inserted into the T-shaped groove 80 of the special tool holder, the lock pin 189 is pressed by the disc spring 190 as shown in FIG. 18b and is inserted into the T-shaped groove 80 of the special tool holder. The hook 1 is in contact with the bottom part 80a and
The T-shaped part 193 of 81 is pressed against the upper jaw part 80b of the T-shaped groove 80, and the hook 181 and the special tool holder are clamped. In this way, accidents of falling of the special tool holder during transportation can be prevented. Furthermore, in Figure 18a,
A connecting portion 184 attached to the output shaft of an electric linear motion device 183 fixed to the body 165a via a fixing plate 187 is rotatably attached to the center of the upper connecting shaft 170a.

Therefore, when the output shaft of the electric linear motion device 183 is moved to the left in FIG. 18a, the guide rollers 169 in FIGS. 17 and 18a move into the guide grooves 172b and 172.
Since it moves straight while being guided by d, the angle θ formed by links 186a and 186b becomes smaller, and the pitch of the pivot pins of each link becomes larger. Thus, the hook 181 is
In Figure 18a, it is moved downward. When the output shaft of the electric linear motion device is moved to the right, the hook 181 is moved upward in FIG. 18a. At this time, the three vertical guide shafts 180a, 180b and 180c fixed to the hook 181 are connected to the body 16.
5a so that the hook 18 can be moved up and down.
1 can perform stable vertical movements. Further, as described above, the lock pin 189 has a notch 19 at the top.
1, the output shaft of the electric linear motion device moves to the left, and the hook shaft 185 of the link mechanism moves to the hook 181.
When the hook shaft 185 stands up against the notch 191
and pulls the lock pin 189 upward against the spring 190. Therefore, at this time, the T-shaped portion 1 in FIG. 18b
The fixed state between 93 and T-shaped groove 180 is released. Special tool unloading position 22 and special tool standby device 13a, 1 in Fig. 1
Since the tool entrances 4a and 15a are structurally different in height, the tool entrance of the special tool standby device is equipped with a lock release device 518 as shown in FIGS. 13 and 14a. It is attached.

That is, the supply tool transfer devices 20A, 2Ob, and 20c extend the hook 181 to the maximum extent with the electric linear motion device 183 shown in FIG. However, the special tool holder must be released with the hook 181 shown in FIG. 18a extended halfway at the tool loading inlet of the special tool standby devices 13a, 14a, and 15a. Therefore, the lock pin 189 cannot be lifted by the hook shaft 185 of the link mechanism at the tool loading port in the special tool standby position. The specific structure of the unlocking device 518 is shown in FIG. 14a.

At the shaft end of the pinion 556 that meshes with the lock pin 189 (FIG. 18a) of the hook 181, there are screws shown in FIGS.
A clutch plate 525a having a pawl 525b indicated by a two-dot chain line in Fig. 14c is fixed, and the special tool holder is lowered from above by the feeding tool transfer devices 20a, 20b, and 20c (Fig. 14b), and the special tool holder is placed on standby. When the device is brought to the entrance, a pawl 523b, indicated by a solid line in FIGS. 14b and 14c, is located at a position facing the clutch plate 525a.
A clutch plate 523a having a clutch plate 523a is provided. The clutch plate 523a has a pinion 5 that meshes with the rack 524.
It is fixed to the shaft end of 57. In addition, the clutch plate 523
In the adjacent part a(7), there is a clutch plate 52 which is rotated clockwise by the clutch plate 523a as shown in FIG. 14c.
A guide groove 527 is provided for guiding the claw 525b of the tool holder 5a when the hook 181 is extracted from the T-shaped groove 80 of the special tool holder. Thus, the hook 181 is
The special tool holder is pulled out from the T-shaped groove 80 in the unlocked state.

On the other hand, the return tool transfer devices 21a, 21b and 21c (
The structure shown in Fig. 1) is a feeding tool transfer device. 20a, 20
b and 20c (Fig. 1).

Furthermore, as will be described in detail later, the return tool transfer device also performs a temporary standby operation of the special tool holder that occurs when a special tool is attached to and removed from the spindle.In this respect, the supply tool transfer device They have different movement patterns.

(7) Centralized tool storage device and tool delivery device The centralized tool storage device is for storing special tools and general-purpose tools regenerated by resharpening. 18b corresponds to this.

FIG. 4 shows the specific structure of the tool storage shelves 18a and 18b. Tool storage shelf 18a and tool storage shelf 18b
Since they are structurally exactly the same, only the tool storage shelf 18b will be described below. In the tool storage shelf 18b, shelves for storing special tool holders (for example, 54) are provided in four stages and five rows in the figure, and the storage shelves are placed on the base 73. ing.

Further, a tool transfer device is provided near the tool storage shelf 18b to transfer tools between the tool storage shelf and the special tool transfer device. That is, a lower rail 72b is provided that extends on the base 73 along the tool storage shelf 18b. Further, an upper rail 72a extending parallel to the lower rail 72b is supported by a support stand 77 fixed to the upper part of the tool storage shelf 18b and another support stand (not shown) on the base. Upper rail 72a and lower rail 7
2b, the stacker crane 19b is guided by a truck 71b guided by a lower rail, an upper guide body 71a guided by an upper rail, and an upper guide body 71a and a truck 71.
a pair of vertical guides 74 vertically erected between the
It consists of a carriage edge 75 that moves vertically up and down guided by the vertical guide 74, and a fork 76 that can move in and out of the tool storage shelf 18b on the carriage edge 75. The stacker crane 19b is structurally similar to the stacker crane 17 for loading and unloading pallets described above, and its details are disclosed in Japanese Patent Application No. 1973-
109110. Although the central tool storage devices 18a and 18b according to the present invention have a shelf type,
The gist of the present invention is that the centralized tool storage device 18a
, 18b.

That is, it is used in a machine tool equipped with an automatic tool changer. A known tool storage magazine may also be used. Further, the tool changing device is not limited to the one embodiment of the present invention, but includes all devices as long as they have a tool changing function. (c) Function The function of the embodiment of the present invention constructed as described above will be explained.

FIG. 19 shows a block diagram of a model of a group management system that is collectively controlled by a computer.

In the figure, a magnetic drum 205 is connected to a computer 200 as an auxiliary storage means, and all information for workpiece machining (workpiece number, cutting conditions, used tool numbers, etc.) are recorded on the magnetic drum 205 according to a predetermined schedule.

The electronic computer 200 also includes an interface 206.
The machining center control circuit 207-1, 20
7-2, 207-3,..., 207-N, pallet/stacker crane control circuit 211, pallet transfer conveyor control circuit 212, tool/stacker crane control circuit 213, tool transfer device control circuit 214, special tool supply control circuit Output means such as 208 and tool conversion control circuit 700 are connected to each other, and further pallet number reading devices 203a, 203b and 303c, pallet positioning and clamping device 204, and special tool number reading device 1
It is also connected to input means such as 56.

Thus, the electronic computer 200 determines when to transmit the information recorded on the magnetic drum 205 to the output means based on various execution programs input from input setting means such as the typewriter 201 or tape reader 202. Also, the feedback signal returned from the output means or the pallet number reading device 203a, 203
b and 203c, pallet positioning clamp device 204
Furthermore, processing such as how to modify the contents of the magnetic drum 205 can be performed using an input signal from the special tool number reading device 156.

The main execution programs in one embodiment of the present invention can be broadly classified as follows.

1. Workpiece supply program 2. Special tool and refurbished general-purpose tool supply program 3. Tool conversion program Below, the execution programs described in each of the above items will be explained in detail.

1. Work Supply Program The main files prepared in the magnetic drum 205 in FIG. 19 to execute the work supply program are as follows.

(4) Machine Buffer File (MTBUF) Figure 20 This file records the number of work pallets that machine tools input into the group management system must complete according to a predetermined schedule.
This is input using the typewriter 201 or tape reader 202 shown in the figure.

Further, this file is provided according to the number of the machine tool input to the group management system. Therefore, this file contains the machine number recording address a1 of the machine tool, and the number recording address b1 of the work pallet currently being processed by the machine tool.
The number record address C1 of the work pallet to be processed next by the machine tool is further stored in the pallet storage shelves 16a and 16b of FIG. Number recording addresses d to j of the stored work pallets are provided, respectively.

(B) Conveyor file (CVF) Figure 21 This file is used for pallet storage shelves 16a and 1 in Figure 1.
6b, the pallet is loaded onto the pallet transport conveyor 7 by the stacker crane 17, or is discharged from the pallet conveyor 4b, 5b.
and 6b to pallet conveyors 9b, 9c and 9d.
This is to record the number of the work pallet being carried into the area.

Therefore, the work pallet is transferred to the pallet conveyor 10b.
, 10c and 10d to the carry-in conveyors 4a and 5 of FIG.
When the work pallet is branched to a and 6a, the number of the work pallet is deleted from this file. Records of this file
The erasure is automatically processed by the computer 200 based on the carry-out completion signal of the pallet stacker crane control circuit 211 and the carry-in completion signal or branch completion signal of the pallet conveyor control circuit 212 in FIG.

(C) Pallet file (PLF) Fig. 23 This file is for recording the number of the machine tool on which the work pallet is to be processed in accordance with the process order, and is used on the typewriter 201 or tape reader 2 in Fig. 19.
This is input in 02.

Therefore, this file is provided with the number recording address A of the work pallet and the number recording addresses B, c, .

The electronic computer 200 in FIG. 19 includes machining center control circuits 207-1, 207-2, 207-3, . . .
In response to the machining completion signal from 7-n, a machining completion symbol J is attached to the corresponding machine tool number in the file.

By doing so, it is convenient for the electronic computer 200 to check the machining status of the workpiece and to process files. (D) Tool file (TOOLF) Fig. 24 This file is for recording the tools required for machining the work pallet in the order of use.

Therefore, this file contains the number recording address (A) of the workpiece pallet, the number Tl,..., Tn of the two tools used according to the workpiece process contents, and the required machining time TMl,...
, TM. ．． Recording addresses such as . . . are provided respectively.

Now, when a machining completion signal is given to the computer 200 from the machining center control circuit 207-1 in FIG. Processing begins. That is, according to block 571 in FIG. 32, the pallet transport controller 200 from the computer 200 in FIG. A pallet conversion command signal is sent to the bear control circuit 212, and the pallet loading/unloading device 1a in FIG.
Further, the processed pallets (for example, Pxn) are each converted to the carry-out conveyor 4b. When the work pallet Pnx-1 on the work table of the machining center 1 is thus positioned and clamped, a completion signal is transmitted from the pallet positioning and clamping device 204 to the computer 200 as shown in FIG. Computer 200 transmits cutting information to machining center control circuit 207-1, and cutting work on work pallet Pxrl-1 is started. Also,
The electronic computer 200 reads the machine buffer file (FIG. 20) from the magnetic drum 205 to the arithmetic unit of the electronic computer, and performs the τ processing as listed below.・)According to block 572 in FIG. 32, first, delete the pallet number Pxn recorded at the current processing pallet number recording address b, and replace the pallet number Pxn-1 at the next processing pallet number recording address c. Move it to recording address b.

)) Also, according to block 573 in FIG. 32, the pallet number Pxn-1 transferred to the current machining pallet number recording address b is checked to determine whether there is a work pallet of the same type.

That is, it is assumed that the number of workpieces input into the group management system according to the embodiment of the present invention is a maximum of 10 pieces per rod, and that there are many types of workpieces, and the pallet number is assumed to be three digits. Therefore,
The first two digits of the pallet number (for example, Px, Py,..., etc.) indicate the type of workpiece, and the last one digit (for example, N, n-1,...0, etc.) indicates the number of workpieces of the same type sequentially. It has become.

In this way, if the workpieces are programmed in advance to be machined by the machine tool in order of number N, n-1, . Changed pallet number Pxn-
Check the last digit of 1, and if it is zero, there is no subsequent identical part,
If it does not spill, it can be determined that there are subsequent identical parts.
c) If it is not zero (block 574 in FIG. 32), it is recorded in the pallet number recording address d-j according to block 575 in FIG. ), and the last digit is P
A pallet number Pxn-2 which is one younger than xn-1 is searched.

As a result of the search (block 576 in FIG. 32), the corresponding pallet number Pxn-2 found is transferred to the next processing pallet number recording address c in FIG.
According to blocks 577, 582 of the figure, the number Pxn-
2 and a call command are transmitted to the pallet stacker crane control circuit 211 in FIG. On the other hand, as a result of the search (block 576 in FIG. 32), if no pallet is found, the corresponding pallet is still on the pallet storage shelf 16a in FIG.
16b, the operator is requested to store the pallet (block 580 in FIG. 32).

(d) If it is zero (block 574 in Figure 32), there is no successor of the same part, so according to block 581 in Figure 32, the pallet number (for example, Pyn) at recording address d (Figure 20) is The processing pallet number is transferred to the recording address c, and further transmitted to the pallet stacker crane control circuit 211 in FIG. 19 along with the call command (third
Block 582 in Figure 2). After completing the processing of the machine buffer file as described in (a) to (d) above, the computer 200 executes the following steps according to block 584 in FIG.
From the magnetic drum 205 (Figure 19) to the pallet file (
(Fig. 23) is read out, and pallet number P of the file is read out.
Extract the record address of xn-1 (or Pyrl),
A call indication is attached to the machine number of the machine tool (machining center 1) that is calling the pallet.

By doing this, you can search from which machine the work pallet is being called. Further, according to block 585 in FIG. 33, the stacker crane 17 in FIG.
Or it is carried out from 16b to the direction changing device 12a or 12b.

At this point, as in block 586 of FIG.
The electronic computer 200 in the figure has a magnetic drum 205, a 21st
Read the conveyor file shown in the figure and record the pallet number Pxn-2 (or Pyrl) in the file. Furthermore, the work pallet Pxn-2 (or Pyn) carried out to the direction changing device 12a or 12b in FIG. When the pallet is transported to the branching point of the carrying-in conveyor 4a, the pallet number reading device 203a (
1 and 19), the work pallet number is transmitted to the computer 200, and the machining center 1
It is checked whether this is the work palette being called (block 587 in FIG. 33).

As a result of the confirmation (block 588 in Figure 33), if it is not currently being called, it will be passed through (block 5 in Figure 33).
90), if the work pallet PXrl-2 (or Pyn) is being called, the computer 200 issues a drive command to the pallet conveyor control circuit 212 (FIG. 19) as shown in block 589 of FIG. is given, is branched by the direction change device 12, carried to the carry-in conveyor 4a, and brought to the pallet standby position on the carry-in conveyor.

Thereafter, in accordance with block 591 of FIG.
The electronic computer 200 in FIG. 9 checks whether there is a machining completion signal from the machining center control circuit 207-1, and performs the following processing based on the result.

(a) Upon confirming the work completion signal, the computer 200 immediately transmits a pallet conversion command between Pxn-1 and Pxn-2 (or PXTl-1 and Pyn) to the pallet conveyor control circuit 212 in FIG. 19.

(Blocks 592 and 594 in Figure 33) (b)
To keep a work pallet on standby when a work completion signal cannot be confirmed.

(Block 593 in Figure 33) (c) Furthermore, the pallet number Pxn- recorded in the conveyor file in Figure 21
2 (or Pyn).

Thus, the electronic computer 200 completes the program processing for supplying the workpiece.

2 Special tool supply program The special tool supply program is executed by the electronic computer 20 in FIG.
However, here we will explain the process of extracting an independent control system for processing the program and performing program processing based on this system.

A control block diagram of the special tool supply control circuit 208 according to the present invention is shown in FIGS. 29 and 30.

It is assumed that the control circuit 208 is connected to the electronic computer 200 in FIG. 19, and all input/output signals are communicated between the electronic computer 200 and the control device 208. The files provided on the magnetic drum 205 of FIG. 19 to carry out the special tool supply program include those listed below.

(a) Crane P file (CRNP) Figure 22 This file is used to load and unload special tools and refurbished general-purpose tools in the tool storage rack using the stacker cranes 19a and 19b (Figure 1) as tool delivery means. This is an important file that plays the role of a keyword when closing the file.

Based on the data recorded in this file, the computer 200 extracts special tools and refurbished general-purpose tools to be transferred to a machine tool (machining center), and performs complex program processing to be described later. This file includes the used tool transfer device 21a for return from the machining center.
, 21b and 21c (Fig. 1), new special tools requested in the tool room, and refurbished general-purpose tools, only those that received a tool storage command are recorded. At another record address in the same file,
When the machining center requests a work pallet, the corresponding work pallet number is recorded based on the call command.

That is, the tool number to be carried into the tool storage shelf and the pallet number called up from the machining center are recorded together. Therefore, this file contains the number recording addresses A, b, and C of the special tools brought back by the return tool transfer devices 21a, 21b, and 21c, the number recording address D, . . . of the work pallet called by the machining center, etc.
k is provided.

The numbers are sequentially recorded in the number recording addresses D, . . . , k starting from the earliest calling order. Furthermore, all recording and erasure of this file is automatically processed by the electronic computer 200 according to a predetermined execution program.

In other words, the tool number recorded in this file is deleted when the tool is loaded into the tool storage shelf, and the pallet number is deleted when all the corresponding tools are removed from the tool storage shelf.
Pre-programmed.

(b) Magazine File (MGF) FIG. 25 This file records all the numbers of general-purpose tools stored in the tool storage magazines of machining centers 1, 2, and 3 in FIG. 1, respectively.

That is, the machine number of the machining center is recorded at record address A.
All general-purpose tool numbers held in the machining center with the corresponding machine number are recorded in the recording addresses Tl, . . . , Tn, respectively. Note that the recording in this file is inputted in advance from input means such as the typewriter 201 and tape reader 202 in FIG. 19. In the process of the work pallet supply program, the computer 200 in FIG.
or Pyn) is transmitted to the pallet stacker crane control circuit 211 (block 582 in FIG. 32), the computer 200 continues program processing in the steps shown in the flowcharts of FIGS. 34 to 37. Start.

That is, the electronic computer 200 in FIG.
Read the crane P file from , and perform the processing listed below.

(a) According to block 596 of FIG.
It is checked whether the first address d among the pallet number recording addresses d-k of the file is empty.

That is, the presence or absence of the work pallet called up from the machining center is checked here. At this time, if the number of the special tool to be carried into the tool storage shelf is recorded in the tool number recording addresses a to c of the file, the carry-in command is transmitted to the tool◆stacker crane control circuit 213 in Fig. 19. Immediately transport the relevant tool to the tool storage shelf.

In one embodiment of the present invention, whether it is a work pallet or a special tool, the work pallet and special tool carried into the storage rack are programmed to always have priority over the work pallet and special tool carried out. .

Therefore, when a work pallet and a special tool are carried in or out from a storage shelf, the computer 200 always checks whether the carried-in pallet and special tool are present. (b) Block 5 when the first recording address d of the pallet number recording address is empty (Fig. 34)
97 and 598), there is no work pallet that has been called from the machining center group so far, so the work pallet number for the next processing that is currently being called Px
n-2 (Pyn) is recorded at the first recording address d.

(c) If the first recording address d of the pallet number recording address is not empty (blocks 597 and 604 in FIG. 34), there is a work pallet that has already been called from the machining center, and the stacker cranes 19a and 19b in FIG.
is continuing to unload special tools and refurbished general-purpose tools used on its work pallets.

Therefore, the work pallet number P for the next processing that is currently being called
xn-2 (Pyn) is recorded at an unrecorded address among the pallet number recording addresses of the file. In addition, in this case, if all the special tools and refurbished general-purpose tools used for the pallet number recorded at the first recording address d are taken out from the storage shelf, the computer 200
deletes the number and steps up the pallet numbers recorded after record address e (block 60 in Figure 34).
5,606). Thus, the electronic computer 200 in FIG.
is register A of the special tool supply control circuit 208, which will be described later.
Work pallet number for next processing Pxn-2 (Pyrl)
is stored (block 599 in Figure 34), and the number of the machine tool (for example, machining center 1) that is calling the next machining workpiece pallet Pxn-2 (Pyn) is searched from the pallet file in Figure 23 (block 599 in Figure 34) is stored (block 599 in Figure 34). The machine number is stored in register B of the special tool supply control circuit 208 (a call-up display is attached to the machine number).
Block 600 in Figure 4), and the tool number Tl used for the next processing workpiece pallet Pxn-2 (Pyn).
, Tn together with the required cutting times TMl and TMn are extracted from the tool file in FIG. 24 and stored in the memory C of the special tool supply control device 208 (block 6 in FIG. 34).
01). In addition, the computer 200 in FIG. 19 reads the general-purpose tools stored in the tool storage magazine of the machining center 1, which calls up the work pallet Pxn-2 (Pyn) for the next machining, according to block 602 in FIG. The number is extracted from the magazine file (FIG. 25) and stored in memory D of the special tool supply control circuit 208.

The specific configuration of the special tool supply control circuit 208 in FIG. 19 is shown in the control block diagrams in FIGS. 29 and 30, and the circuit is provided with the following memory circuits. (a) Register A (750 in Figure 29) As mentioned above, the work pallet number recorded at the beginning of the pallet number recording address of the crane P file in Figure 22 is stored in register A. is used as a keyword when an electronic computer performs the program processing of blocks 600, 601, and 602 in FIG.

(b) Register B (273 in Figure 30) Register B contains the 23rd work pallet number corresponding to the work pallet number of register A.
The called machine number (for example, machining center 1) extracted from the pallet file shown in the figure is stored, and this is used when selecting a feeding tool transfer device.

(C) Memory C (234 in Fig. 29) Memory C stores the used tool numbers T1 to Tn and the required cutting times TML to Tn extracted from the tool file in Fig. 24, corresponding to the work pallet number in register A. Store TMn.

(d) Memory D (235 in Fig. 29) Memory D stores general-purpose tool numbers T1 to T1 extracted from the magazine file in Fig. 25, corresponding to the machine tool number that calls the work pallet number in register A. Store T3.

The above-mentioned storage operations are performed by a computer in the course of program processing, but the following are the storage operations that input information from the typewriter 201 and tape reader 202 in FIG. 19. .

(e) TTM memory (239 in Figures 26 and 29) This memory contains the numbers of all tools used to process the workpieces input to the group management system and the life time L for each tool used.
T2, cumulative usage time LTl and lifespan judgment (a): lifespan,
1: Usable) and other information is stored.

In addition, there are the following types of devices that allow the operator to memorize information using the operation panel.

(f) STM memory (231 in FIGS. 27 and 29) This memory has special tool number recording addresses that simulate the tool storage shelves 18a and 18b (FIG. 1).

Therefore, when a worker specifies a storage position and carries a tool into a storage shelf, a pallet number reading device attached to the storage shelf reads the number of the carried tool and stores the number at the address corresponding to the storage position. be done.

Furthermore, in this case, when the tool is removed, the memory is erased. Furthermore, there are the following items that are automatically erased from memory 5 by the special tool supply control circuit.

(g) CRNM memory (261 in Figures 28 and 30)
The memory stores special tools required by a specific machine tool (for example, machining center 1) and refurbished general-purpose tools in the order in which they are used.

Thus, when the program processing described in block 602 of FIG. 34 is completed, the electronic computer 200 executes the program processing described in block 602 of FIG. 15 Special tool supply command 252
(Figure 29) is transmitted. In FIG. 29, when the special tool supply command 252 is transmitted to the drive circuit 230, the third
Based on block 608 in FIG. 5, the read 2C command of the drive circuit 230 causes only one number of the used tools stored in the memory C 234 to be sent to the matching circuits 236 and 238, respectively, in accordance with the order in which they are used. Given.

In FIG. 29, this tool number is designated as Tn.
2. At the same time, a read command is given from the drive circuit 230 in FIG. 29 to the memory D235 that stores the numbers of general-purpose tools stored in the tool storage magazine of the machining center 1. Since this read command is continuously given to the memory D at a certain period, the general-purpose tool number is sequentially given to the matching circuit 238 from the memory D. Therefore, the 35th
Based on block 609 of the figure, matching circuit 238:
The tool number Tn given from memory C and the general-purpose tool numbers Tn'' given one after another from memory D are compared.
Based on the results of this comparison, the special tool supply control circuit 20
8 (FIG. 19) is the block 610, 611 of FIG.
, 612 and 613 and blocks 614 and 61
5,616,618,619,620 and 626,62
7. Performs program processing in one of the processing paths.

[A] As a result of comparing the used tool number Tn and the general-purpose tool number Tn'', if there is no general-purpose tool stored in the memory D that matches the used tool number Tn, the used tool Tn is The 35th tool is not a general purpose tool in the tool storage magazine.
According to block 614 of the diagram, the used tool number Tn is S
It is compared with the special tool number Tn'' stored in the TM memory 231 and stored in the storage shelf.

That is, the drive circuit 230 sequentially specifies the recording addresses of the STM memory 231, and each time the special tool number (actually, the refurbished general-purpose tool number is also included) is read from the STM memo 1J231.
Tn″ is transmitted to match circuit 236.

0 As a result of this comparison, the tool number Tn used is STM memory 2.
31, if it does not match the tool number Tn'', the tool used T
Since tool n is not stored in the tool storage shelf, a tool request command 254 is given from the drive circuit 230 to the gate G in accordance with block 626 in FIG. will be displayed on the lamp in the tool room.

The tool request command 254 also opens the connection gate of the negative number circuit 240. (254'') Also, as a result of the comparison, if the used tool number Tn matches the tool number Tn'''' of the STM memory 231, the used tool Tn is stored in the tool storage shelf, so block 616 in FIG. Therefore, the coincidence signal 246 is given to the gate circuit 241 and the negative number circuit 2
40 and the connecting gate of gate G2 is opened.

(b) In order to process block 618 in FIG. 35, the coincidence signal 246 of the coincidence circuit 236 is given as a TTM memory write command 251 to the cutting execution processing circuit 245 via gate G1, and also to gate G5. It is given as a life calculation command 250 to open the gate.

Therefore, from the memory C234, the required cutting time TMn
is given to the arithmetic circuit of the cutting execution processing circuit 245.

On the other hand, since the tool number Tn is given to the TTM memory 239 from the memory C234, the total usage time LTl and the life time LT corresponding to the tool number Tn are stored in the 'ITM memory.
2 is given to the arithmetic circuit of the cutting execution processing circuit 245, and the tool number Tn is also given to the cutting execution processing circuit 245. Here, the arithmetic circuit calculates the cumulative usage time LTl.
and the required cutting time TMn, and a control circuit that subtracts the output (LTl+TMn) of the adder circuit from the life time LT2 and determines whether the subtraction result [LT2-(LT+TMn)] is positive or negative.

In this manner, the cutting execution processing circuit 245 performs calculation processing of the cutting execution time, and the result is immediately recorded and updated in the memory by the TTM memory write command 251.

(C) Also, according to block 619 in FIG.
Therefore, the tool number T is given from the TrM memory.
Life judgment signal 256 for n (when the life is reached, O
value, 1 value when the life has not been reached) is the gate G2, G
3 and G4 (block 620 of FIG. 35).
.

In this case, the timing for applying the lifespan determination signal 256 to the gates G2, G3, and G4 must be after the record update of the cutting execution processing circuit 245 described in (a) section 2 is completed; has a delay function for this purpose.

When the judgment signal 0 value 2 is output from the 'VTM memory 239, the gate G is output as shown in block 627 of FIG.
3 and G4 are opened, and the tool number Tn given to the gate is converted into a negative number by the negative number circuit 240 and given to the special tool memory circuit 242 via the gate circuit 241.
At the same time, the number Tn is required as a special tool that requires refurbishment in the tool room via gate G4.

When the judgment signal 1 value is output from the memory 239, only the gate G2 is opened, and the special tool number Tn stored in the memory C234 is given to the special tool memory circuit 242 as it is.

(b) The coincidence signal 246 from the coincidence circuit 236 is also given 4C to the drive circuit 230 via the gate G1.

In this case, the match signal sets the designated number of memory C234 to 1.
A step-up command 253 for stepping up and reading the used tool number Tn+1 stored at the step-up address from the memory C234, and a readout for stopping the operation of sequentially reading tool numbers from the STM memory 231 as described above. This becomes a cancellation command 249. This readout stop command 249 should be canceled and also serve as a readout start command after the processes in the previous sections (a) to (c) are completely completed, but in order to provide this timing, the drive circuit 230 is has a delay function added.

[B] In block 609 of FIG. 35, as a result of the comparison between the used tool number Tn and the general-purpose tool number Tn'' in the matching circuit 238, the used tool number Tn is stored in the general-purpose tool Tn'' stored in the memory D. If there is a match, the used tool Tn is a general-purpose tool in the tool storage magazine, and according to blocks 611, 612, and 613 in FIG. You will be killed.

That is, the coincidence signal 248 is applied to the gate circuit 241 and only the connection gate with the negative number circuit 240 is opened.

Thus, blocks 610, 611, 612 of FIG.
Accordingly, the life of the used tool Tn is determined, and this process is performed in blocks 618, 619 and 6 in FIG.
It is exactly the same as 20.

Also, as a result of the judgment, only if the life has been reached, the gate G
3 is opened, the life achieving general purpose tool converted to a negative number by the negative number circuit 240 is provided to the special tool memory circuit 242 and requested to the tool room (block 613 in FIG. 35).
, 627).

As described above, according to blocks 621 and 622 in FIG.
All used tools for machining workpieces (rl) are sequentially stored in the order of use as general-purpose tools stored in the machining center, special tools stored in tool storage shelves, or refurbished general-purpose tools. 3) is carried out, and whether or not the tool life has been reached is confirmed.

As described above, the special tool memory circuit 242 stores the tool numbers of all the special tools used and the tool numbers of tools that have reached the end of their lifespan in the two general-purpose tools, in the order of five used.

The special tool memory circuit 242 is provided with the same memory circuit as the CRNM memory (FIG. 28), and the circuit 2
The negative tool number stored in 42 is automatically converted to a positive number when the requested tool is replenished in the storage shelf. Further, the circuit 242 includes a determination circuit that determines whether the stored contents of the memory circuit are positive or negative based on the special tool search end command 255 of the drive circuit 230, When the number of the general-purpose tool that requires the above becomes a positive number (blocks 623 and 624 in FIG. 35), a tool storage shelf 1 address search command 273 is given from the determination circuit to the drive circuit 260 in FIG. 30 (blocks 623 and 624 in FIG. block 625).

Based on block 628 of FIG.
reads out only one beginning of the tool number Tn of the special tool stored in the CRNM memory 261 to the matching circuit 2163, and at the same time reads the memory addresses of the STM memory 262 (FIG. 27) from XlYl to XlY8, X2Yl to X2Y8, .・・X
The tool numbers Tn'' of the special tools and refurbished general-purpose tools stored at the addresses are specified in the order of 1OYl to The match signal 270 (block 629 in FIG. 36) is transmitted to three control systems listed below for appropriate processing: (a) According to block 630 in FIG. 270 is
As the special tool delivery status confirmation command 269, the electronic computer 2
00 is given.

Based on this command, the computer 200 reads the crane P file (FIG. 22) from the magnetic drum 205 in FIG. 19, and stores the file.゜ Check whether the tool number to be carried is recorded in the shelf carrier tool number recording addresses A, b, and c (block 631 in Fig. 36). If so, stacker crane 19a and . 19b (FIG. 1) is in the process of transporting tools, the special tool supply controller program processing is suspended until the loading operation is completed (block 633 in FIG. 36).

If it is not recorded or if the tool loading is completed, the electronic computer 20 according to block 634 in FIG.
Crane operation command 272 for unloading special tools from 0 (
30) is the tool stacker crane control circuit 213
transmitted to.

(b) During this time, the coincidence signal 270 is transmitted to the drive circuit 260.
, and tool number reading from STM memory 262 is interrupted.

(C) Further, according to block 636 in FIG. 36, the coincidence signal 270 is applied to gate G7 and the gate is opened, so that the shelf address 271 of the tool storage shelf when the coincidence signal is issued is changed to From circuit 260, it is communicated to tool stacker crane control circuit 213.

Thus, the stacker crane of FIG.
In b), the cart 71b is guided by the lower rail 72b, the carriage edge 75 is guided by the vertical guide 74, and the fork 76 is moved to a predetermined shelf address.

When the fork 76 is positioned at a predetermined shelf address, the fork 76 scoops up the specified special tool holder (for example, 54 in FIG. 4), takes it out from the storage shelf, and transports it to the special tool carry-out position 22. , place it in place. Next, a special tool unloading completion command 274 is sent from the tool stacker crane control circuit 213 in FIG. 30 to the gate G8 and the drive circuit 260, respectively.

The command given to the drive circuit 260 is a command to read the next special tool number or the refurbished general-purpose tool number Tn+1 from the CRNM memory 261, and to read out the tool number Tn'' from the STM memory 262 again at a constant period. This is a read command.

Therefore, the comparison between the tool numbers Tn+1 and Tn'' is restarted.

On the other hand, since the gate G8 is opened by the special tool unloading completion command 274, the machine tool number being called (for example, machining center 1) stored in the register B is transmitted to the supply tool transfer device control circuit 214.

Therefore, an activation command is issued to the supply tool transfer device drive circuit 267-1 dedicated to the corresponding machine tool. When the supply tool transfer device 20c comes near the special tool delivery position 22 in FIG.
The connecting shaft 17 is connected by the electric linear motion device 183 shown in FIG.
0a is moved to the left.

Therefore, the telescopic device 182 having a telescopic link mechanism is extended, and the hook 181 is connected to the vertical guide shafts 180a, 180b, 1.
80c guides you down. When the hook 181 descends to the level of the T-shaped groove 80 (FIG. 6) of the special tool holder held at the special tool carry-out position 22, the hook shaft 185 of the telescopic device 182 engages with the notch 191 of the lock pin 189. The lock pin 189 is lifted upward against the spring 190. Furthermore, as the electric motor 168 in FIG. 17 starts, the chain 164 of the rail 24c
As the sprocket wheel 163 that engages with the hook rotates, the main body 165a moves and the T of the hook 181 is rotated.
The shaped portion 193 (Fig. 18b) is the T-shaped groove 8 of the special tool holder.
Inserted into 0. A detection device similar to the branching point confirmation device 350 in FIG. 17 is provided at the stop position of the supply tool transfer device 20c moving on the rail 24c, and each operating mechanism section is provided with a detection device for confirming completion of operation. Since detection devices are provided for each operation, the operation of each operating mechanism is sequence-controlled by the feeding tool transfer device drive circuit 267-1 shown in FIG. 30 based on the signals from these detection devices. . Next, the output shaft of the electric linear motion device 183 in FIG. 18a moves to the right, and the upper connecting shaft 170a moves to the right together with the connecting portion 184, so that the telescopic device 182 is reduced and the hook 181 is moved together with the special tool holder. Rise.

In this case, the hook shaft 185 and lock pin 1 shown in FIG.
89 is released from contact with the notch 191, so that the spring 1
90 fixes the T-shaped portion 193 of the hook 181 and the T-shaped groove 80 of the special tool holder. (Figure 18b). When the above operations are completed, the electric motor 168 in FIG. 17 is started, and the main body 165a moves in the direction of the arrow in FIG. 1.

When the feeding tool transfer device 20c is brought to the tool standby device (for example, 13a), the 17th: d. The protrusion 161c of the roller shaft 161b is attached to the branch point confirmation device 350 shown in the figure.
contact, and the electric motor 168 stops.

Next, the electric linear motion device 183 shown in FIG. 18a is operated again, and the special tool holder 4 together with the hook 181 is moved to the elevator carrier 144 ( It descends onto the fork portion 143 (FIG. 15).

At this time, as shown in FIG. 14a, the special tool standby device 13
Clutch plate 52 of lock release device 518 at the top of a
3a and the clutch plate 525a of the hook 181 are exactly opposed to each other, and the mutual arrangement of the claws is also as shown in FIG. 14b.

When the special tool number identification device 156 (FIG. 14a) located at the top of the special tool standby device 13a reads the tool number Tn recorded on the identification code plate 81 of the special tool holder, the number is displayed as shown in FIG. The detection number 275 is then transmitted to the electronic computer 200. The electronic computer 200 receives the detection number 27 in order to execute block 637 in FIG.
5, the tool file (Fig. 24) is read from the magnetic drum 205 of Fig. 19, and the used tool number of pallet number PX-2 or Pyn stored in the register A (Fig. 29) Tn and the detection number 275 are compared.

If there is no match as a result of the comparison (block 63 in Figure 36)
8,640), the special tool carried into the special tool standby device 13a (FIG. 1) is deemed to be a mistake, and a request is made to the operator to remove it.

As a result of the comparison, if they match, (block 6 in Figure 36)
38, 639), the electronic computer 200 issues an operation command to the special tool standby position drive circuit 264 shown in FIG.
Return command 50 to supply tool transfer device drive circuit 267-1
Give 0.

Thus, according to block 641 of FIG.
The rack 524 shown in Fig. 14a operates and rotates the clutch plate 523a clockwise as shown in Fig. 14c via the pinion 557, so that the pawl 523b (Fig. 14b) of the clutch plate 523a shown in Fig. 14a is hooked. 181 clutch plate 5
25a, and the claw 525b is engaged with the claw 525b of the 14th c.
Bring it to the angular position as shown in the figure.

Therefore, the pinion 55 connected to the clutch plate 525a
6 is rotated clockwise in FIG. 18a, and the lock pin 189 is pulled upward via the rack 555 that meshes with the pinion 556. That is, the clamping state between the T-shaped portion 193 of the hook 181 and the T-shaped groove 80 of the special tool holder in FIG. 18b is released.

Further, the feeding tool transfer device 20c in FIG. 3 starts the electric motor 168 (FIG. 17) and extracts the T-shaped portion 193 (FIG. 18b) of the hook 181 from the special tool holder T-shaped groove 80. Next, when the electric linear motion device 183 shown in FIG. 18a is operated to raise the hook 181, the
The supply tool transfer device 20c returns to the special tool carry-out position 22 shown in the figure.

5 On the other hand, when an operation command is issued to the special tool standby position drive circuit 264 in FIG. 30, block 6 in FIG.
42, pressure oil is supplied to the hydraulic pressure chamber 151c in FIG.
The engagement with the notch 528a of 1 is released by 1θ. Thereafter, the hydraulic motor 145 is started, and the sprocket wheel 148 is rotated via the worm 147 and the worm gear 146. Therefore, the elevator carrier 144 of FIG. 15 begins to descend. Carrier 144 is slightly lower than 1!
When the piston 151a is lowered, the pressure oil in the hydraulic pressure chamber 151c is connected to the return side, and the piston 151a is pressed by the spring 153. Therefore, the tip of the piston rod 151b is connected to the vertical guide shaft 14.
1 is brought into contact with the outer periphery of the 2 (accompanyingly, the piston rod 151
When the tip of b engages with the next notch 528b of the notches cut at a pitch equal to the height of the special tool holder, the dot 529 and the engagement confirmation limit switch 530
8, the hydraulic motor 145 in FIG. 8 stops.
Thus, each time a required special tool or a refurbished general-purpose tool is supplied from the tool storage shelves 18a, 18b of FIG. 1, the elevating carrier 144 is lowered one pitch at a time.

In this way, the reason why the elevating carrier 144 is lowered one pitch at a time is to continuously supply a plurality of tools to the tool standby position when a plurality of the feeding tool transfer devices are connected to each other. ．． This is to significantly shorten the tool supply time.

In this way, the special tool standby position driving circuit 264 of FIG. 30 controls the sequential operation of the special tool standby device according to the flowchart of blocks 643 to 662 of FIG. 37.

That is, according to the block 643 in FIG. 37, it is checked whether all the tool number recording addresses in the CRNM memory 261 in FIG. Check to see if it has finished.

If the result of the confirmation is that the process has not been completed, follow block 648 in FIG. 37 to check whether the elevator carrier 144 in FIG. 15 is in contact with the lower end limit switch 142a, and then Check whether the special tool holder storage guide path consisting of the guide side plates 50a and 50b is full of tool holders.

If it is not full, the subsequent tool holder may be stored in the guide path through the processes of blocks 641, 642 and 643 in FIG. If it is full, according to block 647 of FIG. 37, guide side plates 51a and 51 of FIG.
Check whether the special tool holder storage guide path consisting of b is full of special tool holders. b) Block 644 of Figure 37
As a result of checking whether all the special tools and refurbished general-purpose tools have been supplied from the storage shelves, if the supply has been completed, in accordance with block 646 in FIG. 37, pressure is supplied to the hydraulic pressure chamber 151c in FIG. Oil is supplied and the piston rod 151b
The engagement between the tip and the notch 528j of the vertical guide shaft 141 is released. Thereafter, the hydraulic motor 145 is started and the elevator carrier 144 begins to descend. When the carrier 144 descends to a position slightly before the lower end notch 528n, the pressure oil in the hydraulic pressure chamber 151c is connected to the return side, and the piston 151a is pressed by the spring 153. moreover,
As the elevator carrier 144 continues to move downward, the tip of the piston rod 151b engages with the lower end notch 528n, and the hydraulic motor 145 stops. In this way, when the elevator carrier 144 descends to the lowest position and stops, the special tool holder 54a located at the lowest among the special tool holders stacked on the fork portion 143 of the carrier 144 is moved as shown in FIG. Bottom ES
It will be brought to

Thereafter, according to block 647 in FIG. 37, it is determined whether the special tool storage guide path consisting of the guide side plates 51a and 51b in FIG. 3 is full of special tool holders.

In order to check whether the tool is full, the special tool standby position drive circuit 264 shown in FIG. Check to see if there are any.

As a result of the confirmation (block 650 in FIG. 37), if the two limit switches are both in the depressed state and the storage guide path is full, the special tool standby position drive circuit 2 in FIG.
64 is temporarily suspended (block 651 in FIG. 37). If the result of the above confirmation (block 650 in FIG. 37) is that it is not full, then in accordance with block 652 in FIG. 37, the hydraulic chamber 216 of the hydraulic cylinder 220 of the special tool standby device shown in FIG. Pressure oil is supplied,
Piston rod 221 is let out. Therefore, the lowest m
The other special tool holders (for example, 54b to 54d) above the special tool holder 54a located at the top S are received at the tip of the piston 221. Thereafter, the output shaft of the hydraulic cylinder 223 is projected to the left in the figure, and the special tool holder 54a located at the lowermost portion ES is moved to a position to the left of the sprocket 219. Next, pressure oil is again supplied to the hydraulic pressure chamber 151c of the elevator carrier 144 of the special tool standby device shown in FIG.
1, the hydraulic motor 145 is started in the opposite direction to the direction in which it was lowered, and the elevator carrier 144 is raised.

The pressure oil supplied to the hydraulic pressure chamber 151c is transferred to the carrier 14.
4 will be connected to the return side after rising slightly, so the above-mentioned elevator lever. When the spear 144 rises by one special tool holder, the piston rod 151b and the notch 5
28m is engaged, and the rotation of the hydraulic motor 145 is stopped.
Thus, the fork portion 143 shown in FIG. 15 comes into contact with the lower surface of the special tool holder 54b, and the fork portion 143 shown in FIG. Pressure oil is supplied to the hydraulic pressure chamber 217 of the hydraulic cylinder 220 of the special tool standby device shown in , and the piston rod 221 is retracted. Therefore, the special tool holder 54b will be placed on the fork portion 143 of the elevator suspension carrier 144, so by restarting the hydraulic motor 145 in FIG. 15 and lowering the elevator suspension carrier 144. , bring the special tool holder 54b to the bottom ES in FIG.
Next, when the hydraulic motor 133 in FIG. 7 is started according to block 653 in FIG. special tool holder 54
a, the special tool holder 54a is guided by the guide portion 53 on the special tool transfer stand 52 shown in FIG.
The tool is brought to the bottom (7th layer former T point) of the special tool holder storage guide path (special tool storage device 13) consisting of a and 51b, and comes into contact with the supply confirmation limit switch 120 (
Figure 7).

In the process of block 653 of FIG.
Depending on the length of the special tool transfer stand 52 shown in the figure, a modified sequence can be created.

That is, if the length of the special tool transfer table 52 is relatively short, the above-described operation sequence may be used, but if the special tool transfer table 52 is long, the top of the transfer table 52 can also be used as a tool storage area. Block 65 in FIG. 37 described above
It is also possible to perform the process of step 2 continuously for a plurality of items within the storage capacity limit of the transfer table 52.

Next, according to block 654 in FIG. 37, the hydraulic cylinder 130 shown in FIG. Special tool holder 54 brought to T
a is lifted to the position of the special tool holder 55h shown in FIG.

However, in this case, when the elevator tension carrier 125 is located at the lower end and the fork 510 is extended to support the special tool holder 55h, the process of block 654 in FIG. Pause until you step up. When the lower surface of the special tool holder 54a is locked to the stopper 121,
The vertical vertical table 131 is lowered by the hydraulic cylinder 130 and returned to its original position.

Further, in accordance with block 655 in FIG. 37, the special tool standby position driving circuit 264 in FIG. 30 is operated for the next machining in FIG. Tool confirmation limit switch 71
2 and the special tool holder (for example, 54b). (a) As a result of the confirmation, if the above-mentioned trampling has occurred,
Since it can be assumed that the special tool holder 54a just lifted is not the last one and that there are subsequent special tool holders,
According to block 661 in FIG. 37, it is checked whether the special tool holder 54a just lifted and the elevator carrier 125 of the special tool storage device 13 in FIG. 9 are in an adjacent state. That is, the elevator carrier 125
is provided to lift the last special tool holder (for example, 1 (.55h) among the holders of special tools and refurbished general-purpose tools used for the work pallet currently being processed in machining center 1. , the timing of the lifting operation is dependent on the progress of the work pallet cutting operation.

Therefore, when the hydraulic cylinder 130 in FIG. 9 sequentially lifts the special tools to be used on the work pallet for the next 1j process, the special tool holder 5 used for the next process that was lifted naturally
Interference occurs between 4a and the elevator carrier 125.

In one embodiment of the present invention, the elevator extending carrier 2f 12
5 is a proximity confirmation limit switch 71 as shown in FIG.
0, the limit switch 710 and the screw head 22 of the lifted special tool holder 54a
Block 661 in FIG. 37 can be confirmed 2 depending on whether or not there is a contact with 5.

If they are not adjacent, blocks 652 to 652 of FIG.
Special tool holder 54 that follows according to the process of 655
b is stored in the tool storage guide path of the special tool storage device 13. If they are adjacent to each other, the subsequent special tool holder 54b is moved to the first position according to the block 5 lock 651 in FIG.
The operation of transferring the special tool from the ES point of the special tool standby device 13a in FIG. 3 to the special tool transfer table 52 is interrupted. (b) 13th
When the next machining tool confirmation limit switch 712 shown in the figure no longer comes into contact with the special tool holder (for example, 54d), the special tool holder (for example, 54d) that has been lifted can be considered to be the last one. According to block 657, the special tool standby position driving circuit 264 of FIG.

If the machining completion signal is not transmitted from the machining center control circuit 207-1 of FIG. 19, the sequence processing of the special tool standby position drive circuit 264 is interrupted until the machining completion signal is obtained. Further, if the machining completion signal is transmitted from the machining center control circuit 207-1, according to block 659 in FIG. 37, as shown in FIG. The fork 510 is moved to the right by starting the hydraulic motor 509 of the elevator carrier 125 and rotating the pinion 505 via the worm 507 and worm gear 506, respectively. When the moving end limit switch 511a matches the notch 514a of the fork 510, the hydraulic cylinder 1 of FIG.
Hydraulic pressure chamber 52] Pressure oil is introduced into the piston rod 151b and the upper end notch 150a of the vertical guide shaft 124b.
The engagement with is released. Thereafter, as the hydraulic motor 145 is started, the elevator carrier 125 begins to descend and is brought to the lower end as shown in FIG. In response to the signal from the lower end limit switch 515, the hydraulic motor 45 shown in FIG. 8 is stopped, and the hydraulic motor 509 shown in FIG. contact the bottom surface of the Next, according to block 660 in FIG. 37, the hydraulic motor 145 in FIG.
When the uppermost special tool holder 54a touches the rising end limit switch 537 in FIG. 10, the hydraulic motor 145 stops.

In this way, the work pallet Pxn-2 (Pyn
) All the special tools and refurbished general-purpose tools needed to process them have been prepared.

3 Tool Conversion Program The tool conversion program based on the present invention is an operation program related to the tool conversion operation of a general-purpose tool stored in a tool storage magazine specific to the machine tool and the tool conversion operation of a special tool supplied from outside the machine. There is.

FIG. 31 shows a control block diagram of the tool conversion control circuit 700 (FIG. 19) prepared for executing the tool conversion program. Further, the process of the tool conversion program is shown in the flowchart of FIG. When the machining center 1 in Fig. 1 completes the use of a certain tool or the work pallet PXI currently being processed
After all machining of l-1 is completed, work pallet P for next machining
When the machine table installation of xn-2 (or Pyn) is completed, the machining center control circuit 207 shown in FIG.
A completion signal is transmitted from -1 to the electronic computer 200, and the third
According to block 663 in FIG. 8, a tool conversion command is given from the electronic computer 200 to the tool conversion control circuit 700 in FIG.

As shown in FIG. 31, the tool conversion control circuit 700 in FIG. 19 is provided with the following memory circuits for processing the tool conversion program.

(a) Memory C (281 in Figure 31) This is the special tool supply control circuit 208 (Figure 19)
It is the same as that of work pallet Pxn-2 (
Used tool numbers T1 to Tn and required times TMl to T extracted from the tool file (Fig. 24) corresponding to Pyn)
Store Mn in order of use.

(b) CRNM memory (282 in Fig. 31) This is the same as the special tool supply control circuit 208 (Fig. 19), and the work pallet PXTl-2 (Pyrl
) All numbers of special tools and refurbished general-purpose tools required for machining are memorized in the order of use.

(c) Register F (283 in FIG. 31) Stores the number (for example, Tjα) of the tool inserted into the spindle.

(d) Register G (284 in Fig. 31) Tool number for the next process to be used (for example, Tα
+1).

(e) Register H (285 in FIG. 31) Stores the tool number for the subsequent process (for example, Tα+2) to be used following the s-next process.

Thus, the tool conversion command 301 is transmitted to the drive circuit 2 in FIG.
80 as a read command 229, the memory C
The first tool number among the four used tool numbers stored in 28l is the gate G9 opened by the tool conversion command 301.
The signal is transmitted to the determination circuit 302 via the.

The determination circuit 302 determines whether the tool conversion command 301 is a work pallet Pxn-2 according to block 664 in FIG.
It has a function to determine whether it is the first one or the second or subsequent one. Therefore, the determination circuit 302 determines whether the tool number given to the determination circuit 302 is determined by the presence or absence of the empty confirmation signals 303, 304, 305 from the registers F, G, H.
Decide where to shift.

That is, the empty confirmation signal 3 no 03 from registers F, G and H;
When receiving 304 and 305, the tool number given to the determination circuit 302 is shifted to the matching circuit 288 and register G, and empty confirmation signals 304 and 30 are sent only from registers G and H.
5, the tool number given to the determination circuit 302 is shifted to the register H.

Also, if an empty confirmation signal is received only from register H, the given tool number is shifted to register H, and registers F and H are shifted.
When receiving an empty confirmation signal only from the machine, the given tool number is shifted to register G. According to block 665 of FIG. 38, when tool conversion command 301 is the first one,
Since the contents of registers F, G, and H are all empty, the leading tool number (for example, T1) read from memory C is provided to register G and matching circuit 288.

On the other hand, from the drive circuit 280, the tool conversion command 3
01, the memory address of the CRNM memory is continuously output to the CRNM memory 282, so the special tool number and the refurbished general tool number T are output from the CRNM memory 282.
n are applied to the matching circuit 288 one after another. Thus, according to block 666 of FIG. 38, match circuit 288:
The tool numbers T1 and Tn are compared. The processing of the control system will be explained below based on the comparison results. (a) Results of comparison (
In block 667 of FIG. 38, if the tool number T1 does not match the special tool number or the refurbished general-purpose tool number Tn, the tool T1 is a general-purpose tool stored in the tool storage magazine of the machining center 1. According to block 668 of the diagram, CRNM memory 2 of drive circuit 280
The read completion command 312 of 82 is given to the tool storage magazine drive circuit 292 through the gate Gl7, and the tool storage magazine 37 starts rotating by the magazine drive device 36 of FIG.

A tool change preparation position TCl is provided near the twin arm 38 in FIG.
(Fig. 31) is provided. Thus, as the magazine rotates, the tool numbers Tβ read from the tool number detection device 293 are successively transmitted to the matching circuit 294 (FIG. 31) five times. Since the matching circuit 294 is given the tool number T1 from the register G via the gate Gl9, the tool number Tβ is compared with T1. Matching circuit 29
1' when a coincidence signal 311 is output from 4, this signal becomes a magazine stop command 317 and is given to the tool storage magazine drive circuit 292, the tool storage magazine 37 in FIG. It is brought to the preparation position TCl.

Further, the coincidence signal 311 is transmitted to the drive circuit 280 as a memory C step-up command 220 via a gate G opened by the register empty signal 221 of the determination circuit 302. The step-up command 220 is also given to gates Gll and Gl2 to open the gates. Therefore, the next process tool T2 stored in the next second address of the memory C28l is given to the register G based on the empty confirmation signals of the registers F and H. Further, the tool number T1 stored in register G is shifted to register F. On the other hand, when the tool T1 is brought to the tool conversion preparation position TCl (FIG. 2) of the tool storage magazine of the machining center 1 according to block 6628 in FIG. transmitted to.
Thus, following block 669 of FIG. 38! Well, second
The twin arm 38 and tool carrier 39 shown in the figure
1 is transferred and transported, and the tool T1 is gripped by the left tool gripping device 41L (FIG. 3) of the Sviter arm 40.

(Figure 10). Additionally, blocks 670, 6 in FIG.
71, the spider arm 40 pulls out the tool T1 from the tool carrier 39, rotates 900 degrees, and inserts the tool T1 into the spindle of the spindle head 30. Thus, tool conversion circuit 290 in FIG. 31 provides tool conversion completion signal 223 to computer 200.

Thus, the electronic computer 200 operates in block 6 of FIG.
72, the machining center control circuit 2 of FIG.
The cutting information is transmitted to 07-1, and the cutting center 1 is made to start cutting. 0) As a result of the comparison between the tool numbers T1 and Tn by the matching circuit 288 (block 667 in FIG. 38), if the tool number T1 matches the special tool number or the refurbished general-purpose tool number Tn, the tool T1 is special. Since it is a tool or a refurbished general-purpose tool, the coincidence signal 310 is transmitted to the special tool conversion preparation circuit 291 and also transmitted to the drive circuit 280 as a reading stop command 227.

When the drive circuit 280 receives the reading stop command 227, it stops reading the tool number from the CRNM memory 282. As described in item (b) above, when an operation command is input to the special tool conversion preparation circuit 291, block 67 in FIG.
3, the uppermost special tool holder 55a having the tool T1 among the special tool holders (for example, 55a to 55f) stored in the tool storage device 13 in FIG.
While being guided by the dovetail guide 93 shown in FIGS. 0 and 12, it is pushed out from the R point to the T point by the hydraulic cylinder 60 and transferred to the moving body 57.

In this way, when the transfer to the moving body 57 is completed, the output shaft of the hydraulic cylinder 60 shown in FIGS. 10 and 12 moves backward, and the elevator carrier 125 shown in FIG. 9 moves as shown in FIG. , lift the following special tool holder 55b to the top of the special tool storage device 13. Next, the hydraulic cylinder 59 shown in FIGS. 10 and 12 presses the movable body 57 along the dovetail guide 56 to move it from point T to point Q.

When the special tool holder 55a is moved to point Q,
According to block 674 of FIG. 38, the special tool conversion preparation circuit 291 of FIG. Since this is the first tool, it will go through the processes of blocks 675 and 669 in FIG.

Therefore, the special tool holder 55a moved to point Q in FIG.
As the hydraulic motor 95 shown in FIG.
is moved to the left in FIG. Therefore,
The special tool holder 55a held between the fork portions 94a and 94b of the shifter 98 is transferred from point Q to point O along tab tail guides 538 and 539.

Thus, the special tool or refurbished general-purpose tool T1 held in the special tool holder 55a, as shown in FIG.
Right tool gripping device 41R (TC) of spider arm 40
3) is gripped.

After that, the output shaft 1 of the rotary clamping device 62 shown in FIG.
13 (hereinafter shown in FIGS. 10 and 16) is fed out, and the tip engaging portion 111 engages with the screw head 225 screwed into the special tool holder.

Further, in the clamping device 62, the locking piece 118 is pivoted around the pivot pin 119 by rotating the lock screw 83 clockwise and pushing the holder 116 upward in the figure. Therefore, the engagement between the tip of the locking piece 118 and the projection of the pull stud 120 of the special tool or the refurbished general-purpose tool T1 is released. Thus, the 31st
Since the tool conversion preparation position completion command 319 shown in the figure is transmitted from the special tool conversion preparation circuit 291 to the tool conversion circuit 290, the spider arm 40 of FIG. Pull it out, turn it counterclockwise 2700 degrees, and remove the spindle 3 of the spindle head 30.
Insert it into 0a.

Further, the tool conversion preparation position completion command 319 is the 31st
As shown in the figure, the register empty signal 221 is transmitted to the drive circuit 280 as a memory C step-up command 220 through the open gate G25, and based on this, the next process tool JT2 is activated to the register G25. The tool number T1 that was shifted to register G and stored in register G is shifted to register F.
will be shifted to

This is exactly the same as described in (a) above. As described above, when a special tool or a refurbished general-purpose tool is inserted into the spindle, the tool conversion completion signal 223 is transmitted from the tool conversion circuit 290 in FIG. 31 to the computer 200, and
The electronic computer 200 executes the machining center control circuit 207-1 in FIG. 19 according to block 672 in FIG.
The cutting information is transmitted to the machining center 1 to start machining work.

Further, the tool conversion completion signal 223 is applied as a CRNM memory read command 226 to the drive circuit 280 (FIG. 31), and is also applied to the gate Gl3 to open the gate.

Therefore, the process returns to block 666 in FIG. 38 again and the next process tool number T2 and CRN stored in register G are
A matching circuit 288 compares the special tool number read from the M memory 282 and the refurbished general-purpose tool number Tn. Hereinafter, the processes of blocks 667, 668, 669 and blocks 667, 673, 67)4 in FIG. 38 are exactly the same as those for the tool T1 inserted into the spindle.

However, blocks 667, 668, 6 in FIG.
In the case of process No. 69, regarding block 670, since the tool change command 301 from the computer 200 in FIG. 31 has already disappeared with the start of cutting, the next process tool is changed according to block 677 in FIG. T2 is brought to the tool change position TC2 in FIGS. 3 and 10 by the tool carrier 39, and is temporarily kept on standby until the use of the currently used tool T1 is completed. In this case, the match signal 311 is given to the gate G26 from the match circuit 294 in FIG. , in this case the gate G26 is closed.

Therefore, the step-up command 220 for the memory C is not output from the gate G26. On the other hand, block 6 in FIG.
For processes 67, 673 and 674, block 6
74, the next process tool T2 is the moving body 57 in FIG.
(point T), the special tool conversion preparation circuit 291 in FIG. 31 detects that the special tool holder 55a preceding the point O in FIG. (38th)
(block 675 in the diagram). (a) As a result of the confirmation, if the special tool holder 55a is located, the tool holder 55a
Since the tool T1 has already been inserted into the spindle and is engaged in machining, according to block 676 in FIG.
The special tool conversion preparation circuit 291 in FIG. 31 transmits the evacuation command 721 to the return tool transfer device drive circuit 720,
As shown in FIG. 9a, the special tool holder 55a located at the 0 point in FIG. 10 is transferred to the return tool transfer device 21C (FIG. 1).
is lifted upward (point O'' in Figure 39b(7)) and evacuated.Then, the hydraulic motor 9 in Figures 10 and 11
5, the shifter 98 and fork parts 94a, 9
4b moves to point Q. When the right limit switch 546 in FIG. 11 is activated, the hydraulic motor 95 is stopped and the moving body 57 is activated by the hydraulic cylinder 59 in FIG.
The upper special tool holder 55b is transferred to point Q, and the tool holder 55b is held between waiting forks 94a and 94b. Furthermore, as shown in FIG. 39b, the shifter 98 is moved to the left by the hydraulic motor 95 in FIG. Gripping device 41
Let R (TC3) hold it.

Further, the tool T2 is unclamped by the rotary clamp device 62. Thus, the tool conversion preparation position completion command 319 is transmitted from the special tool conversion preparation circuit 291 of FIG. 31 to the tool conversion circuit 290, and as shown in FIG.
The spider arm 40 in FIG. Block 6 in Figure 38
77).

(b) According to block 675 in FIG. 38, if the preceding special tool holder 55a is not located, the special tool holder 55b having the next process tool T2 is 677, R
The tool T2 is brought from point T and Q to point O, and the spider arm 40 makes the tool T2 wait at the tool change position TC2.

In the case of items (a) and (b) above, the tool conversion preparation position completion command 319 is given from the special tool conversion preparation circuit 291 in FIG. As described above, the step-up command 220 is not output.

When the machining operation by the tool T1 is completed in the machining center 1, the completion signal is transmitted from the control circuit 207-1 in FIG. 19 to the electronic computer 200.

The computer immediately transmits the tool conversion command 301 (hereinafter referred to as FIG. 31) to the tool conversion control circuit 700 (block 663 in FIG. 38). According to the tool conversion command 301,
When gate G9 is opened and read command 229, memory C2
When address 8l is stepped up, memory C28l
The subsequent next process tool number T3 is given to the determination circuit 302.

The determination circuit 302 includes a register F283 and a register G2.
84 are not empty, the next process tool number T3
is shifted to register H285. Next, according to block 678 in FIG. 38, the drive circuit 280 is given the CRNM memory read command 229 based on the tool conversion command.
The engineering number Tn from the M memory 282 is sequentially and continuously applied to the coincidence circuit 287 via the gate GlO. The matching circuit 287 has already received the tool number T from the register F283.
Since 1 is given, tool numbers T1 and Tn are compared. Hereinafter, the processing of the control system based on the comparison results will be enumerated and explained. [A] Comparison results (
Block 679 in FIG. 38), when the tool numbers T1 and Tn match, according to block 683 in FIG.
The coincidence signal 306 is given to the tool conversion circuit 290, and is further given to the computer 200 as a magazine file confirmation command 307 together with the used tool number T1.

When the tool conversion circuit 290 receives the coincidence signal 306, the spider arm 40 of FIG. It rotates and inserts the next process tool T2 held by the left tool holding device 41L (tool conversion position TC2) of the arm 40 into the main shaft 30a.

When the insertion is completed, a tool conversion completion signal 223 is given from the tool conversion circuit 290 to the computer 200 in accordance with block 682 in FIG. 38, and the machining center 1 starts machining using the tool T2.

The electronic computer 200 receives the magazine file confirmation command 30.
7 is received, the magazine file (Fig. 25) is read from the magnetic drum 205 shown in Fig. 19, and the register B56 is read out.
Machine number stored in O (for example, machining center 1
), it must be confirmed whether the tool number T1 is recorded in the memory address corresponding to .

(a) As a result of confirmation (block 684 in Fig. 38), if tool number T1 is recorded in the file, tool T1
(This tool was transported from outside the machine as a special tool or a refurbished general-purpose tool) is a general-purpose tool and a new tool that has been reground, so according to block 685 in FIG. It must be converted to an end-of-life tool stored in a storage magazine.

Therefore, the computer gives the tool number T1 presence command 309 to the gate G24 and opens the gate. Further, the tool conversion completion signal 223 output from the tool conversion circuit 290 is
As mentioned above, the command 309 from the electronic computer is also transmitted to the gate G24, which is opened.
The output signal is transmitted to the tool conversion circuit 290 and the tool storage magazine drive circuit 292 as a command to replace the life-achieving general-purpose tool with the refurbished general-purpose tool. FIGS. 42a to 42g show a replacement operation pattern between the life-achieving general-purpose tool and the refurbished general-purpose tool.

According to this, the spider arm 40 shown in FIGS. 3 and 10 moves forward and then turns 180 degrees to insert the used and refurbished tool T1 into the tool insertion hole 39a of the tool carrier 39 that is waiting for the tool carrier 39. (Figure 42B, c).

Further, the tool carrier 39 is moved to the left in FIG. 2 while being guided by the guide body 42. The used and refurbished tool T1 is placed on standby near the twin arm 38. Further, according to block 686 in FIG. 38, the tool storage magazine 37 in FIG. 2 is also rotated by the drive device 36, and the tool numbers are successively read by the tool number detection device 293 in FIG. 31. A match circuit 294 compares Tβ with the used and refurbished tool number T1 given from the register F283 via the gate circuit 295.

In this way, when the tool TlL that requires refurbishment and is stored in the tool storage magazine is brought to the tool conversion preparation position TCl (Fig. 2), the general-purpose tool call command 31
8 is transmitted to the tool conversion circuit 290, and the twin arm 38 in FIG.
87 in Figure 38). Block 68 in Figure 38
According to 8, the life-end tool T mountain inserted in the tool key rear 39 is located in the spider arm 4 of Fig. 3 η and Fig. 10.
41L (TC2) and is gripped (FIG. 42d).

(a-1) Next, according to block 689 in FIG. 38, in order to check whether the tool T2 inserted into the spindle was brought from outside the machine as a special tool or a refurbished general-purpose tool, Check whether the special tool holder 55b holding the tool T2 is waiting at point O in FIG. 10.

That is, the tool conversion circuit 290 in FIG.
It is checked whether the special tool evacuation command 721 has been issued.

(a-2) If blocks 690 and 69 in FIG.
4, if the evacuation command 721 is issued, the tool conversion circuit 290 transmits an operation command to the special tool conversion preparation circuit 291, and according to FIG. 42c, the hydraulic motor shown in FIG. 95 to move the shifter 98 to the right.

When the notch 549 of the shifter 98 comes into contact with the intermediate limit switch 545 shown in FIG. 11, the hydraulic motor 95 is stopped and the special tool holder 55b of the tool T2 currently being processed is positioned at point P in FIG. 10. Furthermore, in accordance with block 695 in FIG. 38, a special tool evacuation release command 722 is issued to the returning tool transfer device drive circuit 720 as shown in FIG. 42c.
is transmitted, and the special tool holder 55a, which had been temporarily retracted upward by the transfer device 21C, is lowered to point O in FIG. 10 (FIG. 42d).

In addition, the hydraulic motor 95 shown in FIG.
Move 8 to the left.

When the inclined surface 94C of the fork portion 94b of the shifter 98 hits the side surface of the special tool holder 55a that is already on standby,
It is a so-called one-way locking body that is designed to be retracted as the shifter 98 moves to the left, and can come into contact with the side surface of the special tool holder when the shifter 98 moves to the right. Therefore,
The fork portions 94a and 94b can again hold the special tool holder 55a located at point O in FIG. 10 from both sides. According to block 696 in FIG. 38, a retreat command 721 is transmitted from the special tool conversion preparation circuit 291 in FIG. The special tool holder 55b is retracted upward (Fig. 42e).

According to block 697 of IC FIG.
An operation command is transmitted from the limit switch 544 at the left end in FIG. 1 to the tool conversion circuit 290 in FIG. 31, and the spider arm 40 in FIG. The tool TIL is taken out, rotated 180 degrees, and inserted into the special tool holder 55a (42nd
Figure e).

Thereafter, in accordance with block 698 in FIG. 38, the special tool conversion preparation circuit 291 is connected to
5 to operate the special tool holder 55 along with the shifter 98.
Move a to the right until point P.

Further, in accordance with block 699 in FIG. 38, a retraction release command 722 is transmitted to the return tool transfer device drive circuit 720, and the special tool holder 55b (currently being processed) is retracted upward as shown in FIG. 422e. The tool holder (which was holding the tool T2) is lowered to point O in FIG. 10 (FIG. 42g). (a-3) On the other hand, the shoulder 6930 in Fig. 38
, 691, the evacuation command 721 is not issued from the special tool conversion preparation circuit 291 to the return tool transfer device drive circuit 720, and due to the conversion of the used tool T1 and the next machining tool T2, If the inserted tool T2 is a general-purpose tool and is supplied from the tool 3 storage magazine, the first
The special tool holder 55a of the used and refurbished general-purpose tool T1 is placed on standby at the tool conversion preparation position TC3 in FIG.

Therefore, the general-purpose tool TIL that requires refurbishment is inserted into the special tool holder 55a by the spider arm 40 as is. Hereinafter, as indicated by the dotted line blocks in FIG. 42d-g, the special tool holder 55a is moved to point P in FIG. 10 by the shifter 98 according to block 692 in FIG. The process is exactly the same as that of block 698 in FIG.

The special tool holder 55a thus transferred to point P in FIG. 10 is returned to the special tool carry-in position 23 in FIG. 1 by the return tool transfer device 21C (block 693,700) In this case, the tool return command 561 is transmitted to the computer 200, and the computer 200 transfers the tool 2 for return of the crane P file (FIG. 22).
The tool number T1 is recorded in carrier tool number recording address a of 1C.

Also, in this case, since the tool is to be rehabilitated, an instruction to request rehabilitation may be given to the tool room. ]) Block 68 in Figure 38
4, if the used tool number T1 is not recorded in the magazine file (Fig. 25), the used tool T1
is a special tool rather than a refurbished general-purpose tool, so the 31st
Tool number T1 no command 308 and tool conversion completion command 22 in the figure
3, the spider arm 40 of FIG. 3 returns the used tool T1 to the special tool holder 55a in accordance with the tool changing operation, as shown in the operation mode of FIGS. 40a-d.

However, even in this case, block 68 of FIG.
9, if the tool T2 inserted into the spindle is a special tool, it goes without saying that the special tool conversion preparation circuit 291 of FIG. 31 must be activated in accordance with the processes of blocks 694 to 700. (Fig. 42a-g). [
B] According to block 679 in FIG. 38, used tool numbers T1 and CR stored in register F in FIG.
As a result of comparison with the tool number Tn read from the NM memory 282, if the tool numbers T1 and Tn do not match, the used tool T1 should be returned to the tool storage magazine,
CRNM memory read completion signal 23 from drive circuit 280
0 is applied to tool conversion circuit 290 via gate G23. Thus, in accordance with block 681 in FIG. 38, the spider arm 40 in FIG. 3 extracts the used tool T1 inserted into the main shaft from the main shaft, rotates 900 degrees, and releases the left tool gripping device 41L of the arm 40. The next process tool T2 held at (tool conversion position TC2) is inserted into the spindle.

When the insertion is completed, a tool conversion completion signal 223 is given from the tool conversion circuit 290 to the computer 200 in accordance with block 682 in FIG. 38, and the machining center 1 starts machining using the tool T2. Further, since the used tool T1 is a general-purpose tool, the CRNM memory read completion command 230 is given to the tool storage magazine drive circuit 292 via the gate G23 and the gate circuit 295.

Furthermore, tool number T1 stored in register F is given to coincidence circuit 294 via gate circuit 295. Thus, the tool T1 storage address of the tool storage magazine 37 in FIG. 2 is brought to the tool conversion preparation position TCl.

Also, a tool conversion completion signal 22 from the tool conversion circuit 290
3 is returned to the tool conversion circuit 290 again as a transfer command 314 to the tool storage magazine.

Thus, the spider arm 40 of FIGS. 2 and 3 rotates 2702 to transfer the used tool T1 to the tool insertion hole of the tool carrier 39, which is waiting at the tool change position TC2 of the arm. The tool carrier 39 that has received the used tool T1 is guided by the guide body 42 and moves to a position near the twin arm 38. Further, the twin arm 38 inserts the used tool T1 of the tool carrier 39 into the storage address (tool storage magazine 37) of the tool T1 which is waiting at the tool conversion preparation position TCl. Block 68 in Figure 38
According to 1, Fig. 31. When the tool conversion completion signal 223 is output from the tool conversion circuit 290, the completion signal 223 is applied to the gate Gl3.

Therefore, the CRNM memory read command 226 is applied to the drive circuit 280 from the gate Gl3, and the gate Gl3 is applied to the drive circuit 280.
Registers in ll and Gl2. A shift command is given to each. Thus, the tool number T2 stored in the register G is shifted to the register F, the tool number T3 stored in the register H is shifted to the register G, and the tool conversion completion signal 223 is released. The tool number T3 shifted to the register G via the tool number T3 is provided to the matching circuit 288.

Further, based on the CRNM memory read command 226 given to the drive circuit 280, the drive circuit 280
Storage addresses in the memory are sequentially designated, and numbers Tn of special tools and refurbished general-purpose tools stored from the CRNM memory 282 are given to the matching circuit 288. Below, the next process tool T3 is set to the tool conversion position T in Figs. 3 and 10.
The process brought to C2 and placed on standby is tool number T2.
This is exactly the same as when the tool is brought to the tool change position TC2.

(3) Effects of the Invention 1 The present invention is effective as an additional automatic transfer device that can be easily adapted to a system without changing the tool conversion function of each conventional machining center.

According to the present invention, the tools in the second tool storage means can be fed into the first tool storage means, and the tools in the first tool storage means can be further conveyed to the second tool storage means.
The tools in the first tool storage means can be quickly changed as needed.

The present invention provides an arrangement between the replacement tool of the first tool storage means and the replacement tool of the second tool storage means, the replacement tool of the first tool storage means and the replacement tool of the second tool storage means. Since it is possible to replace a tool with the same specifications as the first replacement tool, it is possible to replenish tools that have reached the end of their service life or are damaged. The present invention is capable of converting replacement tools stored in a first tool storage means and a second tool storage means provided in the vicinity of a machine tool via an automatic tool conversion device placed at the top of a column of the machine tool. In this way, the machine tool is commanded to change the tool during machining, and the next machining tool stored in the first or second tool storage means is transferred to the first or second automatic tool conversion device.
The tool can be prepared at the tool change position, and the machined tool on the tool spindle can be changed in a short time at the same time as machining is completed, which is a useful effect.

[Brief explanation of the drawing]

FIG. 1 is a mechanical layout diagram of an embodiment of the present invention.

Claims (1)

[Claims] 1. In a machine tool equipped with one automatic tool changer that is arranged on a column and that performs rotational movement and back-and-forth movement in order to change tools one after another on the tool spindle, a first tool storage that stores a plurality of tools. a column-shaped means for transferring tools from the first tool storage means to a first tool changing position of the automatic tool changer between the first tool storage means and the automatic tool changer; a first tool supply means extending from the first tool storage means, a second tool storage means for storing a plurality of tools in the same way as the first tool storage means, and a second tool storage means and the automatic and a second tool extending in a column shape between the tool changer and the automatic tool changer to transfer the tool from the second tool storage means to a second tool change position of the automatic tool changer. The automatic tool changer includes at least two tool change arms, each of which has a first tool change position, a second tool change position, and a tool change position of the tool spindle. A tool gripping part that grips a tool at a position, and a tool changing arm of the automatic tool changer are arranged between a tool changing position of the tool spindle and a first tool changing position, and between a tool changing position of the tool spindle and a second tool. Also between the exchange and the first
a control means for giving a tool change command to rotate the tool between the first tool change position and the second tool change position;
When exchanging the replacement tool stored in the tool storage means with the replacement tool stored in the second tool storage means, the respective tools stored in the first tool storage means and the second tool storage means are replaced. After the replacement tool is gripped by the first tool supply means and the second tool supply means and supplied to the first and second tool change positions of the automatic tool changer, the tool change arm of the automatic tool changer An automatic tool conveyance device for a machine tool, characterized in that the tool is replaced by being gripped by a tool gripper provided at the tip of the tool.