Tool changer, machine tool and method for changing tools

Abstract

A tool changer for a machine tool comprises a tool magazine which is rotatable by a rotary drive about a magazine axis and has a plurality of receiving positions for tools, at least some of the receiving positions being arranged displaced relative to one another along the magazine axis and at least some of the receiving positions being arranged displaced relative to one another about the magazine axis. The tool changer further comprises a transfer device with a transfer carriage which is movable between a first transfer position and a second transfer position relative to the tool magazine in order to transfer a tool between a tool magazine of the machine tool and a tool holder. The tool changer further comprises a linear drive for the tool magazine which moves the tool magazine relative to the transfer device along the magazine axis in order to provide a selected receiving position together with the rotary drive in the first transfer position. The receiving positions are configured for holding a tool in a receiving slot.

Description

Technical Field

[0001] This disclosure relates to a tool changing device for a machine tool. Furthermore, this disclosure relates to a machine tool equipped with such a tool changing device and a method for changing tools. Background Technology

[0002] EP0310953A1 discloses a tool storage device for a machine tool, which is supported on a column, rotatable about the column, and vertically movable along the column. Tools are radially oriented and received without gaps on the circumference of the tool storage device, thus preventing direct access by a tool changer. A moving unit is installed within the tool storage device, which radially removes the tools as needed, thereby enabling transfer to a separate tool changing device. Therefore, additional operating techniques must be incorporated into the tool storage device to realize the moving unit.

[0003] EP2177310A2 discloses a machining center having a cylindrical tool reservoir integrated into the workspace. The tool reservoir has multiple receiving portions for tools oriented perpendicular to the longitudinal extension of the column and radially to the central axis of the column. The machining center includes a tool spindle pivotable between a substantially vertical orientation and a substantially horizontal orientation, allowing the tool spindle to grip and clamp on the axial side of tools arranged on their machining side within the tool reservoir. The tool reservoir is movable along a straight axis toward the tool spindle. The tool spindle is movable along a straight axis extending parallel to the central axis of the column.

[0004] A machining center having a tool spindle and a rotary table is known from DE19708096A1, wherein the rotary table has one or more positions for receiving workpieces, and at least one position for a disc-type reservoir with stacked discs. These discs form multiple planes of the disc-type reservoir. Tools are arranged in a flat orientation on the planes of the disc-type reservoir, wherein each tool axis is radially outwardly oriented. The tool spindle is vertically movable in the direction of the plane of the disc-type reservoir, and the tool spindle has a centering orientation relative to the tool axis to be replaced.

[0005] DE102014218899A1 discloses a disc-type tool reservoir for a machine tool mounted on a column, wherein the disc-type reservoir has a plurality of stacked discs having vertically oriented receiving portions for tools. Furthermore, it includes at least one tool changer with a double gripper, movable parallel to and substantially radial to the longitudinal axis of the disc-type reservoir, which grips the tool in a gripper slot near the receiving cone. The tool can be inserted and clamped in a radially outwardly open support of the disc. The tool changer is capable of changing the tool into the tool receiving portion of the machining spindle.

[0006] A machine tool with a tool changing device is known from DE102006015101A1, wherein the tool changing device is laterally connected to the workspace and has a chain-type storage bin with a vertical orientation. A shuttle body is provided for tool changing, which moves the tool between the storage bin and a changing position, wherein in the changing position the tool extends into the workspace only through a changing opening on its axis and can be removed from the machining spindle. The changing of two tools is performed by a rotatable double gripper positioned outside the workspace.

[0007] The integration of automated tool changing units often faces conflicting objectives. On one hand, there is a need for the shortest possible tool change time to minimize the time between cuts. On the other hand, a large-capacity tool bay is often required to accommodate a large number of tools. Another challenge is the separation between the machine tool's workspace and the tool bay. This involves minimizing contamination and similar items outside the workspace. Summary of the Invention

[0008] Against this backdrop, the object of this disclosure is to provide a tool changing device and a machine tool equipped with a tool changing device, which, on the one hand, can store a large number of tools, and on the other hand, can achieve sufficiently rapid tool changing. Furthermore, the tool changing device and the machine tool should be constructed compactly overall and preferably have small basic requirements. More preferably, only a small integration with the workspace occurs during tool changing. In addition, a corresponding method for tool changing should be provided within the scope of this disclosure.

[0009] According to the first aspect, this disclosure relates to a tool changing device for a machine tool, the tool changing device comprising:

[0010] A tool storage bin, rotatable about a storage axis by a rotary actuator and having multiple receiving positions for tools, at least some of which are arranged offset from each other along the storage axis and at least some of which are arranged offset from each other about the storage axis.

[0011] A conveying device having a conveying slide movable between a first transfer position and a second transfer position with respect to a tool storage bin for conveying tools between the tool storage bin and the tool rack of a machine tool.

[0012] A linear actuator for a tool storage bin moves the tool storage bin relative to the conveying device along the bin axis to provide a selected receiving position in a first transfer position, together with a rotary actuator.

[0013] The receiving slot is configured to hold the tool in its receiving groove.

[0014] A tool changing device can also be called a tool storage and changing device. The tool reservoir provides multiple receiving positions for tools. The tool reservoir can move in at least two degrees of freedom. On one hand, the tool reservoir can be rotated by a rotary actuator. Additionally, a linear actuator is provided for moving the tool reservoir along its reservoir axis.

[0015] In this way, the conveying device can be designed simply. Ideally, there is no need to provide a drive for moving the conveying device along the storage bin axis. Furthermore, this design allows for a relatively small interface (opening) with the workspace used for tool changing. In one exemplary design, the conveying slide is capable of linear movement along a horizontal axis orthogonal to the storage bin axis.

[0016] At least in the exemplary design, the tool storage bin is not a chain-like bin. In the exemplary design, the tool storage bin itself is rigidly designed, and the tool storage bin is generally designed to be roughly columnar or tower-shaped.

[0017] According to one exemplary design, the tool storage compartment is a cylindrical or tower-shaped structure with a vertically oriented storage axis. In this case, the linear actuator of the tool storage compartment is a lifting actuator with a vertical direction of movement.

[0018] The tool holder is, for example, a component of the tool spindle. According to this embodiment, the tool located in the tool holder can be driven by the tool spindle, particularly rotatably. However, the tool holder can also be configured to receive non-rotationally driven tools, such as rotary tools.

[0019] According to another exemplary design, the tool storage compartment is mounted on a lifting bracket, which is movably mounted on one or more linear guide devices, for example, via multiple sliders. For instance, the linear guide devices are designed as vertical guide devices, thereby allowing the tool storage compartment to move vertically.

[0020] When the tool magazine can be driven in both the first and second directions, particularly when it can rotate and move linearly, other unused space can be used for the movement of the tool magazine. In this way, the machine tool can be designed compactly overall with small basic requirements. This works, for example, when the tool magazine can move vertically via a lift drive. Then, when the tool magazine moves vertically upward from a lower position, the space above the tool magazine can be used.

[0021] In one exemplary embodiment, the linear actuator is at least partially located inside the tool magazine. This involves, for example, the center of the cylindrical tool magazine. A spindle, for example, with a threaded or ball-threaded drive mechanism is located at the center, which can be rotatably driven by a rotary actuator. In this way, the tool magazine is accessible circumferentially. The internal space at the center of the tool magazine, which in other cases cannot be used to receive tools, can be used for the linear actuator. This results in a compact design.

[0022] In one exemplary design, a first transfer position is located outside the workspace, while a second transfer position is located inside the workspace. The transfer slide is, for example, completely positioned outside the workspace in the first transfer position. In the second transfer position, the transfer slide extends, for example, at least partially into the workspace. When the transfer slide is positioned outside the workspace, an interface or entrance to the workspace can be closed.

[0023] In one exemplary design, the conveying device allows tools to be directly transferred between the tool storage bin and the tool rack. In other words, the conveying device receives tools directly from the tool storage bin and outputs them directly to the tool rack, or receives tools from the tool rack and outputs them to the tool storage bin. Therefore, no other operating unit is provided between the tool storage bin and the conveying device. Similarly, at least in this exemplary design, no additional operating unit is provided between the conveying device and the tool rack.

[0024] According to another aspect, this disclosure relates to a method for changing tools, which includes the following steps:

[0025] A tool storage bin with a cylindrical design is provided, the tool storage bin being rotatable about and movable along the storage axis, the tool storage bin having multiple receiving positions for tools, at least some of the receiving positions being offset relative to each other along the storage axis and at least some of the receiving positions being offset relative to each other about the storage axis.

[0026] A conveying device with a conveyor slide is provided, which is movable between a first transfer position and a second transfer position with respect to a tool storage compartment, so as to convey tools between the tool storage compartment and the tool holder of a machine tool, and the conveying device particularly includes a double gripper for tool changing using the tool holder and an offset slider having a conveyor receiving portion for tool changing with the tool storage compartment.

[0027] A mobile tool storage area is provided to offer a receiving location for tools in the first handover location, and

[0028] Transferring tools between the first and second handover positions.

[0029] In the first handover position, the handover occurs directly between the tool storage compartment and the conveying device, specifically using an offset slider.

[0030] In the second transfer position, the transfer is carried out directly between the conveyor and the tool rack, especially using a double gripper.

[0031] The method according to the invention can be similarly designed and detailed into the tool changing device according to the invention. The tool changing device according to the invention can be similarly designed and detailed into the method according to the invention. It goes without saying that the method can also be similarly used to replace tools from the tool rack of a machine tool for storage in a tool storage compartment. The flow of steps is matched accordingly. When using a dual gripper, the replacement of a used tool with an unused tool can be achieved in the second transfer position.

[0032] According to another exemplary design of the device or method, the movement of the conveying device between a first transfer position and a second transfer position is along a conveying axis, which is oriented particularly orthogonal to the storage axis and has a guide device fixed to the frame, and the conveying slide of the conveying device is movable along the guide device.

[0033] Therefore, when the tool magazine can move along the magazine axis via a linear drive, tools can be provided in different planes of the tool magazine. This does not require the transfer device to move along the magazine axis, at least in the exemplary design. In this way, the guide of the transfer device can be securely mounted on the machine tool frame or the tool changing device.

[0034] In other words, according to an exemplary design for tool changing in a transfer device, only a channel-shaped tool transfer space with a defined cross-section is provided, extending between a first transfer position and a second transfer position. In other words, even with a large (high) tool storage compartment, the transfer device only requires limited installation space in the immediate vicinity of the workspace.

[0035] In other words, to enable the transfer slide to move along the transfer axis, the transfer device uses a guide that is immovable relative to the frame in a direction transverse to the guide. This applies at least to the exemplary design. It goes without saying that the transfer device can have additional (internal) degrees of freedom within the transfer slide to support tool changes.

[0036] According to another exemplary design of the apparatus or method, the first transfer position is fixed, specifically fixed relative to the frame of the machine tool or tool magazine. In other words, the tool magazine can be driven to provide a desired plane (linear position) and defined space (rotary position) on that plane in the first transfer position. From the perspective of the tool magazine, the first transfer position can be moved by a rotary drive and a linear drive. In this way, the desired receiving portion can be moved into the first transfer position.

[0037] A frame can be a machine tool frame or a machine tool frame. However, it can also be a storage frame, that is, a frame for a tool changing device.

[0038] In one exemplary design, the second transfer position is also fixed, specifically, relative to the rack. In this way, the opening into the workspace can be constructed small enough to allow tool changing between the transfer device and the tool rack.

[0039] According to another exemplary design of the device or method, tools can be directly changed between the conveying device and the receiving section of the tool storage compartment. Therefore, for the tool storage compartment itself, no complex active operating techniques are required to release or receive tools from the conveying device. This simplifies the structure of the tool storage compartment and reduces preparation time regarding the selected receiving location. For example, the tool can be pulled out laterally (about the tool's longitudinal axis) from the receiving location or introduced into the receiving location and placed there. An actual carrier rod is not necessarily required for receiving the tool in the tool storage compartment.

[0040] According to another exemplary design of the apparatus or method, the tool storage bin includes two or more sections distributed around a storage bin axis, the sections having receiving positions offset from each other in a row along the storage bin axis. In one exemplary design, the receiving positions open laterally outward, thereby enabling tools to be retrieved laterally (orthogonally to the storage bin axis). In one exemplary design, the sections are configured similarly to blades positioned around a tray axis. In this embodiment, the sections each have a longitudinal extension that is substantially parallel to the storage bin axis. In one exemplary design, the tool storage bin is constructed similarly to a stationary impeller.

[0041] According to another exemplary design of the device or method, the section includes an outwardly opening recessed receiving position that mates with a tool receiving slot. The tool can be mounted in and guided within the tool reservoir through its receiving slot. The receiving slot is also referred to, for example, as a gripper slot. It is important to note in this design that, with the tool engaged, the receiving slot is locked within the tool reservoir, preventing engagement of the operating elements for retrieving the tool there. However, the design of the receiving position essentially allows the tool to be guided out of the section from the side. This movement is, for example, orthogonal to the reservoir axis.

[0042] A receiving section is arranged or constructed within the section. These tools, for example, have a carrier rod, in the form of a hollow conical shaft (HSK), a steep conical shaft, or the like. A receiving groove is connected to the carrier rod, for example. In the receiving state, in the receiving position of the section, the tool is oriented with its longitudinal axis orthogonal to the receiving position in the section. The longitudinal axis of the tool is, for example, horizontal and orthogonal to the storage axis.

[0043] Tools are secured in the receiving position, for example, by a retaining spring force and / or a profile locking mechanism. This eliminates the need for costly control or drive technologies. The tool reservoir can be simply designed. When the force of the retaining spring is overcome by a transmission device, the tool can be inserted into or removed from the receiving position, particularly from the side (orthogonal to the reservoir axis).

[0044] For example, in the loaded state, at least one tool is received and secured in the receiving position by its receiving groove, particularly by force locking and / or surface locking.

[0045] According to another exemplary design of the device or method, the conveying device has a conveying receiving portion, which is specifically designed to enclose the carrier rod of the tool. For example, the conveying receiving portion is constructed in a cylindrical shape. The conveying receiving portion mates with the carrier rod of the tool.

[0046] In other words, the transfer receiving section therefore does not utilize the same contour of the tool as the receiving position. This allows for direct tool changing between the transfer device with the transfer receiving section and the tool storage compartment with the receiving position.

[0047] For example, a transfer receiving portion for a tool is provided on the transfer device, particularly on the transfer slide, which is constructed similarly to and / or at least partially mimics the tool holder of the tool spindle. The transfer receiving portion is a receiving portion that mates with a tapered rod (HSK, etc.).

[0048] In other words, the transfer receiving section utilizes a tool section, in which the tools are typically received on a tool rack. On the other hand, the tool storage compartment uses other sections, such as receiving slots for the tools being operated.

[0049] Therefore, the transfer device can use the transfer receiving section to remove the tool from its support in the tool storage compartment. When the tool is removed in this way and held on the transfer receiving section, it can be transferred to the tool holder on the machine tool side when needed, using other components of the transfer device.

[0050] In one exemplary design, the transfer receiving section is oriented parallel to the transfer axis, such that the longitudinal axis of the received tool is also oriented parallel to the transfer axis. In this orientation, the tool can be retrieved from the tool storage compartment or stored in its receiving position within the tool storage compartment. In another exemplary design, this orientation is also maintained for transfer to and retrieval from the tool rack.

[0051] According to another exemplary design of the device or method, an offset axis is provided on the transfer slide of the transfer device, which allows the transfer receiving part to move between an in position and an out position. In this way, the transfer receiving part, as part of the transfer slide, can move along an offset axis inclined relative to the transfer axis. This provides sufficient travel transverse to the transfer axis, such that the transfer receiving part can, for example, be fed into a centering orientation relative to a selected receiving position in a first transfer position.

[0052] The offset axis is tilted relative to the transmission axis, especially orthogonally oriented to it. Engagement and disengagement between the carrier rod and the transmission receiving part are achieved by adapting the movement of the transmission slide along the transmission axis.

[0053] In the remove position, the transfer receiving unit can be connected to a tool provided in the tool storage compartment in the first transfer position. Then, the offset axis can move the transfer receiving unit from the remove position to the transfer-in position. As a result, the tool can be laterally removed from the receiving position in the tool section of its tool storage compartment.

[0054] When the transfer receiving unit carries a tool to be stored in the tool storage compartment, the tool is laterally moved into the receiving space provided by the tool storage compartment at the first transfer position as the offset axis moves from the transfer-in position to the transfer-out position. Then, the transfer receiving unit is detached from the stored tool along the transfer axis (orthogonal to the offset direction).

[0055] The connecting or separating motion can be provided via the (global) transfer axis of the transfer slide. In this way, the transfer receiving part can either enclose or detach from the tool's carrier rod.

[0056] According to another exemplary design of the aforementioned apparatus or method, the transfer receiving portion has a resilient locking element to secure the received tool. In this way, there is no need for a complex controller using actuators or the like to secure the tool to the transfer receiving portion. Instead, the spring force must be overcome accordingly to engage or disengage the tool from the transfer receiving portion.

[0057] According to another exemplary design of the device or method, at least some receiving positions of the tool storage compartment are connected to retaining springs, which secure the received tools by locking elements in the receiving positions. The conveying device includes an offset slider that carries the conveying receiving portion and is designed to deflect the retaining springs to place the tool in or release the tool from the receiving position.

[0058] In other words, the offset slider, including the transport receiving section, can lock or unlock the receiving position for the tool so that the tool can be reliably placed there or received from the receiving position. According to an exemplary design, the offset slider has a pressing member that can contact and manipulate the contact of the retaining spring at the receiving position not only when the offset slider moves along the offset axis but also when the offset slider moves along the transport axis. This can be achieved, for example, by a suitable inclination of the contacting sides of the contact member and the pressing member, thereby creating, for example, a ramp-like movement trajectory for movement along the offset axis, which ultimately deflects the contact member and thus the retaining spring in the transport direction.

[0059] According to another exemplary design of the device or method, the conveying device has a double gripper arranged on a conveyor slide, which is pivotable about a pivot axis. In this way, the conveying device with the double gripper can provide a position for a tool to be replaced and a position for a tool to be replaced. Tool change time is reduced. Tools located in the tool holder can be removed and replaced with new tools in very little time. Other movements of the conveying device do not directly affect the time between cuts.

[0060] For example, the rotation axis of the dual gripper is oriented parallel to the transmission axis. Therefore, the offset axis is inclined relative to the rotation axis, and in particular, orthogonal to the rotation axis.

[0061] The dual gripper is designed, for example, to grip a tool in a receiving slot. For instance, the receiving positions of the dual gripper and the tool section of the tool reservoir utilize the same receiving profile or receiving slot as the tool or its carrier rod. This makes direct transfer between the tool reservoir and the dual gripper difficult. Therefore, at least in exemplary designs, an intermediate transfer receiving unit is used, allowing the tool to be transferred from the tool reservoir to the transfer receiving unit, from which it can then be retrieved using the dual gripper. The dual gripper can also be used to transfer tools into a tool holder. For example, this relates to the tool receiving unit of a tool spindle.

[0062] Just before the tool is loaded, the dual gripper can retrieve the tool, which has been held in the tool receiver on the tool spindle, from its idle position. The previously used tool is transferred from the tool rack to the dual gripper, from the dual gripper to the transfer receiver, and from the transfer receiver to an empty receiving position in the tool rack. When changing between the storage and the tool rack, the tool is at least temporarily positioned on the transfer receiver and temporarily positioned on the dual gripper.

[0063] According to another exemplary design of the apparatus or method, a lifting axis is further provided on the transfer slide, which corresponds at least to the dual gripper or the transfer receiver, so as to enable tool transfer between the dual gripper and the transfer receiver. Both the dual gripper and the transfer receiver are arranged on the transfer slide, so that movement of the transfer slide along the transfer axis does not cause relative movement between the dual gripper and the transfer receiver along the transfer axis. At least in the exemplary design, the lifting axis is oriented parallel to the transfer axis. Therefore, in the case of a horizontally oriented transfer axis, the lifting axis is also horizontally oriented.

[0064] The double gripper is configured, for example, to grip the tool in a receiving slot. According to this embodiment, the double gripper can act on the tool from the side. The transfer receiver is configured, for example, to receive the tool on its carrier rod. According to this embodiment, the transfer receiver can act on the tool in the longitudinal direction of the tool. An additional lifting axis in this case allows for switching between the transfer receiver and the double gripper. The lifting axis, for example, causes an infeeding or outfeeding movement between the carrier rod and the transfer receiver.

[0065] According to another exemplary design of the device or method, the lifting axis corresponds to the double gripper, wherein the lifting axis coincides with the pivot axis of the double gripper. In this way, lifting motion can be generated within the conveying device, wherein the elements of the conveying device arranged on the conveying slide can move relative to each other, more precisely, particularly parallel to the conveying axis.

[0066] According to another exemplary design of the device or method, the transfer slide manipulates the closing of the workspace door during a movement between a first and a second transfer position, wherein the transfer slide extends into the workspace at least temporarily. This is feasible without an additional actuator and therefore without a corresponding controller. In one exemplary design, the transfer slide moves at least temporarily from a position outside the workspace to a position in which at least one section of the transfer slide extends into the workspace. During this movement, the door is opened.

[0067] The door is, for example, a pivotable flap or a linearly movable door, which can be moved by a transfer slide. For example, the transfer slide has a cantilever with a sliding element for manipulating the door. For example, the door is designed such that closing can be automatically achieved by gravity when the transfer slide is completely outside the workspace. This has the advantage that the opening to the workspace automatically closes when the transfer slide moves from the second transfer position to the first transfer position.

[0068] According to another exemplary design of the apparatus or method, a reading device for tool identification is provided for the tool storage compartment. This reading device is specifically fixed to a frame, wherein the tool storage compartment moves along and rotates about the storage compartment axis to bring a selected receiving space into the detection range of the reading device. Because the tool storage compartment can move along at least two axes, the position of all tools in the tool storage compartment can also be detected using a reading device with a limited detection range. The reading device is configured, for example, for optical detection (barcode), detection of electromagnetic signals (RFID), or similar methods.

[0069] According to another exemplary design of the device or method, the tool storage compartment includes an inlet door through which multiple receiving positions, particularly those offset from each other along the compartment's axis, can be accessed from the outside. In this way, modular assembly is possible, and the tool storage compartment can be loaded or emptied via the inlet door. When the tool storage compartment extends along its axis beyond the opening released by the inlet door, it can be moved by a linear actuator. Alternatively, a rotary actuator can be used to provide the desired receiving position within the area of ​​the inlet door.

[0070] According to another aspect, this disclosure relates to a machine tool having a frame, at least one workpiece holder for receiving workpieces, at least one tool holder for receiving tools, and having a tool changing device according to at least one of the designs described herein, wherein the tool holder is movable relative to the frame to a second transfer position for tool changing.

[0071] The tool changing device's conveyor system allows for direct tool changing with the tool rack. Even in the case of a large tool storage compartment with considerable capacity, only a relatively small entrance to the workspace is needed for tool changing.

[0072] According to an exemplary design of the machine tool, the tool holder is pivotable so that it can be moved from a second transfer position into a transfer orientation for tool changing, wherein the transfer orientation of the tool holder specifically includes an orientation parallel to the transfer axis. This involves, for example, a transformation between vertical and horizontal orientations. Generally, this degree of freedom of motion can also be used during machining.

[0073] According to another exemplary design of the machine tool, the tool holder is part of a pivotable tool spindle, wherein the tool holder is designed to receive a carrier rod of a tool, and the received carrier rod is centrally positioned within the tool holder. The pivotable tool spindle can be moved to an orientation that facilitates tool change, such as a horizontal orientation.

[0074] According to another exemplary design of the machine tool, the workpiece holder is associated with a workpiece spindle, which is designed to rotate the workpiece about an axis, particularly parallel to the transfer axis, wherein the tool holder is movable relative to the workpiece holder along at least three axes. This allows for advantageous arrangement of the tool storage and transfer mechanism. Machine tools with tool and workpiece spindles allow for a wide variety of turning, milling, and similar machining operations, enabling a high degree of design freedom.

[0075] In one exemplary design of the machine tool, the tool spindle is linearly movable relative to the machine frame on three axes and pivotable on one axis. The pivot axis enables the tool frame to be repositioned. The linear axis allows movement to a second repositioning position for tool changing.

[0076] According to another exemplary embodiment, the tool storage compartment is disposed adjacent to the workpiece spindle outside the workspace, wherein a tool transfer space used by the transfer device extends above the workpiece spindle between the workspace and the tool storage compartment. In this way, the transfer device is located in other unused areas of the machine tool. Because a rotary drive and a lifting drive are provided for the tool storage compartment, the desired receiving position of the tool storage compartment can be provided to the transfer device in a first transfer position.

[0077] In one exemplary design, the workpiece spindle is oriented horizontally. In another exemplary design, a tool holder, for example configured as a tool spindle, is oriented above the tool spindle or above the clamped tool.

[0078] In another exemplary design of the machine tool, a paired retainer in the form of a secondary workpiece holder is positioned opposite the workpiece holder, wherein the workpiece holder and the secondary workpiece holder are centrally located relative to each other, and the tool holder and the secondary workpiece holder are spaced apart from the tool storage at least in a base orientation, and the workpiece holder is adjacent to the tool storage. For example, the base orientation of the tool holder is a vertical orientation of the tool holder with clamping tools, in which machining can be performed. The base orientation of the secondary workpiece holder is, for example, spaced apart from the (primary) workpiece holder, such that the workpiece can be clamped between the two workpiece holders.

[0079] The secondary workpiece holder is designed, for example, to work with the main spindle or tailstock. The secondary workpiece holder is typically positioned at a greater distance from the tool magazine than the (main) workpiece holder. In this way, the tool magazine, and especially the conveyor, can be located in areas where the secondary workpiece holder is not required, or where it is rarely required.

[0080] According to another exemplary design, the machine tool also includes a sub-tool holder, which is movable relative to the machine frame on at least two axes, and the main tool holder and sub-tool holder are oriented relative to each other. For example, both the (main) tool holder and the sub-tool holder are vertically oriented in a base orientation. The sub-tool holder can also be designed as a so-called overhead spindle. In one exemplary design, the main tool holder is positioned above the workpiece and the sub-tool holder is positioned below the workpiece.

[0081] In other words, the "first" tool rack can also be called the master tool rack. The terms "master" and "secondary" are used only for distinction and do not necessarily specify a qualitative or quantitative order.

[0082] It goes without saying that, without departing from the scope of this disclosure, the features described above and those to be explained below can be used not only in the specific combination described, but also in other combinations or individually. Attached Figure Description

[0083] Other features and advantages will become apparent from the following description of several preferred embodiments with reference to the accompanying drawings. Wherein:

[0084] Figure 1 A simplified front view of a machine tool with a tool changing device is shown;

[0085] Figure 2 Showing according to Figure 1 A simplified top view of the structure, in which the shell has been partially removed;

[0086] Figure 3 Showing according to Figure 1 and Figure 2 A perspective view of the machine tool, in which the housing is partially hidden and the tool changing device is omitted;

[0087] Figure 4A partial front view of the machine tool is shown to illustrate tool replacement;

[0088] Figure 5 A perspective view of a tool changing device with a tool storage compartment and a conveying mechanism is shown;

[0089] Figure 6 Showing based on Figure 5 A perspective view used to illustrate the degrees of freedom of movement of the tool storage compartment;

[0090] Figure 7 A perspective partial view of the conveying device is shown;

[0091] Figure 8 Showing based on Figure 7 Another perspective partial view of the view, used to illustrate how the conveying device works;

[0092] Figure 9 A simplified view of a conveyor system that works in conjunction with a tool storage compartment is shown below;

[0093] Figure 10 A perspective partial view showing the components of the conveying device and the tool storage compartment.

[0094] Figure 11 Showing based on Figure 10 Another partial view with a changed view orientation;

[0095] Figure 12 Showing based on Figure 10 A schematic partial cross-sectional view of the structure;

[0096] Figure 13 A partial perspective view of the dual grippers of the conveyor is shown; and

[0097] Figure 14 A simplified block diagram illustrating an exemplary design for changing tools on a machine tool is shown. Detailed Implementation

[0098] Figure 1 The machine tool, represented by the number 10, is shown in a front view. Figure 1 The basic structure of the machine tool 10 shown is illustrated by supplementary reference. Figures 2 to 4 To illustrate.

[0099] In at least some of the accompanying drawings, the Cartesian coordinate system XYZ is shown for illustrative purposes. The coordinate system is used to illustrate the basic orientation and motion axes of the machine tool 10 and its components. The axis represented by X generally indicates the longitudinal extension. The axis represented by Y (see...) Figure 2 and Figure 3The coordinate system XYZ typically indicates the depth extension range. In this embodiment, axes X and Y together define the horizontal plane. The axis represented by Z typically indicates the height extension range. The coordinate system XYZ is primarily illustrative and should not be construed as limiting. It goes without saying that other coordinate systems can also be used to describe machine tool 10 and other components. Those skilled in the art can make appropriate transformations.

[0100] Machine tool 10 includes a frame 12, which can also be referred to as a bed. Additionally, a housing 14 is provided that surrounds the workspace 18 of the machine tool 10 and other components, shielding it from the environment, at least during machining. The workspace 18 is located in... Figure 1 and Figure 2 The dashed boxes represent the components. The workspace 18 is typically an area where the machine tool 10 can act on a workpiece (not shown) for machining purposes. Furthermore, in... Figure 1 The entrance door leading to workspace 18 is shown in Figure 20.

[0101] Furthermore, in this embodiment, machine tool 10 includes a so-called workpiece transfer module 22. The workpiece transfer module 22 is used, for example, to transport processed workpieces. The workpiece transfer module 22 can also be used, depending on the situation, to supply unprocessed workpieces. In accordance with... Figure 1 In one embodiment, 24 is used to indicate the entrance gate leading to the workpiece transfer module 22.

[0102] In addition, the machine tool 10 includes a tool changing device 30. The tool changing device 30 includes a tool storage compartment 32. According to... Figure 1 and Figure 2 In one embodiment, the tool storage compartment 32 is arranged within a housing 36 accessible through an inlet door 34. Therefore, Figure 1 An embodiment of the machine tool 10 is shown in a front view, wherein the workspace 18 is accessible through the inlet door 20, the workpiece transfer module 22 is accessible through the inlet door 20, and the tool storage compartment 32 is accessible through the inlet door 34.

[0103] Figure 2 Showing according to Figure 1 A top view of the machine tool 10, wherein the housing 14 is partially hidden, allowing the components of the machine tool 10 to be seen. The workspace 18 is shown by a dashed box. Furthermore, a tool transfer space 40 extends between the tool storage 32 and the workspace 18, and is also indicated by a dashed box. The tool transfer space 40 is used to transfer tools within the workspace 18 between the tool storage 32 and the workspace 18. The tool transfer space 40 and the workspace 18... Figure 2 The design scheme shown overlaps.

[0104] In addition, Figure 2In the diagram, the workpiece preparation space 44 is indicated by a dashed box. In the preparation space 44, workpieces to be processed or already processed can be provided for further processing operations. The workpiece transfer space 46 extends between the workpiece transfer module 22 and the workspace 18, and is also indicated by a dashed box. In the workpiece transfer space 46, workpieces can move between the workspace 18 and the preparation space 44. The workpiece transfer module 22 can, in principle, be used for both loading and unloading workpieces. However, it is also conceivable that workpieces to be processed can be supplied in other ways. This could be achieved, for example, by a lever loader or the like.

[0105] based on Figure 1 and Figure 2 The view, Figure 3 A perspective view of the machine tool 10 is shown, in which, for illustration purposes, a tool changing device 30 with a tool storage compartment 32 is shown. Furthermore, the housing 14 is partially concealed, thereby making the internal components of the machine tool 10 visible. Additionally, reference is made to... Figure 4 A partial view of the front of the machine tool 10, which in particular shows the workspace 18 with the components arranged there.

[0106] exist Figure 3 The controller unit 50 of the machine tool 10 is shown. The control unit 52 is used to control the components of the machine tool 10, which may also include the controller of the workpiece transfer module 22 and / or the tool changing device 30 when necessary.

[0107] In accordance with Figure 3 In one embodiment, the workpiece conveying module 22 is provided with or connected to a movable loading unit 54 disposed on the loading port 56. (Refer to...) Figure 2 The loading port 56 extends through the workpiece transfer space 46. In this way, the workpiece can be moved between the workspace 18 and the preparation space 44 or the workpiece transfer module 22.

[0108] A tool spindle 60 is provided in the workspace 18 of the machine tool 10, and the tool spindle carries a tool holder 62. The tool spindle 60 can also be referred to as the main tool spindle. The tool holder 62 can also be referred to as the main tool holder. The tool holder 62 is used to receive tools. A motion mechanism 64 is provided for the tool spindle 60, which in this embodiment realizes linear motion of the tool spindle 60 on three axes (X, Y, Z). In addition, the motion mechanism 64 can realize pivoting motion of the tool spindle 60, such as pivoting motion about the Y-axis (the so-called B-axis). Figure 4 In the image, a curved double arrow indicates this first pivot drive 68. The tool spindle 60 is configured to rotatably drive a tool arranged in the tool holder 62 about a longitudinal axis 66.

[0109] Figure 3 and Figure 4An exemplary design is also shown, wherein, in addition to the tool spindle 60, another tool spindle 70 with a tool holder 72 is provided. The other tool spindle 70 may also be referred to as a secondary tool spindle or an overhead spindle. The tool holder 72 may also be referred to as a secondary tool holder. In this embodiment, a motion mechanism 74 is provided for the other tool spindle 70, which, for example, enables translational (linear) motion along two axes (X, Y) or, if necessary, three axes (X, Y, Z). The other tool spindle 70 can rotate about a longitudinal axis 76 to drive the tool holder 72 and the tools disposed in the tool holder 72.

[0110] Furthermore, machine tool 10 includes a workpiece holder 78, which corresponds to workpiece spindle 80. Workpiece spindle 80 may also be referred to as a spindle or main workpiece spindle. Workpiece holder 78 may also be referred to as main workpiece holder 78. Workpiece holder 78 is used to hold the workpiece. The workpiece may be designed, for example, as a rod or as a chuck. The workpiece may be constructed at least partially rotationally symmetrically; however, this is not a mandatory prerequisite. Workpiece spindle 80 can drive the workpiece about longitudinal axis 86, see [reference needed]. Figure 4 In this embodiment, the workpiece spindle 80 is fixedly arranged on the frame 12.

[0111] On the frame 12, a workpiece spindle 84 is positioned opposite to a workpiece spindle 80, and a workpiece holder 82 is mounted on the workpiece spindle 84. In this embodiment, the workpiece spindle 84 is movable relative to the frame in the X direction, see [reference needed]. Figure 4 The motion mechanism is indicated by 88. In this way, the distance between the workpiece spindle 80 and the workpiece spindle 84 can be varied. The workpiece spindle 84 can also be referred to as a mating spindle or a secondary workpiece spindle. The workpiece holder 82 can also be referred to as a secondary workpiece holder. In this embodiment, the workpiece holders 78 and 82 are oriented relative to each other. The workpiece holders 78 and 82 can hold and clamp the workpiece together. However, it is also conceivable in principle that each of the two workpiece holders 78 and 82 holds and clamps a separate workpiece. Accordingly, it is conceivable that the workpiece spindle 84 is also provided with a driver for rotating the workpiece about the longitudinal axis 86.

[0112] Figure 3 The possible locations of the tool transfer space 40 are illustrated using a right-angled parallelepiped drawn with dashed lines in perspective; see also [reference needed]. Figure 2 Therefore, the tool transfer space 40 can be located above the workpiece spindle 80. This area can be used for tool transfer between the workspace 18 and the tool storage 32.

[0113] Figure 4 A conveying device 90, at least partially disposed in the tool conveying space 40, is shown. The conveying device 90, together with the tool storage compartment 32, forms part of the tool changing device 30.

[0114] In this embodiment, the conveying device 90 includes a conveying slide 92, which is movable at a first guide device 94. In this embodiment, the first guide device 94 is a horizontal guide device. (Refer to...) Figure 2 and Figure 3 The first guide device 94 extends within the tool transfer space 40. The transfer motion is illustrated by the transfer axis 96. In this embodiment, the transfer axis 96 is oriented parallel to the X-axis.

[0115] The transfer slide 92 supports the transfer receiving portion 100, which is supported on the cantilever 104. Furthermore, the transfer slide 92 carries a double gripper 102, which is positioned opposite the transfer receiving portion 100. Figure 4 The diagram shows the transfer slide 92 in the first transfer position 108. The dashed line indicates the second transfer position 110. The transfer slide 92 is movable along the transfer axis 96 between the first transfer position 108 and the second transfer position 110. In this way, tools can be changed between the tool storage 32 and the workspace 18.

[0116] In the second transfer position 110, the transfer slide 92 extends at least partially into the workspace 18 to transfer the tool to the tool holder 62 of the tool spindle 60. With the use of the motion mechanism 64 and the first pivot drive 68, the tool spindle 60, together with the tool holder 62, can move in the direction of the transfer position 112 (in...). Figure 4 (Shown by dashed lines). In change position 112, tool holder 62 is oriented such that longitudinal axis 66 is oriented parallel to transfer axis 96. In this way, the tool in the second transfer position 110 can be easily changed between transfer slide 92 and tool holder 62 of tool spindle 60.

[0117] In addition, Figure 4 The door for workspace 18, indicated by 114, is illustrated with dashed lines. Door 114 is pivotable in this embodiment. Door 114 is operated via the transfer slide 92 as the transfer slide 92 moves from a first transfer position 108 to a second transfer position 110. Door 114 can automatically close if the transfer slide 92 is fully pulled back from workspace 18.

[0118] Reference Figure 5 and Figure 6 This illustrates an exemplary design of the tool storage compartment 32 of the tool changing device 30. The tool storage compartment 32 is constructed, for example, in a tower or columnar shape. Figure 5 In the diagram, the possible locations of the entrance door 34 are indicated by a dashed box. For example, in... Figure 2 The housing 36 shown in the image is in Figure 5 and Figure 6 It is hidden in the middle.

[0119] Tool storage 32 is mounted on frame 120. Frame 120 may be a component of the machine tool frame 12. However, frame 120 may also be a separate material storage frame. In this embodiment, frame 120 is constructed in a tower-like manner. In this embodiment, tool changing device 30 is arranged on frame 120, particularly fixed relative to the frame. In other words, frame 120 carries a first guide device 94 for conveying slide 92 (see...). Figure 4 ). Figure 5 Door 114 is also shown, which is operated by the transfer slide 92 as the transfer slide 92 moves along the transfer axis 96.

[0120] In this embodiment, a vertical second guide device 122 is arranged on the frame 120. The tool storage compartment 32 is mounted on a bracket 124, which is vertically movable (parallel to the Z-direction) along the second guide device 122. A linear actuator 128, which may be referred to as a lifting actuator, is provided for this movement. The movement of the tool storage compartment 32 occurs along the storage axis 132, see [reference needed]. Figure 5 and Figure 6 .

[0121] In addition to the linear actuator 128, a rotary actuator 130 is provided, which is designed to rotate the tool reservoir 32 about the reservoir axis 132. In this embodiment, the tool reservoir 32 includes a plurality of segments 136 distributed around the reservoir axis 132. The segments 136 are fixed to a carrier disk 138, which is offset from each other along the reservoir axis 132. In this embodiment, the segments 136 are constructed similarly to impeller blades. Each segment 136 carries a plurality of receiving positions 140. The receiving positions 140 are used to receive tools. The receiving positions 140 are distributed along and around the reservoir axis 132. In this way, the tool reservoir 32 can provide a plurality of receiving positions 140 for receiving tools.

[0122] The linear actuator 128 and the rotary actuator 130 can together move the tool reservoir 32 to a first transfer position 108 (see [link]). Figure 4 The desired receiving position 140 is provided for the tool so that the tool can be removed and transferred via the transfer device 90. Similarly, an empty receiving position 140 can be provided in a first transfer position 108 so that the tool can be placed there using the transfer device 90.

[0123] Furthermore, the tool storage compartment 32 can be operated by a linear drive 128 and a rotary drive 130 to position one or more receiving positions 140 within the area of ​​the inlet door 34. This enables the external loading process. When multiple receiving positions 140 are loaded, this can be referred to as block loading.

[0124] Figure 6 The diagram shows that a linear actuator 128 is coupled to a spindle 144 to rotatably drive the spindle 144. In this embodiment, the spindle 144 is positioned at the center of the tool magazine 32. A base 146, which supports the tool magazine 32 or its holder 124, is located on the spindle 144. When the spindle 144 is driven by the linear actuator 128, the base 146 travels along the spindle 144. In this way, the holder 124 can move with the tool magazine 32 along the magazine axis 132 (parallel to the Z-axis). See also Figure 6 The dashed diagram illustrates the raised state 148 of the bracket 124 or tool storage compartment 32. In this embodiment, the tool storage compartment 32 can be partially removed from the upper opening of the frame 120 in the raised state.

[0125] Furthermore, based on Figure 6 As can be seen in the view, the rotary actuator 130 is coupled to the wheel 134. The rotary actuator 130, for example, carries a pinion gear that meshes with the wheel 134. In this way, the tool reservoir 32 can rotate about the reservoir axis 132.

[0126] Based on Figures 4 to 6 The illustration, Figures 7 to 9 This illustrates the conceivable details of the conveyor 90 and the tool change between the tool storage compartment 32 and the workspace 18 of the machine tool 10, in which tools are conveyed to the tool rack via the conveyor 90 (see [reference]). Figure 4 Tool rack 62).

[0127] Figure 7 and Figure 8 This is a perspective view of the conveyor 90; see below for details. Figure 5 The arrangement of the conveyor 90 relative to the tool storage bin 32. Figure 9 The cooperation between the conveyor 90 and the tool storage compartment 32 is illustrated using a view from below. See also: Figures 7 to 9 Orientation of the XYZ coordinate system in the diagram.

[0128] The transfer slide 92 of the transfer device 90 is supported on a first guide device 94 for movement along the transfer axis 96. The transfer slide 92 includes a cantilever 104 that carries the transfer receiver 100. Furthermore, a double gripper 102 is located on the transfer slide 92. Tool transfer between the transfer device 90 and the tool storage compartment 32 is carried out using the transfer receiver 100, see also here. Figure 9 .exist Figure 9 In Chinese, tools are represented by 180.

[0129] The transfer receiving portion 100 is part of the offset slider 150, which can move along the offset axis 154 via the offset track 152. In this embodiment, the cantilever 104 of the transfer slide 92 carries the offset slider 150. The offset slider 150, having the transfer receiving portion 100, can move along the offset axis 154 between a move-in position and a move-out position (see [link]). Figure 8 (Dashed line illustration indicated by reference numeral 156). In the out position of the offset slider 150, the transfer receiving part 100 is oriented in relation to the receiving position 140 provided at the first transfer position 108, such that the tool 180 can be transferred between the receiving position 140 and the transfer receiving part 100. See [reference needed] Figure 9 This includes, for example, the orientation of the receiving section 100 toward the center between the receiving position 140 and the receiving section 100.

[0130] exist Figure 7 and Figure 8 The lifting axis is also indicated by a double arrow (162), which in this embodiment corresponds to the double gripper 102. The double gripper 102 is supported on the transfer slide 92 by a linear guide 160, thereby enabling translational movement of the double gripper 102 along the lifting axis 162. In this way, the distance between the double gripper 102 and the transfer receiving portion 100 of the offset slider 150 can be changed along the transfer axis 96. This enables the transfer of the tool 180 between the transfer receiving portion 100 and the double gripper 102. The tool 180 can be removed from or inserted into the transfer receiving portion 100 via the double gripper 102 along the lifting axis 162.

[0131] also, Figure 7 and Figure 8 The second pivot drive of the dual gripper 102 is indicated by a curved double arrow, labeled 164. In this way, the dual gripper 102 can be rotated about its pivot axis 166 via the second pivot drive 164. This, for example, allows for the direct replacement of the previously used tool 180 with a new tool 180 at the tool holder 62 in the second handover position 110 (see [link to handover position]). Figure 4 ).

[0132] The cantilever 104 of the conveyor slide 92 also carries a slider marked 170. The slider 170 is configured to act on the door 114 to open the door 114 when the conveyor slide 92 moves between the first transfer position 108 and the second transfer position 110. Figure 7 The closed state of door 114 is shown. Figure 8 The door 114 is shown to be partially open.

[0133] For example, door 114 is configured as a flap capable of pivoting about axis 174. In this embodiment, door 114 carries one or two rollers 172, which can be contacted by a corresponding slide 170 on the end of cantilever 104 facing the workspace 18. In this way, door 114 can be actuated in a low-wear manner by a transfer slide 92. When the transfer slide 92 enters the workspace 18, door 114 opens automatically. Figure 8 In the image, the curved double arrow marked 176 indicates the movement of door 114 about axis 174.

[0134] Figure 9 This illustrates the replacement of tool 180 between tool storage 32 and transfer device 90. Tool storage 32 includes multiple sections 136 distributed around storage axis 132. In this embodiment, sections 136 are fixed to carrier disk 138. Sections 136 carry receiving positions 140 for tools 180.

[0135] For example, tool 180 includes a carrier rod 182, which is primarily configured to receive tool 180 on tool holder 62 of tool spindle 60 (see...). Figure 4 In addition, a processing section 184 is provided, which includes, for example, a cutting contour. In the case of a rotary-driven tool 180, a longitudinal axis 186 is also provided. Furthermore, the longitudinal axis 186 is the central axis of the carrier rod 182.

[0136] Tool 180 also includes a receiving groove 188 adjacent to the carrier rod 182. The receiving groove 188 may also be referred to as a gripper groove. The receiving groove 188 is designed, for example, as a circumferential groove. According to... Figure 9 In one embodiment, the tool 180 also has at least one locking recess 190 in the receiving groove 188 for locking in a fixed position. Similarly, at least one locking recess 192 is also provided in the carrier rod 182 for locking in a fixed position.

[0137] Tools 180 are respectively placed in receiving positions 140 of tool storage compartment 32 with their receiving slots 188. Therefore, receiving slots 188 cannot be used for operational purposes. For this reason, the transfer receiving portion 100 of the offset slider 150 is constructed in a cylindrical shape and matches the carrier rod 182. In other words, the transfer receiving portion 100 is designed, for example, tapered. Therefore, the offset slider 150 with the transfer receiving portion 100 can engage or disengage from the carrier rod 182 of the tool 180 positioned in the first transfer position 108 while moving along the transfer axis 96 using the transfer slide 92. This is in Figure 9 This is illustrated using an insert run denoted by 198.

[0138] Therefore, storing or retrieving the tool 180 includes not only the movement of the offset slider 150 along the offset axis 154, but also the movement of the transfer slide 92 generally along the transfer axis 96, see insertion stroke 198. The tool 180 can be laterally removed from or inserted into the receiving position 140, see movement along the offset axis 154. In this embodiment, the connection between the carrier rod 182 and the transfer receiving part 100 can only be achieved through a movement orthogonal to this, see insertion stroke 198. The combined movement along the offset axis 154 and through insertion stroke 198 additionally... Figure 10 The double arrow is used to represent this.

[0139] Figure 10 , Figure 11 and Figure 12 The document details the changing of tool 180 between tool storage 32 and transfer receiving section 100 of offset slider 150, as well as the placement of tool 180 in tool storage 32 and transfer receiving section 100.

[0140] from Figure 10 and Figure 11 As can be generally seen due to their different view orientations, the receiving positions 140 for the tool 180 are respectively constructed in the recesses 200 in one of the sections 136. In this embodiment, the retaining springs 202 correspond to the receiving positions 140 respectively, see also Figure 11 The retaining spring 202 is used to fix the tool 180 in a force-locked and / or profile-locked position in the receiving position 140. Each retaining spring 202 has at least one first locking element 204, which, for example, is configured to contact a locking recess 190 in the receiving groove 188 of the tool 180, see also... Figure 9 When the first locking element 204 is inserted into the locking recess 190 of the receiving groove 188, the tool 180 is locked in the receiving position 140. In this embodiment, the tool 180 can no longer be removed laterally (see offset axis 154).

[0141] Therefore, it is necessary to displace the retaining spring 202 together with at least one first locking element 204 to enable the tool 180 to be placed in the receiving position 140 and / or to enable the tool 180 to be removed from the receiving position 140. For this purpose, the retaining spring 202 carries a so-called contact element 208, which is configured to be contacted by a pressing element 210 arranged on the offset slider 150. The pressing element 210 and the contact element 208 have angled sides, thereby enabling the retaining spring 202 to be deflected laterally or obliquely to the offset axis 154 by the first locking element 204 even when the offset slider 150 moves along the offset axis 154. This can be used to insert the tool 180, arranged in the transfer receiving portion 100, into the receiving position 140.

[0142] To remove tool 180 from receiving position 140, the offset slider 150, together with the transfer receiving portion 100, is first moved along the transfer axis 96 (see insertion stroke 198). This movement also causes the pressing member 210 to contact the contact member 208 and thus deflects the retaining spring 202 via at least one first locking element 204. Tool 180 is then unlocked and can be removed laterally from receiving position 140 (see offset axis 154). Figure 10 In the diagram, the arrow marked 212 indicates the force applied by the pressing member 210 to the contact member 208 in order to displace the first locking element 204 of the retaining spring 202 in a desired manner.

[0143] Figure 12 A partial cross-sectional view of the offset slider 150 is shown. In particular, the transfer receiving portion 100 is shown. The transfer receiving portion 100 is generally cylindrical. The transfer receiving portion 100 provides a receiving seat 216 for the carrier rod 182 of the tool 180. For positional fixation, the transfer receiving portion 100 is equipped with at least one second locking element 218, which is, for example, constructed as a sphere or a truncated sphere. At least one second locking element 218 can, for example, engage in a locking recess 192 on the carrier rod 182 of the tool 180, see also... Figure 9 According to Figure 12 In one embodiment, two opposing second locking elements 218 are provided, each arranged on a deflectable spring 220. This generates a retaining force that locks and secures the received tool 180 profile in the receiving seat 216 of the transfer receiving portion 100.

[0144] To remove tool 180, the holding force must be overcome. This can be achieved by the double gripper 102 gripping tool 180 in its receiving slot 188, and by the movement of the double gripper 102 along the lifting axis 162 (see...). Figure 7 and Figure 8 ), and pulled out from the transmission receiving unit 100.

[0145] According to Figure 12 In one embodiment, springs 220 for the second locking element 218 are respectively disposed on one of the pressing members 210. The second locking element 218 is located in a recess in the pressing member 210. The second locking element 218 extends into the receiving seat 216 of the conveying receiving part 100. By the deformation of the springs 220, the second locking element 218 can be displaced, allowing the carrier rod 182 of the tool 180 to pass through.

[0146] As a supplement to the aforementioned detailed design, Figure 13 The diagram illustrates a possible design for the dual gripper 102. The dual gripper 102 can pivot about a pivot axis 166 via a second pivot actuator 164 (see the curved double arrows). In this way, tool 180 can be removed and replaced by another tool 180, for example, by pivoting at 180°. However, this typically also includes movement along a lifting axis 162 oriented parallel to the pivot axis 166.

[0147] The dual gripper 102 provides two supports 126 for the tool 180. (In accordance with...) Figure 13 In this embodiment, an additional third locking element 228 is provided, which locks the support surface of the tool 180 onto the double gripper 102. The third locking element 228 can be designed as a flexible locking element. Therefore, the engagement of the tool 180 on the double gripper 102 can be released by a certain force. However, it is also conceivable that the third locking element 228 can be manipulated in a targeted manner to release or fix the tool 180 in the locked position on the double gripper 102 as needed.

[0148] Figure 13 A linear guide 160 is also shown, designed, for example, as an arm for the dual gripper 102. In this embodiment, the dual gripper 102 can move along the linear guide 160, see the lifting axis 162 indicated by double arrows. Thus, the dual gripper 102 can move relative to the transfer receiver 100 along the transfer axis 96, see [reference needed]. Figure 9 This allows the tool 180 to be removed from the transfer receiving unit 100 or stored in the transfer receiving unit 100.

[0149] Figure 14 An exemplary design of a tool changing method in a machine tool is illustrated based on a schematic block diagram. In this embodiment, the method begins in step S10.

[0150] Step S12 relates to providing a tool storage container, particularly one that is rotatable about a rotation axis and can be translated along a linear axis, particularly in the vertical direction, by a linear actuator. In an exemplary design, the linear actuator requires structural space at the center of the tool storage container. The tool storage container is designed, for example, in a columnar or tower-like shape. Since the linear axis is at least partially integrated into the tool storage container, the overall footprint of the tool storage container is small, even though the tool storage container itself can move in multiple degrees of freedom. An advantage of this design is that any receiving position for the tool can be provided in the first transfer position. This reduces the need for additional handling techniques.

[0151] Step S14 relates to providing a transfer device, particularly a transfer device designed to exchange tools directly with a tool storage bin at a first transfer position and directly with a machine tool holder at a second transfer position. For example, the transfer device includes a transfer slide movable along a transfer axis, the transfer slide including an offset slider movable along an offset axis and a double gripper pivotable about a pivot axis.

[0152] Step S16 relates to means for moving the tool reservoir to provide a receiving position for a tool or an empty space in the first handover position. For this purpose, the tool reservoir can be rotated by a rotary drive and moved along a linear axis by a linear drive. In this way, receiving positions distributed around the circumference of the tool reservoir can be provided. The tool reservoir not only rotates but also moves linearly overall, so that any receiving position can be manipulated.

[0153] Step S18 involves the movement of the conveying device, which also includes the coordinated movement of the components of the conveying device. In this embodiment, step S18 includes sub-steps S20, S22, and S24, which can be implemented at least partially in parallel.

[0154] Part of step S20 involves the movement of the transfer slide along the transfer axis. This movement can also be referred to as the global movement of the transfer slide between the first and second transition positions. The movement of the transfer slide along the transfer axis can also be used to operate the door relative to the machine tool's workspace. The transfer axis is inclined relative to the linear axis of the tool storage, particularly orthogonal to it.

[0155] Sub-step S22 involves the movement of the transfer slide along the transfer axis. The offset slider includes a transfer receiving portion, which is designed, for example, in a cylindrical form and matches the carrier rod of the tool. The offset axis is inclined relative to the transfer axis, particularly oriented perpendicular to the transfer axis. In this way, the offset slider can be laterally deflected to move into a desired orientation corresponding to the provided receiving position for receiving or transferring the tool. In coordination with sub-step S20, an insertion stroke can be provided so that the carrier rod of the tool can engage with or disengage from the transfer receiving portion.

[0156] Sub-step S24 includes movement of the dual gripper. This includes, for example, pivoting movement about a pivot axis oriented parallel to the transfer axis. The dual gripper is configured to remove a tool from or insert it into the transfer receiver of the offset slider. For this purpose, for example, an additional lifting axis is provided that allows the dual sliders to move relative to the transfer receiver along the transfer axis. Furthermore, the dual gripper can provide the tool in a suitable orientation for replacement with the machine tool's tool holder in a second transfer position.

[0157] In another step S26, tool replacement between the transfer device and the tool holder is achieved in the second transfer position using a double gripper. In this way, for example, a tool can be removed from the machine tool's tool holder and replaced with a new tool.

[0158] In this embodiment, the method terminates at step S28. It goes without saying that this method can also be applied, at least in part, to changing tools from a tool rack within the workspace of a machine tool. Therefore, some method steps can be reversed to store tools in a tool storage compartment.

Claims

1. A machine tool (10) having a tool changing device (30) and a pivotable tool spindle (60), the tool changing device having the following components: The tool storage compartment (32) has a columnar design and is rotatable about a vertically oriented storage axis (132) by a rotational actuator (130). It has multiple receiving positions (140) for tools (180), at least some of which are offset relative to each other along the storage axis (132) and at least some of which are offset relative to each other about the storage axis (132). A conveying device (90) having a conveying slide (92) and movable between a first transfer position (108) and a second transfer position (110) with respect to the tool storage (32) for conveying a tool (180) between the tool storage (32) of the machine tool (10) and the tool holder (62) of the tool spindle (60), and The tool storage compartment (32) is designed as a linear actuator (128) with a lifting drive, which moves the tool storage compartment (32) vertically relative to the conveyor (90) along the storage axis (132) to provide a selected receiving position (140) in a first transfer position (108) together with the rotary actuator (130). Its features are, The receiving position (140) is configured to hold the tool (180) in a receiving slot (188) and orthogonal to the storage axis (132) in a horizontal orientation of the longitudinal axis (186) of the tool (180), and the receiving position (140) is laterally open outward so that the tool (180) can be laterally removed orthogonal to the storage axis (132) and laterally to the longitudinal axis of the tool, wherein the tool (180) is oriented horizontally and non-radially relative to the tool storage (32) in the tool storage (32), and the tool (180) has a carrier rod (182) and a receiving position. The slot (188) and the conveying device (90) have an offset slider (150) with a conveying receiving part (100) for storing or retrieving the tool (180) on the tool carrier rod (182). The conveying device (90) also has a double gripper (102) for gripping the tool (180) on the tool receiving slot (188). The conveying device (90) can use the double gripper (102) to transfer the tool (180) into the tool holder (62) of the tool spindle (60) of the machine tool (10). The transfer of the tool (180) between the double gripper (102) and the tool spindle (60) is achieved along the horizontal orientation of the tool spindle (60).

2. The machine tool (10) according to claim 1, characterized in that, The movement of the conveying device (90) between the first transfer position (108) and the second transfer position (110) is along the conveying axis (96), which is oriented perpendicular to the storage axis (132) and has a first guide device (94) fixed relative to the frame, and the conveying slide (92) of the conveying device (90) is movable along the first guide device.

3. The machine tool (10) according to claim 1 or 2, characterized in that, The first handover position (108) is fixed.

4. The machine tool (10) according to claim 3, characterized in that, The first transfer position (108) is fixed relative to the rack (12, 120).

5. The machine tool (10) according to claim 1 or 2, characterized in that, Tools (180) can be changed directly between the conveyor (90) and the receiving position (140) of the tool storage (32).

6. The machine tool (10) according to claim 1 or 2, characterized in that, The tool storage compartment (32) includes two or more sections (136) distributed around the storage axis (132), the sections having receiving positions (140) offset from each other in a row along the storage axis (132).

7. The machine tool (10) according to claim 1 or 2, characterized in that, The receiving position (140) includes an outwardly open recess (200) that matches the receiving groove (188) of the tool (180).

8. The machine tool (10) according to claim 1 or 2, characterized in that, The conveying device (90) has a conveying receiving part (100) configured to enclose the carrier rod (182) of the tool (180).

9. The machine tool (10) according to claim 8, characterized in that, An offset axis (154) is provided on the conveying slide (92) of the conveying device (90), which causes the conveying receiving part (100) to move between the moving-in position and the moving-out position.

10. The machine tool (10) according to claim 8, characterized in that, The delivery receiving part (100) has a resilient second locking element (218) to secure the received tool (180).

11. The machine tool (10) according to claim 8, characterized in that, At least some of the receiving positions (140) of the tool storage compartment (32) are connected to a retaining spring (202) that secures the received tool (180) in the receiving position (140) by means of a first locking element (204), and the conveying device (90) has an offset slider (150) that carries the conveying receiving part (100) and is configured to deflect the retaining spring (202) so as to place the tool (180) in or release it from the receiving position (140).

12. The machine tool (10) according to claim 8, characterized in that, The conveying device (90) has a double gripper (102) arranged on a conveying slide (92) which is pivotable about a pivot axis (166).

13. The machine tool (10) according to claim 12, characterized in that, A lifting axis (162) is also provided on the transfer slide (92), which corresponds at least to the double gripper (102) or the transfer receiving part (100) so as to enable the transfer of the tool (180) between the double gripper (102) and the transfer receiving part (100).

14. The machine tool (10) according to claim 13, characterized in that, The lifting axis corresponds to the double gripper (102) and coincides with the pivot axis (166) of the double gripper (102).

15. The machine tool (10) according to claim 1 or 2, characterized in that, As the transfer slide (92) moves between the first transfer position (108) and the second transfer position (110), it manipulates the door (114) of the closed workspace (18) and the transfer slide (92) extends into the workspace (18) at least temporarily.

16. The machine tool (10) according to claim 1 or 2, characterized in that, The tool storage compartment (32) is equipped with a reading device (142) for tool identification that is fixed relative to the frame, and the tool storage compartment (32) moves along the storage axis (132) and rotates about the storage axis (132) in order to deliver the selected receiving position (140) into the detection area of ​​the reading device (142).

17. The machine tool (10) according to claim 1 or 2, characterized in that, The tool storage compartment (32) has an entrance door (34) through which multiple receiving positions (140) can be accessed from the outside.

18. The machine tool (10) according to claim 17, characterized in that, Multiple receiving positions (140) offset from each other along the storage axis (132) can be accessed from the outside through the inlet door.

19. The machine tool (10) according to claim 1, comprising: a frame (12, 120), at least one workpiece holder (78) for receiving workpieces, and at least one tool holder (62) for receiving tools (180), wherein, The tool rack (62) can be moved to the second transfer position (110) relative to the rack (12, 120) for tool changing.

20. The machine tool (10) according to claim 19, characterized in that, The tool holder (62) is pivotable so that it is fed into a transfer orientation for tool changing in a second transfer position (110), and the transfer orientation of the tool holder (62) includes an orientation parallel to the transfer axis (96).

21. The machine tool (10) according to claim 19 or 20, characterized in that, The tool holder (62) is a component of the pivotable tool spindle (60) and is configured to receive the carrier rod (182) of the tool (180), and the carrier rod (182) of the received tool (180) is placed centrally in the tool holder (62).

22. The machine tool (10) according to claim 19 or 20, characterized in that, The workpiece holder (78) corresponds to the workpiece spindle (80), which is configured to rotate the workpiece about an axis (86) oriented parallel to the transfer axis (96), and the tool holder (62) is movable relative to the workpiece holder (78) along at least three axes.

23. The machine tool (10) according to claim 22, characterized in that, The workpiece holder (78) is positioned opposite a matching retainer in the form of a sub-workpiece holder (82), the workpiece holder (78) and the sub-workpiece holder (82) being oriented toward each other, the tool holder (62) and the sub-workpiece holder (82) being spaced apart from the tool storage compartment (32) at least in the base orientation, and the workpiece holder (78) being adjacent to the tool storage compartment (32).

24. The machine tool (10) according to claim 19 or 20, characterized in that... A secondary tool holder (72) is movable relative to the frame (12, 120) on at least two axes, wherein the tool holder (62) and the secondary tool holder (72) are oriented relative to each other.

25. A method for changing a tool (180), the method comprising the steps of: A tool storage bin (32) with a columnar design is provided, which is rotatable about a vertically oriented storage axis (132) and vertically movable along the storage axis (132). The tool storage bin has a plurality of receiving positions (140) for tools (180), at least some of which are arranged to be relatively displaced relative to each other along the storage axis (132), and at least some of which are arranged to be relatively displaced relative to each other about the storage axis (132). The receiving position (140) is configured to hold the tool (180) in a receiving slot (188) of the tool (180) and orthogonal to the storage axis (132) in a horizontal orientation of the longitudinal axis (186) of the tool (180), and to laterally open the receiving position (140) outward so that the tool (180) can be removed laterally outward orthogonal to the storage axis (132) and laterally to the longitudinal axis of the tool, wherein the tool (180) is oriented horizontally and non-radially relative to the tool storage (32) in the tool storage (32). A transfer device (90) with a transfer slide (92) is provided, the transfer device being movable between a first transfer position (108) and a second transfer position (110) with respect to a tool storage (32) for transferring a tool (180) between the tool storage (32) and the tool rack (62) of the machine tool (10), and the transfer device including a double gripper (102) for tool changing with the tool rack (62) and an offset slider (150) having a transfer receiving part (100) for tool changing with the tool storage (32). A mobile tool storage compartment (32) is provided in a first transfer location (108) to provide a receiving location (140) for the tool (180), and The tool (180) is transferred between the first transfer position (108) and the second transfer position (110). In the first transfer position (108), the transfer takes place directly between the tool storage bin (32) and the conveyor (90), and In the second transfer position (110), the transfer takes place directly between the conveyor (90) and the tool rack (62). The tool (180) has a carrier rod (182) and a receiving groove (188). The conveying device (90) has an offset slider (150) with a conveying receiving part (100) for storing or retrieving the tool (180) on the carrier rod (182). The conveying device (90) also has a double gripper (102) for gripping the tool (180) on the receiving groove (188). The conveying device (90) can use the double gripper (102) to transfer the tool (180) into the tool holder (62) of the tool spindle (60) of the machine tool (10). The transfer of the tool (180) between the double gripper (102) and the tool spindle (60) is achieved along the horizontal orientation of the tool spindle (60).

26. The method according to claim 25, characterized in that, In the first handover position (108), the handover is carried out directly between the tool storage (32) and the conveyor (90) using the offset slider (150).

27. The method according to claim 25, characterized in that, In the second handover position (110), the handover is carried out directly between the conveyor (90) and the tool rack (62) using a double gripper (102).

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